Changes

• Significant update to autonomous flights API:
  • Allow using NaNs for most of services parameters.
  • Added terrain frame.
  • Added set_altitude service.
  • Removed yaw_rate parameter from most services, added set_yaw and set_yaw_rate services.
  • Corrected order for pitch and roll everywhere to match XYZ convention.
  • Added simple_offboard/state topic.
• Updates to selfcheck.py:
  • Fixed all false positive warnings if running in the simulation.
  • More complex checks to remove false positive warnings related to markers detection.
  • Experimental parameter for parallel checks (_parallel:=1).
  • Parameter for printing out the time spent on each check (_time:=1).
  • Added time sync offset report.
  • Print out Clover VM version.
  • Cleaned up and redesigned output.
  • Various fixes and updates.
  • Support PX4 v1.14 parameters.
• ArUco markers subsystem:
  • Implemented dynamic reconfiguration for aruco_map node.
  • Made aruco_detect/length parameter dynamic.
  • Added aruco_detect/transform_timeout parameter.
  • Renamed aruco_map/markers topic to aruco_map/map.
  • Renamed known_tilt parameter to known_vertical.
  • Implemented aruco_detect/set_length_override service.
  • Consider markers sizes from map in aruco_detect node.
• Disable optical flow when markers map is recognized.
• Added scripts for automatic testing of autonomous flights.
• Added new examples for working with the camera, including a red circle model and its recognition and following.
• Implemented long_callback Python decorator to address the issue #218.
• Implemented optical_flow/enabled dynamic parameter.
• Updated LED strip native library to support RPi 4 rev. 1.5.
• Show number of messages received in web topic viewer.
• Run main_camera/image_raw_throttled topic by default.
• Added rectify argument to main_camera.launch
• Improved launch time by not updating www directory on each start, but on demand only.
• Added a block for reading RC values to blocks programming.
• Added image_geometry package to image.
• Added udev rules for all supported autopilots by PX4.
• Various changes (full list).

^{Contributors: @okalachev, @SeliverstovaE, @oponfil, @stinger000, @muramura.}