docs: fixed gross errors

docs/en/animation.md

@@ -26,7 +26,7 @@ The key parameter that defines the logic of animation playback is the `start_act
 * `fly` - executing *the logic of immediate flight*
 * `takeoff` - execution of *the logic of flight to the first point*
 
-f the copter takes off from the ground in the animation file, at the start of the animation, the instantaneous playback logic (fly)** will be applied: the copter with the motors turned off plays the color from the animation as long as it is stationary, turns the motors on before the moment of takeoff, then after `arming_time` starts to follow the points specified in the animation.
+If the copter takes off from the ground in the animation file, at the start of the animation, the instantaneous playback logic (fly)** will be applied: the copter with the motors turned off plays the color from the animation as long as it is stationary, turns the motors on before the moment of takeoff, then after `arming_time` starts to follow the points specified in the animation.
 
  If in the animation file the copter starts to fly in the air, at the start of the animation will be applied **flight logic to the first point (takeoff)**: The copter with the motors turned off plays the color from the animation as long as it is stationary, turns the motors on before takeoff, then takes off in `takeoff_height` time, then moves to the first point in `reach_first_point_time` and then starts to follow the points specified in the animation.
 
@@ -42,7 +42,7 @@ Create object animations in [Blender](https://www.blender.org) or use [examples]
 The copter can be represented by any three-dimensional object (e.g., a cube or a ball), and the LED strip color will be extracted from the object color property. Consider the following facts and recommendations when creating an animation:
 
 * For easy conversion and uploading of animation to copters, objects corresponding to copters should have names corresponding to the names of these copters.
-* Blender distance units are converted into meters
+* Blender distance units are converted into meters.
 * The default delay between frames in [Copter settings](.../../drone/config/spec/configspec_client.ini) is 0.1 seconds (parameter `frame_delay` in ANIMATION section), pay attention when setting the frame rate in Blender animation.
 * Make sure that the speed of the copters is not too high ( maximum of 3 m/s for the room, maximum of 5 m/s for the street): the addon will give a warning but will still convert the animation.
 
