From b4acc0c0db8bd9c397fcf7c856aef58202cffead Mon Sep 17 00:00:00 2001 From: PX4 Build Bot Date: Sun, 12 Jul 2026 15:29:49 +1000 Subject: [PATCH] docs(i18n): PX4 guide translations (Crowdin) - ko (#27810) Co-authored-by: Crowdin Bot --- docs/ko/SUMMARY.md | 31 +- .../assembly/quick_start_cuav_pixhawk_v6x.md | 6 +- docs/ko/assembly/quick_start_cuav_v5_nano.md | 139 +---- docs/ko/assembly/quick_start_cuav_v5_plus.md | 141 +---- docs/ko/assembly/quick_start_cuav_x25_evo.md | 4 +- docs/ko/companion_computer/video_streaming.md | 2 +- docs/ko/complete_vehicles_mc/crazyflie21.md | 23 +- .../complete_vehicles_mc/droneblocks_dexi.md | 31 ++ docs/ko/complete_vehicles_mc/index.md | 7 +- docs/ko/concept/flight_tasks.md | 44 +- docs/ko/config/safety.md | 11 +- docs/ko/contribute/git_examples.md | 2 +- docs/ko/contribute/sbom.md | 2 +- docs/ko/debug/plotting_realtime_uorb_data.md | 2 +- docs/ko/debug/probe_bmp.md | 2 +- docs/ko/debug/probe_mculink.md | 4 +- docs/ko/debug/swd_debug.md | 6 +- docs/ko/dev_airframes/adding_a_new_frame.md | 21 +- docs/ko/dev_kits/index.md | 59 ++ docs/ko/dev_log/ulog_file_format.md | 2 +- docs/ko/dev_setup/building_px4.md | 4 +- docs/ko/dronecan/ark_g5_rtk_gps.md | 4 +- docs/ko/dronecan/ark_g5_rtk_heading_gps.md | 4 +- docs/ko/dronecan/ark_mosaic__rtk_gps.md | 4 +- docs/ko/dronecan/ark_teseo_gps.md | 4 +- docs/ko/flight_controller/3dr_ctrl-n1.md | 22 +- docs/ko/flight_controller/aedrox_aedroxh7.md | 2 +- docs/ko/flight_controller/ark_fpv.md | 4 +- docs/ko/flight_controller/ark_v6s.md | 6 +- docs/ko/flight_controller/ark_v6x.md | 6 +- .../autopilot_discontinued.md | 2 + .../autopilot_manufacturer_supported.md | 2 - .../flight_controller/cbunmanned_h753-som.md | 2 +- docs/ko/flight_controller/cuav_v5_nano.md | 234 +------- docs/ko/flight_controller/cuav_v5_plus.md | 247 +-------- .../flight_controller/mro_control_zero_f7.md | 6 +- docs/ko/flight_controller/pixhawk_series.md | 2 +- .../raspberry_pi_pilotpi_ubuntu_server.md | 12 +- docs/ko/flight_modes/offboard.md | 13 +- docs/ko/flight_modes/return.md | 85 ++- docs/ko/flight_modes_fw/return.md | 7 +- docs/ko/flight_modes_mc/hold.md | 14 +- docs/ko/flight_modes_mc/land.md | 16 +- docs/ko/flight_modes_mc/mission.md | 15 +- docs/ko/flight_modes_mc/return.md | 32 +- docs/ko/flight_modes_mc/takeoff.md | 31 +- docs/ko/flight_modes_vtol/return.md | 9 +- docs/ko/frames_autogyro/index.md | 4 +- docs/ko/frames_autogyro/thunderfly_auto_g2.md | 6 +- .../frames_multicopter/dji_f450_cuav_5nano.md | 2 +- .../frames_multicopter/dji_f450_cuav_5plus.md | 4 +- docs/ko/frames_multicopter/kits.md | 6 +- docs/ko/frames_multicopter/omnicopter.md | 4 +- docs/ko/frames_plane/wing_wing_z84.md | 2 +- docs/ko/frames_vtol/tailsitter.md | 2 +- .../vtol_quadplane_foxtech_loong_2160.md | 2 +- .../vtol_tailsitter_caipiroshka_pixracer.md | 4 +- docs/ko/getting_started/flight_reporting.md | 2 +- .../rtk_gps_holybro_unicore_um982.md | 2 +- docs/ko/hardware/board_support_guide.md | 2 +- docs/ko/hardware/dev_kit_program.md | 65 +++ docs/ko/hardware/index.md | 2 +- docs/ko/hardware/manufacturers.md | 13 + docs/ko/index.md | 6 +- docs/ko/middleware/dds_topics.md | 509 +++++++++--------- docs/ko/modules/hello_sky.md | 2 +- docs/ko/modules/module_template.md | 2 +- docs/ko/modules/modules_driver.md | 6 +- docs/ko/modules/modules_driver_baro.md | 1 + docs/ko/modules/modules_driver_ins.md | 2 +- docs/ko/msg_docs/CellularStatus.md | 137 +++-- docs/ko/msg_docs/ConfigOverrides.md | 4 +- .../FixedWingLateralGuidanceStatus.md | 24 +- .../InternalCombustionEngineStatus.md | 151 ++++-- docs/ko/msg_docs/ManualControlSetpoint.md | 40 +- docs/ko/msg_docs/OpenDroneIdBasicId.md | 34 ++ .../msg_docs/RegisterExtComponentRequest.md | 4 +- docs/ko/msg_docs/SensorBaro.md | 4 +- docs/ko/msg_docs/SensorMag.md | 16 +- docs/ko/msg_docs/SetpointConfig.md | 98 ++++ docs/ko/msg_docs/SetpointConfigReply.md | 75 +++ docs/ko/msg_docs/VehicleCommand.md | 15 + docs/ko/msg_docs/VehicleControlMode.md | 24 +- docs/ko/msg_docs/VehicleThrustSetpoint.md | 24 +- docs/ko/msg_docs/index.md | 9 +- .../mc_neural_network_control.md | 2 +- .../ko/neural_networks/nn_module_utilities.md | 2 +- docs/ko/releases/1.18.md | 355 +++++++++--- docs/ko/releases/main.md | 8 +- docs/ko/ros/offboard_control.md | 6 +- docs/ko/ros/ros1.md | 2 +- docs/ko/sensor/airspeed.md | 4 +- docs/ko/sensor/airspeed_tfslot.md | 4 +- docs/ko/sensor/leddar_one.md | 2 +- docs/ko/sim_gazebo_gz/worlds.md | 4 +- docs/ko/sim_xplane/index.md | 2 +- .../simulation/px4_simulation_quickstart.md | 2 +- .../simulation/px4_sitl_prebuilt_packages.md | 2 +- docs/ko/smart_batteries/rotoye_batmon.md | 7 +- docs/ko/telemetry/rfd900_telemetry.md | 26 +- docs/ko/test_and_ci/bench_testing.md | 132 +++++ docs/ko/test_and_ci/index.md | 2 + docs/ko/test_and_ci/sanitizers.md | 73 +++ docs/ko/test_and_ci/test_flights.md | 1 + .../mc_11_companion_ros2_external_mode.md | 78 +++ docs/ko/vtx/index.md | 2 +- 106 files changed, 1839 insertions(+), 1514 deletions(-) create mode 100644 docs/ko/complete_vehicles_mc/droneblocks_dexi.md create mode 100644 docs/ko/dev_kits/index.md create mode 100644 docs/ko/hardware/dev_kit_program.md create mode 100644 docs/ko/hardware/manufacturers.md create mode 100644 docs/ko/msg_docs/OpenDroneIdBasicId.md create mode 100644 docs/ko/msg_docs/SetpointConfig.md create mode 100644 docs/ko/msg_docs/SetpointConfigReply.md create mode 100644 docs/ko/test_and_ci/bench_testing.md create mode 100644 docs/ko/test_and_ci/sanitizers.md create mode 100644 docs/ko/test_cards/mc_11_companion_ros2_external_mode.md diff --git a/docs/ko/SUMMARY.md b/docs/ko/SUMMARY.md index bb3bf129e6..65e2fc1891 100644 --- a/docs/ko/SUMMARY.md +++ b/docs/ko/SUMMARY.md @@ -3,6 +3,11 @@ - [Try PX4 (Simulation)](simulation/px4_simulation_quickstart.md) +- [Developer Kits](dev_kits/index.md) + - [ModalAI Starling 2](complete_vehicles_mc/modalai_starling.md) + - [DroneBlocks DEXI 5](complete_vehicles_mc/droneblocks_dexi.md) + - [Holybro X500 v2](frames_multicopter/holybro_x500v2_pixhawk6c.md) + - [멀티콥터](frames_multicopter/index.md) - [Features](features_mc/index.md) - [비행 모드 ](flight_modes_mc/index.md) @@ -39,7 +44,6 @@ - [정압 축적](advanced_config/static_pressure_buildup.md) - [Flying (Basics)](flying/basic_flying_mc.md) - [완성 기체](complete_vehicles_mc/index.md) - - [ModalAI Starling](complete_vehicles_mc/modalai_starling.md) - [PX4 비전 키트](complete_vehicles_mc/px4_vision_kit.md) - [마인드레이서 BNF & RTF](complete_vehicles_mc/mindracer_BNF_RTF.md) - [마인드레이서 210](complete_vehicles_mc/mindracer210.md) @@ -48,12 +52,6 @@ - [홀리브로 코피스 2](complete_vehicles_mc/holybro_kopis2.md) - [Amov F410 Drone](complete_vehicles_mc/amov_F410_drone.md) - [Kits](frames_multicopter/kits.md) - - [X500 v2 (Pixhawk 6C)](frames_multicopter/holybro_x500v2_pixhawk6c.md) - - [X500 v2 (Pixhawk 5X)](frames_multicopter/holybro_x500V2_pixhawk5x.md) - - [X500 (Pixhawk 4)](frames_multicopter/holybro_x500_pixhawk4.md) - - [S500 V2 (Pixhawk 4)](frames_multicopter/holybro_s500_v2_pixhawk4.md) - - [Lumenier QAV-R 5" Racer (Pixracer)](frames_multicopter/qav_r_5_kiss_esc_racer.md) - - [QAV250 (Pixhawk4 Mini) - Discontinued](frames_multicopter/holybro_qav250_pixhawk4_mini.md) - [DIY Builds](frames_multicopter/diy_builds.md) - [Omnicopter](frames_multicopter/omnicopter.md) - [DJI F450 (CUAV v5+)](frames_multicopter/dji_f450_cuav_5plus.md) @@ -178,10 +176,6 @@ - [CORVON 743v2](flight_controller/corvon_743v2.md) - [CORVON V5](flight_controller/corvon_v5.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) - - [CUAV V5 nano (FMUv5)](flight_controller/cuav_v5_nano.md) - - [CUAV V5 nano 배선 퀵 스타트](assembly/quick_start_cuav_v5_nano.md) - [CUAV X25 EVO](flight_controller/cuav_x25-evo.md) - [CUAV X25 EVO Wiring Quick Start](assembly/quick_start_cuav_x25_evo.md) - [CUAV X25 SUPER](flight_controller/cuav_x25-super.md) @@ -521,7 +515,9 @@ - [Pre-built Packages](simulation/px4_sitl_prebuilt_packages.md) - [하드웨어](hardware/index.md) - [비행 제어 장치 참고 설계](hardware/reference_design.md) - - [제조사 보드 지원 가이드](hardware/board_support_guide.md) + - [Manufacturers](hardware/manufacturers.md) + - [제조사 보드 지원 가이드](hardware/board_support_guide.md) + - [Official PX4 Developer Kit Program](hardware/dev_kit_program.md) - [비행 제어 장치 이식 안내](hardware/porting_guide.md) - [PX4 Board Configuration (kconfig)](hardware/porting_guide_config.md) - [NuttX Board Porting Guide](hardware/porting_guide_nuttx.md) @@ -584,6 +580,7 @@ - [VtolVehicleStatus](msg_docs/VtolVehicleStatus.md) - [Wind](msg_docs/Wind.md) - [Historic (old) Versions](msg_docs/versioned_old_messages.md) + - [ActuatorServosV0](msg_docs/ActuatorServosV0.md) - [AirspeedValidatedV0](msg_docs/AirspeedValidatedV0.md) - [ArmingCheckReplyV0](msg_docs/ArmingCheckReplyV0.md) - [ArmingCheckRequestV0](msg_docs/ArmingCheckRequestV0.md) @@ -655,6 +652,7 @@ - [EstimatorStatusFlags](msg_docs/EstimatorStatusFlags.md) - [FailsafeFlags](msg_docs/FailsafeFlags.md) - [FailureDetectorStatus](msg_docs/FailureDetectorStatus.md) + - [FailureInjection](msg_docs/FailureInjection.md) - [FiducialMarkerPosReport](msg_docs/FiducialMarkerPosReport.md) - [FiducialMarkerYawReport](msg_docs/FiducialMarkerYawReport.md) - [FigureEightStatus](msg_docs/FigureEightStatus.md) @@ -719,6 +717,7 @@ - [OffboardControlMode](msg_docs/OffboardControlMode.md) - [OnboardComputerStatus](msg_docs/OnboardComputerStatus.md) - [OpenDroneIdArmStatus](msg_docs/OpenDroneIdArmStatus.md) + - [OpenDroneIdBasicId](msg_docs/OpenDroneIdBasicId.md) - [OpenDroneIdOperatorId](msg_docs/OpenDroneIdOperatorId.md) - [OpenDroneIdSelfId](msg_docs/OpenDroneIdSelfId.md) - [OpenDroneIdSystem](msg_docs/OpenDroneIdSystem.md) @@ -909,14 +908,15 @@ - [Windows Cygwin 툴체인 유지 관리](dev_setup/dev_env_windows_cygwin_packager_setup.md) - [Qt Creator IDE](dev_setup/qtcreator.md) - [Simulators](simulation/community_supported_simulators.md) + - [AirSim Simulation](sim_airsim/index.md) - [FlightGear 시뮬레이션](sim_flightgear/index.md) - [FlightGear 차량](sim_flightgear/vehicles.md) - [FlightGear 다중 차량 시뮬레이션](sim_flightgear/multi_vehicle.md) - [jMAVSim 시뮬레이션](sim_jmavsim/index.md) - [jMAVSim 다중 차량 시뮬레이션](sim_jmavsim/multi_vehicle.md) - [JSBSim Simulation](sim_jsbsim/index.md) - - [AirSim Simulation](sim_airsim/index.md) - [RotorPy Simulation](sim_rotorpy/index.md) + - [X-Plane Simulation](sim_xplane/index.md) - [Hardware Simulation](simulation/hardware.md) - [HITL Simulation](simulation/hitl.md) - [SIH on Hardware](sim_sih/hardware.md) @@ -934,11 +934,14 @@ - [Test MC_08 - DSHOT ESC](test_cards/mc_08_dshot.md) - [Test MC_09 - VIO (Visual-Inertial Odometry)](test_cards/mc_09_vio.md) - [Test MC_10 - Optical Flow / GPS Mixed](test_cards/mc_10_optical_flow_gps_mixed.md) + - [Test MC_11 - Companion Computer (ROS 2 External Mode)](test_cards/mc_11_companion_ros2_external_mode.md) - [Fixed Wing](test_and_ci/test_flights.md#fixed-wing) - [Test FW_01 - Manual Modes](test_cards/fw_01_manual_modes.md) - [Test FW_02 - Full Autonomous](test_cards/fw_02_full_autonomous.md) + - [Hardware Bench Testing (px4bench)](test_and_ci/bench_testing.md) - [단위 테스트](test_and_ci/unit_tests.md) - [Fuzz Tests](test_and_ci/fuzz_tests.md) + - [Sanitizers](test_and_ci/sanitizers.md) - [지속 통합](test_and_ci/continous_integration.md) - [Integration Testing](test_and_ci/integration_testing.md) - [MAVSDK 통합 테스트](test_and_ci/integration_testing_mavsdk.md) @@ -983,7 +986,7 @@ - [출시](releases/index.md) - [Release Process](releases/release_process.md) - [main (alpha)](releases/main.md) - - [v1.18 (alpha)](releases/1.18.md) + - [v1.18 (beta)](releases/1.18.md) - [1.17 (stable)](releases/1.17.md) - [1.16](releases/1.16.md) - [1.15](releases/1.15.md) diff --git a/docs/ko/assembly/quick_start_cuav_pixhawk_v6x.md b/docs/ko/assembly/quick_start_cuav_pixhawk_v6x.md index e25be2ca4e..5a59aa9823 100644 --- a/docs/ko/assembly/quick_start_cuav_pixhawk_v6x.md +++ b/docs/ko/assembly/quick_start_cuav_pixhawk_v6x.md @@ -39,7 +39,7 @@ If the controller cannot be mounted in the recommended/default orientation (e.g. ## GPS + 나침반 + 부저 + 안전 스위치 + LED -The Pixhawk® V6X can be purchased with a [NEO3 GPS](https://store.cuav.net/shop/neo-3/) (10-pin connector) and should be connected to the **GPS1** port. +The Pixhawk® V6X can be purchased with a [NEO3 GPS](https://store.cuav.net/shop/neo-3-pro/) (10-pin connector) and should be connected to the **GPS1** port. These GNSS modules feature an integrated compass, safety switch, buzzer and LEDs. If you need to use assisted GPS, connect to the **GPS2** port. @@ -49,7 +49,7 @@ The GPS/compass should be [mounted on the frame](../assembly/mount_gps_compass.m ![GPS](../../assets/flight_controller/cuav_pixhawk_v6x/quickstart_03.jpg) :::info -Pixhawk V6X® is not compatible with NEO V2 GPS built-in buzzer: you should use [NEO3/NEO 3Pro](https://store.cuav.net/shop/neo-3/) instead. +Pixhawk V6X® is not compatible with NEO V2 GPS built-in buzzer: you should use [NEO3/NEO 3Pro](https://store.cuav.net/shop/neo-3-pro/) instead. The GPS module's integrated safety switch is enabled _by default_ (when enabled, PX4 will not let you arm the vehicle). 비활성화하려면 안전 스위치를 1초간 길게 누르십시오. 안전 스위치를 다시 눌러 안전 장치를 활성화하고 기체 시동을 끌 수 있습니다. @@ -86,7 +86,7 @@ A lower voltage of 5V is still acceptable but discouraged. The vehicle-based radio should be connected to the **TELEM1**/**TELEM2**/**TELEM3** port as shown below (if connected to **TELEM1**, no further configuration is required). 다른 텔레메트리는 일반적으로 지상국 컴퓨터나 모바일 장치에 USB를 통하여 연결됩니다. -You can also purchase telemetry radios from the [CUAV store](https://store.cuav.net/uav-telemetry-module/). +You can also purchase telemetry radios from the [CUAV store](https://store.cuav.net/category/telemetry/). ![Telemetry radios](../../assets/flight_controller/cuav_pixhawk_v6x/quickstart_06.jpg) diff --git a/docs/ko/assembly/quick_start_cuav_v5_nano.md b/docs/ko/assembly/quick_start_cuav_v5_nano.md index b0555284e1..3a03b5fb9d 100644 --- a/docs/ko/assembly/quick_start_cuav_v5_nano.md +++ b/docs/ko/assembly/quick_start_cuav_v5_nano.md @@ -1,136 +1,7 @@ -# CUAV V5 nano 배선 빠른 시작 + -:::warning -PX4 does not manufacture this (or any) autopilot. -Contact the [manufacturer](https://store.cuav.net/) for hardware support or compliance issues. -::: + diff --git a/docs/ko/assembly/quick_start_cuav_v5_plus.md b/docs/ko/assembly/quick_start_cuav_v5_plus.md index 11c3294b3a..4271f1d268 100644 --- a/docs/ko/assembly/quick_start_cuav_v5_plus.md +++ b/docs/ko/assembly/quick_start_cuav_v5_plus.md @@ -1,138 +1,7 @@ -# CUAV V5+ 배선 개요 + -:::warning -PX4 does not manufacture this (or any) autopilot. -Contact the [manufacturer](https://store.cuav.net/) for hardware support or compliance issues. -::: + diff --git a/docs/ko/assembly/quick_start_cuav_x25_evo.md b/docs/ko/assembly/quick_start_cuav_x25_evo.md index 2c86313d6c..e8c38469ec 100644 --- a/docs/ko/assembly/quick_start_cuav_x25_evo.md +++ b/docs/ko/assembly/quick_start_cuav_x25_evo.md @@ -51,7 +51,7 @@ If the controller cannot be mounted in the recommended/default orientation (e.g. We recommend using a CAN GPS/RTK (such as [Neo 4SE](https://store.cuav.net/shop/cuav-neo-4-se-gps-module/)); simply connect it to the **CAN 1** or **CAN 2** port. -You can also use a standard GPS/RTK module(such as [NEO3 GPS](https://store.cuav.net/shop/neo-3/) (10-pin connector)) by connecting it to the **GPS&SAFETY** port. +You can also use a standard GPS/RTK module(such as [NEO3 GPS](https://store.cuav.net/shop/neo-3-pro/) (10-pin connector)) by connecting it to the **GPS&SAFETY** port. Most commonly used GPS modules today integrate GPS, compass, safety switch, buzzer, and LED status light. If you need to use assisted GPS, connect to the **GPS2** port. @@ -106,7 +106,7 @@ It can be directly connected to the **Power C1/C2** port of the X25 EVO and is p [Telemetry system](../telemetry/index.md) allows you to communicate with the unmanned system via ground station software, enabling you to monitor and control the UAV’s status during flight. Connect the on-board unit of the telemetry system to the **TELEM1** or **TELEM2** port. -You can also purchase telemetry radios from the [CUAV store](https://store.cuav.net/uav-telemetry-module/). +You can also purchase telemetry radios from the [CUAV store](https://store.cuav.net/category/telemetry/). ![Telemetry system](../../assets/flight_controller/cuav_x25-evo/x25_evo_quickstart_04.jpg) diff --git a/docs/ko/companion_computer/video_streaming.md b/docs/ko/companion_computer/video_streaming.md index 2b05f23af4..786847fcf0 100644 --- a/docs/ko/companion_computer/video_streaming.md +++ b/docs/ko/companion_computer/video_streaming.md @@ -20,7 +20,7 @@ For a Ubuntu companion, a minimal set might be: sudo apt install gstreamer1.0-plugins-bad gstreamer1.0-libav gstreamer1.0-gl -y ``` -For the full set you can mirror the QGC dependencies installed by [/tools/setup/install_dependencies.py](https://github.com/mavlink/qgroundcontrol/blob/master/tools/setup/install_dependencies.py). +For the full set you can mirror the QGC dependencies installed by [/tools/setup/install_dependencies](https://github.com/mavlink/qgroundcontrol/tree/master/tools/setup/install_dependencies). At time of writing this is: ```sh diff --git a/docs/ko/complete_vehicles_mc/crazyflie21.md b/docs/ko/complete_vehicles_mc/crazyflie21.md index 4a76f17b6a..6a3c3200b1 100644 --- a/docs/ko/complete_vehicles_mc/crazyflie21.md +++ b/docs/ko/complete_vehicles_mc/crazyflie21.md @@ -122,7 +122,6 @@ After setting up the PX4 development environment, follow these steps to install ## Flashing Original Bitcraze Firmware 1. Download the latest [Crazyflie 2.1 bootloader](https://github.com/bitcraze/crazyflie2-stm-bootloader/releases) - 2. Put the Crazyflie 2.1 into DFU mode by following these steps: - Ensure it is initially unpowered. - Ensure battery is disconnected. @@ -130,7 +129,6 @@ After setting up the PX4 development environment, follow these steps to install - Plug into computer's USB port. - After a second, the blue LED should start blinking and after 5 seconds should start blinking faster. - Release button. - 3. Flash bootloader using _dfu-util_ and unplug Crazyflie 2.1 when done: ```sh @@ -139,7 +137,7 @@ After setting up the PX4 development environment, follow these steps to install When powering on the Crazyflie 2.1 the yellow LED should blink. -4. Install the latest Bitcraze Crazyflie 2.1 Firmware using [this](https://www.bitcraze.io/documentation/tutorials/getting-started-with-crazyflie-2-x/#update-fw) tutorial. +. Install the latest Bitcraze Crazyflie 2.1 Firmware using [this](https://www.bitcraze.io/documentation/tutorials/getting-started-with-crazyflie-2-x/#update-fw) tutorial. ## Wireless Setup Instructions @@ -151,15 +149,26 @@ The onboard nRF module allows connecting to the board via Bluetooth or through t Connecting via **MAVLink**: - Use a Crazyradio PA alongside a compatible GCS. -- Download the _crazyflie-lib-python_ source code: + +- Download the _crazyflie-lib-python_ source code, and check out the last commit that included `cfbridge.py` (see warning below): ```sh git clone https://github.com/bitcraze/crazyflie-lib-python.git + git -C crazyflie-lib-python checkout 829ae10715b5bf2373a7a643434e474ab406fc62 ``` -:::info -We will use [cfbridge.py](https://github.com/bitcraze/crazyflie-lib-python/blob/master/examples/cfbridge.py) to setup a wireless MAVlink communication link between Crazyflie 2.1 (flashed with PX4) and QGroundControl. _Cfbridge_ enables QGroundControl to communicate with the crazyradio PA. -The [C based cfbridge](https://github.com/dennisss/cfbridge) is currently experiencing data loss issues, which is why we have chosen to use **cfbridge.py**. + ::: info + We will use [cfbridge.py](https://github.com/bitcraze/crazyflie-lib-python/blob/829ae10715b5bf2373a7a643434e474ab406fc62/examples/cfbridge.py) to setup a wireless MAVlink communication link between Crazyflie 2.1 (flashed with PX4) and QGroundControl. + _Cfbridge_ enables QGroundControl to communicate with the crazyradio PA. + The [C based cfbridge](https://github.com/dennisss/cfbridge) is currently experiencing data loss issues, which is why we have chosen to use **cfbridge.py**. + +::: + + ::: warning + `cfbridge.py` was removed from the `crazyflie-lib-python` repository upstream (April 2026) and was not migrated to Bitcraze's `crazyflie-demos` repository. + The commands above check out the last commit that included the file. + This part of the workflow is no longer maintained by Bitcraze! + ::: - Make sure you have set the udev permissions to use the USB Radio. To do this, follow the steps listed [here](https://www.bitcraze.io/documentation/repository/crazyflie-lib-python/master/installation/usb_permissions/) and **restart** your computer. diff --git a/docs/ko/complete_vehicles_mc/droneblocks_dexi.md b/docs/ko/complete_vehicles_mc/droneblocks_dexi.md new file mode 100644 index 0000000000..ffb1f2ddc6 --- /dev/null +++ b/docs/ko/complete_vehicles_mc/droneblocks_dexi.md @@ -0,0 +1,31 @@ +# DroneBlocks DEXI 5 + +The [DEXI 5](https://droneblocks.io/program/dexi-5-px4-stem-drone-kit/) is an NDAA-compliant PX4 STEM and development drone kit from [DroneBlocks](https://droneblocks.io/), designed to take students, hobbyists, and PX4 developers from unboxing to writing autonomous code with no technical barrier. + +DEXI 5 is an [Official PX4 Developer Kit](../dev_kits/index.md). + +![DroneBlocks DEXI 5 in flight](../../assets/hardware/complete_vehicles/droneblocks_dexi/dexi_5.jpg) + +## 개요 + +DEXI 5 is built around an all-in-one flight controller running PX4, developed in collaboration with [ARK Electronics](https://arkelectron.com/), with integrated optical flow sensing for GPS-denied indoor flight. +A Raspberry Pi compute module acts as the companion computer, with a Pi camera and accessible GPIO pins for sensors, servos, and other payloads (up to about 225 g). + +Assembly is modular, solder-free, and plug-and-play, and is itself part of the learning experience: building the vehicle teaches the aerodynamics, mechanics, and electronics behind it. + +All critical electronic components are manufactured in the United States, meeting NDAA Section 848 requirements. + +## Software and Curriculum + +The kit ships with a full project-based curriculum on [learn.droneblocks.io](https://learn.droneblocks.io/) covering: + +- DroneBlocks visual (block-based) programming +- Python scripting with [MAVSDK](https://mavsdk.mavlink.io/) +- [ROS 2](../ros2/index.md) development, including projects such as AprilTag detection +- Computer vision with OpenCV using the onboard Pi camera + +Community support is available on the [DroneBlocks forum](https://community.droneblocks.io/). + +## 구매처 + +- [DroneBlocks DEXI 5](https://droneblocks.io/program/dexi-5-px4-stem-drone-kit/) (single kits and classroom packs) diff --git a/docs/ko/complete_vehicles_mc/index.md b/docs/ko/complete_vehicles_mc/index.md index 1b1d06d1b9..7a6d03bd05 100644 --- a/docs/ko/complete_vehicles_mc/index.md +++ b/docs/ko/complete_vehicles_mc/index.md @@ -12,8 +12,13 @@ You can find others on [px4.io](https://px4.io/ecosystem/commercial-systems/) an This section lists drone kits that are intended as platforms for further development. They may come either fully assembled or in parts. +:::tip +Kits certified by the PX4 team are listed in [PX4 Developer Kits](../dev_kits/index.md). +::: + +- [ModalAI VOXL 2 Starling PX4 Development Drone](../complete_vehicles_mc/modalai_starling.md) - SLAM development drone supercharged by VOXL 2 and PX4 ([Official PX4 Developer Kit](../dev_kits/index.md)) +- [DroneBlocks DEXI 5](../complete_vehicles_mc/droneblocks_dexi.md) - STEM/development kit with optical flow and Raspberry Pi companion computer ([Official PX4 Developer Kit](../dev_kits/index.md)) - [PX4 Vision DevKit](../complete_vehicles_mc/px4_vision_kit.md) - Multicopter used for PX4 computer vision development -- [ModalAI VOXL 2 Starling PX4 Development Drone](../complete_vehicles_mc/modalai_starling.md) - SLAM development drone supercharged by VOXL 2 and PX4. ## PX4 Preinstalled diff --git a/docs/ko/concept/flight_tasks.md b/docs/ko/concept/flight_tasks.md index 5c7ea59023..14585d2fdd 100644 --- a/docs/ko/concept/flight_tasks.md +++ b/docs/ko/concept/flight_tasks.md @@ -138,34 +138,38 @@ The instructions below might be used to create a task named _MyTask_: For example, to enable our new `MyTask` in multicopter Position mode: - - Update `MPC_POS_MODE` ([multicopter_position_mode_params.c](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/mc_pos_control/multicopter_position_mode_params.c)) to add an option for selecting "MyTask" if the parameter has a previously unused value like 5: + - Update `MPC_POS_MODE` ([multicopter_position_mode_params.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/mc_pos_control/multicopter_position_mode_params.yaml)) to add an option for selecting "MyTask" using a previously unused parameter value (in this case 5): - ```c - ... - * @value 0 Direct velocity - * @value 4 Acceleration based - * @value 5 My task - * @group Multicopter Position Control - */ - PARAM_DEFINE_INT32(MPC_POS_MODE, 5); + ```yaml + MPC_POS_MODE: + ... + type: enum + values: + 0: Direct velocity + 4: Acceleration based + 5: My task + default: 4 ``` - - Add a case for your new option in the switch for the parameter [FlightModeManager.cpp](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/flight_mode_manager/FlightModeManager.cpp#L266-L285) to enable the task when `_param_mpc_pos_mode` has the right value. + - Add a case for your new option in the switch for the parameter [FlightModeManager.cpp](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/flight_mode_manager/FlightModeManager.cpp#L214-L229) to enable the task when `_param_mpc_pos_mode` has the right value. ```cpp ... - // manual position control - ... switch (_param_mpc_pos_mode.get()) { - ... - case 3: - error = switchTask(FlightTaskIndex::ManualPositionSmoothVel); - break; - case 5: // Add case for new task: MyTask - error = switchTask(FlightTaskIndex::MyTask); - break; + case 0: + error = switchTask(FlightTaskIndex::ManualPosition); + break; + + case 5: + error = switchTask(FlightTaskIndex::MyTask); + break; + case 4: - .... + default: + ... + error = switchTask(FlightTaskIndex::ManualAcceleration); + break; + } ... ``` diff --git a/docs/ko/config/safety.md b/docs/ko/config/safety.md index 1507f9b84b..7b41f3f2d3 100644 --- a/docs/ko/config/safety.md +++ b/docs/ko/config/safety.md @@ -128,9 +128,18 @@ Additional (and underlying) parameter settings are shown below. | -------------------------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | [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. | -| [NAV_RCL_ACT](../advanced_config/parameter_reference.md#NAV_RCL_ACT) | 안전장치 동작 | Disabled, Loiter, Return, Land, Disarm, Terminate. | +| [NAV_RCL_ACT](../advanced_config/parameter_reference.md#NAV_RCL_ACT) | 안전장치 동작 | Disabled, Loiter, Return, Land, Disarm, Terminate, Hold mode (no failsafe). | | [COM_RCL_EXCEPT](../advanced_config/parameter_reference.md#COM_RCL_EXCEPT) | RC 손실 예외 | Set modes in which manual control loss is ignored. | +### Hold Mode (No Failsafe) + +The `Hold mode (no failsafe)` action (`NAV_RCL_ACT = 7`) is a special case that does _not_ enter the failsafe. +Instead, if manual control is lost while actively flying a manual mode (such as Position, Altitude, or Stabilized), the vehicle switches to [Hold mode](../flight_modes_mc/hold.md) as if the user had commanded it: there is no failsafe state and no alarming failsafe notification. +This is intended for operations where a switch to Hold on manual control loss is expected and should not be surfaced as a failsafe (for example when operating multiple drones with one GCS). + +If Hold cannot be entered (for example without a valid position estimate), the normal failsafe takes over and escalates from there (Return, Land, Descend, or Terminate as applicable). +Manual control loss in any non-manual (auto/offboard) mode is ignored with this setting. + ## 데이터 연결불량 안전장치 The Data Link Loss failsafe is triggered if the connection to the last MAVLink ground station like QGroundControl is lost. diff --git a/docs/ko/contribute/git_examples.md b/docs/ko/contribute/git_examples.md index b178d9c400..8a67461bc1 100644 --- a/docs/ko/contribute/git_examples.md +++ b/docs/ko/contribute/git_examples.md @@ -49,7 +49,7 @@ PX4 기능 추가 절차는 다음과 같습니다. 다음 예제를 따라 PX4 git add ``` - If you prefer having a GUI to add your files see [Gitk](https://git-scm.com/book/en/v2/Git-in-Other-Environments-Graphical-Interfaces) or [`git add -p`](https://nuclearsquid.com/writings/git-add/). + If you prefer having a GUI to add your files see [Gitk](https://git-scm.com/book/en/v2/Appendix-A:-Git-in-Other-Environments-Graphical-Interfaces) or [`git add -p`](https://nuclearsquid.com/writings/git-add/). - 변경 사항을 설명하는 메시지와 함께 추가된 파일을 커밋합니다. diff --git a/docs/ko/contribute/sbom.md b/docs/ko/contribute/sbom.md index 9445c1900b..8a2c3f785a 100644 --- a/docs/ko/contribute/sbom.md +++ b/docs/ko/contribute/sbom.md @@ -1,6 +1,6 @@ # Software Bill of Materials (SBOM) -PX4 generates a [Software Bill of Materials](https://ntia.gov/SBOM) for every firmware build in [SPDX 2.3](https://spdx.github.io/spdx-spec/v2.3/) JSON format. +PX4 generates a [Software Bill of Materials](https://www.ntia.gov/SBOM) for every firmware build in [SPDX 2.3](https://spdx.github.io/spdx-spec/v2.3/) JSON format. ## Why SBOM? diff --git a/docs/ko/debug/plotting_realtime_uorb_data.md b/docs/ko/debug/plotting_realtime_uorb_data.md index 17334f8fa8..8ac0ccb277 100644 --- a/docs/ko/debug/plotting_realtime_uorb_data.md +++ b/docs/ko/debug/plotting_realtime_uorb_data.md @@ -24,7 +24,7 @@ Follow the [ROS 2 Installation & Setup](../ros2/user_guide.md#installation-setup You will also need to install: -- [PlotJuggler for ROS2](https://github.com/facontidavide/PlotJuggler) +- [PlotJuggler for ROS2](https://github.com/PlotJuggler/PlotJuggler) ::: tip Use the Debian packages (the snap files are not supported). diff --git a/docs/ko/debug/probe_bmp.md b/docs/ko/debug/probe_bmp.md index 4afc881f9f..a472c1d60f 100644 --- a/docs/ko/debug/probe_bmp.md +++ b/docs/ko/debug/probe_bmp.md @@ -21,7 +21,7 @@ The _6-pos DF13_ connector that comes with the probe cannot be used for SWD debu :::info To debug STM32F7 or later (FMUv5 and newer) the Zubax BugFace BF1 / Blackmagic probe likely requires a firmware update. -You can find how to update the [blackmagic probe here](https://black-magic.org/upgrade.html). +You can find how to update the [blackmagic probe here](https://black-magic.org/docs/intro/upgrade/). ::: To use a Zubax BugFace BF1 with GDB, start GDB with the exact ELF file that is currently flashed on the autopilot: diff --git a/docs/ko/debug/probe_mculink.md b/docs/ko/debug/probe_mculink.md index 1e03cca665..f937136637 100644 --- a/docs/ko/debug/probe_mculink.md +++ b/docs/ko/debug/probe_mculink.md @@ -19,9 +19,9 @@ These instructions have been tested on: FMUv6X-RT, FMUv6X, FMUv6c, FMUv5X. ## Debugging Configuration using NXP LinkServer -The MCU-Link provides for NXP (FMUv6X-RT) chips the [LinkServer](https://www.nxp.com/design/design-center/software/development-software/mcuxpresso-software-and-tools-/linkserver-for-microcontrollers:LINKERSERVER) GDB server: +The MCU-Link provides for NXP (FMUv6X-RT) chips the [LinkServer](https://www.nxp.com/design/design-center/software/development-software/mcuxpresso-software-and-tools-/linkserver-for-microcontrollers:LINKSERVER) GDB server: -[Download](https://www.nxp.com/design/design-center/software/development-software/mcuxpresso-software-and-tools-/linkserver-for-microcontrollers:LINKERSERVER#downloads) the Linkserver for your operating system and follow the installation instructions. +[Download](https://www.nxp.com/design/design-center/software/development-software/mcuxpresso-software-and-tools-/linkserver-for-microcontrollers:LINKSERVER#downloads) the Linkserver for your operating system and follow the installation instructions. On Windows LinkServer gets installed to `C:\NXP\LinkServer_x.x.x` On Linux LinkServer gets installed `/usr/local/LinkServer/LinkServer` diff --git a/docs/ko/debug/swd_debug.md b/docs/ko/debug/swd_debug.md index e432954960..798e3aa715 100644 --- a/docs/ko/debug/swd_debug.md +++ b/docs/ko/debug/swd_debug.md @@ -34,7 +34,7 @@ Flight controllers commonly provide a single debug port that exposes both the [S The [Pixhawk Connector Standards](#pixhawk-standard-debug-ports) formalize the port that must be used in each FMU version. However there are still many boards that use different pinouts or connectors, so we recommend you check the [documentation for your autopilot](../flight_controller/index.md) to confirm port location and pinout. -The debug port location and pinouts for a subset of autopilots are linked below: +The debug port location and pinouts for a subset of current autopilots are linked below: @@ -53,8 +53,6 @@ The debug port location and pinouts for a subset of autopilots are linked below: | [Holybro Kakute H7](../flight_controller/kakuteh7.md#debug-port) | SWD pads and system console | | [Holybro Kakute H7 mini](../flight_controller/kakuteh7mini.md#debug-port) | SWD pads and system console | | [Holybro Kakute H7 V2](../flight_controller/kakuteh7v2.md#debug-port) | SWD pads and system console | -| [CUAV V5+](../flight_controller/cuav_v5_plus.md#debug-port) | Custom port but comes with adaptor cable | -| [CUAV V5nano](../flight_controller/cuav_v5_nano.md#debug_port) | Custom port but comes with adaptor cable | | [CUAV Pixhawk V6X](../flight_controller/cuav_pixhawk_v6x.md#debug_port) | [Pixhawk Debug Full](#pixhawk-debug-full) | | [CUAV X25-SUPER](../flight_controller/cuav_x25-super.md#debug_port) | [Pixhawk Debug Mini] | | [CUAV X25-EVO](../flight_controller/cuav_x25-evo.md#debug_port) | [Pixhawk Debug Mini] | @@ -201,7 +199,7 @@ Probes that are known to come with connectors are listed below: Some manufacturers provide cables to make it easy to connect the SWD interface and [System Console](../debug/system_console.md). -- [CUAV V5nano](../flight_controller/cuav_v5_nano.md#debug_port) and [CUAV V5+](../flight_controller/cuav_v5_plus.md#debug-port) include this debug cable: +For example, some CUAV board include this debug cable: ![6-pin JST SH Cable](../../assets/debug/cuav_v5_debug_cable.jpg) diff --git a/docs/ko/dev_airframes/adding_a_new_frame.md b/docs/ko/dev_airframes/adding_a_new_frame.md index 5f5133b9b7..a66d103064 100644 --- a/docs/ko/dev_airframes/adding_a_new_frame.md +++ b/docs/ko/dev_airframes/adding_a_new_frame.md @@ -246,16 +246,19 @@ If the airframe is for a **new group** you additionally need to: 3. Update _QGroundControl_: - Add the svg image for the group into: [src/AutopilotPlugins/Common/images](https://github.com/mavlink/qgroundcontrol/tree/master/src/AutoPilotPlugins/Common/Images) - - Add reference to the svg image into [qgcimages.qrc](https://github.com/mavlink/qgroundcontrol/blob/master/qgcimages.qrc), following the pattern below: + - Add a reference to the svg image into [CMakeLists.txt](https://github.com/mavlink/qgroundcontrol/blob/master/src/AutoPilotPlugins/Common/CMakeLists.txt), following the pattern below: - ```xml - - ... - src/AutoPilotPlugins/Common/Images/AirframeSimulation.svg - src/AutoPilotPlugins/Common/Images/AirframeUnknown.svg - src/AutoPilotPlugins/Common/Images/Boat.svg - src/AutoPilotPlugins/Common/Images/FlyingWing.svg - ... + ```cmake + qt_add_resources(${CMAKE_PROJECT_NAME} autopilot_plugin_common_airframes + PREFIX "/qmlimages/Airframe" + BASE "${CMAKE_SOURCE_DIR}/src/AutoPilotPlugins/Common/Images" + FILES + "${CMAKE_SOURCE_DIR}/src/AutoPilotPlugins/Common/Images/AirframeSimulation.svg" + "${CMAKE_SOURCE_DIR}/src/AutoPilotPlugins/Common/Images/AirframeUnknown.svg" + "${CMAKE_SOURCE_DIR}/src/AutoPilotPlugins/Common/Images/Boat.svg" + "${CMAKE_SOURCE_DIR}/src/AutoPilotPlugins/Common/Images/FlyingWing.svg" + ... + ) ``` ::: info diff --git a/docs/ko/dev_kits/index.md b/docs/ko/dev_kits/index.md new file mode 100644 index 0000000000..2d0baf1144 --- /dev/null +++ b/docs/ko/dev_kits/index.md @@ -0,0 +1,59 @@ +# PX4 Developer Kits + +Official PX4 Developer Kits are the recommended way to get flying hardware for PX4 application development. + +Kits that carry the _Official PX4 Developer Kit_ designation are certified by the PX4 maintainer team to meet the requirements of the [Developer Kit Program](../hardware/dev_kit_program.md): + +- A flight controller that meets the latest Pixhawk standard, or matches its capabilities +- The latest stable PX4 release, pre-installed +- Pre-assembled, or assembly that requires no technical skill (no soldering) +- A guide, a focused tutorial, and a printed reference sheet included in the box +- Third-party build quality verification + +This means you can take any of the kits below out of the box and be developing against a current, supported PX4 stack in hours, not weeks. + +:::info +Manufacturers who want their kit certified should read the [Developer Kit Program](../hardware/dev_kit_program.md) documentation. +::: + +## ModalAI Starling 2 Max + +![Front view of the ModalAI Starling 2 Max](../../assets/hardware/complete_vehicles/modalai_starling/d0012_front_1920x800.png) + +The [Starling 2 Max](https://www.modalai.com/products/starling-2-max) is an NDAA-compliant, ready-to-fly development drone built around the [VOXL 2](../flight_controller/modalai_voxl_2.md), which combines the flight controller and a powerful companion computer in a single package. + +It is designed for computer-vision development (SLAM, GPS-denied navigation, long-range dead reckoning), carries a 500 g payload, and flies for up to 55 minutes. +The open source [VOXL SDK](https://gitlab.com/voxl-public/voxl-sdk) ships with pre-configured autonomy models, and the platform supports ROS 2 and MAVSDK workflows on the onboard computer. + +- [PX4 documentation](../complete_vehicles_mc/modalai_starling.md) +- [Manufacturer documentation](https://docs.modalai.com/starling-2-max/) + +## DroneBlocks DEXI 5 + +![DroneBlocks DEXI 5 in flight](../../assets/hardware/complete_vehicles/droneblocks_dexi/dexi_5.jpg) + +The [DEXI 5](https://droneblocks.io/program/dexi-5-px4-stem-drone-kit/) is an NDAA-compliant STEM and development drone kit built around an all-in-one PX4 flight controller with integrated optical flow (for GPS-denied indoor flight) and a Raspberry Pi companion computer with camera. + +Assembly is modular, solder-free, and plug-and-play. +The kit ships with a full project-based curriculum covering Python (MAVSDK), ROS 2, OpenCV, and DroneBlocks visual programming, taking you from unboxing to autonomous code with no technical barrier. + +- [PX4 documentation](../complete_vehicles_mc/droneblocks_dexi.md) +- [Manufacturer curriculum](https://learn.droneblocks.io/) + +## Holybro X500 v2 + +![The fully built X500 v2 with props removed](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk6c/kit_no_props.jpg) + +The [PX4 Development Kit X500 v2](https://holybro.com/products/px4-development-kit-x500-v2) is a classic 500 mm carbon-fiber quadcopter kit with a Pixhawk 6C or 6X flight controller, M10 GPS, telemetry radio, and power module. + +Motors and ESCs come pre-installed on the arms, so assembly is solder-free and takes about 30 minutes. +It lifts a 1.5 kg payload, which makes it a good base for adding your own companion computer and sensors. + +- [PX4 build guide](../frames_multicopter/holybro_x500v2_pixhawk6c.md) +- [Manufacturer documentation](https://docs.holybro.com/drone-development-kit/px4-development-kit-x500v2) + +## See Also + +- [Complete Vehicles (MC)](../complete_vehicles_mc/index.md) +- [Kit Builds (MC)](../frames_multicopter/kits.md) +- [Developer Kit Program](../hardware/dev_kit_program.md) (for manufacturers) diff --git a/docs/ko/dev_log/ulog_file_format.md b/docs/ko/dev_log/ulog_file_format.md index 3fa316935c..f10ec42e6c 100644 --- a/docs/ko/dev_log/ulog_file_format.md +++ b/docs/ko/dev_log/ulog_file_format.md @@ -498,7 +498,7 @@ Since the Definitions and Data Sections use the same message header format, they - [QGroundControl](https://github.com/mavlink/qgroundcontrol): C++, ULog streaming via MAVLink and minimal parsing for GeoTagging. - [mavlink-router](https://github.com/mavlink-router/mavlink-router): C++, ULog streaming via MAVLink. - [MAVGAnalysis](https://github.com/ecmnet/MAVGCL): Java, ULog streaming via MAVLink and parser for plotting and analysis. -- [PlotJuggler](https://github.com/facontidavide/PlotJuggler): C++/Qt application to plot logs and time series. 버전 2.1.3부터 ULog를 지원합니다. +- [PlotJuggler](https://github.com/PlotJuggler/PlotJuggler): C++/Qt application to plot logs and time series. 버전 2.1.3부터 ULog를 지원합니다. - [ulogreader](https://github.com/maxsun/ulogreader): Javascript, ULog reader and parser outputs log in JSON object format. - [Foxglove](https://foxglove.dev): an integrated visualization and diagnosis tool for robotics data that supports ULog files. - [TypeScript ULog parser](https://github.com/foxglove/ulog): TypeScript, ULog reader that outputs JS objects. diff --git a/docs/ko/dev_setup/building_px4.md b/docs/ko/dev_setup/building_px4.md index 39d15b4cf6..427f134022 100644 --- a/docs/ko/dev_setup/building_px4.md +++ b/docs/ko/dev_setup/building_px4.md @@ -122,9 +122,9 @@ The following list shows the build commands for the [Pixhawk standard](../flight - [Pixhawk 4 Mini (FMUv5)](../flight_controller/pixhawk4_mini.md): `make px4_fmu-v5_default` -- [CUAV V5+ (FMUv5)](../flight_controller/cuav_v5_plus.md): `make px4_fmu-v5_default` +- [CUAV V5+ (FMUv5)](../flight_controller/cuav_v5_plus.md): `make px4_fmu-v5_default` - Discontinued -- [CUAV V5 nano (FMUv5)](../flight_controller/cuav_v5_nano.md): `make px4_fmu-v5_default` +- [CUAV V5 nano (FMUv5)](../flight_controller/cuav_v5_nano.md): `make px4_fmu-v5_default` - Discontinued - [Pixracer (FMUv4)](../flight_controller/pixracer.md): `make px4_fmu-v4_default` diff --git a/docs/ko/dronecan/ark_g5_rtk_gps.md b/docs/ko/dronecan/ark_g5_rtk_gps.md index b067e5dc08..2727f2a325 100644 --- a/docs/ko/dronecan/ark_g5_rtk_gps.md +++ b/docs/ko/dronecan/ark_g5_rtk_gps.md @@ -29,8 +29,8 @@ Order this module from: - Advanced GNSS+ algorithms - 20Hz update rate - [ST IIS2MDC Magnetometer](https://www.st.com/en/mems-and-sensors/iis2mdc.html) - - [Bosch BMP390 Barometer](https://www.bosch-sensortec.com/products/environmental-sensors/pressure-sensors/bmp390/) - - [Invensense ICM-42688-P 6-Axis IMU](https://invensense.tdk.com/products/motion-tracking/6-axis/icm-42688-p/) + - [Bosch BMP390 Barometer](https://www.bosch-sensortec.com/en/products/environmental-sensors/pressure-sensors/bmp390/) + - [Invensense ICM-42688-P 6-Axis IMU](https://www.invensense.tdk.com/en-us/products/6-axis/icm-42688-p) - STM32F412VGH6 MCU - Safety Button - 부저 diff --git a/docs/ko/dronecan/ark_g5_rtk_heading_gps.md b/docs/ko/dronecan/ark_g5_rtk_heading_gps.md index 7b5da8df23..2e0c5d4094 100644 --- a/docs/ko/dronecan/ark_g5_rtk_heading_gps.md +++ b/docs/ko/dronecan/ark_g5_rtk_heading_gps.md @@ -29,8 +29,8 @@ Order this module from: - Advanced GNSS+ algorithms - 20Hz update rate - [ST IIS2MDC Magnetometer](https://www.st.com/en/mems-and-sensors/iis2mdc.html) - - [Bosch BMP390 Barometer](https://www.bosch-sensortec.com/products/environmental-sensors/pressure-sensors/bmp390/) - - [Invensense ICM-42688-P 6-Axis IMU](https://invensense.tdk.com/products/motion-tracking/6-axis/icm-42688-p/) + - [Bosch BMP390 Barometer](https://www.bosch-sensortec.com/en/products/environmental-sensors/pressure-sensors/bmp390/) + - [Invensense ICM-42688-P 6-Axis IMU](https://www.invensense.tdk.com/en-us/products/6-axis/icm-42688-p) - STM32F412VGH6 MCU - Safety Button - 부저 diff --git a/docs/ko/dronecan/ark_mosaic__rtk_gps.md b/docs/ko/dronecan/ark_mosaic__rtk_gps.md index d7659db594..8566c845fc 100644 --- a/docs/ko/dronecan/ark_mosaic__rtk_gps.md +++ b/docs/ko/dronecan/ark_mosaic__rtk_gps.md @@ -19,8 +19,8 @@ Order this module from: - [AIM+ jamming protection](https://www.septentrio.com/en/learn-more/advanced-positioning-technology/aim-anti-jamming-protection) - Update rate of 100 Hz - ST IIS2MDC Magnetometer - - [Bosch BMP390 Barometer](https://www.bosch-sensortec.com/products/environmental-sensors/pressure-sensors/pressure-sensors-bmp390.html) - - [Invensense ICM-42688-P 6-Axis IMU](https://invensense.tdk.com/products/motion-tracking/6-axis/icm-42688-p/) + - [Bosch BMP390 Barometer](https://www.bosch-sensortec.com/en/products/environmental-sensors/pressure-sensors/pressure-sensors-bmp390.html) + - [Invensense ICM-42688-P 6-Axis IMU](https://www.invensense.tdk.com/en-us/products/6-axis/icm-42688-p) - STM32F412VGH6 MCU - 연결 - Two Pixhawk Standard CAN Connectors (4 Pin JST-GH, 5V Input) diff --git a/docs/ko/dronecan/ark_teseo_gps.md b/docs/ko/dronecan/ark_teseo_gps.md index c705b47166..b3ffaa0afc 100644 --- a/docs/ko/dronecan/ark_teseo_gps.md +++ b/docs/ko/dronecan/ark_teseo_gps.md @@ -21,8 +21,8 @@ Order this module from: - -162 dBm tracking sensitivity - Submeter positioning accuracy - [ST IIS2MDC Magnetometer](https://www.st.com/en/mems-and-sensors/iis2mdc.html) - - [Bosch BMP390 Barometer](https://www.bosch-sensortec.com/products/environmental-sensors/pressure-sensors/pressure-sensors-bmp390.html) - - [Invensense ICM-42688-P 6-Axis IMU](https://invensense.tdk.com/products/motion-tracking/6-axis/icm-42688-p/) + - [Bosch BMP390 Barometer](https://www.bosch-sensortec.com/en/products/environmental-sensors/pressure-sensors/pressure-sensors-bmp390.html) + - [Invensense ICM-42688-P 6-Axis IMU](https://www.invensense.tdk.com/en-us/products/6-axis/icm-42688-p) - STM32F412VGH6 MCU - Dual Band (L1/L5) Helical GPS Antenna - Two Pixhawk Standard CAN Connectors (4 Pin JST GH) diff --git a/docs/ko/flight_controller/3dr_ctrl-n1.md b/docs/ko/flight_controller/3dr_ctrl-n1.md index 57489aab3c..f0b5a92b48 100644 --- a/docs/ko/flight_controller/3dr_ctrl-n1.md +++ b/docs/ko/flight_controller/3dr_ctrl-n1.md @@ -4,7 +4,7 @@ :::warning PX4 does not manufacture this (or any) autopilot. -Contact [3DR](https://3dr.com/) for hardware support or compliance issues. +Contact [3DR](https://www.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. @@ -116,14 +116,14 @@ Select and assign your preferred protocol in QGroundControl during initial setup 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 | +| 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. @@ -134,10 +134,10 @@ The image below shows the pinout of the CB2 Longy as a reference for connector l 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). +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-with-10-pin-micro-connector-for-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) +- [3DR Control N1 documentation](https://docs.3dr.com/autopilots/control-n1/) diff --git a/docs/ko/flight_controller/aedrox_aedroxh7.md b/docs/ko/flight_controller/aedrox_aedroxh7.md index f0f88b2a7c..73a0eaff4d 100644 --- a/docs/ko/flight_controller/aedrox_aedroxh7.md +++ b/docs/ko/flight_controller/aedrox_aedroxh7.md @@ -4,7 +4,7 @@ :::warning PX4 does not manufacture this (or any) autopilot. -Contact the [manufacturer](https://aedrox.com/) for hardware support. +Contact the [manufacturer](https://www.aedrox.com/) for hardware support. ::: The AEDROXH7 is an STM32H743-based FPV / racing flight controller from AEDROX. diff --git a/docs/ko/flight_controller/ark_fpv.md b/docs/ko/flight_controller/ark_fpv.md index ef83bcf66b..6304260026 100644 --- a/docs/ko/flight_controller/ark_fpv.md +++ b/docs/ko/flight_controller/ark_fpv.md @@ -23,8 +23,8 @@ See the documentation [Ark Electronics GitBook](https://arkelectron.gitbook.io/a ## 센서 -- [Invensense IIM-42653 Industrial IMU](https://invensense.tdk.com/products/smartindustrial/iim-42653/) -- [Bosch BMP390 Barometer](https://www.bosch-sensortec.com/products/environmental-sensors/pressure-sensors/bmp390/) +- [Invensense IIM-42653 Industrial IMU](https://www.invensense.tdk.com/en-us/products/6-axis/iim-42653) +- [Bosch BMP390 Barometer](https://www.bosch-sensortec.com/en/products/environmental-sensors/pressure-sensors/bmp390/) - [ST IIS2MDC Magnetometer](https://www.st.com/en/mems-and-sensors/iis2mdc.html) ## Microprocessor diff --git a/docs/ko/flight_controller/ark_v6s.md b/docs/ko/flight_controller/ark_v6s.md index 70cee463d3..8e1038b6f9 100644 --- a/docs/ko/flight_controller/ark_v6s.md +++ b/docs/ko/flight_controller/ark_v6s.md @@ -17,12 +17,12 @@ This flight controller is [manufacturer supported](../flight_controller/autopilo ## Where To Buy {#store} -Order From [Ark Electronics](https://arkelectron.com/product/arkv6s/) (US) +Order From [Ark Electronics](https://arkelectron.com/product/arkv6s-flight-controller/) (US) ## 센서 -- [Invensense IIM-42653 Industrial IMU](https://invensense.tdk.com/products/smartindustrial/iim-42653/) -- [Bosch BMP390 Barometer](https://www.bosch-sensortec.com/products/environmental-sensors/pressure-sensors/bmp390/) +- [Invensense IIM-42653 Industrial IMU](https://www.invensense.tdk.com/en-us/products/6-axis/iim-42653) +- [Bosch BMP390 Barometer](https://www.bosch-sensortec.com/en/products/environmental-sensors/pressure-sensors/bmp390/) - [ST IIS2MDC Magnetometer](https://www.st.com/en/mems-and-sensors/iis2mdc.html) ## Microprocessor diff --git a/docs/ko/flight_controller/ark_v6x.md b/docs/ko/flight_controller/ark_v6x.md index 94ce231f88..4537c38300 100644 --- a/docs/ko/flight_controller/ark_v6x.md +++ b/docs/ko/flight_controller/ark_v6x.md @@ -22,9 +22,9 @@ Order From [Ark Electronics](https://arkelectron.com/product/arkv6x/) (US) ## 센서 -- [Dual Invensense ICM-42688-P IMUs](https://invensense.tdk.com/products/motion-tracking/6-axis/icm-42688-p/) -- [Invensense IIM-42652 Industrial IMU](https://invensense.tdk.com/products/smartindustrial/iim-42652/) -- [Bosch BMP390 Barometer](https://www.bosch-sensortec.com/products/environmental-sensors/pressure-sensors/bmp390/) +- [Dual Invensense ICM-42688-P IMUs](https://www.invensense.tdk.com/en-us/products/6-axis/icm-42688-p) +- [Invensense IIM-42652 Industrial IMU](https://www.invensense.tdk.com/en-us/products/6-axis/iim-42652) +- [Bosch BMP390 Barometer](https://www.bosch-sensortec.com/en/products/environmental-sensors/pressure-sensors/bmp390/) - [Bosch BMM150 Magnetometer](https://www.bosch-sensortec.com/media/boschsensortec/downloads/datasheets/bst-bmm150-ds001.pdf) ## Microprocessor diff --git a/docs/ko/flight_controller/autopilot_discontinued.md b/docs/ko/flight_controller/autopilot_discontinued.md index 2167166008..ff4cfec017 100644 --- a/docs/ko/flight_controller/autopilot_discontinued.md +++ b/docs/ko/flight_controller/autopilot_discontinued.md @@ -9,6 +9,8 @@ They are listed because you may be using them in an existing drone, and because - _Drotek DroPix_ (FMUv2) — last published in [PX4 v1.13](https://docs.px4.io/v1.13/en/flight_controller/dropix) - _Drotek Pixhawk 3 Pro_ (FMUv4pro) — last published in [PX4 v1.15](https://docs.px4.io/v1.15/en/flight_controller/pixhawk3_pro) - _Omnibus F4 SD_ — last published in [PX4 v1.15](https://docs.px4.io/v1.15/en/flight_controller/omnibus_f4_sd) +- _CUAV V5 nano_ (Manufacturer supported) — last published in [PX4 v1.17](https://docs.px4.io/v1.17/en/flight_controller/cuav_v5_nano) +- _CUAV V5+_ (Manufacturer supported) — last published in [PX4 v1.17](https://docs.px4.io/v1.17/en/flight_controller/cuav_v5_plus) - _CUAV X7_ — last published in [PX4 v1.16](https://docs.px4.io/v1.16/en/flight_controller/cuav_x7) - _CUAV v5_ (Pixhawk FMUv5) — last published in [PX4 v1.16](https://docs.px4.io/v1.16/en/flight_controller/cuav_v5) - _CUAV Pixhack v3_ (FMUv3) — last published in [PX4 v1.15](https://docs.px4.io/v1.15/en/flight_controller/pixhack_v3) diff --git a/docs/ko/flight_controller/autopilot_manufacturer_supported.md b/docs/ko/flight_controller/autopilot_manufacturer_supported.md index b3f894ad8c..fad2ef64b8 100644 --- a/docs/ko/flight_controller/autopilot_manufacturer_supported.md +++ b/docs/ko/flight_controller/autopilot_manufacturer_supported.md @@ -30,8 +30,6 @@ This category includes boards that are not fully compliant with the pixhawk stan - [CORVON 743v2](../flight_controller/corvon_743v2.md) - [CORVON v5](../flight_controller/corvon_v5.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) - [CUAV X25 EVO](../flight_controller/cuav_x25-evo.md) - [CUAV X25 SUPER](../flight_controller/cuav_x25-super.md) - [CUAV X25 MEGA](../flight_controller/cuav_x25-mega.md) diff --git a/docs/ko/flight_controller/cbunmanned_h753-som.md b/docs/ko/flight_controller/cbunmanned_h753-som.md index 7ea24560bc..81561e4849 100644 --- a/docs/ko/flight_controller/cbunmanned_h753-som.md +++ b/docs/ko/flight_controller/cbunmanned_h753-som.md @@ -37,7 +37,7 @@ CAN transceivers require a 5 V supply. USB-only power (≈4.5 V after the input ## 구매처 -Check [CBUnmanned](https://cbunmanned.com) for availability. +Check [CBUnmanned](https://www.cbunmanned.com/) for availability. ## 펌웨어 빌드 diff --git a/docs/ko/flight_controller/cuav_v5_nano.md b/docs/ko/flight_controller/cuav_v5_nano.md index c69a71029d..378ac48855 100644 --- a/docs/ko/flight_controller/cuav_v5_nano.md +++ b/docs/ko/flight_controller/cuav_v5_nano.md @@ -1,231 +1,7 @@ -# CUAV V5 nano 자동조종장치 + -:::warning -PX4 does not manufacture this (or any) autopilot. -Contact the [manufacturer](https://store.cuav.net/) for hardware support or compliance issues. -::: + - -## 정격 전압 - -_V5 nano_ must be powered from the `Power` connector during flight, and may also/alternatively be powered from `USB` for bench testing. - -:::info -The `PM2` connector cannot not be used for powering the _V5 nano_ (see [this issue](#compatibility_pm2)). -::: - -:::info -The Servo Power Rail is neither powered by, nor provides power to the FMU. -However, the pins marked **+** are all common, and a BEC may be connected to any of the servo pin sets to power the servo power rail. -::: - -## 과전류 보호 - -The _V5 nano_ has no over current protection. - - - -## 주변 장치 - -- [Digital Airspeed Sensor](https://item.taobao.com/item.htm?spm=a1z10.3-c-s.w4002-16371268452.37.6d9f48afsFgGZI&id=9512463037) -- [Telemetry Radio Modules](https://cuav.taobao.com/category-158480951.htm?spm=2013.1.w5002-16371268426.4.410b7a821qYbBq&search=y&catName=%CA%FD%B4%AB%B5%E7%CC%A8) -- [Rangefinders/Distance sensors](../sensor/rangefinders.md) - -## 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). - -## 호환성 - -CUAV는 몇 가지 차별화된 디자인을 채택하고, 아래에서 설명하는 일부 하드웨어와 호환되지 않습니다. - - - -#### Neo v2.0 GPS는 다른 장치와 호환되지 않습니다. - -The _Neo v2.0 GPS_ that is recommended for use with _CUAV V5+_ and _CUAV V5 nano_ is not fully compatible with other Pixhawk flight controllers (specifically, the buzzer part is not compatible and there may be issues with the safety switch). - -The UAVCAN [NEO V2 PRO GNSS receiver](https://doc.cuav.net/gps/neo-series-gnss/en/neo-v2-pro.html) can also be used, and is compatible with other flight controllers. - - - -#### 하드웨어 디버깅에 JTAG 사용 - -`DSU7` FMU Debug Pin 1 is 5 volts - not the 3.3 volts of the CPU. - -일부 JTAG 프로보는이 전압을 사용하여 타겟과 통신시 IO 레벨을 설정합니다. - -For direct connection to _Segger Jlink_ we recommended you use the 3.3 Volts of DSM/SBUS/RSSI pin 4 as Pin 1 on the debug connector (`Vtref`). - - - -#### PM2는 비행 컨트롤러에 전원을 공급할 수 없습니다. - -`PM2` can only measure battery voltage and current, but **not** power the flight controller. - -:::warning -PX4 does not support this interface. -::: - -## 알려진 이슈들 - -The issues below refer to the _batch number_ in which they first appear. -배치번호는 V01 뒤의 4 자리 생산날짜이며 비행 컨트롤러 측면의 스티커에 표시되어 있습니다. -예를 들어, 일련 번호 Batch V011904((V01은 V5의 번호, 1904는 생산날짜, 즉 배치번호)입니다. - - - -#### SBUS/DSM/RSSI 인터페이스 Pin1 언퓨즈 - -:::warning -This is a safety issue. -::: - -SBUS/DSM/RSSI 인터페이스에 다른 장비(RC 수신기 제외)를 연결하지 마십시오. 장비가 손상될 수 있습니다! - -- _Found:_ Batches V01190904xxxx -- _Fixed:_ Batches later than V01190904xxxx - -## 추가 정보 - -- [V5 nano manual](http://manual.cuav.net/V5-nano.pdf) (CUAV) -- [FMUv5 reference design pinout](https://docs.google.com/spreadsheets/d/1-n0__BYDedQrc_2NHqBenG1DNepAgnHpSGglke-QQwY/edit#gid=912976165) (CUAV) -- [CUAV Github](https://github.com/cuav) (CUAV) -- [Airframe build-log using CUAV v5 nano on a DJI FlameWheel450](../frames_multicopter/dji_f450_cuav_5nano.md) +DOC REMOVED: 202607 +--> diff --git a/docs/ko/flight_controller/cuav_v5_plus.md b/docs/ko/flight_controller/cuav_v5_plus.md index 8050de95bf..e90959b4d0 100644 --- a/docs/ko/flight_controller/cuav_v5_plus.md +++ b/docs/ko/flight_controller/cuav_v5_plus.md @@ -1,244 +1,7 @@ -# CUAV V5+ 자동조종장치 + -:::warning -PX4 does not manufacture this (or any) autopilot. -Contact the [manufacturer](https://store.cuav.net/) for hardware support or compliance issues. -::: + - - - -## 주변 장치 - -- [Digital Airspeed Sensor](https://item.taobao.com/item.htm?spm=a1z10.3-c-s.w4002-16371268452.37.6d9f48afsFgGZI&id=9512463037) -- [Telemetry Radio Modules](https://cuav.taobao.com/category-158480951.htm?spm=2013.1.w5002-16371268426.4.410b7a821qYbBq&search=y&catName=%CA%FD%B4%AB%B5%E7%CC%A8) -- [Rangefinders/Distance sensors](../sensor/rangefinders.md) - -## 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). - -## 참고 - -#### Do not plug Digital or Analog PM onto connectors configured for other type of PM - -If you plug an Analog PM into a digital PM connector it will stop all the I2C devices on that bus. -Specifically this will stop the GPS's compass due to contention, and may also damage the FMU (longer term). - -Similarly, a digital PM plugged into a analog connector will not work, and may also damage/destroy the power module (longer term). - -## 호환성 - -CUAV는 몇 가지 차별화된 디자인을 채택하고, 아래에서 설명하는 일부 하드웨어와 호환되지 않습니다. - - - -#### GPS not compatible with other devices - -The _Neo v2.0 GPS_ recommended for use with _CUAV V5+_ and _CUAV V5 nano_ is not fully compatible with other Pixhawk flight controllers (specifically, the buzzer part is not compatible and there may be issues with the safety switch). - -The UAVCAN [NEO V2 PRO GNSS receiver](https://doc.cuav.net/gps/neo-series-gnss/en/neo-v2-pro.html) can also be used, and is compatible with other flight controllers. - - - -#### 하드웨어 디버깅에 JTAG 사용 - -`DSU7` FMU Debug Pin 1 is 5 volts - not the 3.3 volts of the CPU. - -Some JTAG adapters use this voltage to set the IO levels when communicating to the target. - -For direct connection to _Segger Jlink_ we recommended you use the 3.3 Volts of DSM/SBUS/RSSI pin 4 as Pin 1 on the debug connector (`Vtref`). - -## 알려진 이슈들 - -The issues below refer to the _batch number_ in which they first appear. -배치번호는 V01 뒤의 4 자리 생산날짜이며 비행 컨트롤러 측면의 스티커에 표시되어 있습니다. -예를 들어, 일련 번호 Batch V011904((V01은 V5의 번호, 1904는 생산날짜, 즉 배치번호)입니다. - - - -#### SBUS/DSM/RSSI 인터페이스 Pin1 언퓨즈 - -:::warning -This is a safety issue. -::: - -Please do not connect other equipment (except RC receiver) on SBUS / DSM / RSSI interface - this may lead to equipment damage. - -- _Found:_ Batches V01190904xxxx -- _Fixed:_ Batches later than V01190904xxxx - -## 추가 정보 - -- [CUAV V5+ Manual](http://manual.cuav.net/V5-Plus.pdf) -- [CUAV V5+ docs](https://doc.cuav.net/controller/v5-autopilot/en/v5+.html) -- [FMUv5 reference design pinout](https://docs.google.com/spreadsheets/d/1-n0__BYDedQrc_2NHqBenG1DNepAgnHpSGglke-QQwY/edit#gid=912976165) -- [CUAV Github](https://github.com/cuav) -- [Base board design reference](https://github.com/cuav/hardware/tree/master/V5_Autopilot/V5%2B/V5%2BBASE) -- [CUAV V5+ Wiring Quickstart](../assembly/quick_start_cuav_v5_plus.md) -- [Airframe build-log using CUAV v5+ on a DJI FlameWheel450](../frames_multicopter/dji_f450_cuav_5plus.md) +DOC REMOVED: 202607 +--> diff --git a/docs/ko/flight_controller/mro_control_zero_f7.md b/docs/ko/flight_controller/mro_control_zero_f7.md index c0d537ac5e..983789ab7a 100644 --- a/docs/ko/flight_controller/mro_control_zero_f7.md +++ b/docs/ko/flight_controller/mro_control_zero_f7.md @@ -27,9 +27,9 @@ This flight controller is [manufacturer supported](../flight_controller/autopilo - F-RAM Cypress MF25V02-G 256Kbit 비휘발성 메모리(RAM만큼 빠른 플래시 메모리) - 센서: - - [Bosch BMI088](https://www.bosch-sensortec.com/products/motion-sensors/imus/bmi088/) 3-axis accelerometer/gyroscope (internally vibration dampened) - - [Invensense ICM-20602](https://invensense.tdk.com/products/motion-tracking/6-axis/icm-20602/) 3-axis accelerometer/gyroscope - - [Invensense ICM-20948](https://invensense.tdk.com/products/motion-tracking/9-axis/icm-20948/) 3-axis accelerometer/gyroscope/magnetometer + - [Bosch BMI088](https://www.bosch-sensortec.com/en/products/motion-sensors/imus/bmi088/) 3-axis accelerometer/gyroscope (internally vibration dampened) + - [Invensense ICM-20602](https://www.invensense.tdk.com/en-us/products/motion-tracking/6-axis/icm-20602) 3-axis accelerometer/gyroscope + - [Invensense ICM-20948](https://www.invensense.tdk.com/en-us/products/9-axis/icm-20948) 3-axis accelerometer/gyroscope/magnetometer - Infineon DPS310 barometer - [Discontinued](https://www.infineon.com/products/sensor/pressure-sensors/pressure-sensors-for-iot) (So smooth and NO more light sensitivity) - 인터페이스: diff --git a/docs/ko/flight_controller/pixhawk_series.md b/docs/ko/flight_controller/pixhawk_series.md index f1900eb6a6..623fc16539 100644 --- a/docs/ko/flight_controller/pixhawk_series.md +++ b/docs/ko/flight_controller/pixhawk_series.md @@ -80,7 +80,7 @@ PX4 _developers_ need to know the FMU version of their board, as this is require 더 많은 RAM. More CAN buses. Much more configurable. - ([Pixhawk 4](../flight_controller/pixhawk4.md),[CUAV v5](../flight_controller/cuav_v5.md),[CUAV V5+](../flight_controller/cuav_v5_plus.md),[CUAV V5 nano](../flight_controller/cuav_v5_nano.md)) + ([Pixhawk 4 (Discontinued)](../flight_controller/pixhawk4.md),[CUAV v5 (Discontinued)](../flight_controller/cuav_v5.md), [CUAV V5+ (Discontinued)](../flight_controller/cuav_v5_plus.md),[CUAV V5 nano (Discontinued)](../flight_controller/cuav_v5_nano.md)) - **FMUv5X:** New processor (F7). Much faster, Modular design. More reliable. diff --git a/docs/ko/flight_controller/raspberry_pi_pilotpi_ubuntu_server.md b/docs/ko/flight_controller/raspberry_pi_pilotpi_ubuntu_server.md index 17549018a0..f92e1747e2 100644 --- a/docs/ko/flight_controller/raspberry_pi_pilotpi_ubuntu_server.md +++ b/docs/ko/flight_controller/raspberry_pi_pilotpi_ubuntu_server.md @@ -13,20 +13,20 @@ armhf와 arm64 arch가 모두 지원됩니다. #### armhf -- [Ubuntu Server 18.04.5 for RPi2](https://cdimage.ubuntu.com/releases/18.04.5/release/ubuntu-18.04.5-preinstalled-server-armhf+raspi2.img.xz) -- [Ubuntu Server 18.04.5 for RPi3](https://cdimage.ubuntu.com/releases/18.04.5/release/ubuntu-18.04.5-preinstalled-server-armhf+raspi3.img.xz) -- [Ubuntu Server 18.04.5 for RPi4](https://cdimage.ubuntu.com/releases/18.04.5/release/ubuntu-18.04.5-preinstalled-server-armhf+raspi4.img.xz) +- [Ubuntu Server 18.04.5 for RPi2](https://cdimage.ubuntu.com/ubuntu/releases/18.04.5/release/ubuntu-18.04.5-preinstalled-server-armhf+raspi2.img.xz) +- [Ubuntu Server 18.04.5 for RPi3](https://cdimage.ubuntu.com/ubuntu/releases/18.04.5/release/ubuntu-18.04.5-preinstalled-server-armhf+raspi3.img.xz) +- [Ubuntu Server 18.04.5 for RPi4](https://cdimage.ubuntu.com/ubuntu/releases/18.04.5/release/ubuntu-18.04.5-preinstalled-server-armhf+raspi4.img.xz) - [Ubuntu Server 20.04.1 for RPi 2/3/4](https://old-releases.ubuntu.com/releases/focal/ubuntu-20.04.2-preinstalled-server-arm64+raspi.img.xz) #### arm64 -- [Ubuntu Server 18.04.5 for RPi3](https://cdimage.ubuntu.com/releases/18.04.5/release/ubuntu-18.04.5-preinstalled-server-arm64+raspi3.img.xz) -- [Ubuntu Server 18.04.5 for RPi4](https://cdimage.ubuntu.com/releases/18.04.5/release/ubuntu-18.04.5-preinstalled-server-arm64+raspi4.img.xz) +- [Ubuntu Server 18.04.5 for RPi3](https://cdimage.ubuntu.com/ubuntu/releases/18.04.5/release/ubuntu-18.04.5-preinstalled-server-arm64+raspi3.img.xz) +- [Ubuntu Server 18.04.5 for RPi4](https://cdimage.ubuntu.com/ubuntu/releases/18.04.5/release/ubuntu-18.04.5-preinstalled-server-arm64+raspi4.img.xz) - [Ubuntu Server 20.04.1 for RPi 3/4](https://old-releases.ubuntu.com/releases/focal/ubuntu-20.04.2-preinstalled-server-arm64+raspi.img.xz) #### 최신 운영체제 -Please refer to official [cdimage](https://cdimage.ubuntu.com/releases/) page for any new updates. +Please refer to official [cdimage](https://cdimage.ubuntu.com/ubuntu/releases/) page for any new updates. ### 최초 부팅 diff --git a/docs/ko/flight_modes/offboard.md b/docs/ko/flight_modes/offboard.md index 6081ef419b..d4e2edcc27 100644 --- a/docs/ko/flight_modes/offboard.md +++ b/docs/ko/flight_modes/offboard.md @@ -363,13 +363,12 @@ Rover MAVLink setpoints are gated by the MAVLink parameter [MAV_FWDEXTSP](../adv _Offboard mode_ is affected by the following parameters: -| 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. | +| 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. | +| [MAN_OVERRIDE_SPD](../advanced_config/parameter_reference.md#MAN_OVERRIDE_SPD) | Speed (normalized stick travel per second) above which moving the sticks controlling a multicopter (or VTOL in hover) gives control back to the pilot by switching to [Position mode](../flight_modes_mc/position.md) (or Altitude mode if position is unavailable). At the default value of 1 a half-stick movement in ~0.5 s triggers it; lower is more sensitive. A stick held statically has zero speed and will not trigger. Set to -1 to disable. | +| [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. | ## Developer Resources diff --git a/docs/ko/flight_modes/return.md b/docs/ko/flight_modes/return.md index 44163e1286..c83ab78fef 100644 --- a/docs/ko/flight_modes/return.md +++ b/docs/ko/flight_modes/return.md @@ -18,8 +18,8 @@ PX4는 홈 위치, 집결 ( "안전") 지점, 임무 경로 및 임무 착륙 - Flying vehicles will failsafe if they lose the position estimate. - Mode requires home position is set. - 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 prevented by the active failsafe state. +- RC switches can be used to change flight modes on any vehicle. +- Stick movement in a multicopter (or VTOL in hover) will [by default](#MAN_OVERRIDE_SPD) 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. @@ -46,10 +46,10 @@ PX4 provides four alternative approaches for finding an unobstructed path to a s At high level these are: -- [Home/rally point return](#home_return) (`RTL_TYPE=0`): Ascend to safe altitude and return via a direct path to the closest rally point or home location. -- [Mission landing/rally point return](#mission-landing-rally-point-return-type-rtl-type-1) (`RTL_TYPE=1`): Ascend to a safe altitude, fly direct to the closest destination _other than home_: rally point or start of mission landing. +- [Home/rally point return](#rtl_type_0) (`RTL_TYPE=0`): Ascend to safe altitude and return via a direct path to the closest rally point or home location. +- [Mission landing/rally point return](#rtl_type_1) (`RTL_TYPE=1`): Ascend to a safe altitude, fly direct to the closest destination _other than home_: rally point or start of mission landing. 임무 착륙 또는 집결 지점이 정의되지 않은 경우에는 직접 경로를 통해 홈으로 복귀합니다. -- [Mission path return](#mission-path-return-type-rtl-type-2) (`RTL_TYPE=2`): Use mission path and fast-continue to mission landing (if defined). +- [Mission path return](#rtl_type_2) (`RTL_TYPE=2`): Use mission path and fast-continue to mission landing (if defined). If no mission _landing_ defined, fast-reverse mission to home. If no _mission_ defined, return direct to home (rally points are ignored). - [Closest safe destination return](#closest-safe-destination-return-type-rtl-type-3) (`RTL_TYPE=3`): Ascend to a safe altitude and return via direct path to closest destination: home, start of mission landing pattern, or rally point. @@ -57,16 +57,14 @@ At high level these are: 각 유형에 대한 자세한 설명은 다음 섹션에서 제공됩니다. - - -### 홈/랠리 포인트 복귀 유형 (RTL_TYPE = 0) +### Home/Rally Point Return Type (RTL_TYPE=0) {#rtl_type_0} This is the default return type for a [multicopter](../flight_modes_mc/return.md) (see topic for more information). 이 복귀 유형에서 기체의 동작: - Ascends to a safe [minimum return altitude](#minimum-return-altitude) (above any expected obstacles). -- 홈 포지션 또는 랠리 포인트 (둘 중 가장 가까운 지점) 로의 직접 경로로 비행합니다. +- Flies to the home position or a rally point (whichever is closest), preferring a [geofence-aware](#geofence_awareness) horizontal path over a direct path where possible. - On [arrival](#loiter-landing-at-destination) descends to "descent altitude" and waits for a configurable time. This time may be used to deploy landing gear. - Lands or waits (this depends on landing parameters), @@ -77,7 +75,7 @@ This is the default return type for a [multicopter](../flight_modes_mc/return.md If no rally points are defined, this is the same as a _Return to Launch_ (RTL)/_Return to Home_ (RTH). ::: -### 임무 착륙/랠리 포인트 복귀 유형 (RTL_TYPE = 1) +### Mission Landing/Rally Point Return Type (RTL_TYPE=1) {#rtl_type_1} This is the default return type for a [fixed-wing](../flight_modes_fw/return.md) or [VTOL](../flight_modes_vtol/return.md) vehicle (see topics for more information). @@ -85,7 +83,7 @@ This is the default return type for a [fixed-wing](../flight_modes_fw/return.md) - Ascends to a safe [minimum return altitude](#minimum-return-altitude) (above any expected obstacles) if needed. The vehicle maintains its initial altitude if that is higher than the minimum return altitude. -- Flies via direct constant-altitude path to a rally point or the start of a [mission landing pattern](#mission-landing-pattern) (whichever is closest). +- Flies at constant-altitude to a rally point or the start of a [mission landing pattern](#mission-landing-pattern) (whichever is closest), preferring a [geofence-aware](#geofence_awareness) horizontal path over a direct path where possible. 임무 착륙 또는 집결 지점이 정의되지 않은 경우에는 기체는 직접 경로를 통하여 홈으로 복귀합니다. - 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). @@ -100,7 +98,7 @@ This is the default return type for a [fixed-wing](../flight_modes_fw/return.md) Fixed wing vehicles commonly also set [MIS_TKO_LAND_REQ](#MIS_TKO_LAND_REQ) to _require_ a mission landing pattern. ::: -### 임무 경로 복귀 유형 (RTL_TYPE = 2) +### Mission Path Return Type (RTL_TYPE=2) {#rtl_type_2} This return type uses the mission (if defined) to provide a safe return _path_, and the [mission landing pattern](#mission-landing-pattern) (if defined) to provide landing behaviour. If there is a mission but no mission landing pattern, the mission is flown _in reverse_. @@ -110,6 +108,10 @@ If there is a mission but no mission landing pattern, the mission is flown _in r The behaviour is fairly complex because it depends on the flight mode, and whether a mission and mission landing are defined. ::: +:::warning +This return type does have [geofence awareness](#geofence_awareness) (at any stage). +::: + Mission _with_ landing pattern: - **Mission mode:** @@ -145,7 +147,7 @@ For `RTL_TYPE=4`, PX4 currently chooses between continuing to a mission landing This is only an approximation of the flown path length, because the number if mission items is not indicative of the distance remaining and non-position items are also counted. ::: -### 가장 가까운 안전한 대상 복귀 유형 (RTL_TYPE = 3) +### Closest Safe Destination Return Type (RTL_TYPE=3) {#rtl_type_3} 이 복귀 유형에서 기체의 동작: @@ -156,12 +158,62 @@ This is only an approximation of the flown path length, because the number if mi 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. +## Geofence Awareness {#geofence_awareness} + +For most of the return types (including the default home/rally point return type) the return path is chosen to avoid breaching any geofence. +Planning is purely horizontal: the altitude profile is unaffected, and only the lateral path is adjusted to avoid the fence. +If no geofence is set, the vehicle flies a direct path to the destination. + +While the return mode is inactive, the autopilot constantly recalculates a [shortest horizontal return path](#shortest-path-calculation) that does not enter any exclusion zones and does not exit any inclusion zones. + +If the return mode is triggered while the vehicle is violating any geofence, then the vehicle will first fly directly to the most recent recorded location at which it was not violating the geofence. +If no such point exists, or if the autopilot fails to plan a feasible path (e.g. the destination is located in an exclusion zone), then the vehicle falls back to flying directly to the destination. + +:::info +The estimated time for return is based on the current shortest horizontal path to the destination and may change if the geofence is updated. +::: + +:::warning +Geofence awareness currently supports a maximum of 99 polygon vertices in total (circles count as 8 vertices each). +If this limit is exceeded, the autopilot falls back to a direct path as described above. +::: + +:::warning +There is no absolute guarantee that the vehicle will not breach a geofence on the return path. +Things like path tracking error, wind and other disturbances may cause temporary violation of the geofence. +It is therefore very important to consider this possibility and especially to review the geofence breach action (e.g. [GF_ACTION](../advanced_config/parameter_reference.md#GF_ACTION)). +::: + +### RTL-types with Geofence-Awareness + +The following table shows which return types currently support geofence awareness: + +| Return Type (RTL_TYPE) | Geofence Awareness | +| -------------------------------------------------------------- | ------------------ | +| 0 (home/rally point) | Yes | +| 1 (mission landing) | Yes | +| 2 (mission path) | No | +| 3 (closest safe dest.) | Yes | +| 4 (mission path) | No | +| 5 (rally point only) | Yes | + +### Shortest-Path Calculation + +For the construction of the shortest path between the starting location and the destination, the autopilot uses the vertices of the geofence polygons as intermediate waypoints. +In order to avoid the path being too close to the polygon boundaries, the autopilot constructs a corresponding set of polygons, which are either enlarged (for exclusion zones) or shrunk (for inclusion zones). +The margin in both images below is 10m. +The figures below show an exclusion zone and an inclusion zone. + +![Exclusion Zone](../../assets/flight_modes/rtl_geofence_exclusion.jpg) + +![Inclusion Zone](../../assets/flight_modes/rtl_geofence_inclusion.jpg) + ## 목적지에 호버링/착륙 For most [return types](#return_types) a vehicle will ascend to a _minimum safe altitude_ before returning (unless already above that altitude), in order to avoid any obstacles between it and the destination. :::info -The exception is when executing a [mission path return](#mission-path-return-type-rtl-type-2) from _within a mission_. +The exception is when executing a [mission path return](#rtl_type_2) from _within a mission_. In this case the vehicle follows mission waypoints, which we assume are planned to avoid any obstacles. ::: @@ -206,7 +258,7 @@ A mission landing pattern is a landing pattern defined as part of a mission plan This 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_LAND](https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_LAND) (or [MAV_CMD_NAV_VTOL_LAND](https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_VTOL_LAND) for a VTOL Vehicle). Landing patterns defined in missions are the safest way to automatically land a _fixed-wing_ vehicle on PX4. -For this reason fixed-wing vehicles are configured to use [Mission landing/really point return](#mission-landing-rally-point-return-type-rtl-type-1) by default. +For this reason fixed-wing vehicles are configured to use [Mission landing/really point return](#rtl_type_1) by default. ## 매개변수 @@ -221,7 +273,6 @@ The RTL parameters are listed in [Parameter Reference > Return Mode](../advanced | [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) (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). | +| [MAN_OVERRIDE_SPD](../advanced_config/parameter_reference.md#MAN_OVERRIDE_SPD) | Speed (normalized stick travel per second) above which moving the sticks controlling a multicopter (or VTOL in hover) gives control back to the pilot by switching to [Position mode](../flight_modes_mc/position.md) (or Altitude mode if position is unavailable). At the default 1 a half-stick movement in ~0.5 s triggers it; lower is more sensitive. A stick held statically has zero speed and will not trigger. Set to -1 to disable. | | [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/return.md b/docs/ko/flight_modes_fw/return.md index 495bc79910..1fc9eb6052 100644 --- a/docs/ko/flight_modes_fw/return.md +++ b/docs/ko/flight_modes_fw/return.md @@ -4,10 +4,10 @@ The _Return_ flight mode is used to _fly a vehicle to safety_ on an unobstructed path to a safe destination, where it can land. -Fixed-wing vehicles use the [Mission Landing/Rally Point](../flight_modes/return.md#mission-landing-rally-point-return-type-rtl-type-1) return type by default, and are expected to always have a mission with a landing pattern. +Fixed-wing vehicles use the [Mission Landing/Rally Point](../flight_modes/return.md#rtl_type_1) return type by default, and are expected to always have a mission with a landing pattern. With this configuration, return mode causes the vehicle to ascend to a minimum safe altitude above obstructions (if needed), fly to the start of the landing pattern defined in the mission plan, and then follow it to land. -Fixed-wing supports the [other PX4 return types](../flight_modes/return.md#return-types-rtl-type), including home/rally point return, mission path and closest safe destination. +Fixed-wing supports the [other PX4 return types](../flight_modes/return.md#return_types), including home/rally point return, mission path and closest safe destination. The default type is recommended. ::: info @@ -33,7 +33,8 @@ Fixed-wing vehicles use the _mission landing/rally point_ return type by default - Ascends to a safe minimum return altitude defined by [RTL_RETURN_ALT](#RTL_RETURN_ALT) (safely above any expected obstacles). The vehicle maintains its initial altitude if that is higher than the minimum return altitude. Note that return altitude cannot be configured using the "cone" parameter in fixed-wing vehicles. -- Flies via direct constant-altitude path to the destination, which will be the closest of the start of a _mission landing pattern_ and any rally point, or the home location if no mission landing pattern or rally points are defined. +- Flies via a constant-altitude path to the destination, which will be the closest of the start of a _mission landing pattern_ and any rally point, or the home location if no mission landing pattern or rally points are defined. + The path is chosen to be the shortest horizontal [geofence-aware path](../flight_modes/return.md#geofence_awareness). - If the destination is a _mission landing pattern_ it will follow the pattern to land. - If the destination is a rally point or home it will descend to the descent altitude, and then loiter or land (depending on landing parameters). diff --git a/docs/ko/flight_modes_mc/hold.md b/docs/ko/flight_modes_mc/hold.md index 32438b4ebe..68280c3abb 100644 --- a/docs/ko/flight_modes_mc/hold.md +++ b/docs/ko/flight_modes_mc/hold.md @@ -18,7 +18,7 @@ It is usually activated with a pre-programmed switch. - Disarmed vehicles can switch to mode without valid position estimate but can't arm. - Mode requires wind and flight time are within allowed limits (specified via parameters). - 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 prevented by the active failsafe state. +- Stick movement will [by default](#MAN_OVERRIDE_SPD) change the vehicle to [Position mode](../flight_modes_mc/position.md) unless prevented by the active failsafe state. @@ -29,17 +29,17 @@ It is usually activated with a pre-programmed switch. 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)). +Stick movement will change the vehicle to [Position mode](../flight_modes_mc/position.md) (by [default](#MAN_OVERRIDE_SPD)). ### 매개변수 Hold mode behaviour can be configured using the parameters below. -| 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. | -| [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 | +| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | +| [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). | +| [MAN_OVERRIDE_SPD](../advanced_config/parameter_reference.md#MAN_OVERRIDE_SPD) | Speed (normalized stick travel per second) above which moving the sticks controlling a multicopter (or VTOL in hover) gives control back to the pilot by switching to [Position mode](../flight_modes_mc/position.md) (or Altitude mode if position is unavailable). At the default value of 1 a half-stick movement in ~0.5 s triggers it; lower is more sensitive. A stick held statically has zero speed and will not trigger. Set to -1 to disable. | +| [MPC_AUTO_NUDGING](../advanced_config/parameter_reference.md#MPC_AUTO_NUDGING) | Bitmask enabling stick nudging in Auto modes (multicopter). Bit 0 (yaw nudging) lets the yaw stick nudge heading in Hold, held when the stick is released; switching flight mode clears the held heading. Requires stick override to be disabled ([MAN_OVERRIDE_SPD](#MAN_OVERRIDE_SPD) = -1). | diff --git a/docs/ko/flight_modes_mc/land.md b/docs/ko/flight_modes_mc/land.md index 978c52811e..8f9062c166 100644 --- a/docs/ko/flight_modes_mc/land.md +++ b/docs/ko/flight_modes_mc/land.md @@ -13,7 +13,7 @@ The vehicle will disarm shortly after landing (by default). - Flying vehicles will failsafe if they lose the position estimate. - 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 prevented by the active failsafe state. +- Stick movement in a multicopter (or VTOL in hover) will [by default](#MAN_OVERRIDE_SPD) 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. @@ -25,18 +25,18 @@ The vehicle will disarm shortly after landing (by default). The vehicle will land at the location at which the mode was engaged. The vehicle descends at the rate specified in [MPC_LAND_SPEED](#MPC_LAND_SPEED) and will disarm after landing (by [default](#COM_DISARM_LAND)). -RC stick movement will change the vehicle to [Position mode](../flight_modes_mc/position.md) (by [default](#COM_RC_OVERRIDE)). +Stick movement will change the vehicle to [Position mode](../flight_modes_mc/position.md) (by [default](#MAN_OVERRIDE_SPD)). ### 매개변수 Land mode behaviour can be configured using the parameters below. -| 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. | -| [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. | -| [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 | +| ----------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| [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. | +| [MAN_OVERRIDE_SPD](../advanced_config/parameter_reference.md#MAN_OVERRIDE_SPD) | Speed (normalized stick travel per second) above which moving the sticks controlling a multicopter (or VTOL in hover) gives control back to the pilot by switching to [Position mode](../flight_modes_mc/position.md) (or Altitude mode if position is unavailable). At the default value of 1 a half-stick movement in ~0.5 s triggers it; lower is more sensitive. A stick held statically has zero speed and will not trigger. Set to -1 to disable. | +| [MPC_AUTO_NUDGING](../advanced_config/parameter_reference.md#MPC_AUTO_NUDGING) | Bitmask enabling stick nudging in Auto modes (multicopter). Bit 0 (yaw nudging) lets the yaw stick nudge heading during landing. Bit 1 (land nudging) additionally lets the pitch/roll sticks move the vehicle horizontally (within [MPC_LAND_RADIUS](#MPC_LAND_RADIUS)), the throttle stick amend the descent speed, and the yaw stick rotate the heading. Requires stick override to be disabled ([MAN_OVERRIDE_SPD](#MAN_OVERRIDE_SPD) = -1). | ## See Also diff --git a/docs/ko/flight_modes_mc/mission.md b/docs/ko/flight_modes_mc/mission.md index 77e146b1f1..3104fd2ad0 100644 --- a/docs/ko/flight_modes_mc/mission.md +++ b/docs/ko/flight_modes_mc/mission.md @@ -11,8 +11,9 @@ 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 prevented by the active failsafe state. - This is true for multicopters and VTOL in MC mode. +- Stick movement will [by default](#MAN_OVERRIDE_SPD) 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 hover. +- The yaw stick can optionally nudge vehicle heading during the mission without changing mode (see [MPC_AUTO_NUDGING](#MPC_AUTO_NUDGING)). ::: @@ -110,11 +111,11 @@ A very small subset are listed below. General parameters: -| 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. | -| [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 | +| ----------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | +| [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. | +| [MAN_OVERRIDE_SPD](../advanced_config/parameter_reference.md#MAN_OVERRIDE_SPD) | Speed (normalized stick travel per second) above which moving the sticks controlling a multicopter (or VTOL in hover) gives control back to the pilot by switching to [Position mode](../flight_modes_mc/position.md) (or Altitude mode if position is unavailable). At the default value of 1 a half-stick movement in ~0.5 s triggers it; lower is more sensitive. A stick held statically has zero speed and will not trigger. Set to -1 to disable. | +| [MPC_AUTO_NUDGING](../advanced_config/parameter_reference.md#MPC_AUTO_NUDGING) | Bitmask enabling stick nudging in Auto modes (multicopter). Bit 0 (yaw nudging) lets the yaw stick nudge heading without switching modes; the heading is held when the stick is released. Switching flight mode (e.g. to Hold and back) clears the held heading and returns yaw to the mode default. Requires stick override to be disabled ([MAN_OVERRIDE_SPD](#MAN_OVERRIDE_SPD) = -1). | Parameters related to [mission feasibility checks](#mission-feasibility-checks): diff --git a/docs/ko/flight_modes_mc/return.md b/docs/ko/flight_modes_mc/return.md index 7866dce27d..1539db7119 100644 --- a/docs/ko/flight_modes_mc/return.md +++ b/docs/ko/flight_modes_mc/return.md @@ -4,11 +4,11 @@ The _Return_ flight mode is used to _fly a vehicle to safety_ on an unobstructed path to a safe destination, where it can land. -Multicopters use a [home/rally point return type](../flight_modes/return.md#home-rally-point-return-type-rtl-type-0) by default. -In this return type vehicles ascend to a safe altitude above obstructions if needed, fly directly to the closest safe landing point (a rally point or the home position), descend to the "descent altitude", wait briefly, and then land. +Multicopters use a [home/rally point return type](../flight_modes/return.md#home_return) by default. +In this return type vehicles ascend to a safe altitude above obstructions if needed, fly to the closest safe landing point (a rally point or the home position) via the shortest horizontal [geofence-aware path](../flight_modes/return.md#geofence_awareness), descend to the "descent altitude", wait briefly, and then land. The return altitude, descent altitude, and landing delay are normally set to conservative "safe" values, but can be changed if needed. -Multicopter supports the [other PX4 return types](../flight_modes/return.md#return-types-rtl-type), including mission landing, mission path and closest safe destination. +Multicopter supports the [other PX4 return types](../flight_modes/return.md#return_types), including mission landing, mission path and closest safe destination. The default type is recommended. ::: info @@ -20,7 +20,7 @@ The default type is recommended. - Mode requires home position is set. - 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 prevented by the active failsafe state. +- Stick movement will [by default](#MAN_OVERRIDE_SPD) change the vehicle to [Position mode](../flight_modes_mc/position.md) unless prevented by the active failsafe state. @@ -28,12 +28,13 @@ 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 ([RTL_TYPE=0](../advanced_config/parameter_reference.md#RTL_TYPE)). +Multicopters use the [home/rally point return type](../flight_modes/return.md#home_return) 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). The vehicle maintains its initial altitude if that is higher than the minimum return altitude. -- Flies via a direct constant-altitude path to the safe landing point, which will be the nearest of any rally points and the home position. +- Flies via a constant-altitude path to the safe landing point, which will be the nearest of any rally points and the home position. + The path is chosen to be the shortest horizontal [geofence-aware path](../flight_modes/return.md#geofence_awareness). - On arrival at its destination, it rapidly descends to the "descent altitude" ([RTL_DESCEND_ALT](#RTL_DESCEND_ALT)). - It waits for a configurable time ([RTL_LAND_DELAY](#RTL_LAND_DELAY)), which may be used for deploying landing gear. - Then lands. @@ -52,7 +53,7 @@ The cone affects the minimum return altitude if return mode is triggered within 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) +For more information on this return type see [Home/Rally Point Return Type (RTL_TYPE=0)](../flight_modes/return.md#home_return) ## 매개변수 @@ -60,15 +61,14 @@ 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. -| 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). | +| 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. | +| [MAN_OVERRIDE_SPD](../advanced_config/parameter_reference.md#MAN_OVERRIDE_SPD) | Speed (normalized stick travel per second) above which moving the sticks controlling a multicopter (or VTOL in hover) gives control back to the pilot by switching to [Position mode](../flight_modes_mc/position.md) (or Altitude mode if position is unavailable). At the default value of 1 a half-stick movement in ~0.5 s triggers it; lower is more sensitive. A stick held statically has zero speed and will not trigger. Set to -1 to disable. | ## See Also diff --git a/docs/ko/flight_modes_mc/takeoff.md b/docs/ko/flight_modes_mc/takeoff.md index 28f74d393f..a791949397 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 prevented by the active failsafe state. +- Stick movement will [by default](#MAN_OVERRIDE_SPD) 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. @@ -23,18 +23,33 @@ The _Takeoff_ flight mode causes the vehicle to take off to a specified height a A multi rotor ascends vertically to the altitude defined in [MIS_TAKEOFF_ALT](../advanced_config/parameter_reference.md#MIS_TAKEOFF_ALT) and holds position. -RC stick movement will change the vehicle to [Position mode](../flight_modes_mc/position.md) (by [default](#COM_RC_OVERRIDE)). +Stick movement will change the vehicle to [Position mode](../flight_modes_mc/position.md) (by [default](#MAN_OVERRIDE_SPD)). ### 매개변수 Takeoff is affected by the following parameters: -| 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) | -| [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. | -| [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 | +| ----------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | +| [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) | +| [MAN_OVERRIDE_SPD](../advanced_config/parameter_reference.md#MAN_OVERRIDE_SPD) | Speed (normalized stick travel per second) above which moving the sticks controlling a multicopter (or VTOL in hover) gives control back to the pilot by switching to [Position mode](../flight_modes_mc/position.md) (or Altitude mode if position is unavailable). At the default value of 1 a half-stick movement in ~0.5 s triggers it; lower is more sensitive. A stick held statically has zero speed and will not trigger. Set to -1 to disable. | + +## Takeoff From a Moving Platform (Boat Deck) + +Automatic takeoff from a moving platform, such as a boat deck, is supported. The multicopter climbs and holds the point where it left the deck, rather than following the boat. + +:::warning +Given that the vehicle holds the point where it left the deck and does not travel along with the boat, always take off from the **back (stern) of the boat**, with clear open space behind it. +Taking off from the bow or the middle of the boat can leave it behind across the deck and into masts, antennas, superstructure, or crew. +::: + +:::info +Takeoff from a moving platform is only supported in [Takeoff mode](#technical-summary) (or the equivalent coordinate-less takeoff commanded from a ground station), not as part of a [Mission](../flight_modes_mc/mission.md). +To run a mission from a boat, take off first in Takeoff mode and then start the mission once the vehicle is airborne. +::: + +The moving-platform case can be exercised in simulation with the Gazebo [Moving Platform world](../sim_gazebo_gz/worlds.md#moving-platform). ## See Also diff --git a/docs/ko/flight_modes_vtol/return.md b/docs/ko/flight_modes_vtol/return.md index cfaf1feed6..ca9c5f88eb 100644 --- a/docs/ko/flight_modes_vtol/return.md +++ b/docs/ko/flight_modes_vtol/return.md @@ -4,7 +4,7 @@ The _Return_ flight mode is used to _fly a vehicle to safety_ on an unobstructed path to a safe destination, where it may either wait (hover or circle) or land. -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. +VTOL vehicles use the [Mission Landing/Rally Point](../flight_modes/return.md#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 to that destination and land. @@ -12,7 +12,7 @@ If the destination is a rally point or the home location, the vehicle will fly t 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. -VTOL supports the [other PX4 return types](../flight_modes/return.md#return-types-rtl-type), including home/rally point return, mission path and closest safe destination. +VTOL supports the [other PX4 return types](../flight_modes/return.md#return_types), including home/rally point return, mission path and closest safe destination. The default type is recommended. ::: info @@ -32,7 +32,7 @@ The default type is recommended. ## Technical Summary -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, and return using the flying mode (MC or FW) it was using at the point when return mode was triggered. +VTOL vehicles use the [Mission Landing/Rally Point](../flight_modes/return.md#rtl_type_1) return type by default, and return using the flying mode (MC or FW) it was using at the point when return mode was triggered. ### Fixed-wing Mode (FW) Return @@ -42,7 +42,8 @@ If returning as a fixed-wing, the vehicle: The vehicle maintains its initial altitude if that is higher than the minimum return altitude. -- Flies via direct constant-altitude path to the destination, which will be the closest of the start of a _mission landing pattern_ and any rally point, or the home location if no mission landing pattern or rally points are defined. +- Flies via a constant-altitude path to the destination, which will be the closest of the start of a _mission landing pattern_ and any rally point, or the home location if no mission landing pattern or rally points are defined. + The path is chosen to be the shortest horizontal [geofence-aware path](../flight_modes/return.md#geofence_awareness). - 목적지가 임무 착륙 패턴인 경우 패턴을 따라 착륙합니다. diff --git a/docs/ko/frames_autogyro/index.md b/docs/ko/frames_autogyro/index.md index 7672b1177f..6b7f575b71 100644 --- a/docs/ko/frames_autogyro/index.md +++ b/docs/ko/frames_autogyro/index.md @@ -34,5 +34,5 @@ The set of supported configurations can be seen in [Airframes Reference > Autogy This section lists vehicles that are sold fully assembled and ready to fly (RTF), with PX4 installed. -- [ThunderFly TF-G2](https://docs.thunderfly.cz/instruments/TF-G2) - Unmanned Autogyro Development Kit -- [ThunderFly TF-G250](https://docs.thunderfly.cz/instruments/TF-G250) - Atmospheric Sounding Aerological Autogyro +- [ThunderFly TF-G2](https://docs.thunderfly.cz/instruments/TF-G2/) - Unmanned Autogyro Development Kit +- [ThunderFly TF-G250](https://docs.thunderfly.cz/instruments/TF-G250/) - Atmospheric Sounding Aerological Autogyro diff --git a/docs/ko/frames_autogyro/thunderfly_auto_g2.md b/docs/ko/frames_autogyro/thunderfly_auto_g2.md index a8b3caa6dd..661808fd11 100644 --- a/docs/ko/frames_autogyro/thunderfly_auto_g2.md +++ b/docs/ko/frames_autogyro/thunderfly_auto_g2.md @@ -6,7 +6,7 @@ Durafly™ Auto-G2 Gyrocopter RC model, with several parts of the original model ![Auto-G2](../../assets/airframes/autogyro/auto-g2/autog2_title.jpg) :::info -Auto-G2 autogyro’s airframe was originally developed by [ThunderFly](https://www.thunderfly.cz/) and has since evolved into the updated [TF-G2 platform](https://docs.thunderfly.cz/instruments/TF-G2). +Auto-G2 autogyro’s airframe was originally developed by [ThunderFly](https://www.thunderfly.cz/) and has since evolved into the updated [TF-G2 platform](https://docs.thunderfly.cz/instruments/TF-G2/). Check out our site for more information on the current [TF-G2 commercial airframe](https://www.thunderfly.cz/tf-g2.html). ::: @@ -30,7 +30,7 @@ Durafly 모델의 수정 내역은 아래와 같습니다. ### 오토파일럿 수정된 모델의 항공기의 중량은 매우 무겁습니다. -Therefore a low-weight flight controller is recommended (e.g. [Holybro pix32](../flight_controller/holybro_pix32.md) or [CUAV nano](../flight_controller/cuav_v5_nano.md)). +Therefore a low-weight flight controller is recommended. The autopilot should be mounted on the bottom side of the autogyro on a 3D-printed damping pad. We have used the damping platform found on [thingiverse](https://www.thingiverse.com/thing:160655) @@ -104,7 +104,7 @@ It is a small box equipped with a servo that pulls out the pin and releases the ### 전자 부품 -- Autopilot ([Holybro pix32](../flight_controller/holybro_pix32.md), [CUAV nano](../flight_controller/cuav_v5_nano.md)) +- Autopilot ([Holybro pix32](../flight_controller/holybro_pix32.md), _CUAV nano_ (discontinued) - GPS (GPS Module NEO-6M, with patch antenna) - Airspeed sensor ([SDP3x series](https://sensirion.com/products/catalog?categories=differential-pressure&series=SDP3x&page=1&page_size=12)) - Stronger servos as a substitution for the original ones (optional), ([BlueBird BMS-125WV](https://www.blue-bird-model.com/products_detail/411.htm)) diff --git a/docs/ko/frames_multicopter/dji_f450_cuav_5nano.md b/docs/ko/frames_multicopter/dji_f450_cuav_5nano.md index 90dc8ffb8c..1ec49351ca 100644 --- a/docs/ko/frames_multicopter/dji_f450_cuav_5nano.md +++ b/docs/ko/frames_multicopter/dji_f450_cuav_5nano.md @@ -14,7 +14,7 @@ This topic provides full instructions for building the kit and configuring PX4 u 조립에 필요한 부품들입니다. -- Flight controller: [CUAV V5 nano](https://store.cuav.net/shop/v5-nano/): +- Flight controller: [CUAV V5 nano](../flight_controller/cuav_v5_nano.md) (Discontinued): - GPS: [CUAV NEO V2 GPS](https://store.cuav.net/?id_product=97&id_product_attribute=0&rewrite=cuav-new-ublox-neo-m8n-gps-module-with-shell-stand-holder-for-flight-controller-gps-compass-for-pixhack-v5-plus-rc-parts-px4&controller=product&id_lang=1) - 전원 모듈 - Frame: [DJI F450](https://www.amazon.com/Flame-Wheel-Basic-Quadcopter-Drone/dp/B00HNMVQHY) diff --git a/docs/ko/frames_multicopter/dji_f450_cuav_5plus.md b/docs/ko/frames_multicopter/dji_f450_cuav_5plus.md index d96964b607..db8e584d3c 100644 --- a/docs/ko/frames_multicopter/dji_f450_cuav_5plus.md +++ b/docs/ko/frames_multicopter/dji_f450_cuav_5plus.md @@ -5,7 +5,7 @@ This topic provides full instructions for building the kit and configuring PX4 u 주요 정보 - **Frame:** DJI F450 -- **Flight controller:** [CUAV V5+](../flight_controller/cuav_v5_plus.md) +- **Flight controller:** [CUAV V5+](../flight_controller/cuav_v5_plus.md) (Discontinued) - **Assembly time (approx.):** 90 minutes (45 minutes for frame, 45 minutes autopilot installation/configuration) ![Finished setup 1](../../assets/airframes/multicopter/dji_f450_cuav_5plus/f450_cuav5_plus_complete.png) @@ -14,7 +14,7 @@ This topic provides full instructions for building the kit and configuring PX4 u 조립에 필요한 부품들입니다. -- Flight controller: [CUAV V5+](https://store.cuav.net/uav-flight-controller/): +- Flight controller: _CUAV V5+_ (Discontinued): - GPS: CUAV NEO V2 GPS (Discontined) - 전원 모듈 - Frame: [DJI F450](https://www.amazon.com/Flame-Wheel-Basic-Quadcopter-Drone/dp/B00HNMVQHY) diff --git a/docs/ko/frames_multicopter/kits.md b/docs/ko/frames_multicopter/kits.md index 1f2263854a..ff5b4a0fac 100644 --- a/docs/ko/frames_multicopter/kits.md +++ b/docs/ko/frames_multicopter/kits.md @@ -14,12 +14,16 @@ Kits generally do not include: ::: +:::tip +Kits certified by the PX4 team are listed in [PX4 Developer Kits](../dev_kits/index.md). +::: + ## Kits The following kits are currently available: +- [Holybro X500 v2 PX4 Development Kit](https://holybro.com/collections/x500-kits) (Pixhawk 6c) ([Build instructions](../frames_multicopter/holybro_x500v2_pixhawk6c.md)) - [Official PX4 Developer Kit](../dev_kits/index.md) - [Holybro X650 PX4 Development Kit](https://holybro.com/collections/x650-kits) (Pixhawk 6C/6X) ([Frame assembly guide](https://docs.holybro.com/drone-development-kit/x650-development-kit/download)) -- [Holybro X500 v2 PX4 Development Kit](https://holybro.com/collections/x500-kits) (Pixhawk 6c) ([Build instructions](../frames_multicopter/holybro_x500v2_pixhawk6c.md)) - [Holybro S500 Kit v2](https://holybro.com/collections/s500/products/s500-v2-development-kit) (Pixhawk 6c) - [Holybro QAV250 Kit](https://holybro.com/products/qav250-kit) (Pixhawk 6c) - [NXP HoverGames KIT-HGDRONEK66](https://www.nxp.com/KIT-HGDRONEK66) ([hovergames.com](https://www.hovergames.com/)) diff --git a/docs/ko/frames_multicopter/omnicopter.md b/docs/ko/frames_multicopter/omnicopter.md index bf895481e3..e25162f5a3 100644 --- a/docs/ko/frames_multicopter/omnicopter.md +++ b/docs/ko/frames_multicopter/omnicopter.md @@ -34,8 +34,8 @@ This build follows the original design from [Brescianini, Dario, and Raffaello D - Battery: we used a 6S 3300mAh LiPo. Make sure to check the dimensions so it fits the frame. - Battery strap - Frame: - - Carbon square tube R 8mm X 7mm X 1000mm, e.g. [here on shop.swiss-composite.ch](https://www.shop.swiss-composite.ch/de/produkt/cfk-vierkantrohr-8x8-7x7mm) - - Carbon Rods R 3mm X 2mm X 1000mm, e.g. [here on shop.swiss-composite.ch](https://www.shop.swiss-composite.ch/de/produkt/carbon-microtubes-100cm-x-20-3mm) + - Carbon square tube R 8mm X 7mm X 1000mm, e.g. [here on shop.swiss-composite.ch](https://shop.swiss-composite.ch/de/produkt/cfk-vierkantrohr-8x8-7x7mm) + - Carbon Rods R 3mm X 2mm X 1000mm, e.g. [here on shop.swiss-composite.ch](https://shop.swiss-composite.ch/de/produkt/carbon-microtubes-100cm-x-20-3mm) - Required lengths: - square tube: 8 pieces with length of 248mm - rods: 12x328mm, 6x465mm diff --git a/docs/ko/frames_plane/wing_wing_z84.md b/docs/ko/frames_plane/wing_wing_z84.md index 89d7ebc43d..59ad07b255 100644 --- a/docs/ko/frames_plane/wing_wing_z84.md +++ b/docs/ko/frames_plane/wing_wing_z84.md @@ -14,7 +14,7 @@ It is small, rugged and just large enough to host a [Pixracer](../flight_control ### Z-84 Plug n' Fly (PNF/PNP) 또는 키트 -- [Banggood](https://www.banggood.com/Wing-Wing-Z-84-Z84-EPO-845mm-Wingspan-Flying-Wing-PNP-p-973125.html) +- [Banggood](https://www.banggood.com/Zeta-Wing-Wing-Z-84-Z84-EPO-845mm-Wingspan-Flying-Wing-PNP-p-973125.html?akmClientCountry=America&) :::tip PNF (or "PNP") versions include motor, propeller and electronic speed controller. diff --git a/docs/ko/frames_vtol/tailsitter.md b/docs/ko/frames_vtol/tailsitter.md index b363259e08..91e4a526b5 100644 --- a/docs/ko/frames_vtol/tailsitter.md +++ b/docs/ko/frames_vtol/tailsitter.md @@ -92,7 +92,7 @@ This section contains videos that are specific to Tailsitter VTOL (videos that a :::: tabs :::tab WingtraOne -[WingtraOne](https://wingtra.com/mapping-drone-fast-accurate-surveying/) +[WingtraOne](https://wingtra.com/wingtraone-gen-ii-drone/) ![Wingtra: WingtraOne VTOL Duo Tailsitter](../../assets/airframes/vtol/wingtraone/hero.jpg) ::: diff --git a/docs/ko/frames_vtol/vtol_quadplane_foxtech_loong_2160.md b/docs/ko/frames_vtol/vtol_quadplane_foxtech_loong_2160.md index 09bc8736e7..1fa64dc350 100644 --- a/docs/ko/frames_vtol/vtol_quadplane_foxtech_loong_2160.md +++ b/docs/ko/frames_vtol/vtol_quadplane_foxtech_loong_2160.md @@ -50,7 +50,7 @@ The following options have been tested: - [Radio (RC) System](../getting_started/rc_transmitter_receiver.md) of your preference - [Groundstation and Radio link](https://holybro.com/products/skydroid-h12) - [USB-C extension cable](https://www.digitec.ch/en/s1/product/powerguard-usb-c-usb-c-025-m-usb-cables-22529949?dbq=1&gclid=Cj0KCQjw2cWgBhDYARIsALggUhrh-z-7DSU0wKfLBVa8filkXLQaxUpi7pC0ffQyRzLng8Ph01h2R1gaAp0mEALw_wcB&gclsrc=aw.ds) -- [I2C Splitter](https://www.3dxr.co.uk/autopilots-c2/the-cube-aka-pixhawk-2-1-c9/cube-cables-accessories-sensors-c15/cubepilot-i2c-can-splitter-jst-gh-4pin-hx4-06152-p2840) +- [I2C Splitter](https://www.3dxr.co.uk/products/cubepilot-i2c-can-splitter-jst-gh-4pin-hx4-06152) - [3D-Printed mounts](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/airframes/vtol/foxtech_loong_2160/loong-3d-prints.zip) - 1x Baseplate - 1x Stack-fixture diff --git a/docs/ko/frames_vtol/vtol_tailsitter_caipiroshka_pixracer.md b/docs/ko/frames_vtol/vtol_tailsitter_caipiroshka_pixracer.md index 6580d0bba2..603e5297a9 100644 --- a/docs/ko/frames_vtol/vtol_tailsitter_caipiroshka_pixracer.md +++ b/docs/ko/frames_vtol/vtol_tailsitter_caipiroshka_pixracer.md @@ -14,8 +14,8 @@ These instructions _should_ work with the updated vehicle: [TBS Caipirinha 2](ht - TBS Caipirinha Wing (no longer available - try [TBS Caipirinha 2](https://www.team-blacksheep.com/products/prod:tbs_caipi2_pnp)) - Left and right 3D-printed motor mount (design files) -- CW 8045 propeller ([Eflight store](https://www.banggood.com/GEMFAN-Carbon-Nylon-8045-CWCCW-Propeller-For-Quadcopters-1-Pair-p-950874.html)) -- CCW 8045 propeller ([Eflight store](https://www.banggood.com/GEMFAN-Carbon-Nylon-8045-CWCCW-Propeller-For-Quadcopters-1-Pair-p-950874.html)) +- CW 8045 propeller ([Eflight store](https://www.banggood.com/GEMFAN-Carbon-Nylon-8045-8x4_5-8-Inch-Propeller-for-Quacopters-p-950874.html?akmClientCountry=America&)) +- CCW 8045 propeller ([Eflight store](https://www.banggood.com/GEMFAN-Carbon-Nylon-8045-8x4_5-8-Inch-Propeller-for-Quacopters-p-950874.html?akmClientCountry=America&)) - 2x 1800 kV 120-180W 모터 - [ePower 2208](https://www.galaxus.ch/en/s5/product/epower-22081400-fuer-2-3-lipo-imax-rc-motors-8355913) - [Armattan 2208 1800kV Multirotor Motor](https://www.amazon.com/Armattan-2208-1800kV-Multirotor-Motor/dp/B00UWLW0C8) diff --git a/docs/ko/getting_started/flight_reporting.md b/docs/ko/getting_started/flight_reporting.md index 02cffd153f..3269f3de04 100644 --- a/docs/ko/getting_started/flight_reporting.md +++ b/docs/ko/getting_started/flight_reporting.md @@ -33,7 +33,7 @@ For more information see: [Flight Analysis](../dev_log/flight_log_analysis.md). :::tip If you have a constant high-rate MAVLink connection to the vehicle (not just a telemetry link) then you can use _QGroundControl_ to automatically upload logs directly to _Flight Review_. -For more information see [Settings > MAVLink Settings > MAVLink 2 Logging (PX4 only)](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/settings_view/mavlink.html#logging). +For more information see [Settings > MAVLink Settings > MAVLink 2 Logging (PX4 only)](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/settings_view/px4_log_transfer.html). ::: ## PX4 개발자가 검토할 로그 파일 공유 diff --git a/docs/ko/gps_compass/rtk_gps_holybro_unicore_um982.md b/docs/ko/gps_compass/rtk_gps_holybro_unicore_um982.md index af8d6e1264..90d8f04776 100644 --- a/docs/ko/gps_compass/rtk_gps_holybro_unicore_um982.md +++ b/docs/ko/gps_compass/rtk_gps_holybro_unicore_um982.md @@ -4,7 +4,7 @@ The [Holybro H-RTK Unicore UM982 GPS](https://holybro.com/products/h-rtk-unicore ![HB-pmw3901-1](../../assets/hardware/gps/holybro-unicore-um982/holybro-unicore-um982-1.jpg) -This module is based on the [Unicore UM982 Chip](https://en.unicore.com/products/dual-antenna-gnss-um982/), which supports RTK positioning and dual-antenna heading calculation. +This module is based on the [Unicore UM982 Chip](https://en.unicore.com/products/um982/), which supports RTK positioning and dual-antenna heading calculation. This means that it can generate a moving baseline headline/yaw determinations for autopilots with just one GPS module and dual antennas - a magnetometer is not needed. Unlike when using a module such as the U-blox F9P, where you would need [two U-blox F9P modules to compute a heading angle](../gps_compass/u-blox_f9p_heading.md), with the Unicore UM982 GPS, you only need one GPS module! diff --git a/docs/ko/hardware/board_support_guide.md b/docs/ko/hardware/board_support_guide.md index da016e0f81..3334b7adf5 100644 --- a/docs/ko/hardware/board_support_guide.md +++ b/docs/ko/hardware/board_support_guide.md @@ -197,7 +197,7 @@ For that reason: 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/). +- Ask the community on the PX4 [Discord](https://discord.com/invite/dronecode) 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/). diff --git a/docs/ko/hardware/dev_kit_program.md b/docs/ko/hardware/dev_kit_program.md new file mode 100644 index 0000000000..9fd9d13635 --- /dev/null +++ b/docs/ko/hardware/dev_kit_program.md @@ -0,0 +1,65 @@ +# Official PX4 Developer Kit Program + +This topic explains how manufacturers can get a drone kit certified as an _Official PX4 Developer Kit_. + +The PX4 community is growing quickly, and developers are frequently blocked on getting the right hardware into their hands. +Too many options and configuration permutations also make it hard for maintainers to support the community well. +Official PX4 Developer Kits solve this by establishing a foundational hardware reference for the ecosystem: kits that meet a defined standard for the bare-minimum components a PX4 developer needs to create modern applications, backed by the trust of the PX4 name. + +In return, Dronecode puts its official weight behind qualifying products (see [What you get](#what-you-get) below). + +Currently certified kits are listed in [PX4 Developer Kits](../dev_kits/index.md). + +## Requirements + +A kit qualifies when it meets all five requirements: + +1. A flight controller meeting the latest [Pixhawk standard](https://pixhawk.org/standards/), or matching its capabilities +2. The latest stable PX4 release, pre-installed +3. Pre-assembled, or assembly that requires no technical skill (no soldering) +4. A guide, a focused tutorial, and a reference sheet included with the kit +5. Third-party build quality verification + +The reference sheet must ship printed, in the box: pinouts, connectors, and specs at a glance, with no screen required ([example: ModalAI VOXL 2 reference sheet](https://docs.modalai.com/voxl2-d0014)). +The guide and tutorial may ship as QR-code links. + +## What Qualifying Looks Like in Practice + +The experience your kit must deliver: + +- **Rapid start:** No technical skill needed to get flying. Minimal or zero assembly, software pre-installed, documentation included. +- **Room to extend:** Ample headroom for performant code. The latest components, or space to expand. +- **Current hardware:** Latest-generation drone hardware, matching the newest Pixhawk standard or its capabilities. +- **A modern companion computer:** Able to offload compute from the flight controller MCU. +- **Everything included:** Bundled with the open source software and tools developers expect. +- **Quality assurance:** An available support channel or forum. + +### Where to Focus: the Companion Computer + +The biggest differentiator for a kit is the companion computer and the tools developers can leverage on it: + +- **MAVLink:** A solid interface that can feed multiple targets, using [MAVSDK](https://mavsdk.mavlink.io/), mission planning tools, or MAVROS. +- **DDS & ROS 2:** Leverage the [uXRCE-DDS](../middleware/uxrce_dds.md) integration and expose the interface directly to the companion computer over a high-bandwidth link. +- **Easy app deployment:** Tools that help developers continuously test applications across the whole development lifecycle. +- **LTE / WiFi:** A competent network stack that reaches the cloud securely and efficiently. +- **Great documentation:** Publicly accessible docs, with ways to contribute back for continuous improvement. + +## What You Get {#what-you-get} + +Kits accepted into the program receive: + +- **Official endorsement:** The _Official PX4 Developer Kit_ designation, on your product and your marketing. +- **PX4 website listing:** A listing on the PX4 website and in this documentation, for standing presence in front of the entire community. +- **Official promotion:** A promotional announcement from official Dronecode accounts on social media. + +## Eligibility + +The program is open exclusively to [Dronecode Foundation](https://dronecode.org/) members. +Active membership is required for the endorsement, the website listing, and the promotion. + +To apply, or to discuss membership as a first step, [contact Dronecode](https://dronecode.org/contact/). + +## See Also + +- [PX4 Developer Kits](../dev_kits/index.md) +- [Manufacturer's Board Support Guide](../hardware/board_support_guide.md) diff --git a/docs/ko/hardware/index.md b/docs/ko/hardware/index.md index a80bbbc4ec..eef3aed6ca 100644 --- a/docs/ko/hardware/index.md +++ b/docs/ko/hardware/index.md @@ -3,7 +3,7 @@ This section contains topics about integrating PX4 with _new_ autopilot and peripheral hardware, including: - [Flight Controller Reference Design](../hardware/reference_design.md) -- [Manufacturer’s Board Support Guide](../hardware/board_support_guide.md) +- [Manufacturers](../hardware/manufacturers.md) - board support guide and developer kit program - [Flight Controller Porting Guide](../hardware/porting_guide.md) - [Serial Port Mapping](../hardware/serial_port_mapping.md) - [Airframes](../dev_airframes/index.md) diff --git a/docs/ko/hardware/manufacturers.md b/docs/ko/hardware/manufacturers.md new file mode 100644 index 0000000000..ee12fcb8b7 --- /dev/null +++ b/docs/ko/hardware/manufacturers.md @@ -0,0 +1,13 @@ +# Manufacturers + +This section contains information for manufacturers building hardware products for the PX4 ecosystem: + +- [Manufacturer's Board Support Guide](../hardware/board_support_guide.md) - How to create and maintain PX4-compatible flight controllers, including branding, licensing, and support expectations. +- [Official PX4 Developer Kit Program](../hardware/dev_kit_program.md) - How to get a drone kit certified as an _Official PX4 Developer Kit_. + +Related topics: + +- [Flight Controller Reference Design](../hardware/reference_design.md) +- [Flight Controller Porting Guide](../hardware/porting_guide.md) +- [Pixhawk Standards](https://pixhawk.org/standards/) +- [Dronecode Foundation](https://dronecode.org/) (membership, trademarks, working groups) diff --git a/docs/ko/index.md b/docs/ko/index.md index da08f100bd..447b9e5979 100644 --- a/docs/ko/index.md +++ b/docs/ko/index.md @@ -33,6 +33,10 @@ Want to modify PX4 or build from source? Start with the [Development Guide](deve Start with [Basic Concepts](getting_started/px4_basic_concepts.md) for an overview of the flight stack, flight modes, safety features, and supported hardware. +## Developer Kits + +The fastest way to get flying hardware for PX4 development. [Official PX4 Developer Kits](dev_kits/index.md) ship with the latest stable PX4 pre-installed on current Pixhawk-standard hardware, need no build skills, and are certified by the PX4 team. + ## Build a Vehicle Pick your frame type: [Multicopter](frames_multicopter/index.md), [Fixed-Wing](frames_plane/index.md), [VTOL](frames_vtol/index.md), [Helicopter](frames_helicopter/index.md), or [Rover](frames_rover/index.md). Each section covers complete vehicles, kits, and DIY builds. For assembly instructions see [Assembling a Multicopter](assembly/assembly_mc.md) or the equivalent for your frame. @@ -92,7 +96,7 @@ The calendar default timezone is Central European Time (CET). _placeholder_ icon made by Smashicons from www.flaticon.com is licensed by CC 3.0 BY. - _camera-automatic-mode_ icon made by Freepik from www.flaticon.com is licensed by CC 3.0 BY. + _camera-automatic-mode_ icon made by Magnific (formerly Freepik) from www.flaticon.com is licensed by CC 3.0 BY. ## 운영 방법 diff --git a/docs/ko/middleware/dds_topics.md b/docs/ko/middleware/dds_topics.md index 585aa3ccbc..654b1fc6c1 100644 --- a/docs/ko/middleware/dds_topics.md +++ b/docs/ko/middleware/dds_topics.md @@ -12,75 +12,79 @@ This document shows a markdown-rendered version of [dds_topics.yaml](https://git | Topic | 형식 | Rate Limit | | ---------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------- | -| `/fmu/out/register_ext_component_reply` | [px4_msgs::msg::RegisterExtComponentReply](../msg_docs/RegisterExtComponentReply.md) | | -| `/fmu/out/arming_check_request` | [px4_msgs::msg::ArmingCheckRequest](../msg_docs/ArmingCheckRequest.md) | 5.0 | -| `/fmu/out/mode_completed` | [px4_msgs::msg::ModeCompleted](../msg_docs/ModeCompleted.md) | 50.0 | +| `/fmu/out/airspeed_validated` | [px4_msgs::msg::AirspeedValidated](../msg_docs/AirspeedValidated.md) | 50.0 | +| `/fmu/out/arming_check_request` | [px4_msgs::msg::ArmingCheckRequest](../msg_docs/ArmingCheckRequest.md) | | | `/fmu/out/battery_status` | [px4_msgs::msg::BatteryStatus](../msg_docs/BatteryStatus.md) | 1.0 | | `/fmu/out/collision_constraints` | [px4_msgs::msg::CollisionConstraints](../msg_docs/CollisionConstraints.md) | 50.0 | +| `/fmu/out/config_overrides_confirm` | [px4_msgs::msg::ConfigOverrides](../msg_docs/ConfigOverrides.md) | | | `/fmu/out/estimator_status_flags` | [px4_msgs::msg::EstimatorStatusFlags](../msg_docs/EstimatorStatusFlags.md) | 5.0 | | `/fmu/out/failsafe_flags` | [px4_msgs::msg::FailsafeFlags](../msg_docs/FailsafeFlags.md) | 5.0 | +| `/fmu/out/gimbal_device_attitude_status` | [px4_msgs::msg::GimbalDeviceAttitudeStatus](../msg_docs/GimbalDeviceAttitudeStatus.md) | 20.0 | +| `/fmu/out/home_position` | [px4_msgs::msg::HomePosition](../msg_docs/HomePosition.md) | 5.0 | +| `/fmu/out/input_rc` | [px4_msgs::msg::InputRc](../msg_docs/InputRc.md) | 10.0 | | `/fmu/out/manual_control_setpoint` | [px4_msgs::msg::ManualControlSetpoint](../msg_docs/ManualControlSetpoint.md) | 25.0 | | `/fmu/out/message_format_response` | [px4_msgs::msg::MessageFormatResponse](../msg_docs/MessageFormatResponse.md) | | +| `/fmu/out/mode_completed` | [px4_msgs::msg::ModeCompleted](../msg_docs/ModeCompleted.md) | 50.0 | | `/fmu/out/position_setpoint_triplet` | [px4_msgs::msg::PositionSetpointTriplet](../msg_docs/PositionSetpointTriplet.md) | 5.0 | +| `/fmu/out/register_ext_component_reply` | [px4_msgs::msg::RegisterExtComponentReply](../msg_docs/RegisterExtComponentReply.md) | | | `/fmu/out/sensor_combined` | [px4_msgs::msg::SensorCombined](../msg_docs/SensorCombined.md) | | +| `/fmu/out/setpoint_config_reply` | [px4_msgs::msg::SetpointConfigReply](../msg_docs/SetpointConfigReply.md) | | | `/fmu/out/timesync_status` | [px4_msgs::msg::TimesyncStatus](../msg_docs/TimesyncStatus.md) | 10.0 | | `/fmu/out/transponder_report` | [px4_msgs::msg::TransponderReport](../msg_docs/TransponderReport.md) | | -| `/fmu/out/vehicle_land_detected` | [px4_msgs::msg::VehicleLandDetected](../msg_docs/VehicleLandDetected.md) | 5.0 | | `/fmu/out/vehicle_attitude` | [px4_msgs::msg::VehicleAttitude](../msg_docs/VehicleAttitude.md) | 50.0 | -| `/fmu/out/vehicle_control_mode` | [px4_msgs::msg::VehicleControlMode](../msg_docs/VehicleControlMode.md) | 50.0 | | `/fmu/out/vehicle_command_ack` | [px4_msgs::msg::VehicleCommandAck](../msg_docs/VehicleCommandAck.md) | | +| `/fmu/out/vehicle_control_mode` | [px4_msgs::msg::VehicleControlMode](../msg_docs/VehicleControlMode.md) | 50.0 | | `/fmu/out/vehicle_global_position` | [px4_msgs::msg::VehicleGlobalPosition](../msg_docs/VehicleGlobalPosition.md) | 50.0 | | `/fmu/out/vehicle_gps_position` | [px4_msgs::msg::SensorGps](../msg_docs/SensorGps.md) | 50.0 | +| `/fmu/out/vehicle_land_detected` | [px4_msgs::msg::VehicleLandDetected](../msg_docs/VehicleLandDetected.md) | 5.0 | | `/fmu/out/vehicle_local_position` | [px4_msgs::msg::VehicleLocalPosition](../msg_docs/VehicleLocalPosition.md) | 50.0 | | `/fmu/out/vehicle_odometry` | [px4_msgs::msg::VehicleOdometry](../msg_docs/VehicleOdometry.md) | 100.0 | | `/fmu/out/vehicle_status` | [px4_msgs::msg::VehicleStatus](../msg_docs/VehicleStatus.md) | 5.0 | -| `/fmu/out/airspeed_validated` | [px4_msgs::msg::AirspeedValidated](../msg_docs/AirspeedValidated.md) | 50.0 | | `/fmu/out/vtol_vehicle_status` | [px4_msgs::msg::VtolVehicleStatus](../msg_docs/VtolVehicleStatus.md) | | -| `/fmu/out/home_position` | [px4_msgs::msg::HomePosition](../msg_docs/HomePosition.md) | 5.0 | +| `/fmu/out/vtx` | [px4_msgs::msg::Vtx](../msg_docs/Vtx.md) | 1.0 | | `/fmu/out/wind` | [px4_msgs::msg::Wind](../msg_docs/Wind.md) | 1.0 | -| `/fmu/out/gimbal_device_attitude_status` | [px4_msgs::msg::GimbalDeviceAttitudeStatus](../msg_docs/GimbalDeviceAttitudeStatus.md) | 20.0 | ## Subscriptions -| Topic | 형식 | -| ------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -| /fmu/in/register_ext_component_request | [px4_msgs::msg::RegisterExtComponentRequest](../msg_docs/RegisterExtComponentRequest.md) | -| /fmu/in/unregister_ext_component | [px4_msgs::msg::UnregisterExtComponent](../msg_docs/UnregisterExtComponent.md) | -| /fmu/in/config_overrides_request | [px4_msgs::msg::ConfigOverrides](../msg_docs/ConfigOverrides.md) | -| /fmu/in/arming_check_reply | [px4_msgs::msg::ArmingCheckReply](../msg_docs/ArmingCheckReply.md) | -| /fmu/in/message_format_request | [px4_msgs::msg::MessageFormatRequest](../msg_docs/MessageFormatRequest.md) | -| /fmu/in/mode_completed | [px4_msgs::msg::ModeCompleted](../msg_docs/ModeCompleted.md) | -| /fmu/in/config_control_setpoints | [px4_msgs::msg::VehicleControlMode](../msg_docs/VehicleControlMode.md) | -| /fmu/in/distance_sensor | [px4_msgs::msg::DistanceSensor](../msg_docs/DistanceSensor.md) | -| /fmu/in/manual_control_input | [px4_msgs::msg::ManualControlSetpoint](../msg_docs/ManualControlSetpoint.md) | -| /fmu/in/offboard_control_mode | [px4_msgs::msg::OffboardControlMode](../msg_docs/OffboardControlMode.md) | -| /fmu/in/onboard_computer_status | [px4_msgs::msg::OnboardComputerStatus](../msg_docs/OnboardComputerStatus.md) | -| /fmu/in/obstacle_distance | [px4_msgs::msg::ObstacleDistance](../msg_docs/ObstacleDistance.md) | -| /fmu/in/sensor_optical_flow | [px4_msgs::msg::SensorOpticalFlow](../msg_docs/SensorOpticalFlow.md) | -| /fmu/in/goto_setpoint | [px4_msgs::msg::GotoSetpoint](../msg_docs/GotoSetpoint.md) | -| /fmu/in/telemetry_status | [px4_msgs::msg::TelemetryStatus](../msg_docs/TelemetryStatus.md) | -| /fmu/in/trajectory_setpoint | [px4_msgs::msg::TrajectorySetpoint](../msg_docs/TrajectorySetpoint.md) | -| /fmu/in/vehicle_attitude_setpoint | [px4_msgs::msg::VehicleAttitudeSetpoint](../msg_docs/VehicleAttitudeSetpoint.md) | -| /fmu/in/vehicle_mocap_odometry | [px4_msgs::msg::VehicleOdometry](../msg_docs/VehicleOdometry.md) | -| /fmu/in/vehicle_rates_setpoint | [px4_msgs::msg::VehicleRatesSetpoint](../msg_docs/VehicleRatesSetpoint.md) | -| /fmu/in/vehicle_visual_odometry | [px4_msgs::msg::VehicleOdometry](../msg_docs/VehicleOdometry.md) | -| /fmu/in/vehicle_command | [px4_msgs::msg::VehicleCommand](../msg_docs/VehicleCommand.md) | -| /fmu/in/vehicle_command_mode_executor | [px4_msgs::msg::VehicleCommand](../msg_docs/VehicleCommand.md) | -| /fmu/in/vehicle_thrust_setpoint | [px4_msgs::msg::VehicleThrustSetpoint](../msg_docs/VehicleThrustSetpoint.md) | -| /fmu/in/vehicle_torque_setpoint | [px4_msgs::msg::VehicleTorqueSetpoint](../msg_docs/VehicleTorqueSetpoint.md) | -| /fmu/in/actuator_motors | [px4_msgs::msg::ActuatorMotors](../msg_docs/ActuatorMotors.md) | -| /fmu/in/actuator_servos | [px4_msgs::msg::ActuatorServos](../msg_docs/ActuatorServos.md) | -| /fmu/in/fixed_wing_longitudinal_setpoint | [px4_msgs::msg::FixedWingLongitudinalSetpoint](../msg_docs/FixedWingLongitudinalSetpoint.md) | -| /fmu/in/fixed_wing_lateral_setpoint | [px4_msgs::msg::FixedWingLateralSetpoint](../msg_docs/FixedWingLateralSetpoint.md) | -| /fmu/in/longitudinal_control_configuration | [px4_msgs::msg::LongitudinalControlConfiguration](../msg_docs/LongitudinalControlConfiguration.md) | -| /fmu/in/lateral_control_configuration | [px4_msgs::msg::LateralControlConfiguration](../msg_docs/LateralControlConfiguration.md) | -| /fmu/in/rover_position_setpoint | [px4_msgs::msg::RoverPositionSetpoint](../msg_docs/RoverPositionSetpoint.md) | -| /fmu/in/rover_speed_setpoint | [px4_msgs::msg::RoverSpeedSetpoint](../msg_docs/RoverSpeedSetpoint.md) | -| /fmu/in/rover_attitude_setpoint | [px4_msgs::msg::RoverAttitudeSetpoint](../msg_docs/RoverAttitudeSetpoint.md) | -| /fmu/in/rover_rate_setpoint | [px4_msgs::msg::RoverRateSetpoint](../msg_docs/RoverRateSetpoint.md) | -| /fmu/in/rover_throttle_setpoint | [px4_msgs::msg::RoverThrottleSetpoint](../msg_docs/RoverThrottleSetpoint.md) | -| /fmu/in/rover_steering_setpoint | [px4_msgs::msg::RoverSteeringSetpoint](../msg_docs/RoverSteeringSetpoint.md) | -| /fmu/in/landing_gear | [px4_msgs::msg::LandingGear](../msg_docs/LandingGear.md) | +| Topic | 형식 | +| -------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| `/fmu/in/actuator_motors` | [px4_msgs::msg::ActuatorMotors](../msg_docs/ActuatorMotors.md) | +| `/fmu/in/actuator_servos` | [px4_msgs::msg::ActuatorServos](../msg_docs/ActuatorServos.md) | +| `/fmu/in/arming_check_reply` | [px4_msgs::msg::ArmingCheckReply](../msg_docs/ArmingCheckReply.md) | +| `/fmu/in/config_overrides_request` | [px4_msgs::msg::ConfigOverrides](../msg_docs/ConfigOverrides.md) | +| `/fmu/in/distance_sensor` | [px4_msgs::msg::DistanceSensor](../msg_docs/DistanceSensor.md) | +| `/fmu/in/fixed_wing_lateral_setpoint` | [px4_msgs::msg::FixedWingLateralSetpoint](../msg_docs/FixedWingLateralSetpoint.md) | +| `/fmu/in/fixed_wing_longitudinal_setpoint` | [px4_msgs::msg::FixedWingLongitudinalSetpoint](../msg_docs/FixedWingLongitudinalSetpoint.md) | +| `/fmu/in/goto_setpoint` | [px4_msgs::msg::GotoSetpoint](../msg_docs/GotoSetpoint.md) | +| `/fmu/in/landing_gear` | [px4_msgs::msg::LandingGear](../msg_docs/LandingGear.md) | +| `/fmu/in/lateral_control_configuration` | [px4_msgs::msg::LateralControlConfiguration](../msg_docs/LateralControlConfiguration.md) | +| `/fmu/in/longitudinal_control_configuration` | [px4_msgs::msg::LongitudinalControlConfiguration](../msg_docs/LongitudinalControlConfiguration.md) | +| `/fmu/in/manual_control_input` | [px4_msgs::msg::ManualControlSetpoint](../msg_docs/ManualControlSetpoint.md) | +| `/fmu/in/message_format_request` | [px4_msgs::msg::MessageFormatRequest](../msg_docs/MessageFormatRequest.md) | +| `/fmu/in/mode_completed` | [px4_msgs::msg::ModeCompleted](../msg_docs/ModeCompleted.md) | +| `/fmu/in/obstacle_distance` | [px4_msgs::msg::ObstacleDistance](../msg_docs/ObstacleDistance.md) | +| `/fmu/in/offboard_control_mode` | [px4_msgs::msg::OffboardControlMode](../msg_docs/OffboardControlMode.md) | +| `/fmu/in/onboard_computer_status` | [px4_msgs::msg::OnboardComputerStatus](../msg_docs/OnboardComputerStatus.md) | +| `/fmu/in/register_ext_component_request` | [px4_msgs::msg::RegisterExtComponentRequest](../msg_docs/RegisterExtComponentRequest.md) | +| `/fmu/in/rover_attitude_setpoint` | [px4_msgs::msg::RoverAttitudeSetpoint](../msg_docs/RoverAttitudeSetpoint.md) | +| `/fmu/in/rover_position_setpoint` | [px4_msgs::msg::RoverPositionSetpoint](../msg_docs/RoverPositionSetpoint.md) | +| `/fmu/in/rover_rate_setpoint` | [px4_msgs::msg::RoverRateSetpoint](../msg_docs/RoverRateSetpoint.md) | +| `/fmu/in/rover_speed_setpoint` | [px4_msgs::msg::RoverSpeedSetpoint](../msg_docs/RoverSpeedSetpoint.md) | +| `/fmu/in/rover_steering_setpoint` | [px4_msgs::msg::RoverSteeringSetpoint](../msg_docs/RoverSteeringSetpoint.md) | +| `/fmu/in/rover_throttle_setpoint` | [px4_msgs::msg::RoverThrottleSetpoint](../msg_docs/RoverThrottleSetpoint.md) | +| `/fmu/in/sensor_optical_flow` | [px4_msgs::msg::SensorOpticalFlow](../msg_docs/SensorOpticalFlow.md) | +| `/fmu/in/setpoint_config` | [px4_msgs::msg::SetpointConfig](../msg_docs/SetpointConfig.md) | +| `/fmu/in/telemetry_status` | [px4_msgs::msg::TelemetryStatus](../msg_docs/TelemetryStatus.md) | +| `/fmu/in/trajectory_setpoint` | [px4_msgs::msg::TrajectorySetpoint](../msg_docs/TrajectorySetpoint.md) | +| `/fmu/in/unregister_ext_component` | [px4_msgs::msg::UnregisterExtComponent](../msg_docs/UnregisterExtComponent.md) | +| `/fmu/in/vehicle_attitude_setpoint` | [px4_msgs::msg::VehicleAttitudeSetpoint](../msg_docs/VehicleAttitudeSetpoint.md) | +| `/fmu/in/vehicle_command` | [px4_msgs::msg::VehicleCommand](../msg_docs/VehicleCommand.md) | +| `/fmu/in/vehicle_command_mode_executor` | [px4_msgs::msg::VehicleCommand](../msg_docs/VehicleCommand.md) | +| `/fmu/in/vehicle_mocap_odometry` | [px4_msgs::msg::VehicleOdometry](../msg_docs/VehicleOdometry.md) | +| `/fmu/in/vehicle_rates_setpoint` | [px4_msgs::msg::VehicleRatesSetpoint](../msg_docs/VehicleRatesSetpoint.md) | +| `/fmu/in/vehicle_thrust_setpoint` | [px4_msgs::msg::VehicleThrustSetpoint](../msg_docs/VehicleThrustSetpoint.md) | +| `/fmu/in/vehicle_torque_setpoint` | [px4_msgs::msg::VehicleTorqueSetpoint](../msg_docs/VehicleTorqueSetpoint.md) | +| `/fmu/in/vehicle_visual_odometry` | [px4_msgs::msg::VehicleOdometry](../msg_docs/VehicleOdometry.md) | ## Subscriptions Multi @@ -96,221 +100,220 @@ They are not build into the module, and hence are neither published or subscribe :::details See messages -- [SensorGnssRelative](../msg_docs/SensorGnssRelative.md) -- [FlightPhaseEstimation](../msg_docs/FlightPhaseEstimation.md) -- [VelocityLimits](../msg_docs/VelocityLimits.md) -- [SensorsStatusImu](../msg_docs/SensorsStatusImu.md) -- [SensorBaro](../msg_docs/SensorBaro.md) -- [Vtx](../msg_docs/Vtx.md) -- [Mission](../msg_docs/Mission.md) -- [RcChannels](../msg_docs/RcChannels.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) -- [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) -- [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) -- [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) +- [ActuatorArmed](../msg_docs/ActuatorArmed.md) +- [ActuatorControlsStatus](../msg_docs/ActuatorControlsStatus.md) +- [ActuatorOutputs](../msg_docs/ActuatorOutputs.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) +- [ActuatorTest](../msg_docs/ActuatorTest.md) +- [AdcReport](../msg_docs/AdcReport.md) +- [Airspeed](../msg_docs/Airspeed.md) +- [AirspeedValidatedV0](../msg_docs/AirspeedValidatedV0.md) +- [AirspeedWind](../msg_docs/AirspeedWind.md) +- [ArmingCheckReplyV0](../msg_docs/ArmingCheckReplyV0.md) +- [ArmingCheckRequestV0](../msg_docs/ArmingCheckRequestV0.md) +- [AutotuneAttitudeControlStatus](../msg_docs/AutotuneAttitudeControlStatus.md) +- [BatteryInfo](../msg_docs/BatteryInfo.md) +- [BatteryStatusV0](../msg_docs/BatteryStatusV0.md) +- [ButtonEvent](../msg_docs/ButtonEvent.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) +- [CameraTrigger](../msg_docs/CameraTrigger.md) +- [CanInterfaceStatus](../msg_docs/CanInterfaceStatus.md) +- [CellularStatus](../msg_docs/CellularStatus.md) +- [ConfigOverridesV0](../msg_docs/ConfigOverridesV0.md) +- [ControlAllocatorStatus](../msg_docs/ControlAllocatorStatus.md) +- [Cpuload](../msg_docs/Cpuload.md) +- [DatamanRequest](../msg_docs/DatamanRequest.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) +- [DebugArray](../msg_docs/DebugArray.md) +- [DebugKeyValue](../msg_docs/DebugKeyValue.md) +- [DebugValue](../msg_docs/DebugValue.md) +- [DebugVect](../msg_docs/DebugVect.md) +- [DeviceInformation](../msg_docs/DeviceInformation.md) +- [DifferentialPressure](../msg_docs/DifferentialPressure.md) +- [DistanceSensorModeChangeRequest](../msg_docs/DistanceSensorModeChangeRequest.md) +- [DronecanNodeStatus](../msg_docs/DronecanNodeStatus.md) +- [Ekf2Timestamps](../msg_docs/Ekf2Timestamps.md) +- [EscEepromRead](../msg_docs/EscEepromRead.md) +- [EscEepromWrite](../msg_docs/EscEepromWrite.md) +- [EscReport](../msg_docs/EscReport.md) +- [EscStatus](../msg_docs/EscStatus.md) +- [EstimatorAidSource1d](../msg_docs/EstimatorAidSource1d.md) +- [EstimatorAidSource2d](../msg_docs/EstimatorAidSource2d.md) +- [EstimatorAidSource3d](../msg_docs/EstimatorAidSource3d.md) - [EstimatorBias](../msg_docs/EstimatorBias.md) -- [SensorAccelFifo](../msg_docs/SensorAccelFifo.md) +- [EstimatorBias3d](../msg_docs/EstimatorBias3d.md) +- [EstimatorEventFlags](../msg_docs/EstimatorEventFlags.md) +- [EstimatorFusionControl](../msg_docs/EstimatorFusionControl.md) +- [EstimatorGpsStatus](../msg_docs/EstimatorGpsStatus.md) - [EstimatorInnovations](../msg_docs/EstimatorInnovations.md) +- [EstimatorSelectorStatus](../msg_docs/EstimatorSelectorStatus.md) +- [EstimatorSensorBias](../msg_docs/EstimatorSensorBias.md) +- [EstimatorStates](../msg_docs/EstimatorStates.md) +- [EstimatorStatus](../msg_docs/EstimatorStatus.md) +- [Event](../msg_docs/Event.md) +- [EventV0](../msg_docs/EventV0.md) +- [FailureDetectorStatus](../msg_docs/FailureDetectorStatus.md) +- [FailureInjection](../msg_docs/FailureInjection.md) +- [FiducialMarkerPosReport](../msg_docs/FiducialMarkerPosReport.md) +- [FiducialMarkerYawReport](../msg_docs/FiducialMarkerYawReport.md) +- [FigureEightStatus](../msg_docs/FigureEightStatus.md) +- [FixedWingLateralGuidanceStatus](../msg_docs/FixedWingLateralGuidanceStatus.md) +- [FixedWingLateralStatus](../msg_docs/FixedWingLateralStatus.md) +- [FixedWingRunwayControl](../msg_docs/FixedWingRunwayControl.md) +- [FlightPhaseEstimation](../msg_docs/FlightPhaseEstimation.md) +- [FollowTarget](../msg_docs/FollowTarget.md) +- [FollowTargetEstimator](../msg_docs/FollowTargetEstimator.md) +- [FollowTargetStatus](../msg_docs/FollowTargetStatus.md) +- [FuelTankStatus](../msg_docs/FuelTankStatus.md) +- [GainCompression](../msg_docs/GainCompression.md) +- [GeneratorStatus](../msg_docs/GeneratorStatus.md) +- [GeofenceResult](../msg_docs/GeofenceResult.md) +- [GeofenceStatus](../msg_docs/GeofenceStatus.md) +- [GimbalControls](../msg_docs/GimbalControls.md) +- [GimbalDeviceInformation](../msg_docs/GimbalDeviceInformation.md) +- [GimbalDeviceSetAttitude](../msg_docs/GimbalDeviceSetAttitude.md) +- [GimbalManagerInformation](../msg_docs/GimbalManagerInformation.md) +- [GimbalManagerSetAttitude](../msg_docs/GimbalManagerSetAttitude.md) +- [GimbalManagerSetManualControl](../msg_docs/GimbalManagerSetManualControl.md) +- [GimbalManagerStatus](../msg_docs/GimbalManagerStatus.md) +- [GpioConfig](../msg_docs/GpioConfig.md) +- [GpioIn](../msg_docs/GpioIn.md) +- [GpioOut](../msg_docs/GpioOut.md) +- [GpioRequest](../msg_docs/GpioRequest.md) +- [GpsDump](../msg_docs/GpsDump.md) +- [GpsInjectData](../msg_docs/GpsInjectData.md) +- [Gripper](../msg_docs/Gripper.md) +- [HealthReport](../msg_docs/HealthReport.md) +- [HeaterStatus](../msg_docs/HeaterStatus.md) +- [HomePositionV0](../msg_docs/HomePositionV0.md) +- [HoverThrustEstimate](../msg_docs/HoverThrustEstimate.md) +- [InternalCombustionEngineControl](../msg_docs/InternalCombustionEngineControl.md) +- [InternalCombustionEngineStatus](../msg_docs/InternalCombustionEngineStatus.md) +- [IridiumsbdStatus](../msg_docs/IridiumsbdStatus.md) +- [IrlockReport](../msg_docs/IrlockReport.md) +- [LandingGearWheel](../msg_docs/LandingGearWheel.md) +- [LandingTargetInnovations](../msg_docs/LandingTargetInnovations.md) +- [LandingTargetPose](../msg_docs/LandingTargetPose.md) +- [LaunchDetectionStatus](../msg_docs/LaunchDetectionStatus.md) +- [LedControl](../msg_docs/LedControl.md) +- [LogMessage](../msg_docs/LogMessage.md) +- [LoggerStatus](../msg_docs/LoggerStatus.md) +- [MagWorkerData](../msg_docs/MagWorkerData.md) +- [MagnetometerBiasEstimate](../msg_docs/MagnetometerBiasEstimate.md) +- [ManualControlSwitches](../msg_docs/ManualControlSwitches.md) +- [MavlinkLog](../msg_docs/MavlinkLog.md) +- [MavlinkTunnel](../msg_docs/MavlinkTunnel.md) +- [Mission](../msg_docs/Mission.md) +- [MissionResult](../msg_docs/MissionResult.md) +- [MountOrientation](../msg_docs/MountOrientation.md) +- [NavigatorMissionItem](../msg_docs/NavigatorMissionItem.md) +- [NavigatorStatus](../msg_docs/NavigatorStatus.md) +- [NeuralControl](../msg_docs/NeuralControl.md) +- [NormalizedUnsignedSetpoint](../msg_docs/NormalizedUnsignedSetpoint.md) +- [OpenDroneIdArmStatus](../msg_docs/OpenDroneIdArmStatus.md) +- [OpenDroneIdBasicId](../msg_docs/OpenDroneIdBasicId.md) +- [OpenDroneIdOperatorId](../msg_docs/OpenDroneIdOperatorId.md) +- [OpenDroneIdSelfId](../msg_docs/OpenDroneIdSelfId.md) +- [OpenDroneIdSystem](../msg_docs/OpenDroneIdSystem.md) +- [OrbTest](../msg_docs/OrbTest.md) +- [OrbTestLarge](../msg_docs/OrbTestLarge.md) +- [OrbTestMedium](../msg_docs/OrbTestMedium.md) +- [OrbitStatus](../msg_docs/OrbitStatus.md) +- [ParameterResetRequest](../msg_docs/ParameterResetRequest.md) +- [ParameterSetUsedRequest](../msg_docs/ParameterSetUsedRequest.md) +- [ParameterSetValueRequest](../msg_docs/ParameterSetValueRequest.md) +- [ParameterSetValueResponse](../msg_docs/ParameterSetValueResponse.md) +- [ParameterUpdate](../msg_docs/ParameterUpdate.md) +- [Ping](../msg_docs/Ping.md) +- [PositionControllerLandingStatus](../msg_docs/PositionControllerLandingStatus.md) +- [PositionControllerStatus](../msg_docs/PositionControllerStatus.md) +- [PositionSetpoint](../msg_docs/PositionSetpoint.md) +- [PowerButtonState](../msg_docs/PowerButtonState.md) +- [PowerMonitor](../msg_docs/PowerMonitor.md) +- [PpsCapture](../msg_docs/PpsCapture.md) +- [PrecLandStatus](../msg_docs/PrecLandStatus.md) +- [PurePursuitStatus](../msg_docs/PurePursuitStatus.md) +- [PwmInput](../msg_docs/PwmInput.md) +- [Px4ioStatus](../msg_docs/Px4ioStatus.md) +- [QshellReq](../msg_docs/QshellReq.md) +- [QshellRetval](../msg_docs/QshellRetval.md) +- [RadioStatus](../msg_docs/RadioStatus.md) +- [RangingBeacon](../msg_docs/RangingBeacon.md) +- [RaptorInput](../msg_docs/RaptorInput.md) +- [RaptorStatus](../msg_docs/RaptorStatus.md) +- [RateCtrlStatus](../msg_docs/RateCtrlStatus.md) +- [RcChannels](../msg_docs/RcChannels.md) +- [RcParameterMap](../msg_docs/RcParameterMap.md) +- [RegisterExtComponentReplyV0](../msg_docs/RegisterExtComponentReplyV0.md) +- [RegisterExtComponentRequestV0](../msg_docs/RegisterExtComponentRequestV0.md) +- [RegisterExtComponentRequestV1](../msg_docs/RegisterExtComponentRequestV1.md) +- [RoverAttitudeStatus](../msg_docs/RoverAttitudeStatus.md) +- [RoverRateStatus](../msg_docs/RoverRateStatus.md) +- [RoverSpeedStatus](../msg_docs/RoverSpeedStatus.md) +- [Rpm](../msg_docs/Rpm.md) +- [RtlStatus](../msg_docs/RtlStatus.md) +- [RtlTimeEstimate](../msg_docs/RtlTimeEstimate.md) +- [SatelliteInfo](../msg_docs/SatelliteInfo.md) +- [SensorAccel](../msg_docs/SensorAccel.md) +- [SensorAccelFifo](../msg_docs/SensorAccelFifo.md) +- [SensorAirflow](../msg_docs/SensorAirflow.md) +- [SensorBaro](../msg_docs/SensorBaro.md) - [SensorCorrection](../msg_docs/SensorCorrection.md) +- [SensorGnssRelative](../msg_docs/SensorGnssRelative.md) +- [SensorGnssStatus](../msg_docs/SensorGnssStatus.md) +- [SensorGyro](../msg_docs/SensorGyro.md) +- [SensorGyroFft](../msg_docs/SensorGyroFft.md) +- [SensorGyroFifo](../msg_docs/SensorGyroFifo.md) +- [SensorHygrometer](../msg_docs/SensorHygrometer.md) +- [SensorMag](../msg_docs/SensorMag.md) +- [SensorPreflightMag](../msg_docs/SensorPreflightMag.md) +- [SensorSelection](../msg_docs/SensorSelection.md) +- [SensorTemp](../msg_docs/SensorTemp.md) +- [SensorUwb](../msg_docs/SensorUwb.md) +- [SensorsStatus](../msg_docs/SensorsStatus.md) +- [SensorsStatusImu](../msg_docs/SensorsStatusImu.md) +- [SystemPower](../msg_docs/SystemPower.md) +- [TakeoffStatus](../msg_docs/TakeoffStatus.md) +- [TargetGnss](../msg_docs/TargetGnss.md) +- [TaskStackInfo](../msg_docs/TaskStackInfo.md) +- [TecsStatus](../msg_docs/TecsStatus.md) +- [TiltrotorExtraControls](../msg_docs/TiltrotorExtraControls.md) +- [TrajectorySetpoint6dof](../msg_docs/TrajectorySetpoint6dof.md) +- [TuneControl](../msg_docs/TuneControl.md) +- [UavcanParameterRequest](../msg_docs/UavcanParameterRequest.md) - [UavcanParameterValue](../msg_docs/UavcanParameterValue.md) +- [UlogStream](../msg_docs/UlogStream.md) +- [UlogStreamAck](../msg_docs/UlogStreamAck.md) +- [VehicleAcceleration](../msg_docs/VehicleAcceleration.md) +- [VehicleAirData](../msg_docs/VehicleAirData.md) +- [VehicleAngularVelocity](../msg_docs/VehicleAngularVelocity.md) +- [VehicleAttitudeSetpointV0](../msg_docs/VehicleAttitudeSetpointV0.md) +- [VehicleCommandAckV0](../msg_docs/VehicleCommandAckV0.md) +- [VehicleConstraints](../msg_docs/VehicleConstraints.md) +- [VehicleGlobalPositionV0](../msg_docs/VehicleGlobalPositionV0.md) +- [VehicleImu](../msg_docs/VehicleImu.md) +- [VehicleImuStatus](../msg_docs/VehicleImuStatus.md) +- [VehicleLocalPositionSetpoint](../msg_docs/VehicleLocalPositionSetpoint.md) +- [VehicleLocalPositionV0](../msg_docs/VehicleLocalPositionV0.md) +- [VehicleMagnetometer](../msg_docs/VehicleMagnetometer.md) +- [VehicleOpticalFlow](../msg_docs/VehicleOpticalFlow.md) +- [VehicleOpticalFlowVel](../msg_docs/VehicleOpticalFlowVel.md) +- [VehicleRoi](../msg_docs/VehicleRoi.md) +- [VehicleStatusV0](../msg_docs/VehicleStatusV0.md) +- [VehicleStatusV1](../msg_docs/VehicleStatusV1.md) +- [VehicleStatusV2](../msg_docs/VehicleStatusV2.md) +- [VehicleStatusV3](../msg_docs/VehicleStatusV3.md) +- [VelocityLimits](../msg_docs/VelocityLimits.md) +- [VteAidSource1d](../msg_docs/VteAidSource1d.md) +- [VteAidSource3d](../msg_docs/VteAidSource3d.md) +- [VteBiasInitStatus](../msg_docs/VteBiasInitStatus.md) +- [VteInput](../msg_docs/VteInput.md) +- [VteOrientation](../msg_docs/VteOrientation.md) +- [VtePosition](../msg_docs/VtePosition.md) +- [WheelEncoders](../msg_docs/WheelEncoders.md) +- [YawEstimatorStatus](../msg_docs/YawEstimatorStatus.md) ::: diff --git a/docs/ko/modules/hello_sky.md b/docs/ko/modules/hello_sky.md index 6300364c87..9ad6269ab8 100644 --- a/docs/ko/modules/hello_sky.md +++ b/docs/ko/modules/hello_sky.md @@ -310,7 +310,7 @@ The benefits of the PX4 hardware abstraction comes into play here! 센서 드라이버와 어떤 식으로든 상호 작용할 필요가 없으며, 보드 또는 센서가 업데이트된 경우 앱을 업데이트할 필요도 없습니다. ::: -Individual message channels between applications are called [topics](../middleware/uorb.md). For this tutorial, we are interested in the [VehicleAcceleration](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleAcceleration.msg) topic, which holds the filtered vehicle acceleration data. +Individual message channels between applications are called [topics](../middleware/uorb.md). For this tutorial, we are interested in the [VehicleAcceleration](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleAcceleration.msg) topic, which holds the filtered vehicle acceleration data. 주제 구독은 간단합니다. diff --git a/docs/ko/modules/module_template.md b/docs/ko/modules/module_template.md index 3451f665c8..22fd84c992 100644 --- a/docs/ko/modules/module_template.md +++ b/docs/ko/modules/module_template.md @@ -69,6 +69,6 @@ PX4/PX4-Autopilot contains a template for writing a new application (module) tha [startup script](../concept/system_startup.md). - 명령줄 인수 구문 분석. - Documentation: the `PRINT_MODULE_*` methods serve two purposes (the API is - documented [in the source code](https://github.com/PX4/PX4-Autopilot/blob/v1.17/platforms/common/include/px4_platform_common/module.h)): + documented [in the source code](https://github.com/PX4/PX4-Autopilot/blob/v1.17.0/platforms/common/include/px4_platform_common/module.h)): - They are used to print the command-line usage when entering `module help` on the console. - They are automatically extracted via script to generate the [Modules & Commands Reference](../modules/modules_main.md) page. diff --git a/docs/ko/modules/modules_driver.md b/docs/ko/modules/modules_driver.md index 58f7ca016a..fa9808ec49 100644 --- a/docs/ko/modules/modules_driver.md +++ b/docs/ko/modules/modules_driver.md @@ -1085,7 +1085,7 @@ px4io [arguments...] ## rgbled -Source: [drivers/lights/rgbled_ncp5623c](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/lights/rgbled_ncp5623c) +Source: [drivers/lights/rgbled](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/lights/rgbled) ### Usage {#rgbled_usage} @@ -1100,9 +1100,7 @@ rgbled [arguments...] [-f ] bus frequency in kHz [-q] quiet startup (no message if no device found) [-a ] I2C address - default: 57 - [-o ] RGB PWM Assignment - default: 123 + default: 85 stop diff --git a/docs/ko/modules/modules_driver_baro.md b/docs/ko/modules/modules_driver_baro.md index b733ebc9d2..28811b3a98 100644 --- a/docs/ko/modules/modules_driver_baro.md +++ b/docs/ko/modules/modules_driver_baro.md @@ -122,6 +122,7 @@ dps310 [arguments...] [-m ] SPI mode [-f ] bus frequency in kHz [-q] quiet startup (no message if no device found) + [-8] Drive DPS368 stop diff --git a/docs/ko/modules/modules_driver_ins.md b/docs/ko/modules/modules_driver_ins.md index 7d8ca789b6..beb6dbfaa4 100644 --- a/docs/ko/modules/modules_driver_ins.md +++ b/docs/ko/modules/modules_driver_ins.md @@ -9,7 +9,7 @@ Source: [drivers/ins/microstrain](https://github.com/PX4/PX4-Autopilot/tree/main MicroStrain by HBK Inertial Sensor Driver. Currently supports the following sensors: --[CV7-AR](https://www.hbkworld.com/en/products/transducers/inertial-sensors/vertical-reference-units--vru-/3dm-cv7-ar) -[CV7-AHRS](https://www.hbkworld.com/en/products/transducers/inertial-sensors/attitude-and-heading-reference-systems--ahrs-/3dm-cv7-ahrs) -[CV7-INS](https://www.hbkworld.com/en/products/transducers/inertial-sensors/navigation/3dm-cv7-ins) -[CV7-GNSS/INS](https://www.hbkworld.com/en/products/transducers/inertial-sensors/navigation/3dm-cv7-gnss-ins) +-[CV7-AR](https://www.hbkworld.com/en/products/transducers/inertial-sensors/vertical-reference-units--vru-/3dm-cv7-ar) -[CV7-AHRS](https://www.hbkworld.com/en/products/transducers/inertial-sensors/attitude-and-heading/3dm-cv7-ahrs) -[CV7-INS](https://www.hbkworld.com/en/products/transducers/inertial-sensors/navigation/3dm-cv7-ins) -[CV7-GNSS/INS](https://www.hbkworld.com/en/products/transducers/inertial-sensors/navigation/3dm-cv7-gnss-ins) This driver is not included in the firmware by default. Include the module in firmware by setting the diff --git a/docs/ko/msg_docs/CellularStatus.md b/docs/ko/msg_docs/CellularStatus.md index 31e4c4785f..5d977df93b 100644 --- a/docs/ko/msg_docs/CellularStatus.md +++ b/docs/ko/msg_docs/CellularStatus.md @@ -6,22 +6,33 @@ pageClass: is-wide-page Cellular status. -This is currently used only for logging cell status from MAVLink. +This is currently used only for logging cell status from MAVLink 1:1. **TOPICS:** cellular_status ## Fields -| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | -| ------------------------------------------------------------------ | -------- | ---------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------- | -| timestamp | `uint64` | us | | Time since system start | -| status | `uint16` | | [STATUS_FLAG](#STATUS_FLAG) | Status bitmap | -| failure_reason | `uint8` | | [FAILURE_REASON](#FAILURE_REASON) | Failure reason | -| type | `uint8` | | [CELLULAR_NETWORK_RADIO_TYPE](#CELLULAR_NETWORK_RADIO_TYPE) | Cellular network radio type | -| quality | `uint8` | dBm | | Cellular network RSSI/RSRP, absolute value | -| mcc | `uint16` | | | Mobile country code (Invalid: UINT16_MAX) | -| mnc | `uint16` | | | Mobile network code (Invalid: UINT16_MAX) | -| lac | `uint16` | | | Location area code (Invalid: 0) | +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ------------------------------------------------------------------------------------- | --------- | ---------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | us | | Time since system start | +| status | `uint8` | | [STATUS_FLAG](#STATUS_FLAG) | Status | +| failure_reason | `uint8` | | [FAILURE_REASON](#FAILURE_REASON) | Failure reason | +| type | `uint8` | | [CELLULAR_NETWORK_RADIO_TYPE](#CELLULAR_NETWORK_RADIO_TYPE) | Cellular network radio type | +| quality | `uint8` | % | | Cellular network signal quality in percent. May be used for RSSI (Invalid: UINT8_MAX) | +| mcc | `uint16` | | | Mobile country code (Invalid: UINT16_MAX) | +| mnc | `uint16` | | | Mobile network code (Invalid: UINT16_MAX) | +| lac | `uint16` | | | Location area code (Invalid: 0) | +| id | `uint8` | | | Cellular instance number. Indexed from 1. A value of 0 indicates the sender does not support reporting of multiple modems | +| link_tx_rate | `uint32` | KiB/s | | Download rate (Invalid: 0) | +| link_rx_rate | `uint32` | KiB/s | | Upload rate (Invalid: 0) | +| cell_tower_id | `char[9]` | | | ID of the currently connected cell tower. Must be NULL terminated if the length is less than 9 human-readable characters, and without NULL termination character if the length is exactly 9 characters (Invalid: 0) | +| band_number | `uint8` | | | LTE frequency band number (Invalid: 0) | +| band_frequency | `float32` | MHz | | LTE radio frequency (Invalid: 0) | +| channel_number | `uint32` | | | Channel Number (CN), Absolute radio-frequency (ARFCN) / E-UTRA (EARFCN) / UTRA (UARFCN) / New radio (NR_CH) (Invalid: 0) | +| rx_level | `float32` | dBm | | Receiver signal level. On 3G is Received Signal Code Power (RSCP). On LTE Reference Signal Received Power (RSRP). On 5G is New Radio Reference Signal Received Power (NR_RSRP) (Invalid: 0) | +| tx_level | `float32` | dBm | | Transmitter signal absolute level (Invalid: 0) | +| rx_quality | `float32` | dBm | | Received signal quality. On 3G is Receiver Quality (RxQual). On LTE is Reference Signal Received Quality (RSRQ). On 5G is New Radio Reference Signal Received Quality (NR_RSRQ) (Invalid: 0) | +| sinr | `float32` | dB | | Signal to Interference plus Noise Ratio (Invalid: 0) | ## Enums @@ -29,21 +40,21 @@ This is currently used only for logging cell status from MAVLink. Used in field(s): [status](#fld_status) -| 명칭 | 형식 | Value | 설명 | -| ----------------------------------------------------------------------------------------------------------- | -------- | ----- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -| STATUS_FLAG_UNKNOWN | `uint16` | 1 | State unknown or not reportable | -| STATUS_FLAG_FAILED | `uint16` | 2 | Modem is unusable | -| STATUS_FLAG_INITIALIZING | `uint16` | 4 | Modem is being initialized | -| STATUS_FLAG_LOCKED | `uint16` | 8 | Modem is locked | -| STATUS_FLAG_DISABLED | `uint16` | 16 | Modem is not enabled and is powered down | -| STATUS_FLAG_DISABLING | `uint16` | 32 | Modem is currently transitioning to the STATUS_FLAG_DISABLED state | -| STATUS_FLAG_ENABLING | `uint16` | 64 | Modem is currently transitioning to the STATUS_FLAG_ENABLED state | -| STATUS_FLAG_ENABLED | `uint16` | 128 | Modem is enabled and powered on but not registered with a network provider and not available for data connections | -| STATUS_FLAG_SEARCHING | `uint16` | 256 | Modem is searching for a network provider to register | -| STATUS_FLAG_REGISTERED | `uint16` | 512 | Modem is registered with a network provider, and data connections and messaging may be available for use | -| STATUS_FLAG_DISCONNECTING | `uint16` | 1024 | Modem is disconnecting and deactivating the last active packet data bearer. This state will not be entered if more than one packet data bearer is active and one of the active bearers is deactivated | -| STATUS_FLAG_CONNECTING | `uint16` | 2048 | Modem is activating and connecting the first packet data bearer. Subsequent bearer activations when another bearer is already active do not cause this state to be entered | -| STATUS_FLAG_CONNECTED | `uint16` | 4096 | One or more packet data bearers is active and connected | +| 명칭 | 형식 | Value | 설명 | +| ----------------------------------------------------------------------------------------------------------- | ------- | ----- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| STATUS_FLAG_UNKNOWN | `uint8` | 0 | State unknown or not reportable | +| STATUS_FLAG_FAILED | `uint8` | 1 | Modem is unusable | +| STATUS_FLAG_INITIALIZING | `uint8` | 2 | Modem is being initialized | +| STATUS_FLAG_LOCKED | `uint8` | 3 | Modem is locked | +| STATUS_FLAG_DISABLED | `uint8` | 4 | Modem is not enabled and is powered down | +| STATUS_FLAG_DISABLING | `uint8` | 5 | Modem is currently transitioning to the STATUS_FLAG_DISABLED state | +| STATUS_FLAG_ENABLING | `uint8` | 6 | Modem is currently transitioning to the STATUS_FLAG_ENABLED state | +| STATUS_FLAG_ENABLED | `uint8` | 7 | Modem is enabled and powered on but not registered with a network provider and not available for data connections | +| STATUS_FLAG_SEARCHING | `uint8` | 8 | Modem is searching for a network provider to register | +| STATUS_FLAG_REGISTERED | `uint8` | 9 | Modem is registered with a network provider, and data connections and messaging may be available for use | +| STATUS_FLAG_DISCONNECTING | `uint8` | 10 | Modem is disconnecting and deactivating the last active packet data bearer. This state will not be entered if more than one packet data bearer is active and one of the active bearers is deactivated | +| STATUS_FLAG_CONNECTING | `uint8` | 11 | Modem is activating and connecting the first packet data bearer. Subsequent bearer activations when another bearer is already active do not cause this state to be entered | +| STATUS_FLAG_CONNECTED | `uint8` | 12 | One or more packet data bearers is active and connected | ### FAILURE_REASON {#FAILURE_REASON} @@ -78,42 +89,54 @@ Click here to see original file ```c # Cellular status # -# This is currently used only for logging cell status from MAVLink. +# This is currently used only for logging cell status from MAVLink 1:1. -uint64 timestamp # [us] Time since system start +uint64 timestamp # [us] Time since system start -uint16 status # [@enum STATUS_FLAG] Status bitmap -uint16 STATUS_FLAG_UNKNOWN = 1 # State unknown or not reportable -uint16 STATUS_FLAG_FAILED = 2 # Modem is unusable -uint16 STATUS_FLAG_INITIALIZING = 4 # Modem is being initialized -uint16 STATUS_FLAG_LOCKED = 8 # Modem is locked -uint16 STATUS_FLAG_DISABLED = 16 # Modem is not enabled and is powered down -uint16 STATUS_FLAG_DISABLING = 32 # Modem is currently transitioning to the STATUS_FLAG_DISABLED state -uint16 STATUS_FLAG_ENABLING = 64 # Modem is currently transitioning to the STATUS_FLAG_ENABLED state -uint16 STATUS_FLAG_ENABLED = 128 # Modem is enabled and powered on but not registered with a network provider and not available for data connections -uint16 STATUS_FLAG_SEARCHING = 256 # Modem is searching for a network provider to register -uint16 STATUS_FLAG_REGISTERED = 512 # Modem is registered with a network provider, and data connections and messaging may be available for use -uint16 STATUS_FLAG_DISCONNECTING = 1024 # Modem is disconnecting and deactivating the last active packet data bearer. This state will not be entered if more than one packet data bearer is active and one of the active bearers is deactivated -uint16 STATUS_FLAG_CONNECTING = 2048 # Modem is activating and connecting the first packet data bearer. Subsequent bearer activations when another bearer is already active do not cause this state to be entered -uint16 STATUS_FLAG_CONNECTED = 4096 # One or more packet data bearers is active and connected +uint8 status # [@enum STATUS_FLAG] Status +uint8 STATUS_FLAG_UNKNOWN = 0 # State unknown or not reportable +uint8 STATUS_FLAG_FAILED = 1 # Modem is unusable +uint8 STATUS_FLAG_INITIALIZING = 2 # Modem is being initialized +uint8 STATUS_FLAG_LOCKED = 3 # Modem is locked +uint8 STATUS_FLAG_DISABLED = 4 # Modem is not enabled and is powered down +uint8 STATUS_FLAG_DISABLING = 5 # Modem is currently transitioning to the STATUS_FLAG_DISABLED state +uint8 STATUS_FLAG_ENABLING = 6 # Modem is currently transitioning to the STATUS_FLAG_ENABLED state +uint8 STATUS_FLAG_ENABLED = 7 # Modem is enabled and powered on but not registered with a network provider and not available for data connections +uint8 STATUS_FLAG_SEARCHING = 8 # Modem is searching for a network provider to register +uint8 STATUS_FLAG_REGISTERED = 9 # Modem is registered with a network provider, and data connections and messaging may be available for use +uint8 STATUS_FLAG_DISCONNECTING = 10 # Modem is disconnecting and deactivating the last active packet data bearer. This state will not be entered if more than one packet data bearer is active and one of the active bearers is deactivated +uint8 STATUS_FLAG_CONNECTING = 11 # Modem is activating and connecting the first packet data bearer. Subsequent bearer activations when another bearer is already active do not cause this state to be entered +uint8 STATUS_FLAG_CONNECTED = 12 # One or more packet data bearers is active and connected -uint8 failure_reason # [@enum FAILURE_REASON] Failure reason -uint8 FAILURE_REASON_NONE = 0 # No error -uint8 FAILURE_REASON_UNKNOWN = 1 # Error state is unknown -uint8 FAILURE_REASON_SIM_MISSING = 2 # SIM is required for the modem but missing -uint8 FAILURE_REASON_SIM_ERROR = 3 # SIM is available, but not usable for connection +uint8 failure_reason # [@enum FAILURE_REASON] Failure reason +uint8 FAILURE_REASON_NONE = 0 # No error +uint8 FAILURE_REASON_UNKNOWN = 1 # Error state is unknown +uint8 FAILURE_REASON_SIM_MISSING = 2 # SIM is required for the modem but missing +uint8 FAILURE_REASON_SIM_ERROR = 3 # SIM is available, but not usable for connection -uint8 type # [@enum CELLULAR_NETWORK_RADIO_TYPE] Cellular network radio type -uint8 CELLULAR_NETWORK_RADIO_TYPE_NONE = 0 # None -uint8 CELLULAR_NETWORK_RADIO_TYPE_GSM = 1 # GSM -uint8 CELLULAR_NETWORK_RADIO_TYPE_CDMA = 2 # CDMA -uint8 CELLULAR_NETWORK_RADIO_TYPE_WCDMA = 3 # WCDMA -uint8 CELLULAR_NETWORK_RADIO_TYPE_LTE = 4 # LTE +uint8 type # [@enum CELLULAR_NETWORK_RADIO_TYPE] Cellular network radio type +uint8 CELLULAR_NETWORK_RADIO_TYPE_NONE = 0 # None +uint8 CELLULAR_NETWORK_RADIO_TYPE_GSM = 1 # GSM +uint8 CELLULAR_NETWORK_RADIO_TYPE_CDMA = 2 # CDMA +uint8 CELLULAR_NETWORK_RADIO_TYPE_WCDMA = 3 # WCDMA +uint8 CELLULAR_NETWORK_RADIO_TYPE_LTE = 4 # LTE -uint8 quality # [dBm] Cellular network RSSI/RSRP, absolute value -uint16 mcc # [@invalid UINT16_MAX] Mobile country code -uint16 mnc # [@invalid UINT16_MAX] Mobile network code -uint16 lac # [@invalid 0] Location area code +uint8 quality # [%] [@invalid UINT8_MAX] Cellular network signal quality in percent. May be used for RSSI +uint16 mcc # [@invalid UINT16_MAX] Mobile country code +uint16 mnc # [@invalid UINT16_MAX] Mobile network code +uint16 lac # [@invalid 0] Location area code + +uint8 id # [-] Cellular instance number. Indexed from 1. A value of 0 indicates the sender does not support reporting of multiple modems +uint32 link_tx_rate # [KiB/s] [@invalid 0] Download rate +uint32 link_rx_rate # [KiB/s] [@invalid 0] Upload rate +char[9] cell_tower_id # [@invalid 0] ID of the currently connected cell tower. Must be NULL terminated if the length is less than 9 human-readable characters, and without NULL termination character if the length is exactly 9 characters +uint8 band_number # [-] [@invalid 0] LTE frequency band number +float32 band_frequency # [MHz] [@invalid 0] LTE radio frequency +uint32 channel_number # [@invalid 0] Channel Number (CN), Absolute radio-frequency (ARFCN) / E-UTRA (EARFCN) / UTRA (UARFCN) / New radio (NR_CH) +float32 rx_level # [dBm] [@invalid 0] Receiver signal level. On 3G is Received Signal Code Power (RSCP). On LTE Reference Signal Received Power (RSRP). On 5G is New Radio Reference Signal Received Power (NR_RSRP) +float32 tx_level # [dBm] [@invalid 0] Transmitter signal absolute level +float32 rx_quality # [dBm] [@invalid 0] Received signal quality. On 3G is Receiver Quality (RxQual). On LTE is Reference Signal Received Quality (RSRQ). On 5G is New Radio Reference Signal Received Quality (NR_RSRQ) +float32 sinr # [dB] [@invalid 0] Signal to Interference plus Noise Ratio ``` ::: diff --git a/docs/ko/msg_docs/ConfigOverrides.md b/docs/ko/msg_docs/ConfigOverrides.md index b43aa5c076..98b27f2835 100644 --- a/docs/ko/msg_docs/ConfigOverrides.md +++ b/docs/ko/msg_docs/ConfigOverrides.md @@ -6,7 +6,7 @@ pageClass: is-wide-page Configurable overrides by (external) modes or mode executors. -**TOPICS:** config_overrides config_overrides_request +**TOPICS:** config_overrides config_overrides_request config_overrides_confirm ## Fields @@ -57,7 +57,7 @@ uint8 source_id # ID depending on source_type uint8 ORB_QUEUE_LENGTH = 4 -# TOPICS config_overrides config_overrides_request +# TOPICS config_overrides config_overrides_request config_overrides_confirm ``` ::: diff --git a/docs/ko/msg_docs/FixedWingLateralGuidanceStatus.md b/docs/ko/msg_docs/FixedWingLateralGuidanceStatus.md index 274cca3645..e6bcfa61bd 100644 --- a/docs/ko/msg_docs/FixedWingLateralGuidanceStatus.md +++ b/docs/ko/msg_docs/FixedWingLateralGuidanceStatus.md @@ -10,17 +10,18 @@ Fixed Wing Lateral Guidance Status message. Published by fw_pos_control module t ## Fields -| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | -| -------------------------------------------------------------------------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ------------------------------------------------------------------------------ | -------------------------------------------------------------------------------------------------------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| course_setpoint | `float32` | rad | [-pi : pi] | Desired direction of travel over ground w.r.t (true) North. Set by guidance law | -| lateral_acceleration_ff | `float32` | FRD | | lateral acceleration demand only for maintaining curvature | -| bearing_feas | `float32` | | [0 : 1] | bearing feasibility | -| bearing_feas_on_track | `float32` | | [0 : 1] | on-track bearing feasibility | -| signed_track_error | `float32` | m | | signed track error | -| track_error_bound | `float32` | m | | track error bound | -| adapted_period | `float32` | s | | adapted period (if auto-tuning enabled) | -| wind_est_valid | `uint8` | boolean | | true = wind estimate is valid and/or being used by controller (also indicates if wind estimate usage is disabled despite being valid) | +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| -------------------------------------------------------------------------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ------------------------------------------------------------------------------ | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| course_setpoint | `float32` | rad | [-pi : pi] | Desired direction of travel over ground w.r.t (true) North. Set by guidance law | +| lateral_acceleration_ff | `float32` | FRD | | lateral acceleration demand only for maintaining curvature | +| bearing_feas | `float32` | | [0 : 1] | bearing feasibility | +| bearing_feas_on_track | `float32` | | [0 : 1] | on-track bearing feasibility | +| signed_track_error | `float32` | m | | signed track error | +| track_error_bound | `float32` | m | | track error bound | +| switch_distance | `float32` | m | [0 : INF] | distance from the current waypoint at which the navigator should advance to the next one (turn anticipation). If below NAV_ACC_RAD, the parameter value is used instead. (Invalid: NaN) | +| adapted_period | `float32` | s | | adapted period (if auto-tuning enabled) | +| wind_est_valid | `uint8` | boolean | | true = wind estimate is valid and/or being used by controller (also indicates if wind estimate usage is disabled despite being valid) | ## Source Message @@ -41,6 +42,7 @@ float32 bearing_feas # [@range 0,1] bearing feasibility float32 bearing_feas_on_track # [@range 0,1] on-track bearing feasibility float32 signed_track_error # [m] signed track error float32 track_error_bound # [m] track error bound +float32 switch_distance # [m] [@range 0, INF] [@invalid NaN] distance from the current waypoint at which the navigator should advance to the next one (turn anticipation). If below NAV_ACC_RAD, the parameter value is used instead. float32 adapted_period # [s] adapted period (if auto-tuning enabled) uint8 wind_est_valid # [boolean] true = wind estimate is valid and/or being used by controller (also indicates if wind estimate usage is disabled despite being valid) ``` diff --git a/docs/ko/msg_docs/InternalCombustionEngineStatus.md b/docs/ko/msg_docs/InternalCombustionEngineStatus.md index ebd838f0be..e1fe41b2ca 100644 --- a/docs/ko/msg_docs/InternalCombustionEngineStatus.md +++ b/docs/ko/msg_docs/InternalCombustionEngineStatus.md @@ -8,40 +8,63 @@ pageClass: is-wide-page ## Fields -| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | -| ------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| state | `uint8` | | | | -| flags | `uint32` | | | | -| engine_load_percent | `uint8` | | | Engine load estimate, percent, [0, 127] | -| engine_speed_rpm | `uint32` | | | Engine speed, revolutions per minute | -| spark_dwell_time_ms | `float32` | | | Spark dwell time, millisecond | -| atmospheric_pressure_kpa | `float32` | | | Atmospheric (barometric) pressure, kilopascal | -| intake_manifold_pressure_kpa | `float32` | | | Engine intake manifold pressure, kilopascal | -| intake_manifold_temperature | `float32` | | | Engine intake manifold temperature, kelvin | -| coolant_temperature | `float32` | | | Engine coolant temperature, kelvin | -| oil_pressure | `float32` | | | Oil pressure, kilopascal | -| oil_temperature | `float32` | | | Oil temperature, kelvin | -| fuel_pressure | `float32` | | | Fuel pressure, kilopascal | -| fuel_consumption_rate_cm3pm | `float32` | | | Instant fuel consumption estimate, (centimeter^3)/minute | -| estimated_consumed_fuel_volume_cm3 | `float32` | | | Estimate of the consumed fuel since the start of the engine, centimeter^3 | -| throttle_position_percent | `uint8` | | | Throttle position, percent | -| ecu_index | `uint8` | | | The index of the publishing ECU | -| spark_plug_usage | `uint8` | | | Spark plug activity report. | -| ignition_timing_deg | `float32` | | | Cylinder ignition timing, angular degrees of the crankshaft | -| injection_time_ms | `float32` | | | Fuel injection time, millisecond | -| cylinder_head_temperature | `float32` | | | Cylinder head temperature (CHT), kelvin | -| exhaust_gas_temperature | `float32` | | | Exhaust gas temperature (EGT), kelvin | -| lambda_coefficient | `float32` | | | Estimated lambda coefficient, dimensionless ratio | +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | --------- | ---------------------------------------------------------------- | -------------------------------------------------------------------------------- | ----------------------------------------------------------- | +| timestamp | `uint64` | us | | Time since system start | +| state | `uint8` | | [STATE](#STATE) | Engine state | +| substate | `uint8` | | [SUBSTATE](#SUBSTATE) | Engine substate | +| flags | `uint32` | | [FLAG](#FLAG) | Engine status flags bitmap | +| engine_load_percent | `uint8` | % | [0 : 127] | Engine load estimate | +| engine_speed_rpm | `uint32` | rpm | [0 : inf] | Engine speed | +| spark_dwell_time_ms | `float32` | ms | [0 : inf] | Spark dwell time | +| atmospheric_pressure_kpa | `float32` | kPa | [0 : inf] | Atmospheric (barometric) pressure | +| intake_manifold_pressure_kpa | `float32` | kPa | [0 : inf] | Engine intake manifold pressure | +| intake_manifold_temperature | `float32` | K | [0 : inf] | Engine intake manifold temperature | +| coolant_temperature | `float32` | K | [0 : inf] | Engine coolant temperature | +| oil_pressure | `float32` | kPa | [0 : inf] | Oil pressure | +| oil_temperature | `float32` | K | [0 : inf] | Oil temperature | +| fuel_pressure | `float32` | kPa | [0 : inf] | Fuel pressure | +| fuel_consumption_rate_cm3pm | `float32` | cm^3/min | [0 : inf] | Instant fuel consumption estimate | +| estimated_consumed_fuel_volume_cm3 | `float32` | cm^3 | [0 : inf] | Estimate of the consumed fuel since the start of the engine | +| throttle_position_percent | `uint8` | % | [0 : 100] | Throttle position | +| ecu_index | `uint8` | | [0 : 255] | The index of the publishing ECU | +| spark_plug_usage | `uint8` | | [SPARK_PLUG](#SPARK_PLUG) | Spark plug activity report | +| ignition_timing_deg | `float32` | deg | [-inf : inf] | Cylinder ignition timing, angular degrees of the crankshaft | +| injection_time_ms | `float32` | ms | [0 : inf] | Fuel injection time | +| cylinder_head_temperature | `float32` | K | [0 : inf] | Cylinder head temperature (CHT) | +| exhaust_gas_temperature | `float32` | K | [0 : inf] | Exhaust gas temperature (EGT) | +| lambda_coefficient | `float32` | | [0 : inf] | Estimated lambda coefficient, dimensionless ratio | +| pid_idle_rpm_integral | `float32` | | [-1 : 1] | Integral of the PID for the closed loop idle RPM controller | -## Constants +## Enums + +### STATE {#STATE} + +Used in field(s): [state](#fld_state) + +| 명칭 | 형식 | Value | 설명 | +| ---------------------------------------------------------------- | ------- | ----- | ------------------------------------------------------------------------------------- | +| STATE_STOPPED | `uint8` | 0 | The engine is not running. This is the default state. | +| STATE_STARTING | `uint8` | 1 | The engine is starting. This is a transient state. | +| STATE_RUNNING | `uint8` | 2 | The engine is running normally. | +| STATE_FAULT | `uint8` | 3 | The engine can no longer function. | + +### SUBSTATE {#SUBSTATE} + +Used in field(s): [substate](#fld_substate) + +| 명칭 | 형식 | Value | 설명 | +| -------------------------------------------------------------- | ------- | ----- | --------------------------------------------------------------------------------- | +| SUBSTATE_RUN | `uint8` | 0 | The engine is running. This is the default state. | +| SUBSTATE_IDLE | `uint8` | 1 | The engine idle rpm controller is running. | +| SUBSTATE_REST | `uint8` | 2 | The engine is at rest. | + +### FLAG {#FLAG} + +Used in field(s): [flags](#fld_flags) | 명칭 | 형식 | Value | 설명 | | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | ------ | -------------------------------------------------------------------------------------- | -| STATE_STOPPED | `uint8` | 0 | The engine is not running. This is the default state. | -| STATE_STARTING | `uint8` | 1 | The engine is starting. This is a transient state. | -| STATE_RUNNING | `uint8` | 2 | The engine is running normally. | -| STATE_FAULT | `uint8` | 3 | The engine can no longer function. | | FLAG_GENERAL_ERROR | `uint32` | 1 | General error. | | FLAG_CRANKSHAFT_SENSOR_ERROR_SUPPORTED | `uint32` | 2 | Error of the crankshaft sensor. This flag is optional. | | FLAG_CRANKSHAFT_SENSOR_ERROR | `uint32` | 4 | | @@ -62,10 +85,17 @@ pageClass: is-wide-page | FLAG_OIL_PRESSURE_ABOVE_NOMINAL | `uint32` | 131072 | Over-pressure warning | | FLAG_DEBRIS_SUPPORTED | `uint32` | 262144 | Debris warning. This flag is optional | | FLAG_DEBRIS_DETECTED | `uint32` | 524288 | Detection of debris warning | -| SPARK_PLUG_SINGLE | `uint8` | 0 | | -| SPARK_PLUG_FIRST_ACTIVE | `uint8` | 1 | | -| SPARK_PLUG_SECOND_ACTIVE | `uint8` | 2 | | -| SPARK_PLUG_BOTH_ACTIVE | `uint8` | 3 | | + +### SPARK_PLUG {#SPARK_PLUG} + +Used in field(s): [spark_plug_usage](#fld_spark_plug_usage) + +| 명칭 | 형식 | Value | 설명 | +| ------------------------------------------------------------------------------------------------------------------------------ | ------- | ----- | -- | +| SPARK_PLUG_SINGLE | `uint8` | 0 | | +| SPARK_PLUG_FIRST_ACTIVE | `uint8` | 1 | | +| SPARK_PLUG_SECOND_ACTIVE | `uint8` | 2 | | +| SPARK_PLUG_BOTH_ACTIVE | `uint8` | 3 | | ## Source Message @@ -75,13 +105,18 @@ pageClass: is-wide-page Click here to see original file ```c -uint64 timestamp # time since system start (microseconds) +uint64 timestamp # [us] Time since system start uint8 STATE_STOPPED = 0 # The engine is not running. This is the default state. uint8 STATE_STARTING = 1 # The engine is starting. This is a transient state. uint8 STATE_RUNNING = 2 # The engine is running normally. uint8 STATE_FAULT = 3 # The engine can no longer function. -uint8 state +uint8 state # [@enum STATE] Engine state + +uint8 SUBSTATE_RUN = 0 # The engine is running. This is the default state. +uint8 SUBSTATE_IDLE = 1 # The engine idle rpm controller is running. +uint8 SUBSTATE_REST = 2 # The engine is at rest. +uint8 substate # [@enum SUBSTATE] Engine substate uint32 FLAG_GENERAL_ERROR = 1 # General error. @@ -110,35 +145,37 @@ uint32 FLAG_OIL_PRESSURE_ABOVE_NOMINAL = 131072 # Over-pressure warning uint32 FLAG_DEBRIS_SUPPORTED = 262144 # Debris warning. This flag is optional uint32 FLAG_DEBRIS_DETECTED = 524288 # Detection of debris warning -uint32 flags +uint32 flags # [@enum FLAG] Engine status flags bitmap -uint8 engine_load_percent # Engine load estimate, percent, [0, 127] -uint32 engine_speed_rpm # Engine speed, revolutions per minute -float32 spark_dwell_time_ms # Spark dwell time, millisecond -float32 atmospheric_pressure_kpa # Atmospheric (barometric) pressure, kilopascal -float32 intake_manifold_pressure_kpa # Engine intake manifold pressure, kilopascal -float32 intake_manifold_temperature # Engine intake manifold temperature, kelvin -float32 coolant_temperature # Engine coolant temperature, kelvin -float32 oil_pressure # Oil pressure, kilopascal -float32 oil_temperature # Oil temperature, kelvin -float32 fuel_pressure # Fuel pressure, kilopascal -float32 fuel_consumption_rate_cm3pm # Instant fuel consumption estimate, (centimeter^3)/minute -float32 estimated_consumed_fuel_volume_cm3 # Estimate of the consumed fuel since the start of the engine, centimeter^3 -uint8 throttle_position_percent # Throttle position, percent -uint8 ecu_index # The index of the publishing ECU +uint8 engine_load_percent # [%] [@range 0, 127] Engine load estimate +uint32 engine_speed_rpm # [rpm] [@range 0, inf] Engine speed +float32 spark_dwell_time_ms # [ms] [@range 0, inf] Spark dwell time +float32 atmospheric_pressure_kpa # [kPa] [@range 0, inf] Atmospheric (barometric) pressure +float32 intake_manifold_pressure_kpa # [kPa] [@range 0, inf] Engine intake manifold pressure +float32 intake_manifold_temperature # [K] [@range 0, inf] Engine intake manifold temperature +float32 coolant_temperature # [K] [@range 0, inf] Engine coolant temperature +float32 oil_pressure # [kPa] [@range 0, inf] Oil pressure +float32 oil_temperature # [K] [@range 0, inf] Oil temperature +float32 fuel_pressure # [kPa] [@range 0, inf] Fuel pressure +float32 fuel_consumption_rate_cm3pm # [cm^3/min] [@range 0, inf] Instant fuel consumption estimate +float32 estimated_consumed_fuel_volume_cm3 # [cm^3] [@range 0, inf] Estimate of the consumed fuel since the start of the engine +uint8 throttle_position_percent # [%] [@range 0, 100] Throttle position +uint8 ecu_index # [-] [@range 0, 255] The index of the publishing ECU uint8 SPARK_PLUG_SINGLE = 0 uint8 SPARK_PLUG_FIRST_ACTIVE = 1 uint8 SPARK_PLUG_SECOND_ACTIVE = 2 uint8 SPARK_PLUG_BOTH_ACTIVE = 3 -uint8 spark_plug_usage # Spark plug activity report. +uint8 spark_plug_usage # [@enum SPARK_PLUG] Spark plug activity report -float32 ignition_timing_deg # Cylinder ignition timing, angular degrees of the crankshaft -float32 injection_time_ms # Fuel injection time, millisecond -float32 cylinder_head_temperature # Cylinder head temperature (CHT), kelvin -float32 exhaust_gas_temperature # Exhaust gas temperature (EGT), kelvin -float32 lambda_coefficient # Estimated lambda coefficient, dimensionless ratio +float32 ignition_timing_deg # [deg] [@range -inf, inf] Cylinder ignition timing, angular degrees of the crankshaft +float32 injection_time_ms # [ms] [@range 0, inf] Fuel injection time +float32 cylinder_head_temperature # [K] [@range 0, inf] Cylinder head temperature (CHT) +float32 exhaust_gas_temperature # [K] [@range 0, inf] Exhaust gas temperature (EGT) +float32 lambda_coefficient # [-] [@range 0, inf] Estimated lambda coefficient, dimensionless ratio + +float32 pid_idle_rpm_integral # [-] [@range -1, 1] Integral of the PID for the closed loop idle RPM controller ``` ::: diff --git a/docs/ko/msg_docs/ManualControlSetpoint.md b/docs/ko/msg_docs/ManualControlSetpoint.md index 2e1d47158a..7b85da611f 100644 --- a/docs/ko/msg_docs/ManualControlSetpoint.md +++ b/docs/ko/msg_docs/ManualControlSetpoint.md @@ -8,25 +8,25 @@ pageClass: is-wide-page ## Fields -| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | -| ---------------------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | ----------------------------------------------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) | -| valid | `bool` | | | | -| data_source | `uint8` | | | | -| roll | `float32` | | | move right, positive roll rotation, right side down | -| pitch | `float32` | | | move forward, negative pitch rotation, nose down | -| yaw | `float32` | | | positive yaw rotation, clockwise when seen top down | -| throttle | `float32` | | | move up, positive thrust, -1 is minimum available 0% or -100% +1 is 100% thrust | -| flaps | `float32` | | | position of flaps switch/knob/lever [-1, 1] | -| aux1 | `float32` | | | | -| aux2 | `float32` | | | | -| aux3 | `float32` | | | | -| aux4 | `float32` | | | | -| aux5 | `float32` | | | | -| aux6 | `float32` | | | | -| sticks_moving | `bool` | | | | -| buttons | `uint16` | | | From uint16 buttons field of Mavlink manual_control message | +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ---------------------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) | +| valid | `bool` | | | | +| data_source | `uint8` | | | | +| roll | `float32` | | | move right, positive roll rotation, right side down | +| pitch | `float32` | | | move forward, negative pitch rotation, nose down | +| yaw | `float32` | | | positive yaw rotation, clockwise when seen top down | +| throttle | `float32` | | | move up, positive thrust, -1 is minimum available 0% or -100% +1 is 100% thrust | +| flaps | `float32` | | | position of flaps switch/knob/lever [-1, 1] | +| aux1 | `float32` | | | | +| aux2 | `float32` | | | | +| aux3 | `float32` | | | | +| aux4 | `float32` | | | | +| aux5 | `float32` | | | | +| aux6 | `float32` | | | | +| sticks_moving | `bool` | | | manual control override request in an auto or offboard mode, only gets true if feature is enabled | +| buttons | `uint16` | | | From uint16 buttons field of Mavlink manual_control message | ## Constants @@ -89,7 +89,7 @@ float32 aux4 float32 aux5 float32 aux6 -bool sticks_moving +bool sticks_moving # manual control override request in an auto or offboard mode, only gets true if feature is enabled uint16 buttons # From uint16 buttons field of Mavlink manual_control message diff --git a/docs/ko/msg_docs/OpenDroneIdBasicId.md b/docs/ko/msg_docs/OpenDroneIdBasicId.md new file mode 100644 index 0000000000..d4d3365aed --- /dev/null +++ b/docs/ko/msg_docs/OpenDroneIdBasicId.md @@ -0,0 +1,34 @@ +--- +pageClass: is-wide-page +--- + +# OpenDroneIdBasicId (UORB message) + +**TOPICS:** open_drone_id_basic_id + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ----------------------------------------------------------------------------- | ----------- | ---------------------------------------------------------------- | ---------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | | +| id_or_mac | `uint8[20]` | | | Only used for drone ID data received from other UAs, no null termination, null filled if shorter | +| id_type | `uint8` | | | MAV_ODID_ID_TYPE: indicates the format for the uas_id field | +| ua_type | `uint8` | | | MAV_ODID_UA_TYPE: indicates the type of UA (Unmanned Aircraft) | +| uas_id | `uint8[20]` | | | UAS (Unmanned Aircraft System) ID following the format specified by id_type, no null termination, null filled if shorter | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/OpenDroneIdBasicId.msg) + +:::details +Click here to see original file + +```c +uint64 timestamp +uint8[20] id_or_mac # Only used for drone ID data received from other UAs, no null termination, null filled if shorter +uint8 id_type # MAV_ODID_ID_TYPE: indicates the format for the uas_id field +uint8 ua_type # MAV_ODID_UA_TYPE: indicates the type of UA (Unmanned Aircraft) +uint8[20] uas_id # UAS (Unmanned Aircraft System) ID following the format specified by id_type, no null termination, null filled if shorter +``` + +::: diff --git a/docs/ko/msg_docs/RegisterExtComponentRequest.md b/docs/ko/msg_docs/RegisterExtComponentRequest.md index d21b4360b8..8e0a8881c0 100644 --- a/docs/ko/msg_docs/RegisterExtComponentRequest.md +++ b/docs/ko/msg_docs/RegisterExtComponentRequest.md @@ -30,7 +30,7 @@ Request to register an external component. | 명칭 | 형식 | Value | 설명 | | --------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | ----- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | MESSAGE_VERSION | `uint32` | 2 | | -| LATEST_PX4_ROS2_API_VERSION | `uint16` | 1 | API version compatibility. Increase this on a breaking semantic change. Changes to any message field are detected separately and do not require an API version change. | +| LATEST_PX4_ROS2_API_VERSION | `uint16` | 2 | API version compatibility. Increase this on a breaking semantic change. Changes to any message field are detected separately and do not require an API version change. | | ORB_QUEUE_LENGTH | `uint8` | 2 | | ## Source Message @@ -50,7 +50,7 @@ uint64 timestamp # time since system start (microseconds) uint64 request_id # ID, set this to a random value char[25] name # either the requested mode name, or component name -uint16 LATEST_PX4_ROS2_API_VERSION = 1 # API version compatibility. Increase this on a breaking semantic change. Changes to any message field are detected separately and do not require an API version change. +uint16 LATEST_PX4_ROS2_API_VERSION = 2 # API version compatibility. Increase this on a breaking semantic change. Changes to any message field are detected separately and do not require an API version change. uint16 px4_ros2_api_version # Set to LATEST_PX4_ROS2_API_VERSION diff --git a/docs/ko/msg_docs/SensorBaro.md b/docs/ko/msg_docs/SensorBaro.md index e490a057f5..8e112d5b16 100644 --- a/docs/ko/msg_docs/SensorBaro.md +++ b/docs/ko/msg_docs/SensorBaro.md @@ -19,7 +19,7 @@ The information is published in the `SCALED_PRESSURE_n` MAVLink messages (along | timestamp_sample | `uint64` | us | | Time of raw data capture | | device_id | `uint32` | | | Unique device ID for the sensor that does not change between power cycles | | pressure | `float32` | Pa | | Static pressure measurement | -| temperature | `float32` | degC | | Temperature. | +| temperature | `float32` | °C | | Temperature. | | error_count | `uint32` | | | Number of errors detected by driver. | ## Constants @@ -46,7 +46,7 @@ uint64 timestamp_sample # [us] Time of raw data capture uint32 device_id # [-] Unique device ID for the sensor that does not change between power cycles float32 pressure # [Pa] Static pressure measurement -float32 temperature # [degC] Temperature. +float32 temperature # [°C] Temperature. uint32 error_count # [-] Number of errors detected by driver. uint8 ORB_QUEUE_LENGTH = 4 diff --git a/docs/ko/msg_docs/SensorMag.md b/docs/ko/msg_docs/SensorMag.md index 14406714a8..7218c0d8fe 100644 --- a/docs/ko/msg_docs/SensorMag.md +++ b/docs/ko/msg_docs/SensorMag.md @@ -13,10 +13,10 @@ pageClass: is-wide-page | timestamp | `uint64` | | | time since system start (microseconds) | | timestamp_sample | `uint64` | | | | | device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles | -| x | `float32` | | | magnetic field in the FRD board frame X-axis in Gauss | -| y | `float32` | | | magnetic field in the FRD board frame Y-axis in Gauss | -| z | `float32` | | | magnetic field in the FRD board frame Z-axis in Gauss | -| temperature | `float32` | | | temperature in degrees Celsius | +| x | `float32` | Gauss | | magnetic field in the FRD board frame X-axis | +| y | `float32` | Gauss | | magnetic field in the FRD board frame Y-axis | +| z | `float32` | Gauss | | magnetic field in the FRD board frame Z-axis | +| temperature | `float32` | °C | | Temperature. | | error_count | `uint32` | | | | ## Constants @@ -38,11 +38,11 @@ uint64 timestamp_sample uint32 device_id # unique device ID for the sensor that does not change between power cycles -float32 x # magnetic field in the FRD board frame X-axis in Gauss -float32 y # magnetic field in the FRD board frame Y-axis in Gauss -float32 z # magnetic field in the FRD board frame Z-axis in Gauss +float32 x # [Gauss] magnetic field in the FRD board frame X-axis +float32 y # [Gauss] magnetic field in the FRD board frame Y-axis +float32 z # [Gauss] magnetic field in the FRD board frame Z-axis -float32 temperature # temperature in degrees Celsius +float32 temperature # [°C] Temperature. uint32 error_count diff --git a/docs/ko/msg_docs/SetpointConfig.md b/docs/ko/msg_docs/SetpointConfig.md new file mode 100644 index 0000000000..c72a4ffd3e --- /dev/null +++ b/docs/ko/msg_docs/SetpointConfig.md @@ -0,0 +1,98 @@ +--- +pageClass: is-wide-page +--- + +# SetpointConfig (UORB message) + +Setpoint configuration message. + +Published by external modes and PX4 will respond with SetpointConfigReply. + +**TOPICS:** setpoint_config + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| -------------------------------------------------------------- | -------- | ---------------------------------------------------------------- | ------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | +| timestamp | `uint64` | us | | Time since system start | +| type | `uint16` | | [TYPE](#TYPE) | setpoint type (corresponding to one or more setpoint messages) | +| source_id | `uint8` | | | nav_state of the mode | +| should_apply | `bool` | | | if true: apply as current setpoint configuration (mode should be active). If false: setpoint configuration is not changed (can be used to check if a setpoint can be used with the current vehicle configuration). | +| timeout_ms | `uint16` | | | Configure setpoint timeout. If no setpoint received for this time, PX4 triggers a failsafe. 0 disables the timeout (unresponsive modes still trigger a timeout through arming checks). | + +## Enums + +### TYPE {#TYPE} + +Used in field(s): [type](#fld_type) + +| 명칭 | 형식 | Value | 설명 | +| ---------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | ----- | ---------------------------------------------------------- | +| TYPE_INVALID | `uint16` | 0 | | +| TYPE_DIRECT_ACTUATORS | `uint16` | 1 | ActuatorMotors and ActuatorServos | +| TYPE_MULTICOPTER_GOTO | `uint16` | 2 | GotoSetpoint | +| TYPE_FIXEDWING_LATERAL_LONGITUDINAL | `uint16` | 3 | FixedWingLateralSetpoint and FixedWingLongitudinalSetpoint | +| TYPE_TRAJECTORY | `uint16` | 4 | TrajectorySetpoint | +| TYPE_RATES | `uint16` | 5 | VehicleRatesSetpoint | +| TYPE_ATTITUDE | `uint16` | 6 | VehicleAttitudeSetpoint | +| TYPE_ROVER_POSITION | `uint16` | 7 | RoverPositionSetpoint | +| TYPE_ROVER_SPEED_ATTITUDE | `uint16` | 8 | RoverSpeedSetpoint and RoverAttitudeSetpoint | +| TYPE_ROVER_SPEED_RATE | `uint16` | 9 | RoverSpeedSetpoint and RoverRateSetpoint | +| TYPE_ROVER_SPEED_STEERING | `uint16` | 10 | RoverSpeedSetpoint and RoverSteeringSetpoint | +| TYPE_ROVER_THROTTLE_ATTITUDE | `uint16` | 11 | RoverThrottleSetpoint and RoverAttitudeSetpoint | +| TYPE_ROVER_THROTTLE_RATE | `uint16` | 12 | RoverThrottleSetpoint and RoverRateSetpoint | +| TYPE_ROVER_THROTTLE_STEERING | `uint16` | 13 | RoverThrottleSetpoint and RoverSteeringSetpoint | +| TYPE_TRAJECTORY_6DOF | `uint16` | 14 | TrajectorySetpoint6dof | +| TYPE_THRUST_AND_TORQUE | `uint16` | 15 | VehicleThrustSetpoint and VehicleTorqueSetpoint | +| TYPE_POSITION_TRIPLET | `uint16` | 16 | PositionSetpointTriplet | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| ------------------------------------------------------------------ | -------- | ----- | -- | +| MESSAGE_VERSION | `uint32` | 0 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/SetpointConfig.msg) + +:::details +Click here to see original file + +```c +# Setpoint configuration message +# +# Published by external modes and PX4 will respond with SetpointConfigReply. + +uint32 MESSAGE_VERSION = 0 + +uint64 timestamp # [us] Time since system start + +uint16 TYPE_INVALID = 0 +uint16 TYPE_DIRECT_ACTUATORS = 1 # ActuatorMotors and ActuatorServos +uint16 TYPE_MULTICOPTER_GOTO = 2 # GotoSetpoint +uint16 TYPE_FIXEDWING_LATERAL_LONGITUDINAL = 3 # FixedWingLateralSetpoint and FixedWingLongitudinalSetpoint +uint16 TYPE_TRAJECTORY = 4 # TrajectorySetpoint +uint16 TYPE_RATES = 5 # VehicleRatesSetpoint +uint16 TYPE_ATTITUDE = 6 # VehicleAttitudeSetpoint +uint16 TYPE_ROVER_POSITION = 7 # RoverPositionSetpoint +uint16 TYPE_ROVER_SPEED_ATTITUDE = 8 # RoverSpeedSetpoint and RoverAttitudeSetpoint +uint16 TYPE_ROVER_SPEED_RATE = 9 # RoverSpeedSetpoint and RoverRateSetpoint +uint16 TYPE_ROVER_SPEED_STEERING = 10 # RoverSpeedSetpoint and RoverSteeringSetpoint +uint16 TYPE_ROVER_THROTTLE_ATTITUDE = 11 # RoverThrottleSetpoint and RoverAttitudeSetpoint +uint16 TYPE_ROVER_THROTTLE_RATE = 12 # RoverThrottleSetpoint and RoverRateSetpoint +uint16 TYPE_ROVER_THROTTLE_STEERING = 13 # RoverThrottleSetpoint and RoverSteeringSetpoint +uint16 TYPE_TRAJECTORY_6DOF = 14 # TrajectorySetpoint6dof +uint16 TYPE_THRUST_AND_TORQUE = 15 # VehicleThrustSetpoint and VehicleTorqueSetpoint +uint16 TYPE_POSITION_TRIPLET = 16 # PositionSetpointTriplet + +uint16 type # [@enum TYPE] setpoint type (corresponding to one or more setpoint messages) + +uint8 source_id # nav_state of the mode + +bool should_apply # if true: apply as current setpoint configuration (mode should be active). If false: setpoint configuration is not changed (can be used to check if a setpoint can be used with the current vehicle configuration). + +uint16 timeout_ms # Configure setpoint timeout. If no setpoint received for this time, PX4 triggers a failsafe. 0 disables the timeout (unresponsive modes still trigger a timeout through arming checks). +``` + +::: diff --git a/docs/ko/msg_docs/SetpointConfigReply.md b/docs/ko/msg_docs/SetpointConfigReply.md new file mode 100644 index 0000000000..af5516b534 --- /dev/null +++ b/docs/ko/msg_docs/SetpointConfigReply.md @@ -0,0 +1,75 @@ +--- +pageClass: is-wide-page +--- + +# SetpointConfigReply (UORB message) + +Reply to SetpointConfig. + +**TOPICS:** setpoint_config_reply + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ---------------------------------------------------------------------------------------------------------------------------------- | -------- | ---------------------------------------------------------------- | ----------------- | ---------------------------------------------------------------------------------- | +| timestamp | `uint64` | us | | Time since system start | +| type | `uint16` | | | See SetpointConfig::TYPE\_\* | +| source_id | `uint8` | | | nav_state of the mode that sent the SetpointConfig | +| result | `uint8` | | [RESULT](#RESULT) | | +| mode_req_angular_velocity | `bool` | | | | +| mode_req_attitude | `bool` | | | | +| mode_req_local_alt | `bool` | | | | +| mode_req_local_position | `bool` | | | | + +## Enums + +### RESULT {#RESULT} + +Used in field(s): [result](#fld_result) + +| 명칭 | 형식 | Value | 설명 | +| -------------------------------------------------------------------------------------------------------------------------------------- | ------- | ----- | ---------------------------------------------------- | +| RESULT_SUCCESS | `uint8` | 0 | | +| RESULT_FAILURE_OTHER | `uint8` | 1 | | +| RESULT_UNSUPPORTED | `uint8` | 2 | Setpoint type is unsupported for the current vehicle | +| RESULT_UNKNOWN_SETPOINT_TYPE | `uint8` | 3 | The setpoint type is not known | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| ------------------------------------------------------------------ | -------- | ----- | -- | +| MESSAGE_VERSION | `uint32` | 0 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/SetpointConfigReply.msg) + +:::details +Click here to see original file + +```c +# Reply to SetpointConfig + +uint32 MESSAGE_VERSION = 0 + +uint64 timestamp # [us] Time since system start + +uint16 type # See SetpointConfig::TYPE_* + +uint8 source_id # nav_state of the mode that sent the SetpointConfig + +uint8 RESULT_SUCCESS = 0 +uint8 RESULT_FAILURE_OTHER = 1 +uint8 RESULT_UNSUPPORTED = 2 # Setpoint type is unsupported for the current vehicle +uint8 RESULT_UNKNOWN_SETPOINT_TYPE = 3 # The setpoint type is not known +uint8 result # [@enum RESULT] + +# Mode requirements for using the given setpoint type. A mode will use these and apply them to the arming check reply (PX4 does not do that itself). +# Certain setpoint types can be used in a reduced way, for example a TrajectorySetpoint without position control. In that case PX4 still sets all requirement flags, and the mode will then ignore mode_req_local_position. +bool mode_req_angular_velocity +bool mode_req_attitude +bool mode_req_local_alt +bool mode_req_local_position +``` + +::: diff --git a/docs/ko/msg_docs/VehicleCommand.md b/docs/ko/msg_docs/VehicleCommand.md index 9e7f5151f9..e4425ede03 100644 --- a/docs/ko/msg_docs/VehicleCommand.md +++ b/docs/ko/msg_docs/VehicleCommand.md @@ -1528,6 +1528,20 @@ Change mode by specifying nav_state directly. | 6 | | | Unused | | 7 | | | Unused | +### VEHICLE_CMD_DO_SET_GLOBAL_ORIGIN (611) + +Sets GNSS coordinates of the vehicle local origin (0,0,0) position. Send as COMMAND_INT with MAV_FRAME_GLOBAL_INT. + +| Param | 단위 | Range/Enum | 설명 | +| ----- | -- | ---------- | ------------------------------------- | +| 1 | | | Unused | +| 2 | | | Unused | +| 3 | | | Unused | +| 4 | | | Unused | +| 5 | | | Latitude (WGS-84) | +| 6 | | | Longitude (WGS-84) | +| 7 | m | | Altitude (AMSL) | + ### VEHICLE_CMD_GUIDED_CHANGE_HEADING (43002) Change heading/course. param1: heading type (0=course-over-ground, 1=heading). param2: target [deg]. param3: max rate [deg/s]. @@ -1797,6 +1811,7 @@ uint32 VEHICLE_CMD_PX4_INTERNAL_START = 65537 # Start of PX4 internal only vehic uint32 VEHICLE_CMD_SET_GPS_GLOBAL_ORIGIN = 100000 # Sets the GPS coordinates of the vehicle local origin (0,0,0) position. |Unused|Unused|Unused|Unused|Latitude (WGS-84)|Longitude (WGS-84)|[m] Altitude (AMSL from GNSS, positive above ground)| uint32 VEHICLE_CMD_SET_NAV_STATE = 100001 # Change mode by specifying nav_state directly. |nav_state|Unused|Unused|Unused|Unused|Unused|Unused| +uint16 VEHICLE_CMD_DO_SET_GLOBAL_ORIGIN = 611 # Sets GNSS coordinates of the vehicle local origin (0,0,0) position. Send as COMMAND_INT with MAV_FRAME_GLOBAL_INT. |Unused|Unused|Unused|Unused|Latitude (WGS-84)|Longitude (WGS-84)|[m] Altitude (AMSL)| uint16 VEHICLE_CMD_GUIDED_CHANGE_HEADING = 43002 # Change heading/course. param1: heading type (0=course-over-ground, 1=heading). param2: target [deg]. param3: max rate [deg/s]. |Heading type (HEADING_TYPE enum)|[deg] Target bearing [0..360]|[deg/s] Max rate of change|Unused|Unused|Unused|Unused| uint8 VEHICLE_MOUNT_MODE_RETRACT = 0 # Load and keep safe position (Roll,Pitch,Yaw) from permanent memory and stop stabilization. diff --git a/docs/ko/msg_docs/VehicleControlMode.md b/docs/ko/msg_docs/VehicleControlMode.md index 33ce47d855..4ac3930d2b 100644 --- a/docs/ko/msg_docs/VehicleControlMode.md +++ b/docs/ko/msg_docs/VehicleControlMode.md @@ -4,7 +4,9 @@ pageClass: is-wide-page # VehicleControlMode (UORB message) -**TOPICS:** vehicle_control_mode config_control_setpoints +Defines which controllers should run. + +**TOPICS:** vehicle_control_mode ## Fields @@ -20,28 +22,19 @@ pageClass: is-wide-page | flag_control_velocity_enabled | `bool` | | | true if horizontal velocity (implies direction) is controlled | | flag_control_altitude_enabled | `bool` | | | true if altitude is controlled | | flag_control_climb_rate_enabled | `bool` | | | true if climb rate is controlled | -| flag_control_acceleration_enabled | `bool` | | | true if acceleration is controlled | | flag_control_attitude_enabled | `bool` | | | true if attitude stabilization is mixed in | | flag_control_rates_enabled | `bool` | | | true if rates are stabilized | | flag_control_allocation_enabled | `bool` | | | true if control allocation is enabled | -| flag_control_termination_enabled | `bool` | | | true if flighttermination is enabled | -| source_id | `uint8` | | | Mode ID (nav_state) | - -## Constants - -| 명칭 | 형식 | Value | 설명 | -| ------------------------------------------------------------------ | -------- | ----- | -- | -| MESSAGE_VERSION | `uint32` | 0 | | ## Source Message -[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleControlMode.msg) +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleControlMode.msg) :::details Click here to see original file ```c -uint32 MESSAGE_VERSION = 0 +# Defines which controllers should run uint64 timestamp # time since system start (microseconds) bool flag_armed # synonym for actuator_armed.armed @@ -55,16 +48,9 @@ bool flag_control_position_enabled # true if position is controlled bool flag_control_velocity_enabled # true if horizontal velocity (implies direction) is controlled bool flag_control_altitude_enabled # true if altitude is controlled bool flag_control_climb_rate_enabled # true if climb rate is controlled -bool flag_control_acceleration_enabled # true if acceleration is controlled bool flag_control_attitude_enabled # true if attitude stabilization is mixed in bool flag_control_rates_enabled # true if rates are stabilized bool flag_control_allocation_enabled # true if control allocation is enabled -bool flag_control_termination_enabled # true if flighttermination is enabled - -# TODO: use dedicated topic for external requests -uint8 source_id # Mode ID (nav_state) - -# TOPICS vehicle_control_mode config_control_setpoints ``` ::: diff --git a/docs/ko/msg_docs/VehicleThrustSetpoint.md b/docs/ko/msg_docs/VehicleThrustSetpoint.md index 9feba7344b..fda2ad5954 100644 --- a/docs/ko/msg_docs/VehicleThrustSetpoint.md +++ b/docs/ko/msg_docs/VehicleThrustSetpoint.md @@ -4,15 +4,19 @@ pageClass: is-wide-page # VehicleThrustSetpoint (UORB message) +Vehicle thrust setpoint. + +This is the thrust setpoint provided by the controller and fed into the control allocator. + **TOPICS:** vehicle_thrust_setpoint vehicle_thrust_setpoint_virtual_fw vehicle_thrust_setpoint_virtual_mc ## Fields -| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | -| ---------------------------------------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| timestamp_sample | `uint64` | | | timestamp of the data sample on which this message is based (microseconds) | -| xyz | `float32[3]` | | | thrust setpoint along X, Y, Z body axis [-1, 1] | +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ---------------------------------------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | us | | Time since system start | +| timestamp_sample | `uint64` | us | | Timestamp of the data sample on which this message is based | +| xyz | `float32[3]` | | [-1 : 1] | Thrust setpoint along X, Y, Z body axis. If set to NAN the motors affecting this axis are stopped. | ## Source Message @@ -22,10 +26,14 @@ pageClass: is-wide-page Click here to see original file ```c -uint64 timestamp # time since system start (microseconds) -uint64 timestamp_sample # timestamp of the data sample on which this message is based (microseconds) +# Vehicle thrust setpoint +# +# This is the thrust setpoint provided by the controller and fed into the control allocator. -float32[3] xyz # thrust setpoint along X, Y, Z body axis [-1, 1] +uint64 timestamp # [us] Time since system start +uint64 timestamp_sample # [us] Timestamp of the data sample on which this message is based + +float32[3] xyz # [-] [@range -1, 1] Thrust setpoint along X, Y, Z body axis. If set to NAN the motors affecting this axis are stopped. # TOPICS vehicle_thrust_setpoint # TOPICS vehicle_thrust_setpoint_virtual_fw vehicle_thrust_setpoint_virtual_mc diff --git a/docs/ko/msg_docs/index.md b/docs/ko/msg_docs/index.md index a5aaa8a51f..400989db20 100644 --- a/docs/ko/msg_docs/index.md +++ b/docs/ko/msg_docs/index.md @@ -36,6 +36,8 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m - [RaptorStatus](RaptorStatus.md) — Raptor Status. - [RegisterExtComponentReply](RegisterExtComponentReply.md) - [RegisterExtComponentRequest](RegisterExtComponentRequest.md) — Request to register an external component. +- [SetpointConfig](SetpointConfig.md) — Setpoint configuration message. +- [SetpointConfigReply](SetpointConfigReply.md) — Reply to SetpointConfig. - [TrajectorySetpoint](TrajectorySetpoint.md) — Trajectory setpoint in NED frame. Input to PID position controller. Needs to be kinematically consistent and feasible for smooth flight. setting a value to NaN means the state should not be controlled. - [UnregisterExtComponent](UnregisterExtComponent.md) - [VehicleAngularVelocity](VehicleAngularVelocity.md) @@ -43,7 +45,6 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m - [VehicleAttitudeSetpoint](VehicleAttitudeSetpoint.md) - [VehicleCommand](VehicleCommand.md) — Vehicle Command uORB message. Used for commanding a mission / action / etc. Follows the MAVLink COMMAND_INT / COMMAND_LONG definition. - [VehicleCommandAck](VehicleCommandAck.md) — Vehicle Command Acknowledgement uORB message. -- [VehicleControlMode](VehicleControlMode.md) - [VehicleGlobalPosition](VehicleGlobalPosition.md) — Fused global position in WGS84. This struct contains global position estimation. It is not the raw GPS. measurement (@see vehicle_gps_position). This topic is usually published by the position. estimator, which will take more sources of information into account than just GPS,. e.g. control inputs of the vehicle in a Kalman-filter implementation. - [VehicleLandDetected](VehicleLandDetected.md) - [VehicleLocalPosition](VehicleLocalPosition.md) — Fused local position in NED. The coordinate system origin is the vehicle position at the time when the EKF2-module was started. @@ -129,6 +130,7 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m - [EstimatorStatusFlags](EstimatorStatusFlags.md) - [FailsafeFlags](FailsafeFlags.md) — Input flags for the failsafe state machine set by the arming & health checks. - [FailureDetectorStatus](FailureDetectorStatus.md) +- [FailureInjection](FailureInjection.md) — Failure injection configuration. - [FiducialMarkerPosReport](FiducialMarkerPosReport.md) — Relative position of a precision-landing target detected by a vision pipeline (e.g. an ArUco marker). - [FiducialMarkerYawReport](FiducialMarkerYawReport.md) — Yaw of a precision-landing target relative to the NED (North, East, Down) frame, reported by a vision pipeline. - [FigureEightStatus](FigureEightStatus.md) @@ -193,6 +195,7 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m - [OffboardControlMode](OffboardControlMode.md) — Off-board control mode. - [OnboardComputerStatus](OnboardComputerStatus.md) — ONBOARD_COMPUTER_STATUS message data. - [OpenDroneIdArmStatus](OpenDroneIdArmStatus.md) +- [OpenDroneIdBasicId](OpenDroneIdBasicId.md) - [OpenDroneIdOperatorId](OpenDroneIdOperatorId.md) - [OpenDroneIdSelfId](OpenDroneIdSelfId.md) - [OpenDroneIdSystem](OpenDroneIdSystem.md) @@ -275,8 +278,8 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m - [UlogStreamAck](UlogStreamAck.md) — Ack a previously sent ulog_stream message that had. the NEED_ACK flag set. - [VehicleAcceleration](VehicleAcceleration.md) - [VehicleAirData](VehicleAirData.md) — Vehicle air data. -- [VehicleAngularAccelerationSetpoint](VehicleAngularAccelerationSetpoint.md) - [VehicleConstraints](VehicleConstraints.md) — Local setpoint constraints in NED frame. setting something to NaN means that no limit is provided. +- [VehicleControlMode](VehicleControlMode.md) — Defines which controllers should run. - [VehicleImu](VehicleImu.md) — IMU readings in SI-unit form. - [VehicleImuStatus](VehicleImuStatus.md) - [VehicleLocalPositionSetpoint](VehicleLocalPositionSetpoint.md) — Local position setpoint in NED frame. Telemetry of PID position controller to monitor tracking. NaN means the state was not controlled. @@ -284,7 +287,7 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m - [VehicleOpticalFlow](VehicleOpticalFlow.md) — Optical flow in XYZ body frame in SI units. - [VehicleOpticalFlowVel](VehicleOpticalFlowVel.md) - [VehicleRoi](VehicleRoi.md) — Vehicle Region Of Interest (ROI). -- [VehicleThrustSetpoint](VehicleThrustSetpoint.md) +- [VehicleThrustSetpoint](VehicleThrustSetpoint.md) — Vehicle thrust setpoint. - [VehicleTorqueSetpoint](VehicleTorqueSetpoint.md) - [VelocityLimits](VelocityLimits.md) — Velocity and yaw rate limits for a multicopter position slow mode only. - [VteAidSource1d](VteAidSource1d.md) — Vision Target Estimator 1D fusion aid-source diagnostics (e.g. yaw). diff --git a/docs/ko/neural_networks/mc_neural_network_control.md b/docs/ko/neural_networks/mc_neural_network_control.md index e7ad40119e..0c534b1c01 100644 --- a/docs/ko/neural_networks/mc_neural_network_control.md +++ b/docs/ko/neural_networks/mc_neural_network_control.md @@ -17,7 +17,7 @@ Note that after training the network you will need to update and rebuild PX4. TLFM is a mature inference library intended for use on embedded devices. It has support for several architectures, so there is a high likelihood that you can build it for the board you want to use. -If not, there are other possible NN frameworks, such as [Eigen](https://eigen.tuxfamily.org/index.php?title=Main_Page) and [Executorch](https://docs.pytorch.org/executorch/stable/intro-overview.html). +If not, there are other possible NN frameworks, such as [Eigen](https://libeigen.gitlab.io/) and [Executorch](https://docs.pytorch.org/executorch/stable/intro-overview.html). This document explains how you can include the module in your PX4 build, and provides a broad overview of how it works. The other documents in the section provide more information about the integration, allowing you to replace the NN with a version trained on different data, or even to replace the TLFM library altogether. diff --git a/docs/ko/neural_networks/nn_module_utilities.md b/docs/ko/neural_networks/nn_module_utilities.md index d559d46d07..b4c229cea2 100644 --- a/docs/ko/neural_networks/nn_module_utilities.md +++ b/docs/ko/neural_networks/nn_module_utilities.md @@ -18,7 +18,7 @@ A line to autostart the [mc_nn_control](../modules/modules_controller.md#mc-nn-c It checks whether the module is included by looking for the parameter [MC_NN_EN](../advanced_config/parameter_reference.md#MC_NN_EN). If this is set to `1` (the default value), the module will be started when booting PX4. -Similarly you could create other parameters in the [`mc_nn_control_params.c`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/mc_nn_control/mc_nn_control_params.c) file for other startup script checks. +Similarly you could create other parameters in the [`mc_nn_control_params.yaml`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/mc_nn_control/mc_nn_control_params.yaml) file for other startup script checks. ## Custom Flight Mode diff --git a/docs/ko/releases/1.18.md b/docs/ko/releases/1.18.md index 7eb11af4bf..c5a04fe047 100644 --- a/docs/ko/releases/1.18.md +++ b/docs/ko/releases/1.18.md @@ -1,6 +1,6 @@ # PX4-Autopilot v1.18.0 Release Notes - +