From 7ae09fc3e8dbcb7d3254ee21f8c116243b3f723b Mon Sep 17 00:00:00 2001 From: PX4 Build Bot Date: Thu, 18 Jun 2026 16:03:56 +1000 Subject: [PATCH] docs(i18n): PX4 guide translations (Crowdin) - ko (#27664) Co-authored-by: Crowdin Bot --- docs/ko/SUMMARY.md | 3 + .../ko/advanced_config/airspeed_validation.md | 2 +- docs/ko/advanced_config/ethernet_setup.md | 2 +- docs/ko/advanced_config/prearm_arm_disarm.md | 10 +- docs/ko/advanced_config/tuning_the_ecl_ekf.md | 2 +- docs/ko/advanced_features/precland.md | 2 +- .../vision_target_estimator_advanced.md | 4 +- docs/ko/airframes/airframe_reference.md | 4 +- docs/ko/assembly/quick_start_durandal.md | 2 +- docs/ko/camera/fc_connected_camera.md | 2 +- .../computer_vision/collision_prevention.md | 2 +- .../visual_inertial_odometry.md | 2 +- docs/ko/config/compass.md | 4 +- docs/ko/config/safety.md | 53 ++-- docs/ko/config_mc/filter_tuning.md | 2 +- .../config_mc/pid_tuning_guide_multicopter.md | 2 +- docs/ko/config_rover/attitude_tuning.md | 2 +- docs/ko/config_rover/basic_setup.md | 8 +- docs/ko/config_rover/position_tuning.md | 6 +- docs/ko/config_rover/rate_tuning.md | 2 +- docs/ko/config_rover/velocity_tuning.md | 4 +- docs/ko/config_vtol/vtol_weathervane.md | 2 +- docs/ko/debug/profiling.md | 2 +- docs/ko/dev_log/logging.md | 2 +- docs/ko/development/development.md | 3 +- docs/ko/dronecan/ark_cannode.md | 2 +- docs/ko/dronecan/ark_flow.md | 2 +- docs/ko/dronecan/ark_flow_mr.md | 2 +- docs/ko/dronecan/ark_gps.md | 2 +- docs/ko/dronecan/ark_rtk_gps.md | 2 +- docs/ko/dronecan/ark_rtk_gps_l1_l2.md | 2 +- docs/ko/dronecan/ark_x20_rtk_gps.md | 2 +- docs/ko/dronecan/index.md | 62 +++- docs/ko/flight_controller/3dr_ctrl-n1.md | 143 ++++++++++ docs/ko/flight_controller/airlink.md | 2 +- .../autopilot_experimental.md | 4 + .../autopilot_manufacturer_supported.md | 8 +- docs/ko/flight_controller/corvon_743v2.md | 173 +++++++++++ docs/ko/flight_controller/index.md | 4 + docs/ko/flight_controller/kakuteh7.md | 2 +- docs/ko/flight_controller/kakuteh7mini.md | 2 +- docs/ko/flight_controller/kakuteh7v2.md | 2 +- docs/ko/flight_controller/pixhawk_series.md | 2 +- docs/ko/flight_controller/radiolink_pix6.md | 2 +- .../flight_controller/vololand_narinfc_h7.md | 205 +++++++++++++ docs/ko/flight_modes/offboard.md | 67 +++-- docs/ko/flight_modes/return.md | 35 +-- docs/ko/flight_modes_fw/acro.md | 2 +- docs/ko/flight_modes_fw/altitude.md | 17 +- docs/ko/flight_modes_fw/guided_course.md | 4 +- docs/ko/flight_modes_fw/hold.md | 2 +- docs/ko/flight_modes_fw/land.md | 4 +- docs/ko/flight_modes_fw/manual.md | 2 +- docs/ko/flight_modes_fw/mission.md | 14 +- docs/ko/flight_modes_fw/position.md | 17 +- docs/ko/flight_modes_fw/return.md | 4 +- docs/ko/flight_modes_fw/stabilized.md | 2 +- docs/ko/flight_modes_fw/takeoff.md | 6 +- docs/ko/flight_modes_mc/acro.md | 2 +- docs/ko/flight_modes_mc/altitude.md | 2 +- docs/ko/flight_modes_mc/altitude_cruise.md | 2 +- docs/ko/flight_modes_mc/follow_me.md | 4 +- docs/ko/flight_modes_mc/hold.md | 8 +- docs/ko/flight_modes_mc/land.md | 6 +- docs/ko/flight_modes_mc/manual_stabilized.md | 2 +- docs/ko/flight_modes_mc/mission.md | 6 +- docs/ko/flight_modes_mc/orbit.md | 4 +- docs/ko/flight_modes_mc/position.md | 2 +- docs/ko/flight_modes_mc/return.md | 36 +-- docs/ko/flight_modes_mc/takeoff.md | 4 +- docs/ko/flight_modes_vtol/land.md | 2 +- docs/ko/flight_modes_vtol/return.md | 4 +- docs/ko/flight_stack/controller_diagrams.md | 2 +- docs/ko/flying/pre_flight_checks.md | 4 +- .../holybro_s500_v2_pixhawk4.md | 6 +- .../holybro_x500v2_pixhawk6c.md | 4 +- docs/ko/gps_compass/gps_cuav_neo_3pro.md | 2 +- docs/ko/gps_compass/gps_cuav_neo_3x.md | 2 +- docs/ko/gps_compass/gps_locosys_hawk_a1.md | 4 +- docs/ko/gps_compass/rtk_gps.md | 2 +- docs/ko/hardware/board_support_guide.md | 269 +++++++++++------- docs/ko/hardware/porting_guide.md | 39 +-- docs/ko/mavlink/security_hardening.md | 2 +- docs/ko/middleware/zenoh.md | 12 + docs/ko/modules/modules_command.md | 4 + docs/ko/modules/modules_driver.md | 34 +++ docs/ko/msg_docs/ActionRequest.md | 8 + docs/ko/msg_docs/ArmingCheckReplyV0.md | 2 +- docs/ko/msg_docs/HealthReport.md | 20 +- docs/ko/msg_docs/LedControl.md | 2 +- docs/ko/msg_docs/PowerButtonState.md | 2 +- .../msg_docs/RegisterExtComponentRequest.md | 2 +- .../msg_docs/RegisterExtComponentRequestV0.md | 2 +- .../msg_docs/RegisterExtComponentRequestV1.md | 2 +- docs/ko/msg_docs/TelemetryStatus.md | 2 +- docs/ko/msg_docs/VehicleCommand.md | 2 +- docs/ko/msg_docs/VehicleStatus.md | 2 +- docs/ko/msg_docs/VehicleStatusV0.md | 2 +- docs/ko/msg_docs/VehicleStatusV2.md | 2 +- docs/ko/msg_docs/VehicleStatusV3.md | 2 +- docs/ko/peripherals/adsb_flarm.md | 6 +- docs/ko/peripherals/frsky_telemetry.md | 2 +- docs/ko/peripherals/vesc.md | 2 +- docs/ko/releases/1.15.md | 2 +- docs/ko/releases/1.16.md | 2 +- docs/ko/releases/1.17.md | 5 +- docs/ko/releases/1.18.md | 19 +- docs/ko/releases/main.md | 2 +- docs/ko/ros/external_position_estimation.md | 4 +- docs/ko/ros2/user_guide.md | 2 +- docs/ko/sensor/grf_lidar.md | 2 +- docs/ko/sensor/optical_flow.md | 2 +- docs/ko/sensor/sf45_rotating_lidar.md | 4 +- docs/ko/sim_gazebo_gz/index.md | 1 + docs/ko/sim_gazebo_gz/vehicles.md | 2 +- docs/ko/sim_gazebo_gz/worlds.md | 26 +- 116 files changed, 1148 insertions(+), 387 deletions(-) create mode 100644 docs/ko/flight_controller/3dr_ctrl-n1.md create mode 100644 docs/ko/flight_controller/corvon_743v2.md create mode 100644 docs/ko/flight_controller/vololand_narinfc_h7.md diff --git a/docs/ko/SUMMARY.md b/docs/ko/SUMMARY.md index 5e3efd0419..623d63ad69 100644 --- a/docs/ko/SUMMARY.md +++ b/docs/ko/SUMMARY.md @@ -164,6 +164,7 @@ - [mRo Pixhawk (FMUv3)](flight_controller/mro_pixhawk.md) - [mRo (3DR) Pixhawk 배선 퀵 스타트](assembly/quick_start_pixhawk.md) - [Manufacturer-Supported Autopilots](flight_controller/autopilot_manufacturer_supported.md) + - [3DR Control N1](flight_controller/3dr_ctrl-n1.md) - [Accton Godwit GA1](flight_controller/accton-godwit_ga1.md) - [AEDROX AEDROXH7](flight_controller/aedrox_aedroxh7.md) - [AirMind MindPX](flight_controller/mindpx.md) @@ -174,6 +175,7 @@ - [ARK Pi6X Flow Flight Controller](flight_controller/ark_pi6x.md) - [CBUnmanned H753-SOM](flight_controller/cbunmanned_h753-som.md) - [CORVON 743v1](flight_controller/corvon_743v1.md) + - [CORVON 743v2](flight_controller/corvon_743v2.md) - [CUAV Nora](flight_controller/cuav_nora.md) - [CUAV V5+ (FMUv5)](flight_controller/cuav_v5_plus.md) - [Wiring Quickstart](assembly/quick_start_cuav_v5_plus.md) @@ -205,6 +207,7 @@ - [ThePeach FCC-K1](flight_controller/thepeach_k1.md) - [ThePeach FCC-R1](flight_controller/thepeach_r1.md) - [AP-H743-R1](flight_controller/x-mav_ap-h743r1.md) + - [VOLOLAND NarinFC-H7](flight_controller/vololand_narinfc_h7.md) - [Experimental Autopilots](flight_controller/autopilot_experimental.md) - [BeagleBone Blue](flight_controller/beaglebone_blue.md) - [Raspberry Pi 2/3 Navio2](flight_controller/raspberry_pi_navio2.md) diff --git a/docs/ko/advanced_config/airspeed_validation.md b/docs/ko/advanced_config/airspeed_validation.md index 2bbb437632..37b04989a7 100644 --- a/docs/ko/advanced_config/airspeed_validation.md +++ b/docs/ko/advanced_config/airspeed_validation.md @@ -182,7 +182,7 @@ Only when the measured airspeed began decreasing very quickly would the innovati Listed below are all the relevant parameters. -| 매개변수 | 설명 | Used In | +| Parameter | 설명 | Used In | | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------- | | [ASPD_DO_CHECKS](../advanced_config/parameter_reference.md#ASPD_DO_CHECKS) | Bitmask to enable/disable individual airspeed validation checks. | | | [ASPD_FS_INNOV](../advanced_config/parameter_reference.md#ASPD_FS_INNOV) | Innovation threshold between estimated and predicted TAS. | [Innovation Check](#innovation-check) | diff --git a/docs/ko/advanced_config/ethernet_setup.md b/docs/ko/advanced_config/ethernet_setup.md index 161b254687..461a30d184 100644 --- a/docs/ko/advanced_config/ethernet_setup.md +++ b/docs/ko/advanced_config/ethernet_setup.md @@ -165,7 +165,7 @@ You must separately configure the PX4 IP address and other _network settings_ ([ PX4 configures the serial port to connect to a GCS via MAVLink, using the parameters shown below: -| 매개변수 | Value | 설명 | +| Parameter | Value | 설명 | | --------------------------------------------------------------------------------------------------------------------------------------------- | ------ | --------------------------------------------------------------------------------------------------------------- | | [MAV_2_CONFIG](../advanced_config/parameter_reference.md#MAV_2_CONFIG) | 1000 | Configure Ethernet port | | [MAV_2_BROADCAST](../advanced_config/parameter_reference.md#MAV_2_BROADCAST) | 1 | Broadcast `HEARTBEAT` messages | diff --git a/docs/ko/advanced_config/prearm_arm_disarm.md b/docs/ko/advanced_config/prearm_arm_disarm.md index 5443c089ee..c75877807d 100644 --- a/docs/ko/advanced_config/prearm_arm_disarm.md +++ b/docs/ko/advanced_config/prearm_arm_disarm.md @@ -58,7 +58,7 @@ RC controllers will use different sticks for throttle and yaw [based on their mo Note that disarming in any altitude controlled mode is only possible after landing was detected. In manually piloted modes without altitude control, such as Stabilized, Acro, and Manual, it's always possible to disarm using gestures or buttons — even in flight. -| 매개변수 | 설명 | +| Parameter | 설명 | | -------------------------------------------------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------- | | [MAN_ARM_GESTURE](../advanced_config/parameter_reference.md#MAN_ARM_GESTURE) | Enable arm/disarm stick guesture. `0`: Disabled, `1`: Enabled (default). | @@ -75,7 +75,7 @@ Two-position arming switches are primarily used in/recommended for racing drones The switch or button is assigned (and enabled) using [RC_MAP_ARM_SW](#RC_MAP_ARM_SW), and the switch "type" is configured using [COM_ARM_SWISBTN](#COM_ARM_SWISBTN). -| 매개변수 | 설명 | +| Parameter | 설명 | | ----------------------------------------------------------------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | [RC_MAP_ARM_SW](../advanced_config/parameter_reference.md#RC_MAP_ARM_SW) | RC arm 스위치 채널 (기본값 : 0 - 할당되지 않음). 정의된 경우 지정된 RC 채널(버튼/스위치)이 스틱 제스처 대신 시동용으로 사용됩니다.
**Note:**
- This setting _disables the stick gesture_!
- This setting applies to RC controllers. It does not apply to Joystick controllers that are connected via _QGroundControl_. | | [COM_ARM_SWISBTN](../advanced_config/parameter_reference.md#COM_ARM_SWISBTN) | 시동 스위치는 순간적으로 동작하는 버튼입니다.
- `0`: Arm switch is a 2-position switch where arm/disarm commands are sent on switch transitions.
-`1`: Arm switch is a momentary button where the arm/disarm command is sent after holding down the button for one second. | @@ -89,7 +89,7 @@ The switch can also be set as part of _QGroundControl_ [Flight Mode](../config/f 기본적으로, 기체는 착륙시 시동 해제 되며, 시동후 이륙 시간이 너무 오래 걸리면 자동으로 시동 해제됩니다. 이 기능은 다음 시간 제한을 사용하여 설정됩니다. -| 매개변수 | 설명 | +| Parameter | 설명 | | ----------------------------------------------------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------- | | [COM_DISARM_LAND](../advanced_config/parameter_reference.md#COM_DISARM_LAND) | 착륙후 자동 시동 해제 대기 시간. 기본값: 2s (-1 비활성화). | | [COM_DISARM_PRFLT](../advanced_config/parameter_reference.md#COM_DISARM_PRFLT) | 이륙 속도가 너무 느리면 자동 시동 해제 시간이 초과됩니다. Default: 10s (-1 to disable). | @@ -112,7 +112,7 @@ A vehicle that arms automatically can spin up motors and actuators without any o Ensure the vehicle is in a safe state before powering on. ::: -| 매개변수 | 설명 | +| Parameter | 설명 | | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------- | | [COM_ARM_ON_BOOT](../advanced_config/parameter_reference.md#COM_ARM_ON_BOOT) | Arm automatically once preflight checks pass after boot. Default: `0` (Disabled). | @@ -246,7 +246,7 @@ This corresponds to [COM_PREARM_MODE=2](#COM_PREARM_MODE) (Always) and [CBRK_IO_ ### 매개변수 -| 매개변수 | 설명 | +| Parameter | 설명 | | -------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | [COM_PREARM_MODE](../advanced_config/parameter_reference.md#COM_PREARM_MODE) | 시동전 모드로 진입하는 상태입니다. `0`: Disabled, `1`: Safety switch (prearm mode enabled by safety switch; if no switch present cannot be enabled), `2`: Always (prearm mode enabled from power up). Default: `1` (safety button). | | [CBRK_IO_SAFETY](../advanced_config/parameter_reference.md#CBRK_IO_SAFETY) | 입출력 안전을 위한 회로 차단. | diff --git a/docs/ko/advanced_config/tuning_the_ecl_ekf.md b/docs/ko/advanced_config/tuning_the_ecl_ekf.md index 7146ae8209..a70e3aa500 100644 --- a/docs/ko/advanced_config/tuning_the_ecl_ekf.md +++ b/docs/ko/advanced_config/tuning_the_ecl_ekf.md @@ -328,7 +328,7 @@ The following items should be checked during setup: For the ECL to accept GNSS data for navigation, certain minimum requirements need to be satisfied over a period of time, defined by [EKF2_REQ_GPS_H](../advanced_config/parameter_reference.md#EKF2_REQ_GPS_H) (10 seconds by default). -Minima are defined in the [EKF2_REQ_\*](../advanced_config/parameter_reference.md#EKF2_REQ_EPH) parameters and each check can be enabled/disabled using the [EKF2_GPS_CHECK](../advanced_config/parameter_reference.md#EKF2_GPS_CHECK) parameter. +Minima are defined in the [EKF2_REQ_\*](../advanced_config/parameter_reference.md#EKF2_REQ_EPH) parameters and each check can be enabled/disabled using the [EKF2_GPS_CHECK](../advanced_config/parameter_reference.md#EKF2_GPS_CHECK) parameter. The table below shows the different metrics directly reported or calculated from the GNSS data, and the minimum required values for the data to be used by ECL. In addition, the _Average Value_ column shows typical values that might reasonably be obtained from a standard GNSS module (e.g. u-blox M8 series) - i.e. values that are considered good/acceptable. diff --git a/docs/ko/advanced_features/precland.md b/docs/ko/advanced_features/precland.md index e16b613483..c97b7f691b 100644 --- a/docs/ko/advanced_features/precland.md +++ b/docs/ko/advanced_features/precland.md @@ -164,7 +164,7 @@ If `LTEST_MODE` is set to stationary, the target measurements are also used by t Other relevant parameters are listed in the parameter reference under [Landing_target estimator](../advanced_config/parameter_reference.md#landing-target-estimator) and [Precision land](../advanced_config/parameter_reference.md#precision-land) parameters. 가장 유용한 몇 가지가 아래에 나열되어 있습니다. -| 매개변수 | 설명 | +| Parameter | 설명 | | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | [SENS_EN_IRLOCK](../advanced_config/parameter_reference.md#SENS_EN_IRLOCK) | IR-LOCK 센서(외부 I2C). Disable: `0` (default): Enable: `1`). | | [LTEST_MODE](../advanced_config/parameter_reference.md#LTEST_MODE) | Landing target is moving (`0`) or stationary (`1`). 기본값은 이동입니다. | diff --git a/docs/ko/advanced_features/vision_target_estimator_advanced.md b/docs/ko/advanced_features/vision_target_estimator_advanced.md index ff56833cf4..1ab0aa6be6 100644 --- a/docs/ko/advanced_features/vision_target_estimator_advanced.md +++ b/docs/ko/advanced_features/vision_target_estimator_advanced.md @@ -169,7 +169,7 @@ $$ R_{\text{eff}} = \max\bigl(R_{\text{reported}},\ \text{VTE\_*\_NOISE}^2\bigr). $$ -| 매개변수 | 단위 | 기본값 | Applies to | +| Parameter | 단위 | 기본값 | Applies to | | ------------------------------------------------------------------------------------------------------------------------------------------- | --- | -------------------- | ----------------------------------------------------- | | [VTE_EVP_NOISE](../advanced_config/parameter_reference.md#VTE_EVP_NOISE) | m | 0.10 | Vision relative position | | [VTE_EVA_NOISE](../advanced_config/parameter_reference.md#VTE_EVA_NOISE) | rad | 0.07 | Vision yaw | @@ -192,7 +192,7 @@ All process-noise parameters are continuous-time **power spectral densities** (P A PSD describes the strength of a continuous white-noise process: it is the variance the noise injects per second into the state it directly drives, with units chosen so that `PSD × time` is the variance of that state. See [Spectral density (Wikipedia)](https://en.wikipedia.org/wiki/Spectral_density) for background. -| 매개변수 | Drives directly | Unit | What it represents | +| Parameter | Drives directly | Unit | What it represents | | ------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------- | ------------------------------------ | ------------------------------------------------------------------------------------------------------------- | | [VTE_BIAS_UNC](../advanced_config/parameter_reference.md#VTE_BIAS_UNC) | `bias` (m) | m²/s | PSD of the bias random walk | | [VTE_ACC_D_UNC](../advanced_config/parameter_reference.md#VTE_ACC_D_UNC) | `vel_uav` (m/s) | m²/s³ | PSD of white acceleration noise on the UAV acceleration input | diff --git a/docs/ko/airframes/airframe_reference.md b/docs/ko/airframes/airframe_reference.md index 847758d662..33b816b198 100644 --- a/docs/ko/airframes/airframe_reference.md +++ b/docs/ko/airframes/airframe_reference.md @@ -588,9 +588,9 @@ div.frame_variant td, div.frame_variant th { -## 탐사선 +## Rover -### 탐사선 +### Rover
diff --git a/docs/ko/assembly/quick_start_durandal.md b/docs/ko/assembly/quick_start_durandal.md index e9cc3870de..6817c81941 100644 --- a/docs/ko/assembly/quick_start_durandal.md +++ b/docs/ko/assembly/quick_start_durandal.md @@ -114,7 +114,7 @@ It has the following characteristics/limits: - PCB 전류 : 총 120A 출력 (최대) - UBEC 5V 출력 전류 : 3A - UBEC 입력 전압 : 7 ~ 51v (2 ~ 12s LiPo) -- Dimensions: 68_50_8 mm +- Dimensions: 68_50_8 mm - Mounting Holes: 45\*45mm - 중량: 36g - 패키지 내용물 : diff --git a/docs/ko/camera/fc_connected_camera.md b/docs/ko/camera/fc_connected_camera.md index a7782ce9a0..67da5d8797 100644 --- a/docs/ko/camera/fc_connected_camera.md +++ b/docs/ko/camera/fc_connected_camera.md @@ -139,7 +139,7 @@ At time of writing triggering only works on FMU pins: ### 기타 매개 변수: -| 매개변수 | 설명 | +| Parameter | 설명 | | ------------------------------------------------------------------------------------------------------------------ | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | [TRIG_POLARITY](../advanced_config/parameter_reference.md#TRIG_POLARITY) | Relevant only while using the GPIO interface. Sets the polarity of the trigger pin. Active high means that the pin is pulled low normally and pulled high on a trigger event. Active low is vice-versa. | | [TRIG_INTERVAL](../advanced_config/parameter_reference.md#TRIG_INTERVAL) | Defines the time between two consecutive trigger events in milliseconds. | diff --git a/docs/ko/computer_vision/collision_prevention.md b/docs/ko/computer_vision/collision_prevention.md index 6b7effa795..03b263d66c 100644 --- a/docs/ko/computer_vision/collision_prevention.md +++ b/docs/ko/computer_vision/collision_prevention.md @@ -54,7 +54,7 @@ PX4 v1.14 (and later) supports the [LightWare LiDAR SF45](../sensor/sf45_rotatin Configure collision prevention by [setting the following parameters](../advanced_config/parameters.md) in _QGroundControl_: -| 매개변수 | 설명 | +| Parameter | 설명 | | ----------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | | [CP_DIST](../advanced_config/parameter_reference.md#CP_DIST) | Set the minimum allowed distance (the closest distance that the vehicle can approach the obstacle). Set negative to disable _collision prevention_.
