[doc] makes most of the changes requested for PR.

doc/sphinx/source/developer_guide/communication.rst

@@ -11,7 +11,10 @@ Define a new message
 
 By default, PprzLink default message definition is used. You can find it in ``sw/ext/pprzlink/message_definitions/v1.0/messages.xml``. To add your own messages, you first need to copy this file in your ``conf`` directory.
 
-Add your message in that file on the model of the other messages. Make sure to add it in the appropriate message class (telemetry, datalink, ground, ...), and make sure to use a free ``id``. This *id* being encoded on a uin8_t, it must be comprise between 1 and 255 (0 is reserved). As you can see, there are not much left in the telemetry class...
+Add your message in that file on the model of the other messages. Make sure to add it in the appropriate message class (telemetry, datalink, ground, ...), and make sure to use
+a free name and a free ``id`` within this class. This *id* being encoded on a uin8_t, it must be comprise between 1 and 255 (0 is reserved). As you can see, there are not much left in the telemetry class...
+
+.. note:: The ids are uniq within the class but the names are uniq in the whole file: you can't have two messages with the same name, even if they are in different classes.
 
 Re-build paparazzi with ``make`` at the root directory. your message should now be present in the ``var/messages.xml`` file.
 

doc/sphinx/source/developer_guide/system_overview.rst

@@ -4,7 +4,7 @@
 System Architecture
 =========================
 
-The typical configuration constitute of a standard laptop as ground station and one more more drones with a RC transmitter for each as safety link. The Command and Control link is made by a pair of modems on the ground and in the drones.
+The typical configuration constitute of a standard laptop as ground station and one or more drones, possibly with a RC transmitter for each as safety link. The Command and Control link is made by a pair of modems on the ground and in the drones.
 
 .. image:: general_arch.png
 
@@ -15,13 +15,13 @@ The Gound Control Station (GCS) constits of multiples programs, communicating wi
 
 .. note::
 
-    Ivy is a simple protocol and a set of open-source (LGPL) libraries and programs that allows applications to broadcast information through text messages, with a subscription mechanism based on regular expressions.
+    Ivy is a simple protocol and a set of open-source (LGPL) libraries and programs that allows applications to broadcast information through text messages, with a publisher / subscriber mechanism based on regular expressions.
 
 .. image:: agents_arch.png
 
 The core Paparazzi programs are Link, which handle the communication with the drones, the Server, which maintain the state of all aircrafts, and the GCS, the user facing application to control the drones.
 
-Many other tools have been developed for various use case, they are available in the *Tools* menu of the paparazzi center. But more interresting: you can write your own tools that will interact with Paparazzi via the Ivy bus.
+Many other tools have been developed for various use cases, they are available in the *Tools* menu of the paparazzi center. But more interesting: you can write your own tools that will interact with Paparazzi via the Ivy bus.
 
 Airborne architecture
 ---------------------

doc/sphinx/source/quickstart/first_flight.rst

@@ -4,7 +4,7 @@
 Experimental Flight
 ======================
 
-The easiest drone to fly with paparazzi is the **Bebop 2**, from Parrot. It is no longer produced but can still be found 2nd handed.
+The easiest drone to fly with paparazzi is the **Bebop 2**, from Parrot. It is no longer produced but can still be found 2nd hand.
 
 Using the Bebop 2 with Paparazzi
 --------------------------------
@@ -25,7 +25,7 @@ You should get the telemetry from the bebop.
 Making the changes permanent
 ----------------------------
 
-In the current state, you have to do the process all over again every time you restart the Bebop. We can use paparazzi by default.
+In the current state, you have to do the process all over again every time you restart the Bebop. However, you can start Paparazzi by default with the following steps:
 
 - Power up the Bebop
 - Connect your laptop to the Bebop's wifi network
@@ -44,13 +44,13 @@ Install the autostart script with ``./bebop.py install_autostart``.
 Change network settings
 -----------------------
 
-You can change the network settings of the drone to make it connect to an existing WiFi network: ``./bebop.py configure_network mySSID managed``.
+You can change the network settings of the drone to make it connect to an existing WiFi network: ``./bebop.py configure_network mySSID managed dhcp``. You can replace ``dhcp`` by a fixed IP address to use static IP instead of getting the address from your external router DHCP in ``managed`` mode.
 
