Merge pull request #633 from bitcraze/krichardsson/docs

Improved documentation

docs/functional-areas/cfloader.md

@@ -3,10 +3,7 @@ title: Bootload the Crazyflie 2.X
 page_id: cfloader
 ---
 
-
-
-
-The Crazyflie can be bootloaded from the commandline using the
+The Crazyflie as well as decks that has a firmware can be bootloaded from the command line using the
 *cfloader* script.
 
 **Note:** To enter the bootloader for the Crazyflie 2.X power off the
@@ -90,7 +87,7 @@ Flashing new firmware for the STM32 MCU:
 Flashing new firmware for the STM32 MCU with warmbooting with a known uri:
 
     crazyflie-clients-python$ bin/cfloader flash cf2.bin stm32-fw -w radio://0/10/2M/E7E7E7E701
-    Reset to bootloader mode ...    
+    Reset to bootloader mode ...
     Connected to bootloader on Crazyflie 2.0 (version=0x10)
     Target info: nrf51 (0xFE)
     Flash pages: 232 | Page size: 1024 | Buffer pages: 1 | Start page: 88
@@ -118,16 +115,9 @@ Flash a new firmware package (containing both nRF51 and STM32 firmware):
     Flashing 2 of 2 to nrf51 (fw): 25151 bytes (25 pages) .1.1.1.1.1.1.1.1.1.1.1.1.1.1.1.1.1.1.1.1.1.1.1.1.1
     Reset in firmware mode ...
 
-Flash a new firmware to the GAP8 on the AI-deck:
+## AI-deck examples
 
-    crazyflie-clients-python$ bin/cfloader flash myApp.bin deck-bcAI:gap8-fw -w radio://0/30/2M
-    Reset to bootloader mode ...
-    Skipping bcAI:esp
-    | 4% Writing to bcAI:gap8 deck memory
-    / 9% Writing to bcAI:gap8 deck memory
-    - 14% Writing to bcAI:gap8 deck memory
-    \ 19% Writing to bcAI:gap8 deck memory
-    ...
+The AI-deck should be mounted on the Crazyflie when running the cfloader.
 
 Flash a new firmware to the ESP on the AI-deck:
 
@@ -137,3 +127,14 @@ Flash a new firmware to the ESP on the AI-deck:
     / 9% Writing to bcAI:esp deck memory
     - 14% Writing to bcAI:esp deck memory
     \ 19% Writing to bcAI:esp deck memory
+
+Flash a new firmware to the GAP8 on the AI-deck:
+
+    crazyflie-clients-python$ bin/cfloader flash myApp.bin deck-bcAI:gap8-fw -w radio://0/30/2M
+    Reset to bootloader mode ...
+    Skipping bcAI:esp
+    | 4% Writing to bcAI:gap8 deck memory
+    / 9% Writing to bcAI:gap8 deck memory
+    - 14% Writing to bcAI:gap8 deck memory
+    \ 19% Writing to bcAI:gap8 deck memory
+    ...

docs/userguides/userguide_client/index.md

@@ -78,8 +78,19 @@ client.
 
 ### Firmware upgrade
 
-For updating the Crazyflie firmware you can keep being connected to the crazyflie. This will open up a seperate dialog that will guide you through the process.
-Please note that you need to use a Crazyradio dongle to connect to the Crazyflie when doing firmware upgrades. Upgrading using USB is not possible.
+For updating the Crazyflie firmware you can keep being connected to the crazyflie. This will open up a separate dialog
+that will guide you through the process.
+
+Please note that you need to use a Crazyradio dongle to connect to the Crazyflie when doing firmware upgrades.
+Upgrading using USB is **not** possible.
+
+#### Deck firmware
+
+Some decks have a CPUs or other chips that runs firmware that needs to be updated from time to time as well. The Crazyflie
+firmware verifies that it is compatible with the deck firmware during start up. If the firmware in a deck that is
+installed needs to be upgraded this will be logged in the console log. Deck firmware is upgraded as a part of the
+Crazyflie firmware upgrade process, just make sure the deck is mounted when you run the upgrade.
+
 
 ![CFclient bootloading](/docs/images/firmware-upgrade.png)
 

src/cfclient/ui/wizards/lighthouse_geo_bs_estimation_wizard.py

@@ -99,7 +99,7 @@ def reset(self):
         self.addPage(self.get_xyzspace_page)
         self.addPage(self.get_geometry_page)
 
-        self.setWindowTitle("Lighthouse Basestation Geometry Wizard")
+        self.setWindowTitle("Lighthouse Base Station Geometry Wizard")
         self.resize(WINDOW_STARTING_WIDTH, WINDOW_STARTING_HEIGHT)
 
 
@@ -184,7 +184,7 @@ def _ready_cb(self, averages):
 
         if amount_of_basestations < 2:
             self.status_text.setText(self.str_pad('Recording Done!' +
-                                                  f' Visible Basestations: {self.visible_basestations}\n' +
+                                                  f' Visible Base stations: {self.visible_basestations}\n' +
                                                   'Received too few base stations,' +
                                                   'we need at least two. Please try again!'))
             self.too_few_bs = True
@@ -196,7 +196,7 @@ def _ready_cb(self, averages):
             self.start_action_button.setDisabled(False)
         else:
             self.too_few_bs = False
-            status_text_string = f'Recording Done! Visible Basestations: {self.visible_basestations}\n'
+            status_text_string = f'Recording Done! Visible Base stations: {self.visible_basestations}\n'
             if self.show_add_measurements:
                 self.recorded_angles_result.append(self.get_sample())
                 status_text_string += f'Total measurements added: {len(self.recorded_angles_result)}\n'
@@ -238,7 +238,8 @@ class RecordXAxisSamplePage(LighthouseBasestationGeometryWizardBasePage):
     def __init__(self, cf: Crazyflie, parent=None):
         super(RecordXAxisSamplePage, self).__init__(cf)
         self.explanation_text.setText('Step 2. Put the Crazyflie on the positive X-axis,' +
-                                      f'  exactly {REFERENCE_DIST} meters from the origin.\n')
+                                      f'  exactly {REFERENCE_DIST} meters from the origin.\n' +
+                                      'This will be used to define the X-axis as well as scaling of the system.')
         pixmap = QtGui.QPixmap(cfclient.module_path + "/ui/wizards/bslh_2.png")
         pixmap = pixmap.scaledToWidth(PICTURE_WIDTH)
         self.explanation_picture.setPixmap(pixmap)
@@ -247,7 +248,9 @@ def __init__(self, cf: Crazyflie, parent=None):
 class RecordXYPlaneSamplesPage(LighthouseBasestationGeometryWizardBasePage):
     def __init__(self, cf: Crazyflie, parent=None):
         super(RecordXYPlaneSamplesPage, self).__init__(cf, show_add_measurements=True)
-        self.explanation_text.setText('Step 3. Put the Crazyflie somehere in the XY-plane, but not on the X-axis.\n ')
+        self.explanation_text.setText('Step 3. Put the Crazyflie somewhere in the XY-plane, but not on the X-axis.\n' +
+                                      'This position is used to map the the XY-plane to the floor.\n' +
+                                      'You can sample multiple positions to get a more precise definition.')
         pixmap = QtGui.QPixmap(cfclient.module_path + "/ui/wizards/bslh_3.png")
         pixmap = pixmap.scaledToWidth(PICTURE_WIDTH)
         self.explanation_picture.setPixmap(pixmap)
@@ -259,8 +262,9 @@ def get_samples(self):
 class RecordXYZSpaceSamplesPage(LighthouseBasestationGeometryWizardBasePage):
     def __init__(self, cf: Crazyflie, parent=None):
         super(RecordXYZSpaceSamplesPage, self).__init__(cf)
-        self.explanation_text.setText('Step 4. Move the Crazyflie around, try to cover all of the space,\n make sure ' +
-                                      'all the base stations are received')
+        self.explanation_text.setText('Step 4. Move the Crazyflie around, try to cover all of the flying space,\n' +
+                                      'make sure all the base stations are received.\n' +
+                                      'Avoid moving too fast, you can increase the record time if needed.\n')
         pixmap = QtGui.QPixmap(cfclient.module_path + "/ui/wizards/bslh_4.png")
         pixmap = pixmap.scaledToWidth(PICTURE_WIDTH)
         self.explanation_picture.setPixmap(pixmap)
@@ -386,8 +390,10 @@ def __init__(self, cf: Crazyflie, origin_page: RecordOriginSamplePage, xaxis_pag
                  xyplane_page: RecordXYPlaneSamplesPage, xyzspace_page: RecordXYZSpaceSamplesPage, parent=None):
 
         super(EstimateBSGeometryPage, self).__init__(cf)
-        self.explanation_text.setText('Step 5.Press the button to estimate the geometry and check the result.\n' +
-                                      'If the position looks good, press finish to close the wizard')
+        self.explanation_text.setText('Step 5. Press the button to estimate the geometry and check the result.\n' +
+                                      'If the positions of the base stations look reasonable, press finish to close ' +
+                                      'the wizard,\n' +
+                                      'if not restart the wizard.')
         pixmap = QtGui.QPixmap(cfclient.module_path + "/ui/wizards/bslh_5.png")
         pixmap = pixmap.scaledToWidth(640)
         self.explanation_picture.setPixmap(pixmap)