> **Warning** This value is the distance to the sensors, not the outside of your vehicle or propellers. Be sure to leave a safe margin! | | [CP_DELAY](../advanced_config/parameter_reference.md#CP_DELAY) | Set the sensor and velocity setpoint tracking delay. See [Delay Tuning](#delay_tuning) below. | diff --git a/docs/ko/computer_vision/visual_inertial_odometry.md b/docs/ko/computer_vision/visual_inertial_odometry.md index 54d4524328..3853bac207 100644 --- a/docs/ko/computer_vision/visual_inertial_odometry.md +++ b/docs/ko/computer_vision/visual_inertial_odometry.md @@ -69,7 +69,7 @@ These should identify the component as `MAV_COMP_ID_VISUAL_INERTIAL_ODOMETRY` (1 EKF2에서 외부 위치 정보를 사용하려면 다음 매개 변수를 설정하여야 합니다. -| 매개변수 | 외부 위치 추정 설정 | +| Parameter | 외부 위치 추정 설정 | | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------- | | [EKF2_EV_CTRL](../advanced_config/parameter_reference.md#EKF2_EV_CTRL) | Set _horizontal position fusion_, _vertical vision fusion_, _velocity fusion_, and _yaw fusion_ according to your desired fusion model. | | [EKF2_HGT_REF](../advanced_config/parameter_reference.md#EKF2_HGT_REF) | Set to _Vision_ to use the vision as the reference sensor for altitude estimation. | diff --git a/docs/ko/config/compass.md b/docs/ko/config/compass.md index ebe08efa48..36d5a6b075 100644 --- a/docs/ko/config/compass.md +++ b/docs/ko/config/compass.md @@ -141,7 +141,7 @@ The calibration process: commander calibrate mag quick [heading] ``` - | 매개변수 | 설명 | + | Parameter | 설명 | | --------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------- | | `heading` (optional) | True heading of the vehicle in degrees (0–359). Defaults to 0° (North) if omitted. | @@ -204,7 +204,7 @@ Further compass configuration should generally not be required. ### Enable/Disable a Compass While no further configuration should be _required_, developers who wish to disable/enable compasses for any reason, such as testing, can do so using the compass parameters. -These are prefixed with [CAL_MAGx_](../advanced_config/parameter_reference.md#CAL_MAG0_ID) (where `x=0-3`): +These are prefixed with [CAL_MAGx_](../advanced_config/parameter_reference.md#CAL_MAG0_ID) (where `x=0-3`): - [CAL_MAGn_ROT](../advanced_config/parameter_reference.md#CAL_MAG0_ROT) can be used to determine which compasses are internal. A compass is internal if `CAL_MAGn_ROT==1`. diff --git a/docs/ko/config/safety.md b/docs/ko/config/safety.md index f6eaf749b0..1507f9b84b 100644 --- a/docs/ko/config/safety.md +++ b/docs/ko/config/safety.md @@ -86,7 +86,7 @@ The most common configuration is to set the values and action as above (with `Wa 설정에 관련된 기본 매개변수는 다음과 같습니다. -| 설정 | 매개변수 | 설명 | +| 설정 | Parameter | 설명 | | --------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------- | | Failsafe Action | [COM_LOW_BAT_ACT](../advanced_config/parameter_reference.md#COM_LOW_BAT_ACT) | Warn, Return, or Land based when capacity drops below the trigger levels. | | Battery Warn Level | [BAT_LOW_THR](../advanced_config/parameter_reference.md#BAT_LOW_THR) | 경고 (또는 기타 조치)에 대한 용량을 백분율로 설정합니다. | @@ -104,7 +104,7 @@ There are several other "battery related" failsafe mechanisms that may be config 설정에 관련된 기본 매개변수는 다음과 같습니다. -| 설정 | 매개변수 | 설명 | +| 설정 | Parameter | 설명 | | -------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | Low flight time for safe return action | [COM_FLTT_LOW_ACT](../advanced_config/parameter_reference.md#COM_FLTT_LOW_ACT) | Action when return mode can only just reach safety with remaining battery. `0`: None (default), `1`: Warning, `3`: Return mode. | | Maximum flight time failsafe level | [COM_FLT_TIME_MAX](../advanced_config/parameter_reference.md#COM_FLT_TIME_MAX) | Maximum allowed flight time before Return mode will be engaged, in seconds. `-1`: Disabled (default). | @@ -124,7 +124,7 @@ PX4 and the receiver may also need to be configured in order to _detect RC loss_ Additional (and underlying) parameter settings are shown below. -| 매개변수 | 설정 | 설명 | +| Parameter | 설정 | 설명 | | -------------------------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | [COM_RC_LOSS_T](../advanced_config/parameter_reference.md#COM_RC_LOSS_T) | Manual Control Loss Timeout | Time after last setpoint received from the selected manual control source after which manual control is considered lost. This must be kept short because the vehicle will continue to fly using the last known stick position until the timeout triggers. | | [COM_FAIL_ACT_T](../advanced_config/parameter_reference.md#COM_FAIL_ACT_T) | Failsafe Reaction Delay | Delay in seconds between failsafe condition being triggered (`COM_RC_LOSS_T`) and failsafe action (RTL, Land, Hold). In this state the vehicle waits in hold mode for the manual control source to reconnect. This might be set longer for long-range flights so that intermittent connection loss doesn't immediately invoke the failsafe. It can be to zero so that the failsafe triggers immediately. | @@ -140,7 +140,7 @@ Users that want to disable this failsafe in specific modes can do so using the p 설정에 관련된 기본 매개변수는 다음과 같습니다. -| 설정 | 매개변수 | 설명 | +| 설정 | Parameter | 설명 | | ----------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------- | | 데이터 연결불량 시간 초과 | [COM_DL_LOSS_T](../advanced_config/parameter_reference.md#COM_DL_LOSS_T) | 데이터 연결이 끊어진 후 안전 장치가 동작하기 전까지의 시간입니다. | | 안전장치 동작 | [NAV_DLL_ACT](../advanced_config/parameter_reference.md#NAV_DLL_ACT) | Disabled, Hold mode, Return mode, Land mode, Disarm, Terminate. | @@ -169,7 +169,7 @@ PX4 separately supports more complicated Geofence geometries with multiple arbit The settings and underlying [geofence parameters](../advanced_config/parameter_reference.md#geofence) are shown below. -| 설정 | 매개변수 | 설명 | +| 설정 | Parameter | 설명 | | ------------------- | ------------------------------------------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------- | | 위반시 동작 | [GF_ACTION](../advanced_config/parameter_reference.md#GF_ACTION) | 없음, 경고, 보류 모드, 반환 모드, 종료, 착륙. | | 최대 반경 | [GF_MAX_HOR_DIST](../advanced_config/parameter_reference.md#GF_MAX_HOR_DIST) | 지오펜스 실린더의 수평 반경. 0 인 경우 지오펜스가 비활성화됩니다. | @@ -182,7 +182,7 @@ Due to the inherent danger of this, this function is disabled using [CBRK_FLIGHT 다음 설정도 가능하지만 QGC UI에 표시되지 않습니다. -| 설정 | 매개변수 | 설명 | +| 설정 | Parameter | 설명 | | ------------------------------------------------------------------ | ------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------ | | Geofence source | [GF_SOURCE](../advanced_config/parameter_reference.md#GF_SOURCE) | 위치 소스가 글로벌 위치인지 또는 GPS 장치에서 직접 가져오는 지를 설정합니다. | | Circuit breaker for flight termination | [CBRK_FLIGHTTERM](../advanced_config/parameter_reference.md#CBRK_FLIGHTTERM) | 비행 종료 작업을 활성화/비활성화합니다 (기본적으로 비활성화 됨). | @@ -206,7 +206,7 @@ The position loss failsafe triggers if the position estimate becomes _invalid_. The relevant parameters shown below. -| 매개변수 | 설명 | +| Parameter | 설명 | | -------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | | [EKF2_NOAID_TOUT](../advanced_config/parameter_reference.md#EKF2_NOAID_TOUT) | Maximum inertial dead-reckoning time, so the time after the last data sample was received of any sensor that constrains the velocity drift [microseconds]. | | [COM_POS_FS_EPH](../advanced_config/parameter_reference.md#COM_POS_FS_EPH) | Horizontal position error threshold for hovering vehicles (Multicopters and VTOLs in hover). Fixed-wing vehicles have this value set to infinity. | @@ -220,7 +220,7 @@ If VTOLs have are configured to switch to hover for landing ([NAV_FORCE_VT](../a The relevant parameters are: -| 매개변수 | 설명 | +| Parameter | 설명 | | ----------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | [FW_GPSF_LT](../advanced_config/parameter_reference.md#FW_GPSF_LT) | Fixed-wing only: Loiter time (waiting at current altitude for position estimation recovery before starting to descend). 비활성화 하려면 0으로 설정하십시오. | | [FW_GPSF_R](../advanced_config/parameter_reference.md#FW_GPSF_R) | 선회 비행시 고정 롤/뱅크 각도. | @@ -230,7 +230,7 @@ The relevant parameters are: In Fixed-wing, the position estimate is never strictly invalidated as long as we have a horizontal aiding source, such as an airspeed sensor. In that case, a separate failsafe can be configured that triggers if the position estimate inacuraccy exceeds the threshold [COM_POS_LOW_EPH](../advanced_config/parameter_reference.md#COM_POS_LOW_EPH). The failsafe action is taken if the vehicle is in mission or hold mode, otherwise it is only a warning. The relevant parameters are: -| 매개변수 | 설명 | +| Parameter | 설명 | | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------- | | [COM_POS_LOW_EPH](../advanced_config/parameter_reference.md#COM_POS_LOW_EPH) | Position inaccuracy threshold above which COM_POS_LOW_ACT is taken. | | [COM_POS_LOW_ACT](../advanced_config/parameter_reference.md#COM_POS_LOW_ACT) | Failsafe action taken when position inaccuracy is above configured threshold. | @@ -249,7 +249,7 @@ Triggers on either of: At least a warning is emitted, additional failsafe actions can be configured using [COM_GNSSLOSS_ACT](#COM_GNSSLOSS_ACT). Loss of a single GPS when none are required is handled by other GPS health checks. -| 매개변수 | 설명 | +| Parameter | 설명 | | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------- | | [SYS_HAS_NUM_GNSS](../advanced_config/parameter_reference.md#SYS_HAS_NUM_GNSS) | Number of usable GNSS receivers required for arming and flight. If two are required then they also need to be consistent. | | [COM_GNSSLOSS_ACT](../advanced_config/parameter_reference.md#COM_GNSSLOSS_ACT) | Failsafe action when a GNSS failure is detected. Actions other than a warning also lead to arming being blocked. | @@ -257,14 +257,13 @@ Loss of a single GPS when none are required is handled by other GPS health check ## 오프 보드 안전 장치 The _Offboard Loss Failsafe_ is triggered if the offboard link is lost while under [Offboard control](../flight_modes/offboard.md). -RC 연결을 사용 여부에 따라 다른 안전 장치의 작동을 지정할 수 있습니다. 관련된 매개 변수는 다음과 같습니다. -| 매개변수 | 설명 | -| ----------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------- | -| [COM_OF_LOSS_T](../advanced_config/parameter_reference.md#COM_OF_LOSS_T) | 오프 보드 단락이후 안전장치 동작 지연 여부 설정. | -| [COM_OBL_RC_ACT](../advanced_config/parameter_reference.md#COM_OBL_RC_ACT) | RC를 사용할 수있는 경우 비상 안전조치 : 위치 모드, 고도 모드, 수동 모드, 귀환 모드, 착륙 모드, 대기 모드. | +| Parameter | 설명 | +| ----------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------- | +| [COM_OF_LOSS_T](../advanced_config/parameter_reference.md#COM_OF_LOSS_T) | 오프 보드 단락이후 안전장치 동작 지연 여부 설정. | +| [COM_OBL_RC_ACT](../advanced_config/parameter_reference.md#COM_OBL_RC_ACT) | Flight mode to switch to if offboard control is lost. | ## 교통 회피 안전 장치 @@ -272,7 +271,7 @@ The Traffic Avoidance Failsafe allows PX4 to respond to transponder data (e.g. f 관련된 매개 변수는 다음과 같습니다. -| 매개변수 | 설명 | +| Parameter | 설명 | | ---------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------- | | [NAV_TRAFF_AVOID](../advanced_config/parameter_reference.md#NAV_TRAFF_AVOID) | 비상 안전 장치를 설정합니다 : 비활성화, 경고, 귀환 모드, 착륙 모드. | @@ -284,7 +283,7 @@ The Remote ID failsafe is triggered when the [Remote ID (Open Drone ID)](../peri The failsafe action and arming behaviour are both configured by the `COM_ARM_ODID` parameter: -| 매개변수 | 설명 | +| Parameter | 설명 | | ----------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | [COM_ARM_ODID](../advanced_config/parameter_reference.md#COM_ARM_ODID) | Remote ID arming check and in-flight failsafe. `0`: Disabled (default), `1`: Warning only, `2`: Error only (prevents arming), `3`: Return, `4`: Land, `5`: Terminate.

On failsafe:
- `Error`, `Return`, `Land` and `Terminate` prevent arming.
- `Return`, `Land` and `Terminate` start the associated action/mode when airborne. | @@ -294,7 +293,7 @@ The failsafe action and arming behaviour are both configured by the `COM_ARM_ODI The parachute health failsafe is triggered when a [MAVLink parachute](../peripherals/parachute.md) system is missing or unhealthy while the vehicle is armed or airborne. -| 매개변수 | 설명 | +| Parameter | 설명 | | ----------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | | [COM_PARACHUTE](../advanced_config/parameter_reference.md#COM_PARACHUTE) | Parachute system monitoring and failsafe action.
`0`: Disabled (default), `1`: [Warning](#act_warn), `2`: [Return](#act_return), `3`: [Land](#act_land).

- Everything but `Disabled` prevents arming with a failing check.
- [Return](#act_return) and [Land](#act_land) start the associated action when a failure happens in-flight. | @@ -309,7 +308,7 @@ The quad-chute can also be triggered by sending a MAVLINK [MAV_CMD_DO_VTOL_TRANS The parameters that control when the quad-chute will trigger are listed in the table below. -| 매개변수 | 설명 | +| Parameter | 설명 | | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | [COM_QC_ACT](../advanced_config/parameter_reference.md#COM_QC_ACT) | Quad-chute action after switching to multicopter flight. Can be set to: [Warning](#act_warn), [Return](#act_return), [Land](#act_land), [Hold](#act_hold). | | [VT_FW_QC_HMAX](../advanced_config/parameter_reference.md#VT_FW_QC_HMAX) | Maximum quad-chute height, below which the quad-chute failsafe cannot trigger. This prevents high altitude quad-chute descent, which can drain the battery (and itself cause a crash). The height is relative to ground, home, or the local origin (in preference order, depending on what is available). | @@ -324,7 +323,7 @@ The parameters that control when the quad-chute will trigger are listed in the t The high wind failsafe can trigger a warning and/or other mode change when the wind speed exceeds the warning and maximum wind-speed threshold values. The relevant parameters are listed in the table below. -| 매개변수 | 설명 | +| Parameter | 설명 | | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | | [COM_WIND_MAX](../advanced_config/parameter_reference.md#COM_WIND_MAX) | Wind speed threshold that triggers failsafe action, in m/s ([COM_WIND_MAX_ACT](#COM_WIND_MAX_ACT)). | | [COM_WIND_MAX_ACT](../advanced_config/parameter_reference.md#COM_WIND_MAX_ACT) | High wind failsafe action (following [COM_WIND_MAX](#COM_WIND_MAX) trigger). Can be set to: `0`: None (Default), `1`: [Warning](#act_warn), `2`: [Hold](#act_hold), `3`: [Return](#act_return), `4`: [Terminate](#act_term), `5`: [Land](#act_land). | @@ -353,7 +352,7 @@ The failure detector can be configured to trigger if a rotary-wing vehicle loses If the vehicle descends more than [FD_ALT_LOSS](#FD_ALT_LOSS) meters below the setpoint, [flight termination](../advanced_config/flight_termination.md) is triggered, which may deploy a [parachute](../peripherals/parachute.md). -| 매개변수 | 설명 | +| Parameter | 설명 | | ----------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | [FD_ALT_LOSS](../advanced_config/parameter_reference.md#FD_ALT_LOSS) | Altitude loss threshold (m). Flight termination is triggered when the vehicle drops this far below the setpoint. 비활성화 하려면 0으로 설정하십시오. | | [FD_ALT_LOSS_T](../advanced_config/parameter_reference.md#FD_ALT_LOSS_T) | Time (s) the vehicle must remain below the threshold before flight termination is triggered. | @@ -364,7 +363,7 @@ If the vehicle descends more than [FD_ALT_LOSS](#FD_ALT_LOSS) meters below the s 관련된 매개 변수는 다음과 같습니다. -| 매개변수 | 설명 | +| Parameter | 설명 | | -------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | [CBRK_FLIGHTTERM](../advanced_config/parameter_reference.md#CBRK_FLIGHTTERM) | 비행 종료 회로 차단기. 고장 감지기 또는 FMU 손실로 인한 비행 종료를 활성화하려면, 121212 (기본값)에서 설정을 해제합니다. | | [FD_FAIL_P](../advanced_config/parameter_reference.md#FD_FAIL_P) | 최대 허용 피치 (도 단위). | @@ -384,7 +383,7 @@ undercurrent: {esc current} < {MOTFAIL_C2T} * {motor command [0,1]} - {MOTFAIL_O overcurrent: {esc current} > {MOTFAIL_C2T} * {motor command [0,1]} + {MOTFAIL_OFF} ``` -| 매개변수 | 설명 | +| Parameter | 설명 | | -------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | [FD_ACT_EN](../advanced_config/parameter_reference.md#FD_ACT_EN) | Enable/disable the motor failure trigger completely. | | [MOTFAIL_C2T](../advanced_config/parameter_reference.md#MOTFAIL_C2T) | Slope between normalized motor command [0–1] and expected steady-state current (FD_ACT_MOT_C2T at 100%) (A/%). | @@ -403,7 +402,7 @@ External ATS is required by [ASTM F3322-18](https://webstore.ansi.org/standards/ One example of an ATS device is the [FruityChutes Sentinel Automatic Trigger System (SATS-MINI)](https://fruitychutes.com/uav_rpv_drone_recovery_parachutes/sentinel-automatic-trigger-system). ::: -| 매개변수 | 설명 | +| Parameter | 설명 | | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | [FD_EXT_ATS_EN](../advanced_config/parameter_reference.md#FD_EXT_ATS_EN) | Enable PWM input on AUX5 or MAIN5 (depending on board) for engaging failsafe from an external automatic trigger system (ATS). Default: Disabled. | | [FD_EXT_ATS_TRIG](../advanced_config/parameter_reference.md#FD_EXT_ATS_TRIG) | The PWM threshold from external automatic trigger system for engaging failsafe. Default: 1900 ms. | @@ -469,7 +468,7 @@ A kill gesture immediately stops all motor outputs — if flying, the vehicle wi The action cannot be reverted without a reboot (this differs from a [Kill Switch](#kill-switch), where the operation can be reverted within 5 seconds). -| 매개변수 | 설명 | +| Parameter | 설명 | | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | [MAN_KILL_GEST_T](../advanced_config/parameter_reference.md#MAN_KILL_GEST_T) | Time to hold sticks in gesture position before killing the motors. Default: `-1` seconds (Disabled). | @@ -484,7 +483,7 @@ You can set timeouts to automatically disarm a vehicle if it is too slow to take The [relevant parameters](../advanced_config/parameters.md) are shown below: -| 매개변수 | 설명 | +| Parameter | 설명 | | ----------------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------- | | [COM_DISARM_LAND](../advanced_config/parameter_reference.md#COM_DISARM_LAND) | Timeout for auto-disarm after landing. | | [COM_DISARM_PRFLT](../advanced_config/parameter_reference.md#COM_DISARM_PRFLT) | Timeout for auto disarm if vehicle is too slow to takeoff. | @@ -493,7 +492,7 @@ The [relevant parameters](../advanced_config/parameters.md) are shown below: These parameters can be used to set conditions that prevent arming. -| 매개변수 | 설명 | +| Parameter | 설명 | | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | [COM_ARMABLE](../advanced_config/parameter_reference.md#COM_ARMABLE) | Enable arming (at all). `0`: Disabled, `1`: Enabled (default). | | [COM_ARM_BAT_MIN](../advanced_config/parameter_reference.md#COM_ARM_BAT_MIN) | Minimum battery level for arming. `0`: Disabled (default). Values: `0`-`0.9`, | diff --git a/docs/ko/config_mc/filter_tuning.md b/docs/ko/config_mc/filter_tuning.md index e2ce9e07e2..f361b46a45 100644 --- a/docs/ko/config_mc/filter_tuning.md +++ b/docs/ko/config_mc/filter_tuning.md @@ -76,7 +76,7 @@ You might have to adjust the per-motor pole count (`DSHOT_MOT_POL1`–`DSHOT_MOT The following parameters should be set to enable and configure dynamic notch filters: -| 매개변수 | 설명 | +| Parameter | 설명 | | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | [IMU_GYRO_DNF_EN](../advanced_config/parameter_reference.md#IMU_GYRO_DNF_EN) | Enable IMU gyro dynamic notch filtering (bitmask). Bit `0`: ESC RPM, Bit `1`: Onboard FFT. | | [IMU_GYRO_FFT_EN](../advanced_config/parameter_reference.md#IMU_GYRO_FFT_EN) | Enable onboard FFT (required if bit `1` of `IMU_GYRO_DNF_EN` is set). | diff --git a/docs/ko/config_mc/pid_tuning_guide_multicopter.md b/docs/ko/config_mc/pid_tuning_guide_multicopter.md index 1127f6ef67..89eab5e14d 100644 --- a/docs/ko/config_mc/pid_tuning_guide_multicopter.md +++ b/docs/ko/config_mc/pid_tuning_guide_multicopter.md @@ -240,7 +240,7 @@ _normalized_value = ( raw_value - min (raw_value) ) / ( max ( raw_value ) - min 정규화된 값의 산점도를 얻은 후 방정식을 플로팅하여 곡선을 일치시킬 수 있습니다. -_rel_thrust = ( `THR_MDL_FAC` ) _ rel_signal^2 + ( 1 - `THR_MDL_FAC` ) \* rel_signal\* +_rel_thrust = ( `THR_MDL_FAC` ) _ rel_signal^2 + ( 1 - `THR_MDL_FAC` ) \* rel_signal\* 0과 1 사이의 정규화된 모터 명령 값의 선형 범위. Note that this is the equation that is used in the firmware to map thrust and motor command, as shown in the [THR_MDL_FAC](../advanced_config/parameter_reference.md#THR_MDL_FAC) parameter reference. diff --git a/docs/ko/config_rover/attitude_tuning.md b/docs/ko/config_rover/attitude_tuning.md index cf176e587f..8113cf16f5 100644 --- a/docs/ko/config_rover/attitude_tuning.md +++ b/docs/ko/config_rover/attitude_tuning.md @@ -35,6 +35,6 @@ We placed the integrator in the rate controller since it can run without the att ## Parameter Overview -| 매개변수 | 설명 | Unit | +| Parameter | 설명 | Unit | | ----------------------------------------------------------------------------------------------------------------------------- | ------------------------------------ | ---- | | [RO_YAW_P](../advanced_config/parameter_reference.md#RO_YAW_P) | Proportional gain for yaw controller | - | diff --git a/docs/ko/config_rover/basic_setup.md b/docs/ko/config_rover/basic_setup.md index f9bcc3a665..5c435b57f0 100644 --- a/docs/ko/config_rover/basic_setup.md +++ b/docs/ko/config_rover/basic_setup.md @@ -154,7 +154,7 @@ You can now continue the configuration process with [rate tuning](rate_tuning.md ## Parameter Overview -| 매개변수 | 설명 | Unit | +| Parameter | 설명 | Unit | | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------- | ------- | | [RO_MAX_THR_SPEED](../advanced_config/parameter_reference.md#RO_MAX_THR_SPEED) | Speed the rover drives at maximum throttle | $m/s$ | | [RO_ACCEL_LIM](../advanced_config/parameter_reference.md#RO_ACCEL_LIM) | (Optional) Maximum allowed acceleration | $m/s^2$ | @@ -164,7 +164,7 @@ You can now continue the configuration process with [rate tuning](rate_tuning.md ### Ackermann Specific -| 매개변수 | 설명 | Unit | +| Parameter | 설명 | Unit | | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------- | ----- | | [RA_WHEEL_BASE](../advanced_config/parameter_reference.md#RA_WHEEL_BASE) | Wheel base | $m$ | | [RA_MAX_STR_ANG](../advanced_config/parameter_reference.md#RA_MAX_STR_ANG) | Maximum steering angle | $deg$ | @@ -172,14 +172,14 @@ You can now continue the configuration process with [rate tuning](rate_tuning.md ### Differential Specific -| 매개변수 | 설명 | Unit | +| Parameter | 설명 | Unit | | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------ | ---- | | [RD_WHEEL_TRACK](../advanced_config/parameter_reference.md#RD_WHEEL_TRACK) | Wheel track | $m$ | | [RD_YAW_STK_GAIN](../advanced_config/parameter_reference.md#RD_YAW_STK_GAIN) | (Optional) Yaw stick gain for Manual mode | $-$ | ### Mecanum Specific -| 매개변수 | 설명 | Unit | +| Parameter | 설명 | Unit | | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------ | ---- | | [RM_WHEEL_TRACK](../advanced_config/parameter_reference.md#RM_WHEEL_TRACK) | Wheel track | $m$ | | [RM_YAW_STK_GAIN](../advanced_config/parameter_reference.md#RM_YAW_STK_GAIN) | (Optional) Yaw stick gain for Manual mode | $-$ | diff --git a/docs/ko/config_rover/position_tuning.md b/docs/ko/config_rover/position_tuning.md index e87c970c24..87b3d3d7ef 100644 --- a/docs/ko/config_rover/position_tuning.md +++ b/docs/ko/config_rover/position_tuning.md @@ -183,7 +183,7 @@ The position controller uses the following structure: ## Parameter Overview -| 매개변수 | 설명 | Unit | +| Parameter | 설명 | Unit | | -------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------ | ---- | | [RO_SPEED_RED](../advanced_config/parameter_reference.md#RO_SPEED_RED) | (Optional) Tuning parameter for the speed reduction based on the course error | - | | [PP_LOOKAHD_GAIN](../advanced_config/parameter_reference.md#PP_LOOKAHD_GAIN) | Pure pursuit: Main tuning parameter | - | @@ -192,14 +192,14 @@ The position controller uses the following structure: ## Ackermann Specific -| 매개변수 | 설명 | Unit | +| Parameter | 설명 | Unit | | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------- | ---- | | [RA_ACC_RAD_MAX](../advanced_config/parameter_reference.md#RA_ACC_RAD_MAX) | (Optional) Maximum radius the acceptance radius can be scaled to | m | | [RA_ACC_RAD_GAIN](../advanced_config/parameter_reference.md#RA_ACC_RAD_GAIN) | (Optional) Tuning parameter for the acceptance radius scaling | - | ## Differential Specific -| 매개변수 | 설명 | Unit | +| Parameter | 설명 | Unit | | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------- | ---- | | [RD_TRANS_DRV_TRN](../advanced_config/parameter_reference.md#RD_TRANS_DRV_TRN) | Heading error threshold to switch from driving to spot turning | deg | | [RD_TRANS_TRN_DRV](../advanced_config/parameter_reference.md#RD_TRANS_TRN_DRV) | Heading error threshold to switch from spot turning to driving | deg | diff --git a/docs/ko/config_rover/rate_tuning.md b/docs/ko/config_rover/rate_tuning.md index 2b317b4631..53dfcc928d 100644 --- a/docs/ko/config_rover/rate_tuning.md +++ b/docs/ko/config_rover/rate_tuning.md @@ -135,7 +135,7 @@ These mappings based on the idealized kinematic models can be adjusted with the ## Parameter Overview -| 매개변수 | 설명 | Unit | +| Parameter | 설명 | Unit | | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------ | --------- | | [RO_YAW_RATE_LIM](../advanced_config/parameter_reference.md#RO_YAW_RATE_LIM) | Maximum allowed yaw rate | $m/s^2$ | | [RO_YAW_RATE_P](../advanced_config/parameter_reference.md#RO_YAW_RATE_P) | Proportional gain for yaw rate controller | - | diff --git a/docs/ko/config_rover/velocity_tuning.md b/docs/ko/config_rover/velocity_tuning.md index 6b91165ed2..a31ca56e74 100644 --- a/docs/ko/config_rover/velocity_tuning.md +++ b/docs/ko/config_rover/velocity_tuning.md @@ -116,7 +116,7 @@ Both these setpoint are then sent to their own closed loop speed controllers. ## Parameter Overview -| 매개변수 | 설명 | Unit | +| Parameter | 설명 | Unit | | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------- | ----- | | [RO_MAX_THR_SPEED](../advanced_config/parameter_reference.md#RO_MAX_THR_SPEED) | Speed the rover drives at maximum throttle | $m/s$ | | [RO_SPEED_LIM](../advanced_config/parameter_reference.md#RO_SPEED_LIM) | Maximum allowed speed | $m/s$ | @@ -126,7 +126,7 @@ Both these setpoint are then sent to their own closed loop speed controllers. ### Pure Pursuit -| 매개변수 | 설명 | Unit | +| Parameter | 설명 | Unit | | -------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------- | ---- | | [PP_LOOKAHD_GAIN](../advanced_config/parameter_reference.md#PP_LOOKAHD_GAIN) | Pure pursuit: Main tuning parameter | - | | [PP_LOOKAHD_MAX](../advanced_config/parameter_reference.md#PP_LOOKAHD_MAX) | Pure pursuit: Maximum value for the look ahead radius | m | diff --git a/docs/ko/config_vtol/vtol_weathervane.md b/docs/ko/config_vtol/vtol_weathervane.md index cbb5e05395..3a19aced28 100644 --- a/docs/ko/config_vtol/vtol_weathervane.md +++ b/docs/ko/config_vtol/vtol_weathervane.md @@ -27,7 +27,7 @@ In [Mission mode](../flight_modes_vtol/mission.md) the weather vane feature will This functionality is configured using the [WV\_\* parameters](../advanced_config/parameter_reference.md#WV_EN). -| 매개변수 | 설명 | +| Parameter | 설명 | | ---------------------------------------------------------------------------------------------------------------- | ----------------------------------------------- | | [WV_EN](../advanced_config/parameter_reference.md#WV_EN) | 풍향계 활성화 | | [WV_ROLL_MIN](../advanced_config/parameter_reference.md#WV_ROLL_MIN) | 요율을 요구하는 풍향계 컨트롤러의 최소 롤 각도 설정점. | diff --git a/docs/ko/debug/profiling.md b/docs/ko/debug/profiling.md index e575eee127..6b898bec10 100644 --- a/docs/ko/debug/profiling.md +++ b/docs/ko/debug/profiling.md @@ -48,7 +48,7 @@ Then pass in the appropriate device using the `--gdbdev` argument like this: ### 실행 프로파일러의 기본 사용법은 빌드 시스템을 통하여 사용할 수 있습니다. -For example, the following command builds and profiles px4_fmu-v4pro target with 10000 samples (fetching \_FlameGraph_ and adding it to the path as needed). +For example, the following command builds and profiles px4_fmu-v4pro target with 10000 samples (fetching \_FlameGraph_ and adding it to the path as needed). ```sh make px4_fmu-v4pro_default profile diff --git a/docs/ko/dev_log/logging.md b/docs/ko/dev_log/logging.md index 7024ef76b8..967d59db8b 100644 --- a/docs/ko/dev_log/logging.md +++ b/docs/ko/dev_log/logging.md @@ -33,7 +33,7 @@ The logging system is configured by default to collect sensible logs for [flight Logging may further be configured using the [SD Logging](../advanced_config/parameter_reference.md#sd-logging) parameters. 변경할 가능성이 높은 매개변수가 아래에 설명되어 있습니다. -| 매개변수 | 설명 | +| Parameter | 설명 | | --------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | [SDLOG_MODE](../advanced_config/parameter_reference.md#SDLOG_MODE) | Logging Mode. Defines when logging starts and stops.
- `0`: Log when armed until disarm (default).
- `1`: Log from boot until disarm.
- `2`: Log from boot until shutdown.
- `3`: Log based on the [AUX1 RC channel](../advanced_config/parameter_reference.md#RC_MAP_AUX1).
- `4`: Log from first armed until shutdown. | | [SDLOG_BACKEND](../advanced_config/parameter_reference.md#SDLOG_BACKEND) | Logging Backend (bitmask). Setting a bit enables the corresponding backend. If no backend is selected, the logger is disabled.
- bit `0`: SD card logging.
- bit `1`: Mavlink logging. | diff --git a/docs/ko/development/development.md b/docs/ko/development/development.md index ef299f07e1..67bd2b30f6 100644 --- a/docs/ko/development/development.md +++ b/docs/ko/development/development.md @@ -16,7 +16,8 @@ This section is for software developers and (new) hardware integrators. - Support new [airframes](../dev_airframes/index.md). - PX4에 새 하드웨어를 조합하는 방법을 배웁니다: - 카메라, 거리 센서 등과 같은 신규 센서와 액츄에이터를 지원합니다. - - 신규 자동조종장치에서 실행하도록 PX4 수정합니다. + - Modify PX4 to run on [new autopilot hardware](../hardware/porting_guide.md). + - As a manufacturer, [get your board officially supported by PX4](../hardware/board_support_guide.md). - [Simulate](../simulation/index.md), [test](../test_and_ci/index.md) and [debug/log](../debug/index.md) PX4. - 외부 로보틱스 API와 통신/통합합니다. diff --git a/docs/ko/dronecan/ark_cannode.md b/docs/ko/dronecan/ark_cannode.md index 75830d2be0..92b582f93a 100644 --- a/docs/ko/dronecan/ark_cannode.md +++ b/docs/ko/dronecan/ark_cannode.md @@ -83,7 +83,7 @@ This is done using the parameters named like `UAVCAN_SUB_*` in the parameter ref On the ARK CANnode, you may need to configure the following parameters: -| 매개변수 | 설명 | +| Parameter | 설명 | | -------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | [CANNODE_NODE_ID](../advanced_config/parameter_reference.md#CANNODE_NODE_ID) | CAN node ID (0 for dynamic allocation). If set to 0 (default), dynamic node allocation is used. Set to 1-127 to use a static node ID. | | [CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM) | CAN built-in bus termination. | diff --git a/docs/ko/dronecan/ark_flow.md b/docs/ko/dronecan/ark_flow.md index 8ce7da3a11..5a9477f8f5 100644 --- a/docs/ko/dronecan/ark_flow.md +++ b/docs/ko/dronecan/ark_flow.md @@ -110,7 +110,7 @@ When optical flow is the only source of horizontal position/velocity, then lower On the ARK Flow, you may need to configure the following parameters: -| 매개변수 | 설명 | +| Parameter | 설명 | | -------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | [CANNODE_NODE_ID](../advanced_config/parameter_reference.md#CANNODE_NODE_ID) | CAN node ID (0 for dynamic allocation). If set to 0 (default), dynamic node allocation is used. Set to 1-127 to use a static node ID. | | [CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM) | CAN built-in bus termination. | diff --git a/docs/ko/dronecan/ark_flow_mr.md b/docs/ko/dronecan/ark_flow_mr.md index e949b4cfa3..1dcf1e0e15 100644 --- a/docs/ko/dronecan/ark_flow_mr.md +++ b/docs/ko/dronecan/ark_flow_mr.md @@ -105,7 +105,7 @@ Set the following parameters in _QGroundControl_: You may need to [configure the following parameters](../dronecan/index.md#qgc-cannode-parameter-configuration) on the ARK Flow MR itself: -| 매개변수 | 설명 | +| Parameter | 설명 | | -------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | [CANNODE_NODE_ID](../advanced_config/parameter_reference.md#CANNODE_NODE_ID) | CAN node ID (0 for dynamic allocation). If set to 0 (default), dynamic node allocation is used. Set to 1-127 to use a static node ID. | | [CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM) | CAN built-in bus termination. | diff --git a/docs/ko/dronecan/ark_gps.md b/docs/ko/dronecan/ark_gps.md index 4a369996d9..3858413623 100644 --- a/docs/ko/dronecan/ark_gps.md +++ b/docs/ko/dronecan/ark_gps.md @@ -97,7 +97,7 @@ If the sensor is not centred within the vehicle you will also need to define sen You may need to [configure the following parameters](../dronecan/index.md#qgc-cannode-parameter-configuration) on the ARK GPS itself: -| 매개변수 | 설명 | +| Parameter | 설명 | | -------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | [CANNODE_NODE_ID](../advanced_config/parameter_reference.md#CANNODE_NODE_ID) | CAN node ID (0 for dynamic allocation). If set to 0 (default), dynamic node allocation is used. Set to 1-127 to use a static node ID. | | [CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM) | CAN built-in bus termination. Set to `1` if this is the last node on the CAN bus. | diff --git a/docs/ko/dronecan/ark_rtk_gps.md b/docs/ko/dronecan/ark_rtk_gps.md index 6264ed2e7e..0f0cd997b1 100644 --- a/docs/ko/dronecan/ark_rtk_gps.md +++ b/docs/ko/dronecan/ark_rtk_gps.md @@ -92,7 +92,7 @@ You need to set necessary [DroneCAN](index.md) parameters and define offsets if You may need to [configure the following parameters](../dronecan/index.md#qgc-cannode-parameter-configuration) on the ARK RTK GPS itself: -| 매개변수 | 설명 | +| Parameter | 설명 | | -------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | [CANNODE_NODE_ID](../advanced_config/parameter_reference.md#CANNODE_NODE_ID) | CAN node ID (0 for dynamic allocation). If set to 0 (default), dynamic node allocation is used. Set to 1-127 to use a static node ID. | | [CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM) | CAN built-in bus termination. Set to `1` if this is the last node on the CAN bus. | diff --git a/docs/ko/dronecan/ark_rtk_gps_l1_l2.md b/docs/ko/dronecan/ark_rtk_gps_l1_l2.md index 5cdd64540d..d2328bce5a 100644 --- a/docs/ko/dronecan/ark_rtk_gps_l1_l2.md +++ b/docs/ko/dronecan/ark_rtk_gps_l1_l2.md @@ -91,7 +91,7 @@ You need to set necessary [DroneCAN](index.md) parameters and define offsets if You may need to [configure the following parameters](../dronecan/index.md#qgc-cannode-parameter-configuration) on the ARK RTK GPS L1 L5 itself: -| 매개변수 | 설명 | +| Parameter | 설명 | | -------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | [CANNODE_NODE_ID](../advanced_config/parameter_reference.md#CANNODE_NODE_ID) | CAN node ID (0 for dynamic allocation). If set to 0 (default), dynamic node allocation is used. Set to 1-127 to use a static node ID. | | [CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM) | CAN built-in bus termination. Set to `1` if this is the last node on the CAN bus. | diff --git a/docs/ko/dronecan/ark_x20_rtk_gps.md b/docs/ko/dronecan/ark_x20_rtk_gps.md index 5e9bf24b55..30e357f484 100644 --- a/docs/ko/dronecan/ark_x20_rtk_gps.md +++ b/docs/ko/dronecan/ark_x20_rtk_gps.md @@ -94,7 +94,7 @@ You need to set necessary [DroneCAN](index.md) parameters and define offsets if You may need to [configure the following parameters](../dronecan/index.md#qgc-cannode-parameter-configuration) on the ARK X20 RTK GPS itself: -| 매개변수 | 설명 | +| Parameter | 설명 | | -------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | [CANNODE_NODE_ID](../advanced_config/parameter_reference.md#CANNODE_NODE_ID) | CAN node ID (0 for dynamic allocation). If set to 0 (default), dynamic node allocation is used. Set to 1-127 to use a static node ID. | | [CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM) | CAN built-in bus termination. Set to `1` if this is the last node on the CAN bus. | diff --git a/docs/ko/dronecan/index.md b/docs/ko/dronecan/index.md index cba14ba2af..8262b20f35 100644 --- a/docs/ko/dronecan/index.md +++ b/docs/ko/dronecan/index.md @@ -6,7 +6,7 @@ - DroneCAN is not enabled by default, and nor are specific sensors and features that use it. For setup information see [PX4 Configuration](#px4-configuration). -- PX4 requires an SD card to enable dynamic node allocation and for firmware update. +- PX4 requires an SD card to enable dynamic node allocation and for [firmware update](#firmware-update). The SD card is not used in flight. ::: @@ -316,10 +316,64 @@ Most DroneCAN nodes require no further setup, unless specifically noted in their ## 펌웨어 업데이트 PX4 can upgrade device firmware over DroneCAN. -To upgrade the device, all you need to do is copy the firmware binary into the root directory of the flight controller's SD card and reboot. -Upon boot the flight controller will automatically transfer the firmware onto the device and upgrade it. -If successful, the firmware binary will be removed from the root directory and there will be a file named **XX.bin** in the **/ufw** directory of the SD card. +:::info +PX4 identifies valid firmware binaries (`.bin`) based on the presence of an **APDescriptor** — a metadata block embedded in the `.bin` file that contains the target board ID, firmware version, and a checksum. +PX4 uses this descriptor to match each binary to the correct node and to determine whether an update is needed. +::: + +### Firmware Directories + +Place firmware binaries in one of these locations on the SD card before rebooting: + +- **SD card root** (`/fs/microsd/`): Simplest option for manual updates. +- **Staging directory** (`/fs/microsd/ufw_staging/`): Preferred for remote/programmatic updates. + Files are moved to `/fs/microsd/ufw/` at boot before any node is flashed, avoiding write conflicts if firmware is uploaded while the vehicle is running. + +On boot, PX4 scans both locations, reads the board ID from the _APDescriptor_ of each file, and copies them to `/fs/microsd/ufw/.bin`. +The source file is then deleted. +Any connected node whose running version does not match is then flashed over the CAN bus. + +### Firmware Database + +A flat-file database at `/fs/microsd/ufw/FW.db` maps each board ID to the original firmware filename that was installed. +This may be queried by external tools to determine current firmware versions. + +Example entry: + +```txt +122.bin=122-1.17.63eeff1a.uavcan.bin +``` + +Entries are removed on boot if their corresponding firmware is not present. + +### Remote Update + +Remote updates can be made by uploading the corresponding bin files to `/fs/microsd/ufw_staging/`. +PX4 will then update firmware on next boot. + +This approach enables efficient mass-update of binaries from archives (`.zip` or `.tar` that contains `.bin` files for the target CAN nodes). +Tools can: + +1. Read the PX4 firmware database to determine what firmware is present +2. Extract the more-recent versions of matching firmware to the staging directory + +PX4 does not provide such tools. + +:::info +Auterion uses a form of this workflow to update CAN firmware to SkyNode based devices. +The `upload_skynode.sh` script with multiple `--ext-fw` flags is used to bundle a number of firmware files and upload them to a directory on the companion-computer part. + +```sh +./Tools/auterion/upload_skynode.sh \ + --ext-fw=build/auterion_canio_default/auterion_canio_default.uavcan.bin + --ext-fw=build/auterion_canio_default/another_default.uavcan.bin + ... + --ext-fw=build/auterion_canio_default/some_other_default.uavcan.bin +``` + +Another tool then checks the firmware database and extracts just the relevant files to the PX4 firmware staging area. +::: ## 문제 해결 diff --git a/docs/ko/flight_controller/3dr_ctrl-n1.md b/docs/ko/flight_controller/3dr_ctrl-n1.md new file mode 100644 index 0000000000..57489aab3c --- /dev/null +++ b/docs/ko/flight_controller/3dr_ctrl-n1.md @@ -0,0 +1,143 @@ +# 3DR Control N1 Flight Controller + + + +:::warning +PX4 does not manufacture this (or any) autopilot. +Contact [3DR](https://3dr.com/) for hardware support or compliance issues. +::: + +The _3DR Control N1_ is a compact, high-performance, low-profile and lightweight flight controller designed and assembled in USA. +It runs PX4 on the [NuttX](https://nuttx.apache.org/) OS. + +![3DR Control N1](../../assets/flight_controller/3dr_ctrl-n1/3dr_ctrl-n1.jpg) + +:::info +This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md). +::: + +:::tip +This flight controller requires a carrier board to work correctly. +Visit [3DR](https://3dr.wiki/autopilots/control-n1/) for available carrier boards and purchase information. +::: + +## 주요 특징 + +- **Processor:** STMicro STM32H743 Arm Cortex-M7 up to 480 MHz, 1 MB RAM, 2 MB flash, 8 MB external flash +- **Sensors:** + - 2x InvenSense IIM-42653 IMU (6-DoF) + - Asahi Kasei AK09940A magnetometer + - Infineon DPS368 barometer +- **Interfaces:** + - 12x PWM motor outputs (DShot, bidirectional DShot, GPIO) + - 7x serial ports (3x with hardware flow control) + - 2x FD-CAN (up to 8 Mbps) + - 2x I2C (up to 400 kHz) + - 1x SPI (up to 40 MHz) + - 4x GPIO (push-pull, direct from MCU) + - 1x USB Full Speed (native STM32H7 port) + - 1x SDIO/SDMMC interface + - 1x addressable LED output (NeoPixel-compatible) + - Serial Wire Debug (SWD) +- **Dimensions:** 28 × 17.6 × 3.7 mm +- **Weight:** 2.32 g +- **Input Voltage:** 4.8 – 6.0 V +- **Typical Current draw**: ~230 mA +- **Operating Temperature:** -20 to 75 °C +- **Storage Temperature:** -40 to 85 °C + +## 펌웨어 빌드 + +:::tip +Most users will not need to build this firmware! +It is pre-built and automatically installed by _QGroundControl_ when appropriate hardware is connected (PX4 v1.18 and later). +::: + +To [build PX4](../dev_setup/building_px4.md) for this target: + +```sh +make 3dr_ctrl-n1_default +``` + +## 커넥터 + +The Control N1 uses three Hirose DF40-series board-to-board connectors: + +| 커넥터 | Pins | Part Number | Signals | +| ---- | ---- | ----------------------------------------------------------------------------------------------- | ---------------------------------------------------------- | +| J100 | 30 | DF40HC(3.5)-30DS-0.4V(51) | USART1, USART2, USART3, UART4, SDMMC, USB, ALARM | +| J200 | 30 | DF40HC(3.5)-30DS-0.4V(51) | USART6, FDCAN1, SPI, SWD, LED, BRD_EN | +| J300 | 80 | DF40HC(3.5)-80DS-0.4V(51) | UART7, UART8, FDCAN2, I2C, ADC, Motor outputs CH1–CH12 | + +## 핀배열 + +This board is designed to be used with different carrier boards. + +For the full pinout, visit the [3DR Control N1 Pinout Tool](https://docs.3dr.com/autopilots/control-n1/#pinout). + +## 시리얼 포트 매핑 + +| 포트 | 커넥터 | Peripheral | Flow Control | Default Function | +| --- | ---- | ---------- | ------------ | ---------------- | +| SG1 | J100 | USART2 | Yes | TELEM1 | +| SG2 | J100 | UART4 | Yes | TELEM2 | +| SG3 | J300 | UART7 | Yes | User | +| SG4 | J100 | USART3 | No | GPS2 | +| SG5 | J100 | USART1 | No | User | +| SG6 | J200 | USART6 | No | RC | +| SG7 | J300 | UART8 | No | GPS1 | + +## PWM 출력 + +The Control N1 has 12 PWM outputs, all routed through connector J300. +All outputs are FMU outputs with no separate IO coprocessor. + +Each output supports PWM, OneShot, DShot, and bidirectional DShot. +GPIO mode is also available on all channels. + +Outputs are grouped for DShot timing purposes. +All channels within a group must use the same protocol and rate. + +| Group | Channels | +| ------- | -------- | +| Group 1 | CH1–CH4 | +| Group 2 | CH5–CH8 | +| Group 3 | CH9–CH12 | + +## RC Setup + +Serial port SG6 (USART6, connector J200) is mapped to `RC` by default and supports any protocol compatible with PX4's COMMON_RC driver: ELRS, CRSF, DSM/DSMX, GHST, and SBUS. + +Connect your RC receiver's serial output to the SG6 RX line on J200. +Select and assign your preferred protocol in QGroundControl during initial setup. + +## Carrier Boards + +The Control N1 is designed to be used with a carrier board. +The following carrier boards are available from 3DR: + +| 보드 | 설명 | +| --------------------------------------------------------------------------------------------------- | --------------------------------------------- | +| [CB1 Cuby](https://docs.3dr.com/autopilots/carrier-boards/r0026-cb1-cuby) | Compact square form factor | +| [CB2 Longy](https://docs.3dr.com/autopilots/carrier-boards/r0027-cb2-longy) | Thin form factor for space-constrained builds | +| [CB3 FPV](https://docs.3dr.com/autopilots/carrier-boards/r0033-cb3-fpv) | Optimized for FPV platforms | +| [CB4 Wing](https://docs.3dr.com/autopilots/carrier-boards/r0036-cb4-wing) | Fixed-wing and VTOL applications | +| [CN1 Prototyping Board](https://docs.3dr.com/autopilots/carrier-boards/r0037-cn1-prototyping-board) | Full signal access for development | +| [CN1 to CZ OEM Adapter](https://docs.3dr.com/autopilots/carrier-boards/r0034-cn1-to-czoem-adapter) | Adapter for Control Zero OEM carrier boards | + +The image below shows the pinout of the CB2 Longy as a reference for connector layout and signal assignment. + +![3DR Control N1 CB2 Longy Pinout](../../assets/flight_controller/3dr_ctrl-n1/3dr_ctrl-n1_cb2_longy_pinout.png) + +## 디버그 포트 + +The [SWD debug port](../debug/swd_debug.md) signals (SWCLK, SWDIO) and BOOT0 are routed through connector **J200** on the Control N1 module. +The physical debug interface (connector type, pinout, and location) depends on the carrier board. + +Depending on the carrier board, the debug connector may be a TC2030-compatible pad-of-nails (requires a [Tag-Connect TC2030](https://www.tag-connect.com/product/tc2030-ctx-nl-6-pin-no-legs-cable-for-use-with-cortex-processors) cable) or a 14-pin ARM Cortex JTAG/SWD header (Samtec FTSH-107, 2×7, 1.27 mm pitch). +Note that some carrier boards may not expose a debug interface. +Refer to your carrier board's documentation for the exact connector location and pinout. + +## 추가 정보 + +- [3DR Control N1 documentation](https://docs.3dr.com/autopilots/control-n1) diff --git a/docs/ko/flight_controller/airlink.md b/docs/ko/flight_controller/airlink.md index dd200cd01b..a0fd3f06c4 100644 --- a/docs/ko/flight_controller/airlink.md +++ b/docs/ko/flight_controller/airlink.md @@ -114,7 +114,7 @@ SmartAP AIRLink's Core edition is intended for medium to high volume production ![AIRLink Core](../../assets/flight_controller/airlink/airlink-core.jpg) -| 매개변수 | AIRLink Enterprise | AIRLink Core | +| Parameter | AIRLink Enterprise | AIRLink Core | | ------------------- | --------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------- | | Enclosure | Aluminum, with integrated heatsink and fan mounting option. | External heatsink or reasonable power dissipation should be provided by the design. | | 크기 | L103 x W61 x H37 mm | L100 x W57 x H22 mm | diff --git a/docs/ko/flight_controller/autopilot_experimental.md b/docs/ko/flight_controller/autopilot_experimental.md index 7de26400f0..12f196470e 100644 --- a/docs/ko/flight_controller/autopilot_experimental.md +++ b/docs/ko/flight_controller/autopilot_experimental.md @@ -1,5 +1,9 @@ # Community Supported & Experimental Autopilots +:::tip +**Are you a manufacturer who wants to get a board supported by PX4?** See the [Manufacturer's Board Support Guide](../hardware/board_support_guide.md). +::: + :::tip For more information about PX4 project autopilot board support levels see: [px4.io/autopilots/](https://px4.io/autopilots/). ::: diff --git a/docs/ko/flight_controller/autopilot_manufacturer_supported.md b/docs/ko/flight_controller/autopilot_manufacturer_supported.md index f3982798cd..6908eee4e2 100644 --- a/docs/ko/flight_controller/autopilot_manufacturer_supported.md +++ b/docs/ko/flight_controller/autopilot_manufacturer_supported.md @@ -1,6 +1,10 @@ # 제조사지원 자동항법장치 -제조업체가 지원하는 자동조종장치는 제조업체에서 유지관리하고 지원합니다. 제조업체는 공식 발표후 4 개월 이내에 현재의 안정적인 PX4 릴리스와의 호환성을 제공을 약속합니다. +Manufacturer-supported autopilots are maintained and supported by a board manufacturer, who owns support for the board and keeps it working across PX4 releases. + +:::tip +**Are you a manufacturer who wants to get a board supported by PX4?** See the [Manufacturer's Board Support Guide](../hardware/board_support_guide.md). It covers the process for all support levels, not just this category. +::: :::tip For more information about PX4 project autopilot board support levels see: [px4.io/autopilots/](https://px4.io/autopilots/). @@ -12,6 +16,7 @@ This category includes boards that are not fully compliant with the pixhawk stan 이 카테고리의 보드는 다음과 같습니다. +- [3DR Control N1](../flight_controller/3dr_ctrl-n1.md) - [Accton Godwit GA1](../flight_controller/accton-godwit_ga1.md) - [AEDROX AEDROXH7](../flight_controller/aedrox_aedroxh7.md) - [AirMind MindPX](../flight_controller/mindpx.md) @@ -22,6 +27,7 @@ This category includes boards that are not fully compliant with the pixhawk stan - [ARK Pi6X Flow Flight Controller](../flight_controller/ark_pi6x.md) - [CBUnmanned H753-SOM](../flight_controller/cbunmanned_h753-som.md) - [CORVON 743v1](../flight_controller/corvon_743v1.md) +- [CORVON 743v2](../flight_controller/corvon_743v2.md) - [CUAV Nora](../flight_controller/cuav_nora.md) (CUAV X7 variant) - [CUAV V5+](../flight_controller/cuav_v5_plus.md) (FMUv5) - [CUAV V5 nano](../flight_controller/cuav_v5_nano.md) (FMUv5) diff --git a/docs/ko/flight_controller/corvon_743v2.md b/docs/ko/flight_controller/corvon_743v2.md new file mode 100644 index 0000000000..a6cce6754c --- /dev/null +++ b/docs/ko/flight_controller/corvon_743v2.md @@ -0,0 +1,173 @@ +# CORVON 743v2 + + + +:::warning +PX4 does not manufacture this (or any) autopilot. +Contact the [manufacturer](https://corvon.tech) for hardware support or compliance issues. +::: + +The _CORVON 743v2_ is a flight controller designed by Feikong Technology Co., Ltd under the CORVON brand. +It builds on the [CORVON 743v1](corvon_743v1.md) platform with significantly upgraded sensor and connectivity options: dual high-grade IMUs (ICM-42688P + BMI088), a high-precision BMP581 barometer, a dedicated DJI O4 Air Unit connector, an onboard Bluetooth module with a ceramic antenna, and dual analog battery monitoring channels. + +The board uses [Pixhawk Autopilot Standard Connections](../flight_controller/autopilot_pixhawk_standard.md). + + + +:::info +This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md). +::: + +## 주요 특징 + +- **MCU:** STM32H743VIH6 (32 Bit Arm® Cortex®-M7, 480 MHz, 2MB Flash, 1MB RAM, TFBGA100 package) +- **IMU (Dual):** TDK InvenSense ICM-42688P (primary) + Bosch BMI088 accel/gyro (secondary) +- **Barometer:** Bosch BMP581 (high-precision) +- **Magnetometer:** iSentek IST8310 +- **Interfaces:** + - 8x UARTs (including dedicated DJI O4 and Bluetooth ports) + - 1x CAN (DroneCAN / UAVCAN) + - 1x external I²C (with isolated 5V supply) + - 1x dedicated RC Input (SBUS / CRSF / ELRS) + - 12x PWM outputs (M1–M10 DShot-capable, M11 / M12 standard PWM for servos) + - SDMMC1 4-bit Micro-SD slot (high-speed logging) + - Dedicated DJI O4 Air Unit connector + - Onboard Bluetooth module with ceramic antenna (UART8, MAVLink pre-configured) +- **Power:** + - Dual analog battery voltage/current channels (BAT1 via the `PWM` 4-in-1 ESC connector, BAT2 via `B2V`/`B2I` pads) + - Voltage sensing up to 10S LiPo by default + - On-board BECs for peripheral power (consult manufacturer for exact rail specifications) + +## 구매처 + +Order from [CORVON](https://corvon.tech). + +## Physical / Mechanical + +Refer to the manufacturer's datasheet for the latest mechanical drawing, mounting pattern, and weight specifications. + +## 사양 + +### Processors & Sensors + +- **FMU Processor:** STM32H743VIH6 + - 32 Bit Arm® Cortex®-M7, 480 MHz + - 2MB Flash, 1MB RAM + - TFBGA100 (8 × 8 mm) package +- **On-board Sensors:** + - Accel/Gyro 1: TDK InvenSense ICM-42688P (SPI3) + - Accel/Gyro 2: Bosch BMI088 (SPI3) + - Barometer: Bosch BMP581 (I²C2, address `0x46`) + - Compass: iSentek IST8310 (I²C2, address `0x0E`) + +### Power Configuration + +The board provides **two independent analog battery monitoring channels**: + +- **BAT1** - Battery voltage and current sensed from the `PWM` 4-in-1 ESC connector, on `ADC1_INP10` (voltage) and `ADC1_INP11` (current). +- **BAT2** - Auxiliary `B2V` / `B2I` solder pads for a second / redundant battery pack, sensed on `ADC1_INP4` (voltage) and `ADC1_INP8` (current). + +Both channels feed PX4's standard analog battery driver with a default 21.2 voltage divider and 40 A/V current ratio, supporting up to 10S LiPo batteries out of the box. + +:::info +The board does not expose the 5V rail / `system_power` sensing pins that PX4's commander power checks expect, so `CBRK_SUPPLY_CHK` (894281) is set by default to bypass the power supply and battery health checks used for arming and failsafe decisions. BAT1/BAT2 voltage and current monitoring is unaffected. +::: + +## Connectors & Pinouts + +The following image shows the physical connector and solder-pad layout, with the labels used in this document and in the firmware's `default.px4board`: + +![CORVON 743v2 Ports & Connectors](../../assets/flight_controller/corvon_743v2/corvon743v2_portsconnection.png) + +The board exposes the following connectors and solder pads: + +- `TELEM1` (4-pin) - primary MAVLink radio link +- `04-AIR` (6-pin) - DJI O4 Air Unit (Digital VTX with MSP DisplayPort) +- `GPS` (6-pin JST-GH) - UBX / NMEA GPS, with the external compass I²C bus broken out on the same connector +- `TELEM2` (4-pin) - companion computer / secondary MAVLink +- `UART5` (4-pin) - generic auxiliary UART breakout +- `RCIN` (4-pin) - SBUS / CRSF / ELRS receiver input +- `UART7` pads (TX7 / RX7) - ESC Telemetry +- `CAN` (4-pin) - FDCAN1 (DroneCAN / UAVCAN) +- `I2C` (4-pin) - external I²C, isolated 5V supply for short-circuit protection +- `PWM` (8-pin) - 4-in-1 ESC connector (M1–M4 + power + ESC Telemetry) +- Onboard Bluetooth module (UART8) with ceramic antenna - MAVLink pre-configured +- `SWD` (4-pin) - hardware debug (SWCLK / SWDIO / 3V3 / GND) + +The next image shows the individual solder-pad signal assignments on both the top and bottom of the board for advanced wiring (GPIO breakouts, ADC pads, etc.): + +![CORVON 743v2 Solder Pad Map](../../assets/flight_controller/corvon_743v2/corvon743v2_pads.png) + +### Standard Serial Port Mapping + +| Physical UART | PCB Silk Label | PX4 Slot (QGC) | Default Usage | +| ------------- | ------------------------------- | --------------------------------- | --------------------------------------------------------------------------- | +| USART1 | `TELEM1` | TELEM 1 | MAVLink | +| USART2 | `04-AIR` | - | DJI O4 Air Unit (MSP DisplayPort) | +| USART3 | `GPS` | GPS 1 | GPS (plus external compass on shared I²C) | +| UART4 | `TELEM2` | TELEM 2 | MAVLink (Companion Link) | +| UART5 | `UART5` | **TELEM 3** | User Auxiliary | +| USART6 | `RCIN` | RC | RC Input (SBUS / CRSF / ELRS) | +| UART7 | `UART7` | **UART 6** | ESC Telemetry | +| UART8 | (onboard BT) | TELEM 4 | Bluetooth MAVLink @ 115200 (pre-configured) | + +:::tip +The silk labels `UART5` and `UART7` on the PCB refer to the STM32H743's physical UART numbers. +In QGroundControl these ports appear as `TELEM 3` and `UART 6` respectively, because of PX4's internal serial-slot abstraction. +When assigning a service in QGroundControl, look up the silk label in the **PCB Silk Label** column to find the corresponding **PX4 Slot** name. +::: + +### 디버그 포트 + +The board features a **4-pin SWD Debug** interface (SWCLK / SWDIO / 3V3 / GND) for hardware debugging. +There is no dedicated NSH console UART; the NSH console is exposed over USB CDC out of the box and is available via QGroundControl's MAVLink Console. + +### RC Input + +RC Input is mapped to **USART6** through the dedicated `RCIN` connector. + +Both the receive line (`RX6`, internally invert-capable for SBUS) and the transmit line (`TX6`) are broken out, so the port supports: + +- Single-wire SBUS (inverted) +- TBS Crossfire (CRSF) +- ExpressLRS (ELRS) +- FPort, Spektrum DSM, Graupner SUMD, and others + +Configure the receiver protocol with the relevant `RC_*_PRT_CFG` parameter from QGroundControl, pointing it at the `RC` slot. + +### PWM Output Groups + +The 12 PWM outputs are organized into four timer groups. Channels in the same group must use the same output rate and DShot mode: + +| Group | Timer | Channels | Default Protocol | +| ----- | ----- | -------- | -------------------------------------------- | +| 1 | TIM1 | M1–M4 | DShot600 | +| 2 | TIM3 | M5–M6 | DShot600 | +| 3 | TIM4 | M7–M10 | DShot600 | +| 4 | TIM12 | M11–M12 | PWM only (servo / gimbal) | + +M1–M9 support BDShot telemetry readback; M10 is DShot-only because `TIM4_CH4` has no input-capture DMA channel on STM32H7. Bidirectional DShot can be enabled by setting `PWM_MAIN_TIM0..2` to a BDShot value (`-6` BDShot600, `-7` BDShot300, `-8` BDShot150) in QGroundControl. + +Channels within the same group need to use the same output rate. +If any channel in a group uses DShot then all channels in the group need to use DShot. + +### Bluetooth Telemetry (Pre-configured) + +The board has an onboard Bluetooth module with a ceramic antenna, wired internally to `UART8`. +The factory firmware pre-binds MAVLink instance 2 to this port at **115200 baud with no flow control**, so the link works out of the box: just pair the board from a phone or tablet GCS - no QGroundControl parameter changes required. + +## Building / Loading Firmware + +:::tip +Most users will not need to build this firmware (from PX4 v1.18). +It is pre-built and automatically installed by _QGroundControl_ when appropriate hardware is connected. +::: + +To [build PX4](../dev_setup/building_px4.md) for this target from source: + +```sh +make corvon_743v2_default +``` + +Initial firmware flashing can be done over USB via QGroundControl. +The bootloader status follows the standard generic PX4 LED indications (Red = Bootloader / Error, Blue = Active / Activity, Green = Powered). diff --git a/docs/ko/flight_controller/index.md b/docs/ko/flight_controller/index.md index 7104ce51fa..b792ac6f48 100644 --- a/docs/ko/flight_controller/index.md +++ b/docs/ko/flight_controller/index.md @@ -18,6 +18,10 @@ Information about how to choose a PX4-compatible flight controller and the avail There may be other [Pixhawk Series](../flight_controller/pixhawk_series.md) compatible flight controllers and variants, including those [documented here on Github](https://github.com/PX4/PX4-Autopilot/#supported-hardware). ::: +:::tip +**Hardware manufacturers:** to get a new flight controller supported by PX4, see the [Manufacturer's Board Support Guide](../hardware/board_support_guide.md). +::: + ## Flight Controller Mounting and Setup Information about how to mount the flight controller, upload firmware (replacing an incompatible bootloader if needed), and configure its internal sensors and orientation: diff --git a/docs/ko/flight_controller/kakuteh7.md b/docs/ko/flight_controller/kakuteh7.md index fbaa5157e9..eb1d24de60 100644 --- a/docs/ko/flight_controller/kakuteh7.md +++ b/docs/ko/flight_controller/kakuteh7.md @@ -109,7 +109,7 @@ If you are loading the pre-built firmware via QGroundControl, you must use QGC D In addition to the [basic configuration](../config/index.md), the following parameters are important: -| 매개변수 | 설정 | +| Parameter | 설정 | | -------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------ | | [SYS_HAS_MAG](../advanced_config/parameter_reference.md#SYS_HAS_MAG) | 보드에 내부 자력계가 없기 때문에 비활성화하여야 합니다. 외부 자력계를 연결하여 활성화 할 수 있습니다. | diff --git a/docs/ko/flight_controller/kakuteh7mini.md b/docs/ko/flight_controller/kakuteh7mini.md index b776c257ea..e91a7a57db 100644 --- a/docs/ko/flight_controller/kakuteh7mini.md +++ b/docs/ko/flight_controller/kakuteh7mini.md @@ -116,7 +116,7 @@ KakuteH7mini is supported with PX4 main and v1.14 or newer. In addition to the [basic configuration](../config/index.md), the following parameters are important: -| 매개변수 | 설정 | +| Parameter | 설정 | | -------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------ | | [SYS_HAS_MAG](../advanced_config/parameter_reference.md#SYS_HAS_MAG) | 보드에 내부 자력계가 없기 때문에 비활성화하여야 합니다. 외부 자력계를 연결하여 활성화 할 수 있습니다. | diff --git a/docs/ko/flight_controller/kakuteh7v2.md b/docs/ko/flight_controller/kakuteh7v2.md index e452813056..b4798a84cc 100644 --- a/docs/ko/flight_controller/kakuteh7v2.md +++ b/docs/ko/flight_controller/kakuteh7v2.md @@ -113,7 +113,7 @@ KakuteH7v2 is supported with PX4 main and v1.14 or newer. In addition to the [basic configuration](../config/index.md), the following parameters are important: -| 매개변수 | 설정 | +| Parameter | 설정 | | -------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------ | | [SYS_HAS_MAG](../advanced_config/parameter_reference.md#SYS_HAS_MAG) | 보드에 내부 자력계가 없기 때문에 비활성화하여야 합니다. 외부 자력계를 연결하여 활성화 할 수 있습니다. | diff --git a/docs/ko/flight_controller/pixhawk_series.md b/docs/ko/flight_controller/pixhawk_series.md index 14e0cc7b1e..f1900eb6a6 100644 --- a/docs/ko/flight_controller/pixhawk_series.md +++ b/docs/ko/flight_controller/pixhawk_series.md @@ -146,6 +146,6 @@ _Pixhawk_ is a trademark, and cannot be used in product names without permission All _Pixhawk-series_ flight controllers support: - A user facing RGB _UI LED_ to indicate the current _readiness to fly_ status of the vehicle. This is typically a superbright I2C peripheral, which may or may not be mounted on the board (i.e. FMUv4 does not have one on board and typically uses an LED mounted on the GPS). -- Three _Status LED_s that provide lower level power status, bootloader mode and activity, and error information. +- Three _Status LED_s that provide lower level power status, bootloader mode and activity, and error information. To interpret the LEDs see: [LED Meanings](../getting_started/led_meanings.md). diff --git a/docs/ko/flight_controller/radiolink_pix6.md b/docs/ko/flight_controller/radiolink_pix6.md index ca8b1dd9ba..33f7ff27d9 100644 --- a/docs/ko/flight_controller/radiolink_pix6.md +++ b/docs/ko/flight_controller/radiolink_pix6.md @@ -271,7 +271,7 @@ make radiolink_PIX6_default In addition to the [basic configuration](../config/index.md), the following parameters are important: -| 매개변수 | 설정 | +| Parameter | 설정 | | -------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------ | | [SYS_HAS_MAG](../advanced_config/parameter_reference.md#SYS_HAS_MAG) | 보드에 내부 자력계가 없기 때문에 비활성화하여야 합니다. 외부 자력계를 연결하여 활성화 할 수 있습니다. | diff --git a/docs/ko/flight_controller/vololand_narinfc_h7.md b/docs/ko/flight_controller/vololand_narinfc_h7.md new file mode 100644 index 0000000000..d2db761a2f --- /dev/null +++ b/docs/ko/flight_controller/vololand_narinfc_h7.md @@ -0,0 +1,205 @@ +# VOLOLAND NarinFC-H7 + + + +:::warning +PX4 does not manufacture this (or any) autopilot. +Contact the [manufacturer](https://vololand.com) for hardware support or compliance issues. +::: + +The NarinFC-H7 is an advanced flight controller produced by [VOLOLAND Inc.](https://vololand.com). +It uses a high-performance STM32H7 processor and integrates industrial-grade sensors for improved performance and reliability. + +![NarinFC-H7](../../assets/flight_controller/narinfc_h7/narinfc_header.jpg) + +:::info +This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md). +::: + +## 주요 특징 + +### Processors & Sensors + +- FMU Processor: STM32H743 +- 내장 센서 : + - Accelerometer/Gyroscope: ADIS16470 + - 가속도계/자이로스코프 : ICM-20649 + - 가속도계/자이로스코프 : BMI088 + - 자력계 : RM3100 + - Barometer: MS5611 x2 + +### 인터페이스 + +- 14 PWM servo outputs +- Multiple RC inputs (SBUS / CPPM / DSM) +- Analog/PWM RSSI input +- 2 GPS ports (GPS and UART4) +- 4x I2C buses +- 2x CAN bus ports +- 2x Power ports +- 2x ADC ports +- 1x USB port + +### 전기 데이터 + +- Power input: 4.3V ~ 5.4V +- USB input: 4.75V ~ 5.25V + +### 기계식 부품 + +- Dimensions: 93.4 x 46.4 x 34.1 mm +- Weight: 106g + +## Where to Buy {#store} + +Order from [VOLOLAND Inc.](https://vololand.com). + +## 연결 + +![Wire Diagram](../../assets/flight_controller/narinfc_h7/3_wire_diagram.png) + +## 크기 + +![Outline Dimensions](../../assets/flight_controller/narinfc_h7/2_outline_dimensions.png) + +## 핀배열 + +![Port Diagram A](../../assets/flight_controller/narinfc_h7/4_port_diagram_pin_outs_diagram-a.png) + +### TELEM1 / TELEM2 Port + +![TELEM Pinout](../../assets/flight_controller/narinfc_h7/4_1_telem1_telem2_port_jst_gh_6p_connector.png) + +- JST GH 6P connector + +### CAN1 / CAN2 Port + +![CAN Port](../../assets/flight_controller/narinfc_h7/4_2_can1_can2_port_jst_hg_4p_connector.png) + +- JST GH 4P connector +- Communication Protocol: UAVCAN v0 (default), UAVCAN v1 (limited support) +- Pin Configuration: CAN_H, CAN_L, VCC, GND + +### I2C1, I2C2, I2C3, I2C4 Port + +![I2C Port](../../assets/flight_controller/narinfc_h7/4_3_i2c1_i2c2_i2c3_i2c4_port_jst_gh_4p_connector.png) + +- JST GH 4P connector + +### UART4 Port + +![UART Port](../../assets/flight_controller/narinfc_h7/4_4_uart4_port_jst_gh_6p_connector.png) + +- JST GH 6P connector + +### RSSI Port + +![RSSI input](../../assets/flight_controller/narinfc_h7/13_rssi.png) + +- RSSI input + +### GPS & Safety Port + +![GPS & Safety Port](../../assets/flight_controller/narinfc_h7/4_5_gps_safety_port_jst_gh_10p_connector.png) + +- JST GH 10P connector + +![Port Diagram B](../../assets/flight_controller/narinfc_h7/4_port_diagram_pin_outs_diagram-b.png) + +### PWM & RC_IN + +The NarinFC-H7 supports up to 14 PWM outputs. + +![PWM Out](../../assets/flight_controller/narinfc_h7/4_6_pwm_out_m1-m14.png) + +- 2.54mm pitch DuPont connector +- RC_IN: Remote control receiver input is wired directly to the FMU and is enabled via the `rc_input` driver. Compatible with SBUS, CPPM, and DSM protocols. + +### Power Input + +![Power Input](../../assets/flight_controller/narinfc_h7/4_7_power_input.png) + +- 2mm pitch DuPont connector + +### ADC Port + +![ADC input](../../assets/flight_controller/narinfc_h7/12_adc.png) + +### DEBUG / UART7 Port + +UART7 is labelled DEBUG RX/TX. + +![DEBUG Port](../../assets/flight_controller/narinfc_h7/4_8_debug_port_jst_hg_6p_connector.png) + +- JST GH 6P connector + +### USB Port + +- USB-C + +### SPI Port + +![SPI Port](../../assets/flight_controller/narinfc_h7/4_10_spi_port_jst_gh_7p_connector.png) + +- JST GH 7P connector + +## 시리얼 포트 매핑 + +| UART | 장치 | 포트 | +| ------ | ---------- | ------ | +| USART1 | /dev/ttyS0 | GPS1 | +| USART2 | /dev/ttyS1 | TELEM1 | +| UART4 | /dev/ttyS2 | GPS2 | +| USART6 | /dev/ttyS3 | TELEM2 | +| UART8 | /dev/ttyS4 | User | +| UART7 | /dev/ttyS5 | Debug | + +## PWM Output + +The NarinFC-H7 supports up to 14 PWM outputs. +All outputs except M13 and M14 support DShot. +Outputs 1-8 support Bi-Directional DShot. + +The 14 PWM outputs are in 4 groups: + +- Outputs 1, 2, 3, and 4 in group1 +- Outputs 5, 6, 7, and 8 in group2 +- Outputs 9, 10, 11, and 12 in group3 +- Outputs 13 and 14 in group4 + +All outputs within the same group must use the same output rate and protocol. + +## Analog Inputs + +The NarinFC-H7 has 2 user-accessible analog inputs: + +- ADC Pin4 → SPARE1_ADC1 (6.6V tolerant) +- ADC Pin18 → SPARE2_ADC1 (3.3V tolerant) + +Additional internal ADC channels: + +- ADC Pin16 → BATT_VOLTAGE_SENS +- ADC Pin17 → BATT_CURRENT_SENS +- ADC Pin14 → BATT2_VOLTAGE_SENS +- ADC Pin2 → BATT2_CURRENT_SENS +- ADC Pin6 → RSSI_IN +- ADC Pin8 → VDD_5V_SENS +- ADC Pin11 → SCALED_V3V3 + +## 펌웨어 빌드 + +:::tip +Most users will not need to build this firmware! +It is pre-built and automatically installed by _QGroundControl_ when appropriate hardware is connected. +::: + +To [build PX4](../dev_setup/building_px4.md) for this target: + +```sh +make narinfc_h7_default +``` + +## 지원 플랫폼 및 기체 + +일반 RC 서보 또는 Futaba S-Bus 서보로 제어 가능한 모든 멀티콥터/비행기/로버 또는 보트. +The complete set of supported configurations can be seen in the [Airframes Reference](../airframes/airframe_reference.md). diff --git a/docs/ko/flight_modes/offboard.md b/docs/ko/flight_modes/offboard.md index af4f23a3fb..6081ef419b 100644 --- a/docs/ko/flight_modes/offboard.md +++ b/docs/ko/flight_modes/offboard.md @@ -17,15 +17,15 @@ A good understanding of [PX4 controller diagrams](../flight_stack/controller_dia The vehicle obeys position, velocity, acceleration, attitude, attitude rates or thrust/torque setpoints provided by some source that is external to the flight stack, such as a companion computer. The setpoints may be provided using MAVLink (or a MAVLink API such as [MAVSDK](https://mavsdk.mavlink.io/)) or by [ROS 2](../ros2/index.md). -PX4 requires that the external controller provides a continuous 2Hz "proof of life" signal, by streaming any of the supported MAVLink setpoint messages or the ROS 2 [OffboardControlMode](../msg_docs/OffboardControlMode.md) message. -PX4 enables switching to offboard control mode only after receiving the signal for more than a second, and will failsafe (controlled by [COM_OBL_RC_ACT](../advanced_config/parameter_reference.md#COM_OBL_RC_ACT)) if the signal stops. +PX4 requires that the external controller provides a continuous "proof of life" signal by streaming any of the supported MAVLink setpoint messages or the ROS 2 [OffboardControlMode](../msg_docs/OffboardControlMode.md) message. +The stream should be active before switching to Offboard mode, and PX4 will trigger the configured Offboard-loss failsafe action ([COM_OBL_RC_ACT](../advanced_config/parameter_reference.md#COM_OBL_RC_ACT)) if proof-of-life messages are not received within the timeout configured by [COM_OF_LOSS_T](#COM_OF_LOSS_T). ::: info - This mode requires position or pose/attitude information - e.g. GPS, optical flow, visual-inertial odometry, mocap, etc. depending on the type of offboard setpoints that the external controller sends. - Manual control is disabled except to change modes (you can also fly without any manual controller at all by setting the parameter [COM_RC_IN_MODE](../advanced_config/parameter_reference.md#COM_RC_IN_MODE) to `4: Disable manual control`). - The vehicle must already be receiving a stream of MAVLink setpoint messages or ROS 2 [OffboardControlMode](../msg_docs/OffboardControlMode.md) messages before arming in offboard mode or switching to offboard mode when flying. -- The vehicle will exit offboard mode if MAVLink setpoint messages or `OffboardControlMode` are not received at a rate of > 2Hz. +- The vehicle will exit Offboard mode if MAVLink setpoint messages or `OffboardControlMode` messages stop being received for longer than the timeout configured by [COM_OF_LOSS_T](#COM_OF_LOSS_T). - Not all coordinate frames and field values allowed by MAVLink are supported for all setpoint messages and vehicles. Read the sections below _carefully_ to ensure only supported values are used. @@ -34,10 +34,9 @@ PX4 enables switching to offboard control mode only after receiving the signal f ## 설명 Offboard mode is used for controlling vehicle movement and attitude, by setting position, velocity, acceleration, attitude, attitude rates or thrust/torque setpoints. - -PX4 must receive a stream of MAVLink setpoint messages or the ROS 2 [OffboardControlMode](../msg_docs/OffboardControlMode.md) at 2 Hz as proof that the external controller is healthy. -The stream must be sent for at least a second before PX4 will arm in offboard mode, or switch to offboard mode when flying. -If the rate falls below 2Hz while under external control PX4 will switch out of offboard mode after a timeout ([COM_OF_LOSS_T](#COM_OF_LOSS_T)), and attempt to land or perform some other failsafe action. +PX4 must receive a stream of MAVLink setpoint messages or the ROS 2 [OffboardControlMode](../msg_docs/OffboardControlMode.md) message as proof that the external controller is healthy. +The stream should be active before PX4 arms in Offboard mode or switches to Offboard mode when flying. +If MAVLink setpoint messages or `OffboardControlMode` messages stop being received for longer than the timeout configured by [COM_OF_LOSS_T](#COM_OF_LOSS_T), PX4 will switch out of Offboard mode and attempt to land or perform some other failsafe action. The action depends on whether or not RC control is available, and is defined in the parameter [COM_OBL_RC_ACT](#COM_OBL_RC_ACT). When using MAVLink the setpoint messages convey both the signal to indicate that the external source is "alive", and the setpoint value itself. @@ -130,7 +129,7 @@ For fixed-wing offboard control, please refer to the [PX4 ROS 2 Interface Librar - [px4_msgs::msg::TrajectorySetpoint](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/TrajectorySetpoint.msg) - - 다음 입력 조합이 지원됩니다. + - The following input combinations are supported: - Position setpoint (`position` different from `NaN`). Non-`NaN` values of velocity and acceleration are used as feedforward terms for the inner loop controllers. - Velocity setpoint (`velocity` different from `NaN` and `position` set to `NaN`). Non-`NaN` values of acceleration are used as feedforward terms for the inner loop controllers. - Acceleration setpoint (`acceleration` different from `NaN` and `position` and `velocity` set to `NaN`) @@ -163,7 +162,7 @@ For fixed-wing offboard control, please refer to the [PX4 ROS 2 Interface Librar - All the values are in the drone body FRD frame. The rates are in `[rad/s]` while thrust_body is normalized in `[-1, 1]`. -### 탐사선 +### Rover Rover modules must set the control mode using `OffboardControlMode` and use the appropriate messages to configure the corresponding setpoints. The approach is similar to other vehicle types, but the allowed control mode combinations and setpoints are different: @@ -253,7 +252,7 @@ The following offboard control modes bypass all internal PX4 control loops and s The following MAVLink messages and their particular fields and field values are allowed for the specified vehicle frames. -### 멀티콥터/VTOL +### Copter/VTOL - [SET_POSITION_TARGET_LOCAL_NED](https://mavlink.io/en/messages/common.html#SET_POSITION_TARGET_LOCAL_NED) - The following input combinations are supported: @@ -283,7 +282,7 @@ The following MAVLink messages and their particular fields and field values are - PX4 supports the following `coordinate_frame` values (only): [MAV_FRAME_GLOBAL_INT](https://mavlink.io/en/messages/common.html#MAV_FRAME_GLOBAL_INT), [MAV_FRAME_GLOBAL_RELATIVE_ALT_INT](https://mavlink.io/en/messages/common.html#MAV_FRAME_GLOBAL_RELATIVE_ALT_INT), [MAV_FRAME_GLOBAL_TERRAIN_ALT_INT](https://mavlink.io/en/messages/common.html#MAV_FRAME_GLOBAL_TERRAIN_ALT_INT). - [SET_ATTITUDE_TARGET](https://mavlink.io/en/messages/common.html#SET_ATTITUDE_TARGET) - - 다음 입력 조합이 지원됩니다. + - The following input combinations are supported: - Attitude/orientation (`SET_ATTITUDE_TARGET.q`) with thrust setpoint (`SET_ATTITUDE_TARGET.thrust`). - Body rate (`SET_ATTITUDE_TARGET` `.body_roll_rate` ,`.body_pitch_rate`, `.body_yaw_rate`) with thrust setpoint (`SET_ATTITUDE_TARGET.thrust`). @@ -298,15 +297,15 @@ The following MAVLink messages and their particular fields and field values are ::: - 값들은 다음과 같습니다: + The values are: - - 292 : 글라이딩 설정점. - 이는 추력이 없을 때 기체가 미끄러지도록하기 위해 고도보다 대기 속도를 우선하도록 TECS를 구성합니다 (즉, 속도를 조절하기 위해 피치가 제어 됨). + - 292: Gliding setpoint. + This configures TECS to prioritize airspeed over altitude in order to make the vehicle glide when there is no thrust (i.e. pitch is controlled to regulate airspeed). It is equivalent to setting `type_mask` as `POSITION_TARGET_TYPEMASK_Z_IGNORE`, `POSITION_TARGET_TYPEMASK_VZ_IGNORE`, `POSITION_TARGET_TYPEMASK_AZ_IGNORE`. - - 4096 : 이륙 설정점. - - 8192: 착륙 설정점. - - 12288 : Loiter 설정점 (설정점을 중심으로 선회 비행합니다). - - 16384 : 유휴 설정점 (제로 스로틀, 제로 롤/피치). + - 4096: Takeoff setpoint. + - 8192: Land setpoint. + - 12288: Loiter setpoint (fly a circle centred on setpoint). + - 16384: Idle setpoint (zero throttle, zero roll / pitch). - PX4 supports the coordinate frames (`coordinate_frame` field): [MAV_FRAME_LOCAL_NED](https://mavlink.io/en/messages/common.html#MAV_FRAME_LOCAL_NED) and [MAV_FRAME_BODY_NED](https://mavlink.io/en/messages/common.html#MAV_FRAME_BODY_NED). @@ -320,21 +319,21 @@ The following MAVLink messages and their particular fields and field values are ::: - 값들은 다음과 같습니다: + The values are: - - 4096 : 이륙 설정점. - - 8192: 착륙 설정점. - - 12288 : Loiter 설정점 (설정점을 중심으로 선회 비행합니다). - - 16384 : 유휴 설정점 (제로 스로틀, 제로 롤/피치). + - 4096: Takeoff setpoint. + - 8192: Land setpoint. + - 12288: Loiter setpoint (fly a circle centred on setpoint). + - 16384: Idle setpoint (zero throttle, zero roll / pitch). - PX4 supports the following `coordinate_frame` values (only): [MAV_FRAME_GLOBAL_INT](https://mavlink.io/en/messages/common.html#MAV_FRAME_GLOBAL_INT), [MAV_FRAME_GLOBAL_RELATIVE_ALT_INT](https://mavlink.io/en/messages/common.html#MAV_FRAME_GLOBAL_RELATIVE_ALT_INT), [MAV_FRAME_GLOBAL_TERRAIN_ALT_INT](https://mavlink.io/en/messages/common.html#MAV_FRAME_GLOBAL_TERRAIN_ALT_INT). - [SET_ATTITUDE_TARGET](https://mavlink.io/en/messages/common.html#SET_ATTITUDE_TARGET) - - 다음 입력 조합이 지원됩니다. + - The following input combinations are supported: - Attitude/orientation (`SET_ATTITUDE_TARGET.q`) with thrust setpoint (`SET_ATTITUDE_TARGET.thrust`). - Body rate (`SET_ATTITUDE_TARGET` `.body_roll_rate` ,`.body_pitch_rate`, `.body_yaw_rate`) with thrust setpoint (`SET_ATTITUDE_TARGET.thrust`). -### 탐사선 +### Rover Rover supports offboard control using the generic MAVLink position/velocity setpoint messages listed below. These are converted into a [TrajectorySetpoint](../msg_docs/TrajectorySetpoint.md) internally, and then into rover setpoints by the rover offboard modes. @@ -360,19 +359,19 @@ Rover MAVLink setpoints are gated by the MAVLink parameter [MAV_FWDEXTSP](../adv - [SET_ATTITUDE_TARGET](https://mavlink.io/en/messages/common.html#SET_ATTITUDE_TARGET) - Not supported for rover offboard control. -## 오프보드 매개변수 +## Offboard Parameters _Offboard mode_ is affected by the following parameters: -| 매개변수 | 설명 | -| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -| [COM_OF_LOSS_T](../advanced_config/parameter_reference.md#COM_OF_LOSS_T) | Time-out (in seconds) to wait when offboard connection is lost before triggering offboard lost failsafe (`COM_OBL_RC_ACT`) | -| [COM_OBL_RC_ACT](../advanced_config/parameter_reference.md#COM_OBL_RC_ACT) | Flight mode to switch to if offboard control is lost (Values are - `0`: _Position_, `1`: _Altitude_, `2`: _Manual_, `3`: _Return_, `4`: _Land_). | -| [COM_RC_OVERRIDE](../advanced_config/parameter_reference.md#COM_RC_OVERRIDE) | Controls whether stick movement on a multicopter (or VTOL in MC mode) causes a mode change to [Position mode](../flight_modes_mc/position.md). 기본적으로 오프보드 모드에서는 활성화되지 않습니다. | -| [COM_RC_STICK_OV](../advanced_config/parameter_reference.md#COM_RC_STICK_OV) | The amount of stick movement that causes a transition to [Position mode](../flight_modes_mc/position.md) (if [COM_RC_OVERRIDE](#COM_RC_OVERRIDE) is enabled). | -| [COM_RCL_EXCEPT](../advanced_config/parameter_reference.md#COM_RCL_EXCEPT) | Specify modes in which RC loss is ignored and the failsafe action not triggered. Set bit `2` to ignore RC loss in Offboard mode. | +| Parameter | 설명 | +| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| [COM_OF_LOSS_T](../advanced_config/parameter_reference.md#COM_OF_LOSS_T) | Time-out (in seconds) to wait when offboard connection is lost before triggering offboard lost failsafe (`COM_OBL_RC_ACT`) | +| [COM_OBL_RC_ACT](../advanced_config/parameter_reference.md#COM_OBL_RC_ACT) | Flight mode to switch to if offboard control is lost. | +| [COM_RC_OVERRIDE](../advanced_config/parameter_reference.md#COM_RC_OVERRIDE) | Controls whether stick movement on a multicopter (or VTOL in MC mode) causes a mode change to [Position mode](../flight_modes_mc/position.md). This is not enabled for offboard mode by default. | +| [COM_RC_STICK_OV](../advanced_config/parameter_reference.md#COM_RC_STICK_OV) | The amount of stick movement that causes a transition to [Position mode](../flight_modes_mc/position.md) (if [COM_RC_OVERRIDE](#COM_RC_OVERRIDE) is enabled). | +| [COM_RCL_EXCEPT](../advanced_config/parameter_reference.md#COM_RCL_EXCEPT) | Specify modes in which RC loss is ignored and the failsafe action not triggered. Set bit `2` to ignore RC loss in Offboard mode. | -## 개발자 리소스 +## Developer Resources Typically developers do not directly work at the MAVLink layer, but instead use a robotics API like [MAVSDK](https://mavsdk.mavlink.io/) or [ROS](https://www.ros.org/) (these provide a developer friendly API, and take care of managing and maintaining connections, sending messages and monitoring responses - the minutiae of working with _Offboard mode_ and MAVLink). diff --git a/docs/ko/flight_modes/return.md b/docs/ko/flight_modes/return.md index 37ccfa77a8..44163e1286 100644 --- a/docs/ko/flight_modes/return.md +++ b/docs/ko/flight_modes/return.md @@ -17,9 +17,9 @@ PX4는 홈 위치, 집결 ( "안전") 지점, 임무 경로 및 임무 착륙 - Flying vehicles can't switch to this mode without global position. - Flying vehicles will failsafe if they lose the position estimate. - Mode requires home position is set. -- Mode prevents arming (vehicle must be armed when switching to this mode). +- Mode prevents arming (vehicle cannot be armed while this mode is selected). - RC 제어 스위치는 기체의 비행 모드를 변경할 수 있습니다. -- RC stick movement in a multicopter (or VTOL in multicopter mode) will [by default](#COM_RC_OVERRIDE) change the vehicle to [Position mode](../flight_modes_mc/position.md) unless handling a critical battery failsafe. +- RC stick movement in a multicopter (or VTOL in multicopter mode) will [by default](#COM_RC_OVERRIDE) change the vehicle to [Position mode](../flight_modes_mc/position.md) unless prevented by the active failsafe state. - A VTOL will return as MC or FW based on its mode at the point the return mode was triggered. In MC mode it will respect multicopter parameters, such as the landing "cone". In FW mode it will respect fixed-wing parameters (ignore the cone), but unless using a mission landing, will transition to MC mode and land at the destination after loitering at the descent altitude. @@ -40,9 +40,7 @@ This topic covers all the possible return types that any vehicle _might_ be conf The following sections explain how to configure the [return type](#return_types), [minimum return altitude](#minimum-return-altitude) and [landing/arrival behaviour](#loiter-landing-at-destination). - - -## 복귀 유형(RTL_TYPE) +## Return Types (RTL_TYPE) {#return_types} PX4 provides four alternative approaches for finding an unobstructed path to a safe destination and/or landing, which are set using the [RTL_TYPE](#RTL_TYPE) parameter. @@ -169,7 +167,7 @@ In this case the vehicle follows mission waypoints, which we assume are planned The return altitude for a fixed-wing vehicle or a VTOL in fixed-wing mode is configured using the parameter [RTL_RETURN_ALT](#RTL_RETURN_ALT) (does not use the code described in the next paragraph). -The return altitude for a multicopter or a VTOL vehicles in MC mode is configured using the parameters [RTL_RETURN_ALT](#RTL_RETURN_ALT) and [RTL_CONE_ANG](#RTL_CONE_ANG), which define a half cone centered around the destination (home location or safety point). +The return altitude for a multicopter (or VTOL vehicle in MC mode) is configured using the parameters [RTL_RETURN_ALT](#RTL_RETURN_ALT), [RTL_CONE_ANG](#RTL_CONE_ANG), and [RTL_MIN_DIST](#RTL_MIN_DIST), which together define a half cone centered around the destination (home location or safety point). ![Return mode cone](../../assets/flying/rtl_cone.jpg) @@ -178,22 +176,19 @@ The return altitude for a multicopter or a VTOL vehicles in MC mode is configure 기체가 다음과 같은 경우 : - Above [RTL_RETURN_ALT](#RTL_RETURN_ALT) (1) it will return at its current altitude. -- Below the cone it will return where it intersects the cone (2) or [RTL_DESCEND_ALT](#RTL_DESCEND_ALT) (whichever is higher). -- Outside the cone (3) it will first climb until it reaches [RTL_RETURN_ALT](#RTL_RETURN_ALT). -- 원뿔 내에서 - - Above [RTL_DESCEND_ALT](#RTL_DESCEND_ALT) (4) it will return at its current altitude. - - Below [RTL_DESCEND_ALT](#RTL_DESCEND_ALT) (5) it will first ascend to `RTL_DESCEND_ALT`. +- Outside of the radius defined [RTL_MIN_DIST](#RTL_MIN_DIST) (3) it will first climb until it reaches [RTL_RETURN_ALT](#RTL_RETURN_ALT). +- Below the cone and within [RTL_MIN_DIST](#RTL_MIN_DIST) it will climb to return at the cone intersection altitude (2), up to [RTL_RETURN_ALT](#RTL_RETURN_ALT). +- Inside the cone (4, 5) it will return at its current altitude. 참고: - If [RTL_CONE_ANG](#RTL_CONE_ANG) is 0 degrees there is no "cone": - the vehicle returns at `RTL_RETURN_ALT` (or above). -- If [RTL_CONE_ANG](#RTL_CONE_ANG) is 90 degrees the vehicle will return at the greater of `RTL_DESCEND_ALT` and the current altitude. -- The vehicle will always ascend at least [RTL_DESCEND_ALT](#RTL_DESCEND_ALT) for the return. +- If [RTL_CONE_ANG](#RTL_CONE_ANG) is 90 degrees the vehicle will generally return at its current altitude when close to the destination. The return altitude may still be constrained to avoid flying too low while approaching the destination. ## 기체 기본 동작 -Unless executing a [mission landing pattern](#mission-landing-pattern) as part of the return mode, the vehicle will arrive at its destination, and rapidly descend to the [RTL_DESCEND_ALT](#RTL_DESCEND_ALT) altitude, where it will loiter for [RTL_LAND_DELAY](#RTL_LAND_DELAY) before landing. +Unless executing a [mission landing pattern](#mission-landing-pattern) as part of the return mode, the vehicle will arrive at its destination, and rapidly descend to the [RTL_DESCEND_ALT](#RTL_DESCEND_ALT) altitude (if above that altitude), where it will loiter for [RTL_LAND_DELAY](#RTL_LAND_DELAY) before landing. If `RTL_LAND_DELAY=-1` it will loiter indefinitely. The default landing configuration is vehicle dependent: @@ -217,16 +212,16 @@ For this reason fixed-wing vehicles are configured to use [Mission landing/reall The RTL parameters are listed in [Parameter Reference > Return Mode](../advanced_config/parameter_reference.md#return-mode) (and summarised below). -| 매개변수 | 설명 | +| Parameter | 설명 | | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | [RTL_TYPE](../advanced_config/parameter_reference.md#RTL_TYPE) | Return mechanism (path and destination).
`0`: Return to a rally point or home (whichever is closest) via direct path.
`1`: Return to a rally point or the mission landing pattern start point (whichever is closest), via direct path. 임무 착륙 또는 집결 지점이 모두 정의되지 않은 경우에는 직접 경로를 통해 홈으로 복귀합니다. If the destination is a mission landing pattern, follow the pattern to land.
`2`: Use the mission path to landing while skipping DO_JUMP and other non-position mission items if a landing pattern is defined, otherwise fast-reverse to home with the same traversal rules. 랠리포인트를 무시합니다. Fly direct to home if no mission plan is defined.
`3`: Return via direct path to closest destination: home, start of mission landing pattern or safe point. 목적지가 임무 착륙 패턴인 경우 패턴을 따라 착륙합니다. | | [RTL_RETURN_ALT](../advanced_config/parameter_reference.md#RTL_RETURN_ALT) | Return altitude in meters (default: 60m) when [RTL_CONE_ANG](../advanced_config/parameter_reference.md#RTL_CONE_ANG) is 0. 이미 이 값을 초과하면 기체는 현재 고도로 복귀합니다. | -| [RTL_DESCEND_ALT](../advanced_config/parameter_reference.md#RTL_DESCEND_ALT) | 기체가 더 높은 복귀 고도에서 감속하거나 초기 하강을 중지할 최소 복귀 고도 및 고도 (기본값 : 30m) | -| [RTL_LAND_DELAY](../advanced_config/parameter_reference.md#RTL_LAND_DELAY) | Time to wait at `RTL_DESCEND_ALT` before landing (default: 0.5s) -by default this period is short so that the vehicle will simply slow and then land immediately. If set to -1 the system will loiter at `RTL_DESCEND_ALT` rather than landing. 이 지연은 랜딩 기어가 배치될 시간을 설정합니다. (자동으로 동작함). | -| [RTL_MIN_DIST](../advanced_config/parameter_reference.md#RTL_MIN_DIST) | 홈 위치에서 "원뿔"에 지정된 복귀 고도까지 상승을 시작하는 최소 수평 거리. If the vehicle is horizontally closer than this distance to home, it will return at its current altitude or `RTL_DESCEND_ALT` (whichever is higher) instead of first ascending to RTL_RETURN_ALT. | -| [RTL_CONE_ANG](../advanced_config/parameter_reference.md#RTL_CONE_ANG) | 기체 RTL 리턴 고도를 정의하는 원뿔의 반각. 값 (도) : 0, 25, 45, 65, 80, 90. Note that 0 is "no cone" (always return at `RTL_RETURN_ALT` or higher), while 90 indicates that the vehicle must return at the current altitude or `RTL_DESCEND_ALT` (whichever is higher). | +| [RTL_DESCEND_ALT](../advanced_config/parameter_reference.md#RTL_DESCEND_ALT) | Altitude above the destination used for the final descent before landing or loitering (default: 30m). | +| [RTL_LAND_DELAY](../advanced_config/parameter_reference.md#RTL_LAND_DELAY) | Time to wait at `RTL_DESCEND_ALT` before landing (default: 0.5s) - by default this period is short so that the vehicle will simply slow and then land immediately. If set to -1 the system will loiter at `RTL_DESCEND_ALT` rather than landing. 이 지연은 랜딩 기어가 배치될 시간을 설정합니다. (자동으로 동작함). | +| [RTL_MIN_DIST](../advanced_config/parameter_reference.md#RTL_MIN_DIST) | Within this distance from the return destination, the return altitude is calculated from the "cone" rather than directly from `RTL_RETURN_ALT`. | +| [RTL_CONE_ANG](../advanced_config/parameter_reference.md#RTL_CONE_ANG) | 기체 RTL 리턴 고도를 정의하는 원뿔의 반각. Values (in degrees): `0`, `25`, `45`, `65`, `80`, `90`. Note that `0` is "no cone" (always return at `RTL_RETURN_ALT` or higher), while `90` indicates an almost vertical cone, so the vehicle generally returns at its current altitude when close to the destination. The return altitude may still be constrained to avoid flying too low while approaching the destination. | | [RTL_APPR_FORCE](../advanced_config/parameter_reference.md#RTL_APPR_FORCE) | [VTOL FW only] If set, home or rally-point RTL destinations are only considered when a valid VTOL approach loiter is defined for that landing location. Mission landing patterns are unaffected. | -| [COM_RC_OVERRIDE](../advanced_config/parameter_reference.md#COM_RC_OVERRIDE) | Controls whether stick movement on a multicopter (or VTOL in MC mode) causes a mode change to [Position mode](../flight_modes_mc/position.md) (except when vehicle is handling a critical battery failsafe). 자동 모드와 오프보드 모드에 대해 별도로 활성화할 수 있으며, 기본적으로 자동 모드에서 활성화됩니다. | +| [COM_RC_OVERRIDE](../advanced_config/parameter_reference.md#COM_RC_OVERRIDE) | Controls whether stick movement on a multicopter (or VTOL in MC mode) causes a mode change to [Position mode](../flight_modes_mc/position.md) (unless prevented by the active failsafe state). 자동 모드와 오프보드 모드에 대해 별도로 활성화할 수 있으며, 기본적으로 자동 모드에서 활성화됩니다. | | [COM_RC_STICK_OV](../advanced_config/parameter_reference.md#COM_RC_STICK_OV) | The amount of stick movement that causes a transition to [Position mode](../flight_modes_mc/position.md) (if [COM_RC_OVERRIDE](#COM_RC_OVERRIDE) is enabled). | | [RTL_LOITER_RAD](../advanced_config/parameter_reference.md#RTL_LOITER_RAD) | [Fixed-wing Only] The radius of the loiter circle (at [RTL_LAND_DELAY](#RTL_LAND_DELAY)). | | [MIS_TKO_LAND_REQ](../advanced_config/parameter_reference.md#MIS_TKO_LAND_REQ) | Specify whether a mission landing or takeoff pattern is _required_. Generally fixed-wing vehicles set this to require a landing pattern but VTOL do not. | diff --git a/docs/ko/flight_modes_fw/acro.md b/docs/ko/flight_modes_fw/acro.md index 732639b1ae..31451280f5 100644 --- a/docs/ko/flight_modes_fw/acro.md +++ b/docs/ko/flight_modes_fw/acro.md @@ -18,7 +18,7 @@ Throttle is passed directly to control allocation. ## 매개변수 -| 매개변수 | 설명 | +| Parameter | 설명 | | -------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | [FW_ACRO_X_MAX](../advanced_config/parameter_reference.md#FW_ACRO_X_MAX) | Acro body x max rate (the body x rate the controller is trying to achieve if the user applies full roll stick input in acro mode). Default: 90 degrees. | | [FW_ACRO_Y_MAX](../advanced_config/parameter_reference.md#FW_ACRO_Y_MAX) | Acro body y max rate (the body y rate the controller is trying to achieve if the user applies full pitch stick input in acro mode). Default: 90 degrees. | diff --git a/docs/ko/flight_modes_fw/altitude.md b/docs/ko/flight_modes_fw/altitude.md index dd941912b3..4f47fa5726 100644 --- a/docs/ko/flight_modes_fw/altitude.md +++ b/docs/ko/flight_modes_fw/altitude.md @@ -47,7 +47,7 @@ The vehicle course is not maintained, and can drift due to wind. The mode is affected by the following parameters: -| 매개변수 | 설명 | +| Parameter | 설명 | | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------- | | [FW_AIRSPD_MIN](../advanced_config/parameter_reference.md#FW_AIRSPD_MIN) | Min airspeed. Default: 10 m/s. | | [FW_AIRSPD_MAX](../advanced_config/parameter_reference.md#FW_AIRSPD_MAX) | Max airspeed. Default: 20 m/s. | @@ -57,6 +57,21 @@ The mode is affected by the following parameters: | [FW_T_CLMB_R_SP](../advanced_config/parameter_reference.md#FW_T_CLMB_R_SP) | Max climb rate setpoint. 기본값: 3 m/s. | | [FW_T_SINK_R_SP](../advanced_config/parameter_reference.md#FW_T_SINK_R_SP) | Max sink rate setpoint. Default: 2 m/s. | +## MAVLink Commands + +The following commands are relevant to this mode: + +- [MAV_CMD_DO_CHANGE_SPEED](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_CHANGE_SPEED) — Sets the cruise airspeed for centred throttle stick. + + This requires an airspeed sensor. + Only the airspeed speed type is handled (`param1` must be `0`); other speed types are ignored. + At centered throttle the vehicle holds the commanded airspeed (`param2`) if a positive value is set (non-positive values are ignored). + The value is constrained between [FW_AIRSPD_MIN](../advanced_config/parameter_reference.md#FW_AIRSPD_MIN) and [FW_AIRSPD_MAX](../advanced_config/parameter_reference.md#FW_AIRSPD_MAX), and defaults to [FW_AIRSPD_TRIM](../advanced_config/parameter_reference.md#FW_AIRSPD_TRIM) if no airspeed has been commanded. + Deflecting the throttle stick scales the airspeed toward `FW_AIRSPD_MIN` (back) or `FW_AIRSPD_MAX` (forward) around this value. + The commanded airspeed resets to `FW_AIRSPD_TRIM` on every flight mode change. + +Note, other commands may be supported. + @@ -26,7 +26,7 @@ It is usually activated with a pre-programmed switch. ## Technical Summary -The vehicle hovers at the current position and altitude. +The vehicle stops and hovers, maintaining its position and altitude. The vehicle will first ascend to [NAV_MIN_LTR_ALT](#NAV_MIN_LTR_ALT) if the mode is engaged below this altitude. RC stick movement will change the vehicle to [Position mode](../flight_modes_mc/position.md) (by [default](#COM_RC_OVERRIDE)). @@ -35,7 +35,7 @@ RC stick movement will change the vehicle to [Position mode](../flight_modes_mc/ Hold mode behaviour can be configured using the parameters below. -| 매개변수 | 설명 | +| Parameter | 설명 | | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | [NAV_MIN_LTR_ALT](../advanced_config/parameter_reference.md#NAV_MIN_LTR_ALT) | This is the minimum altitude above Home the system will always obey in Hold mode if switched into this mode without specifying an altitude (e.g. through switch on RC). | | [COM_RC_OVERRIDE](../advanced_config/parameter_reference.md#COM_RC_OVERRIDE) | Controls whether stick movement on a multicopter (or VTOL in MC mode) causes a mode change to [Position mode](../flight_modes_mc/position.md). 자동 모드와 오프보드 모드에 대해 별도로 활성화할 수 있으며, 기본적으로 자동 모드에서 활성화됩니다. | diff --git a/docs/ko/flight_modes_mc/land.md b/docs/ko/flight_modes_mc/land.md index eb26d13e46..978c52811e 100644 --- a/docs/ko/flight_modes_mc/land.md +++ b/docs/ko/flight_modes_mc/land.md @@ -11,9 +11,9 @@ The vehicle will disarm shortly after landing (by default). - Mode requires at least a valid local position estimate (does not require a global position). - Flying vehicles can't switch to this mode without valid local position. - Flying vehicles will failsafe if they lose the position estimate. -- Mode prevents arming (vehicle must be armed when switching to this mode). +- Mode prevents arming (vehicle cannot be armed while this mode is selected). - RC 제어 스위치는 기체의 비행 모드를 변경할 수 있습니다. -- RC stick movement in a multicopter (or VTOL in multicopter mode) will [by default](#COM_RC_OVERRIDE) change the vehicle to [Position mode](../flight_modes_mc/position.md) unless handling a critical battery failsafe. +- RC stick movement in a multicopter (or VTOL in multicopter mode) will [by default](#COM_RC_OVERRIDE) change the vehicle to [Position mode](../flight_modes_mc/position.md) unless prevented by the active failsafe state. - The mode can be triggered using the [MAV_CMD_NAV_LAND](https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_LAND) MAVLink command, or by explicitly switching to Land mode. @@ -31,7 +31,7 @@ RC stick movement will change the vehicle to [Position mode](../flight_modes_mc/ Land mode behaviour can be configured using the parameters below. -| 매개변수 | 설명 | +| Parameter | 설명 | | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | [MPC_LAND_SPEED](../advanced_config/parameter_reference.md#MPC_LAND_SPEED) | The rate of descent during landing. This should be kept fairly low as the ground conditions are not known. | | [COM_DISARM_LAND](../advanced_config/parameter_reference.md#COM_DISARM_LAND) | Time-out for auto disarm after landing, in seconds. If set to -1 the vehicle will not disarm on landing. | diff --git a/docs/ko/flight_modes_mc/manual_stabilized.md b/docs/ko/flight_modes_mc/manual_stabilized.md index 8127254ebf..a1bf6bedc6 100644 --- a/docs/ko/flight_modes_mc/manual_stabilized.md +++ b/docs/ko/flight_modes_mc/manual_stabilized.md @@ -48,7 +48,7 @@ Throttle is rescaled (see [below](#params)) and passed directly to control alloc ## 매개변수 -| 매개변수 | 설명 | +| Parameter | 설명 | | -------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | [MPC_THR_HOVER](../advanced_config/parameter_reference.md#MPC_THR_HOVER) | Hover throttle that is output when the throttle stick is centered and `MPC_THR_CURVE` is set to default. | | [MPC_THR_CURVE](../advanced_config/parameter_reference.md#MPC_THR_CURVE) | 스로틀 스케일링을 정의합니다. By default this is set to **Rescale to hover thrust**, which means that when the throttle stick is centered the configured hover throttle is output (`MPC_THR_HOVER`) and the stick input is linearly rescaled below and above that (allowing for a smooth transition between Stabilized and Altitude/Position control).
강력한 기체의 경우 호버 스로틀이 매우 낮아 (예 : 20 % 미만) 스로틀 입력이 왜곡 될 수 있습니다. 즉, 여기서 추력의 80 %는 스틱 입력의 상단 절반으로, 하단은 20 %로 제어됩니다. If needed `MPC_THR_CURVE` can be set to **No Rescale** so that there is no rescaling (stick input to throttle mapping is independent of `MPC_THR_HOVER`). | diff --git a/docs/ko/flight_modes_mc/mission.md b/docs/ko/flight_modes_mc/mission.md index 01ac5535bc..77e146b1f1 100644 --- a/docs/ko/flight_modes_mc/mission.md +++ b/docs/ko/flight_modes_mc/mission.md @@ -11,7 +11,7 @@ The mission is typically created and uploaded with a Ground Control Station (GCS - The vehicle must be armed before this mode can be engaged. - This mode is automatic - no user intervention is _required_ to control the vehicle. - RC 제어 스위치는 기체의 비행 모드를 변경할 수 있습니다. -- RC stick movement will [by default](#COM_RC_OVERRIDE) change the vehicle to [Position mode](../flight_modes_mc/position.md) unless handling a critical battery failsafe. +- RC stick movement will [by default](#COM_RC_OVERRIDE) change the vehicle to [Position mode](../flight_modes_mc/position.md) unless prevented by the active failsafe state. This is true for multicopters and VTOL in MC mode. ::: @@ -110,7 +110,7 @@ A very small subset are listed below. General parameters: -| 매개변수 | 설명 | +| Parameter | 설명 | | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | [NAV_RCL_ACT](../advanced_config/parameter_reference.md#NAV_RCL_ACT) | RC loss failsafe mode (what the vehicle will do if it looses RC connection) - e.g. enter hold mode, return mode, terminate etc. | | [COM_RC_OVERRIDE](../advanced_config/parameter_reference.md#COM_RC_OVERRIDE) | Controls whether stick movement on a multicopter (or VTOL in MC mode) gives control back to the pilot in [Position mode](../flight_modes_mc/position.md). 자동 모드와 오프보드 모드에 대해 별도로 활성화할 수 있으며, 기본적으로 자동 모드에서 활성화됩니다. | @@ -118,7 +118,7 @@ General parameters: Parameters related to [mission feasibility checks](#mission-feasibility-checks): -| 매개변수 | 설명 | +| Parameter | 설명 | | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------- | | [MIS_DIST_1WP](../advanced_config/parameter_reference.md#MIS_DIST_1WP) | There is a warning message if the distance of the first waypoint to Home is more than this value. Disabled if value is 0 or less. | | [FW_LND_ANG](../advanced_config/parameter_reference.md#FW_LND_ANG) | Maximum landing slope angle. | diff --git a/docs/ko/flight_modes_mc/orbit.md b/docs/ko/flight_modes_mc/orbit.md index 779e62605c..531e9497a6 100644 --- a/docs/ko/flight_modes_mc/orbit.md +++ b/docs/ko/flight_modes_mc/orbit.md @@ -10,7 +10,7 @@ The _Orbit_ guided flight mode allows you to command a multicopter (or VTOL in m - Mode requires at least a valid local position estimate (does not require a global position). - Flying vehicles can't switch to this mode without valid local position. - Flying vehicles will failsafe if they lose the position estimate. -- Mode prevents arming (vehicle must be armed when switching to this mode). +- Mode prevents arming (vehicle cannot be armed while this mode is selected). - Mode requires wind and flight time are within allowed limits (specified via parameters). - This mode is currently only supported on multicopter (or VTOL in MC mode). - RC stick movement can control ascent/descent and orbit speed and direction. @@ -59,7 +59,7 @@ The mode can be stopped by switching to any other flight mode (using RC or QGC). The mode is affected by the following parameters: -| 매개변수 | 설명 | +| Parameter | 설명 | | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------- | | [MC_ORBIT_RAD_MAX](../advanced_config/parameter_reference.md#MC_ORBIT_RAD_MAX) | Maximum radius of orbit. Default: 1000m. | | [MC_ORBIT_YAW_MOD](../advanced_config/parameter_reference.md#MC_ORBIT_YAW_MOD) | Yaw behaviour during orbit flight. Default: Front to Circle Center. | diff --git a/docs/ko/flight_modes_mc/position.md b/docs/ko/flight_modes_mc/position.md index e2d5aa329b..2ddf7829b1 100644 --- a/docs/ko/flight_modes_mc/position.md +++ b/docs/ko/flight_modes_mc/position.md @@ -60,7 +60,7 @@ Centered sticks level vehicle and hold it to fixed altitude and position against All the parameters in the [Multicopter Position Control](../advanced_config/parameter_reference.md#multicopter-position-control) group are relevant. A few parameters of particular note are listed below. -| 매개변수 | 설명 | +| Parameter | 설명 | | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | [MAN_DEADZONE](../advanced_config/parameter_reference.md#MAN_DEADZONE) | Deadzone of sticks where position hold is enabled. Default: 0.1 (10% of full stick range). | | [MPC_Z_VEL_MAX_UP](../advanced_config/parameter_reference.md#MPC_Z_VEL_MAX_UP) | 최대 수직 상승 속도. 기본값: 3 m/s. | diff --git a/docs/ko/flight_modes_mc/return.md b/docs/ko/flight_modes_mc/return.md index e2b1685402..7866dce27d 100644 --- a/docs/ko/flight_modes_mc/return.md +++ b/docs/ko/flight_modes_mc/return.md @@ -18,9 +18,9 @@ The default type is recommended. - Flying vehicles can't switch to this mode without global position. - Flying vehicles will failsafe if they lose the position estimate. - Mode requires home position is set. -- Mode prevents arming (vehicle must be armed when switching to this mode). +- Mode prevents arming (vehicle cannot be armed while this mode is selected). - RC 제어 스위치는 기체의 비행 모드를 변경할 수 있습니다. -- RC stick movement will [by default](#COM_RC_OVERRIDE) change the vehicle to [Position mode](../flight_modes_mc/position.md) unless handling a critical battery failsafe. +- RC stick movement will [by default](#COM_RC_OVERRIDE) change the vehicle to [Position mode](../flight_modes_mc/position.md) unless prevented by the active failsafe state. @@ -28,7 +28,7 @@ The default type is recommended. ## Technical Summary -Multicopters use the [home/rally point return type](../flight_modes/return.md#home-rally-point-return-type-rtl-type-0) by default. +Multicopters use the [home/rally point return type](../flight_modes/return.md#home-rally-point-return-type-rtl-type-0) by default ([RTL_TYPE=0](../advanced_config/parameter_reference.md#RTL_TYPE)). For this return type the copter: - Ascends to the [minimum return altitude](#minimum-return-altitude) (safely above any expected obstacles). @@ -42,15 +42,15 @@ For this return type the copter: By default the _minimum return altitude_ is set using [RTL_RETURN_ALT](#RTL_RETURN_ALT), and the vehicle will just return at the higher of `RTL_RETURN_ALT` or the initial vehicle altitude. -The minimum return altitude can be further configured using [RTL_CONE_ANG](#RTL_CONE_ANG), which together with [RTL_RETURN_ALT](#RTL_RETURN_ALT) defines a half cone centered around the destination landing point. -The cone angle allows a lower minimum return altitude when the return mode is executed close to the destination. -This is useful when there are few obstacles near the destination, because it may reduce the minimum height that the vehicle needs to ascend before landing, and hence power consumption and time to land. +The minimum return altitude can be further configured using [RTL_CONE_ANG](#RTL_CONE_ANG) and [RTL_MIN_DIST](#RTL_MIN_DIST), which together with [RTL_RETURN_ALT](#RTL_RETURN_ALT) define a half cone centered around the destination landing point. +Within `RTL_MIN_DIST` of the destination, the return altitude is calculated from the cone geometry rather than set directly to `RTL_RETURN_ALT`, allowing a lower minimum return altitude when close to the destination. +This is useful when there are few obstacles near the destination, as it may reduce the height the vehicle needs to ascend before landing, and hence power consumption and time to land. ![Return mode cone](../../assets/flying/rtl_cone.jpg) -The cone affects the minimum return altitude if return mode is triggered within the cylinder defined by the maximum cone radius and `RTL_RETURN_ALT`: outside this cylinder `RTL_RETURN_ALT` is used. -Inside the code the minimum return altitude is the intersection of the vehicle position with the cone, or `RTL_DESCEND_ALT` (whichever is higher). -In other words, the vehicle must always ascend to at least `RTL_DESCEND_ALT` if below that value. +The cone affects the minimum return altitude if return mode is triggered within the cylinder defined by the maximum cone radius ([RTL_MIN_DIST](#RTL_MIN_DIST)) and `RTL_RETURN_ALT`: outside this cylinder `RTL_RETURN_ALT` is used. +Inside the cone, the vehicle returns at an altitude calculated from the cone geometry, up to `RTL_RETURN_ALT`. +After reaching the destination, it descends to `RTL_DESCEND_ALT` (if above that altitude) before landing or loitering. For more information on this return type see [Home/Rally Point Return Type (RTL_TYPE=0)](../flight_modes/return.md#home-rally-point-return-type-rtl-type-0) @@ -60,15 +60,15 @@ The RTL parameters are listed in [Parameter Reference > Return Mode](../advanced The parameters that are relevant to multicopter (assuming the [RTL_TYPE](../advanced_config/parameter_reference.md#RTL_TYPE) is set to 0) are listed below. -| 매개변수 | 설명 | -| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | -| [RTL_RETURN_ALT](../advanced_config/parameter_reference.md#RTL_RETURN_ALT) | Return altitude in meters (default: 60m) when [RTL_CONE_ANG](../advanced_config/parameter_reference.md#RTL_CONE_ANG) is 0. 이미 이 값을 초과하면 기체는 현재 고도로 복귀합니다. | -| [RTL_DESCEND_ALT](../advanced_config/parameter_reference.md#RTL_DESCEND_ALT) | 기체가 더 높은 복귀 고도에서 감속하거나 초기 하강을 중지할 최소 복귀 고도 및 고도 (기본값 : 30m) | -| [RTL_LAND_DELAY](../advanced_config/parameter_reference.md#RTL_LAND_DELAY) | Time to hover at `RTL_DESCEND_ALT` before landing (default: 0.5s) -by default this period is short so that the vehicle will simply slow and then land immediately. If set to -1 the system will loiter at `RTL_DESCEND_ALT` rather than landing. 이 지연은 랜딩 기어가 배치될 시간을 설정합니다. (자동으로 동작함). | -| [RTL_MIN_DIST](../advanced_config/parameter_reference.md#RTL_MIN_DIST) | 홈 위치에서 "원뿔"에 지정된 복귀 고도까지 상승을 시작하는 최소 수평 거리. If the vehicle is horizontally closer than this distance to home, it will return at its current altitude or `RTL_DESCEND_ALT` (whichever is higher) instead of first ascending to RTL_RETURN_ALT). | -| [RTL_CONE_ANG](../advanced_config/parameter_reference.md#RTL_CONE_ANG) | 기체 RTL 리턴 고도를 정의하는 원뿔의 반각. 값 (도) : 0, 25, 45, 65, 80, 90. Note that 0 is "no cone" (always return at `RTL_RETURN_ALT` or higher), while 90 indicates that the vehicle must return at the current altitude or `RTL_DESCEND_ALT` (whichever is higher). | -| [COM_RC_OVERRIDE](../advanced_config/parameter_reference.md#COM_RC_OVERRIDE) | Controls whether stick movement on a multicopter (or VTOL in MC mode) causes a mode change to [Position mode](../flight_modes_mc/position.md) (except when vehicle is handling a critical battery failsafe). 자동 모드와 오프보드 모드에 대해 별도로 활성화할 수 있으며, 기본적으로 자동 모드에서 활성화됩니다. | -| [COM_RC_STICK_OV](../advanced_config/parameter_reference.md#COM_RC_STICK_OV) | The amount of stick movement that causes a transition to [Position mode](../flight_modes_mc/position.md) (if [COM_RC_OVERRIDE](#COM_RC_OVERRIDE) is enabled). | +| Parameter | 설명 | +| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| [RTL_RETURN_ALT](../advanced_config/parameter_reference.md#RTL_RETURN_ALT) | Return altitude in meters (default: 60m) when [RTL_CONE_ANG](../advanced_config/parameter_reference.md#RTL_CONE_ANG) is 0. 이미 이 값을 초과하면 기체는 현재 고도로 복귀합니다. | +| [RTL_DESCEND_ALT](../advanced_config/parameter_reference.md#RTL_DESCEND_ALT) | Altitude above the destination used for the final descent before landing or loitering (default: 30m). | +| [RTL_LAND_DELAY](../advanced_config/parameter_reference.md#RTL_LAND_DELAY) | Time to hover at `RTL_DESCEND_ALT` before landing (default: 0.5s) - by default this period is short so that the vehicle will simply slow and then land immediately. If set to -1 the system will loiter at `RTL_DESCEND_ALT` rather than landing. 이 지연은 랜딩 기어가 배치될 시간을 설정합니다. (자동으로 동작함). | +| [RTL_MIN_DIST](../advanced_config/parameter_reference.md#RTL_MIN_DIST) | Within this distance from the home position, the return altitude is calculated from the "cone" rather than directly from `RTL_RETURN_ALT`. | +| [RTL_CONE_ANG](../advanced_config/parameter_reference.md#RTL_CONE_ANG) | 기체 RTL 리턴 고도를 정의하는 원뿔의 반각. Values (in degrees): `0`, `25`, `45`, `65`, `80`, `90`. Note that `0` is "no cone" (always return at `RTL_RETURN_ALT` or higher), while `90` indicates an almost vertical cone, so the vehicle generally returns at its current altitude when close to the destination. The return altitude may still be constrained to avoid flying too low while approaching the destination. | +| [COM_RC_OVERRIDE](../advanced_config/parameter_reference.md#COM_RC_OVERRIDE) | Controls whether stick movement on a multicopter (or VTOL in MC mode) causes a mode change to [Position mode](../flight_modes_mc/position.md) (unless prevented by the active failsafe state). 자동 모드와 오프보드 모드에 대해 별도로 활성화할 수 있으며, 기본적으로 자동 모드에서 활성화됩니다. | +| [COM_RC_STICK_OV](../advanced_config/parameter_reference.md#COM_RC_STICK_OV) | The amount of stick movement that causes a transition to [Position mode](../flight_modes_mc/position.md) (if [COM_RC_OVERRIDE](#COM_RC_OVERRIDE) is enabled). | ## See Also diff --git a/docs/ko/flight_modes_mc/takeoff.md b/docs/ko/flight_modes_mc/takeoff.md index 0fea2bdb27..28f74d393f 100644 --- a/docs/ko/flight_modes_mc/takeoff.md +++ b/docs/ko/flight_modes_mc/takeoff.md @@ -12,7 +12,7 @@ The _Takeoff_ flight mode causes the vehicle to take off to a specified height a - Flying vehicles will failsafe if they lose the position estimate. - Disarmed vehicles can switch to mode without valid position estimate but can't arm. - RC control switches can be used to change flight modes. -- RC stick movement will [by default](#COM_RC_OVERRIDE) change the vehicle to [Position mode](../flight_modes_mc/position.md) unless handling a critical battery failsafe. +- RC stick movement will [by default](#COM_RC_OVERRIDE) change the vehicle to [Position mode](../flight_modes_mc/position.md) unless prevented by the active failsafe state. - The [Failure Detector](../config/safety.md#failure-detector) will automatically stop the engines if there is a problem on takeoff. @@ -29,7 +29,7 @@ RC stick movement will change the vehicle to [Position mode](../flight_modes_mc/ Takeoff is affected by the following parameters: -| 매개변수 | 설명 | +| Parameter | 설명 | | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | [MIS_TAKEOFF_ALT](../advanced_config/parameter_reference.md#MIS_TAKEOFF_ALT) | Target altitude during takeoff (default: 2.5m) | | [MPC_TKO_SPEED](../advanced_config/parameter_reference.md#MPC_TKO_SPEED) | Speed of ascent (default: 1.5m/s) | diff --git a/docs/ko/flight_modes_vtol/land.md b/docs/ko/flight_modes_vtol/land.md index 300cc4f58b..8220258cfa 100644 --- a/docs/ko/flight_modes_vtol/land.md +++ b/docs/ko/flight_modes_vtol/land.md @@ -13,7 +13,7 @@ By default a VTOL in FW mode will transition back to MC just before landing. The VTOL-specific parameters are: -| 매개변수 | 설명 | +| Parameter | 설명 | | ---------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------- | | [NAV_FORCE_VT](../advanced_config/parameter_reference.md#NAV_FORCE_VT) | Force VTOL to takeoff and land as a multicopter (default: true) | diff --git a/docs/ko/flight_modes_vtol/return.md b/docs/ko/flight_modes_vtol/return.md index 3f8dfa82e4..cfaf1feed6 100644 --- a/docs/ko/flight_modes_vtol/return.md +++ b/docs/ko/flight_modes_vtol/return.md @@ -22,7 +22,7 @@ The default type is recommended. - Flying vehicles can't switch to this mode without global position. - Flying vehicles will failsafe if they lose the position estimate. - Mode requires home position is set. -- Mode prevents arming (vehicle must be armed when switching to this mode). +- Mode prevents arming (vehicle cannot be armed while this mode is selected). - RC 제어 스위치는 기체의 비행 모드를 변경할 수 있습니다. - RC stick movement is ignored. @@ -107,7 +107,7 @@ The RTL parameters are listed in [Parameter Reference > Return Mode](../advanced If using a mission landing, only the [RTL_RETURN_ALT](#RTL_RETURN_ALT) and [RTL_DESCEND_ALT](#RTL_DESCEND_ALT) are relevant. The others are relevant if the destination is a rally point or the home location. -| 매개변수 | 설명 | +| Parameter | 설명 | | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | | [RTL_TYPE](../advanced_config/parameter_reference.md#RTL_TYPE) | Return type. | | [RTL_APPR_FORCE](../advanced_config/parameter_reference.md#RTL_APPR_FORCE) | [VTOL FW only] If set, PX4 only considers home or rally-point RTL destinations when a valid VTOL approach loiter is defined for that landing location. Mission landing patterns are unaffected. | diff --git a/docs/ko/flight_stack/controller_diagrams.md b/docs/ko/flight_stack/controller_diagrams.md index 97fc96f664..a18e3e5e25 100644 --- a/docs/ko/flight_stack/controller_diagrams.md +++ b/docs/ko/flight_stack/controller_diagrams.md @@ -30,7 +30,7 @@ The diagrams use the standard [PX4 notation](../contribute/notation.md) (and eac ::: info The IMU pipeline is: - gyro data > apply calibration parameters > remove estimated bias > notch filter (`IMU_GYRO_NF0_BW` and `IMU_GYRO_NF0_FRQ`) > low-pass filter (`IMU_GYRO_CUTOFF`) > vehicle_angular_velocity (\_filtered angular rate used by the P and I controllers_) > derivative -> low-pass filter (`IMU_DGYRO_CUTOFF`) > vehicle_angular_acceleration (\_filtered angular acceleration used by the D controller_) + gyro data > apply calibration parameters > remove estimated bias > notch filter (`IMU_GYRO_NF0_BW` and `IMU_GYRO_NF0_FRQ`) > low-pass filter (`IMU_GYRO_CUTOFF`) > vehicle_angular_velocity (\_filtered angular rate used by the P and I controllers_) > derivative -> low-pass filter (`IMU_DGYRO_CUTOFF`) > vehicle_angular_acceleration (\_filtered angular acceleration used by the D controller_) ![IMU pipeline](../../assets/diagrams/px4_imu_pipeline.png) diff --git a/docs/ko/flying/pre_flight_checks.md b/docs/ko/flying/pre_flight_checks.md index 6994d7edf9..dd0f76d1dd 100644 --- a/docs/ko/flying/pre_flight_checks.md +++ b/docs/ko/flying/pre_flight_checks.md @@ -81,7 +81,7 @@ Tuning these parameters is a last resort. 추정기 성능이 향상될 수 있는 데이터가 있는 경우에만 시도합니다. ::: -| 매개변수 | 설명 | +| Parameter | 설명 | | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | [EKF2_ABL_LIM](../advanced_config/parameter_reference.md#EKF2_ABL_LIM) | EKF가 추정할 수 있는 최대 바이어스 값(이 값을 초과하면 바이어스가 잘리고 EKF는 자체 재설정을 시도하며 다중 EKF 시스템에서 작동하는 IMU가 있는 더 건강한 EKF로 전환할 수도 있음). The autopilot will report a "high accel bias" if the estimated bias exceeds 75% of this parameter during a preflight check and prevent takeoff. 0.4m/s2의 현재 값은 이미 상당히 높으며, 이를 높이면 자동조종장치가 문제를 감지할 가능성이 줄어듭니다. | | [EKF2_ABIAS_INIT](../advanced_config/parameter_reference.md#EKF2_ABIAS_INIT) | Initial bias uncertainty (if perfectly calibrated, this is related to the "turn-on bias" of the sensor). 일부 사용자는 센서가 잘 보정되어 있고 켜기 바이어스가 작다는 것을 알고 있으면 이 값을 줄이고 싶어할 수 있습니다. | @@ -130,7 +130,7 @@ Tuning these parameters is a last resort. The [COM_ARM_WO_GPS](../advanced_config/parameter_reference.md#COM_ARM_WO_GPS) parameter controls whether or not arming is allowed in modes that require a valid global position estimate when EKF2 GNSS quality checks are failing. -값들은 다음과 같습니다: +The values are: - `0`: Deny arming. - `1`: Arming allowed with warning (default). diff --git a/docs/ko/frames_multicopter/holybro_s500_v2_pixhawk4.md b/docs/ko/frames_multicopter/holybro_s500_v2_pixhawk4.md index 282a02a0d7..5cecd35eff 100644 --- a/docs/ko/frames_multicopter/holybro_s500_v2_pixhawk4.md +++ b/docs/ko/frames_multicopter/holybro_s500_v2_pixhawk4.md @@ -30,7 +30,7 @@ The Holybro [S500 V2 Kit](https://holybro.com/collections/s500/products/s500-v2- - 433 MHz / 915 MHz [Holybro Telemetry Radio](../telemetry/holybro_sik_radio.md) - 전원 및 무선 조종기 케이블 - 배터리 혁지 -- Dimensions:383_385_240mm +- Dimensions:383_385_240mm - 축거 : 480mm :::info @@ -147,8 +147,8 @@ M3X8 나사 (총 8개, 각 측면에 4개)로 연결합니다. ![Figure 9](../../assets/airframes/multicopter/s500_holybro_pixhawk4/s500_fig91.jpg) -2. Assemble the 8_3 2.54mm pitch Horizontal Pin to the 10 to 10 pin cable (PWM) to the Power Management Board. - Connect the 10 to 10 pin cable (PWM) to the 8_3 2.54mm pitch Horizontal Pin. +2. Assemble the 8_3 2.54mm pitch Horizontal Pin to the 10 to 10 pin cable (PWM) to the Power Management Board. + Connect the 10 to 10 pin cable (PWM) to the 8_3 2.54mm pitch Horizontal Pin. ![Figure 10](../../assets/airframes/multicopter/s500_holybro_pixhawk4/s500_fig10.jpg) diff --git a/docs/ko/frames_multicopter/holybro_x500v2_pixhawk6c.md b/docs/ko/frames_multicopter/holybro_x500v2_pixhawk6c.md index bee5047840..e33944e3ea 100644 --- a/docs/ko/frames_multicopter/holybro_x500v2_pixhawk6c.md +++ b/docs/ko/frames_multicopter/holybro_x500v2_pixhawk6c.md @@ -38,7 +38,7 @@ This topic provides full instructions for building the [Holybro X500 V2 ARF Kit] ### 전원 모듈 -**Screw**- Socket Cap Screw M2.5_6 8pcs | Locknut M3 4pcs |Nylon Standoff M3_5 4pcs | Screw M3\*14 4pcs +**Screw**- Socket Cap Screw M2.5_6 8pcs | Locknut M3 4pcs |Nylon Standoff M3_5 4pcs | Screw M3\*14 4pcs [![Assembly5](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk6c/assembly5.png)](https://youtu.be/0knU3Q_opEo)) @@ -150,7 +150,7 @@ The following parts can be placed as per usual. ### Companion Computer (Optional) -**Screw-** Socket Cap Screw M2.5_12 4pcs | Nylon Standoff M2.5_5 4pcs Locknut M2.5 4pcs +**Screw-** Socket Cap Screw M2.5_12 4pcs | Nylon Standoff M2.5_5 4pcs Locknut M2.5 4pcs The X500 kit is provides space for a companion computer, such as Raspberry Pi or Jetson nano can be placed here [TBD]. diff --git a/docs/ko/gps_compass/gps_cuav_neo_3pro.md b/docs/ko/gps_compass/gps_cuav_neo_3pro.md index 55fdfb33b3..22bbf2ce0d 100644 --- a/docs/ko/gps_compass/gps_cuav_neo_3pro.md +++ b/docs/ko/gps_compass/gps_cuav_neo_3pro.md @@ -36,7 +36,7 @@ It integrates UBLOX M9N, STM32F4 MCU, RM3100 compass, three-color LED light and | Upgrade firmware | support | | Input voltage | 5V | | Operating temperature | -10~70℃ | -| Size | 60_60_16MM | +| Size | 60_60_16MM | | 중량 | 33g | ## 구매처 diff --git a/docs/ko/gps_compass/gps_cuav_neo_3x.md b/docs/ko/gps_compass/gps_cuav_neo_3x.md index 9b7b29cb6d..966f67843c 100644 --- a/docs/ko/gps_compass/gps_cuav_neo_3x.md +++ b/docs/ko/gps_compass/gps_cuav_neo_3x.md @@ -32,7 +32,7 @@ Main features : | Protection level | IP66 | | Input voltage | 4.7~5.2V | | Operating temperature | -10~70℃ | -| Size | 67_67_21.2mm | +| Size | 67_67_21.2mm | | 중량 | 46g (without cable） | ## 구매처 diff --git a/docs/ko/gps_compass/gps_locosys_hawk_a1.md b/docs/ko/gps_compass/gps_locosys_hawk_a1.md index dc58f371f2..748a9a1da9 100644 --- a/docs/ko/gps_compass/gps_locosys_hawk_a1.md +++ b/docs/ko/gps_compass/gps_locosys_hawk_a1.md @@ -29,7 +29,7 @@ The PX4 parameters should be set as below for each case. To use the Hawk A1 your main GPS device: -| 매개변수 | Value | 설명 | +| Parameter | Value | 설명 | | -------------------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------- | | [GPS_1_CONFIG](../advanced_config/parameter_reference.md#GPS_1_CONFIG) | 102 (Telem 2 or another available serial port) | Configure main GPS port | | [GPS_1_PROTOCOL](../advanced_config/parameter_reference.md#GPS_1_PROTOCOL) | 1 (u-blox) | Configure GPS protocol | @@ -39,7 +39,7 @@ To use the Hawk A1 your main GPS device: To use the Hawk A1 as an auxiliary GPS device (in addition to the main GPS): -| 매개변수 | Value | 설명 | +| Parameter | Value | 설명 | | -------------------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------- | | [GPS_2_CONFIG](../advanced_config/parameter_reference.md#GPS_2_CONFIG) | 102 (Telem 2 or another available serial port) | Configure main GPS port | | [GPS_2_PROTOCOL](../advanced_config/parameter_reference.md#GPS_2_PROTOCOL) | 1 (u-blox) | Configure GPS protocol | diff --git a/docs/ko/gps_compass/rtk_gps.md b/docs/ko/gps_compass/rtk_gps.md index 8eff243cad..d4cee1fe9b 100644 --- a/docs/ko/gps_compass/rtk_gps.md +++ b/docs/ko/gps_compass/rtk_gps.md @@ -175,7 +175,7 @@ The links in the table take you to the device-specific PX4 configuration. Generally when using a GNSS as a source of yaw information you will need to configure the following parameters: -| 매개변수 | 설정 | +| Parameter | 설정 | | ---------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------- | | [GPS\_YAW\_OFFSET][GPS_YAW_OFFSET] | The angle made by the _baseline_ (the line between the two GPS antennas) relative to the vehicle x-axis (front/back axis, as shown [here][fc_orientation]). | | [EKF2\_GPS\_CTRL][EKF2_GPS_CTRL] | Set bit position 3 "Dual antenna heading" to `1` (i.e. add 8 to the parameter value). | diff --git a/docs/ko/hardware/board_support_guide.md b/docs/ko/hardware/board_support_guide.md index 63183773a5..e83099f761 100644 --- a/docs/ko/hardware/board_support_guide.md +++ b/docs/ko/hardware/board_support_guide.md @@ -1,133 +1,196 @@ # 제조사의 PX4 보드 지원 가이드 -The PX4 development and test teams fully support and maintain boards that are compliant with the [Pixhawk Standard](https://pixhawk.org/standards/). -표준을 준수하지 않거나 새로운 보드를 제작하는 업체에서는 호환성 차이를 지원하여야 합니다. +This guide explains how to get your hardware supported by PX4: added to the PX4 codebase, listed on the PX4 website, and available to users in QGroundControl. +If you are a hardware manufacturer looking to add a flight controller or peripheral to PX4, or to port PX4 to a new board, start here. -This guide outlines the [general requirements](#general_requirements) for board support, along with the additional requirements for the different [board support categories](#board-support-categories). +The process is **open and driven through GitHub**. +You do not need permission or a private agreement to start. +When your hardware works with PX4 and you can prove it, you open a pull request, and the maintainers review it in the open. +There is no application form and no waiting on an assignment before you can begin. + +The path depends on what you are bringing to PX4: + +- [Adding a Flight Controller](#flight-controllers) explains the steps for a **new board that runs PX4**. +- [Adding a Component](#components) explains how to get support for a **peripheral or component** (GPS/RTK receiver, compass, data link, distance sensor, etc.). :::info -Boards that are not compliant with the requirements are [unsupported](#unsupported); they will not be listed on the PX4 website hardware list and will be removed from the codebase. +If you only want to know _what_ each support level commits the PX4 team to (versus what you maintain yourself), see [Support Categories](#support-categories) at the end. ::: - +## Adding a Flight Controller {#flight-controllers} -## 일반 요구사항 +### 1. Build your own Firmware Target -지원 모든 보드에 대한 일반 요구사항은 다음과 같습니다. +The recommended approach for any new flight controller is to **maintain your own board build target based on PX4**, rather than trying to reuse an existing FMU target. -1. 하드웨어는 시장에서 사용할 수 있어야 합니다. +This applies even if your board is electrically close to an FMUv5X or FMUv6X design. +As soon as you change the sensor set, connectors, or other peripherals, you should have your own target. +It gives you a stable place to express your hardware's configuration and keeps you in control of your own board. -2. 보드에는 UAV에서 PX4와 함께 보드를 사용하는 것이 불가능하거나 위험하게 하는 버그나 허용 범위 초과하는 품질 이상이 없어야 합니다. - 보드는 부품과 조립품의 품질을 보장하기 위해 승인 기준을 통과하여야 합니다. +Start by reading the porting guides: -3. 고객을 지원하고 고객이 연락할 수 있는 명확하고 쉬운 방법이 있어야 합니다. - 다음과 같은 방법이 허용됩니다. - - PX4 Discord server presence - - 지원 이메일 - - 전화번호 +- [Flight Controller Porting Guide](../hardware/porting_guide.md) +- [NuttX Board Port (config & pin mapping)](../hardware/porting_guide_config.md) +- [PX4 Nuttx Porting Guide > Bootloader](../hardware/porting_guide_nuttx.md#bootloader) -4. PX4 관리자를 위한 PoC(Point of Contact)(직접 이메일 또는 Slack/Forum/Github에서 사용 가능) +Good real-world examples of manufacturer board targets to model yours on: -5. The board needs to use the [PX4 bootloader protocol](https://github.com/PX4/PX4-Autopilot/tree/main/platforms/nuttx/src/bootloader). - For more information on bootloaders see: [PX4 Nuttx Porting Guide > Bootloader](../hardware/porting_guide_nuttx.md#bootloader). +- [ARK V6X](https://github.com/PX4/PX4-Autopilot/pull/25715) +- [ZeroOne 6X](https://github.com/PX4/PX4-Autopilot/pull/23623) -6. 다음 내용을 포함하는 적절한 문서: - - PX4 핀 정의를 아래에 매핑하는 완전한 핀배열 공개: - 1. 마이크로컨트롤러 핀 - 2. 물리적 외부 커넥터 - - A block diagram or full schematic of the main components (sensors, power supply, etc.) that allows to infer software requirements and boot order - - A manual of the finished product detailing its use +Your board must use the [PX4 bootloader protocol](https://github.com/PX4/PX4-Autopilot/tree/main/platforms/nuttx/src/bootloader). -7. There must be a dedicated webpage for the board with PX4, which lists the features and limitations for usage with PX4, and includes or links to the above described documentation. +### 2. Reserve a Board ID -## 보드 지원 카테고리 +Every flight controller needs a unique **board ID** for bootloader and firmware selection in QGroundControl. +This ID lives in your board's `firmware.prototype` file. -보드 지원 범주는 다음과 같습니다. The autopilot boards in each category are listed at: [https://px4.io/autopilots/.](https://px4.io/autopilots/) +You reserve it by **opening a pull request against [PX4/PX4-Bootloader](https://github.com/PX4/PX4-Bootloader)** proposing your value. +You pick the value; the maintainers coordinate to make sure it does not collide with an existing board. Examples to follow: + +- [PX4-Bootloader#260](https://github.com/PX4/PX4-Bootloader/pull/260) +- [PX4-Bootloader#262](https://github.com/PX4/PX4-Bootloader/pull/262) :::info -Manufacturer supported boards may be as well/better supported than Pixhawk boards (for example through economies of scale). +**If your board will also run ArduPilot, reserve the _same_ board ID in both bootloaders.** +Open a matching PR against [ArduPilot](https://github.com/ArduPilot/ardupilot) (board IDs live in the `hwdef` definitions under [`libraries/AP_HAL_ChibiOS/hwdef`](https://github.com/ArduPilot/ardupilot/tree/master/libraries/AP_HAL_ChibiOS/hwdef)) and use the identical board ID value there. +Keeping the two aligned avoids a class of confusing flashing and identification problems where the same physical board reports different IDs depending on which firmware it is running. ::: -## Pixhawk표준 +### 3. Sort Out your USB VID/PID -Pixhawk 보드는 Pixhawk 표준을 준수하는 보드입니다. These standards are laid out on [pixhawk.org](https://pixhawk.org/), but at high-level require that the board passes electrical tests mandated by the standard and the manufacturer has signed the Pixhawk adopter and trademark agreement. +If your board exposes USB, it needs a USB Vendor ID (VID) and Product ID (PID). -PX4는 일반적으로 상업적으로 사용 가능한 보드만 지원하므로, 일반적으로 지난 5년 이내에 출시된 보드 표준이 지원됩니다. - -### VER and REV ID (Hardware Revision and Version Sensing) {#ver_rev_id} - -FMUv5 이상에는 전기 감지 메커니즘이 있습니다. -선택적 구성 데이터와 결합된 이 감지는 필수 장치 및 전원 공급 장치 구성과 관련하여 하드웨어 구성을 정의합니다. Manufacturers must obtain the VER and REV ID from PX4 board maintainers by issuing a PR to amend the [DS-018 Pixhawk standard](https://github.com/pixhawk/Pixhawk-Standards) for board versions and revisions. - -Because these boards are 100% compliant with the Pixhawk standard, the values assigned for VER and REV ID are the defaults for that FMU Version. - -## 지원 제조업체 - -이러한 보드는 제조업체에서 지원합니다. -이 범주에 해당하려면 보드는 해당 릴리스로부터 4개월 이내에 최신 안정 PX4 릴리스에서 작동하여야 합니다. - -- 제조업체가 직접 지원합니다. -- 제조업체는 코어 개발 팀에 최소 2개의 보드를 공급하여야 합니다(테스트 랙 및 테스트 팀에서 사용하기 위하여). - -:::tip -While there is no commitment from the PX4 maintainers and the flight test team to support and test boards in this category, we strongly recommended PX4 and manufacturer teams build close working relationships. -이것은 모든 당사자에게 더 나은 결과를 가져올 것입니다. -::: - -:::info -These boards will be assigned [VER and REV ID](#ver_rev_id) based on compatibility. -보드가 FMU 사양의 변형이고 동일한 바이너리를 실행 가능하고 제조업체에서 지원하는 약간의 차이가 있는 경우에는 PX4에서 특별 할당을 수행합니다. -Contact the PX4 maintainer at [boards@px4.io](mailto:boards@px4.io) to request more information. -::: - -## 실험 - -These boards are all boards that don't fall in the above categories, or don't fall in those categories _anymore_. -다음 요구 사항이 적용됩니다. - -- 보드는 정의된 차량 유형에 대해 최소 하나의 PX4 릴리스에 작동하여야 하지만 반드시 최신 릴리스일 필요는 없습니다. - -:::info -Experimental boards that were _previously_ Pixhawk or Manufacturer supported will have/retain their original IDs. -_New_ experimental boards are allocated [VER and REV IDs](#ver_rev_id) based on compatibility, in the same way as Manufacturer Supported boards. -::: - -## 미지원 - -이 범주에는 PX4 프로젝트 또는 제조업체에서 지원하지 않고 "실험적" 지원에 해당하지 않는 모든 보드가 포함됩니다. - -- 보드는 우리가 이미 지원하는 것과 문서상 어느 정도 호환되며 "실험적"으로 올리려면, 최소한의 노력이 필요하지만 개발 팀이나 제조업체 모두 현재 이를 추구하지 않습니다. -- Manufacturer/Owner of hardware violates our [Code of Conduct](https://discuss.px4.io/t/px4-community-code-of-conduct/13655) -- 라이선스 제한으로 인해 보드 지원을 추가하는 데 필요한 도구/libs/drivers/etc가 호환되지 않는 것으로 간주되는 비공개 소스 -- 보드가 일반 요구 사항에 명시된 최소 요구 사항을 충족하지 않습니다. - -:::info -Unsupported boards will NOT be assigned [VER and REV ID](#ver_rev_id) (and cannot run PX4 FMUvX firmware). -::: - -## 릴리스 프로세스 - -제조업체가 보드가 특정 범주에 속한다고 선언시, 보드는 해당 범주 및 일반 요구 사항에 대한 요구 사항을 준수한다고 가정합니다. - -제조업체 지원 또는 실험 범주에 속하는 새 보드가 시장에 출시되면, 제조업체는 PX4 문서를 업데이트하고 PX4에서 보드 릴리스 프로세스를 수행할 책임이 있습니다. 다음 단계를 수행하는 것이 좋습니다. - -Contact PX4 board maintainers at [boards@px4.io](mailto:boards@px4.io) and request the following: - -1. The assignment of a _board id_ for bootloader and firmware selection in QGC. -2. The assignment of REV and VER ID resistor values. -3. If the board supports USB: Either request the assignment of a USB VID and PID or provide the USB VID and PID. - -Integrate the board according to the board porting release process described in the [porting guide](../hardware/porting_guide.md) +The VID/PID pair is how QGroundControl recognizes your hardware over USB. +It is what lets QGC match the connected board to the right firmware and present it correctly to the user. +The pair must be unique to your product. :::warning -The board support process may be changed and improved over time. -Hardware manufacturers are encouraged to contribute to this process through the regular hardware call, the Discuss forum or Discord. +**Do not copy another manufacturer's VID/PID.** If your board reports a VID/PID that belongs to someone else's hardware, QGroundControl will misidentify it, associate it with the wrong board, and may offer or flash the wrong firmware. +Each board needs its own identity. ::: -## 지원 +You have two ways to get a valid pair: -보드 지원 가이드/프로세스의 일부가 명확하지 않은 경우: +- **Provide your own.** As the hardware manufacturer, the VID/PID identify _your_ company and product, and you are expected to obtain them yourself. +- **Use the Dronecode VID.** [Dronecode Foundation members](https://dronecode.org/membership/) can request a PID allocated under the Dronecode USB VID. + This is one of the membership benefits, alongside access to the Pixhawk FMU reference schematics. + If you would like to use the Dronecode VID, [become a member](https://dronecode.org/membership/) first. -- Ask the community for help on Discord channels under `Hardware` category, or on the discuss forum -- 정규 하드웨어 회의 참석 -- Consultancy options are listed here: [https://px4.io/community/consultants/](https://px4.io/community/consultants/) +### 4. Fly it and Capture Logs + +**Bench testing is not enough.** Before a flight controller is accepted, you must demonstrate stable flight on the current PX4 release with your hardware. + +Capture flight logs from that testing and upload them to [logs.px4.io](https://logs.px4.io). +You will link these in your pull request so the maintainers can review the flight data alongside your code. + +### 5. Open the Pull Request + +Open a pull request against [PX4/PX4-Autopilot](https://github.com/PX4/PX4-Autopilot) containing: + +- Your board support code (the build target from step 1). +- Board documentation: a public pinout mapping PX4 pin definitions to the microcontroller pins and physical connectors, plus a block diagram or schematic of the main components (sensors, power supply) sufficient to understand boot order and software requirements. +- **Links to your flight logs** from step 4, in the PR description, as proof the hardware has actually been flown. + +If you have never contributed via GitHub, follow the [documentation contribution guide](../contribute/docs.md) for the mechanics of forking, branching, and opening a PR. + +:::tip +A clean, reviewable commit history makes a real difference. +Split your work into logical commits rather than one large dump, and engage early on Discord if you have questions. +The most common reasons first-time board PRs stall are incomplete documentation and missing or insufficient flight-test evidence. +::: + +### 6. Maintain It {#maintain} + +Once your board is merged, you own it. +That means: + +- Handling support questions from your own customers. +- Keeping your board target building and working as PX4 evolves across releases. +- Responding to issues and regressions specific to your hardware. + +You are not expected to fix unrelated PX4 bugs, but you are expected to maintain what you contribute. +Boards that fall out of maintenance and stop building may be moved to [experimental](#support-categories) or removed. + +## Adding a Component {#components} + +For peripherals that work _with_ a flight controller, GPS/RTK receivers, compasses, data links, distance sensors, and similar, the path is lighter. +There is no board ID or firmware target involved. + +1. **Validate** that your product works with PX4. + A few simple flights are enough. +2. **Edit the relevant documentation page** to add your product, for example the [GPS & Compass](../gps_compass/index.md) or [RTK GPS](../gps_compass/rtk_gps.md) page for a GNSS product. +3. **Open a pull request** against [PX4/PX4-Autopilot](https://github.com/PX4/PX4-Autopilot) with your documentation changes. +4. **Attach proof** of step 1 (flight logs, linked or uploaded to [logs.px4.io](https://logs.px4.io)) in the PR description, so the maintainers can review it alongside your edits. + +New to GitHub? The [documentation contribution guide](../contribute/docs.md) covers the whole flow. + +## Support Categories {#support-categories} + +These categories describe **who is responsible for supporting a board**, the PX4 team or the manufacturer, and whether it is listed on the PX4 website. +They do not change the steps above. +The boards in each category are listed at [px4.io/autopilots](https://px4.io/autopilots/). + +### Pixhawk표준 + +Boards that conform to the [Pixhawk standards](https://pixhawk.org/standards/). +These are fully supported and maintained by the PX4 development and test teams. +Qualifying requires passing the electrical tests mandated by the standard and signing the Pixhawk adopter and trademark agreement. +PX4 generally supports standards released within the last few years, since those are what is commercially available. + +For examples, see [Pixhawk Standard Autopilots](../flight_controller/autopilot_pixhawk_standard.md). + +### 지원 제조업체 + +Boards supported by the manufacturer, the category most new flight controllers fall into. +The manufacturer owns support and keeps the board working across PX4 releases, as described in [Maintain it](#maintain) above. +These boards can be as well supported as Pixhawk boards. +There is no formal support or test commitment from the PX4 team, but a close working relationship between the manufacturer and PX4 teams benefits everyone. + +For examples, see [Manufacturer-Supported Autopilots](../flight_controller/autopilot_manufacturer_supported.md). + +### 실험 + +Boards that work with at least one PX4 release for a defined vehicle type, but not necessarily the latest, and are not actively maintained to either of the above standards. +Previously supported boards that fall out of active maintenance land here. + +For examples, see [Experimental Autopilots](../flight_controller/autopilot_experimental.md). + +### 미지원 + +Boards that meet none of the above. +Typically: boards that would take minimal effort to reach "experimental" but that nobody, manufacturer or dev team, is currently pursuing; hardware whose owner has violated the [Code of Conduct](https://discuss.px4.io/t/px4-community-code-of-conduct/13655); designs whose required tools/libraries/drivers are blocked by incompatible licensing; or boards that do not meet the general requirements above. +Unsupported boards are not listed on the PX4 website and may be removed from the codebase. + +### Hardware revision sensing (VER/REV ID) {#ver_rev_id} + +:::warning +**This path is no longer recommended.** New manufacturers should build their own firmware target ([step 1](#1-build-your-own-firmware-target)) instead. +This section is kept for context and for the few boards that still depend on the mechanism. +::: + +VER/REV ID is a sensing mechanism on FMUv5X and later. +The board encodes its version and revision either through resistor dividers read on dedicated sensing pins, or through values stored in an onboard EEPROM. +PX4 reads these at boot and uses them, together with the standard configuration, to determine the expected device and power-supply layout for that FMU version. + +It was originally designed to allow **cross-vendor compatibility between baseboards and FMU modules**: the idea being that a standard FMU module from one vendor could drop into a standard baseboard from another and run the same binary, with the VER/REV ID telling the firmware which hardware combination it was on. +The VER/REV ID values were coordinated centrally with the PX4 board maintainers (historically by a PR against the [DS-018 Pixhawk standard](https://github.com/pixhawk/Pixhawk-Standards)) so that assignments stayed unique across vendors. + +In practice the ecosystem has **deviated from that model**. +Modern boards differ enough in sensors, connectors, and peripherals that the shared-binary, drop-in-module assumption rarely holds, and maintaining your own firmware target has become the cleaner and more reliable approach. +For that reason: + +- We **no longer recommend** that manufacturers go through the VER/REV ID path. + Build your own firmware target ([step 1](#1-build-your-own-firmware-target)) instead. + It applies to nearly all new hardware, and is required as soon as you deviate from a published FMU sensor set in any way. +- The Dronecode team is **not currently offering validation services** to certify that a board meets the FMU standard for the purpose of obtaining a default VER/REV ID assignment. + +## 도움 받기 + +The board support process improves over time, and contributions to the process itself are welcome. + +- Ask the community on the PX4 [Discord](https://chat.dronecode.org) under the `Hardware` channels, or on the [discuss forum](https://discuss.px4.io/). +- Join the regular hardware call. +- Consultancy options are listed at [px4.io/community/consultants](https://px4.io/community/consultants/). + +If you need direct coordination that cannot happen in a pull request, for example sorting out a board ID conflict, you can reach the maintainers at [boards@px4.io](mailto:boards@px4.io). Use this as a last resort: anything that can happen in the open on GitHub should. diff --git a/docs/ko/hardware/porting_guide.md b/docs/ko/hardware/porting_guide.md index ce240d2956..fb9b6c687b 100644 --- a/docs/ko/hardware/porting_guide.md +++ b/docs/ko/hardware/porting_guide.md @@ -4,7 +4,8 @@ This topic is for developers who want to port PX4 to work with _new_ flight cont ## PX4 아키텍쳐 -PX4 consists of two main layers: The [board support and middleware layer](../middleware/index.md) on top of the host OS (NuttX, Linux or any other POSIX platform like Mac OS), and the applications (Flight Stack in [src/modules](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules)\). Please reference the [PX4 Architectural Overview](../concept/architecture.md) for more information. +PX4 consists of two main layers: The [board support and middleware layer](../middleware/index.md) on top of the host OS (NuttX, Linux or any other POSIX platform like Mac OS), and the applications (Flight Stack in [src/modules](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules)\). +Please reference the [PX4 Architectural Overview](../concept/architecture.md) for more information. 애플리케이션/플라이트 스택이 모든 보드 대상에서 실행되므로, 이 가이드에서는 호스트 OS와 미들웨어에만 초점을 맞추어 설명합니다. @@ -54,39 +55,25 @@ Linux에는 이미 보드에 사용할 수 있는 Linux 이미지에 의해 제 이것은 보드 설정과 매니페스트 파일을 통하여 수행됩니다. One example is [px4fmu-v5](https://github.com/PX4/PX4-Autopilot/blob/main/boards/px4/fmu-v5/src/manifest.c). -## 공식 지원 하드웨어 +## Getting Your Board Supported -The PX4 project supports and maintains the [FMU standard reference hardware](../hardware/reference_design.md) and any boards that are compatible with the standard. -This includes the [Pixhawk-series](../flight_controller/pixhawk_series.md) (see the user guide for a [full list of officially supported hardware](../flight_controller/index.md)). +This page covers the _technical_ work of porting PX4 to new hardware. +The _process_ for getting that port reviewed, merged, and listed on the PX4 website, including board IDs, USB VID/PID, flight-test evidence, and maintenance expectations, is documented separately: -공식 지원 보드의 이점은 다음과 같습니다. +- [Manufacturer's PX4 Board Support Guide](../hardware/board_support_guide.md) -- PX4 저장소에서 PX4 포트 사용 가능 -- Automatic firmware builds that are accessible from _QGroundControl_ -- 나머지 생태계와의 호환성 -- CI를 통한 자동 검사 - 이 커뮤니티에서 가장 중요한 것은 안전입니다. -- [Flight testing](../test_and_ci/test_flights.md) +In short: build your own firmware target based on PX4, demonstrate stable flight on the current release, and open a pull request with your board support code, documentation, and flight logs. +The board support guide explains each step. -We encourage board manufacturers to aim for full compatibility with the [FMU spec](https://pixhawk.org/). -완전한 호환성을 통하여 PX4의 지속적인 일일 개발의 이점을 얻을 수 있지만, 사양에서 벗어난 지원으로 인한 유지 관리 비용은 없습니다. +The PX4 project supports and maintains the [FMU standard reference hardware](../hardware/reference_design.md) and any boards compatible with the standard, including the [Pixhawk series](../flight_controller/pixhawk_series.md) (see the [full list of supported hardware](../flight_controller/index.md)). Boards merged into PX4 benefit from a port in the repository, firmware builds accessible from _QGroundControl_, compatibility with the rest of the ecosystem, and automated CI checks. :::tip -Manufacturers should carefully consider the cost of maintenance before deviating from the specification (the cost to the manufacturer is proportional to the level of divergence). +The cost of maintaining a port is proportional to how far it diverges from the standard. +Consider that cost before deviating: staying close to the reference design lets you benefit from day-to-day PX4 development with minimal maintenance burden. ::: -We welcome any individual or company to submit their port for inclusion in our supported hardware, provided they are willing to follow our [Code of Conduct](https://github.com/PX4/PX4-Autopilot/blob/main/CODE_OF_CONDUCT.md) and work with the Dev Team to provide a safe and fulfilling PX4 experience to their customers. - -또한 PX4 개발 팀은 안전한 소프트웨어를 출시할 책임이 있으므로, 모든 보드 제조업체는 포트를 최신 상태 유지에 필요한 리소스를 투입하여야 합니다. - -보드를 PX4에서 공식적으로 지원하려면: - -- 하드웨어는 시장에서 제한없이 구매할 수 있어야 합니다. -- Hardware must be made available to the PX4 Dev Team so that they can validate the port (contact [lorenz@px4.io](mailto:lorenz@px4.io) for guidance on where to ship hardware for testing). -- The board must pass full [test suite](../test_and_ci/index.md) and [flight testing](../test_and_ci/test_flights.md). - -**The PX4 project reserves the right to refuse acceptance of new ports (or remove current ports) for failure to meet the requirements set by the project.** - -You can reach out to the core developer team and community on the [official support channels](../contribute/support.md). +Manufacturers are responsible for keeping their port up to date and working across PX4 releases. +The PX4 project reserves the right to refuse or remove ports that do not meet the project's requirements, and all contributors are expected to follow the [Code of Conduct](https://github.com/PX4/PX4-Autopilot/blob/main/CODE_OF_CONDUCT.md). ## 관련 정보 diff --git a/docs/ko/mavlink/security_hardening.md b/docs/ko/mavlink/security_hardening.md index f02eeeb1cd..d351d14e02 100644 --- a/docs/ko/mavlink/security_hardening.md +++ b/docs/ko/mavlink/security_hardening.md @@ -92,7 +92,7 @@ If your threat model includes physical access, secure the SD card slot and debug PX4 is open-source flight controller firmware used by manufacturers and system integrators to build commercial and custom drone platforms. Securing the communication links for a specific deployment is the responsibility of the system integrator. -여기에는 다음의 항목들이 포함됩니다. +This includes: - Choosing appropriate radio hardware and link security - Enabling and managing MAVLink message signing diff --git a/docs/ko/middleware/zenoh.md b/docs/ko/middleware/zenoh.md index fda7a64a20..e6fedee990 100644 --- a/docs/ko/middleware/zenoh.md +++ b/docs/ko/middleware/zenoh.md @@ -253,3 +253,15 @@ For setup details and supported message types, refer to the [PX4 ROS 2 Interface :::info The PX4 ROS 2 Interface Library is not compatible with ROS 2 Humble and earlier, as it requires the message type hash (RIHS01, as defined in REP-2016) to be included in the Zenoh key expression. ::: + +### 문제 해결 + +1. When starting the client you might see + + ``` + ERROR [zenoh] Could not create a subscriber for type *** + ``` + + When it happens, check if `src/modules/zenoh/Kconfig.topics` has unstaged changes. + If there are any it means that new uorb topics have been added and the previous build updated the `Kconfig.topics` file accordingly. + Please perform a clean build so that the new `Kconfig.topics` can be used. diff --git a/docs/ko/modules/modules_command.md b/docs/ko/modules/modules_command.md index 8510491905..2babc8e28d 100644 --- a/docs/ko/modules/modules_command.md +++ b/docs/ko/modules/modules_command.md @@ -441,6 +441,10 @@ param [arguments...] import Import params from a file [] File name (use default if not given) + load-or-init Load params from storage; if blank, seed from a backup file or + defaults and persist + [] Backup file to seed from when storage is blank + save Save params to a file [] File name (use default if not given) diff --git a/docs/ko/modules/modules_driver.md b/docs/ko/modules/modules_driver.md index ccea88c485..58f7ca016a 100644 --- a/docs/ko/modules/modules_driver.md +++ b/docs/ko/modules/modules_driver.md @@ -1319,6 +1319,40 @@ septentrio [arguments...] cold|warm|hot Specify reset type ``` +## serialpassthrough + +Source: [drivers/serialpassthrough](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/serialpassthrough) + +### 설명 + +Serial passthrough driver driven by MAVLink SERIAL_CONTROL messages. +Bridges a MAVLink stream to a hardware UART or an ESC signal pin (bitbang). + +Only a single sender is supported at a time. Simultaneous SERIAL_CONTROL +messages from multiple senders produce undefined behaviour. + +Up to 8 instances can run simultaneously, one per device. + +### Usage {#serialpassthrough_usage} + +``` +serialpassthrough [arguments...] + Commands: + start + [-d ] Serial device path + values: + [-b ] Baudrate + default: 115200 + [-x] Swap RX/TX pins + [-s] Single-wire (half-duplex) mode + [-e ] ESC bitbang channel (0-7), instead of -d + [-i ] Internal: instance registry key (injected by startForDevice()) + + stop + + status +``` + ## sht3x Source: [drivers/hygrometer/sht3x](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/hygrometer/sht3x) diff --git a/docs/ko/msg_docs/ActionRequest.md b/docs/ko/msg_docs/ActionRequest.md index 5658f8d407..4259423e1c 100644 --- a/docs/ko/msg_docs/ActionRequest.md +++ b/docs/ko/msg_docs/ActionRequest.md @@ -50,6 +50,12 @@ Used in field(s): [source](#fld_source) | SOURCE_RC_BUTTON | `uint8` | 2 | Triggered by a momentary button on the RC being pressed or held | | SOURCE_RC_MODE_SLOT | `uint8` | 3 | Mode change through the RC mode selection mechanism | +## Constants + +| 명칭 | 형식 | Value | 설명 | +| ----------------------------------------------------------------------------------------- | ------- | ----- | -- | +| ORB_QUEUE_LENGTH | `uint8` | 4 | | + ## Source Message [Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ActionRequest.msg) @@ -84,6 +90,8 @@ uint8 SOURCE_RC_BUTTON = 2 # Triggered by a momentary button on the RC being pre uint8 SOURCE_RC_MODE_SLOT = 3 # Mode change through the RC mode selection mechanism uint8 mode # Requested mode. Only applies when `action` is `ACTION_SWITCH_MODE`. Values for this field are defined by the `vehicle_status_s::NAVIGATION_STATE_*` enumeration. + +uint8 ORB_QUEUE_LENGTH = 4 ``` ::: diff --git a/docs/ko/msg_docs/ArmingCheckReplyV0.md b/docs/ko/msg_docs/ArmingCheckReplyV0.md index 3c6739921a..4ce8977457 100644 --- a/docs/ko/msg_docs/ArmingCheckReplyV0.md +++ b/docs/ko/msg_docs/ArmingCheckReplyV0.md @@ -13,7 +13,7 @@ pageClass: is-wide-page | timestamp | `uint64` | | | time since system start (microseconds) | | request_id | `uint8` | | | | | registration_id | `uint8` | | | | -| health_component_index | `uint8` | | | HEALTH_COMPONENT_INDEX_\* | +| health_component_index | `uint8` | | | HEALTH_COMPONENT_INDEX_\* | | health_component_is_present | `bool` | | | | | health_component_warning | `bool` | | | | | health_component_error | `bool` | | | | diff --git a/docs/ko/msg_docs/HealthReport.md b/docs/ko/msg_docs/HealthReport.md index 1bd1832a56..9564fe298d 100644 --- a/docs/ko/msg_docs/HealthReport.md +++ b/docs/ko/msg_docs/HealthReport.md @@ -8,16 +8,16 @@ pageClass: is-wide-page ## Fields -| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | -| ------------------------------------------------------------------------------------------------------------------------------------ | -------- | ---------------------------------------------------------------- | ---------- | -------------------------------------------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| can_arm_mode_flags | `uint64` | | | bitfield for each flight mode (NAVIGATION_STATE_\*) if arming is possible | -| can_run_mode_flags | `uint64` | | | bitfield for each flight mode if it can run | -| health_is_present_flags | `uint64` | | | flags for each health_component_t | -| health_warning_flags | `uint64` | | | | -| health_error_flags | `uint64` | | | | -| arming_check_warning_flags | `uint64` | | | | -| arming_check_error_flags | `uint64` | | | | +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ------------------------------------------------------------------------------------------------------------------------------------ | -------- | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------------------------------------ | +| timestamp | `uint64` | | | time since system start (microseconds) | +| can_arm_mode_flags | `uint64` | | | bitfield for each flight mode (NAVIGATION_STATE_\*) if arming is possible | +| can_run_mode_flags | `uint64` | | | bitfield for each flight mode if it can run | +| health_is_present_flags | `uint64` | | | flags for each health_component_t | +| health_warning_flags | `uint64` | | | | +| health_error_flags | `uint64` | | | | +| arming_check_warning_flags | `uint64` | | | | +| arming_check_error_flags | `uint64` | | | | ## Source Message diff --git a/docs/ko/msg_docs/LedControl.md b/docs/ko/msg_docs/LedControl.md index 906b90bc19..4cb0ca9750 100644 --- a/docs/ko/msg_docs/LedControl.md +++ b/docs/ko/msg_docs/LedControl.md @@ -16,7 +16,7 @@ LED control: control a single or multiple LED's. These are the externally visibl | led_mask | `uint8` | | | bitmask which LED(s) to control, set to 0xff for all | | color | `uint8` | | | see COLOR\_\* | | mode | `uint8` | | | see MODE\_\* | -| num_blinks | `uint8` | | | how many times to blink (number of on-off cycles if mode is one of MODE_BLINK_\*) . Set to 0 for infinite | +| num_blinks | `uint8` | | | how many times to blink (number of on-off cycles if mode is one of MODE_BLINK_\*) . Set to 0 for infinite | | priority | `uint8` | | | priority: higher priority events will override current lower priority events (see MAX_PRIORITY) | ## Constants diff --git a/docs/ko/msg_docs/PowerButtonState.md b/docs/ko/msg_docs/PowerButtonState.md index 6e19731eb6..416d2e325d 100644 --- a/docs/ko/msg_docs/PowerButtonState.md +++ b/docs/ko/msg_docs/PowerButtonState.md @@ -13,7 +13,7 @@ power button state notification message. | 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | | ----------------------------------- | -------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | | timestamp | `uint64` | | | time since system start (microseconds) | -| event | `uint8` | | | one of PWR_BUTTON_STATE_\* | +| event | `uint8` | | | one of PWR_BUTTON_STATE_\* | ## Constants diff --git a/docs/ko/msg_docs/RegisterExtComponentRequest.md b/docs/ko/msg_docs/RegisterExtComponentRequest.md index 9565e96ea9..d21b4360b8 100644 --- a/docs/ko/msg_docs/RegisterExtComponentRequest.md +++ b/docs/ko/msg_docs/RegisterExtComponentRequest.md @@ -20,7 +20,7 @@ Request to register an external component. | register_mode | `bool` | | | registering a mode also requires arming_check to be set | | register_mode_executor | `bool` | | | registering an executor also requires a mode to be registered (which is the owned mode by the executor) | | enable_replace_internal_mode | `bool` | | | set to true if an internal mode should be replaced | -| replace_internal_mode | `uint8` | | | vehicle_status::NAVIGATION_STATE_\* | +| replace_internal_mode | `uint8` | | | vehicle_status::NAVIGATION_STATE_\* | | activate_mode_immediately | `bool` | | | switch to the registered mode (can only be set in combination with an executor) | | not_user_selectable | `bool` | | | mode cannot be selected by the user | | request_offboard_setpoints | `bool` | | | set to true if the registered mode wants to receive offboard trajectory setpoints via MAVLink | diff --git a/docs/ko/msg_docs/RegisterExtComponentRequestV0.md b/docs/ko/msg_docs/RegisterExtComponentRequestV0.md index 2dd47fe956..8e38b8074c 100644 --- a/docs/ko/msg_docs/RegisterExtComponentRequestV0.md +++ b/docs/ko/msg_docs/RegisterExtComponentRequestV0.md @@ -20,7 +20,7 @@ Request to register an external component. | register_mode | `bool` | | | registering a mode also requires arming_check to be set | | register_mode_executor | `bool` | | | registering an executor also requires a mode to be registered (which is the owned mode by the executor) | | enable_replace_internal_mode | `bool` | | | set to true if an internal mode should be replaced | -| replace_internal_mode | `uint8` | | | vehicle_status::NAVIGATION_STATE_\* | +| replace_internal_mode | `uint8` | | | vehicle_status::NAVIGATION_STATE_\* | | activate_mode_immediately | `bool` | | | switch to the registered mode (can only be set in combination with an executor) | ## Constants diff --git a/docs/ko/msg_docs/RegisterExtComponentRequestV1.md b/docs/ko/msg_docs/RegisterExtComponentRequestV1.md index 84b5bedc64..24d67e7583 100644 --- a/docs/ko/msg_docs/RegisterExtComponentRequestV1.md +++ b/docs/ko/msg_docs/RegisterExtComponentRequestV1.md @@ -20,7 +20,7 @@ Request to register an external component. | register_mode | `bool` | | | registering a mode also requires arming_check to be set | | register_mode_executor | `bool` | | | registering an executor also requires a mode to be registered (which is the owned mode by the executor) | | enable_replace_internal_mode | `bool` | | | set to true if an internal mode should be replaced | -| replace_internal_mode | `uint8` | | | vehicle_status::NAVIGATION_STATE_\* | +| replace_internal_mode | `uint8` | | | vehicle_status::NAVIGATION_STATE_\* | | activate_mode_immediately | `bool` | | | switch to the registered mode (can only be set in combination with an executor) | | not_user_selectable | `bool` | | | mode cannot be selected by the user | diff --git a/docs/ko/msg_docs/TelemetryStatus.md b/docs/ko/msg_docs/TelemetryStatus.md index 99375289db..48f8d75fbd 100644 --- a/docs/ko/msg_docs/TelemetryStatus.md +++ b/docs/ko/msg_docs/TelemetryStatus.md @@ -11,7 +11,7 @@ pageClass: is-wide-page | 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | | ------------------------------------------------------------------------------------------------------------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------------------------------------------------------------------------------------------- | | timestamp | `uint64` | | | time since system start (microseconds) | -| type | `uint8` | | | type of the radio hardware (LINK_TYPE_\*) | +| type | `uint8` | | | type of the radio hardware (LINK_TYPE_\*) | | mode | `uint8` | | | | | flow_control | `bool` | | | | | forwarding | `bool` | | | | diff --git a/docs/ko/msg_docs/VehicleCommand.md b/docs/ko/msg_docs/VehicleCommand.md index 7ac138a6e3..9e7f5151f9 100644 --- a/docs/ko/msg_docs/VehicleCommand.md +++ b/docs/ko/msg_docs/VehicleCommand.md @@ -1478,7 +1478,7 @@ Enable/disable estimator sensor fusion. | Param | 단위 | Range/Enum | 설명 | | ----- | -- | ---------- | --------------------------------------------------------------------- | -| 1 | | | Source (FUSION_SOURCE_\*) | +| 1 | | | Source (FUSION_SOURCE_\*) | | 2 | | | Sensor instance (0-based) | | 3 | | | Enable (1) or Disable (0) | | 4 | | | Estimator Instance (NaN: not used) | diff --git a/docs/ko/msg_docs/VehicleStatus.md b/docs/ko/msg_docs/VehicleStatus.md index 31304f2df1..0885f4e748 100644 --- a/docs/ko/msg_docs/VehicleStatus.md +++ b/docs/ko/msg_docs/VehicleStatus.md @@ -30,7 +30,7 @@ Encodes the system state of the vehicle published by commander. | vehicle_type | `uint8` | | | | | failsafe | `bool` | | | true if system is in failsafe state (e.g.:RTL, Hover, Terminate, ...) | | failsafe_and_user_took_over | `bool` | | | true if system is in failsafe state but the user took over control | -| failsafe_defer_state | `uint8` | | | one of FAILSAFE_DEFER_STATE_\* | +| failsafe_defer_state | `uint8` | | | one of FAILSAFE_DEFER_STATE_\* | | gcs_connection_lost | `bool` | | | datalink to GCS lost | | gcs_connection_lost_counter | `uint8` | | | counts unique GCS connection lost events | | high_latency_data_link_lost | `bool` | | | Set to true if the high latency data link (eg. RockBlock Iridium 9603 telemetry module) is lost | diff --git a/docs/ko/msg_docs/VehicleStatusV0.md b/docs/ko/msg_docs/VehicleStatusV0.md index d2d280de66..2598aadf62 100644 --- a/docs/ko/msg_docs/VehicleStatusV0.md +++ b/docs/ko/msg_docs/VehicleStatusV0.md @@ -29,7 +29,7 @@ Encodes the system state of the vehicle published by commander. | vehicle_type | `uint8` | | | | | failsafe | `bool` | | | true if system is in failsafe state (e.g.:RTL, Hover, Terminate, ...) | | failsafe_and_user_took_over | `bool` | | | true if system is in failsafe state but the user took over control | -| failsafe_defer_state | `uint8` | | | one of FAILSAFE_DEFER_STATE_\* | +| failsafe_defer_state | `uint8` | | | one of FAILSAFE_DEFER_STATE_\* | | gcs_connection_lost | `bool` | | | datalink to GCS lost | | gcs_connection_lost_counter | `uint8` | | | counts unique GCS connection lost events | | high_latency_data_link_lost | `bool` | | | Set to true if the high latency data link (eg. RockBlock Iridium 9603 telemetry module) is lost | diff --git a/docs/ko/msg_docs/VehicleStatusV2.md b/docs/ko/msg_docs/VehicleStatusV2.md index e0bc1b0edc..463388835b 100644 --- a/docs/ko/msg_docs/VehicleStatusV2.md +++ b/docs/ko/msg_docs/VehicleStatusV2.md @@ -30,7 +30,7 @@ Encodes the system state of the vehicle published by commander. | vehicle_type | `uint8` | | | | | failsafe | `bool` | | | true if system is in failsafe state (e.g.:RTL, Hover, Terminate, ...) | | failsafe_and_user_took_over | `bool` | | | true if system is in failsafe state but the user took over control | -| failsafe_defer_state | `uint8` | | | one of FAILSAFE_DEFER_STATE_\* | +| failsafe_defer_state | `uint8` | | | one of FAILSAFE_DEFER_STATE_\* | | gcs_connection_lost | `bool` | | | datalink to GCS lost | | gcs_connection_lost_counter | `uint8` | | | counts unique GCS connection lost events | | high_latency_data_link_lost | `bool` | | | Set to true if the high latency data link (eg. RockBlock Iridium 9603 telemetry module) is lost | diff --git a/docs/ko/msg_docs/VehicleStatusV3.md b/docs/ko/msg_docs/VehicleStatusV3.md index a45ee6c574..9a5915e670 100644 --- a/docs/ko/msg_docs/VehicleStatusV3.md +++ b/docs/ko/msg_docs/VehicleStatusV3.md @@ -29,7 +29,7 @@ Encodes the system state of the vehicle published by commander. | vehicle_type | `uint8` | | | | | failsafe | `bool` | | | true if system is in failsafe state (e.g.:RTL, Hover, Terminate, ...) | | failsafe_and_user_took_over | `bool` | | | true if system is in failsafe state but the user took over control | -| failsafe_defer_state | `uint8` | | | one of FAILSAFE_DEFER_STATE_\* | +| failsafe_defer_state | `uint8` | | | one of FAILSAFE_DEFER_STATE_\* | | gcs_connection_lost | `bool` | | | datalink to GCS lost | | gcs_connection_lost_counter | `uint8` | | | counts unique GCS connection lost events | | high_latency_data_link_lost | `bool` | | | Set to true if the high latency data link (eg. RockBlock Iridium 9603 telemetry module) is lost | diff --git a/docs/ko/peripherals/adsb_flarm.md b/docs/ko/peripherals/adsb_flarm.md index 187eacbd11..16b5a352ab 100644 --- a/docs/ko/peripherals/adsb_flarm.md +++ b/docs/ko/peripherals/adsb_flarm.md @@ -34,7 +34,7 @@ For other ports or boards, you will need to obtain your own cable. The recommended port configuration for this receiver is: -| 매개변수 | Recommended Value | +| Parameter | Recommended Value | | ------------------------------------------------------------------------------------------------------------------------------------------- | ----------------- | | [MAV_X_CONFIG](../advanced_config/parameter_reference.md#MAV_1_CONFIG) | `TELEM 2` | | [MAV_X_MODE](../advanced_config/parameter_reference.md#MAV_1_MODE) | uAvionix | @@ -64,7 +64,7 @@ The TX and RX on the flight controller must be connected to the RX and TX on the The receivers are configured in the same way as any other [MAVLink Peripheral](../peripherals/mavlink_peripherals.md). The recommended configuration for most devices (unless they have device-specific configuration like PingRX) is to connect to `TELEM 2` and [set the parameters](../advanced_config/parameters.md) as shown: -| 매개변수 | Recommended Value | +| Parameter | Recommended Value | | ------------------------------------------------------------------------------------------------------------------ | ---------------------------------------------------- | | [MAV_X_CONFIG](../advanced_config/parameter_reference.md#MAV_1_CONFIG) | `TELEM 2` | | [MAV_X_MODE](../advanced_config/parameter_reference.md#MAV_1_MODE) | Normal | @@ -79,7 +79,7 @@ You will now find a new parameter called [SER_TEL2_BAUD](../advanced_config/para Configure the action when there is a potential collision using the parameter below: -| 매개변수 | 설명 | +| Parameter | 설명 | | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | | [NAV_TRAFF_AVOID](../advanced_config/parameter_reference.md#NAV_TRAFF_AVOID) | Enable traffic avoidance mode specify avoidance response. 0: Disable, 1: Warn only, 2: Return mode, 3: Land mode. | | [NAV_TRAFF_A_HOR](../advanced_config/parameter_reference.md#NAV_TRAFF_A_HOR) | Horizontal radius of cylinder around the vehicle that defines its airspace (i.e. the airspace in the ground plane). | diff --git a/docs/ko/peripherals/frsky_telemetry.md b/docs/ko/peripherals/frsky_telemetry.md index 7d5fbd4412..d4eb1b36e9 100644 --- a/docs/ko/peripherals/frsky_telemetry.md +++ b/docs/ko/peripherals/frsky_telemetry.md @@ -186,7 +186,7 @@ Note that the X series receivers listed below are recommended (e.g. XSR, X8R). R | RX8R | 1.5km | S.Bus (16) | Smart Port | 46.25x26.6x14.2mm | 12.1g | | RX8R PRO | 1.5km | S.Bus (16) | Smart Port | 46.25x26.6x14.2mm | 12.1g | | R-XSR | 1.5km | S.Bus (16) / CPPM (8) | Smart Port | 16x11x5.4mm | 1.5g | -| G-RX8 | 1.5km | S.Bus (16) | Smart Port + integrated vario | 55.26_17_8mm | 5.8g | +| G-RX8 | 1.5km | S.Bus (16) | Smart Port + integrated vario | 55.26_17_8mm | 5.8g | | R9 | 10km | S.Bus (16) | Smart Port | 43.3x26.8x13.9mm | 15.8g | | R9 slim | 10km | S.Bus (16) | Smart Port | 43.3x26.8x13.9mm | 15.8g | diff --git a/docs/ko/peripherals/vesc.md b/docs/ko/peripherals/vesc.md index 59e56712bc..98f5f2518f 100644 --- a/docs/ko/peripherals/vesc.md +++ b/docs/ko/peripherals/vesc.md @@ -19,7 +19,7 @@ The preferred tool for motor enumeration is the [VESC tool](https://vesc-project In addition to the normal motor configuration that you will have to setup in the VESC tool, you will also need to properly setup the app configuration. The recommended app setup is as follows: -| 매개변수 | Option | +| Parameter | Option | | ----------------------- | ---------------------- | | App to use | `No App` | | VESC ID | `1,2,...` | diff --git a/docs/ko/releases/1.15.md b/docs/ko/releases/1.15.md index b2afd87fde..47f84f1d16 100644 --- a/docs/ko/releases/1.15.md +++ b/docs/ko/releases/1.15.md @@ -212,7 +212,7 @@ Please continue reading for [upgrade instructions](#upgrade-guide). - Added PerformanceModel for fixed wing ([PX4-Autopilot#22091](https://github.com/PX4/PX4-Autopilot/pull/22091)) - **[New Parameter]** `FW_S_CEILING` -### 탐사선 +### Rover - [Aion R1](../complete_vehicles_rover/aion_r1.md): ESC Driver for Roboclaw motor controller. This comes with build instructions and support for the Aion R1, a new differential drive rover, along with information about integrating the Roboclaw motor controller. diff --git a/docs/ko/releases/1.16.md b/docs/ko/releases/1.16.md index 02e6e7df94..bd4a8a5f7c 100644 --- a/docs/ko/releases/1.16.md +++ b/docs/ko/releases/1.16.md @@ -194,7 +194,7 @@ Please continue reading for [upgrade instructions](#upgrade-guide). - FixedWing: allow position control without valid global position ([PX4-Autopilot#23520](https://github.com/PX4/PX4-Autopilot/pull/23520)) - Improvement: Fixed-wing auto takeoff: enable setting takeoff flaps for hand/catapult launch. [PX4-Autopilot#23460](https://github.com/PX4/PX4-Autopilot/pull/23460) -### 탐사선 +### Rover This release contains a major rework for the rover support in PX4: diff --git a/docs/ko/releases/1.17.md b/docs/ko/releases/1.17.md index d83ab1cd6d..7d43fec88a 100644 --- a/docs/ko/releases/1.17.md +++ b/docs/ko/releases/1.17.md @@ -147,6 +147,7 @@ For users upgrading from v1.16, please take a moment to review the following bef - UAVCAN battery: better remaining-time calculation ([PX4-Autopilot#25500](https://github.com/PX4/PX4-Autopilot/pull/25500)) and filter sample interval increased to 500 ms ([PX4-Autopilot#25454](https://github.com/PX4/PX4-Autopilot/pull/25454)). - Battery instances are capped at 3 (loggable batteries also raised to 3). - Remaining-flight-time failsafe disabled by default. +- Removed parameter `COM_RC_ARM_HYST`, arm and disarm gesture needs to be held for the default of one second. ([PX4-Autopilot#25999](https://github.com/PX4/PX4-Autopilot/pull/25999)) ### 제어 @@ -300,6 +301,8 @@ The in-tree [Zenoh middleware](../middleware/zenoh.md) (added in v1.16) matures - Hexarotor X added to SIH and to `ActuatorEffectivenessRotorsTest`. - `MC_RATE*` parameter metadata unified. ([PX4-Autopilot#25133](https://github.com/PX4/PX4-Autopilot/pull/25133)) +- Removed parameters `MPC_{XY/Z/YAW}_MAN_EXPO` and use default value instead, as they were not deemed necessary anymore. ([PX4-Autopilot#25435](https://github.com/PX4/PX4-Autopilot/pull/25435)). +- Renamed `MPC_HOLD_DZ` to `MAN_DEADZONE` to have it globally available in modes that allow for a dead zone. ([PX4-Autopilot#25435](https://github.com/PX4/PX4-Autopilot/pull/25435)). ### 수직이착륙기(VTOL) @@ -317,7 +320,7 @@ The in-tree [Zenoh middleware](../middleware/zenoh.md) (added in v1.16) matures - FW Autotune: identification maneuver auto-ramps the 1 Hz amplitude until R/P/Y rates of 0.8/0.5/0.5 rad/s are reached, then scales the identification signal accordingly. - TECS hardening: NaN protection on airspeed and altitude inputs. -### 탐사선 +### Rover - Removed deprecated rover module. - Added [Apps & API](../flight_modes_rover/api.md) support including [Rover Setpoints](../ros2/px4_ros2_control_interface.md#rover-setpoints). diff --git a/docs/ko/releases/1.18.md b/docs/ko/releases/1.18.md index 3805833583..82df2e8fff 100644 --- a/docs/ko/releases/1.18.md +++ b/docs/ko/releases/1.18.md @@ -46,6 +46,19 @@ Please continue reading for [upgrade instructions](#upgrade-guide). - [Remote ID (Open Drone ID) in-flight failsafe](../peripherals/remote_id.md): extended [COM_ARM_ODID](../advanced_config/parameter_reference.md#COM_ARM_ODID) to also trigger a configurable failsafe action (Return, Land, or Terminate) if the Remote ID heartbeat is lost while airborne. Users previously on `COM_ARM_ODID=2` retain the same arming behaviour; set to `3` or higher to enable the in-flight action. ([PX4-Autopilot#27029](https://github.com/PX4/PX4-Autopilot/pull/27029)) - [QGroundControl Bootloader Update](../advanced_config/bootloader_update.md#qgc-bootloader-update-sys-bl-update) via the [SYS_BL_UPDATE](../advanced_config/parameter_reference.md#SYS_BL_UPDATE) parameter has been re-enabled after being broken for a number of releases. ([PX4-Autopilot#25032: build: romf: fix generation of rc.board_bootloader_upgrade](https://github.com/PX4/PX4-Autopilot/pull/25032)). - [Feature: Allow prioritization of manual control inputs based on their instance number in ascending or descending order](../config/manual_control.md#px4-configuration). ([PX4-Autopilot#25602: Ascending and descending manual control input priorities](https://github.com/PX4/PX4-Autopilot/pull/25602)). +- Removed parameters: + + | 명칭 | 참고 | + | ------------------ | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | + | `COM_FLT_PROFILE` | Unused ([PX4-Autopilot#26735](https://github.com/PX4/PX4-Autopilot/pull/26735)) | + | `COM_KILL_DISARM` | Autopilot now always disarms if still killed after 5 sections (previous default). ([PX4-Autopilot#26736](https://github.com/PX4/PX4-Autopilot/pull/26736)) | + | `COM_MOT_TEST_EN` | Motor tests now always possible (was the default). ([PX4-Autopilot#26775](https://github.com/PX4/PX4-Autopilot/pull/26775)) | + | `COM_TAKEOFF_ACT` | Vehicle always switches to Hold mode when the takeoff is done. If you want to automatically do a mission, take off in Mission mode. ([PX4-Autopilot#26808](https://github.com/PX4/PX4-Autopilot/pull/26808)) | + | `COM_HLDL_REG_T` | When a high latency link is regained it's always considered regained immediately (was the default). ([PX4-Autopilot#26809](https://github.com/PX4/PX4-Autopilot/pull/26809)) | + | `COM_ARM_SDCARD` | There's now always warning when the autopilot SD card is missing (was the default). Boards that don't have an SD card need to skip the check with a compile time define. ([PX4-Autopilot#27259](https://github.com/PX4/PX4-Autopilot/pull/27259)) | + | `COM_IMB_PROP_ACT` | There's now always a warning when imbalanced propellers (high vibration) is detected (was the default). ([PX4-Autopilot#27260](https://github.com/PX4/PX4-Autopilot/pull/27260)) | + | `COM_OBC_LOSS_T` | Timeout for missing heartbeats from the onboard computer is always 5 seconds (was the default). ([PX4-Autopilot#27261](https://github.com/PX4/PX4-Autopilot/pull/27261)) | + | `COM_LKDOWN_TKO` | Takeoff failure detection always runs for 3 seconds (was the default). ([PX4-Autopilot#27262](https://github.com/PX4/PX4-Autopilot/pull/27262)) | ### 제어 @@ -69,6 +82,7 @@ Please continue reading for [upgrade instructions](#upgrade-guide). ### 시뮬레이션 +- Gazebo: Add [ridge world](../sim_gazebo_gz/worlds.md#ridge) for testing terrain following with 1D lidar. ([PX4-Autopilot#27600](https://github.com/PX4/PX4-Autopilot/pull/27600)) - SIH: Add option to set wind velocity ([PX4-Autopilot#26467](https://github.com/PX4-Autopilot/pull/26467)) -### 탐사선 +### Rover - TBD diff --git a/docs/ko/releases/main.md b/docs/ko/releases/main.md index b862766ba2..8abffc9ce1 100644 --- a/docs/ko/releases/main.md +++ b/docs/ko/releases/main.md @@ -96,7 +96,7 @@ Please continue reading for [upgrade instructions](#upgrade-guide). - TBD -### 탐사선 +### Rover - TBD diff --git a/docs/ko/ros/external_position_estimation.md b/docs/ko/ros/external_position_estimation.md index dc805736c5..5c10b36f45 100644 --- a/docs/ko/ros/external_position_estimation.md +++ b/docs/ko/ros/external_position_estimation.md @@ -77,7 +77,7 @@ For more detailed information, check the [Using PX4's Navigation Filter (EKF2)]( The following parameters must be set to use external position information with EKF2 (these can be set in _QGroundControl_ > **Vehicle Setup > Parameters > EKF2**). -| 매개변수 | 외부 위치 추정 설정 | +| Parameter | 외부 위치 추정 설정 | | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------- | | [EKF2_EV_CTRL](../advanced_config/parameter_reference.md#EKF2_EV_CTRL) | Set _horizontal position fusion_, _vertical vision fusion_, _velocity fusion_, and _yaw fusion_, according to your desired fusion model. | | [EKF2_HGT_REF](../advanced_config/parameter_reference.md#EKF2_HGT_REF) | Set to _Vision_ to use the vision as the reference source for altitude estimation. | @@ -126,7 +126,7 @@ See [Building the Code](../dev_setup/building_px4.md) for more details. The following parameters must be set to use external position information with LPE (these can be set in _QGroundControl_ > **Vehicle Setup > Parameters > Local Position Estimator**). -| 매개변수 | 외부 위치 추정 설정 | +| Parameter | 외부 위치 추정 설정 | | --------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------- | | [LPE_FUSION](../advanced_config/parameter_reference.md#LPE_FUSION) | Vision integration is enabled if _fuse vision position_ is checked (it is enabled by default). | | [ATT_EXT_HDG_M](../advanced_config/parameter_reference.md#ATT_EXT_HDG_M) | 외부 제목 통합을 활성화하려면 1 또는 2로 설정합니다. 1로 설정하면 비전이 사용되는 반면, 2로 설정하면 MoCap 제목 사용이 활성화됩니다. | diff --git a/docs/ko/ros2/user_guide.md b/docs/ko/ros2/user_guide.md index 27095eee09..ce6e35b632 100644 --- a/docs/ko/ros2/user_guide.md +++ b/docs/ko/ros2/user_guide.md @@ -244,7 +244,7 @@ This section shows how to create a ROS 2 workspace hosted in your home directory The [px4_ros_com](https://github.com/PX4/px4_ros_com) and [px4_msgs](https://github.com/PX4/px4_msgs) packages are cloned to a workspace folder, and then the `colcon` tool is used to build the workspace. The example is run using `ros2 launch`. -You should use a version of the px4_msgs package with the \_same_ message definitions as the PX4 firmware you have installed in the step above. +You should use a version of the px4_msgs package with the \_same_ message definitions as the PX4 firmware you have installed in the step above. Branches in the px4_msgs repo are named to correspond to the message definitions for different PX4 releases. If for any reason you cannot ensure the same message definitions between your PX4 firmware and ROS 2 px4_msgs package, you will additionally need to [start the message translation node](#optional-starting-the-translation-node) as part of your setup process. diff --git a/docs/ko/sensor/grf_lidar.md b/docs/ko/sensor/grf_lidar.md index 1403a37277..d91eb5819a 100644 --- a/docs/ko/sensor/grf_lidar.md +++ b/docs/ko/sensor/grf_lidar.md @@ -52,7 +52,7 @@ You will need to configure PX4 to indicate the serial port to which the sensor i The [parameters to change](../advanced_config/parameters.md) are listed in the table. -| 매개변수 | 설명 | +| Parameter | 설명 | | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------ | | [SENS_EN_GRF_CFG](../advanced_config/parameter_reference.md#SENS_EN_GRF_CFG) | Set to the serial port the sensor is connected to. | | [GRF_RATE_CFG](../advanced_config/parameter_reference.md#GRF_RATE_CFG) | Set the update rate. | diff --git a/docs/ko/sensor/optical_flow.md b/docs/ko/sensor/optical_flow.md index 638b5a0a6c..bdb45b2ffe 100644 --- a/docs/ko/sensor/optical_flow.md +++ b/docs/ko/sensor/optical_flow.md @@ -101,7 +101,7 @@ For optical flow fusion using EKF2, set [EKF2_OF_CTRL](../advanced_config/parame 광류 센서가 차량 중앙에서 오프셋된 경우 다음 매개변수를 사용하여 설정합니다. -| 매개변수 | 설명 | +| Parameter | 설명 | | ----------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------ | | [EKF2_OF_POS_X](../advanced_config/parameter_reference.md#EKF2_OF_POS_X) | 바디 프레임에서 광류 초점의 X 위치 (기본값은 0.0m). | | [EKF2_OF_POS_Y](../advanced_config/parameter_reference.md#EKF2_OF_POS_Y) | 바디 프레임에서 광류 초점의 Y 위치 (기본값은 0.0m). | diff --git a/docs/ko/sensor/sf45_rotating_lidar.md b/docs/ko/sensor/sf45_rotating_lidar.md index fe1f50fee8..866feb2e42 100644 --- a/docs/ko/sensor/sf45_rotating_lidar.md +++ b/docs/ko/sensor/sf45_rotating_lidar.md @@ -14,7 +14,7 @@ You will need to [create and use a custom build](#add-the-driver-to-the-px4-buil In the [LightWare Studio](https://lightwarelidar.com/resources-software/) app set following values: -| 매개변수 | 설명 | +| Parameter | 설명 | | --------- | ------ | | Baud rate | 921600 | @@ -46,7 +46,7 @@ You will need to configure PX4 to indicate the serial port to which the sensor i The [parameters to change](../advanced_config/parameters.md) are listed in the table. -| 매개변수 | 설명 | +| Parameter | 설명 | | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------ | | [SENS_EN_SF45_CFG](../advanced_config/parameter_reference.md#SENS_EN_SF45_CFG) | Set to the serial port you have the sensor connected to. | | [SF45_ORIENT_CFG](../advanced_config/parameter_reference.md#SF45_ORIENT_CFG) | Set the orientation of the sensor (facing up or down) | diff --git a/docs/ko/sim_gazebo_gz/index.md b/docs/ko/sim_gazebo_gz/index.md index 91c2d5bc9d..daaae6a225 100644 --- a/docs/ko/sim_gazebo_gz/index.md +++ b/docs/ko/sim_gazebo_gz/index.md @@ -173,6 +173,7 @@ The [supported worlds](../sim_gazebo_gz/worlds.md) are listed below. | `baylands` | `make px4_sitl *_baylands` | Baylands world surrounded by water | | `lawn` | `make px4_sitl *_lawn` | Lawn world for testing rovers | | `rover` | `make px4_sitl *_rover` | Rover world (optimised/preferred) | +| `ridge` | `make px4_sitl *_ridge` | World with a sloped ridge for testing terrain following | | `walls` | `make px4_sitl *_walls` | Wall world for testing collision prevention | | `windy` | `make px4_sitl *_windy` | Empty world with wind enabled | | `moving_platform` | `make px4_sitl *_moving_platform` | World with moving takeoff / landing platform | diff --git a/docs/ko/sim_gazebo_gz/vehicles.md b/docs/ko/sim_gazebo_gz/vehicles.md index 34bb68b6fa..e97db3d250 100644 --- a/docs/ko/sim_gazebo_gz/vehicles.md +++ b/docs/ko/sim_gazebo_gz/vehicles.md @@ -183,7 +183,7 @@ make px4_sitl gz_tiltrotor ![VTOL Tiltrotor in Gazebo](../../assets/simulation/gazebo/vehicles/vtol_tiltrotor.png) -## 탐사선 +## Rover ### Differential Rover diff --git a/docs/ko/sim_gazebo_gz/worlds.md b/docs/ko/sim_gazebo_gz/worlds.md index 2fa1f5b063..93fe8634d6 100644 --- a/docs/ko/sim_gazebo_gz/worlds.md +++ b/docs/ko/sim_gazebo_gz/worlds.md @@ -43,7 +43,29 @@ It is not recommended as the low frame rate causes segmentation faults on some f ![screenshot of lawn world](../../assets/simulation/gazebo/worlds/lawn.png) -## 탐사선 +## Ridge + + + +World with a simple sloped ridge for testing terrain following. +It pairs naturally with the [x500_lidar_down](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-1d-lidar-down-facing) airframe: + +```sh +PX4_GZ_WORLD=ridge make px4_sitl gz_x500_lidar_down +``` + +Layout: + +- 500x500 m flat ground at world `z = 0`. +- A 40 m wide, 10 m tall, 40 m long triangular-prism ridge ~20 m east of the spawn (apex at world `(40, 0, 10)`). + The ridge is continuously sloped (~27°) so the rangefinder reading varies smoothly as the vehicle crosses it, avoiding the spurious EKF terrain-estimate resets that a vertical wall would trigger. +- Spherical coordinates are anchored at `(47.397971, 8.546164, 0)` so home AMSL is 0 by default; raise the elevation to test against non-zero AMSL anchors. + +[PX4-gazebo-models/main/worlds/ridge.sdf](https://github.com/PX4/PX4-gazebo-models/blob/main/worlds/ridge.sdf) + +![screenshot of ridge world](../../assets/simulation/gazebo/worlds/ridge.png) + +## Rover Rover world is optimised for rovers (and will be further optimised for rovers) and is the default world for [Ackermann Rover (4012)](../frames_rover/index.md#ackermann) (`make px4_sitl gz_rover_ackermann`) and [Differential Rover ((r1-rover (4009))](../frames_rover/index.md#differential) (`make px4_sitl gz_r1_rover`). @@ -97,7 +119,7 @@ The moving platform plugin can also be used within other worlds. For more information, see the plugin [README](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/simulation/gz_plugins/moving_platform_controller/README.md). ::: -## Model Specific Worlds {#model_specific_worlds} +## Model-specific Worlds {#model_specific_worlds} Some [vehicle models](../sim_gazebo_gz/vehicles.md) rely on the physics / plugins of a specific world. The PX4 toolchain will automatically spawn a world that has the same name as the vehicle model if one exists (instead of the [default world](#default)):