 
 Calibration
 -----------
 
-The default values may be good enough to be able to fly, but it is recommanded that you calibrate the drone before you fly. Go the :doc:`../tutorials/beginner/sensor_calibration` page to learn how to do that.
+The default values may be good enough to be able to fly, but it is recommanded that you calibrate the drone before flying. Go to the :doc:`../tutorials/beginner/sensor_calibration` page to learn how to do that.
 
 
 Connect a Joystick

doc/sphinx/source/quickstart/gcs_tour.rst

@@ -85,7 +85,7 @@ The purple panel at the bottom is the Aircraft panel.
 
 The **Flight Plan** tab display the full flight plan of the aircraft. Double clicking on a block makes the aircraft go to this block.
 
-The **GPS** tab gives you info about GPS state. Its usually a good idea to wait for the *Pos accuracy* to be good enough before procedding to a flight.
+The **GPS** tab gives you info about GPS state. Its usually a good idea to wait for the *Pos accuracy* to be good enough (around 5 meters or less) before proceeding to a flight.
 
 The **PFD** tab diplay a primary flight display. Very useful for the ground checks before take off, and if the aircraft is out of sight.
 

doc/sphinx/source/quickstart/install.rst

@@ -56,7 +56,7 @@ Clone the repository:
 
 .. code-block:: bash
 
-    git checkout -b v5.17 upstream/v5.17
+    git checkout -b v5.16 upstream/v5.16
 
 Get the submodules and build Paparazzi. This step might take a long time the first time you launch it:
 

doc/sphinx/source/quickstart/system_overview.rst

@@ -4,7 +4,7 @@
 Overall System Overview
 ========================
 
-The typical configuration constitute of a standard laptop as ground station and one more more drones with a RC transmitter for each as safety link. The Command and Control link is made by a pair of modems on the ground and in the drones.
+The typical configuration constitute of a standard laptop as ground station and one or more drones, possibly with a RC transmitter for each as safety link. The Command and Control link is made by a pair of modems on the ground and in the drones.
 
 .. image:: general_arch.png
 

doc/sphinx/source/tutorials/beginner/sensor_calibration.rst

@@ -6,9 +6,6 @@ Sensor Calibration
 
 The Accelerometers and magnetometers must be calibrated for the drone to fly correctly.
 
-Before you start, you can clear the log directory *paparazzi/var/logs*, it will simplify log file search process.
-
-
 Accelerometer calibration
 ==========================
 

doc/sphinx/source/user_guide/directories_structure.rst

@@ -44,13 +44,17 @@ Here is an extract of the Paparazzi tree:
     ├── start.py
     ├── sw
     │   ├── ext
-    │   └── airborne
-    │       ├── autopilot.c
-    │       ├── autopilot.h
-    │       └── modules
-    │           ├── decawave
-    │           ├── demo_module
-    │           └── gps
+    │   ├── airborne
+    │   │   ├── autopilot.c
+    │   │   ├── autopilot.h
+    │   │   └── modules
+    │   │       ├── decawave
+    │   │       ├── demo_module
+    │   │       └── gps
+    │   ├── ground_segment
+    │   │   ├── tmtc
+    │   │   └── cockpit
+    │   └── simulator
     └── var
         ├── aircrafts
         │   └── Microjet
@@ -108,7 +112,10 @@ Software
 
 Paparazzi softwares are located in ``sw``. Airborne code, that will run on the drone itself, is located in ``sw/airborne``.
 
-``sw/ext`` contains external software dependencies.
+- ``sw/ext`` contains external software dependencies.
+- ``sw/simulator`` contains the simulators
+- ``sw/ground_segment/tmtc`` contains ????????????
+- ``sw/ground_segment/cockpit`` contains the GCS code
 
 Doc
 ---