Add information about clearing ROI #172
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@hamishwillee This isn't really a dronekit feature more of a arducopter/mavlink feature so I trust that it works. I have never needed to use it but I think is important we document it. @mrpollo +1 |
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@tcr3dr This can be merged please. It is a minor docs enhancement. |
| @@ -303,9 +303,10 @@ Send the `MAV_CMD_DO_SET_ROI <http://copter.ardupilot.com/common-mavlink-mission | |||
| vehicle.send_mavlink(msg) | |||
| vehicle.flush() | |||
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| The ROI is "reset" when the mode or the method used to control movement is changed. If you've set a yaw or region-of-interest value then this will be set to the default (vehicle faces the direction of travel). | |||
| From Copter 3.2.1 you can explicitly reset the ROI by sending the `MAV_CMD_DO_SET_ROI <http://copter.ardupilot.com/common-mavlink-mission-command-messages-mav_cmd/#mav_cmd_do_set_roi>`_ command with zero in all values. The vehicle will then face the direction of travel. | |||
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This was still a bit unclear; I would propose text that addresses:
- "Available since version X" reads less ambiguously than "From", and is more familiar (i.e. Python docs)
- Is "all values" correct, as in lat/lon/alt also need to be 0? Is it more correct to say "all params"?
- "vehicle will then..." seems to need an active verb
And some proposed text:
Available since Copter 3.2.1: you can explicitly reset the ROI by sending the
MAV_CMD_DO_SET_ROIcommand with zero in all parameters. The vehicle will return to face the direction of travel.
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@hamishwillee Added a comment since I found the wording a bit ambiguous. Review, change if desired, and I'll merge after your go-ahead. |
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@tcr3dr Thanks for the review - I find it hard to be objective about my text at the point I write it. I've now used the sphinx ".. versionadded::" directive which prefixes the text with "New in version" (I will get Kaitlyn to update the theme to highlight this like a note). I think using semantic markup in source is better because it allows for global change. For the final sentence I changed it to "The front of the vehicle will then follow the direction of travel.". I think "follow" makes it clear that this isn't a one off change to face the direction of travel. Please merge if you're happy, and thanks again. |
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@hamishwillee This looks great! And I feel we'll be addressing version-specific features more as we move along, so a useful foray into it. |
Add information about clearing ROI
Found information about clearing ROI in this post: #20 (comment)
I tested this and it works. I didn't add test code demonstrating it. I could if this is considered useful?