@@ -70,4 +70,4 @@ optional arguments:
   --config    Set this option to print config info.
 ```
 
-This utility displays full information about the client's animation and configuration settings (optional), as well as both possible playback options for the animation, which allows to analyze the actions of the copters before a real flight.
+This utility displays full information about the client's animation and configuration settings (optional), as well as both possible playback options for the animation, which allows to analyze the actions of the copters before a real flight.

docs/en/blender-addon.md

@@ -2,7 +2,7 @@
 
 The Addon for Blender is designed to convert Blender's copters flight animations into flight paths for each copter of the animation, including the color of objects at any given time.
 
-##  Installation and configuration
+## Installation and configuration
 
 * Download and install the latest version of Blender 2.83 from [the official website](https://www.blender.org/download/).
 * Open Blender, select `Edit > Preferences` from the top menu. In the opened settings window, select `Add-ons` in the side panel. Click the button `Install...` in the upper right corner of the window. In the dialog box, open the path to the addon folder [clever-show/blender-addon](.../../blender-addon/) and select the file `addon.py`. Click `Install Add-on from file...`. Addon is now installed.
@@ -28,4 +28,4 @@ For more information, click the arrow icon to the left of the activation field.
 
 * `Documentation` - leads to the addon's documentation page
 * `Report a bug` - leads to the issues page of the clever-show repository
-* `Remove` - removes the addon (before installing a new version it is recommended to remove the old one)
+* `Remove` - removes the addon (before installing a new version it is recommended to remove the old one)

docs/en/client.md

@@ -110,7 +110,7 @@ This section configures the animation processing. A separate module [animation](
 
 An animation frame is a set of data necessary to position the copter and determine its led strip color. In the current version of the software the animation frame is represented by a sequence of numbers `x y zaw r g b` in the line `.csv` of the animation file, where:
 
-* `x', `y', `z' - copter coordinates in the current frame, in meters
+* `x',`y', `z' - copter coordinates in the current frame, in meters
 * `yaw` - the copter's yaw in radians
 * `r`, `g`, `b` - components of the color of the copter led strip, integers from 0 to 255
 
@@ -137,7 +137,7 @@ If the copter takes off from the ground in the animation file, at the start of t
 
 * `frame_delay` - playback time of one frame in seconds
 
-* `yaw` - copter rotation during flight to points, in degrees. If `nan', the copter preserves its original orientation in flight. If `animation` - the copter rotates by yaw from the animation file.
+* `yaw` - copter rotation during flight to points, in degrees. If `nan`, the copter preserves its original orientation in flight. If `animation` - the copter rotates by yaw from the animation file.
 
 * `ratio` - scale of animation (ratio_x, ratio_y, ratio_z) along the axis (x, y, z)
 
@@ -161,7 +161,7 @@ This section configures the program of emergency protection of the copter from a
 
 * `enabled` - boolean value, determines whether to use emergency protection in case of loss of visual position or collision with an object.
 * `log_state` -  boolean value, determines whether the copter state will be logged in the service log:  `armed: {} | mode: {} | vis_dt: {:.2f} | pos_delta: {:.2f} | pos_dt: {:.2f} | range: {:.2f} | watchdog_action: {}`.
-* `action` - action upon emergency protection triggering. Available options: `land` - landing of the copter in the flight controllers mode AUTO.LAND, `emergency_land` - landing of the copter with the gradual reduction of the motor power, `disarm` - switching off the motors. ** Attention!** It is not recommended to use the AUTO.LAND mode with the barometer turned off - when the altitude source in flight is lost, e.g. laser reading or visual position, the AUTO.LAND mode does not guarantee the landing of the copter, because it is oriented to the altitude reading. It is recommended to use the `emergency_land` mode to land the copter when positioning it using a visual position or laser and the possibility of losing data from these systems.
+* `action` - action upon emergency protection triggering. Available options: `land` - landing of the copter in the flight controllers mode AUTO.LAND, `emergency_land` - landing of the copter with the gradual reduction of the motor power, `disarm` - switching off the motors. **Warning!** It is not recommended to use the AUTO.LAND mode with the barometer turned off - when the altitude source in flight is lost, e.g. laser reading or visual position, the AUTO.LAND mode does not guarantee the landing of the copter, because it is oriented to the altitude reading. It is recommended to use the `emergency_land` mode to land the copter when positioning it using a visual position or laser and the possibility of losing data from these systems.
 * `vision_pose_delay_after_arm` - time after takeoff of the copter in seconds, required to get the visual position. During this time after takeoff, the visual position loss protection will not work. This parameter is useful when using the emergency protection module in conjunction with the positioning system with aruco markers located on the floor: at takeoff copter has no visual position for some time.
 * `vision_pose_timeout` - time in seconds after losing the visual position, after which the emergency protection is triggered.
 * `position_delta_max` - the maximum distance between the current position and the point where the copter should now be in meters. Required to check for collision of the copter with objects. If the distance between the current position of the copter and the point where the copter should be now is greater than this number (in meters), an emergency protection is triggered.
@@ -183,8 +183,8 @@ System settings for client's service commands
 
 #### NTP section
 
-In addition to time synchronization (with millisecond precision) using the chrony package, there is an alternative - the ability to use external (in case the local network has a connection to the Internet) or intranet NTP-servers. ** Attention!** For correct system operation, both the server and the clients** must use a single method of time synchronization (a set of parameters in this section). This section is fully unified for both server and clients.
