Docs: New HW Connection diagram

README.md

@@ -216,7 +216,7 @@ Apollo 3.5 is capable of navigating through complex driving scenarios such as re
 
 * **Hardware Connection Overview**
 
-![image alt text](docs/demo_guide/images/Hardware_connection_3_5.png)
+![image alt text](docs/demo_guide/images/Hardware_connection_3_5_1.png)
 
 * **Software Overview - Navigation Mode**
 

docs/quickstart/apollo_2_5_hardware_system_installation_guide_v1.md

@@ -767,7 +767,7 @@ Each HDL-64E S3 LiDAR includes a cable bundle to connect the LiDAR to the power
 
 In Apollo 2.5, map creation service has been opened to the public. To acquire the data necessary for map creation, one would need to install an additional VLP-16 LiDAR on the vehicle. The purpose of this LiDAR is to collect point cloud information for objects above the FOV of the HDL-64 S3 Lidar, such as traffic lights and signs. It requires a customized rack to mount the VLP-16 Lidar on top of the vehicle. The figure below shows one of the possible configurations. ![VLP_16_installation](images/VLP16_install_configuration.jpg)
 
-In this specific configuration, the VLP-16 LiDAR is mounted with an upward tilt of 20±2°. The power cable of the VLP-16 is connected to the DataSpeed power panel. The ethernet connection is connected to the IPC (possibly through an ethernet switch). Similar to HDL-64 S3 LiDAR, the VLP-16 GPRMC and PPS input from the GPS receiver. Ideally, additional hardware should be installed to duplicate the GPRMC and PPS signal from the GPS receiver send to HDL-64 and VLP-16 respectively. However, a simple Y-split cable may also provide adequate signal for both LiDAR's. To distingush from the HDL-64 S3 LiDAR, please follow the VLP-16 manual and use the webpage interface to configure the IP of VLP-16 to 192.168.20.14, the data port to 2369, and the telemetry port to 8309. The pinout for the signal input from GPS receiver can also be found in the manual if you need customized cable.
+In this specific configuration, the VLP-16 LiDAR is mounted with an upward tilt of 20±2°. The power cable of the VLP-16 is connected to the DataSpeed power panel. The ethernet connection is connected to the IPC (possibly through an ethernet switch). Similar to HDL-64 S3 LiDAR, the VLP-16 GPRMC and PPS input from the GPS receiver. Ideally, additional hardware should be installed to duplicate the GPRMC and PPS signal from the GPS receiver send to HDL-64 and VLP-16 respectively. However, a simple Y-split cable may also provide adequate signal for both LiDAR's. To distinguish from the HDL-64 S3 LiDAR, please follow the VLP-16 manual and use the webpage interface to configure the IP of VLP-16 to 192.168.20.14, the data port to 2369, and the telemetry port to 8309. The pinout for the signal input from GPS receiver can also be found in the manual if you need customized cable.
 
 ![online_icon](images/online_icon.png)VLP-16 Manual can be found on this webpage:
 

docs/specs/qp_spline_path_optimizer.md

@@ -46,7 +46,7 @@ s.t. \qquad & LB \leq x \leq UB \\
 \end{aligned}
 $$
 </p>
-Below is the example for converting the cost function into the QP formulaiton. 
+Below is the example for converting the cost function into the QP formulation. 
 <p>
 $$
 f_i(s) ＝