From 82a6dc8c767aaff161dd84ed88a72c844b1503d2 Mon Sep 17 00:00:00 2001 From: PX4 Build Bot Date: Mon, 8 Jun 2026 08:45:02 +1000 Subject: [PATCH] docs(i18n): PX4 guide translations (Crowdin) - ko (#27594) Co-authored-by: Crowdin Bot --- docs/ko/SUMMARY.md | 2 + docs/ko/config/safety.md | 18 +- .../config_fw/weight_and_altitude_tuning.md | 30 +- docs/ko/debug/failure_injection.md | 4 + docs/ko/dev_log/logging.md | 2 +- docs/ko/flight_controller/aedrox_aedroxh7.md | 135 ++++++ .../autopilot_manufacturer_supported.md | 2 + .../flight_controller/cbunmanned_h753-som.md | 93 ++++ docs/ko/flight_modes/return.md | 10 +- docs/ko/flight_modes_vtol/return.md | 46 +- docs/ko/middleware/dds_topics.md | 409 +++++++++--------- docs/ko/msg_docs/ActuatorServos.md | 24 +- docs/ko/msg_docs/ActuatorServosTrim.md | 14 +- docs/ko/msg_docs/ActuatorServosV0.md | 51 +++ docs/ko/msg_docs/ActuatorTest.md | 4 +- docs/ko/msg_docs/ArmingCheckReply.md | 7 +- docs/ko/msg_docs/index.md | 1 + docs/ko/releases/1.18.md | 2 +- docs/ko/releases/main.md | 2 + docs/ko/simulation/failsafes.md | 28 +- .../simulation/px4_simulation_quickstart.md | 11 + 21 files changed, 634 insertions(+), 261 deletions(-) create mode 100644 docs/ko/flight_controller/aedrox_aedroxh7.md create mode 100644 docs/ko/flight_controller/cbunmanned_h753-som.md create mode 100644 docs/ko/msg_docs/ActuatorServosV0.md diff --git a/docs/ko/SUMMARY.md b/docs/ko/SUMMARY.md index 9b25f63c5c..5e3efd0419 100644 --- a/docs/ko/SUMMARY.md +++ b/docs/ko/SUMMARY.md @@ -165,12 +165,14 @@ - [mRo (3DR) Pixhawk 배선 퀵 스타트](assembly/quick_start_pixhawk.md) - [Manufacturer-Supported Autopilots](flight_controller/autopilot_manufacturer_supported.md) - [Accton Godwit GA1](flight_controller/accton-godwit_ga1.md) + - [AEDROX AEDROXH7](flight_controller/aedrox_aedroxh7.md) - [AirMind MindPX](flight_controller/mindpx.md) - [AirMind MindRacer](flight_controller/mindracer.md) - [ARK Electronics ARKV6X](flight_controller/ark_v6x.md) - [ARK Electronics ARKV6S](flight_controller/ark_v6s.md) - [ARK FPV Flight Controller](flight_controller/ark_fpv.md) - [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) - [CUAV Nora](flight_controller/cuav_nora.md) - [CUAV V5+ (FMUv5)](flight_controller/cuav_v5_plus.md) diff --git a/docs/ko/config/safety.md b/docs/ko/config/safety.md index 09a068a607..f6eaf749b0 100644 --- a/docs/ko/config/safety.md +++ b/docs/ko/config/safety.md @@ -152,6 +152,15 @@ The _Geofence Failsafe_ is triggered when the drone breaches a "virtual" perimet In its simplest form, the perimeter is set up as a cylinder centered around the home position. If the vehicle moves outside the radius or above the altitude the specified _Failsafe Action_ will trigger. +Note that the failsafe action will only trigger once the vehicle has already breached the geofence. +If you have a strict no-fly zone for safety or legal reasons, set [GF_ACTION](../advanced_config/parameter_reference.md#GF_ACTION) to `Hold` and include a safety margin in your geofences. +The margin should be at least: + +- **Fixed-Wing**: The loiter radius [NAV_LOITER_RAD](../advanced_config/parameter_reference.md#NAV_LOITER_RAD). +- **Multicopter**: The stopping distance (`v^2 / 2a` with `v`=[MPC_XY_VEL_MAX](../advanced_config/parameter_reference.md#MPC_XY_VEL_MAX) and `a`=[MPC_ACC_HOR_MAX](../advanced_config/parameter_reference.md#MPC_ACC_HOR_MAX)). + +Use a margin above those nominal values to account for possible tailwind, position uncertainty, attitude tracking delay, etc. + ![Safety - Geofence (QGC)](../../assets/qgc/setup/safety/safety_geofence.png) :::tip @@ -173,11 +182,10 @@ Due to the inherent danger of this, this function is disabled using [CBRK_FLIGHT 다음 설정도 가능하지만 QGC UI에 표시되지 않습니다. -| 설정 | 매개변수 | 설명 | -| ------------------------------------------------------------------ | ------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -| Geofence source | [GF_SOURCE](../advanced_config/parameter_reference.md#GF_SOURCE) | 위치 소스가 글로벌 위치인지 또는 GPS 장치에서 직접 가져오는 지를 설정합니다. | -| Preemptive geofence triggering | [GF_PREDICT](../advanced_config/parameter_reference.md#GF_PREDICT) | (Experimental) Trigger geofence if current motion of the vehicle is predicted to trigger the breach (rather than late triggering after the breach). | -| Circuit breaker for flight termination | [CBRK_FLIGHTTERM](../advanced_config/parameter_reference.md#CBRK_FLIGHTTERM) | 비행 종료 작업을 활성화/비활성화합니다 (기본적으로 비활성화 됨). | +| 설정 | 매개변수 | 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). | ## Position Estimation Failsafes diff --git a/docs/ko/config_fw/weight_and_altitude_tuning.md b/docs/ko/config_fw/weight_and_altitude_tuning.md index d58df290a4..75eb7a7d32 100644 --- a/docs/ko/config_fw/weight_and_altitude_tuning.md +++ b/docs/ko/config_fw/weight_and_altitude_tuning.md @@ -39,7 +39,7 @@ The minimum sink rate is set in [FW_T_SINK_MIN](../advanced_config/parameter_ref If the [Basic TECS tuning](../config_fw/position_tuning_guide_fixedwing.md#tecs-tuning-altitude-and-airspeed) was not done in standard sea level conditions then the [FW_T_SINK_MIN](../advanced_config/parameter_reference.md#FW_T_SINK_MIN) parameter must be modified by multiplying with correction factor $P$ (where $\rho$ is the air density during tuning): -$$P = \sqrt{\rho\over{\rho_{sealevel}}}$$ +$$P = \sqrt{\frac{\rho}{\rho_{\text{sealevel}}}}$$ For more information see [Effect of Density on minimum sink rate](#effect-of-density-on-minimum-sink-rate). @@ -49,7 +49,7 @@ The trim throttle is set using [FW_THR_TRIM](../advanced_config/parameter_refere If basic tuning was not done in standard sealevel conditions then the value for [FW_THR_TRIM](../advanced_config/parameter_reference.md#FW_THR_TRIM) must be modified by multiplying with correction factor $P$: -$$P = \sqrt{\rho\over{\rho_{sealevel}}}$$ +$$P = \sqrt{\frac{\rho}{\rho_{\text{sealevel}}}}$$ For more information see [Effect of Density on Trim Throttle](#effect-of-density-on-trim-throttle) @@ -63,7 +63,7 @@ This is provided for interest only, and may be of interest to developers who wan In the following sections we will use the notation $\hat X$ to specify that this value is a calibrated value of the variable $X$. By calibrated we mean the value of that variable measured at sea level in standard atmospheric conditions, and when vehicle weight was equal to [WEIGHT_BASE](../advanced_config/parameter_reference.md#WEIGHT_BASE). -예: by $\hat{\dot{h}}_{max}$ we specify the maximum climb rate the vehicle can achieve at [WEIGHT_BASE](../advanced_config/parameter_reference.md#WEIGHT_BASE) at sea level in standard atmospheric conditions. +예: by $\hat{\dot{h}}_{\text{max}}$ we specify the maximum climb rate the vehicle can achieve at [WEIGHT_BASE](../advanced_config/parameter_reference.md#WEIGHT_BASE) at sea level in standard atmospheric conditions. ### Effect of Weight on Maximum Climb Rate @@ -71,7 +71,7 @@ The maximum climb rate ([FW_T_CLMB_MAX](../advanced_config/parameter_reference.m From the steady state equations of motions of an airplane we find that the maximum climb rate can be written as: -$$\dot{h}_{max} = { V * ( Thrust - Drag ) \over{m*g}}$$ +$$\dot{h}_{\text{max}} = \frac{V \cdot (\text{Thrust} - \text{Drag})}{m \cdot g}$$ where `V` is the true airspeed and `m` is the vehicle mass. From this equation we see that the maximum climb rates scales with vehicle mass. @@ -82,7 +82,7 @@ The minimum sink rate ([FW_T_SINK_MIN](../advanced_config/parameter_reference.md The minimum sink rate can be written as: -$$\dot{h}_{min} = \sqrt{2mg\over{\rho S}} f(C_L, C_D)$$ +$$\dot{h}_{\text{min}} = \sqrt{\frac{2mg}{\rho S}}\, f(C_L, C_D)$$ where $\rho$ is the air density, S is the wing surface reference area and $f(C_L, C_D)$ is a function of the polars, lift and drag. @@ -94,30 +94,38 @@ The minimum airspeed ([FW_AIRSPD_MIN](../advanced_config/parameter_reference.md# In steady state flight we can demand that lift should equal weight of the vehicle: -$$Lift = mg = {1\over{2}} \rho V^2 S C_L$$ +$$\text{Lift} = mg = \frac{1}{2} \rho V^2 S C_L$$ rearranging this equation for airspeed gives: -$$V = \\sqrt{\\frac{2mg}{\\rho S C_D }}$$ +$$V = \sqrt{\frac{2mg}{\rho S C_L}}$$ From this equation we see that if we assume a constant angle of attack (which we generally desire), the vehicle weight affects airspeed with a square root relation. Therefore, the airspeed limits mentioned above are all scaled using the square root of the weight ratio. +### Effect of Bank Angle on Airspeed Limits + +Flying a coordinated, level turn at bank angle $\phi$ increases the load factor by $\frac{1}{\cos{\phi}}$. This is similar to the added load factor due to weight (section above), and thus the stall and minimum airspeeds are increased by an additional factor of $\sqrt{\frac{1}{\cos{\phi}}}$. + +The maximum airspeed ([FW_AIRSPD_MAX](../advanced_config/parameter_reference.md#FW_AIRSPD_MAX)) is _not_ compensated in this way, as it can represent structural limits of the airframe. + +It can be that at maximum bank angle [FW_R_LIM](../advanced_config/parameter_reference.md#FW_R_LIM), the maximum airspeed is _lower_ than the minimum airspeed (compensated for weight ratio and bank angle). This means the allowed airspeed range is empty at that bank angle. If a system is configured like this, a warning on the ground station is shown. + ### Effect of Density on Maximum Climb Rate The maximum climb rate is set using [FW_T_CLMB_MAX](../advanced_config/parameter_reference.md#FW_T_CLMB_MAX). As we have seen previously, the maximum climb rate can be formulated as: -$$\dot{h}_{max} = { V * ( Thrust - Drag ) \over{m*g}}$$ +$$\dot{h}_{\text{max}} = \frac{V \cdot (\text{Thrust} - \text{Drag})}{m \cdot g}$$ The air density affects the airspeed, the thrust and the drag and modelling this effects is not straight forward. However, we can refer to literature and experience, which suggest that for a propeller airplane the maximum climb rate reduces approximately linear with the air density. Therefore, we can write the maximum climb rate as: -$$\dot{h}_{max} = \hat{\dot{h}} * {\rho_{sealevel} \over{\rho}} K$$ +$$\dot{h}_{\text{max}} = \hat{\dot{h}} \cdot \frac{\rho_{\text{sealevel}}}{\rho} K$$ -where $\rho_{sealevel}$ is the air density at sea level in the standard atmosphere and K is a scaling factor which determines the slope of the function. +where $\rho_{\text{sealevel}}$ is the air density at sea level in the standard atmosphere and K is a scaling factor which determines the slope of the function. Rather than trying to identify this constants, the usual practice in aviation is to specify a service ceiling altitude at which the vehicle is still able to achieve a minimum specified climb rate. ### Effect of Density on Minimum Sink Rate @@ -126,7 +134,7 @@ The minimum sink rate is set using [FW_T_SINK_MIN](../advanced_config/parameter_ In previous sections we have seen the formula for the minimum sink rate: -$$\dot{h}_{min} = \sqrt{2mg\over{\rho S}} f(C_L, C_D)$$ +$$\dot{h}_{\text{min}} = \sqrt{\frac{2mg}{\rho S}}\, f(C_L, C_D)$$ This shows that the minimum sink rate scales with the square root of the inverse air density. diff --git a/docs/ko/debug/failure_injection.md b/docs/ko/debug/failure_injection.md index fdc4a49589..9420b08a80 100644 --- a/docs/ko/debug/failure_injection.md +++ b/docs/ko/debug/failure_injection.md @@ -61,6 +61,10 @@ failure [-i ] - _instance number_ (optional): Instance number of affected sensor. 0 (기본값) 지정된 유형의 모든 센서를 나타냅니다. +:::info +The simulated GPS (SITL) implements only the `off`, `stuck`, and `wrong` failure modes; the other failure types have no effect on it. +::: + ## MAVSDK 실패 플러그인 The [MAVSDK failure plugin](https://mavsdk.mavlink.io/main/en/cpp/api_reference/classmavsdk_1_1_failure.html) can be used to programmatically inject failures. diff --git a/docs/ko/dev_log/logging.md b/docs/ko/dev_log/logging.md index 46103361a5..7024ef76b8 100644 --- a/docs/ko/dev_log/logging.md +++ b/docs/ko/dev_log/logging.md @@ -52,7 +52,7 @@ This allows, for example, logging of your own uORB topics. ### 진단SD 카드 설정 -The list of logged topics can also be customized with a file on the SD card: `etc/logging/logger_topics.txt` (for SITL, it's `build/px4_sitl_default/rootfs/fs/microsd/etc/logging/logger_topics.txt`). +The list of logged topics can also be customized with a file on the SD card: `etc/logging/logger_topics.txt` (for SITL, it's `build/px4_sitl_default/rootfs/fs/microsd/etc/logging/logger_topics.txt`). Each topic to be logged is listed on a separate line, with the following format: diff --git a/docs/ko/flight_controller/aedrox_aedroxh7.md b/docs/ko/flight_controller/aedrox_aedroxh7.md new file mode 100644 index 0000000000..f0f88b2a7c --- /dev/null +++ b/docs/ko/flight_controller/aedrox_aedroxh7.md @@ -0,0 +1,135 @@ +# AEDROX AEDROXH7 + + + +:::warning +PX4 does not manufacture this (or any) autopilot. +Contact the [manufacturer](https://aedrox.com/) for hardware support. +::: + +The AEDROXH7 is an STM32H743-based FPV / racing flight controller from AEDROX. + +For full hardware documentation and pinouts, see the [manufacturer documentation](https://aedrox.gitbook.io/docs). + +:::info +This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md). +::: + +## 주요 특징 + +- MCU: STM32H743VIM6 32-bit processor running at 480 MHz +- IMU: ICM-42688-P +- Barometer: DPS310 (some revisions ship DPS368, supported by the same driver) +- 128 MB W25N NAND flash for logging (mounted as littlefs at `/fs/flash`) +- MAX7456 analog OSD +- 6 UARTs (TEL1, GPS1, RC, TEL2, ESC telemetry, DJI/MSP HD OSD / debug console) +- 1 internal I2C bus (barometer), 1 external I2C bus (user connector) +- 1 CAN bus (CAN1) with silent-pin control +- 8 PWM motor outputs (Bidirectional DShot capable) +- 1 addressable LED strip pad, 2 general GPIO +- Battery voltage and current monitoring +- USB Type-C + +No on-board magnetometer; PX4 runs with `SYS_HAS_MAG=0` and EKF2 gravity fusion enabled by default. + +## Where to Buy {#store} + +- [aedrox.com](https://www.aedrox.com/). + +## 커넥터 및 핀 + +### UART + +| 포트 | MCU peripheral | 장치 | 기능 | +| --------- | -------------- | ---------- | ----------------------------------------------- | +| `SERIAL1` | USART1 | /dev/ttyS0 | TELEM1 (MAVLink) | +| `SERIAL2` | USART2 | /dev/ttyS1 | GPS1 | +| `SERIAL3` | USART3 | /dev/ttyS2 | RC 입력 | +| `SERIAL4` | UART4 | /dev/ttyS3 | TELEM2 | +| `SERIAL7` | UART7 | /dev/ttyS4 | ESC telemetry (RX only) | +| `SERIAL8` | UART8 | /dev/ttyS5 | Debug shell (system console) | + +`SERIAL7` is wired RX-only by the vendor (intended for ESC telemetry). +`SERIAL8` is the system console at 57600 8N1 (device: `/dev/ttyS5`). + +:::info +The vendor brings `SERIAL8` out on the HD VTX connector (intended for DJI / MSP DisplayPort), but the default PX4 config uses it as the system console. To use it for MSP DisplayPort instead, move the console off UART8, then start the [msp_osd](../modules/modules_driver.md#msp-osd) driver on `/dev/ttyS5`. +::: + +### PWM Outputs {#pwm_outputs} + +8 PWM motor outputs (M1-M8), all [DShot](../peripherals/dshot.md) and [Bidirectional DShot](../peripherals/dshot.md#bidirectional-dshot-telemetry) (RPM telemetry) capable. + +The M5-M8 motor connector additionally exposes two user-controllable GPIOs (`GPIO1` / `GPIO2`, on PA2 / PA3) alongside the motor signals. +Toggle them at runtime with the `gpio` command (see "User GPIOs" below). + +A separate addressable-LED-strip pad is brought out; currently driven as a plain GPIO in this port . + +### Status LEDs + +| Silkscreen | MCU pin | 색상 | 기능 | +| ---------- | ------- | -- | ----------------------------------------------------------------------------------------------- | +| LED1 | PE2 | 청색 | MCU activity, solid when armed | +| LED2 | - | 녹색 | IMU power-supply indicator | +| LED3 | - | 녹색 | MCU / baro / OSD power-supply indicator | +| LED4 | PE5 | 녹색 | MCU activity, blinks based on flight state (preflight / disarmed / failsafe) | +| LED5 | - | - | 10v VTX rail indicator (lit when VTX power is enabled) | + +### Other I/O + +| 기능 | MCU pin | 참고 | +| --------------- | --------- | -------------------------------------------------------------------------------------------------------------------------------------------------------- | +| 부저 | PA7 | Drives an NPN low-side switch, use a basic 2-pin active buzzer (e.g. TMB12A05) | +| VTX power | PB1 | Active high | +| Camera switch | PD15 | Active high, currently hard-coded to camera 1 at boot (no runtime control yet); use `gpio write D15 1` from nsh to switch to camera 2 | +| PINIO 1 / 2 | PA2 / PA3 | User-controllable GPIOs via `gpio` command | +| CAN1 silent | PD12 | Driven low to enable CAN bus | +| Battery V sense | PC0 | ADC1 IN10, calibrate `BAT1_V_DIV` per build | +| Battery I sense | PC1 | ADC1 IN11, calibrate `BAT1_A_PER_V` per ESC, or use DShot telemetry for current (`BAT1_SOURCE`) | +| USB VBUS sense | PC15 | Non-standard pin for VBUS sense | + +### Analog OSD (MAX7456) + +The MAX7456 driver is built in but disabled by default. To enable, set [`OSD_ATXXXX_CFG`](../advanced_config/parameter_reference.md#OSD_ATXXXX_CFG) to `1` (NTSC) or `2` (PAL) and reboot. The `atxxxx` driver auto-starts and overlays PX4 status on top of the camera video. + +## 부트로더 업데이트 + +Before PX4 firmware can be installed, the PX4 bootloader must be flashed. +Download the [aedrox_aedroxh7_bootloader.bin](https://github.com/PX4/PX4-Autopilot/blob/main/boards/aedrox/aedroxh7/extras/aedrox_aedroxh7_bootloader.bin) bootloader binary and follow the [bootloader update from Betaflight / DFU](../advanced_config/bootloader_update_from_betaflight.md) flashing instructions. + +## 펌웨어 빌드 + +To [build PX4](../dev_setup/building_px4.md) for this target: + +```sh +make aedrox_aedroxh7_default +``` + +## 펌웨어 설치 + +Firmware can be installed in any of the normal ways: + +- Build and upload the source: + + ```sh + make aedrox_aedroxh7_default upload + ``` + +- [Load the firmware](../config/firmware.md) using _QGroundControl_. + 미리 빌드된 펌웨어나 사용자 지정 펌웨어를 사용할 수 있습니다. + +### Flash Storage Troubleshooting + +The AEDROXH7 uses a 128 MB NAND flash (W25N) with a littlefs filesystem for [logging](../dev_log/logging.md). +If the flash filesystem becomes corrupted, you can reformat it from the [System Console](../debug/system_console.md): + +```sh +mklittlefs /dev/mtd0 /fs/flash +``` + +This will erase all data on the flash and create a fresh littlefs filesystem. +The filesystem is immediately available after the command completes. + +### 시스템 콘솔 + +UART8 is configured for use as the [System Console](../debug/system_console.md) at 57600 8N1. diff --git a/docs/ko/flight_controller/autopilot_manufacturer_supported.md b/docs/ko/flight_controller/autopilot_manufacturer_supported.md index f3f4f73c1d..f3982798cd 100644 --- a/docs/ko/flight_controller/autopilot_manufacturer_supported.md +++ b/docs/ko/flight_controller/autopilot_manufacturer_supported.md @@ -13,12 +13,14 @@ This category includes boards that are not fully compliant with the pixhawk stan 이 카테고리의 보드는 다음과 같습니다. - [Accton Godwit GA1](../flight_controller/accton-godwit_ga1.md) +- [AEDROX AEDROXH7](../flight_controller/aedrox_aedroxh7.md) - [AirMind MindPX](../flight_controller/mindpx.md) - [AirMind MindRacer](../flight_controller/mindracer.md) - [ARK Electronics ARKV6X](../flight_controller/ark_v6x.md) (and [ARK Electronics Pixhawk Autopilot Bus Carrier](../flight_controller/ark_pab.md)) - [ARK Electronics ARKV6S](../flight_controller/ark_v6s.md) - [ARK FPV Flight Controller](../flight_controller/ark_fpv.md) - [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) - [CUAV Nora](../flight_controller/cuav_nora.md) (CUAV X7 variant) - [CUAV V5+](../flight_controller/cuav_v5_plus.md) (FMUv5) diff --git a/docs/ko/flight_controller/cbunmanned_h753-som.md b/docs/ko/flight_controller/cbunmanned_h753-som.md new file mode 100644 index 0000000000..7ea24560bc --- /dev/null +++ b/docs/ko/flight_controller/cbunmanned_h753-som.md @@ -0,0 +1,93 @@ +# CBUnmanned H753-SOM + + + +:::warning +PX4 does not manufacture this (or any) autopilot. Contact the manufacturer for hardware support or compliance issues. +::: + +The _CBUnmanned H753-SOM_ is a System-on-Module (SoM) flight controller built around the STM32H753 microcontroller. +It is intended to be mounted on a carrier board that breaks out the I/O and provides power, peripherals, and connectors for a specific vehicle integration. + +![CBUnmanned H753-SOM Pinout](../../assets/flight_controller/cbunmanned_h753-som/cbunmanned-h753-som-pinout.jpg) + +:::info +This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md). +::: + +## 주요 특징 + +- **MCU:** STM32H753 (32-bit Arm® Cortex®-M7, 480 MHz, 2 MB Flash, 1 MB RAM) +- **IMU:** Dual InvenSense ICM-42670-P (on SPI4) +- **Barometer:** ST LPS22HB (on I2C1) +- **Storage:** microSD card (SDMMC2) +- **Interfaces:** + - 6x user UARTs (TEL1, TEL2, TEL3, GPS1, GPS2, RC) plus a debug console — flow control on TEL1/TEL2/TEL3 + - 2x CAN (UAVCAN) + - 2x external I2C (one per GPS port for compass) and 1x internal I2C (barometer) + - 1x external SPI (the dual IMUs are on a separate internal SPI bus) + - 9x PWM outputs (DShot / Bi-Directional DShot supported) + - USB + - Ethernet optional +- **Power:** Powered from an external regulated 5 V supply (e.g. a BEC on the carrier board). Battery voltage (up to 65 V) and current are monitored via ADC; the voltage sense input is a separate pin behind a voltage divider and does not power the board. + +:::info +CAN transceivers require a 5 V supply. USB-only power (≈4.5 V after the input diode) is **not** sufficient to operate the CAN bus. +::: + +## 구매처 + +Check [CBUnmanned](https://cbunmanned.com) for availability. + +## 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 from source: + +```sh +make cbunmanned_h753-som_default +``` + +## 시리얼 포트 매핑 + +| UART | 장치 | PX4 Default | Pins (TX / RX) | Flow Control (CTS / RTS) | +| ------ | ---------- | ----------- | --------------------------------- | ------------------------------------------- | +| USART2 | /dev/ttyS0 | TEL1 | PD5 / PA3 | PA0 / PD4 | +| USART3 | /dev/ttyS1 | GPS1 | PD8 / PD9 | — | +| UART4 | /dev/ttyS2 | GPS2 | PC10 / PC11 | — | +| UART5 | /dev/ttyS3 | Console | PC12 / PD2 | — | +| USART6 | /dev/ttyS4 | RC | PC6 / PC7 | — | +| UART7 | /dev/ttyS5 | TEL2 | PE8 / PE7 | PE10 / PE9 | +| UART8 | /dev/ttyS6 | TEL3 | PE1 / PE0 | PD14 / PD15 | + +## PWM 출력 + +The board provides 9 PWM outputs, all of which support [DShot](../peripherals/dshot.md) and [Bidirectional DShot](../peripherals/dshot.md#bidirectional-dshot-telemetry). + +The outputs are split across 4 timer groups: + +| 출력 | Timer | +| ------- | ------ | +| 1, 2, 3 | Timer1 | +| 4, 5 | Timer2 | +| 6, 7, 8 | Timer3 | +| 9 | Timer4 | + +All outputs within the same group must use the same protocol and update rate. + +## 디버그 포트 + +The system console runs on UART5 (PC12 / PD2). USB CDC ACM is auto-started and provides MAVLink access. + + + +## 부트로더 업데이트 + +Boards that ship without the PX4 bootloader must have it flashed before PX4 firmware can be installed. +Download the [cbunmanned_h753-som_bootloader.bin](https://github.com/PX4/PX4-Autopilot/blob/main/boards/cbunmanned/h753-som/extras/cbunmanned_h753-som_bootloader.bin) bootloader binary and follow the [DFU Bootloader Update](../advanced_config/bootloader_update_from_betaflight.md#dfu-bootloader-update) instructions. + +Once the PX4 bootloader is flashed, firmware can be installed normally via _QGroundControl_. diff --git a/docs/ko/flight_modes/return.md b/docs/ko/flight_modes/return.md index 4dd1e5540b..37ccfa77a8 100644 --- a/docs/ko/flight_modes/return.md +++ b/docs/ko/flight_modes/return.md @@ -92,7 +92,11 @@ This is the default return type for a [fixed-wing](../flight_modes_fw/return.md) - 목적지가 임무 착륙 패턴인 경우 패턴을 따라 착륙합니다. - If the destination is a rally point or home it will [land or wait](#loiter-landing-at-destination) at descent altitude (depending on landing parameters). By default an MC or VTOL in MC mode will land, and a fixed-wing vehicle circles at the descent altitude. - A VTOL in FW mode aligns its heading to the destination point, transitions to MC mode, and then lands. + + A VTOL in FW mode can first fly a _VTOL approach loiter_ associated with that destination. + A _VTOL approach loiter_ is a [MAV_CMD_NAV_LOITER_TO_ALT](https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_LOITER_TO_ALT) item that the vehicle uses to descend to the approach altitude. + For upload details, see [VTOL Fixed-wing Mode Return](../flight_modes_vtol/return.md#fixed-wing-mode-fw-return). + If several approach loiters are defined for the destination, PX4 chooses the most wind-aligned one. It then flies from the approach loiter to the destination point, transitions to MC mode at the destination, and lands. :::info Fixed wing vehicles commonly also set [MIS_TKO_LAND_REQ](#MIS_TKO_LAND_REQ) to _require_ a mission landing pattern. @@ -198,7 +202,8 @@ The default landing configuration is vehicle dependent: - Fixed-wing vehicles use a return mode with a [mission landing pattern](#mission-landing-pattern), as this enables automated landing. If not using a mission landing, the default configuration is to loiter indefinitely, so the user can take over and manually land. - VTOLs in MC mode fly and land exactly as a multicopter. -- VTOLS in FW mode head towards the landing point, transition to MC mode, and then land on the destination. +- VTOLs in FW mode head towards the landing point, transition to MC mode, and then land on the destination. + If a VTOL approach loiter is defined for a rally point or home location, the vehicle uses that loiter to reach the approach altitude, then flies to the destination before back-transitioning. ## Mission Landing Pattern @@ -220,6 +225,7 @@ The RTL parameters are listed in [Parameter Reference > Return Mode](../advanced | [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_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_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)). | diff --git a/docs/ko/flight_modes_vtol/return.md b/docs/ko/flight_modes_vtol/return.md index eb60a47d0e..3f8dfa82e4 100644 --- a/docs/ko/flight_modes_vtol/return.md +++ b/docs/ko/flight_modes_vtol/return.md @@ -7,7 +7,7 @@ The _Return_ flight mode is used to _fly a vehicle to safety_ on an unobstructed VTOL vehicles use the [Mission Landing/Rally Point](../flight_modes/return.md#mission-landing-rally-point-return-type-rtl-type-1) return type by default. In this return type a vehicle ascends to a minimum safe altitude above obstructions (if needed), and then flies directly to a rally point or the start of a mission landing point (whichever is nearest), or the home position if neither rally points or mission landing pattern is defined. If the destination is a mission landing pattern, the vehicle will then follow the pattern to land. -If the destination is a rally point or the home location, the vehicle will fly back to the home position and land. +If the destination is a rally point or the home location, the vehicle will fly to that destination and land. The vehicle will return using the flying mode (MC or FW) it was using at the point when return mode was triggered. Generally it will follow the same return mode behaviour of the corresponding vehicle type, but will always transition to MC mode (if needed) before landing. @@ -49,13 +49,50 @@ If returning as a fixed-wing, the vehicle: A mission landing pattern for a VTOL vehicle consists of a [MAV_CMD_DO_LAND_START](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_LAND_START), one or more position waypoints, and a [MAV_CMD_NAV_VTOL_LAND](https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_VTOL_LAND). - If the destination is a rally point or home it will: - - Loiter/spiral down to [RTL_DESCEND_ALT](#RTL_DESCEND_ALT). + - Fly to the selected [VTOL approach loiter](#vtol-rally-point-approach-loiters) associated with that landing location (if any are defined) and use it to descend to the approach altitude. + If several approach loiters are defined for that location, PX4 chooses the one that best matches the estimated wind at the landing point. + + See [VTOL Rally Point Approach Loiter](#vtol-rally-point-approach-loiters) below for information on how to define approach loiters (using [MAV_CMD_NAV_LOITER_TO_ALT](https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_LOITER_TO_ALT) items in your _rally plan_). + + - Loiter/spiral down to the approach altitude, or to [RTL_DESCEND_ALT](#RTL_DESCEND_ALT) above the destination if no approach altitude is defined. + - Circle for a short time, as defined by [RTL_LAND_DELAY](#RTL_LAND_DELAY). - - Yaw towards the destination (centre of loiter). - - Transition to MC mode and land. + + - Fly from the approach loiter to the return destination (the rally point or home location). + + - Transition to MC mode at the destination and land. Note that [NAV_FORCE_VT](../advanced_config/parameter_reference.md#NAV_FORCE_VT) is ignored: the vehicle will always land as a multicopter for these destinations. +#### VTOL Rally Point Approach Loiters + +VTOL _rally point approach loiters_ are [MAV_CMD_NAV_LOITER_TO_ALT](https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_LOITER_TO_ALT) items associated with a particular rally point ([MAV_CMD_NAV_RALLY_POINT](https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_RALLY_POINT)) in a [Rally plan](../flying/plan_safety_points.md). +They define options for where the VTOL can descend to the rally point approach altitude, and how it will approach the rally point. +Several approach loiters can be defined for a rally point, and PX4 will choose the one that best matches the estimated wind at the landing point. + +:::tip +The `MAV_CMD_NAV_LOITER_TO_ALT` items that define approach loiters are associated with a Rally/safety point, and are hence part of the rally point plan when used in this way — _not_ the mission plan. +This behaviour is not defined in the MAVLink rally point plan specification. +::: + +When uploading VTOL approach loiters through MAVLink, [upload them as rally/safe-point](https://mavlink.io/en/services/mission.html#mission_types) mission items (`MAV_MISSION_TYPE_RALLY`). +The `MAV_CMD_NAV_RALLY_POINT` item must come first, followed by one or more `MAV_CMD_NAV_LOITER_TO_ALT` items that define the approach loiters for that rally point. +The next `MAV_CMD_NAV_RALLY_POINT` starts a new landing-location block. + +For each `MAV_CMD_NAV_LOITER_TO_ALT` item, `x/y/z` define the loiter center and approach altitude, and `param2` defines the loiter radius used by RTL. +If `param2` is unset or zero, PX4 falls back to [RTL_LOITER_RAD](#RTL_LOITER_RAD). + +For example, a rally upload with one rally point and two possible approach loiters would use: + +| Sequence | 통신 | Purpose | Key fields | +| -------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------- | ------------------------------------------------------------------------------------------------------ | +| 0 | [MAV_CMD_NAV_RALLY_POINT](https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_RALLY_POINT) | Landing location | `x/y/z`: rally latitude, longitude, altitude | +| 1 | [MAV_CMD_NAV_LOITER_TO_ALT](https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_LOITER_TO_ALT) | First VTOL approach loiter | `x/y/z`: loiter latitude, longitude, altitude; `param2`: loiter radius | +| 2 | [MAV_CMD_NAV_LOITER_TO_ALT](https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_LOITER_TO_ALT) | Second VTOL approach loiter | `x/y/z`: loiter latitude, longitude, altitude; `param2`: loiter radius | + +Note that the approach loiter is not the back-transition point. +If the selected approach loiter is far from the rally point or home location, the vehicle remains in fixed-wing mode after the loiter, flies to the destination at the approach altitude, and only then back-transitions for landing. + ## Multicopter Mode (MC) Return If returning as a multicopter: @@ -73,6 +110,7 @@ The others are relevant if the destination is a rally point or the home location | 매개변수 | 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. | | [RTL_RETURN_ALT](../advanced_config/parameter_reference.md#RTL_RETURN_ALT) | Return altitude in meters (default: 60m)If already above this value the vehicle will return at its current altitude. | | [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) | 기체가 더 높은 복귀 고도에서 감속하거나 초기 하강을 중지할 최소 복귀 고도 및 고도 (기본값 : 30m) | diff --git a/docs/ko/middleware/dds_topics.md b/docs/ko/middleware/dds_topics.md index a2224f9ee8..585aa3ccbc 100644 --- a/docs/ko/middleware/dds_topics.md +++ b/docs/ko/middleware/dds_topics.md @@ -96,220 +96,221 @@ They are not build into the module, and hence are neither published or subscribe :::details See messages -- [CameraStatus](../msg_docs/CameraStatus.md) -- [PowerMonitor](../msg_docs/PowerMonitor.md) -- [EventV0](../msg_docs/EventV0.md) -- [PowerButtonState](../msg_docs/PowerButtonState.md) -- [RoverSpeedStatus](../msg_docs/RoverSpeedStatus.md) -- [IridiumsbdStatus](../msg_docs/IridiumsbdStatus.md) -- [SatelliteInfo](../msg_docs/SatelliteInfo.md) -- [UavcanParameterValue](../msg_docs/UavcanParameterValue.md) -- [HealthReport](../msg_docs/HealthReport.md) -- [VteAidSource1d](../msg_docs/VteAidSource1d.md) -- [EscEepromWrite](../msg_docs/EscEepromWrite.md) -- [GainCompression](../msg_docs/GainCompression.md) -- [NavigatorStatus](../msg_docs/NavigatorStatus.md) -- [Cpuload](../msg_docs/Cpuload.md) -- [OpenDroneIdSystem](../msg_docs/OpenDroneIdSystem.md) -- [DeviceInformation](../msg_docs/DeviceInformation.md) -- [EstimatorSelectorStatus](../msg_docs/EstimatorSelectorStatus.md) -- [BatteryInfo](../msg_docs/BatteryInfo.md) -- [MavlinkLog](../msg_docs/MavlinkLog.md) -- [GpioRequest](../msg_docs/GpioRequest.md) -- [IrlockReport](../msg_docs/IrlockReport.md) - [SensorGnssRelative](../msg_docs/SensorGnssRelative.md) -- [VtePosition](../msg_docs/VtePosition.md) -- [CanInterfaceStatus](../msg_docs/CanInterfaceStatus.md) -- [RtlTimeEstimate](../msg_docs/RtlTimeEstimate.md) -- [ManualControlSwitches](../msg_docs/ManualControlSwitches.md) -- [UavcanParameterRequest](../msg_docs/UavcanParameterRequest.md) -- [DebugValue](../msg_docs/DebugValue.md) -- [VehicleOpticalFlowVel](../msg_docs/VehicleOpticalFlowVel.md) -- [AdcReport](../msg_docs/AdcReport.md) -- [Px4ioStatus](../msg_docs/Px4ioStatus.md) -- [FigureEightStatus](../msg_docs/FigureEightStatus.md) -- [AutotuneAttitudeControlStatus](../msg_docs/AutotuneAttitudeControlStatus.md) -- [ParameterSetValueRequest](../msg_docs/ParameterSetValueRequest.md) -- [VteBiasInitStatus](../msg_docs/VteBiasInitStatus.md) -- [DatamanRequest](../msg_docs/DatamanRequest.md) -- [DifferentialPressure](../msg_docs/DifferentialPressure.md) -- [RoverAttitudeStatus](../msg_docs/RoverAttitudeStatus.md) -- [BatteryStatusV0](../msg_docs/BatteryStatusV0.md) -- [VehicleImu](../msg_docs/VehicleImu.md) -- [ArmingCheckRequestV0](../msg_docs/ArmingCheckRequestV0.md) -- [EstimatorAidSource3d](../msg_docs/EstimatorAidSource3d.md) -- [EstimatorBias3d](../msg_docs/EstimatorBias3d.md) -- [VehicleImuStatus](../msg_docs/VehicleImuStatus.md) -- [SensorsStatus](../msg_docs/SensorsStatus.md) -- [ActionRequest](../msg_docs/ActionRequest.md) -- [ActuatorArmed](../msg_docs/ActuatorArmed.md) -- [OpenDroneIdOperatorId](../msg_docs/OpenDroneIdOperatorId.md) -- [WheelEncoders](../msg_docs/WheelEncoders.md) -- [SensorAirflow](../msg_docs/SensorAirflow.md) -- [ActuatorServosTrim](../msg_docs/ActuatorServosTrim.md) -- [UlogStream](../msg_docs/UlogStream.md) -- [ButtonEvent](../msg_docs/ButtonEvent.md) -- [RadioStatus](../msg_docs/RadioStatus.md) -- [ParameterSetUsedRequest](../msg_docs/ParameterSetUsedRequest.md) -- [GpioConfig](../msg_docs/GpioConfig.md) -- [PositionSetpoint](../msg_docs/PositionSetpoint.md) -- [FollowTargetStatus](../msg_docs/FollowTargetStatus.md) -- [SensorCorrection](../msg_docs/SensorCorrection.md) -- [FiducialMarkerYawReport](../msg_docs/FiducialMarkerYawReport.md) -- [DebugArray](../msg_docs/DebugArray.md) -- [HeaterStatus](../msg_docs/HeaterStatus.md) -- [LoggerStatus](../msg_docs/LoggerStatus.md) -- [PositionControllerStatus](../msg_docs/PositionControllerStatus.md) -- [VehicleAngularVelocity](../msg_docs/VehicleAngularVelocity.md) -- [Mission](../msg_docs/Mission.md) -- [OrbitStatus](../msg_docs/OrbitStatus.md) -- [Event](../msg_docs/Event.md) -- [DistanceSensorModeChangeRequest](../msg_docs/DistanceSensorModeChangeRequest.md) -- [ActuatorOutputs](../msg_docs/ActuatorOutputs.md) -- [SensorAccelFifo](../msg_docs/SensorAccelFifo.md) -- [RateCtrlStatus](../msg_docs/RateCtrlStatus.md) -- [PositionControllerLandingStatus](../msg_docs/PositionControllerLandingStatus.md) -- [GpsDump](../msg_docs/GpsDump.md) -- [GimbalDeviceInformation](../msg_docs/GimbalDeviceInformation.md) -- [SystemPower](../msg_docs/SystemPower.md) -- [ControlAllocatorStatus](../msg_docs/ControlAllocatorStatus.md) -- [NavigatorMissionItem](../msg_docs/NavigatorMissionItem.md) -- [QshellRetval](../msg_docs/QshellRetval.md) -- [SensorGyro](../msg_docs/SensorGyro.md) -- [InternalCombustionEngineControl](../msg_docs/InternalCombustionEngineControl.md) -- [HomePositionV0](../msg_docs/HomePositionV0.md) -- [EscReport](../msg_docs/EscReport.md) -- [NormalizedUnsignedSetpoint](../msg_docs/NormalizedUnsignedSetpoint.md) -- [OrbTest](../msg_docs/OrbTest.md) -- [EstimatorSensorBias](../msg_docs/EstimatorSensorBias.md) -- [TrajectorySetpoint6dof](../msg_docs/TrajectorySetpoint6dof.md) -- [TuneControl](../msg_docs/TuneControl.md) -- [VehicleCommandAckV0](../msg_docs/VehicleCommandAckV0.md) -- [EstimatorStatus](../msg_docs/EstimatorStatus.md) -- [SensorBaro](../msg_docs/SensorBaro.md) -- [VehicleStatusV2](../msg_docs/VehicleStatusV2.md) -- [SensorGyroFifo](../msg_docs/SensorGyroFifo.md) -- [ParameterResetRequest](../msg_docs/ParameterResetRequest.md) -- [FiducialMarkerPosReport](../msg_docs/FiducialMarkerPosReport.md) -- [GeneratorStatus](../msg_docs/GeneratorStatus.md) -- [HoverThrustEstimate](../msg_docs/HoverThrustEstimate.md) -- [VteAidSource3d](../msg_docs/VteAidSource3d.md) -- [VelocityLimits](../msg_docs/VelocityLimits.md) -- [GeofenceStatus](../msg_docs/GeofenceStatus.md) -- [SensorPreflightMag](../msg_docs/SensorPreflightMag.md) -- [SensorsStatusImu](../msg_docs/SensorsStatusImu.md) -- [NeuralControl](../msg_docs/NeuralControl.md) -- [RcParameterMap](../msg_docs/RcParameterMap.md) -- [MavlinkTunnel](../msg_docs/MavlinkTunnel.md) -- [YawEstimatorStatus](../msg_docs/YawEstimatorStatus.md) -- [EstimatorAidSource1d](../msg_docs/EstimatorAidSource1d.md) -- [LaunchDetectionStatus](../msg_docs/LaunchDetectionStatus.md) - [FlightPhaseEstimation](../msg_docs/FlightPhaseEstimation.md) -- [MissionResult](../msg_docs/MissionResult.md) -- [TargetGnss](../msg_docs/TargetGnss.md) -- [GimbalManagerStatus](../msg_docs/GimbalManagerStatus.md) -- [EstimatorInnovations](../msg_docs/EstimatorInnovations.md) -- [RegisterExtComponentReplyV0](../msg_docs/RegisterExtComponentReplyV0.md) -- [VehicleStatusV1](../msg_docs/VehicleStatusV1.md) -- [LandingTargetPose](../msg_docs/LandingTargetPose.md) -- [OpenDroneIdSelfId](../msg_docs/OpenDroneIdSelfId.md) -- [TakeoffStatus](../msg_docs/TakeoffStatus.md) -- [SensorGnssStatus](../msg_docs/SensorGnssStatus.md) -- [TiltrotorExtraControls](../msg_docs/TiltrotorExtraControls.md) -- [GpsInjectData](../msg_docs/GpsInjectData.md) -- [VteInput](../msg_docs/VteInput.md) -- [VehicleRoi](../msg_docs/VehicleRoi.md) -- [SensorTemp](../msg_docs/SensorTemp.md) -- [VehicleAirData](../msg_docs/VehicleAirData.md) -- [Ekf2Timestamps](../msg_docs/Ekf2Timestamps.md) -- [VehicleLocalPositionV0](../msg_docs/VehicleLocalPositionV0.md) -- [EstimatorEventFlags](../msg_docs/EstimatorEventFlags.md) -- [GimbalManagerSetAttitude](../msg_docs/GimbalManagerSetAttitude.md) -- [PrecLandStatus](../msg_docs/PrecLandStatus.md) -- [EstimatorFusionControl](../msg_docs/EstimatorFusionControl.md) -- [ParameterSetValueResponse](../msg_docs/ParameterSetValueResponse.md) -- [DebugKeyValue](../msg_docs/DebugKeyValue.md) -- [FuelTankStatus](../msg_docs/FuelTankStatus.md) -- [PurePursuitStatus](../msg_docs/PurePursuitStatus.md) -- [CameraTrigger](../msg_docs/CameraTrigger.md) -- [TaskStackInfo](../msg_docs/TaskStackInfo.md) -- [GeofenceResult](../msg_docs/GeofenceResult.md) -- [AirspeedWind](../msg_docs/AirspeedWind.md) -- [CameraCapture](../msg_docs/CameraCapture.md) -- [OpenDroneIdArmStatus](../msg_docs/OpenDroneIdArmStatus.md) -- [ConfigOverridesV0](../msg_docs/ConfigOverridesV0.md) -- [VehicleAcceleration](../msg_docs/VehicleAcceleration.md) -- [GimbalDeviceSetAttitude](../msg_docs/GimbalDeviceSetAttitude.md) -- [QshellReq](../msg_docs/QshellReq.md) -- [VteOrientation](../msg_docs/VteOrientation.md) -- [GpioOut](../msg_docs/GpioOut.md) -- [FollowTarget](../msg_docs/FollowTarget.md) -- [CellularStatus](../msg_docs/CellularStatus.md) -- [SensorAccel](../msg_docs/SensorAccel.md) -- [OrbTestLarge](../msg_docs/OrbTestLarge.md) -- [VehicleStatusV0](../msg_docs/VehicleStatusV0.md) -- [DronecanNodeStatus](../msg_docs/DronecanNodeStatus.md) -- [AirspeedValidatedV0](../msg_docs/AirspeedValidatedV0.md) -- [GimbalManagerSetManualControl](../msg_docs/GimbalManagerSetManualControl.md) -- [ActuatorControlsStatus](../msg_docs/ActuatorControlsStatus.md) -- [FixedWingLateralGuidanceStatus](../msg_docs/FixedWingLateralGuidanceStatus.md) -- [VehicleLocalPositionSetpoint](../msg_docs/VehicleLocalPositionSetpoint.md) -- [FailureDetectorStatus](../msg_docs/FailureDetectorStatus.md) -- [LandingGearWheel](../msg_docs/LandingGearWheel.md) -- [UlogStreamAck](../msg_docs/UlogStreamAck.md) -- [VehicleStatusV3](../msg_docs/VehicleStatusV3.md) -- [SensorSelection](../msg_docs/SensorSelection.md) -- [LogMessage](../msg_docs/LogMessage.md) -- [RaptorInput](../msg_docs/RaptorInput.md) -- [FixedWingLateralStatus](../msg_docs/FixedWingLateralStatus.md) -- [EstimatorBias](../msg_docs/EstimatorBias.md) -- [VehicleOpticalFlow](../msg_docs/VehicleOpticalFlow.md) -- [LandingTargetInnovations](../msg_docs/LandingTargetInnovations.md) +- [VelocityLimits](../msg_docs/VelocityLimits.md) +- [SensorsStatusImu](../msg_docs/SensorsStatusImu.md) +- [SensorBaro](../msg_docs/SensorBaro.md) - [Vtx](../msg_docs/Vtx.md) -- [VehicleAttitudeSetpointV0](../msg_docs/VehicleAttitudeSetpointV0.md) -- [Airspeed](../msg_docs/Airspeed.md) -- [PwmInput](../msg_docs/PwmInput.md) -- [ArmingCheckReplyV0](../msg_docs/ArmingCheckReplyV0.md) -- [RangingBeacon](../msg_docs/RangingBeacon.md) -- [GimbalManagerInformation](../msg_docs/GimbalManagerInformation.md) -- [EscStatus](../msg_docs/EscStatus.md) -- [MagnetometerBiasEstimate](../msg_docs/MagnetometerBiasEstimate.md) -- [SensorHygrometer](../msg_docs/SensorHygrometer.md) -- [GimbalControls](../msg_docs/GimbalControls.md) -- [RegisterExtComponentRequestV1](../msg_docs/RegisterExtComponentRequestV1.md) -- [RaptorStatus](../msg_docs/RaptorStatus.md) -- [DatamanResponse](../msg_docs/DatamanResponse.md) -- [LedControl](../msg_docs/LedControl.md) -- [RoverRateStatus](../msg_docs/RoverRateStatus.md) -- [EstimatorStates](../msg_docs/EstimatorStates.md) -- [TecsStatus](../msg_docs/TecsStatus.md) -- [DebugVect](../msg_docs/DebugVect.md) -- [PpsCapture](../msg_docs/PpsCapture.md) -- [RegisterExtComponentRequestV0](../msg_docs/RegisterExtComponentRequestV0.md) -- [RtlStatus](../msg_docs/RtlStatus.md) -- [GpioIn](../msg_docs/GpioIn.md) -- [SensorGyroFft](../msg_docs/SensorGyroFft.md) -- [EstimatorGpsStatus](../msg_docs/EstimatorGpsStatus.md) +- [Mission](../msg_docs/Mission.md) - [RcChannels](../msg_docs/RcChannels.md) -- [EscEepromRead](../msg_docs/EscEepromRead.md) -- [FixedWingRunwayControl](../msg_docs/FixedWingRunwayControl.md) -- [ParameterUpdate](../msg_docs/ParameterUpdate.md) -- [InternalCombustionEngineStatus](../msg_docs/InternalCombustionEngineStatus.md) +- [ActuatorArmed](../msg_docs/ActuatorArmed.md) +- [FigureEightStatus](../msg_docs/FigureEightStatus.md) +- [SensorsStatus](../msg_docs/SensorsStatus.md) +- [PowerMonitor](../msg_docs/PowerMonitor.md) +- [VehicleAcceleration](../msg_docs/VehicleAcceleration.md) +- [MavlinkLog](../msg_docs/MavlinkLog.md) +- [SensorHygrometer](../msg_docs/SensorHygrometer.md) - [Rpm](../msg_docs/Rpm.md) -- [ActuatorTest](../msg_docs/ActuatorTest.md) +- [EstimatorEventFlags](../msg_docs/EstimatorEventFlags.md) +- [UavcanParameterRequest](../msg_docs/UavcanParameterRequest.md) +- [IrlockReport](../msg_docs/IrlockReport.md) +- [ArmingCheckReplyV0](../msg_docs/ArmingCheckReplyV0.md) +- [GeofenceResult](../msg_docs/GeofenceResult.md) +- [SensorPreflightMag](../msg_docs/SensorPreflightMag.md) +- [TecsStatus](../msg_docs/TecsStatus.md) +- [PurePursuitStatus](../msg_docs/PurePursuitStatus.md) +- [DistanceSensorModeChangeRequest](../msg_docs/DistanceSensorModeChangeRequest.md) +- [GimbalManagerStatus](../msg_docs/GimbalManagerStatus.md) - [VehicleConstraints](../msg_docs/VehicleConstraints.md) -- [SensorMag](../msg_docs/SensorMag.md) -- [OrbTestMedium](../msg_docs/OrbTestMedium.md) -- [Gripper](../msg_docs/Gripper.md) -- [InputRc](../msg_docs/InputRc.md) -- [FollowTargetEstimator](../msg_docs/FollowTargetEstimator.md) +- [EstimatorStates](../msg_docs/EstimatorStates.md) +- [EscEepromRead](../msg_docs/EscEepromRead.md) +- [RaptorStatus](../msg_docs/RaptorStatus.md) +- [VteOrientation](../msg_docs/VteOrientation.md) +- [FiducialMarkerPosReport](../msg_docs/FiducialMarkerPosReport.md) +- [GimbalDeviceInformation](../msg_docs/GimbalDeviceInformation.md) +- [ButtonEvent](../msg_docs/ButtonEvent.md) +- [PwmInput](../msg_docs/PwmInput.md) +- [VehicleStatusV3](../msg_docs/VehicleStatusV3.md) +- [GpioOut](../msg_docs/GpioOut.md) +- [GimbalManagerSetAttitude](../msg_docs/GimbalManagerSetAttitude.md) +- [DebugKeyValue](../msg_docs/DebugKeyValue.md) +- [NavigatorMissionItem](../msg_docs/NavigatorMissionItem.md) +- [CanInterfaceStatus](../msg_docs/CanInterfaceStatus.md) +- [LandingTargetPose](../msg_docs/LandingTargetPose.md) +- [HomePositionV0](../msg_docs/HomePositionV0.md) +- [FiducialMarkerYawReport](../msg_docs/FiducialMarkerYawReport.md) +- [BatteryInfo](../msg_docs/BatteryInfo.md) +- [InternalCombustionEngineControl](../msg_docs/InternalCombustionEngineControl.md) +- [TakeoffStatus](../msg_docs/TakeoffStatus.md) +- [GimbalManagerSetManualControl](../msg_docs/GimbalManagerSetManualControl.md) - [MountOrientation](../msg_docs/MountOrientation.md) -- [Ping](../msg_docs/Ping.md) -- [VehicleGlobalPositionV0](../msg_docs/VehicleGlobalPositionV0.md) -- [EstimatorAidSource2d](../msg_docs/EstimatorAidSource2d.md) +- [VehicleRoi](../msg_docs/VehicleRoi.md) +- [GimbalManagerInformation](../msg_docs/GimbalManagerInformation.md) +- [RoverAttitudeStatus](../msg_docs/RoverAttitudeStatus.md) +- [OpenDroneIdArmStatus](../msg_docs/OpenDroneIdArmStatus.md) +- [WheelEncoders](../msg_docs/WheelEncoders.md) +- [VehicleAirData](../msg_docs/VehicleAirData.md) +- [QshellReq](../msg_docs/QshellReq.md) +- [SensorAccel](../msg_docs/SensorAccel.md) +- [RangingBeacon](../msg_docs/RangingBeacon.md) +- [DebugArray](../msg_docs/DebugArray.md) +- [VehicleStatusV0](../msg_docs/VehicleStatusV0.md) +- [PpsCapture](../msg_docs/PpsCapture.md) +- [VteAidSource1d](../msg_docs/VteAidSource1d.md) +- [OrbTestLarge](../msg_docs/OrbTestLarge.md) +- [EstimatorSensorBias](../msg_docs/EstimatorSensorBias.md) +- [VehicleCommandAckV0](../msg_docs/VehicleCommandAckV0.md) +- [EstimatorBias3d](../msg_docs/EstimatorBias3d.md) +- [Px4ioStatus](../msg_docs/Px4ioStatus.md) +- [GimbalControls](../msg_docs/GimbalControls.md) +- [Ekf2Timestamps](../msg_docs/Ekf2Timestamps.md) +- [FixedWingLateralGuidanceStatus](../msg_docs/FixedWingLateralGuidanceStatus.md) +- [VteInput](../msg_docs/VteInput.md) +- [Event](../msg_docs/Event.md) +- [Cpuload](../msg_docs/Cpuload.md) +- [RegisterExtComponentRequestV0](../msg_docs/RegisterExtComponentRequestV0.md) +- [VtePosition](../msg_docs/VtePosition.md) +- [ControlAllocatorStatus](../msg_docs/ControlAllocatorStatus.md) +- [EscEepromWrite](../msg_docs/EscEepromWrite.md) +- [ParameterSetValueResponse](../msg_docs/ParameterSetValueResponse.md) +- [VehicleStatusV1](../msg_docs/VehicleStatusV1.md) +- [SensorGyroFifo](../msg_docs/SensorGyroFifo.md) +- [IridiumsbdStatus](../msg_docs/IridiumsbdStatus.md) +- [GpioIn](../msg_docs/GpioIn.md) +- [TargetGnss](../msg_docs/TargetGnss.md) +- [SensorTemp](../msg_docs/SensorTemp.md) +- [RoverRateStatus](../msg_docs/RoverRateStatus.md) +- [LogMessage](../msg_docs/LogMessage.md) +- [Gripper](../msg_docs/Gripper.md) +- [RegisterExtComponentRequestV1](../msg_docs/RegisterExtComponentRequestV1.md) +- [SensorSelection](../msg_docs/SensorSelection.md) +- [FollowTargetStatus](../msg_docs/FollowTargetStatus.md) +- [SensorGyro](../msg_docs/SensorGyro.md) +- [DebugVect](../msg_docs/DebugVect.md) +- [SensorMag](../msg_docs/SensorMag.md) +- [RateCtrlStatus](../msg_docs/RateCtrlStatus.md) +- [DatamanRequest](../msg_docs/DatamanRequest.md) +- [MissionResult](../msg_docs/MissionResult.md) +- [InputRc](../msg_docs/InputRc.md) +- [LandingGearWheel](../msg_docs/LandingGearWheel.md) +- [VehicleLocalPositionSetpoint](../msg_docs/VehicleLocalPositionSetpoint.md) +- [ArmingCheckRequestV0](../msg_docs/ArmingCheckRequestV0.md) +- [RtlTimeEstimate](../msg_docs/RtlTimeEstimate.md) +- [GpsInjectData](../msg_docs/GpsInjectData.md) +- [OpenDroneIdSelfId](../msg_docs/OpenDroneIdSelfId.md) +- [RegisterExtComponentReplyV0](../msg_docs/RegisterExtComponentReplyV0.md) +- [LedControl](../msg_docs/LedControl.md) +- [LoggerStatus](../msg_docs/LoggerStatus.md) +- [TrajectorySetpoint6dof](../msg_docs/TrajectorySetpoint6dof.md) +- [TaskStackInfo](../msg_docs/TaskStackInfo.md) +- [SensorGyroFft](../msg_docs/SensorGyroFft.md) +- [AdcReport](../msg_docs/AdcReport.md) +- [MagnetometerBiasEstimate](../msg_docs/MagnetometerBiasEstimate.md) +- [ConfigOverridesV0](../msg_docs/ConfigOverridesV0.md) +- [ParameterUpdate](../msg_docs/ParameterUpdate.md) +- [OrbTestMedium](../msg_docs/OrbTestMedium.md) +- [VteBiasInitStatus](../msg_docs/VteBiasInitStatus.md) +- [ActuatorControlsStatus](../msg_docs/ActuatorControlsStatus.md) +- [ParameterSetValueRequest](../msg_docs/ParameterSetValueRequest.md) +- [BatteryStatusV0](../msg_docs/BatteryStatusV0.md) +- [VehicleStatusV2](../msg_docs/VehicleStatusV2.md) +- [FollowTargetEstimator](../msg_docs/FollowTargetEstimator.md) +- [EstimatorFusionControl](../msg_docs/EstimatorFusionControl.md) - [MagWorkerData](../msg_docs/MagWorkerData.md) +- [ManualControlSwitches](../msg_docs/ManualControlSwitches.md) +- [RoverSpeedStatus](../msg_docs/RoverSpeedStatus.md) +- [VehicleAttitudeSetpointV0](../msg_docs/VehicleAttitudeSetpointV0.md) +- [EstimatorGpsStatus](../msg_docs/EstimatorGpsStatus.md) +- [DronecanNodeStatus](../msg_docs/DronecanNodeStatus.md) +- [EstimatorSelectorStatus](../msg_docs/EstimatorSelectorStatus.md) +- [NavigatorStatus](../msg_docs/NavigatorStatus.md) +- [PositionControllerStatus](../msg_docs/PositionControllerStatus.md) +- [AutotuneAttitudeControlStatus](../msg_docs/AutotuneAttitudeControlStatus.md) +- [OpenDroneIdSystem](../msg_docs/OpenDroneIdSystem.md) +- [CellularStatus](../msg_docs/CellularStatus.md) +- [EstimatorAidSource3d](../msg_docs/EstimatorAidSource3d.md) +- [NeuralControl](../msg_docs/NeuralControl.md) +- [ActionRequest](../msg_docs/ActionRequest.md) +- [LandingTargetInnovations](../msg_docs/LandingTargetInnovations.md) +- [ActuatorServosTrim](../msg_docs/ActuatorServosTrim.md) +- [EstimatorAidSource1d](../msg_docs/EstimatorAidSource1d.md) +- [EstimatorAidSource2d](../msg_docs/EstimatorAidSource2d.md) +- [ParameterSetUsedRequest](../msg_docs/ParameterSetUsedRequest.md) +- [ActuatorServosV0](../msg_docs/ActuatorServosV0.md) +- [VehicleImuStatus](../msg_docs/VehicleImuStatus.md) +- [VehicleOpticalFlow](../msg_docs/VehicleOpticalFlow.md) +- [GainCompression](../msg_docs/GainCompression.md) +- [CameraTrigger](../msg_docs/CameraTrigger.md) +- [VehicleLocalPositionV0](../msg_docs/VehicleLocalPositionV0.md) +- [VehicleAngularVelocity](../msg_docs/VehicleAngularVelocity.md) +- [RaptorInput](../msg_docs/RaptorInput.md) +- [VehicleImu](../msg_docs/VehicleImu.md) +- [SensorGnssStatus](../msg_docs/SensorGnssStatus.md) +- [HeaterStatus](../msg_docs/HeaterStatus.md) +- [MavlinkTunnel](../msg_docs/MavlinkTunnel.md) +- [FollowTarget](../msg_docs/FollowTarget.md) +- [GeofenceStatus](../msg_docs/GeofenceStatus.md) +- [OpenDroneIdOperatorId](../msg_docs/OpenDroneIdOperatorId.md) +- [EstimatorStatus](../msg_docs/EstimatorStatus.md) +- [VehicleGlobalPositionV0](../msg_docs/VehicleGlobalPositionV0.md) +- [UlogStream](../msg_docs/UlogStream.md) +- [EventV0](../msg_docs/EventV0.md) +- [NormalizedUnsignedSetpoint](../msg_docs/NormalizedUnsignedSetpoint.md) +- [PowerButtonState](../msg_docs/PowerButtonState.md) +- [PositionControllerLandingStatus](../msg_docs/PositionControllerLandingStatus.md) +- [CameraCapture](../msg_docs/CameraCapture.md) +- [CameraStatus](../msg_docs/CameraStatus.md) - [SensorUwb](../msg_docs/SensorUwb.md) +- [RadioStatus](../msg_docs/RadioStatus.md) +- [FailureDetectorStatus](../msg_docs/FailureDetectorStatus.md) - [VehicleMagnetometer](../msg_docs/VehicleMagnetometer.md) +- [GpsDump](../msg_docs/GpsDump.md) +- [HealthReport](../msg_docs/HealthReport.md) +- [GpioRequest](../msg_docs/GpioRequest.md) +- [SatelliteInfo](../msg_docs/SatelliteInfo.md) +- [DifferentialPressure](../msg_docs/DifferentialPressure.md) +- [EscReport](../msg_docs/EscReport.md) +- [SystemPower](../msg_docs/SystemPower.md) +- [FixedWingRunwayControl](../msg_docs/FixedWingRunwayControl.md) +- [FuelTankStatus](../msg_docs/FuelTankStatus.md) +- [VteAidSource3d](../msg_docs/VteAidSource3d.md) +- [PositionSetpoint](../msg_docs/PositionSetpoint.md) +- [TuneControl](../msg_docs/TuneControl.md) +- [QshellRetval](../msg_docs/QshellRetval.md) +- [EscStatus](../msg_docs/EscStatus.md) +- [RcParameterMap](../msg_docs/RcParameterMap.md) +- [OrbitStatus](../msg_docs/OrbitStatus.md) +- [Airspeed](../msg_docs/Airspeed.md) +- [LaunchDetectionStatus](../msg_docs/LaunchDetectionStatus.md) +- [ParameterResetRequest](../msg_docs/ParameterResetRequest.md) +- [UlogStreamAck](../msg_docs/UlogStreamAck.md) +- [GeneratorStatus](../msg_docs/GeneratorStatus.md) +- [GpioConfig](../msg_docs/GpioConfig.md) +- [OrbTest](../msg_docs/OrbTest.md) +- [FixedWingLateralStatus](../msg_docs/FixedWingLateralStatus.md) +- [ActuatorTest](../msg_docs/ActuatorTest.md) +- [GimbalDeviceSetAttitude](../msg_docs/GimbalDeviceSetAttitude.md) +- [DeviceInformation](../msg_docs/DeviceInformation.md) +- [HoverThrustEstimate](../msg_docs/HoverThrustEstimate.md) +- [DebugValue](../msg_docs/DebugValue.md) +- [InternalCombustionEngineStatus](../msg_docs/InternalCombustionEngineStatus.md) +- [VehicleOpticalFlowVel](../msg_docs/VehicleOpticalFlowVel.md) +- [TiltrotorExtraControls](../msg_docs/TiltrotorExtraControls.md) +- [DatamanResponse](../msg_docs/DatamanResponse.md) +- [SensorAirflow](../msg_docs/SensorAirflow.md) +- [RtlStatus](../msg_docs/RtlStatus.md) - [VehicleAngularAccelerationSetpoint](../msg_docs/VehicleAngularAccelerationSetpoint.md) +- [YawEstimatorStatus](../msg_docs/YawEstimatorStatus.md) +- [PrecLandStatus](../msg_docs/PrecLandStatus.md) +- [ActuatorOutputs](../msg_docs/ActuatorOutputs.md) +- [AirspeedValidatedV0](../msg_docs/AirspeedValidatedV0.md) +- [Ping](../msg_docs/Ping.md) +- [AirspeedWind](../msg_docs/AirspeedWind.md) +- [EstimatorBias](../msg_docs/EstimatorBias.md) +- [SensorAccelFifo](../msg_docs/SensorAccelFifo.md) +- [EstimatorInnovations](../msg_docs/EstimatorInnovations.md) +- [SensorCorrection](../msg_docs/SensorCorrection.md) +- [UavcanParameterValue](../msg_docs/UavcanParameterValue.md) ::: diff --git a/docs/ko/msg_docs/ActuatorServos.md b/docs/ko/msg_docs/ActuatorServos.md index 21612caa38..458b079183 100644 --- a/docs/ko/msg_docs/ActuatorServos.md +++ b/docs/ko/msg_docs/ActuatorServos.md @@ -6,25 +6,25 @@ pageClass: is-wide-page Servo control message. -Normalised output setpoint for up to 8 servos. +Normalised output setpoint for up to 15 servos. Published by the vehicle's allocation and consumed by the actuator output drivers. **TOPICS:** actuator_servos ## Fields -| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | -| ---------------------------------------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -| timestamp | `uint64` | us | | Time since system start | -| timestamp_sample | `uint64` | us | | Sampling timestamp of the data this control response is based on | -| control | `float32[8]` | | [-1 : 1] | Normalized output. 1 means maximum positive position. -1 maximum negative position (if not supported by the output, <0 maps to NaN). NaN maps to disarmed. | +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ---------------------------------------------------------------------- | ------------- | ---------------------------------------------------------------- | ---------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | us | | Time since system start | +| timestamp_sample | `uint64` | us | | Sampling timestamp of the data this control response is based on | +| control | `float32[15]` | | [-1 : 1] | Normalized output. 1 means maximum positive position. -1 maximum negative position (if not supported by the output, <0 maps to NaN). NaN maps to disarmed. | ## Constants | 명칭 | 형식 | Value | 설명 | | ------------------------------------------------------------------ | -------- | ----- | -- | -| MESSAGE_VERSION | `uint32` | 0 | | -| NUM_CONTROLS | `uint8` | 8 | | +| MESSAGE_VERSION | `uint32` | 1 | | +| NUM_CONTROLS | `uint8` | 15 | | ## Source Message @@ -36,16 +36,16 @@ Click here to see original file ```c # Servo control message # -# Normalised output setpoint for up to 8 servos. +# Normalised output setpoint for up to 15 servos. # Published by the vehicle's allocation and consumed by the actuator output drivers. -uint32 MESSAGE_VERSION = 0 +uint32 MESSAGE_VERSION = 1 uint64 timestamp # [us] Time since system start uint64 timestamp_sample # [us] Sampling timestamp of the data this control response is based on -uint8 NUM_CONTROLS = 8 -float32[8] control # [-] [@range -1, 1] Normalized output. 1 means maximum positive position. -1 maximum negative position (if not supported by the output, <0 maps to NaN). NaN maps to disarmed. +uint8 NUM_CONTROLS = 15 +float32[15] control # [-] [@range -1, 1] Normalized output. 1 means maximum positive position. -1 maximum negative position (if not supported by the output, <0 maps to NaN). NaN maps to disarmed. ``` ::: diff --git a/docs/ko/msg_docs/ActuatorServosTrim.md b/docs/ko/msg_docs/ActuatorServosTrim.md index d78c18609f..2b4541fc15 100644 --- a/docs/ko/msg_docs/ActuatorServosTrim.md +++ b/docs/ko/msg_docs/ActuatorServosTrim.md @@ -10,16 +10,16 @@ Servo trims, added as offset to servo outputs. ## Fields -| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | -| ----------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | ---------------------------------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| trim | `float32[8]` | | | range: [-1, 1] | +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ----------------------------------- | ------------- | ---------------------------------------------------------------- | ---------- | ---------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| trim | `float32[15]` | | | range: [-1, 1] | ## Constants | 명칭 | 형식 | Value | 설명 | | ------------------------------------------------------------ | ------- | ----- | -- | -| NUM_CONTROLS | `uint8` | 8 | | +| NUM_CONTROLS | `uint8` | 15 | | ## Source Message @@ -32,8 +32,8 @@ Click here to see original file # Servo trims, added as offset to servo outputs uint64 timestamp # time since system start (microseconds) -uint8 NUM_CONTROLS = 8 -float32[8] trim # range: [-1, 1] +uint8 NUM_CONTROLS = 15 +float32[15] trim # range: [-1, 1] ``` ::: diff --git a/docs/ko/msg_docs/ActuatorServosV0.md b/docs/ko/msg_docs/ActuatorServosV0.md new file mode 100644 index 0000000000..a89af986a1 --- /dev/null +++ b/docs/ko/msg_docs/ActuatorServosV0.md @@ -0,0 +1,51 @@ +--- +pageClass: is-wide-page +--- + +# ActuatorServosV0 (UORB message) + +Servo control message. + +Normalised output setpoint for up to 8 servos. +Published by the vehicle's allocation and consumed by the actuator output drivers. + +**TOPICS:** actuator_servos_v0 + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ---------------------------------------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | us | | Time since system start | +| timestamp_sample | `uint64` | us | | Sampling timestamp of the data this control response is based on | +| control | `float32[8]` | | [-1 : 1] | Normalized output. 1 means maximum positive position. -1 maximum negative position (if not supported by the output, <0 maps to NaN). NaN maps to disarmed. | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| ------------------------------------------------------------------ | -------- | ----- | -- | +| MESSAGE_VERSION | `uint32` | 0 | | +| NUM_CONTROLS | `uint8` | 8 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/ActuatorServosV0.msg) + +:::details +Click here to see original file + +```c +# Servo control message +# +# Normalised output setpoint for up to 8 servos. +# Published by the vehicle's allocation and consumed by the actuator output drivers. + +uint32 MESSAGE_VERSION = 0 + +uint64 timestamp # [us] Time since system start +uint64 timestamp_sample # [us] Sampling timestamp of the data this control response is based on + +uint8 NUM_CONTROLS = 8 +float32[8] control # [-] [@range -1, 1] Normalized output. 1 means maximum positive position. -1 maximum negative position (if not supported by the output, <0 maps to NaN). NaN maps to disarmed. +``` + +::: diff --git a/docs/ko/msg_docs/ActuatorTest.md b/docs/ko/msg_docs/ActuatorTest.md index 5344f15e06..ae78fb5c0f 100644 --- a/docs/ko/msg_docs/ActuatorTest.md +++ b/docs/ko/msg_docs/ActuatorTest.md @@ -25,7 +25,7 @@ pageClass: is-wide-page | FUNCTION_MOTOR1 | `uint8` | 101 | | | MAX_NUM_MOTORS | `uint8` | 12 | | | FUNCTION_SERVO1 | `uint8` | 201 | | -| MAX_NUM_SERVOS | `uint8` | 8 | | +| MAX_NUM_SERVOS | `uint8` | 15 | | | ORB_QUEUE_LENGTH | `uint8` | 16 | > = MAX_NUM_MOTORS to support code in esc_calibration | ## Source Message @@ -46,7 +46,7 @@ uint8 ACTION_DO_CONTROL = 1 # enable actuator test mode uint8 FUNCTION_MOTOR1 = 101 uint8 MAX_NUM_MOTORS = 12 uint8 FUNCTION_SERVO1 = 201 -uint8 MAX_NUM_SERVOS = 8 +uint8 MAX_NUM_SERVOS = 15 uint8 action # one of ACTION_* uint16 function # actuator output function diff --git a/docs/ko/msg_docs/ArmingCheckReply.md b/docs/ko/msg_docs/ArmingCheckReply.md index 411f5e0c91..d9a36efd0d 100644 --- a/docs/ko/msg_docs/ArmingCheckReply.md +++ b/docs/ko/msg_docs/ArmingCheckReply.md @@ -56,7 +56,7 @@ Used in field(s): [health_component_index](#fld_health_component_index) | 명칭 | 형식 | Value | 설명 | | ----------------------------------------------------------------------------------------- | -------- | ----- | -- | | MESSAGE_VERSION | `uint32` | 1 | | -| ORB_QUEUE_LENGTH | `uint8` | 4 | | +| ORB_QUEUE_LENGTH | `uint8` | 8 | | ## Source Message @@ -108,7 +108,10 @@ bool mode_req_home_position # Requires a home position (such as RTL/Return mode) bool mode_req_prevent_arming # Prevent arming (such as in Land mode) bool mode_req_manual_control # Requires a manual controller -uint8 ORB_QUEUE_LENGTH = 4 +# Must be >= ExternalChecks::MAX_NUM_REGISTRATIONS so replies from all registered +# modes fit in the queue within a single request cycle (otherwise replies from the +# 5th+ mode overwrite earlier ones, causing spurious "unresponsive mode" failures). +uint8 ORB_QUEUE_LENGTH = 8 ``` ::: diff --git a/docs/ko/msg_docs/index.md b/docs/ko/msg_docs/index.md index 64383f2682..a5aaa8a51f 100644 --- a/docs/ko/msg_docs/index.md +++ b/docs/ko/msg_docs/index.md @@ -55,6 +55,7 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m ### Historic Versions +- [ActuatorServosV0](ActuatorServosV0.md) — Servo control message. - [AirspeedValidatedV0](AirspeedValidatedV0.md) - [ArmingCheckReplyV0](ArmingCheckReplyV0.md) - [ArmingCheckRequestV0](ArmingCheckRequestV0.md) — Arming check request. diff --git a/docs/ko/releases/1.18.md b/docs/ko/releases/1.18.md index 9a0427fd6a..3805833583 100644 --- a/docs/ko/releases/1.18.md +++ b/docs/ko/releases/1.18.md @@ -120,7 +120,7 @@ Please continue reading for [upgrade instructions](#upgrade-guide). ### 수직이착륙기(VTOL) -- TBD +- [Return mode VTOL Rally Point Approach Loiters](../flight_modes_vtol/return.md#vtol-rally-point-approach-loiters): VTOLs returning in fixed-wing mode can now use the approach loiter associated with the selected home/rally landing location (instead of home) to choose the most wind-aligned valid approach (if several are defined). ([PX4-Autopilot#27004: fix(navigator): rtl compute wind angle to select best land approach based on rally point location instead of home location](https://github.com/PX4/PX4-Autopilot/pull/27004)) ### Fixed-wing diff --git a/docs/ko/releases/main.md b/docs/ko/releases/main.md index e350e2b15c..b862766ba2 100644 --- a/docs/ko/releases/main.md +++ b/docs/ko/releases/main.md @@ -34,6 +34,8 @@ Please continue reading for [upgrade instructions](#upgrade-guide). ## Other changes +- Fast mission Return modes ([RTL_TYPE](../advanced_config/parameter_reference.md#RTL_TYPE) = 2 and 4) now skip `DO_JUMP` commands (loops) while following the mission path. ([PX4-Autopilot#26993: fix(navigator): goToNextPositionItem skip loops when required](https://github.com/PX4/PX4-Autopilot/pull/26993)) + ### Hardware Support - TBD diff --git a/docs/ko/simulation/failsafes.md b/docs/ko/simulation/failsafes.md index bb26fc42de..48b5aa455d 100644 --- a/docs/ko/simulation/failsafes.md +++ b/docs/ko/simulation/failsafes.md @@ -53,17 +53,25 @@ The simulated battery can be completely disabled by setting [SIM_BAT_DRAIN](../a [Failure injection](../debug/failure_injection.md) can be used to simulate different types of failures in many sensors and systems. GPS가 없거나 간헐적으로 발생하는 경우, 특정 값에서 멈추거나 멈추는 RC 신호, 회피 시스템의 오류 등을 시뮬레이션 할 수 있습니다. -GPS 오류를 시뮬레이션하려면 다음을 수행합니다. +Failure injection is gated by the [SYS_FAILURE_EN](../advanced_config/parameter_reference.md#SYS_FAILURE_EN) parameter. -1. Enable the parameter [SYS_FAILURE_EN](../advanced_config/parameter_reference.md#SYS_FAILURE_EN). -2. Enter the following commands on the SITL instance _pxh shell_: +For example, to simulate GPS failure, enter the following commands on the SITL instance _pxh shell_: - ```sh - # Turn (all) GPS off - failure gps off +```sh +# Turn (all) GPS off (no position reported, as for a dead receiver) +failure gps off - # Turn (all) GPS on - failure gps ok - ``` +# Freeze (all) GPS on the last reported position (a "stuck" fix) +failure gps stuck -See [System Failure Injection](../debug/failure_injection.md) for a list of supported target sensors and failure modes. +# Report a diverging position (offset by ~111 km, trips the GNSS redundancy checks) +failure gps wrong + +# Restore normal GPS output +failure gps ok +``` + +:::tip +To test the [GNSS redundancy failsafe](../advanced_config/parameter_reference.md#COM_GNSSLOSS_ACT) you can simulate a second GPS receiver: set the antenna-offset parameter [SENS_GPS1_OFFX](../advanced_config/parameter_reference.md#SENS_GPS1_OFFX) or [SENS_GPS1_OFFY](../advanced_config/parameter_reference.md#SENS_GPS1_OFFY) to a non-zero value, and the simulator publishes a second `sensor_gps` instance offset by that distance (in metres). +You can then fail an individual receiver with the `-i` flag (`-i 0` = all instances, `-i 1` = first GPS, `-i 2` = second), for example `failure gps wrong -i 2`. +::: diff --git a/docs/ko/simulation/px4_simulation_quickstart.md b/docs/ko/simulation/px4_simulation_quickstart.md index 3ff90681de..e8d2af4ec7 100644 --- a/docs/ko/simulation/px4_simulation_quickstart.md +++ b/docs/ko/simulation/px4_simulation_quickstart.md @@ -10,6 +10,17 @@ docker run --rm -it -p 14550:14550/udp px4io/px4-sitl:latest That's it — open [QGroundControl](https://qgroundcontrol.com) and fly! +:::details +Trouble connecting to QGC? +This command is recommended for Linux and can also be used on Windows (with recent docker/WSL2). +It uses a different mechanism for connecting to the host ports, and will often work in rare cases where the other command does not. + +```sh +docker run --rm -it --network host px4io/px4-sitl:latest +``` + +::: + ::: tip To try [other vehicle types](../sim_sih/#supported-vehicle-types), use the `-e` flag to pass the `PX4_SIM_MODEL` environment variable to the `docker run` command: