From bbb02bb1615777b49a72448fb797bb2f1509b07c Mon Sep 17 00:00:00 2001 From: PX4 Build Bot Date: Thu, 18 Jun 2026 16:08:45 +1000 Subject: [PATCH] docs(i18n): PX4 guide translations (Crowdin) - zh-CN (#27666) Co-authored-by: Crowdin Bot --- docs/zh/SUMMARY.md | 3 + .../zh/advanced_config/airspeed_validation.md | 2 +- docs/zh/advanced_config/ethernet_setup.md | 2 +- docs/zh/advanced_config/prearm_arm_disarm.md | 10 +- docs/zh/advanced_config/tuning_the_ecl_ekf.md | 2 +- docs/zh/advanced_features/precland.md | 2 +- .../vision_target_estimator_advanced.md | 4 +- docs/zh/airframes/airframe_reference.md | 4 +- docs/zh/assembly/quick_start_durandal.md | 2 +- docs/zh/camera/fc_connected_camera.md | 2 +- .../computer_vision/collision_prevention.md | 2 +- .../visual_inertial_odometry.md | 2 +- docs/zh/config/compass.md | 4 +- docs/zh/config/safety.md | 53 ++-- docs/zh/config_mc/filter_tuning.md | 2 +- .../config_mc/pid_tuning_guide_multicopter.md | 2 +- docs/zh/config_rover/attitude_tuning.md | 2 +- docs/zh/config_rover/basic_setup.md | 8 +- docs/zh/config_rover/position_tuning.md | 6 +- docs/zh/config_rover/rate_tuning.md | 2 +- docs/zh/config_rover/velocity_tuning.md | 4 +- docs/zh/config_vtol/vtol_weathervane.md | 2 +- docs/zh/debug/profiling.md | 2 +- docs/zh/dev_log/logging.md | 2 +- docs/zh/dev_setup/dev_env.md | 16 +- docs/zh/development/development.md | 3 +- docs/zh/dronecan/ark_cannode.md | 2 +- docs/zh/dronecan/ark_flow.md | 2 +- docs/zh/dronecan/ark_flow_mr.md | 2 +- docs/zh/dronecan/ark_gps.md | 2 +- docs/zh/dronecan/ark_rtk_gps.md | 2 +- docs/zh/dronecan/ark_rtk_gps_l1_l2.md | 2 +- docs/zh/dronecan/ark_x20_rtk_gps.md | 2 +- docs/zh/dronecan/index.md | 62 +++- docs/zh/flight_controller/3dr_ctrl-n1.md | 143 ++++++++++ docs/zh/flight_controller/airlink.md | 2 +- .../autopilot_experimental.md | 4 + .../autopilot_manufacturer_supported.md | 8 +- docs/zh/flight_controller/corvon_743v2.md | 173 +++++++++++ docs/zh/flight_controller/index.md | 4 + docs/zh/flight_controller/kakuteh7.md | 2 +- docs/zh/flight_controller/kakuteh7mini.md | 2 +- docs/zh/flight_controller/kakuteh7v2.md | 2 +- docs/zh/flight_controller/pixhawk4.md | 2 +- docs/zh/flight_controller/pixhawk_series.md | 2 +- docs/zh/flight_controller/radiolink_pix6.md | 2 +- .../flight_controller/vololand_narinfc_h7.md | 205 +++++++++++++ docs/zh/flight_modes/offboard.md | 135 +++++---- docs/zh/flight_modes/return.md | 35 +-- docs/zh/flight_modes_fw/acro.md | 2 +- docs/zh/flight_modes_fw/altitude.md | 17 +- docs/zh/flight_modes_fw/guided_course.md | 4 +- docs/zh/flight_modes_fw/hold.md | 2 +- docs/zh/flight_modes_fw/land.md | 4 +- docs/zh/flight_modes_fw/manual.md | 2 +- docs/zh/flight_modes_fw/mission.md | 14 +- docs/zh/flight_modes_fw/position.md | 17 +- docs/zh/flight_modes_fw/return.md | 4 +- docs/zh/flight_modes_fw/stabilized.md | 2 +- docs/zh/flight_modes_fw/takeoff.md | 6 +- docs/zh/flight_modes_mc/acro.md | 2 +- docs/zh/flight_modes_mc/altitude.md | 2 +- docs/zh/flight_modes_mc/altitude_cruise.md | 2 +- docs/zh/flight_modes_mc/follow_me.md | 4 +- docs/zh/flight_modes_mc/hold.md | 8 +- docs/zh/flight_modes_mc/land.md | 6 +- docs/zh/flight_modes_mc/manual_stabilized.md | 2 +- docs/zh/flight_modes_mc/mission.md | 6 +- docs/zh/flight_modes_mc/orbit.md | 4 +- docs/zh/flight_modes_mc/position.md | 2 +- docs/zh/flight_modes_mc/return.md | 36 +-- docs/zh/flight_modes_mc/takeoff.md | 4 +- docs/zh/flight_modes_vtol/land.md | 2 +- docs/zh/flight_modes_vtol/return.md | 4 +- docs/zh/flight_stack/controller_diagrams.md | 2 +- docs/zh/flying/pre_flight_checks.md | 4 +- .../holybro_s500_v2_pixhawk4.md | 6 +- .../holybro_x500v2_pixhawk6c.md | 4 +- docs/zh/gps_compass/gps_cuav_neo_3pro.md | 2 +- docs/zh/gps_compass/gps_cuav_neo_3x.md | 2 +- docs/zh/gps_compass/gps_locosys_hawk_a1.md | 4 +- docs/zh/gps_compass/index.md | 56 ++-- docs/zh/gps_compass/magnetometer.md | 12 +- docs/zh/gps_compass/rtk_gps.md | 80 +++--- docs/zh/gps_compass/septentrio_mosaic-go.md | 16 +- docs/zh/hardware/board_support_guide.md | 269 +++++++++++------- docs/zh/hardware/porting_guide.md | 39 +-- docs/zh/middleware/zenoh.md | 12 + docs/zh/modules/modules_command.md | 4 + docs/zh/modules/modules_driver.md | 34 +++ docs/zh/msg_docs/ActionRequest.md | 8 + docs/zh/msg_docs/ArmingCheckReplyV0.md | 2 +- docs/zh/msg_docs/HealthReport.md | 20 +- docs/zh/msg_docs/LedControl.md | 2 +- docs/zh/msg_docs/PowerButtonState.md | 2 +- .../msg_docs/RegisterExtComponentRequest.md | 2 +- .../msg_docs/RegisterExtComponentRequestV0.md | 2 +- .../msg_docs/RegisterExtComponentRequestV1.md | 2 +- docs/zh/msg_docs/TelemetryStatus.md | 2 +- docs/zh/msg_docs/VehicleCommand.md | 2 +- docs/zh/msg_docs/VehicleStatus.md | 2 +- docs/zh/msg_docs/VehicleStatusV0.md | 2 +- docs/zh/msg_docs/VehicleStatusV2.md | 2 +- docs/zh/msg_docs/VehicleStatusV3.md | 2 +- docs/zh/neural_networks/index.md | 2 +- docs/zh/peripherals/adsb_flarm.md | 6 +- docs/zh/peripherals/frsky_telemetry.md | 2 +- docs/zh/peripherals/vesc.md | 2 +- docs/zh/releases/1.15.md | 2 +- docs/zh/releases/1.16.md | 2 +- docs/zh/releases/1.17.md | 5 +- docs/zh/releases/1.18.md | 19 +- docs/zh/releases/main.md | 2 +- docs/zh/ros/external_position_estimation.md | 4 +- docs/zh/ros2/multi_vehicle.md | 2 +- docs/zh/ros2/user_guide.md | 2 +- docs/zh/sensor/grf_lidar.md | 2 +- docs/zh/sensor/optical_flow.md | 2 +- docs/zh/sensor/sf45_rotating_lidar.md | 4 +- docs/zh/sim_gazebo_gz/index.md | 1 + docs/zh/sim_gazebo_gz/vehicles.md | 2 +- docs/zh/sim_gazebo_gz/worlds.md | 26 +- 122 files changed, 1273 insertions(+), 512 deletions(-) create mode 100644 docs/zh/flight_controller/3dr_ctrl-n1.md create mode 100644 docs/zh/flight_controller/corvon_743v2.md create mode 100644 docs/zh/flight_controller/vololand_narinfc_h7.md diff --git a/docs/zh/SUMMARY.md b/docs/zh/SUMMARY.md index e547446a40..1dd64585e3 100644 --- a/docs/zh/SUMMARY.md +++ b/docs/zh/SUMMARY.md @@ -164,6 +164,7 @@ - [mRo Pixhawk (FMUv3)](flight_controller/mro_pixhawk.md) - [mRo (3DR) Pixhawk Wiring Quickstart](assembly/quick_start_pixhawk.md) - [Manufacturer-Supported Autopilots](flight_controller/autopilot_manufacturer_supported.md) + - [3DR Control N1](flight_controller/3dr_ctrl-n1.md) - [Accton Godwit GA1](flight_controller/accton-godwit_ga1.md) - [AEDROX AEDROXH7](flight_controller/aedrox_aedroxh7.md) - [AirMind MindPX](flight_controller/mindpx.md) @@ -174,6 +175,7 @@ - [ARK Pi6X Flow Flight Controller](flight_controller/ark_pi6x.md) - [CBUnmanned H753-SOM](flight_controller/cbunmanned_h753-som.md) - [CORVON 743v1](flight_controller/corvon_743v1.md) + - [CORVON 743v2](flight_controller/corvon_743v2.md) - [CUAV Nora](flight_controller/cuav_nora.md) - [CUAV V5+ (FMUv5)](flight_controller/cuav_v5_plus.md) - [Wiring Quickstart](assembly/quick_start_cuav_v5_plus.md) @@ -205,6 +207,7 @@ - [ThePeach FCC-K1](flight_controller/thepeach_k1.md) - [ThePeach FCC-R1](flight_controller/thepeach_r1.md) - [AP-H743-R1](flight_controller/x-mav_ap-h743r1.md) + - [VOLOLAND NarinFC-H7](flight_controller/vololand_narinfc_h7.md) - [Experimental Autopilots](flight_controller/autopilot_experimental.md) - [BeagleBone Blue](flight_controller/beaglebone_blue.md) - [Raspberry Pi 2/3 Navio2](flight_controller/raspberry_pi_navio2.md) diff --git a/docs/zh/advanced_config/airspeed_validation.md b/docs/zh/advanced_config/airspeed_validation.md index 1bbfb850ea..782f717d2a 100644 --- a/docs/zh/advanced_config/airspeed_validation.md +++ b/docs/zh/advanced_config/airspeed_validation.md @@ -182,7 +182,7 @@ Only when the measured airspeed began decreasing very quickly would the innovati Listed below are all the relevant parameters. -| 参数 | 描述 | Used In | +| Parameter | 描述 | Used In | | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------- | | [ASPD_DO_CHECKS](../advanced_config/parameter_reference.md#ASPD_DO_CHECKS) | Bitmask to enable/disable individual airspeed validation checks. | | | [ASPD_FS_INNOV](../advanced_config/parameter_reference.md#ASPD_FS_INNOV) | Innovation threshold between estimated and predicted TAS. | [Innovation Check](#innovation-check) | diff --git a/docs/zh/advanced_config/ethernet_setup.md b/docs/zh/advanced_config/ethernet_setup.md index dd59602c34..6e8f8e317f 100644 --- a/docs/zh/advanced_config/ethernet_setup.md +++ b/docs/zh/advanced_config/ethernet_setup.md @@ -165,7 +165,7 @@ You must separately configure the PX4 IP address and other _network settings_ ([ PX4配置串行端口以通过MAVLink连接到地面站，使用下面的参数: -| 参数 | 值 | 描述 | +| Parameter | 值 | 描述 | | --------------------------------------------------------------------------------------------------------------------------------------------- | ------ | ------------------------------ | | [MAV_2_CONFIG](../advanced_config/parameter_reference.md#MAV_2_CONFIG) | 1000 | 配置以太网端口 | | [MAV_2_BROADCAST](../advanced_config/parameter_reference.md#MAV_2_BROADCAST) | 1 | Broadcast `HEARTBEAT` messages | diff --git a/docs/zh/advanced_config/prearm_arm_disarm.md b/docs/zh/advanced_config/prearm_arm_disarm.md index a141ab4a8b..77f01862d0 100644 --- a/docs/zh/advanced_config/prearm_arm_disarm.md +++ b/docs/zh/advanced_config/prearm_arm_disarm.md @@ -58,7 +58,7 @@ RC controllers will use different sticks for throttle and yaw [based on their mo Note that disarming in any altitude controlled mode is only possible after landing was detected. In manually piloted modes without altitude control, such as Stabilized, Acro, and Manual, it's always possible to disarm using gestures or buttons — even in flight. -| 参数 | 描述 | +| Parameter | 描述 | | -------------------------------------------------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------- | | [MAN_ARM_GESTURE](../advanced_config/parameter_reference.md#MAN_ARM_GESTURE) | Enable arm/disarm stick guesture. `0`: Disabled, `1`: Enabled (default). | @@ -75,7 +75,7 @@ Two-position arming switches are primarily used in/recommended for racing drones The switch or button is assigned (and enabled) using [RC_MAP_ARM_SW](#RC_MAP_ARM_SW), and the switch "type" is configured using [COM_ARM_SWISBTN](#COM_ARM_SWISBTN). -| 参数 | 描述 | +| Parameter | 描述 | | ----------------------------------------------------------------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | [RC_MAP_ARM_SW](../advanced_config/parameter_reference.md#RC_MAP_ARM_SW) | RC arm switch channel (default: 0 - unassigned). If defined, the specified RC channel (button/switch) is used for arming instead of a stick gesture.
**Note:**
- This setting _disables the stick gesture_!
- This setting applies to RC controllers. It does not apply to Joystick controllers that are connected via _QGroundControl_. | | [COM_ARM_SWISBTN](../advanced_config/parameter_reference.md#COM_ARM_SWISBTN) | Arm switch is a momentary button.
- `0`: Arm switch is a 2-position switch where arm/disarm commands are sent on switch transitions.
-`1`: Arm switch is a momentary button where the arm/disarm command is sent after holding down the button for one second. | @@ -89,7 +89,7 @@ The switch can also be set as part of _QGroundControl_ [Flight Mode](../config/f By default vehicles will automatically disarm on landing, or if you take too long to take off after arming. The feature is configured using the following timeouts. -| 参数 | 描述 | +| Parameter | 描述 | | ----------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------- | | [COM_DISARM_LAND](../advanced_config/parameter_reference.md#COM_DISARM_LAND) | 降落后自动锁定超时时间. Default: 2s (-1 to disable). | | [COM_DISARM_PRFLT](../advanced_config/parameter_reference.md#COM_DISARM_PRFLT) | Time-out for auto disarm if too slow to takeoff. Default: 10s (-1 to disable). | @@ -112,7 +112,7 @@ A vehicle that arms automatically can spin up motors and actuators without any o Ensure the vehicle is in a safe state before powering on. ::: -| 参数 | 描述 | +| Parameter | 描述 | | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------- | | [COM_ARM_ON_BOOT](../advanced_config/parameter_reference.md#COM_ARM_ON_BOOT) | Arm automatically once preflight checks pass after boot. Default: `0` (Disabled). | @@ -246,7 +246,7 @@ The startup sequence is: ### 参数 -| 参数 | 描述 | +| Parameter | 描述 | | -------------------------------------------------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | [COM_PREARM_MODE](../advanced_config/parameter_reference.md#COM_PREARM_MODE) | Condition to enter prearmed mode. `0`: Disabled, `1`: Safety switch (prearm mode enabled by safety switch; if no switch present cannot be enabled), `2`: Always (prearm mode enabled from power up). Default: `1` (safety button). | | [CBRK_IO_SAFETY](../advanced_config/parameter_reference.md#CBRK_IO_SAFETY) | Circuit breaker for IO safety. | diff --git a/docs/zh/advanced_config/tuning_the_ecl_ekf.md b/docs/zh/advanced_config/tuning_the_ecl_ekf.md index d4274ea2a1..b46b936886 100644 --- a/docs/zh/advanced_config/tuning_the_ecl_ekf.md +++ b/docs/zh/advanced_config/tuning_the_ecl_ekf.md @@ -326,7 +326,7 @@ GSF 应用于各个 3 状态 EKF 输出的权重位于 `weight` 字段中。 为了让 ECL 接受 GNSS 数据进行导航，需要在一段时间内满足某些最低要求，该时间由 [EKF2_REQ_GPS_H](../advanced_config/parameter_reference.md#EKF2_REQ_GPS_H) 定义（默认为 10 秒）。 -最小值在 [EKF2_REQ_\*](../advanced_config/parameter_reference.md#EKF2_REQ_EPH) 参数中定义，并且可以使用 [EKF2_GPS_CHECK](../advanced_config/parameter_reference.md#EKF2_GPS_CHECK) 参数启用/禁用每个检查。 +最小值在 [EKF2_REQ_\*](../advanced_config/parameter_reference.md#EKF2_REQ_EPH) 参数中定义，并且可以使用 [EKF2_GPS_CHECK](../advanced_config/parameter_reference.md#EKF2_GPS_CHECK) 参数启用/禁用每个检查。 下表列出了直接从 GNSS 数据中报告或计算的不同指标，以及 ECL 使用这些数据所需满足的最低要求值。 此外，_平均值 (Average Value)_ 列显示了可能从标准 GNSS 模块（例如 u-blox M8 系列）合理获得的典型值 - 即被认为良好/可接受的值。 diff --git a/docs/zh/advanced_features/precland.md b/docs/zh/advanced_features/precland.md index f4137a3ae0..72d72f00f2 100644 --- a/docs/zh/advanced_features/precland.md +++ b/docs/zh/advanced_features/precland.md @@ -164,7 +164,7 @@ If `LTEST_MODE` is set to stationary, the target measurements are also used by t Other relevant parameters are listed in the parameter reference under [Landing_target estimator](../advanced_config/parameter_reference.md#landing-target-estimator) and [Precision land](../advanced_config/parameter_reference.md#precision-land) parameters. Some of the most useful ones are listed below. -| 参数 | 描述 | +| Parameter | 描述 | | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | [SENS_EN_IRLOCK](../advanced_config/parameter_reference.md#SENS_EN_IRLOCK) | IR-LOCK Sensor (external I2C). Disable: `0` (default): Enable: `1`). | | [LTEST_MODE](../advanced_config/parameter_reference.md#LTEST_MODE) | Landing target is moving (`0`) or stationary (`1`). Default is moving. | diff --git a/docs/zh/advanced_features/vision_target_estimator_advanced.md b/docs/zh/advanced_features/vision_target_estimator_advanced.md index 5bd656320f..5e03fd5896 100644 --- a/docs/zh/advanced_features/vision_target_estimator_advanced.md +++ b/docs/zh/advanced_features/vision_target_estimator_advanced.md @@ -169,7 +169,7 @@ $$ R_{\text{eff}} = \max\bigl(R_{\text{reported}},\ \text{VTE\_*\_NOISE}^2\bigr). $$ -| 参数 | 单位 (Units) | 默认值 | Applies to | +| Parameter | 单位 (Units) | 默认值 | Applies to | | ------------------------------------------------------------------------------------------------------------------------------------------- | ----------------------------- | -------------------- | ----------------------------------------------------- | | [VTE_EVP_NOISE](../advanced_config/parameter_reference.md#VTE_EVP_NOISE) | 米 | 0.10 | Vision relative position | | [VTE_EVA_NOISE](../advanced_config/parameter_reference.md#VTE_EVA_NOISE) | rad | 0.07 | Vision yaw | @@ -192,7 +192,7 @@ All process-noise parameters are continuous-time **power spectral densities** (P A PSD describes the strength of a continuous white-noise process: it is the variance the noise injects per second into the state it directly drives, with units chosen so that `PSD × time` is the variance of that state. See [Spectral density (Wikipedia)](https://en.wikipedia.org/wiki/Spectral_density) for background. -| 参数 | Drives directly | Unit | What it represents | +| Parameter | Drives directly | Unit | What it represents | | ------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------- | ------------------------------------ | ------------------------------------------------------------------------------------------------------------- | | [VTE_BIAS_UNC](../advanced_config/parameter_reference.md#VTE_BIAS_UNC) | `bias` (m) | m²/s | PSD of the bias random walk | | [VTE_ACC_D_UNC](../advanced_config/parameter_reference.md#VTE_ACC_D_UNC) | `vel_uav` (m/s) | m²/s³ | PSD of white acceleration noise on the UAV acceleration input | diff --git a/docs/zh/airframes/airframe_reference.md b/docs/zh/airframes/airframe_reference.md index 90cddd887b..0fcbb9edfd 100644 --- a/docs/zh/airframes/airframe_reference.md +++ b/docs/zh/airframes/airframe_reference.md @@ -585,9 +585,9 @@ div.frame_variant td, div.frame_variant th { -## 无人车 +## Rover -### 无人车 +### Rover
diff --git a/docs/zh/assembly/quick_start_durandal.md b/docs/zh/assembly/quick_start_durandal.md index 3ac363b5ba..e349ec3bc1 100644 --- a/docs/zh/assembly/quick_start_durandal.md +++ b/docs/zh/assembly/quick_start_durandal.md @@ -113,7 +113,7 @@ It has the following characteristics/limits: - PCB Current: total 120A outputs (MAX) - UBEC 5V output current: 3A - UBEC input voltage : 7~51v (2~12s LiPo) -- Dimensions: 68_50_8 mm +- Dimensions: 68_50_8 mm - Mounting Holes: 45\*45mm - Weight: 36g - Package includes: diff --git a/docs/zh/camera/fc_connected_camera.md b/docs/zh/camera/fc_connected_camera.md index 691dc85e09..dcbb8d2cb7 100644 --- a/docs/zh/camera/fc_connected_camera.md +++ b/docs/zh/camera/fc_connected_camera.md @@ -139,7 +139,7 @@ At time of writing triggering only works on FMU pins: ### 其他参数 -| 参数 | 描述 | +| Parameter | 描述 | | ------------------------------------------------------------------------------------------------------------------ | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | [TRIG_POLARITY](../advanced_config/parameter_reference.md#TRIG_POLARITY) | Relevant only while using the GPIO interface. Sets the polarity of the trigger pin. Active high means that the pin is pulled low normally and pulled high on a trigger event. Active low is vice-versa. | | [TRIG_INTERVAL](../advanced_config/parameter_reference.md#TRIG_INTERVAL) | Defines the time between two consecutive trigger events in milliseconds. | diff --git a/docs/zh/computer_vision/collision_prevention.md b/docs/zh/computer_vision/collision_prevention.md index 2d68314c8e..f1d80ebb11 100644 --- a/docs/zh/computer_vision/collision_prevention.md +++ b/docs/zh/computer_vision/collision_prevention.md @@ -54,7 +54,7 @@ PX4 v1.14 (and later) supports the [LightWare LiDAR SF45](../sensor/sf45_rotatin Configure collision prevention by [setting the following parameters](../advanced_config/parameters.md) in _QGroundControl_: -| 参数 | 描述 | +| Parameter | 描述 | | ----------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | | [CP_DIST](../advanced_config/parameter_reference.md#CP_DIST) | Set the minimum allowed distance (the closest distance that the vehicle can approach the obstacle). Set negative to disable _collision prevention_.
> **Warning** This value is the distance to the sensors, not the outside of your vehicle or propellers. Be sure to leave a safe margin! | | [CP_DELAY](../advanced_config/parameter_reference.md#CP_DELAY) | Set the sensor and velocity setpoint tracking delay. See [Delay Tuning](#delay_tuning) below. | diff --git a/docs/zh/computer_vision/visual_inertial_odometry.md b/docs/zh/computer_vision/visual_inertial_odometry.md index 953b42938d..6bce9b8b73 100644 --- a/docs/zh/computer_vision/visual_inertial_odometry.md +++ b/docs/zh/computer_vision/visual_inertial_odometry.md @@ -69,7 +69,7 @@ These should identify the component as `MAV_COMP_ID_VISUAL_INERTIAL_ODOMETRY` (1 将相机连接到机载计算机并将其安装到框架： -| 参数 | 外部位置估计的设置 | +| Parameter | 外部位置估计的设置 | | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------- | | [EKF2_EV_CTRL](../advanced_config/parameter_reference.md#EKF2_EV_CTRL) | Set _horizontal position fusion_, _vertical vision fusion_, _velocity fusion_, and _yaw fusion_ according to your desired fusion model. | | [EKF2_HGT_REF](../advanced_config/parameter_reference.md#EKF2_HGT_REF) | Set to _Vision_ to use the vision as the reference sensor for altitude estimation. | diff --git a/docs/zh/config/compass.md b/docs/zh/config/compass.md index a07cf0e6a3..1e6dedeb7f 100644 --- a/docs/zh/config/compass.md +++ b/docs/zh/config/compass.md @@ -141,7 +141,7 @@ The calibration process: commander calibrate mag quick [heading] ``` - | 参数 | 描述 | + | Parameter | 描述 | | --------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------- | | `heading` (optional) | True heading of the vehicle in degrees (0–359). Defaults to 0° (North) if omitted. | @@ -204,7 +204,7 @@ Further compass configuration should generally not be required. ### Enable/Disable a Compass While no further configuration should be _required_, developers who wish to disable/enable compasses for any reason, such as testing, can do so using the compass parameters. -These are prefixed with [CAL_MAGx_](../advanced_config/parameter_reference.md#CAL_MAG0_ID) (where `x=0-3`): +These are prefixed with [CAL_MAGx_](../advanced_config/parameter_reference.md#CAL_MAG0_ID) (where `x=0-3`): - [CAL_MAGn_ROT](../advanced_config/parameter_reference.md#CAL_MAG0_ROT) can be used to determine which compasses are internal. A compass is internal if `CAL_MAGn_ROT==1`. diff --git a/docs/zh/config/safety.md b/docs/zh/config/safety.md index 724e1f46fd..36823c4b06 100644 --- a/docs/zh/config/safety.md +++ b/docs/zh/config/safety.md @@ -86,7 +86,7 @@ The most common configuration is to set the values and action as above (with `Wa The settings and underlying parameters are shown below. -| 设置 | 参数 | 描述 | +| 设置 | Parameter | 描述 | | --------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------- | | Failsafe Action | [COM_LOW_BAT_ACT](../advanced_config/parameter_reference.md#COM_LOW_BAT_ACT) | Warn, Return, or Land based when capacity drops below the trigger levels. | | Battery Warn Level | [BAT_LOW_THR](../advanced_config/parameter_reference.md#BAT_LOW_THR) | 需做出警告（或其他动作）的电量百分比。 | @@ -104,7 +104,7 @@ There are several other "battery related" failsafe mechanisms that may be config The settings and underlying parameters are shown below. -| 设置 | 参数 | 描述 | +| 设置 | Parameter | 描述 | | -------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | Low flight time for safe return action | [COM_FLTT_LOW_ACT](../advanced_config/parameter_reference.md#COM_FLTT_LOW_ACT) | Action when return mode can only just reach safety with remaining battery. `0`: None (default), `1`: Warning, `3`: Return mode. | | Maximum flight time failsafe level | [COM_FLT_TIME_MAX](../advanced_config/parameter_reference.md#COM_FLT_TIME_MAX) | Maximum allowed flight time before Return mode will be engaged, in seconds. `-1`: Disabled (default). | @@ -124,7 +124,7 @@ PX4 and the receiver may also need to be configured in order to _detect RC loss_ Additional (and underlying) parameter settings are shown below. -| 参数 | 设置 | 描述 | +| Parameter | 设置 | 描述 | | -------------------------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | [COM_RC_LOSS_T](../advanced_config/parameter_reference.md#COM_RC_LOSS_T) | Manual Control Loss Timeout | Time after last setpoint received from the selected manual control source after which manual control is considered lost. This must be kept short because the vehicle will continue to fly using the last known stick position until the timeout triggers. | | [COM_FAIL_ACT_T](../advanced_config/parameter_reference.md#COM_FAIL_ACT_T) | Failsafe Reaction Delay | Delay in seconds between failsafe condition being triggered (`COM_RC_LOSS_T`) and failsafe action (RTL, Land, Hold). In this state the vehicle waits in hold mode for the manual control source to reconnect. This might be set longer for long-range flights so that intermittent connection loss doesn't immediately invoke the failsafe. It can be to zero so that the failsafe triggers immediately. | @@ -140,7 +140,7 @@ Users that want to disable this failsafe in specific modes can do so using the p The settings and underlying parameters are shown below. -| 设置 | 参数 | 描述 | +| 设置 | Parameter | 描述 | | ----------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------- | | 数据链路丢失超时 | [COM_DL_LOSS_T](../advanced_config/parameter_reference.md#COM_DL_LOSS_T) | 数据连接断开后到故障保护触发之前的时间。 | | 故障保护动作 | [NAV_DLL_ACT](../advanced_config/parameter_reference.md#NAV_DLL_ACT) | Disabled, Hold mode, Return mode, Land mode, Disarm, Terminate. | @@ -169,7 +169,7 @@ PX4 separately supports more complicated Geofence geometries with multiple arbit The settings and underlying [geofence parameters](../advanced_config/parameter_reference.md#geofence) are shown below. -| 设置 | 参数 | 描述 | +| 设置 | Parameter | 描述 | | ---------- | ------------------------------------------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------- | | 冲出围栏时的响应动作 | [GF_ACTION](../advanced_config/parameter_reference.md#GF_ACTION) | None, Warning, Hold mode, Return mode, Terminate, Land. | | 最大半径 | [GF_MAX_HOR_DIST](../advanced_config/parameter_reference.md#GF_MAX_HOR_DIST) | 地理围栏圆柱体的水平半径。 如果为 0，则禁用地理围栏。 | @@ -182,7 +182,7 @@ Due to the inherent danger of this, this function is disabled using [CBRK_FLIGHT The following settings also apply, but are not displayed in the QGC UI. -| 设置 | 参数 | 描述 | +| 设置 | Parameter | 描述 | | ------------------------------------------------------------------ | ------------------------------------------------------------------------------------------------- | --------------------------- | | Geofence source | [GF_SOURCE](../advanced_config/parameter_reference.md#GF_SOURCE) | 设置定位是来自全局位置估计还是直接来自 GPS 设备。 | | Circuit breaker for flight termination | [CBRK_FLIGHTTERM](../advanced_config/parameter_reference.md#CBRK_FLIGHTTERM) | 启用/禁用飞行终止操作（默认禁用）。 | @@ -206,7 +206,7 @@ The position loss failsafe triggers if the position estimate becomes _invalid_. The relevant parameters shown below. -| 参数 | 描述 | +| Parameter | 描述 | | -------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | | [EKF2_NOAID_TOUT](../advanced_config/parameter_reference.md#EKF2_NOAID_TOUT) | Maximum inertial dead-reckoning time, so the time after the last data sample was received of any sensor that constrains the velocity drift [microseconds]. | | [COM_POS_FS_EPH](../advanced_config/parameter_reference.md#COM_POS_FS_EPH) | Horizontal position error threshold for hovering vehicles (Multicopters and VTOLs in hover). Fixed-wing vehicles have this value set to infinity. | @@ -220,7 +220,7 @@ If VTOLs have are configured to switch to hover for landing ([NAV_FORCE_VT](../a The relevant parameters are: -| 参数 | 描述 | +| Parameter | 描述 | | ----------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | [FW_GPSF_LT](../advanced_config/parameter_reference.md#FW_GPSF_LT) | Fixed-wing only: Loiter time (waiting at current altitude for position estimation recovery before starting to descend). 设置为 0 以禁用。 | | [FW_GPSF_R](../advanced_config/parameter_reference.md#FW_GPSF_R) | 以一定的横滚/侧倾角盘旋。 | @@ -230,7 +230,7 @@ The relevant parameters are: In Fixed-wing, the position estimate is never strictly invalidated as long as we have a horizontal aiding source, such as an airspeed sensor. In that case, a separate failsafe can be configured that triggers if the position estimate inacuraccy exceeds the threshold [COM_POS_LOW_EPH](../advanced_config/parameter_reference.md#COM_POS_LOW_EPH). The failsafe action is taken if the vehicle is in mission or hold mode, otherwise it is only a warning. The relevant parameters are: -| 参数 | 描述 | +| Parameter | 描述 | | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------- | | [COM_POS_LOW_EPH](../advanced_config/parameter_reference.md#COM_POS_LOW_EPH) | Position inaccuracy threshold above which COM_POS_LOW_ACT is taken. | | [COM_POS_LOW_ACT](../advanced_config/parameter_reference.md#COM_POS_LOW_ACT) | Failsafe action taken when position inaccuracy is above configured threshold. | @@ -249,7 +249,7 @@ Triggers on either of: At least a warning is emitted, additional failsafe actions can be configured using [COM_GNSSLOSS_ACT](#COM_GNSSLOSS_ACT). Loss of a single GPS when none are required is handled by other GPS health checks. -| 参数 | 描述 | +| Parameter | 描述 | | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------- | | [SYS_HAS_NUM_GNSS](../advanced_config/parameter_reference.md#SYS_HAS_NUM_GNSS) | Number of usable GNSS receivers required for arming and flight. If two are required then they also need to be consistent. | | [COM_GNSSLOSS_ACT](../advanced_config/parameter_reference.md#COM_GNSSLOSS_ACT) | Failsafe action when a GNSS failure is detected. Actions other than a warning also lead to arming being blocked. | @@ -257,14 +257,13 @@ Loss of a single GPS when none are required is handled by other GPS health check ## Offboard 中断故障保护 The _Offboard Loss Failsafe_ is triggered if the offboard link is lost while under [Offboard control](../flight_modes/offboard.md). -Different failsafe behaviour can be specified based on whether or not there is also an RC connection available. The relevant parameters are shown below: -| 参数 | 描述 | -| ----------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------- | -| [COM_OF_LOSS_T](../advanced_config/parameter_reference.md#COM_OF_LOSS_T) | Offboard 连接中断后到触发故障保护前的延迟。 | -| [COM_OBL_RC_ACT](../advanced_config/parameter_reference.md#COM_OBL_RC_ACT) | 如果遥控可用，则故障保护动作：定点模式、定高模式、手动模式、返航模式、降落模式、保持模式。 | +| Parameter | 描述 | +| ----------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------- | +| [COM_OF_LOSS_T](../advanced_config/parameter_reference.md#COM_OF_LOSS_T) | Offboard 连接中断后到触发故障保护前的延迟。 | +| [COM_OBL_RC_ACT](../advanced_config/parameter_reference.md#COM_OBL_RC_ACT) | Flight mode to switch to if offboard control is lost. | ## 交通规避故障保护 @@ -272,7 +271,7 @@ The Traffic Avoidance Failsafe allows PX4 to respond to transponder data (e.g. f The relevant parameters are shown below: -| 参数 | 描述 | +| Parameter | 描述 | | ---------------------------------------------------------------------------------------------------------------------- | ------------------------- | | [NAV_TRAFF_AVOID](../advanced_config/parameter_reference.md#NAV_TRAFF_AVOID) | 设置故障保护动作：禁用、警告、返航模式、降落模式。 | @@ -284,7 +283,7 @@ The Remote ID failsafe is triggered when the [Remote ID (Open Drone ID)](../peri The failsafe action and arming behaviour are both configured by the `COM_ARM_ODID` parameter: -| 参数 | 描述 | +| Parameter | 描述 | | ----------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | [COM_ARM_ODID](../advanced_config/parameter_reference.md#COM_ARM_ODID) | Remote ID arming check and in-flight failsafe. `0`: Disabled (default), `1`: Warning only, `2`: Error only (prevents arming), `3`: Return, `4`: Land, `5`: Terminate.

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

- Everything but `Disabled` prevents arming with a failing check.
- [Return](#act_return) and [Land](#act_land) start the associated action when a failure happens in-flight. | @@ -309,7 +308,7 @@ The quad-chute can also be triggered by sending a MAVLINK [MAV_CMD_DO_VTOL_TRANS The parameters that control when the quad-chute will trigger are listed in the table below. -| 参数 | 描述 | +| Parameter | 描述 | | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | [COM_QC_ACT](../advanced_config/parameter_reference.md#COM_QC_ACT) | Quad-chute action after switching to multicopter flight. Can be set to: [Warning](#act_warn), [Return](#act_return), [Land](#act_land), [Hold](#act_hold). | | [VT_FW_QC_HMAX](../advanced_config/parameter_reference.md#VT_FW_QC_HMAX) | Maximum quad-chute height, below which the quad-chute failsafe cannot trigger. This prevents high altitude quad-chute descent, which can drain the battery (and itself cause a crash). The height is relative to ground, home, or the local origin (in preference order, depending on what is available). | @@ -324,7 +323,7 @@ The parameters that control when the quad-chute will trigger are listed in the t The high wind failsafe can trigger a warning and/or other mode change when the wind speed exceeds the warning and maximum wind-speed threshold values. The relevant parameters are listed in the table below. -| 参数 | 描述 | +| Parameter | 描述 | | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | | [COM_WIND_MAX](../advanced_config/parameter_reference.md#COM_WIND_MAX) | Wind speed threshold that triggers failsafe action, in m/s ([COM_WIND_MAX_ACT](#COM_WIND_MAX_ACT)). | | [COM_WIND_MAX_ACT](../advanced_config/parameter_reference.md#COM_WIND_MAX_ACT) | High wind failsafe action (following [COM_WIND_MAX](#COM_WIND_MAX) trigger). Can be set to: `0`: None (Default), `1`: [Warning](#act_warn), `2`: [Hold](#act_hold), `3`: [Return](#act_return), `4`: [Terminate](#act_term), `5`: [Land](#act_land). | @@ -353,7 +352,7 @@ The failure detector can be configured to trigger if a rotary-wing vehicle loses If the vehicle descends more than [FD_ALT_LOSS](#FD_ALT_LOSS) meters below the setpoint, [flight termination](../advanced_config/flight_termination.md) is triggered, which may deploy a [parachute](../peripherals/parachute.md). -| 参数 | 描述 | +| Parameter | 描述 | | ----------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | | [FD_ALT_LOSS](../advanced_config/parameter_reference.md#FD_ALT_LOSS) | Altitude loss threshold (m). Flight termination is triggered when the vehicle drops this far below the setpoint. 设置为 0 以禁用。 | | [FD_ALT_LOSS_T](../advanced_config/parameter_reference.md#FD_ALT_LOSS_T) | Time (s) the vehicle must remain below the threshold before flight termination is triggered. | @@ -364,7 +363,7 @@ The failure detector can be configured to trigger if the vehicle attitude exceed The relevant parameters are shown below: -| 参数 | 描述 | +| Parameter | 描述 | | -------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | [CBRK_FLIGHTTERM](../advanced_config/parameter_reference.md#CBRK_FLIGHTTERM) | 飞行终止断路器。 从 121212（默认）取消设置，以启用由于故障检测器或 FMU 丢失而导致的飞行终止。 | | [FD_FAIL_P](../advanced_config/parameter_reference.md#FD_FAIL_P) | 最大允许俯仰角（角度制）。 | @@ -384,7 +383,7 @@ undercurrent: {esc current} < {MOTFAIL_C2T} * {motor command [0,1]} - {MOTFAIL_O overcurrent: {esc current} > {MOTFAIL_C2T} * {motor command [0,1]} + {MOTFAIL_OFF} ``` -| 参数 | 描述 | +| Parameter | 描述 | | -------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | [FD_ACT_EN](../advanced_config/parameter_reference.md#FD_ACT_EN) | Enable/disable the motor failure trigger completely. | | [MOTFAIL_C2T](../advanced_config/parameter_reference.md#MOTFAIL_C2T) | Slope between normalized motor command [0–1] and expected steady-state current (FD_ACT_MOT_C2T at 100%) (A/%). | @@ -403,7 +402,7 @@ External ATS is required by [ASTM F3322-18](https://webstore.ansi.org/standards/ One example of an ATS device is the [FruityChutes Sentinel Automatic Trigger System (SATS-MINI)](https://fruitychutes.com/uav_rpv_drone_recovery_parachutes/sentinel-automatic-trigger-system). ::: -| 参数 | 描述 | +| Parameter | 描述 | | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | [FD_EXT_ATS_EN](../advanced_config/parameter_reference.md#FD_EXT_ATS_EN) | Enable PWM input on AUX5 or MAIN5 (depending on board) for engaging failsafe from an external automatic trigger system (ATS). Default: Disabled. | | [FD_EXT_ATS_TRIG](../advanced_config/parameter_reference.md#FD_EXT_ATS_TRIG) | The PWM threshold from external automatic trigger system for engaging failsafe. Default: 1900 ms. | @@ -469,7 +468,7 @@ A kill gesture immediately stops all motor outputs — if flying, the vehicle wi The action cannot be reverted without a reboot (this differs from a [Kill Switch](#kill-switch), where the operation can be reverted within 5 seconds). -| 参数 | 描述 | +| Parameter | 描述 | | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | [MAN_KILL_GEST_T](../advanced_config/parameter_reference.md#MAN_KILL_GEST_T) | Time to hold sticks in gesture position before killing the motors. Default: `-1` seconds (Disabled). | @@ -484,7 +483,7 @@ You can set timeouts to automatically disarm a vehicle if it is too slow to take The [relevant parameters](../advanced_config/parameters.md) are shown below: -| 参数 | 描述 | +| Parameter | 描述 | | ----------------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------- | | [COM_DISARM_LAND](../advanced_config/parameter_reference.md#COM_DISARM_LAND) | Timeout for auto-disarm after landing. | | [COM_DISARM_PRFLT](../advanced_config/parameter_reference.md#COM_DISARM_PRFLT) | Timeout for auto disarm if vehicle is too slow to takeoff. | @@ -493,7 +492,7 @@ The [relevant parameters](../advanced_config/parameters.md) are shown below: These parameters can be used to set conditions that prevent arming. -| 参数 | 描述 | +| Parameter | 描述 | | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | [COM_ARMABLE](../advanced_config/parameter_reference.md#COM_ARMABLE) | Enable arming (at all). `0`: Disabled, `1`: Enabled (default). | | [COM_ARM_BAT_MIN](../advanced_config/parameter_reference.md#COM_ARM_BAT_MIN) | Minimum battery level for arming. `0`: Disabled (default). Values: `0`-`0.9`, | diff --git a/docs/zh/config_mc/filter_tuning.md b/docs/zh/config_mc/filter_tuning.md index 1be5daca2f..2d6a4b1f90 100644 --- a/docs/zh/config_mc/filter_tuning.md +++ b/docs/zh/config_mc/filter_tuning.md @@ -76,7 +76,7 @@ You might have to adjust the per-motor pole count (`DSHOT_MOT_POL1`–`DSHOT_MOT The following parameters should be set to enable and configure dynamic notch filters: -| 参数 | 描述 | +| Parameter | 描述 | | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | [IMU_GYRO_DNF_EN](../advanced_config/parameter_reference.md#IMU_GYRO_DNF_EN) | Enable IMU gyro dynamic notch filtering (bitmask). Bit `0`: ESC RPM, Bit `1`: Onboard FFT. | | [IMU_GYRO_FFT_EN](../advanced_config/parameter_reference.md#IMU_GYRO_FFT_EN) | Enable onboard FFT (required if bit `1` of `IMU_GYRO_DNF_EN` is set). | diff --git a/docs/zh/config_mc/pid_tuning_guide_multicopter.md b/docs/zh/config_mc/pid_tuning_guide_multicopter.md index c4a0b7a251..182ad21efa 100644 --- a/docs/zh/config_mc/pid_tuning_guide_multicopter.md +++ b/docs/zh/config_mc/pid_tuning_guide_multicopter.md @@ -240,7 +240,7 @@ _normalized_value = ( raw_value - min (raw_value) ) / ( max ( raw_value ) - min After you have a scatter plot of the normalized values, you can try and make the curve match by plotting the equation -_rel_thrust = ( `THR_MDL_FAC` ) _ rel_signal^2 + ( 1 - `THR_MDL_FAC` ) \* rel_signal\* +_rel_thrust = ( `THR_MDL_FAC` ) _ rel_signal^2 + ( 1 - `THR_MDL_FAC` ) \* rel_signal\* over a linear range of normalized motor command values between 0 and 1. Note that this is the equation that is used in the firmware to map thrust and motor command, as shown in the [THR_MDL_FAC](../advanced_config/parameter_reference.md#THR_MDL_FAC) parameter reference. diff --git a/docs/zh/config_rover/attitude_tuning.md b/docs/zh/config_rover/attitude_tuning.md index 7d73d2d5cf..cb3dbf1eea 100644 --- a/docs/zh/config_rover/attitude_tuning.md +++ b/docs/zh/config_rover/attitude_tuning.md @@ -35,6 +35,6 @@ We placed the integrator in the rate controller since it can run without the att ## Parameter Overview -| 参数 | 描述 | Unit | +| Parameter | 描述 | Unit | | ----------------------------------------------------------------------------------------------------------------------------- | ------------------------------------ | ---- | | [RO_YAW_P](../advanced_config/parameter_reference.md#RO_YAW_P) | Proportional gain for yaw controller | - | diff --git a/docs/zh/config_rover/basic_setup.md b/docs/zh/config_rover/basic_setup.md index 810b031025..a4d4153c73 100644 --- a/docs/zh/config_rover/basic_setup.md +++ b/docs/zh/config_rover/basic_setup.md @@ -154,7 +154,7 @@ You can now continue the configuration process with [rate tuning](rate_tuning.md ## Parameter Overview -| 参数 | 描述 | Unit | +| Parameter | 描述 | Unit | | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------- | ------- | | [RO_MAX_THR_SPEED](../advanced_config/parameter_reference.md#RO_MAX_THR_SPEED) | Speed the rover drives at maximum throttle | $m/s$ | | [RO_ACCEL_LIM](../advanced_config/parameter_reference.md#RO_ACCEL_LIM) | (Optional) Maximum allowed acceleration | $m/s^2$ | @@ -164,7 +164,7 @@ You can now continue the configuration process with [rate tuning](rate_tuning.md ### Ackermann Specific -| 参数 | 描述 | Unit | +| Parameter | 描述 | Unit | | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------- | ----- | | [RA_WHEEL_BASE](../advanced_config/parameter_reference.md#RA_WHEEL_BASE) | Wheel base | $m$ | | [RA_MAX_STR_ANG](../advanced_config/parameter_reference.md#RA_MAX_STR_ANG) | Maximum steering angle | $deg$ | @@ -172,14 +172,14 @@ You can now continue the configuration process with [rate tuning](rate_tuning.md ### Differential Specific -| 参数 | 描述 | Unit | +| Parameter | 描述 | Unit | | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------ | ---- | | [RD_WHEEL_TRACK](../advanced_config/parameter_reference.md#RD_WHEEL_TRACK) | Wheel track | $m$ | | [RD_YAW_STK_GAIN](../advanced_config/parameter_reference.md#RD_YAW_STK_GAIN) | (Optional) Yaw stick gain for Manual mode | $-$ | ### Mecanum Specific -| 参数 | 描述 | Unit | +| Parameter | 描述 | Unit | | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------ | ---- | | [RM_WHEEL_TRACK](../advanced_config/parameter_reference.md#RM_WHEEL_TRACK) | Wheel track | $m$ | | [RM_YAW_STK_GAIN](../advanced_config/parameter_reference.md#RM_YAW_STK_GAIN) | (Optional) Yaw stick gain for Manual mode | $-$ | diff --git a/docs/zh/config_rover/position_tuning.md b/docs/zh/config_rover/position_tuning.md index 6d02346cd5..65c987b86a 100644 --- a/docs/zh/config_rover/position_tuning.md +++ b/docs/zh/config_rover/position_tuning.md @@ -183,7 +183,7 @@ The position controller uses the following structure: ## Parameter Overview -| 参数 | 描述 | Unit | +| Parameter | 描述 | Unit | | -------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------ | ---- | | [RO_SPEED_RED](../advanced_config/parameter_reference.md#RO_SPEED_RED) | (Optional) Tuning parameter for the speed reduction based on the course error | - | | [PP_LOOKAHD_GAIN](../advanced_config/parameter_reference.md#PP_LOOKAHD_GAIN) | Pure pursuit: Main tuning parameter | - | @@ -192,14 +192,14 @@ The position controller uses the following structure: ## Ackermann Specific -| 参数 | 描述 | Unit | +| Parameter | 描述 | Unit | | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------- | ---- | | [RA_ACC_RAD_MAX](../advanced_config/parameter_reference.md#RA_ACC_RAD_MAX) | (Optional) Maximum radius the acceptance radius can be scaled to | 米 | | [RA_ACC_RAD_GAIN](../advanced_config/parameter_reference.md#RA_ACC_RAD_GAIN) | (Optional) Tuning parameter for the acceptance radius scaling | - | ## Differential Specific -| 参数 | 描述 | Unit | +| Parameter | 描述 | Unit | | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------- | ---- | | [RD_TRANS_DRV_TRN](../advanced_config/parameter_reference.md#RD_TRANS_DRV_TRN) | Heading error threshold to switch from driving to spot turning | deg | | [RD_TRANS_TRN_DRV](../advanced_config/parameter_reference.md#RD_TRANS_TRN_DRV) | Heading error threshold to switch from spot turning to driving | deg | diff --git a/docs/zh/config_rover/rate_tuning.md b/docs/zh/config_rover/rate_tuning.md index 93449e0020..310ef24964 100644 --- a/docs/zh/config_rover/rate_tuning.md +++ b/docs/zh/config_rover/rate_tuning.md @@ -135,7 +135,7 @@ These mappings based on the idealized kinematic models can be adjusted with the ## Parameter Overview -| 参数 | 描述 | Unit | +| Parameter | 描述 | Unit | | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------ | --------- | | [RO_YAW_RATE_LIM](../advanced_config/parameter_reference.md#RO_YAW_RATE_LIM) | Maximum allowed yaw rate | $m/s^2$ | | [RO_YAW_RATE_P](../advanced_config/parameter_reference.md#RO_YAW_RATE_P) | Proportional gain for yaw rate controller | - | diff --git a/docs/zh/config_rover/velocity_tuning.md b/docs/zh/config_rover/velocity_tuning.md index d17f8b1004..caeb43bb03 100644 --- a/docs/zh/config_rover/velocity_tuning.md +++ b/docs/zh/config_rover/velocity_tuning.md @@ -116,7 +116,7 @@ Both these setpoint are then sent to their own closed loop speed controllers. ## Parameter Overview -| 参数 | 描述 | Unit | +| Parameter | 描述 | Unit | | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------- | ----- | | [RO_MAX_THR_SPEED](../advanced_config/parameter_reference.md#RO_MAX_THR_SPEED) | Speed the rover drives at maximum throttle | $m/s$ | | [RO_SPEED_LIM](../advanced_config/parameter_reference.md#RO_SPEED_LIM) | Maximum allowed speed | $m/s$ | @@ -126,7 +126,7 @@ Both these setpoint are then sent to their own closed loop speed controllers. ### Pure Pursuit -| 参数 | 描述 | Unit | +| Parameter | 描述 | Unit | | -------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------- | ---- | | [PP_LOOKAHD_GAIN](../advanced_config/parameter_reference.md#PP_LOOKAHD_GAIN) | Pure pursuit: Main tuning parameter | - | | [PP_LOOKAHD_MAX](../advanced_config/parameter_reference.md#PP_LOOKAHD_MAX) | Pure pursuit: Maximum value for the look ahead radius | 米 | diff --git a/docs/zh/config_vtol/vtol_weathervane.md b/docs/zh/config_vtol/vtol_weathervane.md index d2ba35a113..471106cfc7 100644 --- a/docs/zh/config_vtol/vtol_weathervane.md +++ b/docs/zh/config_vtol/vtol_weathervane.md @@ -27,7 +27,7 @@ Any yaw angle commanded in a mission will be ignored. This functionality is configured using the [WV\_\* parameters](../advanced_config/parameter_reference.md#WV_EN). -| 参数 | 描述 | +| Parameter | 描述 | | ---------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------- | | [WV_EN](../advanced_config/parameter_reference.md#WV_EN) | Enable weather vane. | | [WV_ROLL_MIN](../advanced_config/parameter_reference.md#WV_ROLL_MIN) | Minimum roll angle setpoint for weathervane controller to demand a yaw-rate. | diff --git a/docs/zh/debug/profiling.md b/docs/zh/debug/profiling.md index 225ac60cf0..d22d2de32b 100644 --- a/docs/zh/debug/profiling.md +++ b/docs/zh/debug/profiling.md @@ -48,7 +48,7 @@ Then pass in the appropriate device using the `--gdbdev` argument like this: ### Running 在火焰图上，水平水平表示堆叠帧，而每个帧的宽度与采样次数成正比。 -For example, the following command builds and profiles px4_fmu-v4pro target with 10000 samples (fetching \_FlameGraph_ and adding it to the path as needed). +For example, the following command builds and profiles px4_fmu-v4pro target with 10000 samples (fetching \_FlameGraph_ and adding it to the path as needed). ```sh ./poor-mans-profiler.sh --elf=build/px4_fmu-v4_default/px4_fmu-v4_default.elf --nsamples=30000 --append diff --git a/docs/zh/dev_log/logging.md b/docs/zh/dev_log/logging.md index fe9435bf59..d6900f3dac 100644 --- a/docs/zh/dev_log/logging.md +++ b/docs/zh/dev_log/logging.md @@ -33,7 +33,7 @@ The logging system is configured by default to collect sensible logs for [flight Logging may further be configured using the [SD Logging](../advanced_config/parameter_reference.md#sd-logging) parameters. The parameters you are most likely to change are listed below. -| 参数 | 描述 | +| Parameter | 描述 | | --------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | [SDLOG_MODE](../advanced_config/parameter_reference.md#SDLOG_MODE) | 日志模式 Defines when logging starts and stops.
- `0`: Log when armed until disarm (default).
- `1`: Log from boot until disarm.
- `2`: Log from boot until shutdown.
- `3`: Log based on the [AUX1 RC channel](../advanced_config/parameter_reference.md#RC_MAP_AUX1).
- `4`: Log from first armed until shutdown. | | [SDLOG_BACKEND](../advanced_config/parameter_reference.md#SDLOG_BACKEND) | Logging Backend (bitmask). Setting a bit enables the corresponding backend. If no backend is selected, the logger is disabled.
- bit `0`: SD card logging.
- bit `1`: Mavlink logging. | diff --git a/docs/zh/dev_setup/dev_env.md b/docs/zh/dev_setup/dev_env.md index 566a78554d..76ed9c0dec 100644 --- a/docs/zh/dev_setup/dev_env.md +++ b/docs/zh/dev_setup/dev_env.md @@ -15,14 +15,14 @@ The _supported platforms_ for PX4 development are: 下表显示了您可以在每个操作系统上构建何种 PX平台的固件编译。 -| 平台 | Linux (Ubuntu) | macOS | Windows | -| ------------------------------------------------------------------------------------------------------------------------------------------------------ | :-------------------------------: | :-------------------------: | :-------------------------: | -| **NuttX based hardware:** [Pixhawk Series](../flight_controller/pixhawk_series.md), [Crazyflie](../complete_vehicles_mc/crazyflie2.md) | ✓ | ✓ | ✓ | -| **Linux-based hardware:** [Raspberry Pi 2/3](../flight_controller/raspberry_pi_navio2.md) | ✓ | | | -| **Simulation:** [Gazebo SITL](../sim_gazebo_gz/index.md) | ✓ | ✓ | ✓ | -| **Simulation:** ROS 2 with Gazebo | ✓ | | ✓ | -| **Simulation:** [Gazebo Classic SITL](../sim_gazebo_classic/index.md) | | ✓ | ✓ | -| **Simulation:** [ROS with Gazebo Classic](../simulation/ros_interface.md) | | | ✓ | +| 平台 | Linux (Ubuntu) | macOS | Windows | +| ------------------------------------------------------------------------------------------------------------------------------------------------------ | :-------------------------------: | :---: | :-----: | +| **NuttX based hardware:** [Pixhawk Series](../flight_controller/pixhawk_series.md), [Crazyflie](../complete_vehicles_mc/crazyflie2.md) | ✓ | ✓ | ✓ | +| **Linux-based hardware:** [Raspberry Pi 2/3](../flight_controller/raspberry_pi_navio2.md) | ✓ | | | +| **Simulation:** [Gazebo SITL](../sim_gazebo_gz/index.md) | ✓ | ✓ | ✓ | +| **Simulation:** ROS 2 with Gazebo | ✓ | | ✓ | +| **Simulation:** [Gazebo Classic SITL](../sim_gazebo_classic/index.md) | | ✓ | ✓ | +| **Simulation:** [ROS with Gazebo Classic](../simulation/ros_interface.md) | | | ✓ | Experienced Docker users can also build with the containers used by our continuous integration system: [Docker Containers](../test_and_ci/docker.md) diff --git a/docs/zh/development/development.md b/docs/zh/development/development.md index e524cef519..3ab6e30758 100644 --- a/docs/zh/development/development.md +++ b/docs/zh/development/development.md @@ -16,7 +16,8 @@ - 支持新的 [airframes](../dev_airframes/index.md)。 - 学习如何将PX4集成到新的硬件上： - 支持新的传感器和执行器, 包括摄像头、测距仪等。 - - 修改PX4使之能够在新的自驾仪硬件上运行。 + - Modify PX4 to run on [new autopilot hardware](../hardware/porting_guide.md). + - As a manufacturer, [get your board officially supported by PX4](../hardware/board_support_guide.md). - 获取一个[最小的开发者设置](../dev_setup/config_initial.md), [从源代码生成PX4](../dev_setup/building_px4.md) 并部署在[众多支持的自动化设备](../flight_controller/index.md)。 - 与外部机器人的 API 进行联调通信/集成。 diff --git a/docs/zh/dronecan/ark_cannode.md b/docs/zh/dronecan/ark_cannode.md index 6127ea797c..8abd7b639d 100644 --- a/docs/zh/dronecan/ark_cannode.md +++ b/docs/zh/dronecan/ark_cannode.md @@ -83,7 +83,7 @@ This is done using the parameters named like `UAVCAN_SUB_*` in the parameter ref On the ARK CANnode, you may need to configure the following parameters: -| 参数 | 描述 | +| Parameter | 描述 | | -------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | [CANNODE_NODE_ID](../advanced_config/parameter_reference.md#CANNODE_NODE_ID) | CAN node ID (0 for dynamic allocation). If set to 0 (default), dynamic node allocation is used. Set to 1-127 to use a static node ID. | | [CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM) | CAN built-in bus termination. | diff --git a/docs/zh/dronecan/ark_flow.md b/docs/zh/dronecan/ark_flow.md index fa64ec94ae..bf9c3bc47b 100644 --- a/docs/zh/dronecan/ark_flow.md +++ b/docs/zh/dronecan/ark_flow.md @@ -110,7 +110,7 @@ When optical flow is the only source of horizontal position/velocity, then lower On the ARK Flow, you may need to configure the following parameters: -| 参数 | 描述 | +| Parameter | 描述 | | -------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | [CANNODE_NODE_ID](../advanced_config/parameter_reference.md#CANNODE_NODE_ID) | CAN node ID (0 for dynamic allocation). If set to 0 (default), dynamic node allocation is used. Set to 1-127 to use a static node ID. | | [CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM) | CAN built-in bus termination. | diff --git a/docs/zh/dronecan/ark_flow_mr.md b/docs/zh/dronecan/ark_flow_mr.md index f3fb47940d..3f46559238 100644 --- a/docs/zh/dronecan/ark_flow_mr.md +++ b/docs/zh/dronecan/ark_flow_mr.md @@ -105,7 +105,7 @@ Set the following parameters in _QGroundControl_: You may need to [configure the following parameters](../dronecan/index.md#qgc-cannode-parameter-configuration) on the ARK Flow MR itself: -| 参数 | 描述 | +| Parameter | 描述 | | -------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | [CANNODE_NODE_ID](../advanced_config/parameter_reference.md#CANNODE_NODE_ID) | CAN node ID (0 for dynamic allocation). If set to 0 (default), dynamic node allocation is used. Set to 1-127 to use a static node ID. | | [CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM) | CAN built-in bus termination. | diff --git a/docs/zh/dronecan/ark_gps.md b/docs/zh/dronecan/ark_gps.md index 2eb9cb566f..a9b98cf030 100644 --- a/docs/zh/dronecan/ark_gps.md +++ b/docs/zh/dronecan/ark_gps.md @@ -97,7 +97,7 @@ If the sensor is not centred within the vehicle you will also need to define sen You may need to [configure the following parameters](../dronecan/index.md#qgc-cannode-parameter-configuration) on the ARK GPS itself: -| 参数 | 描述 | +| Parameter | 描述 | | -------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | [CANNODE_NODE_ID](../advanced_config/parameter_reference.md#CANNODE_NODE_ID) | CAN node ID (0 for dynamic allocation). If set to 0 (default), dynamic node allocation is used. Set to 1-127 to use a static node ID. | | [CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM) | CAN built-in bus termination. Set to `1` if this is the last node on the CAN bus. | diff --git a/docs/zh/dronecan/ark_rtk_gps.md b/docs/zh/dronecan/ark_rtk_gps.md index 67b13e58a1..a1865bddf2 100644 --- a/docs/zh/dronecan/ark_rtk_gps.md +++ b/docs/zh/dronecan/ark_rtk_gps.md @@ -92,7 +92,7 @@ You need to set necessary [DroneCAN](index.md) parameters and define offsets if You may need to [configure the following parameters](../dronecan/index.md#qgc-cannode-parameter-configuration) on the ARK RTK GPS itself: -| 参数 | 描述 | +| Parameter | 描述 | | -------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | [CANNODE_NODE_ID](../advanced_config/parameter_reference.md#CANNODE_NODE_ID) | CAN node ID (0 for dynamic allocation). If set to 0 (default), dynamic node allocation is used. Set to 1-127 to use a static node ID. | | [CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM) | CAN built-in bus termination. Set to `1` if this is the last node on the CAN bus. | diff --git a/docs/zh/dronecan/ark_rtk_gps_l1_l2.md b/docs/zh/dronecan/ark_rtk_gps_l1_l2.md index 6a2d0b07ef..7b132f10ea 100644 --- a/docs/zh/dronecan/ark_rtk_gps_l1_l2.md +++ b/docs/zh/dronecan/ark_rtk_gps_l1_l2.md @@ -91,7 +91,7 @@ You need to set necessary [DroneCAN](index.md) parameters and define offsets if You may need to [configure the following parameters](../dronecan/index.md#qgc-cannode-parameter-configuration) on the ARK RTK GPS L1 L5 itself: -| 参数 | 描述 | +| Parameter | 描述 | | -------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | [CANNODE_NODE_ID](../advanced_config/parameter_reference.md#CANNODE_NODE_ID) | CAN node ID (0 for dynamic allocation). If set to 0 (default), dynamic node allocation is used. Set to 1-127 to use a static node ID. | | [CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM) | CAN built-in bus termination. Set to `1` if this is the last node on the CAN bus. | diff --git a/docs/zh/dronecan/ark_x20_rtk_gps.md b/docs/zh/dronecan/ark_x20_rtk_gps.md index d7a52b80dc..4dcab8f29c 100644 --- a/docs/zh/dronecan/ark_x20_rtk_gps.md +++ b/docs/zh/dronecan/ark_x20_rtk_gps.md @@ -94,7 +94,7 @@ You need to set necessary [DroneCAN](index.md) parameters and define offsets if You may need to [configure the following parameters](../dronecan/index.md#qgc-cannode-parameter-configuration) on the ARK X20 RTK GPS itself: -| 参数 | 描述 | +| Parameter | 描述 | | -------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | [CANNODE_NODE_ID](../advanced_config/parameter_reference.md#CANNODE_NODE_ID) | CAN node ID (0 for dynamic allocation). If set to 0 (default), dynamic node allocation is used. Set to 1-127 to use a static node ID. | | [CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM) | CAN built-in bus termination. Set to `1` if this is the last node on the CAN bus. | diff --git a/docs/zh/dronecan/index.md b/docs/zh/dronecan/index.md index 4b0b48d3c3..c2efa89b4f 100644 --- a/docs/zh/dronecan/index.md +++ b/docs/zh/dronecan/index.md @@ -6,7 +6,7 @@ - DroneCAN is not enabled by default, and nor are specific sensors and features that use it. For setup information see [PX4 Configuration](#px4-configuration). -- PX4 requires an SD card to enable dynamic node allocation and for firmware update. +- PX4 requires an SD card to enable dynamic node allocation and for [firmware update](#firmware-update). The SD card is not used in flight. ::: @@ -316,10 +316,64 @@ Most DroneCAN nodes require no further setup, unless specifically noted in their ## 固件更新 PX4 can upgrade device firmware over DroneCAN. -To upgrade the device, all you need to do is copy the firmware binary into the root directory of the flight controller's SD card and reboot. -Upon boot the flight controller will automatically transfer the firmware onto the device and upgrade it. -If successful, the firmware binary will be removed from the root directory and there will be a file named **XX.bin** in the **/ufw** directory of the SD card. +:::info +PX4 identifies valid firmware binaries (`.bin`) based on the presence of an **APDescriptor** — a metadata block embedded in the `.bin` file that contains the target board ID, firmware version, and a checksum. +PX4 uses this descriptor to match each binary to the correct node and to determine whether an update is needed. +::: + +### Firmware Directories + +Place firmware binaries in one of these locations on the SD card before rebooting: + +- **SD card root** (`/fs/microsd/`): Simplest option for manual updates. +- **Staging directory** (`/fs/microsd/ufw_staging/`): Preferred for remote/programmatic updates. + Files are moved to `/fs/microsd/ufw/` at boot before any node is flashed, avoiding write conflicts if firmware is uploaded while the vehicle is running. + +On boot, PX4 scans both locations, reads the board ID from the _APDescriptor_ of each file, and copies them to `/fs/microsd/ufw/.bin`. +The source file is then deleted. +Any connected node whose running version does not match is then flashed over the CAN bus. + +### Firmware Database + +A flat-file database at `/fs/microsd/ufw/FW.db` maps each board ID to the original firmware filename that was installed. +This may be queried by external tools to determine current firmware versions. + +Example entry: + +```txt +122.bin=122-1.17.63eeff1a.uavcan.bin +``` + +Entries are removed on boot if their corresponding firmware is not present. + +### Remote Update + +Remote updates can be made by uploading the corresponding bin files to `/fs/microsd/ufw_staging/`. +PX4 will then update firmware on next boot. + +This approach enables efficient mass-update of binaries from archives (`.zip` or `.tar` that contains `.bin` files for the target CAN nodes). +Tools can: + +1. Read the PX4 firmware database to determine what firmware is present +2. Extract the more-recent versions of matching firmware to the staging directory + +PX4 does not provide such tools. + +:::info +Auterion uses a form of this workflow to update CAN firmware to SkyNode based devices. +The `upload_skynode.sh` script with multiple `--ext-fw` flags is used to bundle a number of firmware files and upload them to a directory on the companion-computer part. + +```sh +./Tools/auterion/upload_skynode.sh \ + --ext-fw=build/auterion_canio_default/auterion_canio_default.uavcan.bin + --ext-fw=build/auterion_canio_default/another_default.uavcan.bin + ... + --ext-fw=build/auterion_canio_default/some_other_default.uavcan.bin +``` + +Another tool then checks the firmware database and extracts just the relevant files to the PX4 firmware staging area. +::: ## 故障处理 diff --git a/docs/zh/flight_controller/3dr_ctrl-n1.md b/docs/zh/flight_controller/3dr_ctrl-n1.md new file mode 100644 index 0000000000..bace8b7db3 --- /dev/null +++ b/docs/zh/flight_controller/3dr_ctrl-n1.md @@ -0,0 +1,143 @@ +# 3DR Control N1 Flight Controller + + + +:::warning +PX4 does not manufacture this (or any) autopilot. +Contact [3DR](https://3dr.com/) for hardware support or compliance issues. +::: + +The _3DR Control N1_ is a compact, high-performance, low-profile and lightweight flight controller designed and assembled in USA. +It runs PX4 on the [NuttX](https://nuttx.apache.org/) OS. + +![3DR Control N1](../../assets/flight_controller/3dr_ctrl-n1/3dr_ctrl-n1.jpg) + +:::info +This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md). +::: + +:::tip +This flight controller requires a carrier board to work correctly. +Visit [3DR](https://3dr.wiki/autopilots/control-n1/) for available carrier boards and purchase information. +::: + +## 主要特性 + +- **Processor:** STMicro STM32H743 Arm Cortex-M7 up to 480 MHz, 1 MB RAM, 2 MB flash, 8 MB external flash +- **Sensors:** + - 2x InvenSense IIM-42653 IMU (6-DoF) + - Asahi Kasei AK09940A magnetometer + - Infineon DPS368 barometer +- **Interfaces:** + - 12x PWM motor outputs (DShot, bidirectional DShot, GPIO) + - 7x serial ports (3x with hardware flow control) + - 2x FD-CAN (up to 8 Mbps) + - 2x I2C (up to 400 kHz) + - 1x SPI (up to 40 MHz) + - 4x GPIO (push-pull, direct from MCU) + - 1x USB Full Speed (native STM32H7 port) + - 1x SDIO/SDMMC interface + - 1x addressable LED output (NeoPixel-compatible) + - Serial Wire Debug (SWD) +- **Dimensions:** 28 × 17.6 × 3.7 mm +- **Weight:** 2.32 g +- **Input Voltage:** 4.8 – 6.0 V +- **Typical Current draw**: ~230 mA +- **Operating Temperature:** -20 to 75 °C +- **Storage Temperature:** -40 to 85 °C + +## 编译固件 + +:::tip +Most users will not need to build this firmware! +It is pre-built and automatically installed by _QGroundControl_ when appropriate hardware is connected (PX4 v1.18 and later). +::: + +To [build PX4](../dev_setup/building_px4.md) for this target: + +```sh +make 3dr_ctrl-n1_default +``` + +## 连接器 + +The Control N1 uses three Hirose DF40-series board-to-board connectors: + +| Connector | Pins | Part Number | Signals | +| --------- | ---- | ----------------------------------------------------------------------------------------------- | ---------------------------------------------------------- | +| J100 | 30 | DF40HC(3.5)-30DS-0.4V(51) | USART1, USART2, USART3, UART4, SDMMC, USB, ALARM | +| J200 | 30 | DF40HC(3.5)-30DS-0.4V(51) | USART6, FDCAN1, SPI, SWD, LED, BRD_EN | +| J300 | 80 | DF40HC(3.5)-80DS-0.4V(51) | UART7, UART8, FDCAN2, I2C, ADC, Motor outputs CH1–CH12 | + +## 针脚定义 + +This board is designed to be used with different carrier boards. + +For the full pinout, visit the [3DR Control N1 Pinout Tool](https://docs.3dr.com/autopilots/control-n1/#pinout). + +## 串口映射 + +| Port | Connector | Peripheral | Flow Control | Default Function | +| ---- | --------- | ---------- | ------------ | ---------------- | +| SG1 | J100 | USART2 | Yes | TELEM1 | +| SG2 | J100 | UART4 | Yes | TELEM2 | +| SG3 | J300 | UART7 | Yes | User | +| SG4 | J100 | USART3 | No | GPS2 | +| SG5 | J100 | USART1 | No | User | +| SG6 | J200 | USART6 | No | RC | +| SG7 | J300 | UART8 | No | GPS1 | + +## PWM Outputs + +The Control N1 has 12 PWM outputs, all routed through connector J300. +All outputs are FMU outputs with no separate IO coprocessor. + +Each output supports PWM, OneShot, DShot, and bidirectional DShot. +GPIO mode is also available on all channels. + +Outputs are grouped for DShot timing purposes. +All channels within a group must use the same protocol and rate. + +| Group | Channels | +| ------- | -------- | +| Group 1 | CH1–CH4 | +| Group 2 | CH5–CH8 | +| Group 3 | CH9–CH12 | + +## RC Setup + +Serial port SG6 (USART6, connector J200) is mapped to `RC` by default and supports any protocol compatible with PX4's COMMON_RC driver: ELRS, CRSF, DSM/DSMX, GHST, and SBUS. + +Connect your RC receiver's serial output to the SG6 RX line on J200. +Select and assign your preferred protocol in QGroundControl during initial setup. + +## Carrier Boards + +The Control N1 is designed to be used with a carrier board. +The following carrier boards are available from 3DR: + +| Board | 描述 | +| --------------------------------------------------------------------------------------------------- | --------------------------------------------- | +| [CB1 Cuby](https://docs.3dr.com/autopilots/carrier-boards/r0026-cb1-cuby) | Compact square form factor | +| [CB2 Longy](https://docs.3dr.com/autopilots/carrier-boards/r0027-cb2-longy) | Thin form factor for space-constrained builds | +| [CB3 FPV](https://docs.3dr.com/autopilots/carrier-boards/r0033-cb3-fpv) | Optimized for FPV platforms | +| [CB4 Wing](https://docs.3dr.com/autopilots/carrier-boards/r0036-cb4-wing) | Fixed-wing and VTOL applications | +| [CN1 Prototyping Board](https://docs.3dr.com/autopilots/carrier-boards/r0037-cn1-prototyping-board) | Full signal access for development | +| [CN1 to CZ OEM Adapter](https://docs.3dr.com/autopilots/carrier-boards/r0034-cn1-to-czoem-adapter) | Adapter for Control Zero OEM carrier boards | + +The image below shows the pinout of the CB2 Longy as a reference for connector layout and signal assignment. + +![3DR Control N1 CB2 Longy Pinout](../../assets/flight_controller/3dr_ctrl-n1/3dr_ctrl-n1_cb2_longy_pinout.png) + +## 调试接口 + +The [SWD debug port](../debug/swd_debug.md) signals (SWCLK, SWDIO) and BOOT0 are routed through connector **J200** on the Control N1 module. +The physical debug interface (connector type, pinout, and location) depends on the carrier board. + +Depending on the carrier board, the debug connector may be a TC2030-compatible pad-of-nails (requires a [Tag-Connect TC2030](https://www.tag-connect.com/product/tc2030-ctx-nl-6-pin-no-legs-cable-for-use-with-cortex-processors) cable) or a 14-pin ARM Cortex JTAG/SWD header (Samtec FTSH-107, 2×7, 1.27 mm pitch). +Note that some carrier boards may not expose a debug interface. +Refer to your carrier board's documentation for the exact connector location and pinout. + +## 更多信息 + +- [3DR Control N1 documentation](https://docs.3dr.com/autopilots/control-n1) diff --git a/docs/zh/flight_controller/airlink.md b/docs/zh/flight_controller/airlink.md index d8945d0d10..bebde7d6b4 100644 --- a/docs/zh/flight_controller/airlink.md +++ b/docs/zh/flight_controller/airlink.md @@ -114,7 +114,7 @@ SmartAP AIRLink's Core edition is intended for medium to high volume production ![AIRLink Core](../../assets/flight_controller/airlink/airlink-core.jpg) -| 参数 | AIRLink Enterprise | AIRLink Core | +| Parameter | AIRLink Enterprise | AIRLink Core | | ------------------- | --------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------- | | Enclosure | Aluminum, with integrated heatsink and fan mounting option. | External heatsink or reasonable power dissipation should be provided by the design. | | 尺寸 | L103 x W61 x H37 mm | L100 x W57 x H22 mm | diff --git a/docs/zh/flight_controller/autopilot_experimental.md b/docs/zh/flight_controller/autopilot_experimental.md index 45e286d79c..c15ce94c9a 100644 --- a/docs/zh/flight_controller/autopilot_experimental.md +++ b/docs/zh/flight_controller/autopilot_experimental.md @@ -1,5 +1,9 @@ # Community Supported & Experimental Autopilots +:::tip +**Are you a manufacturer who wants to get a board supported by PX4?** See the [Manufacturer's Board Support Guide](../hardware/board_support_guide.md). +::: + :::tip For more information about PX4 project autopilot board support levels see: [px4.io/autopilots/](https://px4.io/autopilots/). ::: diff --git a/docs/zh/flight_controller/autopilot_manufacturer_supported.md b/docs/zh/flight_controller/autopilot_manufacturer_supported.md index 6174b22225..b46d9b2089 100644 --- a/docs/zh/flight_controller/autopilot_manufacturer_supported.md +++ b/docs/zh/flight_controller/autopilot_manufacturer_supported.md @@ -1,6 +1,10 @@ # 由制造商支持的自动驾驶仪 -Manufacturer-supported autopilots are maintained and supported by a board manufacturer (manufacturers commit to delivering compatibility with the current stable PX4 release within 4 months of the official release announcement). +Manufacturer-supported autopilots are maintained and supported by a board manufacturer, who owns support for the board and keeps it working across PX4 releases. + +:::tip +**Are you a manufacturer who wants to get a board supported by PX4?** See the [Manufacturer's Board Support Guide](../hardware/board_support_guide.md). It covers the process for all support levels, not just this category. +::: :::tip For more information about PX4 project autopilot board support levels see: [px4.io/autopilots/](https://px4.io/autopilots/). @@ -12,6 +16,7 @@ This category includes boards that are not fully compliant with the pixhawk stan The boards in this category are: +- [3DR Control N1](../flight_controller/3dr_ctrl-n1.md) - [Accton Godwit GA1](../flight_controller/accton-godwit_ga1.md) - [AEDROX AEDROXH7](../flight_controller/aedrox_aedroxh7.md) - [AirMind MindPX](../flight_controller/mindpx.md) @@ -22,6 +27,7 @@ The boards in this category are: - [ARK Pi6X Flow Flight Controller](../flight_controller/ark_pi6x.md) - [CBUnmanned H753-SOM](../flight_controller/cbunmanned_h753-som.md) - [CORVON 743v1](../flight_controller/corvon_743v1.md) +- [CORVON 743v2](../flight_controller/corvon_743v2.md) - [CUAV Nora](../flight_controller/cuav_nora.md) (CUAV X7 variant) - [CUAV V5+](../flight_controller/cuav_v5_plus.md) (FMUv5) - [CUAV V5 nano](../flight_controller/cuav_v5_nano.md) (FMUv5) diff --git a/docs/zh/flight_controller/corvon_743v2.md b/docs/zh/flight_controller/corvon_743v2.md new file mode 100644 index 0000000000..37e7726a20 --- /dev/null +++ b/docs/zh/flight_controller/corvon_743v2.md @@ -0,0 +1,173 @@ +# CORVON 743v2 + + + +:::warning +PX4 does not manufacture this (or any) autopilot. +Contact the [manufacturer](https://corvon.tech) for hardware support or compliance issues. +::: + +The _CORVON 743v2_ is a flight controller designed by Feikong Technology Co., Ltd under the CORVON brand. +It builds on the [CORVON 743v1](corvon_743v1.md) platform with significantly upgraded sensor and connectivity options: dual high-grade IMUs (ICM-42688P + BMI088), a high-precision BMP581 barometer, a dedicated DJI O4 Air Unit connector, an onboard Bluetooth module with a ceramic antenna, and dual analog battery monitoring channels. + +The board uses [Pixhawk Autopilot Standard Connections](../flight_controller/autopilot_pixhawk_standard.md). + + + +:::info +This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md). +::: + +## 主要特性 + +- **MCU:** STM32H743VIH6 (32 Bit Arm® Cortex®-M7, 480 MHz, 2MB Flash, 1MB RAM, TFBGA100 package) +- **IMU (Dual):** TDK InvenSense ICM-42688P (primary) + Bosch BMI088 accel/gyro (secondary) +- **Barometer:** Bosch BMP581 (high-precision) +- **Magnetometer:** iSentek IST8310 +- **Interfaces:** + - 8x UARTs (including dedicated DJI O4 and Bluetooth ports) + - 1x CAN (DroneCAN / UAVCAN) + - 1x external I²C (with isolated 5V supply) + - 1x dedicated RC Input (SBUS / CRSF / ELRS) + - 12x PWM outputs (M1–M10 DShot-capable, M11 / M12 standard PWM for servos) + - SDMMC1 4-bit Micro-SD slot (high-speed logging) + - Dedicated DJI O4 Air Unit connector + - Onboard Bluetooth module with ceramic antenna (UART8, MAVLink pre-configured) +- **Power:** + - Dual analog battery voltage/current channels (BAT1 via the `PWM` 4-in-1 ESC connector, BAT2 via `B2V`/`B2I` pads) + - Voltage sensing up to 10S LiPo by default + - On-board BECs for peripheral power (consult manufacturer for exact rail specifications) + +## 购买渠道 + +Order from [CORVON](https://corvon.tech). + +## Physical / Mechanical + +Refer to the manufacturer's datasheet for the latest mechanical drawing, mounting pattern, and weight specifications. + +## 产品规格 + +### Processors & Sensors + +- **FMU Processor:** STM32H743VIH6 + - 32 Bit Arm® Cortex®-M7, 480 MHz + - 2MB Flash, 1MB RAM + - TFBGA100 (8 × 8 mm) package +- **On-board Sensors:** + - Accel/Gyro 1: TDK InvenSense ICM-42688P (SPI3) + - Accel/Gyro 2: Bosch BMI088 (SPI3) + - Barometer: Bosch BMP581 (I²C2, address `0x46`) + - Compass: iSentek IST8310 (I²C2, address `0x0E`) + +### Power Configuration + +The board provides **two independent analog battery monitoring channels**: + +- **BAT1** - Battery voltage and current sensed from the `PWM` 4-in-1 ESC connector, on `ADC1_INP10` (voltage) and `ADC1_INP11` (current). +- **BAT2** - Auxiliary `B2V` / `B2I` solder pads for a second / redundant battery pack, sensed on `ADC1_INP4` (voltage) and `ADC1_INP8` (current). + +Both channels feed PX4's standard analog battery driver with a default 21.2 voltage divider and 40 A/V current ratio, supporting up to 10S LiPo batteries out of the box. + +:::info +The board does not expose the 5V rail / `system_power` sensing pins that PX4's commander power checks expect, so `CBRK_SUPPLY_CHK` (894281) is set by default to bypass the power supply and battery health checks used for arming and failsafe decisions. BAT1/BAT2 voltage and current monitoring is unaffected. +::: + +## Connectors & Pinouts + +The following image shows the physical connector and solder-pad layout, with the labels used in this document and in the firmware's `default.px4board`: + +![CORVON 743v2 Ports & Connectors](../../assets/flight_controller/corvon_743v2/corvon743v2_portsconnection.png) + +The board exposes the following connectors and solder pads: + +- `TELEM1` (4-pin) - primary MAVLink radio link +- `04-AIR` (6-pin) - DJI O4 Air Unit (Digital VTX with MSP DisplayPort) +- `GPS` (6-pin JST-GH) - UBX / NMEA GPS, with the external compass I²C bus broken out on the same connector +- `TELEM2` (4-pin) - companion computer / secondary MAVLink +- `UART5` (4-pin) - generic auxiliary UART breakout +- `RCIN` (4-pin) - SBUS / CRSF / ELRS receiver input +- `UART7` pads (TX7 / RX7) - ESC Telemetry +- `CAN` (4-pin) - FDCAN1 (DroneCAN / UAVCAN) +- `I2C` (4-pin) - external I²C, isolated 5V supply for short-circuit protection +- `PWM` (8-pin) - 4-in-1 ESC connector (M1–M4 + power + ESC Telemetry) +- Onboard Bluetooth module (UART8) with ceramic antenna - MAVLink pre-configured +- `SWD` (4-pin) - hardware debug (SWCLK / SWDIO / 3V3 / GND) + +The next image shows the individual solder-pad signal assignments on both the top and bottom of the board for advanced wiring (GPIO breakouts, ADC pads, etc.): + +![CORVON 743v2 Solder Pad Map](../../assets/flight_controller/corvon_743v2/corvon743v2_pads.png) + +### Standard Serial Port Mapping + +| Physical UART | PCB Silk Label | PX4 Slot (QGC) | Default Usage | +| ------------- | ------------------------------- | --------------------------------- | --------------------------------------------------------------------------- | +| USART1 | `TELEM1` | TELEM 1 | MAVLink | +| USART2 | `04-AIR` | - | DJI O4 Air Unit (MSP DisplayPort) | +| USART3 | `GPS` | GPS 1 | GPS (plus external compass on shared I²C) | +| UART4 | `TELEM2` | TELEM 2 | MAVLink (Companion Link) | +| UART5 | `UART5` | **TELEM 3** | User Auxiliary | +| USART6 | `RCIN` | RC | RC Input (SBUS / CRSF / ELRS) | +| UART7 | `UART7` | **UART 6** | ESC Telemetry | +| UART8 | (onboard BT) | TELEM 4 | Bluetooth MAVLink @ 115200 (pre-configured) | + +:::tip +The silk labels `UART5` and `UART7` on the PCB refer to the STM32H743's physical UART numbers. +In QGroundControl these ports appear as `TELEM 3` and `UART 6` respectively, because of PX4's internal serial-slot abstraction. +When assigning a service in QGroundControl, look up the silk label in the **PCB Silk Label** column to find the corresponding **PX4 Slot** name. +::: + +### 调试接口 + +The board features a **4-pin SWD Debug** interface (SWCLK / SWDIO / 3V3 / GND) for hardware debugging. +There is no dedicated NSH console UART; the NSH console is exposed over USB CDC out of the box and is available via QGroundControl's MAVLink Console. + +### RC Input + +RC Input is mapped to **USART6** through the dedicated `RCIN` connector. + +Both the receive line (`RX6`, internally invert-capable for SBUS) and the transmit line (`TX6`) are broken out, so the port supports: + +- Single-wire SBUS (inverted) +- TBS Crossfire (CRSF) +- ExpressLRS (ELRS) +- FPort, Spektrum DSM, Graupner SUMD, and others + +Configure the receiver protocol with the relevant `RC_*_PRT_CFG` parameter from QGroundControl, pointing it at the `RC` slot. + +### PWM Output Groups + +The 12 PWM outputs are organized into four timer groups. Channels in the same group must use the same output rate and DShot mode: + +| Group | Timer | Channels | Default Protocol | +| ----- | ----- | -------- | -------------------------------------------- | +| 1 | TIM1 | M1–M4 | DShot600 | +| 2 | TIM3 | M5–M6 | DShot600 | +| 3 | TIM4 | M7–M10 | DShot600 | +| 4 | TIM12 | M11–M12 | PWM only (servo / gimbal) | + +M1–M9 support BDShot telemetry readback; M10 is DShot-only because `TIM4_CH4` has no input-capture DMA channel on STM32H7. Bidirectional DShot can be enabled by setting `PWM_MAIN_TIM0..2` to a BDShot value (`-6` BDShot600, `-7` BDShot300, `-8` BDShot150) in QGroundControl. + +Channels within the same group need to use the same output rate. +If any channel in a group uses DShot then all channels in the group need to use DShot. + +### Bluetooth Telemetry (Pre-configured) + +The board has an onboard Bluetooth module with a ceramic antenna, wired internally to `UART8`. +The factory firmware pre-binds MAVLink instance 2 to this port at **115200 baud with no flow control**, so the link works out of the box: just pair the board from a phone or tablet GCS - no QGroundControl parameter changes required. + +## Building / Loading Firmware + +:::tip +Most users will not need to build this firmware (from PX4 v1.18). +It is pre-built and automatically installed by _QGroundControl_ when appropriate hardware is connected. +::: + +To [build PX4](../dev_setup/building_px4.md) for this target from source: + +```sh +make corvon_743v2_default +``` + +Initial firmware flashing can be done over USB via QGroundControl. +The bootloader status follows the standard generic PX4 LED indications (Red = Bootloader / Error, Blue = Active / Activity, Green = Powered). diff --git a/docs/zh/flight_controller/index.md b/docs/zh/flight_controller/index.md index 41729920e7..9c357ac3d3 100644 --- a/docs/zh/flight_controller/index.md +++ b/docs/zh/flight_controller/index.md @@ -18,6 +18,10 @@ Information about how to choose a PX4-compatible flight controller and the avail There may be other [Pixhawk Series](../flight_controller/pixhawk_series.md) compatible flight controllers and variants, including those [documented here on Github](https://github.com/PX4/PX4-Autopilot/#supported-hardware). ::: +:::tip +**Hardware manufacturers:** to get a new flight controller supported by PX4, see the [Manufacturer's Board Support Guide](../hardware/board_support_guide.md). +::: + ## Flight Controller Mounting and Setup Information about how to mount the flight controller, upload firmware (replacing an incompatible bootloader if needed), and configure its internal sensors and orientation: diff --git a/docs/zh/flight_controller/kakuteh7.md b/docs/zh/flight_controller/kakuteh7.md index 5c7a888c9b..cfd44b8c1d 100644 --- a/docs/zh/flight_controller/kakuteh7.md +++ b/docs/zh/flight_controller/kakuteh7.md @@ -109,7 +109,7 @@ If you are loading the pre-built firmware via QGroundControl, you must use QGC D In addition to the [basic configuration](../config/index.md), the following parameters are important: -| 参数 | 设置 | +| Parameter | 设置 | | -------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------- | | [SYS_HAS_MAG](../advanced_config/parameter_reference.md#SYS_HAS_MAG) | This should be disabled since the board does not have an internal mag. You can enable it if you attach an external mag. | diff --git a/docs/zh/flight_controller/kakuteh7mini.md b/docs/zh/flight_controller/kakuteh7mini.md index 981cd7274c..941f3eda34 100644 --- a/docs/zh/flight_controller/kakuteh7mini.md +++ b/docs/zh/flight_controller/kakuteh7mini.md @@ -116,7 +116,7 @@ KakuteH7mini is supported with PX4 main and v1.14 or newer. In addition to the [basic configuration](../config/index.md), the following parameters are important: -| 参数 | 设置 | +| Parameter | 设置 | | -------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------- | | [SYS_HAS_MAG](../advanced_config/parameter_reference.md#SYS_HAS_MAG) | This should be disabled since the board does not have an internal mag. You can enable it if you attach an external mag. | diff --git a/docs/zh/flight_controller/kakuteh7v2.md b/docs/zh/flight_controller/kakuteh7v2.md index 0cfd287540..f99e13fe94 100644 --- a/docs/zh/flight_controller/kakuteh7v2.md +++ b/docs/zh/flight_controller/kakuteh7v2.md @@ -113,7 +113,7 @@ KakuteH7v2 is supported with PX4 main and v1.14 or newer. In addition to the [basic configuration](../config/index.md), the following parameters are important: -| 参数 | 设置 | +| Parameter | 设置 | | -------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------- | | [SYS_HAS_MAG](../advanced_config/parameter_reference.md#SYS_HAS_MAG) | This should be disabled since the board does not have an internal mag. You can enable it if you attach an external mag. | diff --git a/docs/zh/flight_controller/pixhawk4.md b/docs/zh/flight_controller/pixhawk4.md index e8b03020de..d18e74ffeb 100644 --- a/docs/zh/flight_controller/pixhawk4.md +++ b/docs/zh/flight_controller/pixhawk4.md @@ -45,7 +45,7 @@ This autopilot is [supported](../flight_controller/autopilot_pixhawk_standard.md - 伺服导轨输入电压：0~36V - 重量和尺寸: - 重量：15.8g - - 尺寸：44_84_12mm + - 尺寸：44_84_12mm - 其它特性: - 工作温度：-40 ~ 85°C diff --git a/docs/zh/flight_controller/pixhawk_series.md b/docs/zh/flight_controller/pixhawk_series.md index c2967e8d6e..d1ff893444 100644 --- a/docs/zh/flight_controller/pixhawk_series.md +++ b/docs/zh/flight_controller/pixhawk_series.md @@ -146,6 +146,6 @@ _Pixhawk_ is a trademark, and cannot be used in product names without permission All _Pixhawk-series_ flight controllers support: - A user facing RGB _UI LED_ to indicate the current _readiness to fly_ status of the vehicle. This is typically a superbright I2C peripheral, which may or may not be mounted on the board (i.e. FMUv4 does not have one on board and typically uses an LED mounted on the GPS). -- Three _Status LED_s that provide lower level power status, bootloader mode and activity, and error information. +- Three _Status LED_s that provide lower level power status, bootloader mode and activity, and error information. To interpret the LEDs see: [LED Meanings](../getting_started/led_meanings.md). diff --git a/docs/zh/flight_controller/radiolink_pix6.md b/docs/zh/flight_controller/radiolink_pix6.md index d67f7be212..dae7b9db39 100644 --- a/docs/zh/flight_controller/radiolink_pix6.md +++ b/docs/zh/flight_controller/radiolink_pix6.md @@ -271,7 +271,7 @@ The firmware can be installed in any of the normal ways: In addition to the [basic configuration](../config/index.md), the following parameters are important: -| 参数 | 设置 | +| Parameter | 设置 | | -------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------- | | [SYS_HAS_MAG](../advanced_config/parameter_reference.md#SYS_HAS_MAG) | This should be disabled since the board does not have an internal mag. You can enable it if you attach an external mag. | diff --git a/docs/zh/flight_controller/vololand_narinfc_h7.md b/docs/zh/flight_controller/vololand_narinfc_h7.md new file mode 100644 index 0000000000..5b9d5fe407 --- /dev/null +++ b/docs/zh/flight_controller/vololand_narinfc_h7.md @@ -0,0 +1,205 @@ +# VOLOLAND NarinFC-H7 + + + +:::warning +PX4 does not manufacture this (or any) autopilot. +Contact the [manufacturer](https://vololand.com) for hardware support or compliance issues. +::: + +The NarinFC-H7 is an advanced flight controller produced by [VOLOLAND Inc.](https://vololand.com). +It uses a high-performance STM32H7 processor and integrates industrial-grade sensors for improved performance and reliability. + +![NarinFC-H7](../../assets/flight_controller/narinfc_h7/narinfc_header.jpg) + +:::info +This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md). +::: + +## 主要特性 + +### Processors & Sensors + +- FMU Processor: STM32H743 +- 内置传感器： + - Accelerometer/Gyroscope: ADIS16470 + - 加速度计/陀螺仪：ICM-20649 + - Accelerometer/Gyroscope: BMI088 + - Magnetometer: RM3100 + - Barometer: MS5611 x2 + +### 接口 + +- 14 PWM servo outputs +- Multiple RC inputs (SBUS / CPPM / DSM) +- Analog/PWM RSSI input +- 2 GPS ports (GPS and UART4) +- 4x I2C buses +- 2x CAN bus ports +- 2x Power ports +- 2x ADC ports +- 1x USB port + +### Electrical Data + +- Power input: 4.3V ~ 5.4V +- USB input: 4.75V ~ 5.25V + +### Mechanical Data + +- Dimensions: 93.4 x 46.4 x 34.1 mm +- Weight: 106g + +## Where to Buy {#store} + +Order from [VOLOLAND Inc.](https://vololand.com). + +## Connections + +![Wire Diagram](../../assets/flight_controller/narinfc_h7/3_wire_diagram.png) + +## 尺寸 + +![Outline Dimensions](../../assets/flight_controller/narinfc_h7/2_outline_dimensions.png) + +## 针脚定义 + +![Port Diagram A](../../assets/flight_controller/narinfc_h7/4_port_diagram_pin_outs_diagram-a.png) + +### TELEM1 / TELEM2 Port + +![TELEM Pinout](../../assets/flight_controller/narinfc_h7/4_1_telem1_telem2_port_jst_gh_6p_connector.png) + +- JST GH 6P connector + +### CAN1 / CAN2 Port + +![CAN Port](../../assets/flight_controller/narinfc_h7/4_2_can1_can2_port_jst_hg_4p_connector.png) + +- JST GH 4P connector +- Communication Protocol: UAVCAN v0 (default), UAVCAN v1 (limited support) +- Pin Configuration: CAN_H, CAN_L, VCC, GND + +### I2C1, I2C2, I2C3, I2C4 Port + +![I2C Port](../../assets/flight_controller/narinfc_h7/4_3_i2c1_i2c2_i2c3_i2c4_port_jst_gh_4p_connector.png) + +- JST GH 4P connector + +### UART4 Port + +![UART Port](../../assets/flight_controller/narinfc_h7/4_4_uart4_port_jst_gh_6p_connector.png) + +- JST GH 6P connector + +### RSSI Port + +![RSSI input](../../assets/flight_controller/narinfc_h7/13_rssi.png) + +- RSSI input + +### GPS & Safety Port + +![GPS & Safety Port](../../assets/flight_controller/narinfc_h7/4_5_gps_safety_port_jst_gh_10p_connector.png) + +- JST GH 10P connector + +![Port Diagram B](../../assets/flight_controller/narinfc_h7/4_port_diagram_pin_outs_diagram-b.png) + +### PWM & RC_IN + +The NarinFC-H7 supports up to 14 PWM outputs. + +![PWM Out](../../assets/flight_controller/narinfc_h7/4_6_pwm_out_m1-m14.png) + +- 2.54mm pitch DuPont connector +- RC_IN: Remote control receiver input is wired directly to the FMU and is enabled via the `rc_input` driver. Compatible with SBUS, CPPM, and DSM protocols. + +### Power Input + +![Power Input](../../assets/flight_controller/narinfc_h7/4_7_power_input.png) + +- 2mm pitch DuPont connector + +### ADC Port + +![ADC input](../../assets/flight_controller/narinfc_h7/12_adc.png) + +### DEBUG / UART7 Port + +UART7 is labelled DEBUG RX/TX. + +![DEBUG Port](../../assets/flight_controller/narinfc_h7/4_8_debug_port_jst_hg_6p_connector.png) + +- JST GH 6P connector + +### USB Port + +- USB-C + +### SPI Port + +![SPI Port](../../assets/flight_controller/narinfc_h7/4_10_spi_port_jst_gh_7p_connector.png) + +- JST GH 7P connector + +## 串口映射 + +| UART | 设备 | Port | +| ------ | ---------- | ------ | +| USART1 | /dev/ttyS0 | GPS1 | +| USART2 | /dev/ttyS1 | TELEM1 | +| UART4 | /dev/ttyS2 | GPS2 | +| USART6 | /dev/ttyS3 | TELEM2 | +| UART8 | /dev/ttyS4 | User | +| UART7 | /dev/ttyS5 | Debug | + +## PWM Output + +The NarinFC-H7 supports up to 14 PWM outputs. +All outputs except M13 and M14 support DShot. +Outputs 1-8 support Bi-Directional DShot. + +The 14 PWM outputs are in 4 groups: + +- Outputs 1, 2, 3, and 4 in group1 +- Outputs 5, 6, 7, and 8 in group2 +- Outputs 9, 10, 11, and 12 in group3 +- Outputs 13 and 14 in group4 + +All outputs within the same group must use the same output rate and protocol. + +## Analog Inputs + +The NarinFC-H7 has 2 user-accessible analog inputs: + +- ADC Pin4 → SPARE1_ADC1 (6.6V tolerant) +- ADC Pin18 → SPARE2_ADC1 (3.3V tolerant) + +Additional internal ADC channels: + +- ADC Pin16 → BATT_VOLTAGE_SENS +- ADC Pin17 → BATT_CURRENT_SENS +- ADC Pin14 → BATT2_VOLTAGE_SENS +- ADC Pin2 → BATT2_CURRENT_SENS +- ADC Pin6 → RSSI_IN +- ADC Pin8 → VDD_5V_SENS +- ADC Pin11 → SCALED_V3V3 + +## 编译固件 + +:::tip +Most users will not need to build this firmware! +It is pre-built and automatically installed by _QGroundControl_ when appropriate hardware is connected. +::: + +To [build PX4](../dev_setup/building_px4.md) for this target: + +```sh +make narinfc_h7_default +``` + +## 支持的平台/机身 + +Any multicopter / airplane / rover or boat that can be controlled with normal RC servos or Futaba S-Bus servos. +The complete set of supported configurations can be seen in the [Airframes Reference](../airframes/airframe_reference.md). diff --git a/docs/zh/flight_modes/offboard.md b/docs/zh/flight_modes/offboard.md index 564ac450af..5c43de3899 100644 --- a/docs/zh/flight_modes/offboard.md +++ b/docs/zh/flight_modes/offboard.md @@ -17,15 +17,15 @@ A good understanding of [PX4 controller diagrams](../flight_stack/controller_dia 飞行器根据飞行控制栈外部（如机载计算机）提供的设定值控制位置、速度、加速度、姿态以及推力/力矩。 The setpoints may be provided using MAVLink (or a MAVLink API such as [MAVSDK](https://mavsdk.mavlink.io/)) or by [ROS 2](../ros2/index.md). -PX4 requires that the external controller provides a continuous 2Hz "proof of life" signal, by streaming any of the supported MAVLink setpoint messages or the ROS 2 [OffboardControlMode](../msg_docs/OffboardControlMode.md) message. -PX4 enables switching to offboard control mode only after receiving the signal for more than a second, and will failsafe (controlled by [COM_OBL_RC_ACT](../advanced_config/parameter_reference.md#COM_OBL_RC_ACT)) if the signal stops. +PX4 requires that the external controller provides a continuous "proof of life" signal by streaming any of the supported MAVLink setpoint messages or the ROS 2 [OffboardControlMode](../msg_docs/OffboardControlMode.md) message. +The stream should be active before switching to Offboard mode, and PX4 will trigger the configured Offboard-loss failsafe action ([COM_OBL_RC_ACT](../advanced_config/parameter_reference.md#COM_OBL_RC_ACT)) if proof-of-life messages are not received within the timeout configured by [COM_OF_LOSS_T](#COM_OF_LOSS_T). ::: info - This mode requires position or pose/attitude information - e.g. GPS, optical flow, visual-inertial odometry, mocap, etc. depending on the type of offboard setpoints that the external controller sends. - Manual control is disabled except to change modes (you can also fly without any manual controller at all by setting the parameter [COM_RC_IN_MODE](../advanced_config/parameter_reference.md#COM_RC_IN_MODE) to `4: Disable manual control`). - The vehicle must already be receiving a stream of MAVLink setpoint messages or ROS 2 [OffboardControlMode](../msg_docs/OffboardControlMode.md) messages before arming in offboard mode or switching to offboard mode when flying. -- The vehicle will exit offboard mode if MAVLink setpoint messages or `OffboardControlMode` are not received at a rate of > 2Hz. +- The vehicle will exit Offboard mode if MAVLink setpoint messages or `OffboardControlMode` messages stop being received for longer than the timeout configured by [COM_OF_LOSS_T](#COM_OF_LOSS_T). - 并非所有 MAVLink 支持的坐标系和字段值都被设定值消息和飞行器支持。 Read the sections below _carefully_ to ensure only supported values are used. @@ -33,22 +33,21 @@ PX4 enables switching to offboard control mode only after receiving the signal f ## 描述 -Offboard模式通过设置位置、速度、加速、姿态、姿态角速率或力/扭矩设定值来控制飞行器的位置和姿态。 - -PX4 must receive a stream of MAVLink setpoint messages or the ROS 2 [OffboardControlMode](../msg_docs/OffboardControlMode.md) at 2 Hz as proof that the external controller is healthy. -该消息必须持续发送1秒以上PX4才能在Offboard模式下解锁或在飞行中切换至Offboard模式。 -If the rate falls below 2Hz while under external control PX4 will switch out of offboard mode after a timeout ([COM_OF_LOSS_T](#COM_OF_LOSS_T)), and attempt to land or perform some other failsafe action. +Offboard mode is used for controlling vehicle movement and attitude, by setting position, velocity, acceleration, attitude, attitude rates or thrust/torque setpoints. +PX4 must receive a stream of MAVLink setpoint messages or the ROS 2 [OffboardControlMode](../msg_docs/OffboardControlMode.md) message as proof that the external controller is healthy. +The stream should be active before PX4 arms in Offboard mode or switches to Offboard mode when flying. +If MAVLink setpoint messages or `OffboardControlMode` messages stop being received for longer than the timeout configured by [COM_OF_LOSS_T](#COM_OF_LOSS_T), PX4 will switch out of Offboard mode and attempt to land or perform some other failsafe action. The action depends on whether or not RC control is available, and is defined in the parameter [COM_OBL_RC_ACT](#COM_OBL_RC_ACT). -当使用 MAVLink 时，设定值消息既传达了外部控制器"正常运行"的信号也传达了设定值本身。 -Offboard模式下要保持位置，飞行器必须接收到一个包含当前位置设定值的消息指令。 +When using MAVLink the setpoint messages convey both the signal to indicate that the external source is "alive", and the setpoint value itself. +In order to hold position in this case the vehicle must receive a stream of setpoints for the current position. When using ROS 2 the proof that the external source is alive is provided by a stream of [OffboardControlMode](../msg_docs/OffboardControlMode.md) messages, while the actual setpoint is provided by publishing to one of the setpoint uORB topics, such as [TrajectorySetpoint](../msg_docs/TrajectorySetpoint.md). In order to hold position in this case the vehicle must receive a stream of `OffboardControlMode` but would only need the `TrajectorySetpoint` once. -请注意，Offboard模式只支持比较有限的 MAVLink 指令和消息。 -其他操作如起飞、降落、返航，最好使用适当的模式来处理。 -像上传、下载任务这样的操作可以在任何模式下执行。 +Note that offboard mode only supports a very limited set of MAVLink commands and messages. +Operations, like taking off, landing, return to launch, may be best handled using the appropriate modes. +Operations like uploading, downloading missions can be performed in any mode. ## ROS 2 Offboard Control @@ -76,7 +75,7 @@ This will result in unexpected, and possibly catastrophic, behaviour. ### The `OffboardControlMode` PX4 message -以下 ROS 2 消息及其特定字段和字段值在特定的框架下是允许的。 +The following ROS 2 messages and their particular fields and field values are allowed for the specified frames. In addition to providing heartbeat functionality, `OffboardControlMode` has two other main purposes: 1. Controls which internal PX4 control modules of the [PX4 control architecture](../flight_stack/controller_diagrams.md) shall remain active and which ones shall be disabled when the vehicle is in Offboard Mode. @@ -104,18 +103,18 @@ For rovers see the [rover section](#rover). ::: The fields are ordered in terms of priority such that `position` takes precedence over `velocity` and later fields, `velocity` takes precedence over `acceleration`, and so on. -第一个非零字段(从上到下) 定义了Offboard模式所需的有效估计以及可用的设定值消息。 +The first field that has a non-zero value (from top to bottom) defines what valid estimate is required in order to use offboard mode, and the setpoint message(s) that can be used. For example, if the `acceleration` field is the first non-zero value, then PX4 requires a valid `attitude estimate`, and the setpoint must be specified using the `TrajectorySetpoint` message. -| 期望控制对象 | 位置 | 速度 | 加速度 | 姿态 | 姿态角速率 | 执行器字段 | 直接给电机 | 所需状态估计 | 所需消息 | -| ------------------------------ | --------------------------- | --------------------------- | --------------------------- | --------------------------- | --------------------------- | --------------------------- | --------------------------- | ---------------- | ------------------------------------------------------------------------------------------------------------------------------- | -| 位置 (NED) | ✓ | - | - | - | - | - | - | 位置 | [TrajectorySetpoint](../msg_docs/TrajectorySetpoint.md) | -| 速度 (NED) | ✗ | ✓ | - | - | - | - | - | 速度 | [TrajectorySetpoint](../msg_docs/TrajectorySetpoint.md) | -| 加速度（NED） | ✗ | ✗ | ✓ | - | - | - | - | attitude | [TrajectorySetpoint](../msg_docs/TrajectorySetpoint.md) | -| 姿态(FRD) | ✗ | ✗ | ✗ | ✓ | - | - | - | attitude | [VehicleAttitudeSetpoint](../msg_docs/VehicleAttitudeSetpoint.md) | -| 体轴角速率 (FRD) | ✗ | ✗ | ✗ | ✗ | ✓ | - | - | angular velocity | [VehicleRatesSetpoint](../msg_docs/VehicleRatesSetpoint.md) | -| 推力和力矩(FRD) | ✗ | ✗ | ✗ | ✗ | ✗ | ✓ | - | 无 | [VehicleThrustSetpoint](../msg_docs/VehicleThrustSetpoint.md) and [VehicleTorqueSetpoint](../msg_docs/VehicleTorqueSetpoint.md) | -| 直接给电机和舵机 | ✗ | ✗ | ✗ | ✗ | ✗ | ✗ | ✓ | 无 | [ActuatorMotors](../msg_docs/ActuatorMotors.md) and [ActuatorServos](../msg_docs/ActuatorServos.md) | +| desired control quantity | position field | velocity field | acceleration field | attitude field | body_rate field | thrust_and_torque field | direct_actuator field | required estimate | required message | +| ------------------------------------------------------- | -------------- | -------------- | ------------------ | -------------- | ------------------------------------ | ----------------------------------------------------------------- | ------------------------------------------ | ----------------- | ------------------------------------------------------------------------------------------------------------------------------- | +| position (NED) | ✓ | - | - | - | - | - | - | position | [TrajectorySetpoint](../msg_docs/TrajectorySetpoint.md) | +| velocity (NED) | ✗ | ✓ | - | - | - | - | - | velocity | [TrajectorySetpoint](../msg_docs/TrajectorySetpoint.md) | +| acceleration (NED) | ✗ | ✗ | ✓ | - | - | - | - | attitude | [TrajectorySetpoint](../msg_docs/TrajectorySetpoint.md) | +| attitude (FRD) | ✗ | ✗ | ✗ | ✓ | - | - | - | attitude | [VehicleAttitudeSetpoint](../msg_docs/VehicleAttitudeSetpoint.md) | +| body_rate (FRD) | ✗ | ✗ | ✗ | ✗ | ✓ | - | - | angular velocity | [VehicleRatesSetpoint](../msg_docs/VehicleRatesSetpoint.md) | +| thrust and torque (FRD) | ✗ | ✗ | ✗ | ✗ | ✗ | ✓ | - | none | [VehicleThrustSetpoint](../msg_docs/VehicleThrustSetpoint.md) and [VehicleTorqueSetpoint](../msg_docs/VehicleTorqueSetpoint.md) | +| direct motors and servos | ✗ | ✗ | ✗ | ✗ | ✗ | ✗ | ✓ | none | [ActuatorMotors](../msg_docs/ActuatorMotors.md) and [ActuatorServos](../msg_docs/ActuatorServos.md) | where ✓ means that the bit is set, ✘ means that the bit is not set and `-` means that the bit value is irrelevant. @@ -130,7 +129,7 @@ For fixed-wing offboard control, please refer to the [PX4 ROS 2 Interface Librar - [px4_msgs::msg::TrajectorySetpoint](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/TrajectorySetpoint.msg) - - 支持以下输入组合： + - The following input combinations are supported: - Position setpoint (`position` different from `NaN`). Non-`NaN` values of velocity and acceleration are used as feedforward terms for the inner loop controllers. - Velocity setpoint (`velocity` different from `NaN` and `position` set to `NaN`). Non-`NaN` values of acceleration are used as feedforward terms for the inner loop controllers. - Acceleration setpoint (`acceleration` different from `NaN` and `position` and `velocity` set to `NaN`) @@ -149,21 +148,21 @@ For fixed-wing offboard control, please refer to the [PX4 ROS 2 Interface Librar ::: - [px4_msgs::msg::VehicleAttitudeSetpoint](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleAttitudeSetpoint.msg) - - 支持以下输入组合： + - The following input combination is supported: - quaternion `q_d` + thrust setpoint `thrust_body`. Non-`NaN` values of `yaw_sp_move_rate` are used as feedforward terms expressed in Earth frame and in `[rad/s]`. - - 姿态四元数表示无人机机体坐标系FRD(前、右、下) 与NED坐标系之间的旋转。 - 这个推力是在无人机体轴FRD坐标系下，并归一化为 \[-1, 1\] 。 + - The quaternion represents the rotation between the drone body FRD (front, right, down) frame and the NED frame. + The thrust is in the drone body FRD frame and expressed in normalized \[-1, 1\] values. - [px4_msgs::msg::VehicleRatesSetpoint](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleRatesSetpoint.msg) - - 支持以下输入组合： + - The following input combination is supported: - `roll`, `pitch`, `yaw` and `thrust_body`. - - 所有值都表示在无人机体轴FRD坐标系下。 + - All the values are in the drone body FRD frame. The rates are in `[rad/s]` while thrust_body is normalized in `[-1, 1]`. -### 无人车 +### Rover Rover modules must set the control mode using `OffboardControlMode` and use the appropriate messages to configure the corresponding setpoints. The approach is similar to other vehicle types, but the allowed control mode combinations and setpoints are different: @@ -193,10 +192,10 @@ Additionally, for some combinations we require certain setpoints to be published | Setpoint Combination | Control Flag | [RoverPositionSetpoint](../msg_docs/RoverPositionSetpoint.md) | [RoverSpeedSetpoint](../msg_docs/RoverSpeedSetpoint.md) | [RoverThrottleSetpoint](../msg_docs/RoverThrottleSetpoint.md) | [RoverAttitudeSetpoint](../msg_docs/RoverAttitudeSetpoint.md) | [RoverRateSetpoint](../msg_docs/RoverRateSetpoint.md) | [RoverSteeringSetpoint](../msg_docs/RoverSteeringSetpoint.md) | | -------------------- | ----------------------------------------------------------- | ------------------------------------------------------------- | ------------------------------------------------------- | ------------------------------------------------------------- | ------------------------------------------------------------- | ----------------------------------------------------- | ------------------------------------------------------------- | -| 安装位置 | 位置 | ✓ | | | | | | -| Speed + Attitude | 速度 | | ✓ | | ✓ | | | -| Speed + Rate | 速度 | | ✓ | | ✗ | ✓ | | -| Speed + Steering | 速度 | | ✓ | | ✗ | ✗ | ✓ | +| 安装位置 | position | ✓ | | | | | | +| Speed + Attitude | velocity | | ✓ | | ✓ | | | +| Speed + Rate | velocity | | ✓ | | ✗ | ✓ | | +| Speed + Steering | velocity | | ✓ | | ✗ | ✗ | ✓ | | Throttle + Attitude | attitude | | | ✓ | ✓ | | | | Throttle + Rate | body_rate | | | ✓ | | ✓ | | | Throttle + Steering | thrust_and_torque | | | ✓ | | | ✓ | @@ -226,8 +225,8 @@ However, only one of the fields is active at a time and is defined by the flags | Control Mode Flag | Active Trajectory Setpoint Field | | ----------------- | -------------------------------- | -| 位置 | 位置 | -| 速度 | 速度 | +| position | position | +| velocity | velocity | | attitude | yaw | :::info @@ -236,24 +235,24 @@ Ackermann rovers do not support the yaw setpoint. ### Generic Vehicle -下面的offboard控制模式会绕过所有PX4内部的控制环，应当非常谨慎地使用。 +The following offboard control modes bypass all internal PX4 control loops and should be used with great care. - [px4_msgs::msg::VehicleThrustSetpoint](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleThrustSetpoint.msg) + [px4_msgs::msg::VehicleTorqueSetpoint](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleTorqueSetpoint.msg) - - 支持以下输入组合： + - The following input combination is supported: - `xyz` for thrust and `xyz` for torque. - - 所有值都在无人机体轴 FRD 坐标系中表示，并且归一化为\[-1, 1\]。 + - All the values are in the drone body FRD frame and normalized in \[-1, 1\]. - [px4_msgs::msg::ActuatorMotors](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ActuatorMotors.msg) + [px4_msgs::msg::ActuatorServos](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ActuatorServos.msg) - - 直接控制电机输出和/或伺服系统（舵机）输出。 + - You directly control the motor outputs and/or servo outputs. - All the values normalized in `[-1, 1]`. For outputs that do not support negative values, negative entries map to `NaN`. - `NaN` maps to disarmed. ## MAVLink Offboard Control -下面的 MAVLink 消息及其特定字段和字段值在特定的帧下是允许的。 +The following MAVLink messages and their particular fields and field values are allowed for the specified vehicle frames. -### 直升机/垂直起降 +### Copter/VTOL - [SET_POSITION_TARGET_LOCAL_NED](https://mavlink.io/en/messages/common.html#SET_POSITION_TARGET_LOCAL_NED) - The following input combinations are supported: @@ -283,7 +282,7 @@ Ackermann rovers do not support the yaw setpoint. - PX4 supports the following `coordinate_frame` values (only): [MAV_FRAME_GLOBAL_INT](https://mavlink.io/en/messages/common.html#MAV_FRAME_GLOBAL_INT), [MAV_FRAME_GLOBAL_RELATIVE_ALT_INT](https://mavlink.io/en/messages/common.html#MAV_FRAME_GLOBAL_RELATIVE_ALT_INT), [MAV_FRAME_GLOBAL_TERRAIN_ALT_INT](https://mavlink.io/en/messages/common.html#MAV_FRAME_GLOBAL_TERRAIN_ALT_INT). - [SET_ATTITUDE_TARGET](https://mavlink.io/en/messages/common.html#SET_ATTITUDE_TARGET) - - 支持以下输入组合： + - The following input combinations are supported: - Attitude/orientation (`SET_ATTITUDE_TARGET.q`) with thrust setpoint (`SET_ATTITUDE_TARGET.thrust`). - Body rate (`SET_ATTITUDE_TARGET` `.body_roll_rate` ,`.body_pitch_rate`, `.body_yaw_rate`) with thrust setpoint (`SET_ATTITUDE_TARGET.thrust`). @@ -298,15 +297,15 @@ Ackermann rovers do not support the yaw setpoint. ::: - 值为： + The values are: - - 292：滑动设定值。 - 这会将 TECS 配置为空速优先于高度，以便在没有推力时使无人机滑行（即控制俯仰以调节空速）。 + - 292: Gliding setpoint. + This configures TECS to prioritize airspeed over altitude in order to make the vehicle glide when there is no thrust (i.e. pitch is controlled to regulate airspeed). It is equivalent to setting `type_mask` as `POSITION_TARGET_TYPEMASK_Z_IGNORE`, `POSITION_TARGET_TYPEMASK_VZ_IGNORE`, `POSITION_TARGET_TYPEMASK_AZ_IGNORE`. - - 4096：起飞设定值。 - - 8192：降落设定值。 - - 12288：悬停设定值（以设定值为中心绕圈飞行）。 - - 16384：空闲设定值（油门为0， 横滚 / 俯仰为0）。 + - 4096: Takeoff setpoint. + - 8192: Land setpoint. + - 12288: Loiter setpoint (fly a circle centred on setpoint). + - 16384: Idle setpoint (zero throttle, zero roll / pitch). - PX4 supports the coordinate frames (`coordinate_frame` field): [MAV_FRAME_LOCAL_NED](https://mavlink.io/en/messages/common.html#MAV_FRAME_LOCAL_NED) and [MAV_FRAME_BODY_NED](https://mavlink.io/en/messages/common.html#MAV_FRAME_BODY_NED). @@ -320,21 +319,21 @@ Ackermann rovers do not support the yaw setpoint. ::: - 值为： + The values are: - - 4096：起飞设定值。 - - 8192：降落设定值。 - - 12288：悬停设定值（以设定值为中心绕圈飞行）。 - - 16384：空闲设定值（油门为0， 横滚 / 俯仰为0）。 + - 4096: Takeoff setpoint. + - 8192: Land setpoint. + - 12288: Loiter setpoint (fly a circle centred on setpoint). + - 16384: Idle setpoint (zero throttle, zero roll / pitch). - PX4 supports the following `coordinate_frame` values (only): [MAV_FRAME_GLOBAL_INT](https://mavlink.io/en/messages/common.html#MAV_FRAME_GLOBAL_INT), [MAV_FRAME_GLOBAL_RELATIVE_ALT_INT](https://mavlink.io/en/messages/common.html#MAV_FRAME_GLOBAL_RELATIVE_ALT_INT), [MAV_FRAME_GLOBAL_TERRAIN_ALT_INT](https://mavlink.io/en/messages/common.html#MAV_FRAME_GLOBAL_TERRAIN_ALT_INT). - [SET_ATTITUDE_TARGET](https://mavlink.io/en/messages/common.html#SET_ATTITUDE_TARGET) - - 支持以下输入组合： + - The following input combinations are supported: - Attitude/orientation (`SET_ATTITUDE_TARGET.q`) with thrust setpoint (`SET_ATTITUDE_TARGET.thrust`). - Body rate (`SET_ATTITUDE_TARGET` `.body_roll_rate` ,`.body_pitch_rate`, `.body_yaw_rate`) with thrust setpoint (`SET_ATTITUDE_TARGET.thrust`). -### 无人车 +### Rover Rover supports offboard control using the generic MAVLink position/velocity setpoint messages listed below. These are converted into a [TrajectorySetpoint](../msg_docs/TrajectorySetpoint.md) internally, and then into rover setpoints by the rover offboard modes. @@ -360,23 +359,23 @@ Rover MAVLink setpoints are gated by the MAVLink parameter [MAV_FWDEXTSP](../adv - [SET_ATTITUDE_TARGET](https://mavlink.io/en/messages/common.html#SET_ATTITUDE_TARGET) - Not supported for rover offboard control. -## Offboard参数 +## Offboard Parameters _Offboard mode_ is affected by the following parameters: -| 参数 | 描述 | -| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -| [COM_OF_LOSS_T](../advanced_config/parameter_reference.md#COM_OF_LOSS_T) | Time-out (in seconds) to wait when offboard connection is lost before triggering offboard lost failsafe (`COM_OBL_RC_ACT`) | -| [COM_OBL_RC_ACT](../advanced_config/parameter_reference.md#COM_OBL_RC_ACT) | Flight mode to switch to if offboard control is lost (Values are - `0`: _Position_, `1`: _Altitude_, `2`: _Manual_, `3`: _Return_, `4`: _Land_). | -| [COM_RC_OVERRIDE](../advanced_config/parameter_reference.md#COM_RC_OVERRIDE) | Controls whether stick movement on a multicopter (or VTOL in MC mode) causes a mode change to [Position mode](../flight_modes_mc/position.md). 默认情况下未启用此功能。 | -| [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) | 该参数指定一种模式，在该模式下将忽略RC丢失及不会触发RC丢失的失效保护动作。 Set bit `2` to ignore RC loss in Offboard mode. | +| Parameter | 描述 | +| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| [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. | -## 开发者资源 +## Developer Resources Typically developers do not directly work at the MAVLink layer, but instead use a robotics API like [MAVSDK](https://mavsdk.mavlink.io/) or [ROS](https://www.ros.org/) (these provide a developer friendly API, and take care of managing and maintaining connections, sending messages and monitoring responses - the minutiae of working with _Offboard mode_ and MAVLink). -以下资源可能对开发者有用： +The following resources may be useful for a developer audience: - [Offboard Control from Linux](../ros/offboard_control.md) - [ROS/MAVROS Offboard Example (C++)](../ros/mavros_offboard_cpp.md) diff --git a/docs/zh/flight_modes/return.md b/docs/zh/flight_modes/return.md index 92f3fadcc2..4da435d78e 100644 --- a/docs/zh/flight_modes/return.md +++ b/docs/zh/flight_modes/return.md @@ -17,9 +17,9 @@ PX4 提供了几种机制来选择安全的返航路径，返航目的地和着 - Flying vehicles can't switch to this mode without global position. - Flying vehicles will failsafe if they lose the position estimate. - Mode requires home position is set. -- Mode prevents arming (vehicle must be armed when switching to this mode). +- Mode prevents arming (vehicle cannot be armed while this mode is selected). - 遥控开关可以在任何无人机上更改飞行模式。 -- RC stick movement in a multicopter (or VTOL in multicopter mode) will [by default](#COM_RC_OVERRIDE) change the vehicle to [Position mode](../flight_modes_mc/position.md) unless handling a critical battery failsafe. +- RC stick movement in a multicopter (or VTOL in multicopter mode) will [by default](#COM_RC_OVERRIDE) change the vehicle to [Position mode](../flight_modes_mc/position.md) unless prevented by the active failsafe state. - A VTOL will return as MC or FW based on its mode at the point the return mode was triggered. In MC mode it will respect multicopter parameters, such as the landing "cone". In FW mode it will respect fixed-wing parameters (ignore the cone), but unless using a mission landing, will transition to MC mode and land at the destination after loitering at the descent altitude. @@ -40,9 +40,7 @@ This topic covers all the possible return types that any vehicle _might_ be conf The following sections explain how to configure the [return type](#return_types), [minimum return altitude](#minimum-return-altitude) and [landing/arrival behaviour](#loiter-landing-at-destination). - - -## 返航类型（RTL_TYPE） +## Return Types (RTL_TYPE) {#return_types} PX4 provides four alternative approaches for finding an unobstructed path to a safe destination and/or landing, which are set using the [RTL_TYPE](#RTL_TYPE) parameter. @@ -169,7 +167,7 @@ In this case the vehicle follows mission waypoints, which we assume are planned The return altitude for a fixed-wing vehicle or a VTOL in fixed-wing mode is configured using the parameter [RTL_RETURN_ALT](#RTL_RETURN_ALT) (does not use the code described in the next paragraph). -The return altitude for a multicopter or a VTOL vehicles in MC mode is configured using the parameters [RTL_RETURN_ALT](#RTL_RETURN_ALT) and [RTL_CONE_ANG](#RTL_CONE_ANG), which define a half cone centered around the destination (home location or safety point). +The return altitude for a multicopter (or VTOL vehicle in MC mode) is configured using the parameters [RTL_RETURN_ALT](#RTL_RETURN_ALT), [RTL_CONE_ANG](#RTL_CONE_ANG), and [RTL_MIN_DIST](#RTL_MIN_DIST), which together define a half cone centered around the destination (home location or safety point). ![Return mode cone](../../assets/flying/rtl_cone.jpg) @@ -178,22 +176,19 @@ The return altitude for a multicopter or a VTOL vehicles in MC mode is configure 如果无人机是： - Above [RTL_RETURN_ALT](#RTL_RETURN_ALT) (1) it will return at its current altitude. -- Below the cone it will return where it intersects the cone (2) or [RTL_DESCEND_ALT](#RTL_DESCEND_ALT) (whichever is higher). -- Outside the cone (3) it will first climb until it reaches [RTL_RETURN_ALT](#RTL_RETURN_ALT). -- 在圆锥内： - - Above [RTL_DESCEND_ALT](#RTL_DESCEND_ALT) (4) it will return at its current altitude. - - Below [RTL_DESCEND_ALT](#RTL_DESCEND_ALT) (5) it will first ascend to `RTL_DESCEND_ALT`. +- Outside of the radius defined [RTL_MIN_DIST](#RTL_MIN_DIST) (3) it will first climb until it reaches [RTL_RETURN_ALT](#RTL_RETURN_ALT). +- Below the cone and within [RTL_MIN_DIST](#RTL_MIN_DIST) it will climb to return at the cone intersection altitude (2), up to [RTL_RETURN_ALT](#RTL_RETURN_ALT). +- Inside the cone (4, 5) it will return at its current altitude. 注意： - If [RTL_CONE_ANG](#RTL_CONE_ANG) is 0 degrees there is no "cone": - the vehicle returns at `RTL_RETURN_ALT` (or above). -- If [RTL_CONE_ANG](#RTL_CONE_ANG) is 90 degrees the vehicle will return at the greater of `RTL_DESCEND_ALT` and the current altitude. -- The vehicle will always ascend at least [RTL_DESCEND_ALT](#RTL_DESCEND_ALT) for the return. +- If [RTL_CONE_ANG](#RTL_CONE_ANG) is 90 degrees the vehicle will generally return at its current altitude when close to the destination. The return altitude may still be constrained to avoid flying too low while approaching the destination. ## 无人机默认行为 -Unless executing a [mission landing pattern](#mission-landing-pattern) as part of the return mode, the vehicle will arrive at its destination, and rapidly descend to the [RTL_DESCEND_ALT](#RTL_DESCEND_ALT) altitude, where it will loiter for [RTL_LAND_DELAY](#RTL_LAND_DELAY) before landing. +Unless executing a [mission landing pattern](#mission-landing-pattern) as part of the return mode, the vehicle will arrive at its destination, and rapidly descend to the [RTL_DESCEND_ALT](#RTL_DESCEND_ALT) altitude (if above that altitude), where it will loiter for [RTL_LAND_DELAY](#RTL_LAND_DELAY) before landing. If `RTL_LAND_DELAY=-1` it will loiter indefinitely. The default landing configuration is vehicle dependent: @@ -217,16 +212,16 @@ For this reason fixed-wing vehicles are configured to use [Mission landing/reall The RTL parameters are listed in [Parameter Reference > Return Mode](../advanced_config/parameter_reference.md#return-mode) (and summarised below). -| 参数 | 描述 | +| Parameter | 描述 | | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | [RTL_TYPE](../advanced_config/parameter_reference.md#RTL_TYPE) | Return mechanism (path and destination).
`0`: Return to a rally point or home (whichever is closest) via direct path.
`1`: Return to a rally point or the mission landing pattern start point (whichever is closest), via direct path. 如果未定义任务着陆点或集结点，通过直接路径返回起始位置。 If the destination is a mission landing pattern, follow the pattern to land.
`2`: Use the mission path to landing while skipping DO_JUMP and other non-position mission items if a landing pattern is defined, otherwise fast-reverse to home with the same traversal rules. 忽略集结点。 Fly direct to home if no mission plan is defined.
`3`: Return via direct path to closest destination: home, start of mission landing pattern or safe point. 如果目的地是飞行任务着陆模式，则按照该模式降落。 | | [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. 如果已经超过这个值, 飞机将返回当前的高度。 | -| [RTL_DESCEND_ALT](../advanced_config/parameter_reference.md#RTL_DESCEND_ALT) | 最小返航高度和无人机从较高的返航高度到减速或者停止的初始下降高度（默认： 30米）。 | -| [RTL_LAND_DELAY](../advanced_config/parameter_reference.md#RTL_LAND_DELAY) | Time to wait at `RTL_DESCEND_ALT` before landing (default: 0.5s) -by default this period is short so that the vehicle will simply slow and then land immediately. If set to -1 the system will loiter at `RTL_DESCEND_ALT` rather than landing. 延迟能够使你为起落架的展开部署配置时间（自动触发）。 | -| [RTL_MIN_DIST](../advanced_config/parameter_reference.md#RTL_MIN_DIST) | 能够触发无人机上升到返航高度，距离起始位置的最小水平距离由那个"锥形"指定。 If the vehicle is horizontally closer than this distance to home, it will return at its current altitude or `RTL_DESCEND_ALT` (whichever is higher) instead of first ascending to RTL_RETURN_ALT. | -| [RTL_CONE_ANG](../advanced_config/parameter_reference.md#RTL_CONE_ANG) | 圆锥半角决定无人机的 RTL 返航高度。 数值(度数)：0、25、45、65、80、90。 Note that 0 is "no cone" (always return at `RTL_RETURN_ALT` or higher), while 90 indicates that the vehicle must return at the current altitude or `RTL_DESCEND_ALT` (whichever is higher). | +| [RTL_DESCEND_ALT](../advanced_config/parameter_reference.md#RTL_DESCEND_ALT) | Altitude above the destination used for the final descent before landing or loitering (default: 30m). | +| [RTL_LAND_DELAY](../advanced_config/parameter_reference.md#RTL_LAND_DELAY) | Time to wait at `RTL_DESCEND_ALT` before landing (default: 0.5s) - by default this period is short so that the vehicle will simply slow and then land immediately. If set to -1 the system will loiter at `RTL_DESCEND_ALT` rather than landing. 延迟能够使你为起落架的展开部署配置时间（自动触发）。 | +| [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) | 圆锥半角决定无人机的 RTL 返航高度。 Values (in degrees): `0`, `25`, `45`, `65`, `80`, `90`. Note that `0` is "no cone" (always return at `RTL_RETURN_ALT` or higher), while `90` indicates an almost vertical cone, so the vehicle generally returns at its current altitude when close to the destination. The return altitude may still be constrained to avoid flying too low while approaching the destination. | | [RTL_APPR_FORCE](../advanced_config/parameter_reference.md#RTL_APPR_FORCE) | [VTOL FW only] If set, home or rally-point RTL destinations are only considered when a valid VTOL approach loiter is defined for that landing location. Mission landing patterns are unaffected. | -| [COM_RC_OVERRIDE](../advanced_config/parameter_reference.md#COM_RC_OVERRIDE) | Controls whether stick movement on a multicopter (or VTOL in MC mode) causes a mode change to [Position mode](../flight_modes_mc/position.md) (except when vehicle is handling a critical battery failsafe). 可以分别为自动模式和 offboard 模式启用此功能，默认情况下在自动模式下启用此功能。 | +| [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). 可以分别为自动模式和 offboard 模式启用此功能，默认情况下在自动模式下启用此功能。 | | [COM_RC_STICK_OV](../advanced_config/parameter_reference.md#COM_RC_STICK_OV) | The amount of stick movement that causes a transition to [Position mode](../flight_modes_mc/position.md) (if [COM_RC_OVERRIDE](#COM_RC_OVERRIDE) is enabled). | | [RTL_LOITER_RAD](../advanced_config/parameter_reference.md#RTL_LOITER_RAD) | [Fixed-wing Only] The radius of the loiter circle (at [RTL_LAND_DELAY](#RTL_LAND_DELAY)). | | [MIS_TKO_LAND_REQ](../advanced_config/parameter_reference.md#MIS_TKO_LAND_REQ) | Specify whether a mission landing or takeoff pattern is _required_. Generally fixed-wing vehicles set this to require a landing pattern but VTOL do not. | diff --git a/docs/zh/flight_modes_fw/acro.md b/docs/zh/flight_modes_fw/acro.md index 94c3224043..a7f09a4cbd 100644 --- a/docs/zh/flight_modes_fw/acro.md +++ b/docs/zh/flight_modes_fw/acro.md @@ -18,7 +18,7 @@ Throttle is passed directly to control allocation. ## 参数 -| 参数 | 描述 | +| Parameter | 描述 | | -------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | [FW_ACRO_X_MAX](../advanced_config/parameter_reference.md#FW_ACRO_X_MAX) | 机体轴x轴最大速率（用户在acro模式下施加滚转轴满杆操纵时，控制器试图达到的机体轴x轴速率） 默认：90度 Default: 90 degrees. | | [FW_ACRO_Y_MAX](../advanced_config/parameter_reference.md#FW_ACRO_Y_MAX) | Acro body y max rate (the body y rate the controller is trying to achieve if the user applies full pitch stick input in acro mode). Default: 90 degrees. | diff --git a/docs/zh/flight_modes_fw/altitude.md b/docs/zh/flight_modes_fw/altitude.md index 2c11c22c45..523ee1fc1e 100644 --- a/docs/zh/flight_modes_fw/altitude.md +++ b/docs/zh/flight_modes_fw/altitude.md @@ -47,7 +47,7 @@ Airspeed is also stabilized if an airspeed sensor is present. 该模式受以下参数影响： -| 参数 | 描述 | +| Parameter | 描述 | | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------- | | [FW_AIRSPD_MIN](../advanced_config/parameter_reference.md#FW_AIRSPD_MIN) | 最小空速/油门。 默认：10 m/s。 | | [FW_AIRSPD_MAX](../advanced_config/parameter_reference.md#FW_AIRSPD_MAX) | 最大空速/油门。 默认：20 m/s。 | @@ -57,6 +57,21 @@ Airspeed is also stabilized if an airspeed sensor is present. | [FW_T_CLMB_R_SP](../advanced_config/parameter_reference.md#FW_T_CLMB_R_SP) | Max climb rate setpoint. 默认：3m/s。 | | [FW_T_SINK_R_SP](../advanced_config/parameter_reference.md#FW_T_SINK_R_SP) | Max sink rate setpoint. Default: 2 m/s. | +## MAVLink Commands + +The following commands are relevant to this mode: + +- [MAV_CMD_DO_CHANGE_SPEED](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_CHANGE_SPEED) — Sets the cruise airspeed for centred throttle stick. + + This requires an airspeed sensor. + Only the airspeed speed type is handled (`param1` must be `0`); other speed types are ignored. + At centered throttle the vehicle holds the commanded airspeed (`param2`) if a positive value is set (non-positive values are ignored). + The value is constrained between [FW_AIRSPD_MIN](../advanced_config/parameter_reference.md#FW_AIRSPD_MIN) and [FW_AIRSPD_MAX](../advanced_config/parameter_reference.md#FW_AIRSPD_MAX), and defaults to [FW_AIRSPD_TRIM](../advanced_config/parameter_reference.md#FW_AIRSPD_TRIM) if no airspeed has been commanded. + Deflecting the throttle stick scales the airspeed toward `FW_AIRSPD_MIN` (back) or `FW_AIRSPD_MAX` (forward) around this value. + The commanded airspeed resets to `FW_AIRSPD_TRIM` on every flight mode change. + +Note, other commands may be supported. + @@ -26,7 +26,7 @@ It is usually activated with a pre-programmed switch. ## 技术总结 -The vehicle hovers at the current position and altitude. +The vehicle stops and hovers, maintaining its position and altitude. The vehicle will first ascend to [NAV_MIN_LTR_ALT](#NAV_MIN_LTR_ALT) if the mode is engaged below this altitude. RC stick movement will change the vehicle to [Position mode](../flight_modes_mc/position.md) (by [default](#COM_RC_OVERRIDE)). @@ -35,7 +35,7 @@ RC stick movement will change the vehicle to [Position mode](../flight_modes_mc/ Hold mode behaviour can be configured using the parameters below. -| 参数 | 描述 | +| Parameter | 描述 | | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | | [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). 可以分别为自动模式和 offboard 模式启用此功能，默认情况下在自动模式下启用此功能。 | diff --git a/docs/zh/flight_modes_mc/land.md b/docs/zh/flight_modes_mc/land.md index 70f6c5d843..6ceffd526a 100644 --- a/docs/zh/flight_modes_mc/land.md +++ b/docs/zh/flight_modes_mc/land.md @@ -11,9 +11,9 @@ The _Land_ flight mode causes the vehicle to land at the position where the mode - Mode requires at least a valid local position estimate (does not require a global position). - Flying vehicles can't switch to this mode without valid local position. - Flying vehicles will failsafe if they lose the position estimate. -- Mode prevents arming (vehicle must be armed when switching to this mode). +- Mode prevents arming (vehicle cannot be armed while this mode is selected). - 遥控开关可以在任何无人机上更改飞行模式。 -- RC stick movement in a multicopter (or VTOL in multicopter mode) will [by default](#COM_RC_OVERRIDE) change the vehicle to [Position mode](../flight_modes_mc/position.md) unless handling a critical battery failsafe. +- RC stick movement in a multicopter (or VTOL in multicopter mode) will [by default](#COM_RC_OVERRIDE) change the vehicle to [Position mode](../flight_modes_mc/position.md) unless prevented by the active failsafe state. - The mode can be triggered using the [MAV_CMD_NAV_LAND](https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_LAND) MAVLink command, or by explicitly switching to Land mode. @@ -31,7 +31,7 @@ RC stick movement will change the vehicle to [Position mode](../flight_modes_mc/ Land mode behaviour can be configured using the parameters below. -| 参数 | 描述 | +| Parameter | 描述 | | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | | [MPC_LAND_SPEED](../advanced_config/parameter_reference.md#MPC_LAND_SPEED) | 着陆过程中的下降速率。 鉴于地面情况未知，这个值应该设得相当小。 | | [COM_DISARM_LAND](../advanced_config/parameter_reference.md#COM_DISARM_LAND) | 降落后自动上锁的超时时间，以秒为单位。 如果设定为 -1，无人机将不会在着陆时上锁。 | diff --git a/docs/zh/flight_modes_mc/manual_stabilized.md b/docs/zh/flight_modes_mc/manual_stabilized.md index b1f9de1f78..df52f6630d 100644 --- a/docs/zh/flight_modes_mc/manual_stabilized.md +++ b/docs/zh/flight_modes_mc/manual_stabilized.md @@ -48,7 +48,7 @@ Throttle is rescaled (see [below](#params)) and passed directly to control alloc ## 参数 -| 参数 | 描述 | +| Parameter | 描述 | | -------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | [MPC_THR_HOVER](../advanced_config/parameter_reference.md#MPC_THR_HOVER) | Hover throttle that is output when the throttle stick is centered and `MPC_THR_CURVE` is set to default. | | [MPC_THR_CURVE](../advanced_config/parameter_reference.md#MPC_THR_CURVE) | 定义油门缩放比例。 By default this is set to **Rescale to hover thrust**, which means that when the throttle stick is centered the configured hover throttle is output (`MPC_THR_HOVER`) and the stick input is linearly rescaled below and above that (allowing for a smooth transition between Stabilized and Altitude/Position control).
在动力很强的机体上，悬停油门可能非常低（例如低于 20％），因此重新调整会使油门输入变形 - 对应上面举例， 80％ 的推力将仅由摇杆输入的中位以上部分控制，20％ 的推力由中位以下的部分来控制。 If needed `MPC_THR_CURVE` can be set to **No Rescale** so that there is no rescaling (stick input to throttle mapping is independent of `MPC_THR_HOVER`). | diff --git a/docs/zh/flight_modes_mc/mission.md b/docs/zh/flight_modes_mc/mission.md index a3f6de291b..6f3ac5a43f 100644 --- a/docs/zh/flight_modes_mc/mission.md +++ b/docs/zh/flight_modes_mc/mission.md @@ -11,7 +11,7 @@ The mission is typically created and uploaded with a Ground Control Station (GCS - The vehicle must be armed before this mode can be engaged. - This mode is automatic - no user intervention is _required_ to control the vehicle. - 遥控开关可以在任何无人机上更改飞行模式。 -- RC stick movement will [by default](#COM_RC_OVERRIDE) change the vehicle to [Position mode](../flight_modes_mc/position.md) unless handling a critical battery failsafe. +- RC stick movement will [by default](#COM_RC_OVERRIDE) change the vehicle to [Position mode](../flight_modes_mc/position.md) unless prevented by the active failsafe state. This is true for multicopters and VTOL in MC mode. ::: @@ -110,7 +110,7 @@ A very small subset are listed below. General parameters: -| 参数 | 描述 | +| Parameter | 描述 | | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | | [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). 可以分别为自动模式和 offboard 模式启用此功能，默认情况下在自动模式下启用此功能。 | @@ -118,7 +118,7 @@ General parameters: Parameters related to [mission feasibility checks](#mission-feasibility-checks): -| 参数 | 描述 | +| Parameter | 描述 | | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------- | | [MIS_DIST_1WP](../advanced_config/parameter_reference.md#MIS_DIST_1WP) | There is a warning message if the distance of the first waypoint to Home is more than this value. Disabled if value is 0 or less. | | [FW_LND_ANG](../advanced_config/parameter_reference.md#FW_LND_ANG) | Maximum landing slope angle. | diff --git a/docs/zh/flight_modes_mc/orbit.md b/docs/zh/flight_modes_mc/orbit.md index 33f0f5641c..ddc6024b7d 100644 --- a/docs/zh/flight_modes_mc/orbit.md +++ b/docs/zh/flight_modes_mc/orbit.md @@ -10,7 +10,7 @@ The _Orbit_ guided flight mode allows you to command a multicopter (or VTOL in m - Mode requires at least a valid local position estimate (does not require a global position). - Flying vehicles can't switch to this mode without valid local position. - Flying vehicles will failsafe if they lose the position estimate. -- Mode prevents arming (vehicle must be armed when switching to this mode). +- Mode prevents arming (vehicle cannot be armed while this mode is selected). - Mode requires wind and flight time are within allowed limits (specified via parameters). - This mode is currently only supported on multicopter (or VTOL in MC mode). - RC stick movement can control ascent/descent and orbit speed and direction. @@ -59,7 +59,7 @@ The diagram below shows the mode behaviour visually (for a [mode 2 transmitter]( 该模式受以下参数影响： -| 参数 | 描述 | +| Parameter | 描述 | | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------- | | [MC_ORBIT_RAD_MAX](../advanced_config/parameter_reference.md#MC_ORBIT_RAD_MAX) | Maximum radius of orbit. Default: 1000m. | | [MC_ORBIT_YAW_MOD](../advanced_config/parameter_reference.md#MC_ORBIT_YAW_MOD) | Yaw behaviour during orbit flight. Default: Front to Circle Center. | diff --git a/docs/zh/flight_modes_mc/position.md b/docs/zh/flight_modes_mc/position.md index 73f507289f..948cf20203 100644 --- a/docs/zh/flight_modes_mc/position.md +++ b/docs/zh/flight_modes_mc/position.md @@ -60,7 +60,7 @@ While very rare on a well calibrated vehicle, sometimes there may be problems wi All the parameters in the [Multicopter Position Control](../advanced_config/parameter_reference.md#multicopter-position-control) group are relevant. 下面列出了一些特别值得注意的参数。 -| 参数 | 描述 | +| Parameter | 描述 | | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | [MAN_DEADZONE](../advanced_config/parameter_reference.md#MAN_DEADZONE) | 启用位置保持的摇杆死区。 默认值：0.1（摇杆全行程的 10％）。 | | [MPC_Z_VEL_MAX_UP](../advanced_config/parameter_reference.md#MPC_Z_VEL_MAX_UP) | 最大垂直上升速度。 默认：3m/s。 | diff --git a/docs/zh/flight_modes_mc/return.md b/docs/zh/flight_modes_mc/return.md index 345fcb76e0..ef027f8af1 100644 --- a/docs/zh/flight_modes_mc/return.md +++ b/docs/zh/flight_modes_mc/return.md @@ -18,9 +18,9 @@ The default type is recommended. - Flying vehicles can't switch to this mode without global position. - Flying vehicles will failsafe if they lose the position estimate. - Mode requires home position is set. -- Mode prevents arming (vehicle must be armed when switching to this mode). +- Mode prevents arming (vehicle cannot be armed while this mode is selected). - 遥控开关可以在任何无人机上更改飞行模式。 -- RC stick movement will [by default](#COM_RC_OVERRIDE) change the vehicle to [Position mode](../flight_modes_mc/position.md) unless handling a critical battery failsafe. +- RC stick movement will [by default](#COM_RC_OVERRIDE) change the vehicle to [Position mode](../flight_modes_mc/position.md) unless prevented by the active failsafe state. @@ -28,7 +28,7 @@ The default type is recommended. ## 技术总结 -Multicopters use the [home/rally point return type](../flight_modes/return.md#home-rally-point-return-type-rtl-type-0) by default. +Multicopters use the [home/rally point return type](../flight_modes/return.md#home-rally-point-return-type-rtl-type-0) by default ([RTL_TYPE=0](../advanced_config/parameter_reference.md#RTL_TYPE)). For this return type the copter: - Ascends to the [minimum return altitude](#minimum-return-altitude) (safely above any expected obstacles). @@ -42,15 +42,15 @@ For this return type the copter: By default the _minimum return altitude_ is set using [RTL_RETURN_ALT](#RTL_RETURN_ALT), and the vehicle will just return at the higher of `RTL_RETURN_ALT` or the initial vehicle altitude. -The minimum return altitude can be further configured using [RTL_CONE_ANG](#RTL_CONE_ANG), which together with [RTL_RETURN_ALT](#RTL_RETURN_ALT) defines a half cone centered around the destination landing point. -The cone angle allows a lower minimum return altitude when the return mode is executed close to the destination. -This is useful when there are few obstacles near the destination, because it may reduce the minimum height that the vehicle needs to ascend before landing, and hence power consumption and time to land. +The minimum return altitude can be further configured using [RTL_CONE_ANG](#RTL_CONE_ANG) and [RTL_MIN_DIST](#RTL_MIN_DIST), which together with [RTL_RETURN_ALT](#RTL_RETURN_ALT) define a half cone centered around the destination landing point. +Within `RTL_MIN_DIST` of the destination, the return altitude is calculated from the cone geometry rather than set directly to `RTL_RETURN_ALT`, allowing a lower minimum return altitude when close to the destination. +This is useful when there are few obstacles near the destination, as it may reduce the height the vehicle needs to ascend before landing, and hence power consumption and time to land. ![Return mode cone](../../assets/flying/rtl_cone.jpg) -The cone affects the minimum return altitude if return mode is triggered within the cylinder defined by the maximum cone radius and `RTL_RETURN_ALT`: outside this cylinder `RTL_RETURN_ALT` is used. -Inside the code the minimum return altitude is the intersection of the vehicle position with the cone, or `RTL_DESCEND_ALT` (whichever is higher). -In other words, the vehicle must always ascend to at least `RTL_DESCEND_ALT` if below that value. +The cone affects the minimum return altitude if return mode is triggered within the cylinder defined by the maximum cone radius ([RTL_MIN_DIST](#RTL_MIN_DIST)) and `RTL_RETURN_ALT`: outside this cylinder `RTL_RETURN_ALT` is used. +Inside the cone, the vehicle returns at an altitude calculated from the cone geometry, up to `RTL_RETURN_ALT`. +After reaching the destination, it descends to `RTL_DESCEND_ALT` (if above that altitude) before landing or loitering. For more information on this return type see [Home/Rally Point Return Type (RTL_TYPE=0)](../flight_modes/return.md#home-rally-point-return-type-rtl-type-0) @@ -60,15 +60,15 @@ The RTL parameters are listed in [Parameter Reference > Return Mode](../advanced The parameters that are relevant to multicopter (assuming the [RTL_TYPE](../advanced_config/parameter_reference.md#RTL_TYPE) is set to 0) are listed below. -| 参数 | 描述 | -| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -| [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. 如果已经超过这个值, 飞机将返回当前的高度。 | -| [RTL_DESCEND_ALT](../advanced_config/parameter_reference.md#RTL_DESCEND_ALT) | 最小返航高度和无人机从较高的返航高度到减速或者停止的初始下降高度（默认： 30米）。 | -| [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. 延迟能够使你为起落架的展开部署配置时间（自动触发）。 | -| [RTL_MIN_DIST](../advanced_config/parameter_reference.md#RTL_MIN_DIST) | 能够触发无人机上升到返航高度，距离起始位置的最小水平距离由那个"锥形"指定。 If the vehicle is horizontally closer than this distance to home, it will return at its current altitude or `RTL_DESCEND_ALT` (whichever is higher) instead of first ascending to RTL_RETURN_ALT). | -| [RTL_CONE_ANG](../advanced_config/parameter_reference.md#RTL_CONE_ANG) | 圆锥半角决定无人机的 RTL 返航高度。 数值(度数)：0、25、45、65、80、90。 Note that 0 is "no cone" (always return at `RTL_RETURN_ALT` or higher), while 90 indicates that the vehicle must return at the current altitude or `RTL_DESCEND_ALT` (whichever is higher). | -| [COM_RC_OVERRIDE](../advanced_config/parameter_reference.md#COM_RC_OVERRIDE) | Controls whether stick movement on a multicopter (or VTOL in MC mode) causes a mode change to [Position mode](../flight_modes_mc/position.md) (except when vehicle is handling a critical battery failsafe). 可以分别为自动模式和 offboard 模式启用此功能，默认情况下在自动模式下启用此功能。 | -| [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 | 描述 | +| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| [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. 如果已经超过这个值, 飞机将返回当前的高度。 | +| [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. 延迟能够使你为起落架的展开部署配置时间（自动触发）。 | +| [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) | 圆锥半角决定无人机的 RTL 返航高度。 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). 可以分别为自动模式和 offboard 模式启用此功能，默认情况下在自动模式下启用此功能。 | +| [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). | ## 另见 diff --git a/docs/zh/flight_modes_mc/takeoff.md b/docs/zh/flight_modes_mc/takeoff.md index 0cb1d3460f..b4dc050aae 100644 --- a/docs/zh/flight_modes_mc/takeoff.md +++ b/docs/zh/flight_modes_mc/takeoff.md @@ -12,7 +12,7 @@ The _Takeoff_ flight mode causes the vehicle to take off to a specified height a - Flying vehicles will failsafe if they lose the position estimate. - Disarmed vehicles can switch to mode without valid position estimate but can't arm. - RC control switches can be used to change flight modes. -- RC stick movement will [by default](#COM_RC_OVERRIDE) change the vehicle to [Position mode](../flight_modes_mc/position.md) unless handling a critical battery failsafe. +- RC stick movement will [by default](#COM_RC_OVERRIDE) change the vehicle to [Position mode](../flight_modes_mc/position.md) unless prevented by the active failsafe state. - The [Failure Detector](../config/safety.md#failure-detector) will automatically stop the engines if there is a problem on takeoff. @@ -29,7 +29,7 @@ RC stick movement will change the vehicle to [Position mode](../flight_modes_mc/ Takeoff is affected by the following parameters: -| 参数 | 描述 | +| Parameter | 描述 | | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | [MIS_TAKEOFF_ALT](../advanced_config/parameter_reference.md#MIS_TAKEOFF_ALT) | Target altitude during takeoff (default: 2.5m) | | [MPC_TKO_SPEED](../advanced_config/parameter_reference.md#MPC_TKO_SPEED) | Speed of ascent (default: 1.5m/s) | diff --git a/docs/zh/flight_modes_vtol/land.md b/docs/zh/flight_modes_vtol/land.md index 3da643d652..98a1c488a0 100644 --- a/docs/zh/flight_modes_vtol/land.md +++ b/docs/zh/flight_modes_vtol/land.md @@ -13,7 +13,7 @@ By default a VTOL in FW mode will transition back to MC just before landing. The VTOL-specific parameters are: -| 参数 | 描述 | +| Parameter | 描述 | | ---------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------- | | [NAV_FORCE_VT](../advanced_config/parameter_reference.md#NAV_FORCE_VT) | Force VTOL to takeoff and land as a multicopter (default: true) | diff --git a/docs/zh/flight_modes_vtol/return.md b/docs/zh/flight_modes_vtol/return.md index d24ae2c6f8..060c1fd683 100644 --- a/docs/zh/flight_modes_vtol/return.md +++ b/docs/zh/flight_modes_vtol/return.md @@ -22,7 +22,7 @@ The default type is recommended. - Flying vehicles can't switch to this mode without global position. - Flying vehicles will failsafe if they lose the position estimate. - Mode requires home position is set. -- Mode prevents arming (vehicle must be armed when switching to this mode). +- Mode prevents arming (vehicle cannot be armed while this mode is selected). - 遥控开关可以在任何无人机上更改飞行模式。 - RC stick movement is ignored. @@ -107,7 +107,7 @@ The RTL parameters are listed in [Parameter Reference > Return Mode](../advanced If using a mission landing, only the [RTL_RETURN_ALT](#RTL_RETURN_ALT) and [RTL_DESCEND_ALT](#RTL_DESCEND_ALT) are relevant. The others are relevant if the destination is a rally point or the home location. -| 参数 | 描述 | +| Parameter | 描述 | | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | [RTL_TYPE](../advanced_config/parameter_reference.md#RTL_TYPE) | Return type. | | [RTL_APPR_FORCE](../advanced_config/parameter_reference.md#RTL_APPR_FORCE) | [VTOL FW only] If set, PX4 only considers home or rally-point RTL destinations when a valid VTOL approach loiter is defined for that landing location. Mission landing patterns are unaffected. | diff --git a/docs/zh/flight_stack/controller_diagrams.md b/docs/zh/flight_stack/controller_diagrams.md index 6a6c7c7b7d..826ed544a2 100644 --- a/docs/zh/flight_stack/controller_diagrams.md +++ b/docs/zh/flight_stack/controller_diagrams.md @@ -30,7 +30,7 @@ The diagrams use the standard [PX4 notation](../contribute/notation.md) (and eac ::: info The IMU pipeline is: - gyro data > apply calibration parameters > remove estimated bias > notch filter (`IMU_GYRO_NF0_BW` and `IMU_GYRO_NF0_FRQ`) > low-pass filter (`IMU_GYRO_CUTOFF`) > vehicle_angular_velocity (\_filtered angular rate used by the P and I controllers_) > derivative -> low-pass filter (`IMU_DGYRO_CUTOFF`) > vehicle_angular_acceleration (\_filtered angular acceleration used by the D controller_) + gyro data > apply calibration parameters > remove estimated bias > notch filter (`IMU_GYRO_NF0_BW` and `IMU_GYRO_NF0_FRQ`) > low-pass filter (`IMU_GYRO_CUTOFF`) > vehicle_angular_velocity (\_filtered angular rate used by the P and I controllers_) > derivative -> low-pass filter (`IMU_DGYRO_CUTOFF`) > vehicle_angular_acceleration (\_filtered angular acceleration used by the D controller_) ![IMU pipeline](../../assets/diagrams/px4_imu_pipeline.png) diff --git a/docs/zh/flying/pre_flight_checks.md b/docs/zh/flying/pre_flight_checks.md index 87b05c701c..8aa4ba4ec5 100644 --- a/docs/zh/flying/pre_flight_checks.md +++ b/docs/zh/flying/pre_flight_checks.md @@ -81,7 +81,7 @@ Tuning these parameters is a last resort. It should only be attempted if you have data showing it will improve the performance of the estimator. ::: -| 参数 | 描述 | +| Parameter | 描述 | | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | [EKF2_ABL_LIM](../advanced_config/parameter_reference.md#EKF2_ABL_LIM) | The maximum bias value that the EKF is allowed to estimate (above this value the bias will be clipped and EKF will attempt to reset itself, possibly even switching to a more healthy EKF with a working IMU in a multi-EKF system). The autopilot will report a "high accel bias" if the estimated bias exceeds 75% of this parameter during a preflight check and prevent takeoff. The current value of 0.4m/s2 is already quite high and increasing it would make the autopilot less likely to detect an issue. | | [EKF2_ABIAS_INIT](../advanced_config/parameter_reference.md#EKF2_ABIAS_INIT) | Initial bias uncertainty (if perfectly calibrated, this is related to the "turn-on bias" of the sensor). Some users might want to reduce that value if they know that the sensor is well calibrated and that the turn-on bias is small. | @@ -130,7 +130,7 @@ The following parameters also affect preflight checks. The [COM_ARM_WO_GPS](../advanced_config/parameter_reference.md#COM_ARM_WO_GPS) parameter controls whether or not arming is allowed in modes that require a valid global position estimate when EKF2 GNSS quality checks are failing. -值为： +The values are: - `0`: Deny arming. - `1`: Arming allowed with warning (default). diff --git a/docs/zh/frames_multicopter/holybro_s500_v2_pixhawk4.md b/docs/zh/frames_multicopter/holybro_s500_v2_pixhawk4.md index 5f1a97d4ff..607a398e8c 100644 --- a/docs/zh/frames_multicopter/holybro_s500_v2_pixhawk4.md +++ b/docs/zh/frames_multicopter/holybro_s500_v2_pixhawk4.md @@ -30,7 +30,7 @@ Holybro [S500 V2 套件](https://holybro.com/collections/s500/products/s500-v2-d - 433 MHz / 915 MHz [Holybro数传电台](../telemetry/holybro_sik_radio.md) - 电源线和信号线 - 电池绑带 -- 尺寸：383_385_240毫米 +- 尺寸：383_385_240毫米 - 轴距：480毫米 :::info @@ -147,8 +147,8 @@ The following tools are used in this assembly: ![Figure 9](../../assets/airframes/multicopter/s500_holybro_pixhawk4/s500_fig91.jpg) -2. Assemble the 8_3 2.54mm pitch Horizontal Pin to the 10 to 10 pin cable (PWM) to the Power Management Board. - Connect the 10 to 10 pin cable (PWM) to the 8_3 2.54mm pitch Horizontal Pin. +2. Assemble the 8_3 2.54mm pitch Horizontal Pin to the 10 to 10 pin cable (PWM) to the Power Management Board. + Connect the 10 to 10 pin cable (PWM) to the 8_3 2.54mm pitch Horizontal Pin. ![Figure 10](../../assets/airframes/multicopter/s500_holybro_pixhawk4/s500_fig10.jpg) diff --git a/docs/zh/frames_multicopter/holybro_x500v2_pixhawk6c.md b/docs/zh/frames_multicopter/holybro_x500v2_pixhawk6c.md index 4b45fdeeab..5cca4edd29 100644 --- a/docs/zh/frames_multicopter/holybro_x500v2_pixhawk6c.md +++ b/docs/zh/frames_multicopter/holybro_x500v2_pixhawk6c.md @@ -38,7 +38,7 @@ This topic provides full instructions for building the [Holybro X500 V2 ARF Kit] ### Power Module -**Screw**- Socket Cap Screw M2.5_6 8pcs | Locknut M3 4pcs |Nylon Standoff M3_5 4pcs | Screw M3\*14 4pcs +**Screw**- Socket Cap Screw M2.5_6 8pcs | Locknut M3 4pcs |Nylon Standoff M3_5 4pcs | Screw M3\*14 4pcs [![Assembly5](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk6c/assembly5.png)](https://youtu.be/0knU3Q_opEo)) @@ -150,7 +150,7 @@ The following parts can be placed as per usual. ### Companion Computer (Optional) -**Screw-** Socket Cap Screw M2.5_12 4pcs | Nylon Standoff M2.5_5 4pcs Locknut M2.5 4pcs +**Screw-** Socket Cap Screw M2.5_12 4pcs | Nylon Standoff M2.5_5 4pcs Locknut M2.5 4pcs The X500 kit is provides space for a companion computer, such as Raspberry Pi or Jetson nano can be placed here [TBD]. diff --git a/docs/zh/gps_compass/gps_cuav_neo_3pro.md b/docs/zh/gps_compass/gps_cuav_neo_3pro.md index 8c243b2b78..9022a0b10c 100644 --- a/docs/zh/gps_compass/gps_cuav_neo_3pro.md +++ b/docs/zh/gps_compass/gps_cuav_neo_3pro.md @@ -36,7 +36,7 @@ It integrates UBLOX M9N, STM32F4 MCU, RM3100 compass, three-color LED light and | Upgrade firmware | support | | Input voltage | 5V | | Operating temperature | -10~70℃ | -| Size | 60_60_16MM | +| Size | 60_60_16MM | | 重量 | 33g | ## 购买渠道 diff --git a/docs/zh/gps_compass/gps_cuav_neo_3x.md b/docs/zh/gps_compass/gps_cuav_neo_3x.md index d63690a69f..3903730e60 100644 --- a/docs/zh/gps_compass/gps_cuav_neo_3x.md +++ b/docs/zh/gps_compass/gps_cuav_neo_3x.md @@ -32,7 +32,7 @@ Main features : | Protection level | IP66 | | Input voltage | 4.7~5.2V | | Operating temperature | -10~70℃ | -| Size | 67_67_21.2mm | +| Size | 67_67_21.2mm | | 重量 | 46g (without cable） | ## 购买渠道 diff --git a/docs/zh/gps_compass/gps_locosys_hawk_a1.md b/docs/zh/gps_compass/gps_locosys_hawk_a1.md index 9f2e602f85..3fa9f8d100 100644 --- a/docs/zh/gps_compass/gps_locosys_hawk_a1.md +++ b/docs/zh/gps_compass/gps_locosys_hawk_a1.md @@ -29,7 +29,7 @@ The PX4 parameters should be set as below for each case. To use the Hawk A1 your main GPS device: -| 参数 | 值 | 描述 | +| Parameter | 值 | 描述 | | -------------------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------- | | [GPS_1_CONFIG](../advanced_config/parameter_reference.md#GPS_1_CONFIG) | 102 (Telem 2 or another available serial port) | Configure main GPS port | | [GPS_1_PROTOCOL](../advanced_config/parameter_reference.md#GPS_1_PROTOCOL) | 1 (u-blox) | Configure GPS protocol | @@ -39,7 +39,7 @@ To use the Hawk A1 your main GPS device: To use the Hawk A1 as an auxiliary GPS device (in addition to the main GPS): -| 参数 | 值 | 描述 | +| Parameter | 值 | 描述 | | -------------------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------- | | [GPS_2_CONFIG](../advanced_config/parameter_reference.md#GPS_2_CONFIG) | 102 (Telem 2 or another available serial port) | Configure main GPS port | | [GPS_2_PROTOCOL](../advanced_config/parameter_reference.md#GPS_2_PROTOCOL) | 1 (u-blox) | Configure GPS protocol | diff --git a/docs/zh/gps_compass/index.md b/docs/zh/gps_compass/index.md index 04ce372395..7760c70d0e 100644 --- a/docs/zh/gps_compass/index.md +++ b/docs/zh/gps_compass/index.md @@ -22,34 +22,34 @@ PX4 also supports [Real Time Kinematic (RTK)](../gps_compass/rtk_gps.md) and **P 下表包括了一些无RTK的GPS模块（其中大部分也有指南针）。 下面的设备PX4开发团队测试过了，或者是在PX4社区中受欢迎的。 -| 设备 | GPS | 罗盘 | [CAN](../dronecan/index.md) | Buzzer / SafeSw / LED | 备注 | -| :----------------------------------------------------------- | :-------------------------: | :-------------------------: | :-------------------------: | :-------------------------: | :---------------------------------------------------------- | -| [ARK GPS](../dronecan/ark_gps.md) | M9N | BMM150 | ✓ | ✓ | + Baro, IMU | -| [ARK DAN GPS](../gps_compass/ark_dan_gps.md) | DAN-F10N | IIS2MDC | | ✓ | | -| [ARK SAM GPS](../gps_compass/ark_sam_gps.md) | SAM-M10Q | IIS2MDC | | ✓ | | -| [ARK SAM GPS MINI ](../gps_compass/ark_sam_gps_mini.md) | SAM-M10Q | IIS2MDC | | ✓ | | -| [ARK TESEO GPS](../dronecan/ark_teseo_gps.md) | Teseo-LIV4F | BMM150 | ✓ | ✓ | + Baro, IMU | -| [Avionics Anonymous UAVCAN GNSS/Mag][avionics_anon_can_gnss] | SAM-M8Q | MMC5983MA | ✓ | ✘ | | -| [CUAV NEO 3 GPS](../gps_compass/gps_cuav_neo_3.md) | M9N | IST8310 | | ✓ | | -| [CUAV NEO 3 Pro GPS](../gps_compass/gps_cuav_neo_3pro.md) | M9N | RM3100 | ✓ | ✓ | + Baro | -| [CUAV NEO 3X GPS](../gps_compass/gps_cuav_neo_3x.md) | M9N | RM3100 | ✓ | ✘✓✓ | + Baro. | -| [CubePilot Here2 GNSS GPS (M8N)][CubePilot Here2] | M8N | ICM20948 | | ✓ | Superseded by HERE3 | -| [Emlid Reach M+](https://emlid.com/reach/) | ✓ | ✘ | | ✘ | Supports PPK. RTK expected. | -| [Holybro DroneCAN M8N GPS](../dronecan/holybro_m8n_gps.md) | M8N | BMM150 | ✓ | ✘ | + Baro | -| [Holybro Micro M8N GPS][Hb Micro M8N] | M8N | IST8310 | | ✘ | | -| [Holybro Nano Ublox M8 5883 GPS][hb_nano_m8_5883] | UBX-M8030 | QMC5883 | | ✘ | | -| [Holybro M8N GPS](../gps_compass/gps_holybro_m8n_m9n.md) | M8N | IST8310 | | ✓ | | -| [Holybro M9N GPS](../gps_compass/gps_holybro_m8n_m9n.md) | M9N | IST8310 | | ✓ | | -| [Holybro DroneCAN M9N GPS][hb_can_m9n] | M9N | BMM150 | ✓ | ✓ | | -| [Holybro M10 GPS][hb_m10] | M10 | IST8310 | | ✓ | | -| [Hobbyking u-blox Neo-M8N GPS & Compass][hk_ublox_neo_8mn] | M8N | ✓ | | ✘ | | -| [LOCOSYS Hawk A1 GNSS receiver][LOCOSYS Hawk A1] | MC-1612-V2b | optional | | ✘✘✓ | | -| [LOCOSYS Hawk R1](../gps_compass/rtk_gps_locosys_r1.md) | MC-1612-V2b | | | ✘✘✓ | | -| [LOCOSYS Hawk R2](../gps_compass/rtk_gps_locosys_r2.md) | MC-1612-V2b | IST8310 | | ✘✘✓ | | -| [mRo GPS u-blox Neo-M8N Dual Compass][mro_neo8mn_dual_mag] | M8N | LIS3MDL, IST8308 | | ✘ | | -| [RaccoonLab L1 GNSS NEO-M8N][RccnLabGNSS250] | NEO-M8N | RM3100 | ✓ | ✘✘✓ | + Baro | -| [Sky-Drones SmartAP GPS](../gps_compass/gps_smartap.md) | M8N | HMC5983, IST8310, LIS3MDL | | ✓ | + Baro | -| [Zubax GNSS 2](https://shop.zubax.com/products/zubax-gnss-2) | MAX-M8Q | LIS3MDL | | ✘ | + Baro | +| 设备 | GPS | 罗盘 | [CAN](../dronecan/index.md) | Buzzer / SafeSw / LED | 备注 | +| :----------------------------------------------------------- | :---------: | :-----------------------: | :-------------------------: | :-------------------: | :---------------------------------------------------------- | +| [ARK GPS](../dronecan/ark_gps.md) | M9N | BMM150 | ✓ | ✓ | + Baro, IMU | +| [ARK DAN GPS](../gps_compass/ark_dan_gps.md) | DAN-F10N | IIS2MDC | | ✓ | | +| [ARK SAM GPS](../gps_compass/ark_sam_gps.md) | SAM-M10Q | IIS2MDC | | ✓ | | +| [ARK SAM GPS MINI ](../gps_compass/ark_sam_gps_mini.md) | SAM-M10Q | IIS2MDC | | ✓ | | +| [ARK TESEO GPS](../dronecan/ark_teseo_gps.md) | Teseo-LIV4F | BMM150 | ✓ | ✓ | + Baro, IMU | +| [Avionics Anonymous UAVCAN GNSS/Mag][avionics_anon_can_gnss] | SAM-M8Q | MMC5983MA | ✓ | ✘ | | +| [CUAV NEO 3 GPS](../gps_compass/gps_cuav_neo_3.md) | M9N | IST8310 | | ✓ | | +| [CUAV NEO 3 Pro GPS](../gps_compass/gps_cuav_neo_3pro.md) | M9N | RM3100 | ✓ | ✓ | + Baro | +| [CUAV NEO 3X GPS](../gps_compass/gps_cuav_neo_3x.md) | M9N | RM3100 | ✓ | ✘✓✓ | + Baro. | +| [CubePilot Here2 GNSS GPS (M8N)][CubePilot Here2] | M8N | ICM20948 | | ✓ | Superseded by HERE3 | +| [Emlid Reach M+](https://emlid.com/reach/) | ✓ | ✘ | | ✘ | Supports PPK. RTK expected. | +| [Holybro DroneCAN M8N GPS](../dronecan/holybro_m8n_gps.md) | M8N | BMM150 | ✓ | ✘ | + Baro | +| [Holybro Micro M8N GPS][Hb Micro M8N] | M8N | IST8310 | | ✘ | | +| [Holybro Nano Ublox M8 5883 GPS][hb_nano_m8_5883] | UBX-M8030 | QMC5883 | | ✘ | | +| [Holybro M8N GPS](../gps_compass/gps_holybro_m8n_m9n.md) | M8N | IST8310 | | ✓ | | +| [Holybro M9N GPS](../gps_compass/gps_holybro_m8n_m9n.md) | M9N | IST8310 | | ✓ | | +| [Holybro DroneCAN M9N GPS][hb_can_m9n] | M9N | BMM150 | ✓ | ✓ | | +| [Holybro M10 GPS][hb_m10] | M10 | IST8310 | | ✓ | | +| [Hobbyking u-blox Neo-M8N GPS & Compass][hk_ublox_neo_8mn] | M8N | ✓ | | ✘ | | +| [LOCOSYS Hawk A1 GNSS receiver][LOCOSYS Hawk A1] | MC-1612-V2b | optional | | ✘✘✓ | | +| [LOCOSYS Hawk R1](../gps_compass/rtk_gps_locosys_r1.md) | MC-1612-V2b | | | ✘✘✓ | | +| [LOCOSYS Hawk R2](../gps_compass/rtk_gps_locosys_r2.md) | MC-1612-V2b | IST8310 | | ✘✘✓ | | +| [mRo GPS u-blox Neo-M8N Dual Compass][mro_neo8mn_dual_mag] | M8N | LIS3MDL, IST8308 | | ✘ | | +| [RaccoonLab L1 GNSS NEO-M8N][RccnLabGNSS250] | NEO-M8N | RM3100 | ✓ | ✘✘✓ | + Baro | +| [Sky-Drones SmartAP GPS](../gps_compass/gps_smartap.md) | M8N | HMC5983, IST8310, LIS3MDL | | ✓ | + Baro | +| [Zubax GNSS 2](https://shop.zubax.com/products/zubax-gnss-2) | MAX-M8Q | LIS3MDL | | ✘ | + Baro | diff --git a/docs/zh/gps_compass/magnetometer.md b/docs/zh/gps_compass/magnetometer.md index 1a55fca9f2..a985e986b7 100644 --- a/docs/zh/gps_compass/magnetometer.md +++ b/docs/zh/gps_compass/magnetometer.md @@ -38,12 +38,12 @@ If GNSS is required, then a combined GNSS/Compass module will be preferred over This list contains stand-alone magnetometer modules (without GNSS). -| 设备 | 罗盘 | DroneCan | -| :--------------------------------------------------------------------------------------------------------------- | :----: | :-------------------------: | -| [ARK MAG](https://arkelectron.com/product/ark-mag/) | RM3100 | ✓ | -| [Avionics Anonymous UAVCAN Magnetometer](https://www.tindie.com/products/avionicsanonymous/uavcan-magnetometer/) | ? | | -| [Holybro DroneCAN RM3100 Compass/Magnetometer](https://holybro.com/products/dronecan-rm3100-compass) | RM3100 | ✓ | -| [RaccoonLab DroneCAN/Cyphal Magnetometer RM3100](https://holybro.com/products/dronecan-rm3100-compass) | RM3100 | ✓ | +| 设备 | 罗盘 | DroneCan | +| :--------------------------------------------------------------------------------------------------------------- | :----: | :------: | +| [ARK MAG](https://arkelectron.com/product/ark-mag/) | RM3100 | ✓ | +| [Avionics Anonymous UAVCAN Magnetometer](https://www.tindie.com/products/avionicsanonymous/uavcan-magnetometer/) | ? | | +| [Holybro DroneCAN RM3100 Compass/Magnetometer](https://holybro.com/products/dronecan-rm3100-compass) | RM3100 | ✓ | +| [RaccoonLab DroneCAN/Cyphal Magnetometer RM3100](https://holybro.com/products/dronecan-rm3100-compass) | RM3100 | ✓ | 注意： diff --git a/docs/zh/gps_compass/rtk_gps.md b/docs/zh/gps_compass/rtk_gps.md index 0c7ac61d8b..a17511ce8f 100644 --- a/docs/zh/gps_compass/rtk_gps.md +++ b/docs/zh/gps_compass/rtk_gps.md @@ -20,45 +20,45 @@ The RTK compatible devices below that are expected to work with PX4 (it omits di The table indicates devices that also output yaw, and that can provide yaw when two on-vehicle units are used. It also highlights devices that connect via the CAN bus, and those which support PPK (Post-Processing Kinematic). -| 设备 | GPS | 罗盘 | [DroneCAN] | [GPS Yaw] | PPK | -| :------------------------------------------------------------------------------------------------------------------- | :------------------: | :-------------------------: | :-------------------------: | :---------------------------------: | :-------------------------: | -| [ARK G5 RTK GPS](../dronecan/ark_g5_rtk_gps.md) | [mosaic-G5 P3] | IIS2MDC | ✓ | | | -| [ARK G5 RTK HEADING GPS](../dronecan/ark_g5_rtk_heading_gps.md) | [mosaic-G5 P3H] | IIS2MDC | ✓ | [Heading Capability][mosaic-G5 P3H] | | -| [ARK RTK GPS](../dronecan/ark_rtk_gps.md) | F9P | BMM150 | ✓ | [Dual F9P] | | -| [ARK RTK GPS L1 L5](../dronecan/ark_rtk_gps_l1_l2.md) | F9P | BMM150 | ✓ | | | -| [ARK MOSAIC-X5 RTK GPS](../dronecan/ark_mosaic__rtk_gps.md) | Mosaic-X5 | IIS2MDC | ✓ | [Septentrio Dual Antenna] | | -| [ARK X20 RTK GPS](../dronecan/ark_x20_rtk_gps.md) | X20P | IIS2MDC | ✓ | | | -| [CUAV C-RTK GPS](../gps_compass/rtk_gps_cuav_c-rtk.md) | M8P/M8N | ✓ | | | | -| [CUAV C-RTK2](../gps_compass/rtk_gps_cuav_c-rtk2.md) | F9P | ✓ | | [Dual F9P] | | -| [CUAV C-RTK 9Ps GPS](../gps_compass/rtk_gps_cuav_c-rtk-9ps.md) | F9P | RM3100 | | [Dual F9P] | | -| [CUAV C-RTK2 PPK/RTK GNSS](../gps_compass/rtk_gps_cuav_c-rtk.md) | F9P | RM3100 | | | ✓ | -| [CubePilot Here+ RTK GPS](../gps_compass/rtk_gps_hex_hereplus.md) | M8P | HMC5983 | | | | -| [CubePilot Here3 CAN GNSS GPS (M8N)](https://www.cubepilot.org/#/here/here3) | M8P | ICM20948 | ✓ | | | -| [Drotek SIRIUS RTK GNSS ROVER (F9P)](https://store-drotek.com/911-sirius-rtk-gnss-rover-f9p.html) | F9P | RM3100 | | [Dual F9P] | | -| [DATAGNSS NANO HRTK Receiver](../gps_compass/rtk_gps_datagnss_nano_hrtk.md) | [D10P] | IST8310 | | ✘ | | -| [DATAGNSS GEM1305 RTK Receiver](../gps_compass/rtk_gps_gem1305.md) | TAU951M | IST8310 | | ✘ | | -| [Femtones MINI2 Receiver](../gps_compass/rtk_gps_fem_mini2.md) | FB672, FB6A0 | ✓ | | | | -| [Freefly RTK GPS](../gps_compass/rtk_gps_freefly.md) | F9P | IST8310 | | | | -| [Holybro H-RTK ZED-F9P RTK Rover (DroneCAN variant)](../dronecan/holybro_h_rtk_zed_f9p_gps.md) | F9P | RM3100 | ✓ | [Dual F9P] | | -| [Holybro H-RTK ZED-F9P RTK Rover](https://holybro.com/collections/h-rtk-gps/products/h-rtk-zed-f9p-rover) | F9P | RM3100 | | [Dual F9P] | | -| [Holybro H-RTK F9P Ultralight](https://holybro.com/products/h-rtk-f9p-ultralight) | F9P | IST8310 | | [Dual F9P] | | -| [Holybro H-RTK F9P Helical or Base](../gps_compass/rtk_gps_holybro_h-rtk-f9p.md) | F9P | IST8310 | | [Dual F9P] | | -| [Holybro DroneCAN H-RTK F9P Helical](https://holybro.com/products/dronecan-h-rtk-f9p-helical) | F9P | BMM150 | ✓ | [Dual F9P] | | -| [Holybro H-RTK F9P Rover Lite](../gps_compass/rtk_gps_holybro_h-rtk-f9p.md) | F9P | IST8310 | | | | -| [Holybro DroneCAN H-RTK F9P Rover](https://holybro.com/products/dronecan-h-rtk-f9p-rover) | F9P | BMM150 | | [Dual F9P] | | -| [Holybro H-RTK M8P GNSS](../gps_compass/rtk_gps_holybro_h-rtk-m8p.md) | M8P | IST8310 | | | | -| [Holybro H-RTK Unicore UM982 GPS](../gps_compass/rtk_gps_holybro_unicore_um982.md) | UM982 | IST8310 | | [Unicore Dual Antenna] | | -| [LOCOSYS Hawk R1](../gps_compass/rtk_gps_locosys_r1.md) | MC-1612-V2b | | | | | -| [LOCOSYS Hawk R2](../gps_compass/rtk_gps_locosys_r2.md) | MC-1612-V2b | IST8310 | | | | -| [mRo u-blox ZED-F9 RTK L1/L2 GPS](https://store.mrobotics.io/product-p/m10020d.htm) | F9P | ✓ | | [Dual F9P] | | -| [Navisys L1/L2 ZED-F9P RTK - Base only](https://www.navisys.com.tw/productdetail?name=GR901&class=RTK) | F9P | | | | | -| [RaccoonLab L1/L2 ZED-F9P][RaccoonLab L1/L2 ZED-F9P] | F9P | RM3100 | ✓ | | | -| [RaccoonLab L1/L2 ZED-F9P with external antenna][RaccnLabL1L2ZED-F9P ext_ant] | F9P | RM3100 | ✓ | | | -| [Septentrio AsteRx-m3 Pro](../gps_compass/septentrio_asterx-rib.md) | AsteRx | ✓ | | [Septentrio Dual Antenna] | ✓ | -| [Septentrio mosaic-go](../gps_compass/septentrio_mosaic-go.md) | mosaic X5 / mosaic H | ✓ | | [Septentrio Dual Antenna] | ✓ | -| [SIRIUS RTK GNSS ROVER (F9P)](https://store-drotek.com/911-sirius-rtk-gnss-rover-f9p.html) | F9P | ✓ | | [Dual F9P] | | -| [SparkFun GPS-RTK2 Board - ZED-F9P](https://www.sparkfun.com/sparkfun-gps-rtk2-board-zed-f9p-qwiic-gps-15136.html) | F9P | ✓ | | [Dual F9P] | | -| [Trimble MB-Two](../gps_compass/rtk_gps_trimble_mb_two.md) | F9P | ✓ | | ✓ | | +| 设备 | GPS | 罗盘 | [DroneCAN] | [GPS Yaw] | PPK | +| :------------------------------------------------------------------------------------------------------------------- | :------------------: | :------: | :--------: | :---------------------------------: | :-: | +| [ARK G5 RTK GPS](../dronecan/ark_g5_rtk_gps.md) | [mosaic-G5 P3] | IIS2MDC | ✓ | | | +| [ARK G5 RTK HEADING GPS](../dronecan/ark_g5_rtk_heading_gps.md) | [mosaic-G5 P3H] | IIS2MDC | ✓ | [Heading Capability][mosaic-G5 P3H] | | +| [ARK RTK GPS](../dronecan/ark_rtk_gps.md) | F9P | BMM150 | ✓ | [Dual F9P] | | +| [ARK RTK GPS L1 L5](../dronecan/ark_rtk_gps_l1_l2.md) | F9P | BMM150 | ✓ | | | +| [ARK MOSAIC-X5 RTK GPS](../dronecan/ark_mosaic__rtk_gps.md) | Mosaic-X5 | IIS2MDC | ✓ | [Septentrio Dual Antenna] | | +| [ARK X20 RTK GPS](../dronecan/ark_x20_rtk_gps.md) | X20P | IIS2MDC | ✓ | | | +| [CUAV C-RTK GPS](../gps_compass/rtk_gps_cuav_c-rtk.md) | M8P/M8N | ✓ | | | | +| [CUAV C-RTK2](../gps_compass/rtk_gps_cuav_c-rtk2.md) | F9P | ✓ | | [Dual F9P] | | +| [CUAV C-RTK 9Ps GPS](../gps_compass/rtk_gps_cuav_c-rtk-9ps.md) | F9P | RM3100 | | [Dual F9P] | | +| [CUAV C-RTK2 PPK/RTK GNSS](../gps_compass/rtk_gps_cuav_c-rtk.md) | F9P | RM3100 | | | ✓ | +| [CubePilot Here+ RTK GPS](../gps_compass/rtk_gps_hex_hereplus.md) | M8P | HMC5983 | | | | +| [CubePilot Here3 CAN GNSS GPS (M8N)](https://www.cubepilot.org/#/here/here3) | M8P | ICM20948 | ✓ | | | +| [Drotek SIRIUS RTK GNSS ROVER (F9P)](https://store-drotek.com/911-sirius-rtk-gnss-rover-f9p.html) | F9P | RM3100 | | [Dual F9P] | | +| [DATAGNSS NANO HRTK Receiver](../gps_compass/rtk_gps_datagnss_nano_hrtk.md) | [D10P] | IST8310 | | ✘ | | +| [DATAGNSS GEM1305 RTK Receiver](../gps_compass/rtk_gps_gem1305.md) | TAU951M | IST8310 | | ✘ | | +| [Femtones MINI2 Receiver](../gps_compass/rtk_gps_fem_mini2.md) | FB672, FB6A0 | ✓ | | | | +| [Freefly RTK GPS](../gps_compass/rtk_gps_freefly.md) | F9P | IST8310 | | | | +| [Holybro H-RTK ZED-F9P RTK Rover (DroneCAN variant)](../dronecan/holybro_h_rtk_zed_f9p_gps.md) | F9P | RM3100 | ✓ | [Dual F9P] | | +| [Holybro H-RTK ZED-F9P RTK Rover](https://holybro.com/collections/h-rtk-gps/products/h-rtk-zed-f9p-rover) | F9P | RM3100 | | [Dual F9P] | | +| [Holybro H-RTK F9P Ultralight](https://holybro.com/products/h-rtk-f9p-ultralight) | F9P | IST8310 | | [Dual F9P] | | +| [Holybro H-RTK F9P Helical or Base](../gps_compass/rtk_gps_holybro_h-rtk-f9p.md) | F9P | IST8310 | | [Dual F9P] | | +| [Holybro DroneCAN H-RTK F9P Helical](https://holybro.com/products/dronecan-h-rtk-f9p-helical) | F9P | BMM150 | ✓ | [Dual F9P] | | +| [Holybro H-RTK F9P Rover Lite](../gps_compass/rtk_gps_holybro_h-rtk-f9p.md) | F9P | IST8310 | | | | +| [Holybro DroneCAN H-RTK F9P Rover](https://holybro.com/products/dronecan-h-rtk-f9p-rover) | F9P | BMM150 | | [Dual F9P] | | +| [Holybro H-RTK M8P GNSS](../gps_compass/rtk_gps_holybro_h-rtk-m8p.md) | M8P | IST8310 | | | | +| [Holybro H-RTK Unicore UM982 GPS](../gps_compass/rtk_gps_holybro_unicore_um982.md) | UM982 | IST8310 | | [Unicore Dual Antenna] | | +| [LOCOSYS Hawk R1](../gps_compass/rtk_gps_locosys_r1.md) | MC-1612-V2b | | | | | +| [LOCOSYS Hawk R2](../gps_compass/rtk_gps_locosys_r2.md) | MC-1612-V2b | IST8310 | | | | +| [mRo u-blox ZED-F9 RTK L1/L2 GPS](https://store.mrobotics.io/product-p/m10020d.htm) | F9P | ✓ | | [Dual F9P] | | +| [Navisys L1/L2 ZED-F9P RTK - Base only](https://www.navisys.com.tw/productdetail?name=GR901&class=RTK) | F9P | | | | | +| [RaccoonLab L1/L2 ZED-F9P][RaccoonLab L1/L2 ZED-F9P] | F9P | RM3100 | ✓ | | | +| [RaccoonLab L1/L2 ZED-F9P with external antenna][RaccnLabL1L2ZED-F9P ext_ant] | F9P | RM3100 | ✓ | | | +| [Septentrio AsteRx-m3 Pro](../gps_compass/septentrio_asterx-rib.md) | AsteRx | ✓ | | [Septentrio Dual Antenna] | ✓ | +| [Septentrio mosaic-go](../gps_compass/septentrio_mosaic-go.md) | mosaic X5 / mosaic H | ✓ | | [Septentrio Dual Antenna] | ✓ | +| [SIRIUS RTK GNSS ROVER (F9P)](https://store-drotek.com/911-sirius-rtk-gnss-rover-f9p.html) | F9P | ✓ | | [Dual F9P] | | +| [SparkFun GPS-RTK2 Board - ZED-F9P](https://www.sparkfun.com/sparkfun-gps-rtk2-board-zed-f9p-qwiic-gps-15136.html) | F9P | ✓ | | [Dual F9P] | | +| [Trimble MB-Two](../gps_compass/rtk_gps_trimble_mb_two.md) | F9P | ✓ | | ✓ | | @@ -174,7 +174,7 @@ The links in the table take you to the device-specific PX4 configuration. Generally when using a GNSS as a source of yaw information you will need to configure the following parameters: -| 参数 | 设置 | +| Parameter | 设置 | | ---------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------- | | [GPS\_YAW\_OFFSET][GPS_YAW_OFFSET] | The angle made by the _baseline_ (the line between the two GPS antennas) relative to the vehicle x-axis (front/back axis, as shown [here][fc_orientation]). | | [EKF2\_GPS\_CTRL][EKF2_GPS_CTRL] | Set bit position 3 "Dual antenna heading" to `1` (i.e. add 8 to the parameter value). | diff --git a/docs/zh/gps_compass/septentrio_mosaic-go.md b/docs/zh/gps_compass/septentrio_mosaic-go.md index 9867c431e0..6f4628e0b4 100644 --- a/docs/zh/gps_compass/septentrio_mosaic-go.md +++ b/docs/zh/gps_compass/septentrio_mosaic-go.md @@ -125,14 +125,14 @@ The web interface also uses easy-to-read quality indicators ideal to monitor the ## LED Status -| LED Color | Powered | SD card mounted | PVT Solution | Logging enabled | -| ------------- | :-------------------------: | :-------------------------: | :-------------------------: | :-------------------------: | -| Red | ✓ | | | | -| 绿色 | ✓ | ✓ | | | -| 蓝色 | ✓ | ✓ | ✓ | | -| Purple | ✓ | | ✓ | | -| Purple + Blue | ✓ | ✓ | ✓ | ✓ | -| Red + Green | ✓ | ✓ | | ✓ | +| LED Color | Powered | SD card mounted | PVT Solution | Logging enabled | +| ------------- | :-----: | :-------------: | :----------: | :-------------: | +| Red | ✓ | | | | +| 绿色 | ✓ | ✓ | | | +| 蓝色 | ✓ | ✓ | ✓ | | +| Purple | ✓ | | ✓ | | +| Purple + Blue | ✓ | ✓ | ✓ | ✓ | +| Red + Green | ✓ | ✓ | | ✓ | :::tip For more detailed information about the mosaic-go and its module, please refer to the [hardware manual](https://web.septentrio.com/l/858493/2022-04-19/xgrrd) or the [Septentrio Support](https://support.septentrio.com/l/858493/2022-04-19/xgrrl) page. diff --git a/docs/zh/hardware/board_support_guide.md b/docs/zh/hardware/board_support_guide.md index 6275b04edf..4db14a86cc 100644 --- a/docs/zh/hardware/board_support_guide.md +++ b/docs/zh/hardware/board_support_guide.md @@ -1,133 +1,196 @@ # Manufacturer's PX4 Board Support Guide -The PX4 development and test teams fully support and maintain boards that are compliant with the [Pixhawk Standard](https://pixhawk.org/standards/). -Manufacturers who wish to deviate from the standard or create completely new boards can do so, but will need to support any resulting compatibility differences. +This guide explains how to get your hardware supported by PX4: added to the PX4 codebase, listed on the PX4 website, and available to users in QGroundControl. +If you are a hardware manufacturer looking to add a flight controller or peripheral to PX4, or to port PX4 to a new board, start here. -This guide outlines the [general requirements](#general_requirements) for board support, along with the additional requirements for the different [board support categories](#board-support-categories). +The process is **open and driven through GitHub**. +You do not need permission or a private agreement to start. +When your hardware works with PX4 and you can prove it, you open a pull request, and the maintainers review it in the open. +There is no application form and no waiting on an assignment before you can begin. + +The path depends on what you are bringing to PX4: + +- [Adding a Flight Controller](#flight-controllers) explains the steps for a **new board that runs PX4**. +- [Adding a Component](#components) explains how to get support for a **peripheral or component** (GPS/RTK receiver, compass, data link, distance sensor, etc.). :::info -Boards that are not compliant with the requirements are [unsupported](#unsupported); they will not be listed on the PX4 website hardware list and will be removed from the codebase. +If you only want to know _what_ each support level commits the PX4 team to (versus what you maintain yourself), see [Support Categories](#support-categories) at the end. ::: - +## Adding a Flight Controller {#flight-controllers} -## General Requirements +### 1. Build your own Firmware Target -The general requirements for all supported boards are: +The recommended approach for any new flight controller is to **maintain your own board build target based on PX4**, rather than trying to reuse an existing FMU target. -1. The hardware must be available in the market. +This applies even if your board is electrically close to an FMUv5X or FMUv6X design. +As soon as you change the sensor set, connectors, or other peripherals, you should have your own target. +It gives you a stable place to express your hardware's configuration and keeps you in control of your own board. -2. The boards may not have blocking hardware bugs or unacceptable quality that make it impossible or dangerous to use the board with PX4 on a UAV. - Board needs to pass acceptance criteria to ensure quality of parts and assembly. +Start by reading the porting guides: -3. A clear and easy way to contact customer support for customers. - One or more of the following is accepted: - - PX4 Discord server presence - - Support email - - Phone number +- [飞控移植指南](../hardware/porting_guide.md) +- [NuttX Board Port (config & pin mapping)](../hardware/porting_guide_config.md) +- [PX4 Nuttx Porting Guide > Bootloader](../hardware/porting_guide_nuttx.md#bootloader) -4. Point of contact (PoC) for the PX4 maintainers (direct email or available in Slack/Forum/Github) +Good real-world examples of manufacturer board targets to model yours on: -5. The board needs to use the [PX4 bootloader protocol](https://github.com/PX4/PX4-Autopilot/tree/main/platforms/nuttx/src/bootloader). - For more information on bootloaders see: [PX4 Nuttx Porting Guide > Bootloader](../hardware/porting_guide_nuttx.md#bootloader). +- [ARK V6X](https://github.com/PX4/PX4-Autopilot/pull/25715) +- [ZeroOne 6X](https://github.com/PX4/PX4-Autopilot/pull/23623) -6. Adequate documentation, which includes, but is not limited to: - - A complete pinout made available publicly that maps PX4 pin definitions to: - 1. Microcontroller pins - 2. Physical external connectors - - A block diagram or full schematic of the main components (sensors, power supply, etc.) that allows to infer software requirements and boot order - - A manual of the finished product detailing its use +Your board must use the [PX4 bootloader protocol](https://github.com/PX4/PX4-Autopilot/tree/main/platforms/nuttx/src/bootloader). -7. There must be a dedicated webpage for the board with PX4, which lists the features and limitations for usage with PX4, and includes or links to the above described documentation. +### 2. Reserve a Board ID -## Board Support Categories +Every flight controller needs a unique **board ID** for bootloader and firmware selection in QGroundControl. +This ID lives in your board's `firmware.prototype` file. -The board support categories are listed below. The autopilot boards in each category are listed at: [https://px4.io/autopilots/.](https://px4.io/autopilots/) +You reserve it by **opening a pull request against [PX4/PX4-Bootloader](https://github.com/PX4/PX4-Bootloader)** proposing your value. +You pick the value; the maintainers coordinate to make sure it does not collide with an existing board. Examples to follow: + +- [PX4-Bootloader#260](https://github.com/PX4/PX4-Bootloader/pull/260) +- [PX4-Bootloader#262](https://github.com/PX4/PX4-Bootloader/pull/262) :::info -Manufacturer supported boards may be as well/better supported than Pixhawk boards (for example through economies of scale). +**If your board will also run ArduPilot, reserve the _same_ board ID in both bootloaders.** +Open a matching PR against [ArduPilot](https://github.com/ArduPilot/ardupilot) (board IDs live in the `hwdef` definitions under [`libraries/AP_HAL_ChibiOS/hwdef`](https://github.com/ArduPilot/ardupilot/tree/master/libraries/AP_HAL_ChibiOS/hwdef)) and use the identical board ID value there. +Keeping the two aligned avoids a class of confusing flashing and identification problems where the same physical board reports different IDs depending on which firmware it is running. ::: -## Pixhawk Standard +### 3. Sort Out your USB VID/PID -A Pixhawk board is one that conforms to the Pixhawk standards. These standards are laid out on [pixhawk.org](https://pixhawk.org/), but at high-level require that the board passes electrical tests mandated by the standard and the manufacturer has signed the Pixhawk adopter and trademark agreement. +If your board exposes USB, it needs a USB Vendor ID (VID) and Product ID (PID). -PX4 generally only supports boards that are commercially available, which typically means that board standards released within the last five years are supported. - -### VER and REV ID (Hardware Revision and Version Sensing) {#ver_rev_id} - -FMUv5 and onwards have an electrical sensing mechanism. -This sensing coupled with optional configuration data will be used to define hardware’s configuration with respect to a mandatory device and power supply configuration. Manufacturers must obtain the VER and REV ID from PX4 board maintainers by issuing a PR to amend the [DS-018 Pixhawk standard](https://github.com/pixhawk/Pixhawk-Standards) for board versions and revisions. - -Because these boards are 100% compliant with the Pixhawk standard, the values assigned for VER and REV ID are the defaults for that FMU Version. - -## Manufacturer Supported - -These boards are supported by the manufacturer. -To qualify for this category the board must work with the latest stable PX4 release within 4 months of that release. - -- Manufacture owns the support -- Manufacturer must supply at least 2 boards to the core-dev team (for use on test rack and by test team) - -:::tip -While there is no commitment from the PX4 maintainers and the flight test team to support and test boards in this category, we strongly recommended PX4 and manufacturer teams build close working relationships. -This will result in a better result for all parties. -::: - -:::info -These boards will be assigned [VER and REV ID](#ver_rev_id) based on compatibility. -A special assignment will be made by PX4 if the board is a variant of an FMU specification and capable of running the same binary, with minor differences supported by the manufacturer. -Contact the PX4 maintainer at [boards@px4.io](mailto:boards@px4.io) to request more information. -::: - -## Experimental - -These boards are all boards that don't fall in the above categories, or don't fall in those categories _anymore_. -The following requirements apply: - -- The board must be working with at least one PX4 release for a defined vehicle type, but not necessarily the latest release. - -:::info -Experimental boards that were _previously_ Pixhawk or Manufacturer supported will have/retain their original IDs. -_New_ experimental boards are allocated [VER and REV IDs](#ver_rev_id) based on compatibility, in the same way as Manufacturer Supported boards. -::: - -## Unsupported - -This category includes all boards that aren't supported by the PX4 project or a manufacturer, and that fall outside the"experimental" support. - -- Board is somewhat compatible on paper with something we already support, and it would take minimal effort to raise it to "experimental", but neither the dev-team or the manufacturer are currently pursuing this -- Manufacturer/Owner of hardware violates our [Code of Conduct](https://discuss.px4.io/t/px4-community-code-of-conduct/13655) -- Closed source, where any of the necessary tools/libs/drivers/etc needed to add support for a board is deemed incompatible due to licensing restrictions -- Board doesn't meet minimum requirements outlined in the General requirements - -:::info -Unsupported boards will NOT be assigned [VER and REV ID](#ver_rev_id) (and cannot run PX4 FMUvX firmware). -::: - -## Release Process - -It is assumed that when a manufacturer declares that a board falls in a certain category, that the board is compliant with the requirements for that category and the general requirements. - -When a new board is brought to market that falls into the manufacturer supported or experimental category, the manufacturer is responsible for updating the PX4 documentation and doing the board release process in PX4. We recommend the following steps: - -Contact PX4 board maintainers at [boards@px4.io](mailto:boards@px4.io) and request the following: - -1. The assignment of a _board id_ for bootloader and firmware selection in QGC. -2. The assignment of REV and VER ID resistor values. -3. If the board supports USB: Either request the assignment of a USB VID and PID or provide the USB VID and PID. - -Integrate the board according to the board porting release process described in the [porting guide](../hardware/porting_guide.md) +The VID/PID pair is how QGroundControl recognizes your hardware over USB. +It is what lets QGC match the connected board to the right firmware and present it correctly to the user. +The pair must be unique to your product. :::warning -The board support process may be changed and improved over time. -Hardware manufacturers are encouraged to contribute to this process through the regular hardware call, the Discuss forum or Discord. +**Do not copy another manufacturer's VID/PID.** If your board reports a VID/PID that belongs to someone else's hardware, QGroundControl will misidentify it, associate it with the wrong board, and may offer or flash the wrong firmware. +Each board needs its own identity. ::: -## 技术支持 +You have two ways to get a valid pair: -If parts of the board support guide/process are not clear: +- **Provide your own.** As the hardware manufacturer, the VID/PID identify _your_ company and product, and you are expected to obtain them yourself. +- **Use the Dronecode VID.** [Dronecode Foundation members](https://dronecode.org/membership/) can request a PID allocated under the Dronecode USB VID. + This is one of the membership benefits, alongside access to the Pixhawk FMU reference schematics. + If you would like to use the Dronecode VID, [become a member](https://dronecode.org/membership/) first. -- Ask the community for help on Discord channels under `Hardware` category, or on the discuss forum -- Attend the regular hardware call -- Consultancy options are listed here: [https://px4.io/community/consultants/](https://px4.io/community/consultants/) +### 4. Fly it and Capture Logs + +**Bench testing is not enough.** Before a flight controller is accepted, you must demonstrate stable flight on the current PX4 release with your hardware. + +Capture flight logs from that testing and upload them to [logs.px4.io](https://logs.px4.io). +You will link these in your pull request so the maintainers can review the flight data alongside your code. + +### 5. Open the Pull Request + +Open a pull request against [PX4/PX4-Autopilot](https://github.com/PX4/PX4-Autopilot) containing: + +- Your board support code (the build target from step 1). +- Board documentation: a public pinout mapping PX4 pin definitions to the microcontroller pins and physical connectors, plus a block diagram or schematic of the main components (sensors, power supply) sufficient to understand boot order and software requirements. +- **Links to your flight logs** from step 4, in the PR description, as proof the hardware has actually been flown. + +If you have never contributed via GitHub, follow the [documentation contribution guide](../contribute/docs.md) for the mechanics of forking, branching, and opening a PR. + +:::tip +A clean, reviewable commit history makes a real difference. +Split your work into logical commits rather than one large dump, and engage early on Discord if you have questions. +The most common reasons first-time board PRs stall are incomplete documentation and missing or insufficient flight-test evidence. +::: + +### 6. Maintain It {#maintain} + +Once your board is merged, you own it. +That means: + +- Handling support questions from your own customers. +- Keeping your board target building and working as PX4 evolves across releases. +- Responding to issues and regressions specific to your hardware. + +You are not expected to fix unrelated PX4 bugs, but you are expected to maintain what you contribute. +Boards that fall out of maintenance and stop building may be moved to [experimental](#support-categories) or removed. + +## Adding a Component {#components} + +For peripherals that work _with_ a flight controller, GPS/RTK receivers, compasses, data links, distance sensors, and similar, the path is lighter. +There is no board ID or firmware target involved. + +1. **Validate** that your product works with PX4. + A few simple flights are enough. +2. **Edit the relevant documentation page** to add your product, for example the [GPS & Compass](../gps_compass/index.md) or [RTK GPS](../gps_compass/rtk_gps.md) page for a GNSS product. +3. **Open a pull request** against [PX4/PX4-Autopilot](https://github.com/PX4/PX4-Autopilot) with your documentation changes. +4. **Attach proof** of step 1 (flight logs, linked or uploaded to [logs.px4.io](https://logs.px4.io)) in the PR description, so the maintainers can review it alongside your edits. + +New to GitHub? The [documentation contribution guide](../contribute/docs.md) covers the whole flow. + +## Support Categories {#support-categories} + +These categories describe **who is responsible for supporting a board**, the PX4 team or the manufacturer, and whether it is listed on the PX4 website. +They do not change the steps above. +The boards in each category are listed at [px4.io/autopilots](https://px4.io/autopilots/). + +### Pixhawk Standard + +Boards that conform to the [Pixhawk standards](https://pixhawk.org/standards/). +These are fully supported and maintained by the PX4 development and test teams. +Qualifying requires passing the electrical tests mandated by the standard and signing the Pixhawk adopter and trademark agreement. +PX4 generally supports standards released within the last few years, since those are what is commercially available. + +For examples, see [Pixhawk Standard Autopilots](../flight_controller/autopilot_pixhawk_standard.md). + +### Manufacturer Supported + +Boards supported by the manufacturer, the category most new flight controllers fall into. +The manufacturer owns support and keeps the board working across PX4 releases, as described in [Maintain it](#maintain) above. +These boards can be as well supported as Pixhawk boards. +There is no formal support or test commitment from the PX4 team, but a close working relationship between the manufacturer and PX4 teams benefits everyone. + +For examples, see [Manufacturer-Supported Autopilots](../flight_controller/autopilot_manufacturer_supported.md). + +### Experimental + +Boards that work with at least one PX4 release for a defined vehicle type, but not necessarily the latest, and are not actively maintained to either of the above standards. +Previously supported boards that fall out of active maintenance land here. + +For examples, see [Experimental Autopilots](../flight_controller/autopilot_experimental.md). + +### Unsupported + +Boards that meet none of the above. +Typically: boards that would take minimal effort to reach "experimental" but that nobody, manufacturer or dev team, is currently pursuing; hardware whose owner has violated the [Code of Conduct](https://discuss.px4.io/t/px4-community-code-of-conduct/13655); designs whose required tools/libraries/drivers are blocked by incompatible licensing; or boards that do not meet the general requirements above. +Unsupported boards are not listed on the PX4 website and may be removed from the codebase. + +### Hardware revision sensing (VER/REV ID) {#ver_rev_id} + +:::warning +**This path is no longer recommended.** New manufacturers should build their own firmware target ([step 1](#1-build-your-own-firmware-target)) instead. +This section is kept for context and for the few boards that still depend on the mechanism. +::: + +VER/REV ID is a sensing mechanism on FMUv5X and later. +The board encodes its version and revision either through resistor dividers read on dedicated sensing pins, or through values stored in an onboard EEPROM. +PX4 reads these at boot and uses them, together with the standard configuration, to determine the expected device and power-supply layout for that FMU version. + +It was originally designed to allow **cross-vendor compatibility between baseboards and FMU modules**: the idea being that a standard FMU module from one vendor could drop into a standard baseboard from another and run the same binary, with the VER/REV ID telling the firmware which hardware combination it was on. +The VER/REV ID values were coordinated centrally with the PX4 board maintainers (historically by a PR against the [DS-018 Pixhawk standard](https://github.com/pixhawk/Pixhawk-Standards)) so that assignments stayed unique across vendors. + +In practice the ecosystem has **deviated from that model**. +Modern boards differ enough in sensors, connectors, and peripherals that the shared-binary, drop-in-module assumption rarely holds, and maintaining your own firmware target has become the cleaner and more reliable approach. +For that reason: + +- We **no longer recommend** that manufacturers go through the VER/REV ID path. + Build your own firmware target ([step 1](#1-build-your-own-firmware-target)) instead. + It applies to nearly all new hardware, and is required as soon as you deviate from a published FMU sensor set in any way. +- The Dronecode team is **not currently offering validation services** to certify that a board meets the FMU standard for the purpose of obtaining a default VER/REV ID assignment. + +## 获取帮助 + +The board support process improves over time, and contributions to the process itself are welcome. + +- Ask the community on the PX4 [Discord](https://chat.dronecode.org) under the `Hardware` channels, or on the [discuss forum](https://discuss.px4.io/). +- Join the regular hardware call. +- Consultancy options are listed at [px4.io/community/consultants](https://px4.io/community/consultants/). + +If you need direct coordination that cannot happen in a pull request, for example sorting out a board ID conflict, you can reach the maintainers at [boards@px4.io](mailto:boards@px4.io). Use this as a last resort: anything that can happen in the open on GitHub should. diff --git a/docs/zh/hardware/porting_guide.md b/docs/zh/hardware/porting_guide.md index 3a763ed73f..58a59d7c85 100644 --- a/docs/zh/hardware/porting_guide.md +++ b/docs/zh/hardware/porting_guide.md @@ -4,7 +4,8 @@ ## PX4 架构 -PX4 由两个主要层组成： 基于主机操作系统（NuttX、Linux 或任何其他 POSIX 平台如 Mac OS）的[板级支持与中间件层](../middleware/index.md)，以及应用程序（位于[src/modules](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules)目录下的飞行栈）。 更多信息请参阅[PX4架构概述](../concept/architecture.md)。 +PX4 由两个主要层组成： 基于主机操作系统（NuttX、Linux 或任何其他 POSIX 平台如 Mac OS）的[板级支持与中间件层](../middleware/index.md)，以及应用程序（位于[src/modules](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules)目录下的飞行栈）。 +更多信息请参阅[PX4架构概述](../concept/architecture.md)。 本指南仅关注主机操作系统和中间件，因为 应用层/飞行控制栈 可以在任何目标平台上运行。 @@ -54,39 +55,25 @@ PX4 由两个主要层组成： 基于主机操作系统（NuttX、Linux 或任 这可以用过对飞控板的配置文件和 manifest 文件进行更改来实现。 一个例子是 [px4fmu-v5](https://github.com/PX4/PX4-Autopilot/blob/main/boards/px4/fmu-v5/src/manifest.c)。 -## 官方支持的硬件 +## Getting Your Board Supported -PX4项目支持并维护[FMU标准参考硬件](../hardware/reference_design.md)以及任何符合该标准的开发板。 -这包括[Pixhawk系列](../flight_controller/pixhawk_series.md)（详见用户指南中的[官方支持硬件完整列表](../flight_controller/index.md)）。 +This page covers the _technical_ work of porting PX4 to new hardware. +The _process_ for getting that port reviewed, merged, and listed on the PX4 website, including board IDs, USB VID/PID, flight-test evidence, and maintenance expectations, is documented separately: -每个受官方支持的飞控板平台都将受益于： +- [Manufacturer's PX4 Board Support Guide](../hardware/board_support_guide.md) -- PX4 项目仓库中可用的 PX4 移植 -- 可通过_QGroundControl_访问的自动固件构建 -- 与生态系统其余部分的兼容性 -- 可通过 CI 进行自动检查 — 安全仍是这个社区的重中之重 -- [飞行测试](../test_and_ci/test_flights.md) +In short: build your own firmware target based on PX4, demonstrate stable flight on the current release, and open a pull request with your board support code, documentation, and flight logs. +The board support guide explains each step. -我们鼓励电路板制造商致力于实现与[FMU规范](https://pixhawk.org/)的完全兼容。 -我们鼓励电路板制造商致力于实现与FMU规范的完全兼容。通过完全兼容，您既能受益于PX4持续的日常开发成果，又无需承担因支持偏离规范而产生的维护成本。 +The PX4 project supports and maintains the [FMU standard reference hardware](../hardware/reference_design.md) and any boards compatible with the standard, including the [Pixhawk series](../flight_controller/pixhawk_series.md) (see the [full list of supported hardware](../flight_controller/index.md)). Boards merged into PX4 benefit from a port in the repository, firmware builds accessible from _QGroundControl_, compatibility with the rest of the ecosystem, and automated CI checks. :::tip -制造商在偏离规格时应仔细考虑维护成本（制造商的成本与偏离程度成正比）。 +The cost of maintaining a port is proportional to how far it diverges from the standard. +Consider that cost before deviating: staying close to the reference design lets you benefit from day-to-day PX4 development with minimal maintenance burden. ::: -我们欢迎任何个人或公司提交其移植版本，将其纳入我们支持的硬件范围。前提是他们愿意遵守我们的[行为准则](https://github.com/PX4/PX4-Autopilot/blob/main/CODE_OF_CONDUCT.md)，并与开发团队协作，为用户提供安全且令人满意的PX4体验。 - -值得注意的是，PX4开发团队有责任发布安全的软件。因此，我们要求所有主板制造商投入必要资源，确保其移植版本保持最新且处于可运行状态。 - -如果你想让你的飞控板被 PX4 项目正式支持： - -- 你的硬件必须在市场上可用（例如它可以被任何开发人员不受限制地购买到） 。 -- 必须向PX4开发团队提供硬件设备，以便他们验证移植工作（有关硬件寄送地址的指导，请联系[lorenz@px4.io](mailto:lorenz@px4.io)）。 -- 该板必须通过完整的[测试套件](../test_and_ci/index.md)和[飞行测试](../test_and_ci/test_flights.md)。 - -**PX4项目保留拒绝接受不符合项目要求的新端口（或移除现有端口）的权利。** - -您可通过[官方支持渠道](../contribute/support.md)联系核心开发团队及社区。 +Manufacturers are responsible for keeping their port up to date and working across PX4 releases. +The PX4 project reserves the right to refuse or remove ports that do not meet the project's requirements, and all contributors are expected to follow the [Code of Conduct](https://github.com/PX4/PX4-Autopilot/blob/main/CODE_OF_CONDUCT.md). ## 相关信息 diff --git a/docs/zh/middleware/zenoh.md b/docs/zh/middleware/zenoh.md index d4fb350439..2ce2502c13 100644 --- a/docs/zh/middleware/zenoh.md +++ b/docs/zh/middleware/zenoh.md @@ -253,3 +253,15 @@ For setup details and supported message types, refer to the [PX4 ROS 2 Interface :::info The PX4 ROS 2 Interface Library is not compatible with ROS 2 Humble and earlier, as it requires the message type hash (RIHS01, as defined in REP-2016) to be included in the Zenoh key expression. ::: + +### 故障处理 + +1. When starting the client you might see + + ``` + ERROR [zenoh] Could not create a subscriber for type *** + ``` + + When it happens, check if `src/modules/zenoh/Kconfig.topics` has unstaged changes. + If there are any it means that new uorb topics have been added and the previous build updated the `Kconfig.topics` file accordingly. + Please perform a clean build so that the new `Kconfig.topics` can be used. diff --git a/docs/zh/modules/modules_command.md b/docs/zh/modules/modules_command.md index a112ab8f1c..fcf87edfcc 100644 --- a/docs/zh/modules/modules_command.md +++ b/docs/zh/modules/modules_command.md @@ -441,6 +441,10 @@ param [arguments...] import Import params from a file [] File name (use default if not given) + load-or-init Load params from storage; if blank, seed from a backup file or + defaults and persist + [] Backup file to seed from when storage is blank + save Save params to a file [] File name (use default if not given) diff --git a/docs/zh/modules/modules_driver.md b/docs/zh/modules/modules_driver.md index 1b18f6dc52..eb7928c0d4 100644 --- a/docs/zh/modules/modules_driver.md +++ b/docs/zh/modules/modules_driver.md @@ -1319,6 +1319,40 @@ septentrio [arguments...] cold|warm|hot Specify reset type ``` +## serialpassthrough + +Source: [drivers/serialpassthrough](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/serialpassthrough) + +### 描述 + +Serial passthrough driver driven by MAVLink SERIAL_CONTROL messages. +Bridges a MAVLink stream to a hardware UART or an ESC signal pin (bitbang). + +Only a single sender is supported at a time. Simultaneous SERIAL_CONTROL +messages from multiple senders produce undefined behaviour. + +Up to 8 instances can run simultaneously, one per device. + +### Usage {#serialpassthrough_usage} + +``` +serialpassthrough [arguments...] + Commands: + start + [-d ] Serial device path + values: + [-b ] Baudrate + default: 115200 + [-x] Swap RX/TX pins + [-s] Single-wire (half-duplex) mode + [-e ] ESC bitbang channel (0-7), instead of -d + [-i ] Internal: instance registry key (injected by startForDevice()) + + stop + + status +``` + ## sht3x Source: [drivers/hygrometer/sht3x](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/hygrometer/sht3x) diff --git a/docs/zh/msg_docs/ActionRequest.md b/docs/zh/msg_docs/ActionRequest.md index 7105eda49b..923adcb556 100644 --- a/docs/zh/msg_docs/ActionRequest.md +++ b/docs/zh/msg_docs/ActionRequest.md @@ -50,6 +50,12 @@ Used in field(s): [source](#fld_source) | SOURCE_RC_BUTTON | `uint8` | 2 | Triggered by a momentary button on the RC being pressed or held | | SOURCE_RC_MODE_SLOT | `uint8` | 3 | Mode change through the RC mode selection mechanism | +## Constants + +| 参数名 | 类型 | 值 | 描述 | +| ----------------------------------------------------------------------------------------- | ------- | - | -- | +| ORB_QUEUE_LENGTH | `uint8` | 4 | | + ## Source Message [Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ActionRequest.msg) @@ -84,6 +90,8 @@ uint8 SOURCE_RC_BUTTON = 2 # Triggered by a momentary button on the RC being pre uint8 SOURCE_RC_MODE_SLOT = 3 # Mode change through the RC mode selection mechanism uint8 mode # Requested mode. Only applies when `action` is `ACTION_SWITCH_MODE`. Values for this field are defined by the `vehicle_status_s::NAVIGATION_STATE_*` enumeration. + +uint8 ORB_QUEUE_LENGTH = 4 ``` ::: diff --git a/docs/zh/msg_docs/ArmingCheckReplyV0.md b/docs/zh/msg_docs/ArmingCheckReplyV0.md index 039268888e..d18b1622b0 100644 --- a/docs/zh/msg_docs/ArmingCheckReplyV0.md +++ b/docs/zh/msg_docs/ArmingCheckReplyV0.md @@ -13,7 +13,7 @@ pageClass: is-wide-page | timestamp | `uint64` | | | time since system start (microseconds) | | request_id | `uint8` | | | | | registration_id | `uint8` | | | | -| health_component_index | `uint8` | | | HEALTH_COMPONENT_INDEX_\* | +| health_component_index | `uint8` | | | HEALTH_COMPONENT_INDEX_\* | | health_component_is_present | `bool` | | | | | health_component_warning | `bool` | | | | | health_component_error | `bool` | | | | diff --git a/docs/zh/msg_docs/HealthReport.md b/docs/zh/msg_docs/HealthReport.md index e1fb31f7b4..c6218b8ae3 100644 --- a/docs/zh/msg_docs/HealthReport.md +++ b/docs/zh/msg_docs/HealthReport.md @@ -8,16 +8,16 @@ pageClass: is-wide-page ## Fields -| 参数名 | 类型 | Unit [Frame] | Range/Enum | 描述 | -| ------------------------------------------------------------------------------------------------------------------------------------ | -------- | ---------------------------------------------------------------- | ---------- | -------------------------------------------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| can_arm_mode_flags | `uint64` | | | bitfield for each flight mode (NAVIGATION_STATE_\*) if arming is possible | -| can_run_mode_flags | `uint64` | | | bitfield for each flight mode if it can run | -| health_is_present_flags | `uint64` | | | flags for each health_component_t | -| health_warning_flags | `uint64` | | | | -| health_error_flags | `uint64` | | | | -| arming_check_warning_flags | `uint64` | | | | -| arming_check_error_flags | `uint64` | | | | +| 参数名 | 类型 | Unit [Frame] | Range/Enum | 描述 | +| ------------------------------------------------------------------------------------------------------------------------------------ | -------- | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------------------------------------ | +| timestamp | `uint64` | | | time since system start (microseconds) | +| can_arm_mode_flags | `uint64` | | | bitfield for each flight mode (NAVIGATION_STATE_\*) if arming is possible | +| can_run_mode_flags | `uint64` | | | bitfield for each flight mode if it can run | +| health_is_present_flags | `uint64` | | | flags for each health_component_t | +| health_warning_flags | `uint64` | | | | +| health_error_flags | `uint64` | | | | +| arming_check_warning_flags | `uint64` | | | | +| arming_check_error_flags | `uint64` | | | | ## Source Message diff --git a/docs/zh/msg_docs/LedControl.md b/docs/zh/msg_docs/LedControl.md index 2c59ebe707..02386ad0f2 100644 --- a/docs/zh/msg_docs/LedControl.md +++ b/docs/zh/msg_docs/LedControl.md @@ -16,7 +16,7 @@ LED control: control a single or multiple LED's. These are the externally visibl | led_mask | `uint8` | | | bitmask which LED(s) to control, set to 0xff for all | | color | `uint8` | | | see COLOR\_\* | | mode | `uint8` | | | see MODE\_\* | -| num_blinks | `uint8` | | | how many times to blink (number of on-off cycles if mode is one of MODE_BLINK_\*) . Set to 0 for infinite | +| num_blinks | `uint8` | | | how many times to blink (number of on-off cycles if mode is one of MODE_BLINK_\*) . Set to 0 for infinite | | priority | `uint8` | | | priority: higher priority events will override current lower priority events (see MAX_PRIORITY) | ## Constants diff --git a/docs/zh/msg_docs/PowerButtonState.md b/docs/zh/msg_docs/PowerButtonState.md index bed9f07cf0..73175f97f8 100644 --- a/docs/zh/msg_docs/PowerButtonState.md +++ b/docs/zh/msg_docs/PowerButtonState.md @@ -13,7 +13,7 @@ power button state notification message. | 参数名 | 类型 | Unit [Frame] | Range/Enum | 描述 | | ----------------------------------- | -------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | | timestamp | `uint64` | | | time since system start (microseconds) | -| event | `uint8` | | | one of PWR_BUTTON_STATE_\* | +| event | `uint8` | | | one of PWR_BUTTON_STATE_\* | ## Constants diff --git a/docs/zh/msg_docs/RegisterExtComponentRequest.md b/docs/zh/msg_docs/RegisterExtComponentRequest.md index 25409d43eb..429b059cf1 100644 --- a/docs/zh/msg_docs/RegisterExtComponentRequest.md +++ b/docs/zh/msg_docs/RegisterExtComponentRequest.md @@ -20,7 +20,7 @@ Request to register an external component. | register_mode | `bool` | | | registering a mode also requires arming_check to be set | | register_mode_executor | `bool` | | | registering an executor also requires a mode to be registered (which is the owned mode by the executor) | | enable_replace_internal_mode | `bool` | | | set to true if an internal mode should be replaced | -| replace_internal_mode | `uint8` | | | vehicle_status::NAVIGATION_STATE_\* | +| replace_internal_mode | `uint8` | | | vehicle_status::NAVIGATION_STATE_\* | | activate_mode_immediately | `bool` | | | switch to the registered mode (can only be set in combination with an executor) | | not_user_selectable | `bool` | | | mode cannot be selected by the user | | request_offboard_setpoints | `bool` | | | set to true if the registered mode wants to receive offboard trajectory setpoints via MAVLink | diff --git a/docs/zh/msg_docs/RegisterExtComponentRequestV0.md b/docs/zh/msg_docs/RegisterExtComponentRequestV0.md index d79d48ccc1..69c1420c65 100644 --- a/docs/zh/msg_docs/RegisterExtComponentRequestV0.md +++ b/docs/zh/msg_docs/RegisterExtComponentRequestV0.md @@ -20,7 +20,7 @@ Request to register an external component. | register_mode | `bool` | | | registering a mode also requires arming_check to be set | | register_mode_executor | `bool` | | | registering an executor also requires a mode to be registered (which is the owned mode by the executor) | | enable_replace_internal_mode | `bool` | | | set to true if an internal mode should be replaced | -| replace_internal_mode | `uint8` | | | vehicle_status::NAVIGATION_STATE_\* | +| replace_internal_mode | `uint8` | | | vehicle_status::NAVIGATION_STATE_\* | | activate_mode_immediately | `bool` | | | switch to the registered mode (can only be set in combination with an executor) | ## Constants diff --git a/docs/zh/msg_docs/RegisterExtComponentRequestV1.md b/docs/zh/msg_docs/RegisterExtComponentRequestV1.md index 71bbef452e..5acdb2238c 100644 --- a/docs/zh/msg_docs/RegisterExtComponentRequestV1.md +++ b/docs/zh/msg_docs/RegisterExtComponentRequestV1.md @@ -20,7 +20,7 @@ Request to register an external component. | register_mode | `bool` | | | registering a mode also requires arming_check to be set | | register_mode_executor | `bool` | | | registering an executor also requires a mode to be registered (which is the owned mode by the executor) | | enable_replace_internal_mode | `bool` | | | set to true if an internal mode should be replaced | -| replace_internal_mode | `uint8` | | | vehicle_status::NAVIGATION_STATE_\* | +| replace_internal_mode | `uint8` | | | vehicle_status::NAVIGATION_STATE_\* | | activate_mode_immediately | `bool` | | | switch to the registered mode (can only be set in combination with an executor) | | not_user_selectable | `bool` | | | mode cannot be selected by the user | diff --git a/docs/zh/msg_docs/TelemetryStatus.md b/docs/zh/msg_docs/TelemetryStatus.md index 84ae080e28..c4034b327d 100644 --- a/docs/zh/msg_docs/TelemetryStatus.md +++ b/docs/zh/msg_docs/TelemetryStatus.md @@ -11,7 +11,7 @@ pageClass: is-wide-page | 参数名 | 类型 | Unit [Frame] | Range/Enum | 描述 | | ------------------------------------------------------------------------------------------------------------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------------------------------------------------------------------------------------------- | | timestamp | `uint64` | | | time since system start (microseconds) | -| type | `uint8` | | | type of the radio hardware (LINK_TYPE_\*) | +| type | `uint8` | | | type of the radio hardware (LINK_TYPE_\*) | | mode | `uint8` | | | | | flow_control | `bool` | | | | | forwarding | `bool` | | | | diff --git a/docs/zh/msg_docs/VehicleCommand.md b/docs/zh/msg_docs/VehicleCommand.md index a6bb54808b..b062263c18 100644 --- a/docs/zh/msg_docs/VehicleCommand.md +++ b/docs/zh/msg_docs/VehicleCommand.md @@ -1478,7 +1478,7 @@ Enable/disable estimator sensor fusion. | Param | 单位 (Units) | Range/Enum | 描述 | | ----- | ----------------------------- | ---------- | --------------------------------------------------------------------- | -| 1 | | | Source (FUSION_SOURCE_\*) | +| 1 | | | Source (FUSION_SOURCE_\*) | | 2 | | | Sensor instance (0-based) | | 3 | | | Enable (1) or Disable (0) | | 4 | | | Estimator Instance (NaN: not used) | diff --git a/docs/zh/msg_docs/VehicleStatus.md b/docs/zh/msg_docs/VehicleStatus.md index 8a491d6bcf..1b21d131ad 100644 --- a/docs/zh/msg_docs/VehicleStatus.md +++ b/docs/zh/msg_docs/VehicleStatus.md @@ -30,7 +30,7 @@ Encodes the system state of the vehicle published by commander. | vehicle_type | `uint8` | | | | | failsafe | `bool` | | | true if system is in failsafe state (e.g.:RTL, Hover, Terminate, ...) | | failsafe_and_user_took_over | `bool` | | | true if system is in failsafe state but the user took over control | -| failsafe_defer_state | `uint8` | | | one of FAILSAFE_DEFER_STATE_\* | +| failsafe_defer_state | `uint8` | | | one of FAILSAFE_DEFER_STATE_\* | | gcs_connection_lost | `bool` | | | datalink to GCS lost | | gcs_connection_lost_counter | `uint8` | | | counts unique GCS connection lost events | | high_latency_data_link_lost | `bool` | | | Set to true if the high latency data link (eg. RockBlock Iridium 9603 telemetry module) is lost | diff --git a/docs/zh/msg_docs/VehicleStatusV0.md b/docs/zh/msg_docs/VehicleStatusV0.md index 9acf12aac8..2380f79605 100644 --- a/docs/zh/msg_docs/VehicleStatusV0.md +++ b/docs/zh/msg_docs/VehicleStatusV0.md @@ -29,7 +29,7 @@ Encodes the system state of the vehicle published by commander. | vehicle_type | `uint8` | | | | | failsafe | `bool` | | | true if system is in failsafe state (e.g.:RTL, Hover, Terminate, ...) | | failsafe_and_user_took_over | `bool` | | | true if system is in failsafe state but the user took over control | -| failsafe_defer_state | `uint8` | | | one of FAILSAFE_DEFER_STATE_\* | +| failsafe_defer_state | `uint8` | | | one of FAILSAFE_DEFER_STATE_\* | | gcs_connection_lost | `bool` | | | datalink to GCS lost | | gcs_connection_lost_counter | `uint8` | | | counts unique GCS connection lost events | | high_latency_data_link_lost | `bool` | | | Set to true if the high latency data link (eg. RockBlock Iridium 9603 telemetry module) is lost | diff --git a/docs/zh/msg_docs/VehicleStatusV2.md b/docs/zh/msg_docs/VehicleStatusV2.md index 782cde4034..56090244dc 100644 --- a/docs/zh/msg_docs/VehicleStatusV2.md +++ b/docs/zh/msg_docs/VehicleStatusV2.md @@ -30,7 +30,7 @@ Encodes the system state of the vehicle published by commander. | vehicle_type | `uint8` | | | | | failsafe | `bool` | | | true if system is in failsafe state (e.g.:RTL, Hover, Terminate, ...) | | failsafe_and_user_took_over | `bool` | | | true if system is in failsafe state but the user took over control | -| failsafe_defer_state | `uint8` | | | one of FAILSAFE_DEFER_STATE_\* | +| failsafe_defer_state | `uint8` | | | one of FAILSAFE_DEFER_STATE_\* | | gcs_connection_lost | `bool` | | | datalink to GCS lost | | gcs_connection_lost_counter | `uint8` | | | counts unique GCS connection lost events | | high_latency_data_link_lost | `bool` | | | Set to true if the high latency data link (eg. RockBlock Iridium 9603 telemetry module) is lost | diff --git a/docs/zh/msg_docs/VehicleStatusV3.md b/docs/zh/msg_docs/VehicleStatusV3.md index 2691599783..99e9697d36 100644 --- a/docs/zh/msg_docs/VehicleStatusV3.md +++ b/docs/zh/msg_docs/VehicleStatusV3.md @@ -29,7 +29,7 @@ Encodes the system state of the vehicle published by commander. | vehicle_type | `uint8` | | | | | failsafe | `bool` | | | true if system is in failsafe state (e.g.:RTL, Hover, Terminate, ...) | | failsafe_and_user_took_over | `bool` | | | true if system is in failsafe state but the user took over control | -| failsafe_defer_state | `uint8` | | | one of FAILSAFE_DEFER_STATE_\* | +| failsafe_defer_state | `uint8` | | | one of FAILSAFE_DEFER_STATE_\* | | gcs_connection_lost | `bool` | | | datalink to GCS lost | | gcs_connection_lost_counter | `uint8` | | | counts unique GCS connection lost events | | high_latency_data_link_lost | `bool` | | | Set to true if the high latency data link (eg. RockBlock Iridium 9603 telemetry module) is lost | diff --git a/docs/zh/neural_networks/index.md b/docs/zh/neural_networks/index.md index af62fb983d..016a8cbe0e 100644 --- a/docs/zh/neural_networks/index.md +++ b/docs/zh/neural_networks/index.md @@ -14,7 +14,7 @@ The table below provides more detail on the differences. | ---------------------------------------------------------------- | ------------------------------------------- | ------------------------------------------------------------------ | | Pre-trained policy that adapts to any quadrotor without training | ✓ RAPTOR | ✘ | | Train policy in PyTorch/TF | ✘ | ✓ TF Lite | -| Train policy in RLtools | ✓ | ✘ | +| Train policy in RLtools | ✓ | ✘ | | Use manual control (remote) with NN policy | ✘ GPS/MoCap | ✓ Manual attitude commands | | Load policy checkpoints from SD card | ✓ Upload via MAVLink FTP | ✘ Compiled into firmware | | Offboard setpoints | ✓ MAVLink | ✘ | diff --git a/docs/zh/peripherals/adsb_flarm.md b/docs/zh/peripherals/adsb_flarm.md index df93929e6b..b27fb634c2 100644 --- a/docs/zh/peripherals/adsb_flarm.md +++ b/docs/zh/peripherals/adsb_flarm.md @@ -34,7 +34,7 @@ For other ports or boards, you will need to obtain your own cable. The recommended port configuration for this receiver is: -| 参数 | Recommended Value | +| Parameter | Recommended Value | | ------------------------------------------------------------------------------------------------------------------------------------------- | ----------------- | | [MAV_X_CONFIG](../advanced_config/parameter_reference.md#MAV_1_CONFIG) | `TELEM 2` | | [MAV_X_MODE](../advanced_config/parameter_reference.md#MAV_1_MODE) | uAvionix | @@ -64,7 +64,7 @@ The TX and RX on the flight controller must be connected to the RX and TX on the The receivers are configured in the same way as any other [MAVLink Peripheral](../peripherals/mavlink_peripherals.md). The recommended configuration for most devices (unless they have device-specific configuration like PingRX) is to connect to `TELEM 2` and [set the parameters](../advanced_config/parameters.md) as shown: -| 参数 | Recommended Value | +| Parameter | Recommended Value | | ------------------------------------------------------------------------------------------------------------------ | ---------------------------------------------------- | | [MAV_X_CONFIG](../advanced_config/parameter_reference.md#MAV_1_CONFIG) | `TELEM 2` | | [MAV_X_MODE](../advanced_config/parameter_reference.md#MAV_1_MODE) | Normal | @@ -79,7 +79,7 @@ You will now find a new parameter called [SER_TEL2_BAUD](../advanced_config/para Configure the action when there is a potential collision using the parameter below: -| 参数 | 描述 | +| Parameter | 描述 | | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | | [NAV_TRAFF_AVOID](../advanced_config/parameter_reference.md#NAV_TRAFF_AVOID) | Enable traffic avoidance mode specify avoidance response. 0: Disable, 1: Warn only, 2: Return mode, 3: Land mode. | | [NAV_TRAFF_A_HOR](../advanced_config/parameter_reference.md#NAV_TRAFF_A_HOR) | Horizontal radius of cylinder around the vehicle that defines its airspace (i.e. the airspace in the ground plane). | diff --git a/docs/zh/peripherals/frsky_telemetry.md b/docs/zh/peripherals/frsky_telemetry.md index adca4a5d9e..d31a86e59e 100644 --- a/docs/zh/peripherals/frsky_telemetry.md +++ b/docs/zh/peripherals/frsky_telemetry.md @@ -185,7 +185,7 @@ Note that the X series receivers listed below are recommended (e.g. XSR, X8R). T | RX8R | 1.5km | S.Bus (16) | Smart Port | 46.25x26.6x14.2mm | 12.1g | | RX8R PRO | 1.5km | S.Bus (16) | Smart Port | 46.25x26.6x14.2mm | 12.1g | | R-XSR | 1.5km | S.Bus (16) / CPPM (8) | Smart Port | 16x11x5.4mm | 1.5g | -| G-RX8 | 1.5km | S.Bus (16) | Smart Port + integrated vario | 55.26_17_8mm | 5.8g | +| G-RX8 | 1.5km | S.Bus (16) | Smart Port + integrated vario | 55.26_17_8mm | 5.8g | | R9 | 10km | S.Bus (16) | Smart Port | 43.3x26.8x13.9mm | 15.8g | | R9 slim | 10km | S.Bus (16) | Smart Port | 43.3x26.8x13.9mm | 15.8g | diff --git a/docs/zh/peripherals/vesc.md b/docs/zh/peripherals/vesc.md index b3280b717d..d77c8f9a06 100644 --- a/docs/zh/peripherals/vesc.md +++ b/docs/zh/peripherals/vesc.md @@ -19,7 +19,7 @@ The preferred tool for motor enumeration is the [VESC tool](https://vesc-project In addition to the normal motor configuration that you will have to setup in the VESC tool, you will also need to properly setup the app configuration. The recommended app setup is as follows: -| 参数 | Option | +| Parameter | Option | | ----------------------- | ---------------------- | | App to use | `No App` | | VESC ID | `1,2,...` | diff --git a/docs/zh/releases/1.15.md b/docs/zh/releases/1.15.md index c9f802f39f..80ca7a7eb3 100644 --- a/docs/zh/releases/1.15.md +++ b/docs/zh/releases/1.15.md @@ -212,7 +212,7 @@ Please continue reading for [upgrade instructions](#upgrade-guide). - Added PerformanceModel for fixed wing ([PX4-Autopilot#22091](https://github.com/PX4/PX4-Autopilot/pull/22091)) - **[New Parameter]** `FW_S_CEILING` -### 无人车 +### Rover - [Aion R1](../complete_vehicles_rover/aion_r1.md): ESC Driver for Roboclaw motor controller. This comes with build instructions and support for the Aion R1, a new differential drive rover, along with information about integrating the Roboclaw motor controller. diff --git a/docs/zh/releases/1.16.md b/docs/zh/releases/1.16.md index 65f7753d9d..3561e78b23 100644 --- a/docs/zh/releases/1.16.md +++ b/docs/zh/releases/1.16.md @@ -194,7 +194,7 @@ Please continue reading for [upgrade instructions](#upgrade-guide). - FixedWing: allow position control without valid global position ([PX4-Autopilot#23520](https://github.com/PX4/PX4-Autopilot/pull/23520)) - Improvement: Fixed-wing auto takeoff: enable setting takeoff flaps for hand/catapult launch. [PX4-Autopilot#23460](https://github.com/PX4/PX4-Autopilot/pull/23460) -### 无人车 +### Rover This release contains a major rework for the rover support in PX4: diff --git a/docs/zh/releases/1.17.md b/docs/zh/releases/1.17.md index 8b53c4b23c..f3a96c80d1 100644 --- a/docs/zh/releases/1.17.md +++ b/docs/zh/releases/1.17.md @@ -147,6 +147,7 @@ For users upgrading from v1.16, please take a moment to review the following bef - UAVCAN battery: better remaining-time calculation ([PX4-Autopilot#25500](https://github.com/PX4/PX4-Autopilot/pull/25500)) and filter sample interval increased to 500 ms ([PX4-Autopilot#25454](https://github.com/PX4/PX4-Autopilot/pull/25454)). - Battery instances are capped at 3 (loggable batteries also raised to 3). - Remaining-flight-time failsafe disabled by default. +- Removed parameter `COM_RC_ARM_HYST`, arm and disarm gesture needs to be held for the default of one second. ([PX4-Autopilot#25999](https://github.com/PX4/PX4-Autopilot/pull/25999)) ### Control @@ -300,6 +301,8 @@ The in-tree [Zenoh middleware](../middleware/zenoh.md) (added in v1.16) matures - Hexarotor X added to SIH and to `ActuatorEffectivenessRotorsTest`. - `MC_RATE*` parameter metadata unified. ([PX4-Autopilot#25133](https://github.com/PX4/PX4-Autopilot/pull/25133)) +- Removed parameters `MPC_{XY/Z/YAW}_MAN_EXPO` and use default value instead, as they were not deemed necessary anymore. ([PX4-Autopilot#25435](https://github.com/PX4/PX4-Autopilot/pull/25435)). +- Renamed `MPC_HOLD_DZ` to `MAN_DEADZONE` to have it globally available in modes that allow for a dead zone. ([PX4-Autopilot#25435](https://github.com/PX4/PX4-Autopilot/pull/25435)). ### 垂直起降 @@ -317,7 +320,7 @@ The in-tree [Zenoh middleware](../middleware/zenoh.md) (added in v1.16) matures - FW Autotune: identification maneuver auto-ramps the 1 Hz amplitude until R/P/Y rates of 0.8/0.5/0.5 rad/s are reached, then scales the identification signal accordingly. - TECS hardening: NaN protection on airspeed and altitude inputs. -### 无人车 +### Rover - Removed deprecated rover module. - Added [Apps & API](../flight_modes_rover/api.md) support including [Rover Setpoints](../ros2/px4_ros2_control_interface.md#rover-setpoints). diff --git a/docs/zh/releases/1.18.md b/docs/zh/releases/1.18.md index e3ebaa4cd0..e09d1dbf9a 100644 --- a/docs/zh/releases/1.18.md +++ b/docs/zh/releases/1.18.md @@ -46,6 +46,19 @@ Please continue reading for [upgrade instructions](#upgrade-guide). - [Remote ID (Open Drone ID) in-flight failsafe](../peripherals/remote_id.md): extended [COM_ARM_ODID](../advanced_config/parameter_reference.md#COM_ARM_ODID) to also trigger a configurable failsafe action (Return, Land, or Terminate) if the Remote ID heartbeat is lost while airborne. Users previously on `COM_ARM_ODID=2` retain the same arming behaviour; set to `3` or higher to enable the in-flight action. ([PX4-Autopilot#27029](https://github.com/PX4/PX4-Autopilot/pull/27029)) - [QGroundControl Bootloader Update](../advanced_config/bootloader_update.md#qgc-bootloader-update-sys-bl-update) via the [SYS_BL_UPDATE](../advanced_config/parameter_reference.md#SYS_BL_UPDATE) parameter has been re-enabled after being broken for a number of releases. ([PX4-Autopilot#25032: build: romf: fix generation of rc.board_bootloader_upgrade](https://github.com/PX4/PX4-Autopilot/pull/25032)). - [Feature: Allow prioritization of manual control inputs based on their instance number in ascending or descending order](../config/manual_control.md#px4-configuration). ([PX4-Autopilot#25602: Ascending and descending manual control input priorities](https://github.com/PX4/PX4-Autopilot/pull/25602)). +- Removed parameters: + + | 参数名 | 备注 | + | ------------------ | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | + | `COM_FLT_PROFILE` | Unused ([PX4-Autopilot#26735](https://github.com/PX4/PX4-Autopilot/pull/26735)) | + | `COM_KILL_DISARM` | Autopilot now always disarms if still killed after 5 sections (previous default). ([PX4-Autopilot#26736](https://github.com/PX4/PX4-Autopilot/pull/26736)) | + | `COM_MOT_TEST_EN` | Motor tests now always possible (was the default). ([PX4-Autopilot#26775](https://github.com/PX4/PX4-Autopilot/pull/26775)) | + | `COM_TAKEOFF_ACT` | Vehicle always switches to Hold mode when the takeoff is done. If you want to automatically do a mission, take off in Mission mode. ([PX4-Autopilot#26808](https://github.com/PX4/PX4-Autopilot/pull/26808)) | + | `COM_HLDL_REG_T` | When a high latency link is regained it's always considered regained immediately (was the default). ([PX4-Autopilot#26809](https://github.com/PX4/PX4-Autopilot/pull/26809)) | + | `COM_ARM_SDCARD` | There's now always warning when the autopilot SD card is missing (was the default). Boards that don't have an SD card need to skip the check with a compile time define. ([PX4-Autopilot#27259](https://github.com/PX4/PX4-Autopilot/pull/27259)) | + | `COM_IMB_PROP_ACT` | There's now always a warning when imbalanced propellers (high vibration) is detected (was the default). ([PX4-Autopilot#27260](https://github.com/PX4/PX4-Autopilot/pull/27260)) | + | `COM_OBC_LOSS_T` | Timeout for missing heartbeats from the onboard computer is always 5 seconds (was the default). ([PX4-Autopilot#27261](https://github.com/PX4/PX4-Autopilot/pull/27261)) | + | `COM_LKDOWN_TKO` | Takeoff failure detection always runs for 3 seconds (was the default). ([PX4-Autopilot#27262](https://github.com/PX4/PX4-Autopilot/pull/27262)) | ### Control @@ -69,6 +82,7 @@ Please continue reading for [upgrade instructions](#upgrade-guide). ### 仿真 +- Gazebo: Add [ridge world](../sim_gazebo_gz/worlds.md#ridge) for testing terrain following with 1D lidar. ([PX4-Autopilot#27600](https://github.com/PX4/PX4-Autopilot/pull/27600)) - SIH: Add option to set wind velocity ([PX4-Autopilot#26467](https://github.com/PX4-Autopilot/pull/26467)) -### 无人车 +### Rover - TBD diff --git a/docs/zh/releases/main.md b/docs/zh/releases/main.md index 4008b6c997..d0d11b5b34 100644 --- a/docs/zh/releases/main.md +++ b/docs/zh/releases/main.md @@ -96,7 +96,7 @@ Please continue reading for [upgrade instructions](#upgrade-guide). - TBD -### 无人车 +### Rover - TBD diff --git a/docs/zh/ros/external_position_estimation.md b/docs/zh/ros/external_position_estimation.md index e73f70db9f..355f897b26 100644 --- a/docs/zh/ros/external_position_estimation.md +++ b/docs/zh/ros/external_position_estimation.md @@ -77,7 +77,7 @@ For more detailed information, check the [Using PX4's Navigation Filter (EKF2)]( The following parameters must be set to use external position information with EKF2 (these can be set in _QGroundControl_ > **Vehicle Setup > Parameters > EKF2**). -| 参数 | 外部位置估计的设置 | +| Parameter | 外部位置估计的设置 | | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------- | | [EKF2_EV_CTRL](../advanced_config/parameter_reference.md#EKF2_EV_CTRL) | Set _horizontal position fusion_, _vertical vision fusion_, _velocity fusion_, and _yaw fusion_, according to your desired fusion model. | | [EKF2_HGT_REF](../advanced_config/parameter_reference.md#EKF2_HGT_REF) | Set to _Vision_ to use the vision as the reference source for altitude estimation. | @@ -126,7 +126,7 @@ See [Building the Code](../dev_setup/building_px4.md) for more details. The following parameters must be set to use external position information with LPE (these can be set in _QGroundControl_ > **Vehicle Setup > Parameters > Local Position Estimator**). -| 参数 | 外部位置估计的设置 | +| Parameter | 外部位置估计的设置 | | --------------------------------------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | [LPE_FUSION](../advanced_config/parameter_reference.md#LPE_FUSION) | Vision integration is enabled if _fuse vision position_ is checked (it is enabled by default). | | [ATT_EXT_HDG_M](../advanced_config/parameter_reference.md#ATT_EXT_HDG_M) | 设置为1或 2，以启用外部标题集成。 Set to 1 or 2 to enable external heading integration. Setting it to 1 will cause vision to be used, while 2 enables MoCap heading use. | diff --git a/docs/zh/ros2/multi_vehicle.md b/docs/zh/ros2/multi_vehicle.md index 16f02d9deb..fce085c593 100644 --- a/docs/zh/ros2/multi_vehicle.md +++ b/docs/zh/ros2/multi_vehicle.md @@ -40,7 +40,7 @@ uxrce_dds_ns="-n px4_$px4_instance" | `PX4_UXRCE_DDS_NS` | `px4_instance` | `UXRCE_DDS_KEY` | client namespace | | ------------------ | -------------- | ---------------- | --------------------- | -| not provided | 0 | `px4_instance+1` | 无 | +| not provided | 0 | `px4_instance+1` | none | | provided | 0 | `px4_instance+1` | `PX4_UXRCE_DDS_NS` | | not provided | > 0 | `px4_instance+1` | `px4_${px4_instance}` | | provided | > 0 | `px4_instance+1` | `PX4_UXRCE_DDS_NS` | diff --git a/docs/zh/ros2/user_guide.md b/docs/zh/ros2/user_guide.md index 7ead4bbfdc..6629be9f13 100644 --- a/docs/zh/ros2/user_guide.md +++ b/docs/zh/ros2/user_guide.md @@ -242,7 +242,7 @@ INFO [uxrce_dds_client] successfully created rt/fmu/out/timesync_status data wr [px4_ros_com](https://github.com/PX4/px4_ros_com) 和 [px4_msgs](https://github.com/PX4/px4_msgs) 这两个功能包会被克隆到工作空间文件夹中，之后使用 colcon 工具对该工作空间进行构建 此示例使用 "ros2 launch" 运行。 -您应该使用一个 px4_msgs 包的版本与 \_same_ 消息定义作为您已经安装在上面步骤中的 PX4 固件。 +您应该使用一个 px4_msgs 包的版本与 \_same_ 消息定义作为您已经安装在上面步骤中的 PX4 固件。 px4_msgs 代码仓库中的分支均以特定名称命名，这些名称与不同 PX4 版本的消息定义一一对应。 如果出于任何原因，您不能确保您的 PX4 固件和 ROS 2 px4_msgs 包之间具有相同的消息定义。 您还需要 [start the message translation node](#optional-starting-the-translation-node)，作为您设置过程的一部分。 diff --git a/docs/zh/sensor/grf_lidar.md b/docs/zh/sensor/grf_lidar.md index 53c32da749..ef1528c204 100644 --- a/docs/zh/sensor/grf_lidar.md +++ b/docs/zh/sensor/grf_lidar.md @@ -52,7 +52,7 @@ You will need to configure PX4 to indicate the serial port to which the sensor i The [parameters to change](../advanced_config/parameters.md) are listed in the table. -| 参数 | 描述 | +| Parameter | 描述 | | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------ | | [SENS_EN_GRF_CFG](../advanced_config/parameter_reference.md#SENS_EN_GRF_CFG) | Set to the serial port the sensor is connected to. | | [GRF_RATE_CFG](../advanced_config/parameter_reference.md#GRF_RATE_CFG) | Set the update rate. | diff --git a/docs/zh/sensor/optical_flow.md b/docs/zh/sensor/optical_flow.md index 029e611265..fee2fdfda4 100644 --- a/docs/zh/sensor/optical_flow.md +++ b/docs/zh/sensor/optical_flow.md @@ -101,7 +101,7 @@ For optical flow fusion using EKF2, set [EKF2_OF_CTRL](../advanced_config/parame If your optical flow sensor is offset from the vehicle centre, you can set this using the following parameters. -| 参数 | 描述 | +| Parameter | 描述 | | ----------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------- | | [EKF2_OF_POS_X](../advanced_config/parameter_reference.md#EKF2_OF_POS_X) | X position of optical flow focal point in body frame (default is 0.0m). | | [EKF2_OF_POS_Y](../advanced_config/parameter_reference.md#EKF2_OF_POS_Y) | Y position of optical flow focal point in body frame (default is 0.0m). | diff --git a/docs/zh/sensor/sf45_rotating_lidar.md b/docs/zh/sensor/sf45_rotating_lidar.md index 0581ff545a..1b1acae1e7 100644 --- a/docs/zh/sensor/sf45_rotating_lidar.md +++ b/docs/zh/sensor/sf45_rotating_lidar.md @@ -14,7 +14,7 @@ You will need to [create and use a custom build](#add-the-driver-to-the-px4-buil In the [LightWare Studio](https://lightwarelidar.com/resources-software/) app set following values: -| 参数 | 描述 | +| Parameter | 描述 | | --------- | ------ | | Baud rate | 921600 | @@ -46,7 +46,7 @@ You will need to configure PX4 to indicate the serial port to which the sensor i The [parameters to change](../advanced_config/parameters.md) are listed in the table. -| 参数 | 描述 | +| Parameter | 描述 | | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------ | | [SENS_EN_SF45_CFG](../advanced_config/parameter_reference.md#SENS_EN_SF45_CFG) | Set to the serial port you have the sensor connected to. | | [SF45_ORIENT_CFG](../advanced_config/parameter_reference.md#SF45_ORIENT_CFG) | Set the orientation of the sensor (facing up or down) | diff --git a/docs/zh/sim_gazebo_gz/index.md b/docs/zh/sim_gazebo_gz/index.md index 43a22637bb..c9ba7abd9d 100644 --- a/docs/zh/sim_gazebo_gz/index.md +++ b/docs/zh/sim_gazebo_gz/index.md @@ -173,6 +173,7 @@ The [supported worlds](../sim_gazebo_gz/worlds.md) are listed below. | `baylands` | `make px4_sitl *_baylands` | Baylands world surrounded by water | | `lawn` | `make px4_sitl *_lawn` | Lawn world for testing rovers | | `rover` | `make px4_sitl *_rover` | Rover world (optimised/preferred) | +| `ridge` | `make px4_sitl *_ridge` | World with a sloped ridge for testing terrain following | | `walls` | `make px4_sitl *_walls` | Wall world for testing collision prevention | | `windy` | `make px4_sitl *_windy` | Empty world with wind enabled | | `moving_platform` | `make px4_sitl *_moving_platform` | World with moving takeoff / landing platform | diff --git a/docs/zh/sim_gazebo_gz/vehicles.md b/docs/zh/sim_gazebo_gz/vehicles.md index ed1ec547c5..2fb3b226e9 100644 --- a/docs/zh/sim_gazebo_gz/vehicles.md +++ b/docs/zh/sim_gazebo_gz/vehicles.md @@ -183,7 +183,7 @@ make px4_sitl gz_tiltrotor ![VTOL Tiltrotor in Gazebo](../../assets/simulation/gazebo/vehicles/vtol_tiltrotor.png) -## 无人车 +## Rover ### Differential Rover diff --git a/docs/zh/sim_gazebo_gz/worlds.md b/docs/zh/sim_gazebo_gz/worlds.md index 449dc1a319..93fe8634d6 100644 --- a/docs/zh/sim_gazebo_gz/worlds.md +++ b/docs/zh/sim_gazebo_gz/worlds.md @@ -43,7 +43,29 @@ It is not recommended as the low frame rate causes segmentation faults on some f ![screenshot of lawn world](../../assets/simulation/gazebo/worlds/lawn.png) -## 无人车 +## Ridge + + + +World with a simple sloped ridge for testing terrain following. +It pairs naturally with the [x500_lidar_down](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-1d-lidar-down-facing) airframe: + +```sh +PX4_GZ_WORLD=ridge make px4_sitl gz_x500_lidar_down +``` + +Layout: + +- 500x500 m flat ground at world `z = 0`. +- A 40 m wide, 10 m tall, 40 m long triangular-prism ridge ~20 m east of the spawn (apex at world `(40, 0, 10)`). + The ridge is continuously sloped (~27°) so the rangefinder reading varies smoothly as the vehicle crosses it, avoiding the spurious EKF terrain-estimate resets that a vertical wall would trigger. +- Spherical coordinates are anchored at `(47.397971, 8.546164, 0)` so home AMSL is 0 by default; raise the elevation to test against non-zero AMSL anchors. + +[PX4-gazebo-models/main/worlds/ridge.sdf](https://github.com/PX4/PX4-gazebo-models/blob/main/worlds/ridge.sdf) + +![screenshot of ridge world](../../assets/simulation/gazebo/worlds/ridge.png) + +## Rover Rover world is optimised for rovers (and will be further optimised for rovers) and is the default world for [Ackermann Rover (4012)](../frames_rover/index.md#ackermann) (`make px4_sitl gz_rover_ackermann`) and [Differential Rover ((r1-rover (4009))](../frames_rover/index.md#differential) (`make px4_sitl gz_r1_rover`). @@ -97,7 +119,7 @@ The moving platform plugin can also be used within other worlds. For more information, see the plugin [README](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/simulation/gz_plugins/moving_platform_controller/README.md). ::: -## Model Specific Worlds {#model_specific_worlds} +## Model-specific Worlds {#model_specific_worlds} Some [vehicle models](../sim_gazebo_gz/vehicles.md) rely on the physics / plugins of a specific world. The PX4 toolchain will automatically spawn a world that has the same name as the vehicle model if one exists (instead of the [default world](#default)):