+In addition to time synchronization (with millisecond precision) using the chrony package, there is an alternative - the ability to use external (in the presence of a local network connection to the Internet) or intranet NTP-servers. **Warning!** For proper system operation, both **the server and the clients** must use a single method of time synchronization (set of parameters in this section). This section is fully unified for both server and clients.
 
-* `use_ntp` - determines whether time synchronization using NTP will be used. (if `False', the local OS time will be used (synchronized automatically when using chrony). * It is recommended to use chrony instead of NTP*.
+* `use` - determines whether time synchronization using NTP will be used. (if `False', the local OS time will be used (synchronized automatically when using chrony). *It is recommended to use chrony instead of NTP*.
 * `host` - host name or IP address of the NTP server (local or remote)
-* `port` -  port used by the NTP server
+* `port` - port used by the NTP server

docs/en/image-building.md

@@ -12,7 +12,7 @@ sudo apt install docker.io
 
 ## Local build with modified Clover settings
 
-* Place the Clover configuration folders (`launch`, `map` and `camera_info`) in the`builder/clever-config`  [folder](../../builder/clever-config)  in the clever-show source directory. 
+* Place the Clover configuration folders (`launch`, `map` and `camera_info`) in the`builder/clever-config`  [folder](../../builder/clever-config)  in the clever-show source directory.
   * All files from the `launch` folder will be copied to the `/home/pi/catkin_ws/src/clever/clever/launch' directory in the built image.
   * All files from the `map` folder will be copied to the `/home/pi/catkin_ws/src/clever/aruco_pose/map` directory in the built image.
   * All files from the `camera_info` folder will be copied to the `/home/pi/catkin_ws/src/clever/clever/camera_info` directory in the built image.

docs/en/positioning.md

@@ -4,7 +4,7 @@ The `clover` software officially supports the following [positioning systems](ht
 
 * [optical flow](https://clover.coex.tech/en/optical_flow.html)
 * [aruco](https://clover.coex.tech/en/aruco.html)
-* [gps](https://clover.coex.tech/en/gps.html) 
+* [gps](https://clover.coex.tech/en/gps.html)
 
 The `clever-show` software supports all positioning systems supporte by`clover`.
 
@@ -28,13 +28,13 @@ If the takeoff was successful, reproduce the client configuration, positioning s
 * The copter configuration file (`.ini`) can be saved by right-clicking on the row with the configured copter, selecting `Edit config` from the drop-down menu and then clicking the button `Save as`. You can also drag a cell from the `configuration` column to the file manager of your system - the server will automatically copy the configuration file to the open directory of the file manager.
 * The server configuration file (`.ini`) can be saved by selecting `Server -> Edit server config` from the top menu and then clicking the button `Save as`.
 * The flight controller configuration file can be saved by connecting to the flight controller through [QGroundControl](http://qgroundcontrol.com) application. It is possible to connect directly to the flight controller [via USB port](https://clover.coex.tech/en/connection.html) or  [via TCP or UDP bridge](https://clover.coex.tech/en/gcs_bridge.html)  (the TCP bridge is configured in the `clever-show` image by default,  in the `Host Address` field you can enter the name of the copter instead of the ip address with the addition of .local at the end, e.g. clover-1.local). After connection you should go to [section](https://docs.px4.io/master/en/advanced_config/parameters.html#tools) `Parameters -> Tools -> Save to file...` and choose the path to save the parameter file.
-* * The camera calibration file is useful for refinement of visual positioning. The name of the calibration file should consist of the id of the copter, for which the calibration was made, with the addition of the extension `.yaml', e.g. `clover-1.yaml'. To get the calibration files, use the [manual](https://clover.coex.tech/ru/camera_calibration.html).
+* The camera calibration file is useful for refinement of visual positioning. The name of the calibration file should consist of the id of the copter, for which the calibration was made, with the addition of the extension `.yaml', e.g.`clover-1.yaml'. To get the calibration files, use the [manual](https://clover.coex.tech/ru/camera_calibration.html).
 
 After loading the necessary files from the configured copter, copy these files to the other copters: select the necessary copters in the table and use the commands `Send -> Configuration`, `Send -> Launch files folder`, `Send -> FCU parameters file`, `Send -> Camera calibrations` from the `Selected drones` section of the [server](server.md#Selected-drones) application .
 
 ## Settings of clever-show server and client
 
-The `clever-show' software suite includes many status checks of the copters to minimize the number of failed launches as well as a set of parameters to configure the positioning systems. All settings are stored in client and server application configuration files. Each positioning system has its own features that need to be taken into account when configuring the server-client interaction. Below are the settings that you need to pay attention to when configuring the client and server:
+The `clever-show` software suite includes many status checks of the copters to minimize the number of failed launches as well as a set of parameters to configure the positioning systems. All settings are stored in client and server application configuration files. Each positioning system has its own features that need to be taken into account when configuring the server-client interaction. Below are the settings that you need to pay attention to when configuring the client and server:
 
 * Server:
   * [CHECKS](server.md#checks) section - server side copter telemetry checks
@@ -99,7 +99,7 @@ Server configuration with values applicable to work with `optical flow`: [server
 
 To set the parameters manually, use the command `Server -> Edit config` from the top menu of the server.
 
-#### Option 2. Reset all server configuration settings
+#### Option 2. Reset all server configuration options
 
 In order to configure the server configuration for positioning by optical flow, you can reset the configuration data to default values. To do this, delete the generated configuration file on the server: