diff --git a/docs/uk/SUMMARY.md b/docs/uk/SUMMARY.md index 1678689c3c..b844c25c42 100644 --- a/docs/uk/SUMMARY.md +++ b/docs/uk/SUMMARY.md @@ -3,6 +3,11 @@ - [Try PX4 (Simulation)](simulation/px4_simulation_quickstart.md) +- [Developer Kits](dev_kits/index.md) + - [ModalAI Starling 2](complete_vehicles_mc/modalai_starling.md) + - [DroneBlocks DEXI 5](complete_vehicles_mc/droneblocks_dexi.md) + - [Holybro X500 v2](frames_multicopter/holybro_x500v2_pixhawk6c.md) + - [Мультикоптери](frames_multicopter/index.md) - [Функції](features_mc/index.md) - [Режим польоту](flight_modes_mc/index.md) @@ -39,7 +44,6 @@ - [Static Pressure Buildup](advanced_config/static_pressure_buildup.md) - [Flying (Basics)](flying/basic_flying_mc.md) - [Complete Vehicles](complete_vehicles_mc/index.md) - - [ModalAI Starling](complete_vehicles_mc/modalai_starling.md) - [PX4 Vision Kit](complete_vehicles_mc/px4_vision_kit.md) - [MindRacer BNF & RTF](complete_vehicles_mc/mindracer_BNF_RTF.md) - [MindRacer 210](complete_vehicles_mc/mindracer210.md) @@ -48,12 +52,6 @@ - [Holybro Kopis 2](complete_vehicles_mc/holybro_kopis2.md) - [Amov F410 Drone](complete_vehicles_mc/amov_F410_drone.md) - [Набори](frames_multicopter/kits.md) - - [X500 v2 (Pixhawk 6C)](frames_multicopter/holybro_x500v2_pixhawk6c.md) - - [X500 v2 (Pixhawk 5X)](frames_multicopter/holybro_x500V2_pixhawk5x.md) - - [X500 (Pixhawk 4)](frames_multicopter/holybro_x500_pixhawk4.md) - - [S500 V2 (Pixhawk 4)](frames_multicopter/holybro_s500_v2_pixhawk4.md) - - [Lumenier QAV-R 5" Racer (Pixracer)](frames_multicopter/qav_r_5_kiss_esc_racer.md) - - [QAV250 (Pixhawk4 Mini) - Припинено](frames_multicopter/holybro_qav250_pixhawk4_mini.md) - [DIY Builds](frames_multicopter/diy_builds.md) - [Omnicopter](frames_multicopter/omnicopter.md) - [DJI F450 (CUAV v5+)](frames_multicopter/dji_f450_cuav_5plus.md) @@ -178,10 +176,6 @@ - [CORVON 743v2](flight_controller/corvon_743v2.md) - [CORVON V5](flight_controller/corvon_v5.md) - [CUAV Nora](flight_controller/cuav_nora.md) - - [CUAV V5+ (FMUv5)](flight_controller/cuav_v5_plus.md) - - [Wiring Quickstart](assembly/quick_start_cuav_v5_plus.md) - - [CUAV V5 nano (FMUv5)](flight_controller/cuav_v5_nano.md) - - [Швидке підключення CUAV V5 nano](assembly/quick_start_cuav_v5_nano.md) - [CUAV X25 EVO](flight_controller/cuav_x25-evo.md) - [CUAV X25 EVO Wiring Quick Start](assembly/quick_start_cuav_x25_evo.md) - [CUAV X25 SUPER](flight_controller/cuav_x25-super.md) @@ -521,7 +515,9 @@ - [Pre-built Packages](simulation/px4_sitl_prebuilt_packages.md) - [Апаратне забезпечення](hardware/index.md) - [Дизайн контролера польоту](hardware/reference_design.md) - - [Manufacturer’s Board Support Guide](hardware/board_support_guide.md) + - [Manufacturers](hardware/manufacturers.md) + - [Manufacturer’s Board Support Guide](hardware/board_support_guide.md) + - [Official PX4 Developer Kit Program](hardware/dev_kit_program.md) - [Flight Controller Porting Guide](hardware/porting_guide.md) - [PX4 Конфігурація плати (kconfig)](hardware/porting_guide_config.md) - [Посібник з портування NuttX](hardware/porting_guide_nuttx.md) @@ -584,6 +580,7 @@ - [VtolVehicleStatus](msg_docs/VtolVehicleStatus.md) - [Wind](msg_docs/Wind.md) - [Historic (old) Versions](msg_docs/versioned_old_messages.md) + - [ActuatorServosV0](msg_docs/ActuatorServosV0.md) - [AirspeedValidatedV0](msg_docs/AirspeedValidatedV0.md) - [ArmingCheckReplyV0](msg_docs/ArmingCheckReplyV0.md) - [ArmingCheckRequestV0](msg_docs/ArmingCheckRequestV0.md) @@ -655,6 +652,7 @@ - [EstimatorStatusFlags](msg_docs/EstimatorStatusFlags.md) - [FailsafeFlags](msg_docs/FailsafeFlags.md) - [FailureDetectorStatus](msg_docs/FailureDetectorStatus.md) + - [FailureInjection](msg_docs/FailureInjection.md) - [FiducialMarkerPosReport](msg_docs/FiducialMarkerPosReport.md) - [FiducialMarkerYawReport](msg_docs/FiducialMarkerYawReport.md) - [FigureEightStatus](msg_docs/FigureEightStatus.md) @@ -719,6 +717,7 @@ - [OffboardControlMode](msg_docs/OffboardControlMode.md) - [OnboardComputerStatus](msg_docs/OnboardComputerStatus.md) - [OpenDroneIdArmStatus](msg_docs/OpenDroneIdArmStatus.md) + - [OpenDroneIdBasicId](msg_docs/OpenDroneIdBasicId.md) - [OpenDroneIdOperatorId](msg_docs/OpenDroneIdOperatorId.md) - [OpenDroneIdSelfId](msg_docs/OpenDroneIdSelfId.md) - [OpenDroneIdSystem](msg_docs/OpenDroneIdSystem.md) @@ -935,11 +934,14 @@ - [Test MC_08 - DSHOT ESC](test_cards/mc_08_dshot.md) - [Test MC_09 - VIO (Visual-Inertial Odometry)](test_cards/mc_09_vio.md) - [Test MC_10 - Optical Flow / GPS Mixed](test_cards/mc_10_optical_flow_gps_mixed.md) + - [Test MC_11 - Companion Computer (ROS 2 External Mode)](test_cards/mc_11_companion_ros2_external_mode.md) - [Fixed Wing](test_and_ci/test_flights.md#fixed-wing) - [Test FW_01 - Manual Modes](test_cards/fw_01_manual_modes.md) - [Test FW_02 - Full Autonomous](test_cards/fw_02_full_autonomous.md) + - [Hardware Bench Testing (px4bench)](test_and_ci/bench_testing.md) - [Модульні Тести](test_and_ci/unit_tests.md) - [Fuzz Tests](test_and_ci/fuzz_tests.md) + - [Sanitizers](test_and_ci/sanitizers.md) - [Безперервна інтеграція](test_and_ci/continous_integration.md) - [Integration Testing](test_and_ci/integration_testing.md) - [MAVSDK Тестування інтеграції ](test_and_ci/integration_testing_mavsdk.md) @@ -984,7 +986,7 @@ - [Релізи](releases/index.md) - [Release Process](releases/release_process.md) - [main (alpha)](releases/main.md) - - [v1.18 (alpha)](releases/1.18.md) + - [v1.18 (beta)](releases/1.18.md) - [1.17 (stable)](releases/1.17.md) - [1.16](releases/1.16.md) - [1.15](releases/1.15.md) diff --git a/docs/uk/assembly/quick_start_cuav_pixhawk_v6x.md b/docs/uk/assembly/quick_start_cuav_pixhawk_v6x.md index 173417403d..26a457f5d4 100644 --- a/docs/uk/assembly/quick_start_cuav_pixhawk_v6x.md +++ b/docs/uk/assembly/quick_start_cuav_pixhawk_v6x.md @@ -39,7 +39,7 @@ ## GPS + компас + зумер + захисний вимикач + світлодіод -Pixhawk® V6X можна придбати з GPS [NEO3](https://store.cuav.net/shop/neo-3/) (10-контактний роз'єм) та слід підключити до порту **GPS1**. +The Pixhawk® V6X can be purchased with a [NEO3 GPS](https://store.cuav.net/shop/neo-3-pro/) (10-pin connector) and should be connected to the **GPS1** port. Ці модулі GNSS мають вбудований компас, безпечний перемикач, дзвіночок та світлодіод. Якщо вам потрібно використовувати допоміжний GPS, підключіться до порту **GPS2**. @@ -49,7 +49,7 @@ GPS/компас слід [монтувати на раму](../assembly/mount_g ![GPS](../../assets/flight_controller/cuav_pixhawk_v6x/quickstart_03.jpg) :::info -Pixhawk V6X® is not compatible with NEO V2 GPS built-in buzzer: you should use [NEO3/NEO 3Pro](https://store.cuav.net/shop/neo-3/) instead. +Pixhawk V6X® is not compatible with NEO V2 GPS built-in buzzer: you should use [NEO3/NEO 3Pro](https://store.cuav.net/shop/neo-3-pro/) instead. Вбудований безпечний вимикач в GPS-модулі увімкнений _за замовчуванням_ (коли включений, PX4 не дозволить вам готувати до польоту). Щоб вимкнути безпеку, натисніть і утримуйте безпечний вимикач протягом 1 секунди. Ви можете натиснути безпечний вимикач знову, щоб увімкнути безпеку та відключити транспортний засіб (це може бути корисно, якщо, з якихось причин, ви не можете вимкнути транспортний засіб за допомогою вашого пульта дистанційного керування або наземної станції). @@ -85,7 +85,7 @@ Connect the 6pin connector of the module to the flight control **Power C1** or * Бортову радіостанцію слід підключити до порту **TELEM1**/**TELEM2**/**TELEM3**, як показано нижче (у разі підключення до **TELEM1**, подальша конфігурація не потрібна). Інша радіостанція підключається до вашого комп'ютера або мобільного пристрою наземної станції (зазвичай за допомогою USB). -Ви також можете придбати телеметричні радіо з [магазину CUAV](https://store.cuav.net/uav-telemetry-module/). +You can also purchase telemetry radios from the [CUAV store](https://store.cuav.net/category/telemetry/). ![Telemetry radios](../../assets/flight_controller/cuav_pixhawk_v6x/quickstart_06.jpg) diff --git a/docs/uk/assembly/quick_start_cuav_v5_nano.md b/docs/uk/assembly/quick_start_cuav_v5_nano.md index 456a513184..3a03b5fb9d 100644 --- a/docs/uk/assembly/quick_start_cuav_v5_nano.md +++ b/docs/uk/assembly/quick_start_cuav_v5_nano.md @@ -1,133 +1,7 @@ -# Швидке підключення CUAV V5 nano + -:::warning -PX4 не розробляє цей (або будь-який інший) автопілот. -Contact the [manufacturer](https://store.cuav.net/) for hardware support or compliance issues. -::: + diff --git a/docs/uk/assembly/quick_start_cuav_v5_plus.md b/docs/uk/assembly/quick_start_cuav_v5_plus.md index e4a0c31fa7..4271f1d268 100644 --- a/docs/uk/assembly/quick_start_cuav_v5_plus.md +++ b/docs/uk/assembly/quick_start_cuav_v5_plus.md @@ -1,134 +1,7 @@ -# Короткий посібник з підключення CUAV V5+ + -:::warning -PX4 не розробляє цей (або будь-який інший) автопілот. -Contact the [manufacturer](https://store.cuav.net/) for hardware support or compliance issues. -::: + diff --git a/docs/uk/assembly/quick_start_cuav_x25_evo.md b/docs/uk/assembly/quick_start_cuav_x25_evo.md index 89e2414124..eed60d28de 100644 --- a/docs/uk/assembly/quick_start_cuav_x25_evo.md +++ b/docs/uk/assembly/quick_start_cuav_x25_evo.md @@ -51,7 +51,7 @@ The following flight controller models are applicable to this quick start guide. We recommend using a CAN GPS/RTK (such as [Neo 4SE](https://store.cuav.net/shop/cuav-neo-4-se-gps-module/)); simply connect it to the **CAN 1** or **CAN 2** port. -You can also use a standard GPS/RTK module(such as [NEO3 GPS](https://store.cuav.net/shop/neo-3/) (10-pin connector)) by connecting it to the **GPS&SAFETY** port. +You can also use a standard GPS/RTK module(such as [NEO3 GPS](https://store.cuav.net/shop/neo-3-pro/) (10-pin connector)) by connecting it to the **GPS&SAFETY** port. Most commonly used GPS modules today integrate GPS, compass, safety switch, buzzer, and LED status light. Якщо вам потрібно використовувати допоміжний GPS, підключіться до порту **GPS2**. @@ -105,7 +105,7 @@ It can be directly connected to the **Power C1/C2** port of the X25 EVO and is p [Telemetry system](../telemetry/index.md) allows you to communicate with the unmanned system via ground station software, enabling you to monitor and control the UAV’s status during flight. Connect the on-board unit of the telemetry system to the **TELEM1** or **TELEM2** port. -Ви також можете придбати телеметричні радіо з [магазину CUAV](https://store.cuav.net/uav-telemetry-module/). +You can also purchase telemetry radios from the [CUAV store](https://store.cuav.net/category/telemetry/). ![Telemetry system](../../assets/flight_controller/cuav_x25-evo/x25_evo_quickstart_04.jpg) diff --git a/docs/uk/companion_computer/video_streaming.md b/docs/uk/companion_computer/video_streaming.md index 800390d0b3..fb8b25b0fb 100644 --- a/docs/uk/companion_computer/video_streaming.md +++ b/docs/uk/companion_computer/video_streaming.md @@ -20,7 +20,7 @@ For a Ubuntu companion, a minimal set might be: sudo apt install gstreamer1.0-plugins-bad gstreamer1.0-libav gstreamer1.0-gl -y ``` -For the full set you can mirror the QGC dependencies installed by [/tools/setup/install_dependencies.py](https://github.com/mavlink/qgroundcontrol/blob/master/tools/setup/install_dependencies.py). +For the full set you can mirror the QGC dependencies installed by [/tools/setup/install_dependencies](https://github.com/mavlink/qgroundcontrol/tree/master/tools/setup/install_dependencies). At time of writing this is: ```sh diff --git a/docs/uk/complete_vehicles_mc/crazyflie21.md b/docs/uk/complete_vehicles_mc/crazyflie21.md index 6b1e40dd18..455e183ee6 100644 --- a/docs/uk/complete_vehicles_mc/crazyflie21.md +++ b/docs/uk/complete_vehicles_mc/crazyflie21.md @@ -122,7 +122,6 @@ An overview of the Crazyflie 2.1 can be [found here](https://www.bitcraze.io/pro ## Встановлення оригінальної прошивки Bitcraze 1. Завантажте останній [завантажувач Crazyflie 2.1](https://github.com/bitcraze/crazyflie2-stm-bootloader/releases) - 2. Поставте Crazyflie 2.1 у режим DFU, виконавши ці кроки: - Спочатку переконайтеся, що він знеструмлений. - Переконайтеся, що акумулятор від'єднаний. @@ -130,7 +129,6 @@ An overview of the Crazyflie 2.1 can be [found here](https://www.bitcraze.io/pro - Підключіть до USB-порту комп'ютера. - Через секунду синій світлодіод повинен почати блимати, а через 5 секунд повинен почати блимати швидше. - Відпустіть кнопку. - 3. Виконайте прошивку завантажувальника за допомогою _dfu-util_ та від'єднайте Crazyflie 2.1, коли це зроблено: ```sh @@ -139,7 +137,7 @@ An overview of the Crazyflie 2.1 can be [found here](https://www.bitcraze.io/pro Коли увімкнено Crazyflie 2.1, жовтий світлодіод повинен мигати. -4. Встановіть останнє програмне забезпечення для польоту Bitcraze Crazyflie 2.1, використовуючи [цей](https://www.bitcraze.io/documentation/tutorials/getting-started-with-crazyflie-2-x/#update-fw) посібник. +. Встановіть останнє програмне забезпечення для польоту Bitcraze Crazyflie 2.1, використовуючи [цей](https://www.bitcraze.io/documentation/tutorials/getting-started-with-crazyflie-2-x/#update-fw) посібник. ## Інструкції з налаштування бездротового з'єднання @@ -151,15 +149,26 @@ An overview of the Crazyflie 2.1 can be [found here](https://www.bitcraze.io/pro Підключення через **MAVLink**: - Використовуйте Crazyradio PA разом із сумісним GCS. -- Завантажте вихідний код _crazyflie-lib-python_: + +- Download the _crazyflie-lib-python_ source code, and check out the last commit that included `cfbridge.py` (see warning below): ```sh git clone https://github.com/bitcraze/crazyflie-lib-python.git + git -C crazyflie-lib-python checkout 829ae10715b5bf2373a7a643434e474ab406fc62 ``` -:::info -Ми будемо використовувати [cfbridge.py](https://github.com/bitcraze/crazyflie-lib-python/blob/master/examples/cfbridge.py) для налаштування бездротового зв'язку MAVlink між Crazyflie 2.1 (прошитий PX4) та QGroundControl. _Cfbridge_ дозволяє QGroundControl комунікувати з crazyradio PA. -Цей [базований на C cfbridge](https://github.com/dennisss/cfbridge) наразі має проблеми з втратою даних, тому ми вирішили використовувати **cfbridge.py**. + ::: info + We will use [cfbridge.py](https://github.com/bitcraze/crazyflie-lib-python/blob/829ae10715b5bf2373a7a643434e474ab406fc62/examples/cfbridge.py) to setup a wireless MAVlink communication link between Crazyflie 2.1 (flashed with PX4) and QGroundControl. + _Cfbridge_ дозволяє QGroundControl комунікувати з crazyradio PA. + Цей [базований на C cfbridge](https://github.com/dennisss/cfbridge) наразі має проблеми з втратою даних, тому ми вирішили використовувати **cfbridge.py**. + +::: + + ::: warning + `cfbridge.py` was removed from the `crazyflie-lib-python` repository upstream (April 2026) and was not migrated to Bitcraze's `crazyflie-demos` repository. + The commands above check out the last commit that included the file. + This part of the workflow is no longer maintained by Bitcraze! + ::: - Переконайтеся, що ви налаштували дозволи udev для використання USB радіо. Для цього виконайте наступні кроки [тут](https://www.bitcraze.io/documentation/repository/crazyflie-lib-python/master/installation/usb_permissions/) та **перезапустіть** ваш комп'ютер. diff --git a/docs/uk/complete_vehicles_mc/droneblocks_dexi.md b/docs/uk/complete_vehicles_mc/droneblocks_dexi.md new file mode 100644 index 0000000000..d4dea588b4 --- /dev/null +++ b/docs/uk/complete_vehicles_mc/droneblocks_dexi.md @@ -0,0 +1,31 @@ +# DroneBlocks DEXI 5 + +The [DEXI 5](https://droneblocks.io/program/dexi-5-px4-stem-drone-kit/) is an NDAA-compliant PX4 STEM and development drone kit from [DroneBlocks](https://droneblocks.io/), designed to take students, hobbyists, and PX4 developers from unboxing to writing autonomous code with no technical barrier. + +DEXI 5 is an [Official PX4 Developer Kit](../dev_kits/index.md). + +![DroneBlocks DEXI 5 in flight](../../assets/hardware/complete_vehicles/droneblocks_dexi/dexi_5.jpg) + +## Загальний огляд + +DEXI 5 is built around an all-in-one flight controller running PX4, developed in collaboration with [ARK Electronics](https://arkelectron.com/), with integrated optical flow sensing for GPS-denied indoor flight. +A Raspberry Pi compute module acts as the companion computer, with a Pi camera and accessible GPIO pins for sensors, servos, and other payloads (up to about 225 g). + +Assembly is modular, solder-free, and plug-and-play, and is itself part of the learning experience: building the vehicle teaches the aerodynamics, mechanics, and electronics behind it. + +All critical electronic components are manufactured in the United States, meeting NDAA Section 848 requirements. + +## Software and Curriculum + +The kit ships with a full project-based curriculum on [learn.droneblocks.io](https://learn.droneblocks.io/) covering: + +- DroneBlocks visual (block-based) programming +- Python scripting with [MAVSDK](https://mavsdk.mavlink.io/) +- [ROS 2](../ros2/index.md) development, including projects such as AprilTag detection +- Computer vision with OpenCV using the onboard Pi camera + +Community support is available on the [DroneBlocks forum](https://community.droneblocks.io/). + +## Де купити + +- [DroneBlocks DEXI 5](https://droneblocks.io/program/dexi-5-px4-stem-drone-kit/) (single kits and classroom packs) diff --git a/docs/uk/complete_vehicles_mc/index.md b/docs/uk/complete_vehicles_mc/index.md index be3a51a6d9..d36f67d027 100644 --- a/docs/uk/complete_vehicles_mc/index.md +++ b/docs/uk/complete_vehicles_mc/index.md @@ -12,8 +12,13 @@ Цей розділ містить перелік наборів дронів, які призначені як платформи для подальшого розвитку. Вони можуть бути як повністю зібраними, так і у частинах. +:::tip +Kits certified by the PX4 team are listed in [PX4 Developer Kits](../dev_kits/index.md). +::: + +- [ModalAI VOXL 2 Starling PX4 Development Drone](../complete_vehicles_mc/modalai_starling.md) - SLAM development drone supercharged by VOXL 2 and PX4 ([Official PX4 Developer Kit](../dev_kits/index.md)) +- [DroneBlocks DEXI 5](../complete_vehicles_mc/droneblocks_dexi.md) - STEM/development kit with optical flow and Raspberry Pi companion computer ([Official PX4 Developer Kit](../dev_kits/index.md)) - [PX4 Vision DevKit](../complete_vehicles_mc/px4_vision_kit.md) - Мультикоптер, що використовується для розробки комп'ютерного зору PX4 -- [ModalAI VOXL 2 Starling PX4 Development Drone](../complete_vehicles_mc/modalai_starling.md) - SLAM development drone supercharged by VOXL 2 and PX4. ## Попередньо встановлене PX4 diff --git a/docs/uk/concept/flight_tasks.md b/docs/uk/concept/flight_tasks.md index 8e1089e5a4..c52fd0c51e 100644 --- a/docs/uk/concept/flight_tasks.md +++ b/docs/uk/concept/flight_tasks.md @@ -137,34 +137,38 @@ _Польотні завдання_ використовуються у [Реж Наприклад, щоб активувати наше нове завдання `MyTask` в позиційному режимі мультикоптера: - - Оновіть `MPC_POS_MODE` ([multicopter_position_mode_params.](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/mc_pos_control/multicopter_position_mode_params.c)), щоб додати варіант для вибору "MyTask", якщо параметр має раніше невикористане значення, наприклад 5: + - Update `MPC_POS_MODE` ([multicopter_position_mode_params.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/mc_pos_control/multicopter_position_mode_params.yaml)) to add an option for selecting "MyTask" using a previously unused parameter value (in this case 5): - ```c - ... - * @value 0 Direct velocity - * @value 4 Acceleration based - * @value 5 My task - * @group Multicopter Position Control - */ - PARAM_DEFINE_INT32(MPC_POS_MODE, 5); + ```yaml + MPC_POS_MODE: + ... + type: enum + values: + 0: Direct velocity + 4: Acceleration based + 5: My task + default: 4 ``` - - Додайте мітку case для нового варіанту в операторі switch для параметра в [FlightModeManager.cpp](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/flight_mode_manager/FlightModeManager.cpp#L266-L285), щоб увімкнути завдання коли `_param_mpc_pos_mode` має відповідне значення. + - Add a case for your new option in the switch for the parameter [FlightModeManager.cpp](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/flight_mode_manager/FlightModeManager.cpp#L214-L229) to enable the task when `_param_mpc_pos_mode` has the right value. ```cpp ... - // manual position control - ... switch (_param_mpc_pos_mode.get()) { - ... - case 3: - error = switchTask(FlightTaskIndex::ManualPositionSmoothVel); - break; - case 5: // Add case for new task: MyTask - error = switchTask(FlightTaskIndex::MyTask); - break; + case 0: + error = switchTask(FlightTaskIndex::ManualPosition); + break; + + case 5: + error = switchTask(FlightTaskIndex::MyTask); + break; + case 4: - .... + default: + ... + error = switchTask(FlightTaskIndex::ManualAcceleration); + break; + } ... ``` diff --git a/docs/uk/config/safety.md b/docs/uk/config/safety.md index da4fbde812..ebc57be214 100644 --- a/docs/uk/config/safety.md +++ b/docs/uk/config/safety.md @@ -126,9 +126,18 @@ PX4 and the receiver may also need to be configured in order to _detect RC loss_ | -------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------ | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | [COM_RC_LOSS_T](../advanced_config/parameter_reference.md#COM_RC_LOSS_T) | Аварійний режим втрати ручного керування Timeout | Час після отримання останньої встановленої точки від вибраного джерела керування вручну, після якого керування вважається втраченим. 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) | Затримка відмови від дії | Delay in seconds between failsafe condition being triggered (`COM_RC_LOSS_T`) and failsafe action (RTL, Land, Hold). У цьому стані транспортний засіб очікує в режимі утримання на повторне підключення джерела керування вручну. Це може бути встановлено довше для довгих польотів, щоб втрата інтермітентного з'єднання не викликала негайного виклику аварійного режиму. Це може бути рівним нулю, щоб аварійний запобіжник спрацював негайно. | -| [NAV_RCL_ACT](../advanced_config/parameter_reference.md#NAV_RCL_ACT) | Моделювання відмовостійкості | Вимкнути, Блукати, Повернутися, Приземлитися, Роззброїти, Завершити. | +| [NAV_RCL_ACT](../advanced_config/parameter_reference.md#NAV_RCL_ACT) | Моделювання відмовостійкості | Disabled, Loiter, Return, Land, Disarm, Terminate, Hold mode (no failsafe). | | [COM_RCL_EXCEPT](../advanced_config/parameter_reference.md#COM_RCL_EXCEPT) | Виключення втрат RC | Set modes in which manual control loss is ignored. | +### Hold Mode (No Failsafe) + +The `Hold mode (no failsafe)` action (`NAV_RCL_ACT = 7`) is a special case that does _not_ enter the failsafe. +Instead, if manual control is lost while actively flying a manual mode (such as Position, Altitude, or Stabilized), the vehicle switches to [Hold mode](../flight_modes_mc/hold.md) as if the user had commanded it: there is no failsafe state and no alarming failsafe notification. +This is intended for operations where a switch to Hold on manual control loss is expected and should not be surfaced as a failsafe (for example when operating multiple drones with one GCS). + +If Hold cannot be entered (for example without a valid position estimate), the normal failsafe takes over and escalates from there (Return, Land, Descend, or Terminate as applicable). +Manual control loss in any non-manual (auto/offboard) mode is ignored with this setting. + ## Втрата каналу зв'язку Failsafe The Data Link Loss failsafe is triggered if the connection to the last MAVLink ground station like QGroundControl is lost. diff --git a/docs/uk/contribute/git_examples.md b/docs/uk/contribute/git_examples.md index b93cb60034..d6cf8b3cdf 100644 --- a/docs/uk/contribute/git_examples.md +++ b/docs/uk/contribute/git_examples.md @@ -49,7 +49,7 @@ git add ``` - If you prefer having a GUI to add your files see [Gitk](https://git-scm.com/book/en/v2/Git-in-Other-Environments-Graphical-Interfaces) or [`git add -p`](https://nuclearsquid.com/writings/git-add/). + If you prefer having a GUI to add your files see [Gitk](https://git-scm.com/book/en/v2/Appendix-A:-Git-in-Other-Environments-Graphical-Interfaces) or [`git add -p`](https://nuclearsquid.com/writings/git-add/). - diff --git a/docs/uk/contribute/sbom.md b/docs/uk/contribute/sbom.md index 4c1887d9c0..bd2a8a6a64 100644 --- a/docs/uk/contribute/sbom.md +++ b/docs/uk/contribute/sbom.md @@ -1,6 +1,6 @@ # Software Bill of Materials (SBOM) -PX4 generates a [Software Bill of Materials](https://ntia.gov/SBOM) for every firmware build in [SPDX 2.3](https://spdx.github.io/spdx-spec/v2.3/) JSON format. +PX4 generates a [Software Bill of Materials](https://www.ntia.gov/SBOM) for every firmware build in [SPDX 2.3](https://spdx.github.io/spdx-spec/v2.3/) JSON format. ## Why SBOM? diff --git a/docs/uk/debug/plotting_realtime_uorb_data.md b/docs/uk/debug/plotting_realtime_uorb_data.md index bbb482a6c7..be9a89576d 100644 --- a/docs/uk/debug/plotting_realtime_uorb_data.md +++ b/docs/uk/debug/plotting_realtime_uorb_data.md @@ -24,7 +24,7 @@ Follow the [ROS 2 Installation & Setup](../ros2/user_guide.md#installation-setup You will also need to install: -- [PlotJuggler for ROS2](https://github.com/facontidavide/PlotJuggler) +- [PlotJuggler for ROS2](https://github.com/PlotJuggler/PlotJuggler) ::: tip Use the Debian packages (the snap files are not supported). diff --git a/docs/uk/debug/probe_bmp.md b/docs/uk/debug/probe_bmp.md index ea71bc85c7..d25a3140f1 100644 --- a/docs/uk/debug/probe_bmp.md +++ b/docs/uk/debug/probe_bmp.md @@ -21,7 +21,7 @@ The _6-pos DF13_ connector that comes with the probe cannot be used for SWD debu :::info To debug STM32F7 or later (FMUv5 and newer) the Zubax BugFace BF1 / Blackmagic probe likely requires a firmware update. -You can find how to update the [blackmagic probe here](https://black-magic.org/upgrade.html). +You can find how to update the [blackmagic probe here](https://black-magic.org/docs/intro/upgrade/). ::: To use a Zubax BugFace BF1 with GDB, start GDB with the exact ELF file that is currently flashed on the autopilot: diff --git a/docs/uk/debug/probe_mculink.md b/docs/uk/debug/probe_mculink.md index 85af4e0ca4..4a46583ea8 100644 --- a/docs/uk/debug/probe_mculink.md +++ b/docs/uk/debug/probe_mculink.md @@ -19,9 +19,9 @@ The [MCU-Link Debug Probe](https://www.nxp.com/design/design-center/software/dev ## Налагодження конфігурації за допомогою NXP LinkServer -MCU-Link забезпечує для чіпів NXP (FMUv6X-RT) сервер GDB [LinkServer](https://www.nxp.com/design/design-center/software/development-software/mcuxpresso-software-and-tools-/linkserver-for-microcontrollers:LINKERSERVER): +The MCU-Link provides for NXP (FMUv6X-RT) chips the [LinkServer](https://www.nxp.com/design/design-center/software/development-software/mcuxpresso-software-and-tools-/linkserver-for-microcontrollers:LINKSERVER) GDB server: -[Завантажте](https://www.nxp.com/design/design-center/software/development-software/mcuxpresso-software-and-tools-/linkserver-for-microcontrollers:LINKERSERVER#downloads) Linkserver для вашої операційної системи та дотримуйтесь інструкцій з установки. +[Download](https://www.nxp.com/design/design-center/software/development-software/mcuxpresso-software-and-tools-/linkserver-for-microcontrollers:LINKSERVER#downloads) the Linkserver for your operating system and follow the installation instructions. На Windows LinkServer встановлюється в `C:\NXP\LinkServer_x.x.x` На Linux LinkServer встановлюється `/usr/local/LinkServer/LinkServer` diff --git a/docs/uk/debug/swd_debug.md b/docs/uk/debug/swd_debug.md index 6c434e5f23..00004c00f7 100644 --- a/docs/uk/debug/swd_debug.md +++ b/docs/uk/debug/swd_debug.md @@ -34,7 +34,7 @@ Flight controllers commonly provide a single debug port that exposes both the [S The [Pixhawk Connector Standards](#pixhawk-standard-debug-ports) formalize the port that must be used in each FMU version. However there are still many boards that use different pinouts or connectors, so we recommend you check the [documentation for your autopilot](../flight_controller/index.md) to confirm port location and pinout. -Місцезнаходження порту налагодження та роз'єми для підмножини автопілотів зв'язані нижче: +The debug port location and pinouts for a subset of current autopilots are linked below: @@ -53,8 +53,6 @@ However there are still many boards that use different pinouts or connectors, so | [Holybro Kakute H7](../flight_controller/kakuteh7.md#debug-port) | SWD pads and system console | | [Holybro Kakute H7 mini](../flight_controller/kakuteh7mini.md#debug-port) | SWD pads and system console | | [Holybro Kakute H7 V2](../flight_controller/kakuteh7v2.md#debug-port) | SWD pads and system console | -| [CUAV V5+](../flight_controller/cuav_v5_plus.md#debug-port) | Custom port but comes with adaptor cable | -| [CUAV V5nano](../flight_controller/cuav_v5_nano.md#debug_port) | Custom port but comes with adaptor cable | | [CUAV Pixhawk V6X](../flight_controller/cuav_pixhawk_v6x.md#debug_port) | [Pixhawk Debug Full](#pixhawk-debug-full) | | [CUAV X25-SUPER](../flight_controller/cuav_x25-super.md#debug_port) | [Pixhawk Debug Mini] | | [CUAV X25-EVO](../flight_controller/cuav_x25-evo.md#debug_port) | [Pixhawk Debug Mini] | @@ -201,7 +199,7 @@ Some SWD [debug probes](#debug-probes) come with adapters/cables for connecting Some manufacturers provide cables to make it easy to connect the SWD interface and [System Console](../debug/system_console.md). -- [CUAV V5nano](../flight_controller/cuav_v5_nano.md#debug_port) and [CUAV V5+](../flight_controller/cuav_v5_plus.md#debug-port) include this debug cable: +For example, some CUAV board include this debug cable: ![6-pin JST SH Cable](../../assets/debug/cuav_v5_debug_cable.jpg) diff --git a/docs/uk/dev_airframes/adding_a_new_frame.md b/docs/uk/dev_airframes/adding_a_new_frame.md index a1e6a924ef..b2c53de341 100644 --- a/docs/uk/dev_airframes/adding_a_new_frame.md +++ b/docs/uk/dev_airframes/adding_a_new_frame.md @@ -246,16 +246,19 @@ If the airframe is for a **new group** you additionally need to: 3. Update _QGroundControl_: - Add the svg image for the group into: [src/AutopilotPlugins/Common/images](https://github.com/mavlink/qgroundcontrol/tree/master/src/AutoPilotPlugins/Common/Images) - - Add reference to the svg image into [qgcimages.qrc](https://github.com/mavlink/qgroundcontrol/blob/master/qgcimages.qrc), following the pattern below: + - Add a reference to the svg image into [CMakeLists.txt](https://github.com/mavlink/qgroundcontrol/blob/master/src/AutoPilotPlugins/Common/CMakeLists.txt), following the pattern below: - ```xml - - ... - src/AutoPilotPlugins/Common/Images/AirframeSimulation.svg - src/AutoPilotPlugins/Common/Images/AirframeUnknown.svg - src/AutoPilotPlugins/Common/Images/Boat.svg - src/AutoPilotPlugins/Common/Images/FlyingWing.svg - ... + ```cmake + qt_add_resources(${CMAKE_PROJECT_NAME} autopilot_plugin_common_airframes + PREFIX "/qmlimages/Airframe" + BASE "${CMAKE_SOURCE_DIR}/src/AutoPilotPlugins/Common/Images" + FILES + "${CMAKE_SOURCE_DIR}/src/AutoPilotPlugins/Common/Images/AirframeSimulation.svg" + "${CMAKE_SOURCE_DIR}/src/AutoPilotPlugins/Common/Images/AirframeUnknown.svg" + "${CMAKE_SOURCE_DIR}/src/AutoPilotPlugins/Common/Images/Boat.svg" + "${CMAKE_SOURCE_DIR}/src/AutoPilotPlugins/Common/Images/FlyingWing.svg" + ... + ) ``` ::: info diff --git a/docs/uk/dev_kits/index.md b/docs/uk/dev_kits/index.md new file mode 100644 index 0000000000..cfe3d6cfd8 --- /dev/null +++ b/docs/uk/dev_kits/index.md @@ -0,0 +1,59 @@ +# PX4 Developer Kits + +Official PX4 Developer Kits are the recommended way to get flying hardware for PX4 application development. + +Kits that carry the _Official PX4 Developer Kit_ designation are certified by the PX4 maintainer team to meet the requirements of the [Developer Kit Program](../hardware/dev_kit_program.md): + +- A flight controller that meets the latest Pixhawk standard, or matches its capabilities +- The latest stable PX4 release, pre-installed +- Pre-assembled, or assembly that requires no technical skill (no soldering) +- A guide, a focused tutorial, and a printed reference sheet included in the box +- Third-party build quality verification + +This means you can take any of the kits below out of the box and be developing against a current, supported PX4 stack in hours, not weeks. + +:::info +Manufacturers who want their kit certified should read the [Developer Kit Program](../hardware/dev_kit_program.md) documentation. +::: + +## ModalAI Starling 2 Max + +![Front view of the ModalAI Starling 2 Max](../../assets/hardware/complete_vehicles/modalai_starling/d0012_front_1920x800.png) + +The [Starling 2 Max](https://www.modalai.com/products/starling-2-max) is an NDAA-compliant, ready-to-fly development drone built around the [VOXL 2](../flight_controller/modalai_voxl_2.md), which combines the flight controller and a powerful companion computer in a single package. + +It is designed for computer-vision development (SLAM, GPS-denied navigation, long-range dead reckoning), carries a 500 g payload, and flies for up to 55 minutes. +The open source [VOXL SDK](https://gitlab.com/voxl-public/voxl-sdk) ships with pre-configured autonomy models, and the platform supports ROS 2 and MAVSDK workflows on the onboard computer. + +- [PX4 documentation](../complete_vehicles_mc/modalai_starling.md) +- [Manufacturer documentation](https://docs.modalai.com/starling-2-max/) + +## DroneBlocks DEXI 5 + +![DroneBlocks DEXI 5 in flight](../../assets/hardware/complete_vehicles/droneblocks_dexi/dexi_5.jpg) + +The [DEXI 5](https://droneblocks.io/program/dexi-5-px4-stem-drone-kit/) is an NDAA-compliant STEM and development drone kit built around an all-in-one PX4 flight controller with integrated optical flow (for GPS-denied indoor flight) and a Raspberry Pi companion computer with camera. + +Assembly is modular, solder-free, and plug-and-play. +The kit ships with a full project-based curriculum covering Python (MAVSDK), ROS 2, OpenCV, and DroneBlocks visual programming, taking you from unboxing to autonomous code with no technical barrier. + +- [PX4 documentation](../complete_vehicles_mc/droneblocks_dexi.md) +- [Manufacturer curriculum](https://learn.droneblocks.io/) + +## Holybro X500 v2 + +![The fully built X500 v2 with props removed](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk6c/kit_no_props.jpg) + +The [PX4 Development Kit X500 v2](https://holybro.com/products/px4-development-kit-x500-v2) is a classic 500 mm carbon-fiber quadcopter kit with a Pixhawk 6C or 6X flight controller, M10 GPS, telemetry radio, and power module. + +Motors and ESCs come pre-installed on the arms, so assembly is solder-free and takes about 30 minutes. +It lifts a 1.5 kg payload, which makes it a good base for adding your own companion computer and sensors. + +- [PX4 build guide](../frames_multicopter/holybro_x500v2_pixhawk6c.md) +- [Manufacturer documentation](https://docs.holybro.com/drone-development-kit/px4-development-kit-x500v2) + +## Дивіться також + +- [Повні Транспортні Засоби (MC)](../complete_vehicles_mc/README.md) +- [Kit Builds (MC)](../frames_multicopter/kits.md) +- [Developer Kit Program](../hardware/dev_kit_program.md) (for manufacturers) diff --git a/docs/uk/dev_log/ulog_file_format.md b/docs/uk/dev_log/ulog_file_format.md index f091e3af8c..5170396587 100644 --- a/docs/uk/dev_log/ulog_file_format.md +++ b/docs/uk/dev_log/ulog_file_format.md @@ -498,7 +498,7 @@ struct message_dropout_s { - [QGroundControl](https://github.com/mavlink/qgroundcontrol): C++, ULog streaming via MAVLink and minimal parsing for GeoTagging. - [mavlink-router](https://github.com/mavlink-router/mavlink-router): C++, ULog streaming via MAVLink. - [MAVGAnalysis](https://github.com/ecmnet/MAVGCL): Java, ULog streaming via MAVLink and parser for plotting and analysis. -- [PlotJuggler](https://github.com/facontidavide/PlotJuggler): C++/Qt application to plot logs and time series. Підтримує ULog з версії 2.1.3. +- [PlotJuggler](https://github.com/PlotJuggler/PlotJuggler): C++/Qt application to plot logs and time series. Підтримує ULog з версії 2.1.3. - [ulogreader](https://github.com/maxsun/ulogreader): Javascript, ULog reader and parser outputs log in JSON object format. - [Foxglove](https://foxglove.dev): an integrated visualization and diagnosis tool for robotics data that supports ULog files. - [TypeScript ULog parser](https://github.com/foxglove/ulog): TypeScript, ULog reader that outputs JS objects. diff --git a/docs/uk/dev_setup/building_px4.md b/docs/uk/dev_setup/building_px4.md index 76f219b6e4..2607dbc717 100644 --- a/docs/uk/dev_setup/building_px4.md +++ b/docs/uk/dev_setup/building_px4.md @@ -122,9 +122,9 @@ The following list shows the build commands for the [Pixhawk standard](../flight - [Pixhawk 4 Mini (FMUv5)](../flight_controller/pixhawk4_mini.md): `make px4_fmu-v5_default` -- [CUAV V5+ (FMUv5)](../flight_controller/cuav_v5_plus.md): `make px4_fmu-v5_default` +- [CUAV V5+ (FMUv5)](../flight_controller/cuav_v5_plus.md): `make px4_fmu-v5_default` - Discontinued -- [CUAV V5 nano (FMUv5)](../flight_controller/cuav_v5_nano.md): `make px4_fmu-v5_default` +- [CUAV V5 nano (FMUv5)](../flight_controller/cuav_v5_nano.md): `make px4_fmu-v5_default` - Discontinued - [Pixracer (FMUv4)](../flight_controller/pixracer.md): `make px4_fmu-v4_default` diff --git a/docs/uk/dronecan/ark_g5_rtk_gps.md b/docs/uk/dronecan/ark_g5_rtk_gps.md index 5eba7e8cdc..94a08936c3 100644 --- a/docs/uk/dronecan/ark_g5_rtk_gps.md +++ b/docs/uk/dronecan/ark_g5_rtk_gps.md @@ -29,8 +29,8 @@ The module incorporates the [Septentrio mosaic-G5 P3 Ultra-compact high-precisio - Advanced GNSS+ algorithms - 20Hz update rate - [ST IIS2MDC Magnetometer](https://www.st.com/en/mems-and-sensors/iis2mdc.html) - - [Bosch BMP390 Barometer](https://www.bosch-sensortec.com/products/environmental-sensors/pressure-sensors/bmp390/) - - [Invensense ICM-42688-P 6-Axis IMU](https://invensense.tdk.com/products/motion-tracking/6-axis/icm-42688-p/) + - [Bosch BMP390 Barometer](https://www.bosch-sensortec.com/en/products/environmental-sensors/pressure-sensors/bmp390/) + - [Invensense ICM-42688-P 6-Axis IMU](https://www.invensense.tdk.com/en-us/products/6-axis/icm-42688-p) - STM32F412VGH6 MCU - Кнопка безпеки - Зумер diff --git a/docs/uk/dronecan/ark_g5_rtk_heading_gps.md b/docs/uk/dronecan/ark_g5_rtk_heading_gps.md index 899a3ecd82..7752a84bba 100644 --- a/docs/uk/dronecan/ark_g5_rtk_heading_gps.md +++ b/docs/uk/dronecan/ark_g5_rtk_heading_gps.md @@ -29,8 +29,8 @@ The module incorporates the [Septentrio mosaic-G5 P3H Ultra-compact high-precisi - Advanced GNSS+ algorithms - 20Hz update rate - [ST IIS2MDC Magnetometer](https://www.st.com/en/mems-and-sensors/iis2mdc.html) - - [Bosch BMP390 Barometer](https://www.bosch-sensortec.com/products/environmental-sensors/pressure-sensors/bmp390/) - - [Invensense ICM-42688-P 6-Axis IMU](https://invensense.tdk.com/products/motion-tracking/6-axis/icm-42688-p/) + - [Bosch BMP390 Barometer](https://www.bosch-sensortec.com/en/products/environmental-sensors/pressure-sensors/bmp390/) + - [Invensense ICM-42688-P 6-Axis IMU](https://www.invensense.tdk.com/en-us/products/6-axis/icm-42688-p) - STM32F412VGH6 MCU - Кнопка безпеки - Зумер diff --git a/docs/uk/dronecan/ark_mosaic__rtk_gps.md b/docs/uk/dronecan/ark_mosaic__rtk_gps.md index 5f34e410aa..80fa6d18e3 100644 --- a/docs/uk/dronecan/ark_mosaic__rtk_gps.md +++ b/docs/uk/dronecan/ark_mosaic__rtk_gps.md @@ -19,8 +19,8 @@ - [AIM+ jamming protection](https://www.septentrio.com/en/learn-more/advanced-positioning-technology/aim-anti-jamming-protection) - Update rate of 100 Hz - ST IIS2MDC Magnetometer - - [Bosch BMP390 Barometer](https://www.bosch-sensortec.com/products/environmental-sensors/pressure-sensors/pressure-sensors-bmp390.html) - - [Invensense ICM-42688-P 6-Axis IMU](https://invensense.tdk.com/products/motion-tracking/6-axis/icm-42688-p/) + - [Bosch BMP390 Barometer](https://www.bosch-sensortec.com/en/products/environmental-sensors/pressure-sensors/pressure-sensors-bmp390.html) + - [Invensense ICM-42688-P 6-Axis IMU](https://www.invensense.tdk.com/en-us/products/6-axis/icm-42688-p) - STM32F412VGH6 MCU - З'єднання - Two Pixhawk Standard CAN Connectors (4 Pin JST-GH, 5V Input) diff --git a/docs/uk/dronecan/ark_teseo_gps.md b/docs/uk/dronecan/ark_teseo_gps.md index 36f5380524..8f89718ff6 100644 --- a/docs/uk/dronecan/ark_teseo_gps.md +++ b/docs/uk/dronecan/ark_teseo_gps.md @@ -21,8 +21,8 @@ - -162 dBm tracking sensitivity - Submeter positioning accuracy - [ST IIS2MDC Magnetometer](https://www.st.com/en/mems-and-sensors/iis2mdc.html) - - [Bosch BMP390 Barometer](https://www.bosch-sensortec.com/products/environmental-sensors/pressure-sensors/pressure-sensors-bmp390.html) - - [Invensense ICM-42688-P 6-Axis IMU](https://invensense.tdk.com/products/motion-tracking/6-axis/icm-42688-p/) + - [Bosch BMP390 Barometer](https://www.bosch-sensortec.com/en/products/environmental-sensors/pressure-sensors/pressure-sensors-bmp390.html) + - [Invensense ICM-42688-P 6-Axis IMU](https://www.invensense.tdk.com/en-us/products/6-axis/icm-42688-p) - STM32F412VGH6 MCU - Dual Band (L1/L5) Helical GPS Antenna - Два роз'єми стандарту CAN для Pixhawk (4 контакти JST GH) diff --git a/docs/uk/flight_controller/3dr_ctrl-n1.md b/docs/uk/flight_controller/3dr_ctrl-n1.md index 89a729e520..2692aed55e 100644 --- a/docs/uk/flight_controller/3dr_ctrl-n1.md +++ b/docs/uk/flight_controller/3dr_ctrl-n1.md @@ -4,7 +4,7 @@ :::warning PX4 не розробляє цей (або будь-який інший) автопілот. -Contact [3DR](https://3dr.com/) for hardware support or compliance issues. +Contact [3DR](https://www.3dr.com/) for hardware support or compliance issues. ::: The _3DR Control N1_ is a compact, high-performance, low-profile and lightweight flight controller designed and assembled in USA. @@ -116,14 +116,14 @@ Select and assign your preferred protocol in QGroundControl during initial setup The Control N1 is designed to be used with a carrier board. The following carrier boards are available from 3DR: -| Материнська плата | Опис | -| --------------------------------------------------------------------------------------------------- | --------------------------------------------- | -| [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 | +| Материнська плата | Опис | +| ---------------------------------------------------------------------------------------------------- | --------------------------------------------- | +| [CB1 Cuby](https://docs.3dr.com/autopilots/carrier-boards/r0026-cb1-cuby/) | Compact square form factor | +| [CB2 Longy](https://docs.3dr.com/autopilots/carrier-boards/r0027-cb2-longy/) | Thin form factor for space-constrained builds | +| [CB3 FPV](https://docs.3dr.com/autopilots/carrier-boards/r0033-cb3-fpv/) | Optimized for FPV platforms | +| [CB4 Wing](https://docs.3dr.com/autopilots/carrier-boards/r0036-cb4-wing/) | Fixed-wing and VTOL applications | +| [CN1 Prototyping Board](https://docs.3dr.com/autopilots/carrier-boards/r0037-cn1-prototyping-board/) | Full signal access for development | +| [CN1 to CZ OEM Adapter](https://docs.3dr.com/autopilots/carrier-boards/r0034-cn1-to-czoem-adapter/) | Adapter for Control Zero OEM carrier boards | The image below shows the pinout of the CB2 Longy as a reference for connector layout and signal assignment. @@ -134,10 +134,10 @@ The image below shows the pinout of the CB2 Longy as a reference for connector l The [SWD debug port](../debug/swd_debug.md) signals (SWCLK, SWDIO) and BOOT0 are routed through connector **J200** on the Control N1 module. The physical debug interface (connector type, pinout, and location) depends on the carrier board. -Depending on the carrier board, the debug connector may be a TC2030-compatible pad-of-nails (requires a [Tag-Connect TC2030](https://www.tag-connect.com/product/tc2030-ctx-nl-6-pin-no-legs-cable-for-use-with-cortex-processors) cable) or a 14-pin ARM Cortex JTAG/SWD header (Samtec FTSH-107, 2×7, 1.27 mm pitch). +Depending on the carrier board, the debug connector may be a TC2030-compatible pad-of-nails (requires a [Tag-Connect TC2030](https://www.tag-connect.com/product/tc2030-ctx-nl-6-pin-no-legs-cable-with-10-pin-micro-connector-for-cortex-processors) cable) or a 14-pin ARM Cortex JTAG/SWD header (Samtec FTSH-107, 2×7, 1.27 mm pitch). Note that some carrier boards may not expose a debug interface. Refer to your carrier board's documentation for the exact connector location and pinout. ## Подальша інформація -- [3DR Control N1 documentation](https://docs.3dr.com/autopilots/control-n1) +- [3DR Control N1 documentation](https://docs.3dr.com/autopilots/control-n1/) diff --git a/docs/uk/flight_controller/aedrox_aedroxh7.md b/docs/uk/flight_controller/aedrox_aedroxh7.md index faf267a425..38eb5b86d8 100644 --- a/docs/uk/flight_controller/aedrox_aedroxh7.md +++ b/docs/uk/flight_controller/aedrox_aedroxh7.md @@ -4,7 +4,7 @@ :::warning PX4 не розробляє цей (або будь-який інший) автопілот. -Contact the [manufacturer](https://aedrox.com/) for hardware support. +Contact the [manufacturer](https://www.aedrox.com/) for hardware support. ::: The AEDROXH7 is an STM32H743-based FPV / racing flight controller from AEDROX. diff --git a/docs/uk/flight_controller/ark_fpv.md b/docs/uk/flight_controller/ark_fpv.md index 74193a722c..f1a5496a5e 100644 --- a/docs/uk/flight_controller/ark_fpv.md +++ b/docs/uk/flight_controller/ark_fpv.md @@ -23,8 +23,8 @@ See the documentation [Ark Electronics GitBook](https://arkelectron.gitbook.io/a ## Датчики -- [Invensense IIM-42653 Industrial IMU](https://invensense.tdk.com/products/smartindustrial/iim-42653/) -- [Bosch BMP390 Barometer](https://www.bosch-sensortec.com/products/environmental-sensors/pressure-sensors/bmp390/) +- [Invensense IIM-42653 Industrial IMU](https://www.invensense.tdk.com/en-us/products/6-axis/iim-42653) +- [Bosch BMP390 Barometer](https://www.bosch-sensortec.com/en/products/environmental-sensors/pressure-sensors/bmp390/) - [ST IIS2MDC Magnetometer](https://www.st.com/en/mems-and-sensors/iis2mdc.html) ## Мікропроцесор diff --git a/docs/uk/flight_controller/ark_v6s.md b/docs/uk/flight_controller/ark_v6s.md index 89898576e1..ff8fc13f1c 100644 --- a/docs/uk/flight_controller/ark_v6s.md +++ b/docs/uk/flight_controller/ark_v6s.md @@ -17,12 +17,12 @@ This flight controller is [manufacturer supported](../flight_controller/autopilo ## Where To Buy {#store} -Order From [Ark Electronics](https://arkelectron.com/product/arkv6s/) (US) +Order From [Ark Electronics](https://arkelectron.com/product/arkv6s-flight-controller/) (US) ## Датчики -- [Invensense IIM-42653 Industrial IMU](https://invensense.tdk.com/products/smartindustrial/iim-42653/) -- [Bosch BMP390 Barometer](https://www.bosch-sensortec.com/products/environmental-sensors/pressure-sensors/bmp390/) +- [Invensense IIM-42653 Industrial IMU](https://www.invensense.tdk.com/en-us/products/6-axis/iim-42653) +- [Bosch BMP390 Barometer](https://www.bosch-sensortec.com/en/products/environmental-sensors/pressure-sensors/bmp390/) - [ST IIS2MDC Magnetometer](https://www.st.com/en/mems-and-sensors/iis2mdc.html) ## Мікропроцесор diff --git a/docs/uk/flight_controller/ark_v6x.md b/docs/uk/flight_controller/ark_v6x.md index c4b0819fda..4afa5521fe 100644 --- a/docs/uk/flight_controller/ark_v6x.md +++ b/docs/uk/flight_controller/ark_v6x.md @@ -22,9 +22,9 @@ Order From [Ark Electronics](https://arkelectron.com/product/arkv6x/) (US) ## Датчики -- [Dual Invensense ICM-42688-P IMUs](https://invensense.tdk.com/products/motion-tracking/6-axis/icm-42688-p/) -- [Invensense IIM-42652 Industrial IMU](https://invensense.tdk.com/products/smartindustrial/iim-42652/) -- [Bosch BMP390 Barometer](https://www.bosch-sensortec.com/products/environmental-sensors/pressure-sensors/bmp390/) +- [Dual Invensense ICM-42688-P IMUs](https://www.invensense.tdk.com/en-us/products/6-axis/icm-42688-p) +- [Invensense IIM-42652 Industrial IMU](https://www.invensense.tdk.com/en-us/products/6-axis/iim-42652) +- [Bosch BMP390 Barometer](https://www.bosch-sensortec.com/en/products/environmental-sensors/pressure-sensors/bmp390/) - [Bosch BMM150 Magnetometer](https://www.bosch-sensortec.com/media/boschsensortec/downloads/datasheets/bst-bmm150-ds001.pdf) ## Мікропроцесор diff --git a/docs/uk/flight_controller/autopilot_discontinued.md b/docs/uk/flight_controller/autopilot_discontinued.md index c9bd88c6f0..037d38424a 100644 --- a/docs/uk/flight_controller/autopilot_discontinued.md +++ b/docs/uk/flight_controller/autopilot_discontinued.md @@ -9,6 +9,8 @@ They are listed because you may be using them in an existing drone, and because - _Drotek DroPix_ (FMUv2) — last published in [PX4 v1.13](https://docs.px4.io/v1.13/en/flight_controller/dropix) - _Drotek Pixhawk 3 Pro_ (FMUv4pro) — last published in [PX4 v1.15](https://docs.px4.io/v1.15/en/flight_controller/pixhawk3_pro) - _Omnibus F4 SD_ — last published in [PX4 v1.15](https://docs.px4.io/v1.15/en/flight_controller/omnibus_f4_sd) +- _CUAV V5 nano_ (Manufacturer supported) — last published in [PX4 v1.17](https://docs.px4.io/v1.17/en/flight_controller/cuav_v5_nano) +- _CUAV V5+_ (Manufacturer supported) — last published in [PX4 v1.17](https://docs.px4.io/v1.17/en/flight_controller/cuav_v5_plus) - _CUAV X7_ — last published in [PX4 v1.16](https://docs.px4.io/v1.16/en/flight_controller/cuav_x7) - _CUAV v5_ (Pixhawk FMUv5) — last published in [PX4 v1.16](https://docs.px4.io/v1.16/en/flight_controller/cuav_v5) - _CUAV Pixhack v3_ (FMUv3) — last published in [PX4 v1.15](https://docs.px4.io/v1.15/en/flight_controller/pixhack_v3) diff --git a/docs/uk/flight_controller/autopilot_manufacturer_supported.md b/docs/uk/flight_controller/autopilot_manufacturer_supported.md index 1f6212587a..4452b550dc 100644 --- a/docs/uk/flight_controller/autopilot_manufacturer_supported.md +++ b/docs/uk/flight_controller/autopilot_manufacturer_supported.md @@ -30,8 +30,6 @@ This category includes boards that are not fully compliant with the pixhawk stan - [CORVON 743v2](../flight_controller/corvon_743v2.md) - [CORVON v5](../flight_controller/corvon_v5.md) - [CUAV Nora](../flight_controller/cuav_nora.md) (CUAV X7 variant) -- [CUAV V5+](../flight_controller/cuav_v5_plus.md) (FMUv5) -- [CUAV V5 nano](../flight_controller/cuav_v5_nano.md) (FMUv5) - [CUAV X25 EVO](../flight_controller/cuav_x25-evo.md) - [CUAV X25 SUPER](../flight_controller/cuav_x25-super.md) - [CUAV X25 MEGA](../flight_controller/cuav_x25-mega.md) diff --git a/docs/uk/flight_controller/cbunmanned_h753-som.md b/docs/uk/flight_controller/cbunmanned_h753-som.md index ee0d210e50..ac7932a043 100644 --- a/docs/uk/flight_controller/cbunmanned_h753-som.md +++ b/docs/uk/flight_controller/cbunmanned_h753-som.md @@ -37,7 +37,7 @@ CAN transceivers require a 5 V supply. USB-only power (≈4.5 V after the input ## Де купити -Check [CBUnmanned](https://cbunmanned.com) for availability. +Check [CBUnmanned](https://www.cbunmanned.com/) for availability. ## Збірка прошивки diff --git a/docs/uk/flight_controller/cuav_v5_nano.md b/docs/uk/flight_controller/cuav_v5_nano.md index 457b084eb0..378ac48855 100644 --- a/docs/uk/flight_controller/cuav_v5_nano.md +++ b/docs/uk/flight_controller/cuav_v5_nano.md @@ -1,231 +1,7 @@ -# Автопілот CUAV V5 nano + -:::warning -PX4 не розробляє цей (або будь-який інший) автопілот. -Contact the [manufacturer](https://store.cuav.net/) for hardware support or compliance issues. -::: + - -## Номінальна напруга - -_V5 nano_ must be powered from the `Power` connector during flight, and may also/alternatively be powered from `USB` for bench testing. - -:::info -The `PM2` connector cannot not be used for powering the _V5 nano_ (see [this issue](#compatibility_pm2)). -::: - -:::info -The Servo Power Rail is neither powered by, nor provides power to the FMU. -However, the pins marked **+** are all common, and a BEC may be connected to any of the servo pin sets to power the servo power rail. -::: - -## Захист від перенапруги - -The _V5 nano_ has no over current protection. - - - -## Периферійні пристрої - -- [Цифровий датчик швидкості польоту](https://item.taobao.com/item.htm?spm=a1z10.3-c-s.w4002-16371268452.37.6d9f48afsFgGZI\&id=9512463037) -- [Телеметричні радіо модулі](https://cuav.taobao.com/category-158480951.htm?spm=2013.1.w5002-16371268426.4.410b7a821qYbBq\&search=y\&catName=%CA%FD%B4%AB%B5%E7%CC%A8) -- [Rangefinders/Distance sensors](../sensor/rangefinders.md) - -## Підтримувані платформи / Конструкції - -Будь-який мультикоптер / літак / наземна платформа / човен, який може керуватися звичайними RC сервоприводами або сервоприводами Futaba S-Bus. -The complete set of supported configurations can be seen in the [Airframes Reference](../airframes/airframe_reference.md). - -## Сумісність - -CUAV використовує деякі відмінні дизайни і несумісний з деяким обладнанням, про що буде описано нижче. - - - -#### Neo v2.0 GPS несумісний з іншими пристроями - -The _Neo v2.0 GPS_ that is recommended for use with _CUAV V5+_ and _CUAV V5 nano_ is not fully compatible with other Pixhawk flight controllers (specifically, the buzzer part is not compatible and there may be issues with the safety switch). - -The UAVCAN [NEO V2 PRO GNSS receiver](https://doc.cuav.net/gps/neo-series-gnss/en/neo-v2-pro.html) can also be used, and is compatible with other flight controllers. - - - -#### Використання JTAG для апаратного налагодження - -`DSU7` FMU Debug Pin 1 is 5 volts - not the 3.3 volts of the CPU. - -Деякі JTAG-зонди використовують це напругу для встановлення рівнів введення-виведення при спілкуванні з цільовим об'єктом. - -For direct connection to _Segger Jlink_ we recommended you use the 3.3 Volts of DSM/SBUS/RSSI pin 4 as Pin 1 on the debug connector (`Vtref`). - - - -#### PM2 не може живити модульний політний контролер - -`PM2` can only measure battery voltage and current, but **not** power the flight controller. - -:::warning -PX4 does not support this interface. -::: - -## Відомі проблеми - -The issues below refer to the _batch number_ in which they first appear. -Номер партії - це чотирицифрова дата виробництва за V01 та відображається на наклейці з боку контролера польоту. -Наприклад, серійний номер партії V011904 ((V01 - це номер V5, 1904 - це дата виробництва, тобто номер партії). - - - -#### Інтерфейс SBUS / DSM / RSSI Pin1 не захищений від перевантаження - -:::warning -This is a safety issue. -::: - -Будь ласка, не підключайте інше обладнання (крім RC приймача) до інтерфейсу SBUS / DSM / RSSI - це може призвести до пошкодження обладнання! - -- _Found:_ Batches V01190904xxxx -- _Fixed:_ Batches later than V01190904xxxx - -## Подальша інформація - -- [V5 nano manual](http://manual.cuav.net/V5-nano.pdf) (CUAV) -- [FMUv5 reference design pinout](https://docs.google.com/spreadsheets/d/1-n0__BYDedQrc_2NHqBenG1DNepAgnHpSGglke-QQwY/edit#gid=912976165) (CUAV) -- [CUAV Github](https://github.com/cuav) (CUAV) -- [Airframe build-log using CUAV v5 nano on a DJI FlameWheel450](../frames_multicopter/dji_f450_cuav_5nano.md) +DOC REMOVED: 202607 +--> diff --git a/docs/uk/flight_controller/cuav_v5_plus.md b/docs/uk/flight_controller/cuav_v5_plus.md index 208278d370..e90959b4d0 100644 --- a/docs/uk/flight_controller/cuav_v5_plus.md +++ b/docs/uk/flight_controller/cuav_v5_plus.md @@ -1,244 +1,7 @@ -# Автопілот CUAV V5+ + -:::warning -PX4 не розробляє цей (або будь-який інший) автопілот. -Contact the [manufacturer](https://store.cuav.net/) for hardware support or compliance issues. -::: + - - - -## Периферійні пристрої - -- [Цифровий датчик швидкості польоту](https://item.taobao.com/item.htm?spm=a1z10.3-c-s.w4002-16371268452.37.6d9f48afsFgGZI\&id=9512463037) -- [Телеметричні радіо модулі](https://cuav.taobao.com/category-158480951.htm?spm=2013.1.w5002-16371268426.4.410b7a821qYbBq\&search=y\&catName=%CA%FD%B4%AB%B5%E7%CC%A8) -- [Rangefinders/Distance sensors](../sensor/rangefinders.md) - -## Підтримувані платформи / Конструкції - -Будь-який мультикоптер / літак / наземна платформа / човен, який може керуватися звичайними RC сервоприводами або сервоприводами Futaba S-Bus. -The complete set of supported configurations can be seen in the [Airframes Reference](../airframes/airframe_reference.md). - -## Примітки - -#### Do not plug Digital or Analog PM onto connectors configured for other type of PM - -If you plug an Analog PM into a digital PM connector it will stop all the I2C devices on that bus. -Specifically this will stop the GPS's compass due to contention, and may also damage the FMU (longer term). - -Similarly, a digital PM plugged into a analog connector will not work, and may also damage/destroy the power module (longer term). - -## Сумісність - -CUAV використовує деякі відмінні дизайни і несумісний з деяким обладнанням, про що буде описано нижче. - - - -#### GPS not compatible with other devices - -The _Neo v2.0 GPS_ recommended for use with _CUAV V5+_ and _CUAV V5 nano_ is not fully compatible with other Pixhawk flight controllers (specifically, the buzzer part is not compatible and there may be issues with the safety switch). - -The UAVCAN [NEO V2 PRO GNSS receiver](https://doc.cuav.net/gps/neo-series-gnss/en/neo-v2-pro.html) can also be used, and is compatible with other flight controllers. - - - -#### Використання JTAG для апаратного налагодження - -`DSU7` FMU Debug Pin 1 is 5 volts - not the 3.3 volts of the CPU. - -Some JTAG adapters use this voltage to set the IO levels when communicating to the target. - -For direct connection to _Segger Jlink_ we recommended you use the 3.3 Volts of DSM/SBUS/RSSI pin 4 as Pin 1 on the debug connector (`Vtref`). - -## Відомі проблеми - -The issues below refer to the _batch number_ in which they first appear. -Номер партії - це чотирицифрова дата виробництва за V01 та відображається на наклейці з боку контролера польоту. -Наприклад, серійний номер партії V011904 ((V01 - це номер V5, 1904 - це дата виробництва, тобто номер партії). - - - -#### Інтерфейс SBUS / DSM / RSSI Pin1 не захищений від перевантаження - -:::warning -This is a safety issue. -::: - -Please do not connect other equipment (except RC receiver) on SBUS / DSM / RSSI interface - this may lead to equipment damage. - -- _Found:_ Batches V01190904xxxx -- _Fixed:_ Batches later than V01190904xxxx - -## Подальша інформація - -- [CUAV V5+ Manual](http://manual.cuav.net/V5-Plus.pdf) -- [CUAV V5+ docs](https://doc.cuav.net/controller/v5-autopilot/en/v5+.html) -- [FMUv5 reference design pinout](https://docs.google.com/spreadsheets/d/1-n0__BYDedQrc_2NHqBenG1DNepAgnHpSGglke-QQwY/edit#gid=912976165) -- [CUAV Github](https://github.com/cuav) -- [Base board design reference](https://github.com/cuav/hardware/tree/master/V5_Autopilot/V5%2B/V5%2BBASE) -- [CUAV V5+ Wiring Quickstart](../assembly/quick_start_cuav_v5_plus.md) -- [Airframe build-log using CUAV v5+ on a DJI FlameWheel450](../frames_multicopter/dji_f450_cuav_5plus.md) +DOC REMOVED: 202607 +--> diff --git a/docs/uk/flight_controller/mro_control_zero_f7.md b/docs/uk/flight_controller/mro_control_zero_f7.md index a40e387e62..1b66efcbe2 100644 --- a/docs/uk/flight_controller/mro_control_zero_f7.md +++ b/docs/uk/flight_controller/mro_control_zero_f7.md @@ -27,9 +27,9 @@ This flight controller is [manufacturer supported](../flight_controller/autopilo - F-RAM Cypress MF25V02-G 256-Кбіт неволатильна пам'ять (Flash-пам'ять, яка працює так же швидко, як RAM) - Датчики: - - [Bosch BMI088](https://www.bosch-sensortec.com/products/motion-sensors/imus/bmi088/) 3-axis accelerometer/gyroscope (internally vibration dampened) - - [Invensense ICM-20602](https://invensense.tdk.com/products/motion-tracking/6-axis/icm-20602/) 3-axis accelerometer/gyroscope - - [Invensense ICM-20948](https://invensense.tdk.com/products/motion-tracking/9-axis/icm-20948/) 3-axis accelerometer/gyroscope/magnetometer + - [Bosch BMI088](https://www.bosch-sensortec.com/en/products/motion-sensors/imus/bmi088/) 3-axis accelerometer/gyroscope (internally vibration dampened) + - [Invensense ICM-20602](https://www.invensense.tdk.com/en-us/products/motion-tracking/6-axis/icm-20602) 3-axis accelerometer/gyroscope + - [Invensense ICM-20948](https://www.invensense.tdk.com/en-us/products/9-axis/icm-20948) 3-axis accelerometer/gyroscope/magnetometer - Infineon DPS310 barometer - [Discontinued](https://www.infineon.com/products/sensor/pressure-sensors/pressure-sensors-for-iot) (So smooth and NO more light sensitivity) - Інтерфейси: diff --git a/docs/uk/flight_controller/pixhawk_series.md b/docs/uk/flight_controller/pixhawk_series.md index 8eab4ac378..b61360048b 100644 --- a/docs/uk/flight_controller/pixhawk_series.md +++ b/docs/uk/flight_controller/pixhawk_series.md @@ -80,7 +80,7 @@ PX4 _developers_ need to know the FMU version of their board, as this is require Більше RAM. Більше CAN шин. Набагато більш налаштовуваний. - ([Pixhawk 4](../flight_controller/pixhawk4.md),[CUAV v5](../flight_controller/cuav_v5.md),[CUAV V5+](../flight_controller/cuav_v5_plus.md),[CUAV V5 nano](../flight_controller/cuav_v5_nano.md)) + ([Pixhawk 4 (Discontinued)](../flight_controller/pixhawk4.md),[CUAV v5 (Discontinued)](../flight_controller/cuav_v5.md), [CUAV V5+ (Discontinued)](../flight_controller/cuav_v5_plus.md),[CUAV V5 nano (Discontinued)](../flight_controller/cuav_v5_nano.md)) - **FMUv5X:** New processor (F7). Набагато швидший, модульний дизайн. Більш надійний. diff --git a/docs/uk/flight_controller/raspberry_pi_pilotpi_ubuntu_server.md b/docs/uk/flight_controller/raspberry_pi_pilotpi_ubuntu_server.md index 3133ffe54d..4951739b8c 100644 --- a/docs/uk/flight_controller/raspberry_pi_pilotpi_ubuntu_server.md +++ b/docs/uk/flight_controller/raspberry_pi_pilotpi_ubuntu_server.md @@ -13,20 +13,20 @@ Ubuntu Server on RPi 4B consumes a lot of current and generates a lot of heat. #### armhf -- [Ubuntu Server 18.04.5 for RPi2](https://cdimage.ubuntu.com/releases/18.04.5/release/ubuntu-18.04.5-preinstalled-server-armhf+raspi2.img.xz) -- [Ubuntu Server 18.04.5 for RPi3](https://cdimage.ubuntu.com/releases/18.04.5/release/ubuntu-18.04.5-preinstalled-server-armhf+raspi3.img.xz) -- [Ubuntu Server 18.04.5 for RPi4](https://cdimage.ubuntu.com/releases/18.04.5/release/ubuntu-18.04.5-preinstalled-server-armhf+raspi4.img.xz) +- [Ubuntu Server 18.04.5 for RPi2](https://cdimage.ubuntu.com/ubuntu/releases/18.04.5/release/ubuntu-18.04.5-preinstalled-server-armhf+raspi2.img.xz) +- [Ubuntu Server 18.04.5 for RPi3](https://cdimage.ubuntu.com/ubuntu/releases/18.04.5/release/ubuntu-18.04.5-preinstalled-server-armhf+raspi3.img.xz) +- [Ubuntu Server 18.04.5 for RPi4](https://cdimage.ubuntu.com/ubuntu/releases/18.04.5/release/ubuntu-18.04.5-preinstalled-server-armhf+raspi4.img.xz) - [Ubuntu Server 20.04.1 for RPi 2/3/4](https://old-releases.ubuntu.com/releases/focal/ubuntu-20.04.2-preinstalled-server-arm64+raspi.img.xz) #### arm64 -- [Ubuntu Server 18.04.5 for RPi3](https://cdimage.ubuntu.com/releases/18.04.5/release/ubuntu-18.04.5-preinstalled-server-arm64+raspi3.img.xz) -- [Ubuntu Server 18.04.5 for RPi4](https://cdimage.ubuntu.com/releases/18.04.5/release/ubuntu-18.04.5-preinstalled-server-arm64+raspi4.img.xz) +- [Ubuntu Server 18.04.5 for RPi3](https://cdimage.ubuntu.com/ubuntu/releases/18.04.5/release/ubuntu-18.04.5-preinstalled-server-arm64+raspi3.img.xz) +- [Ubuntu Server 18.04.5 for RPi4](https://cdimage.ubuntu.com/ubuntu/releases/18.04.5/release/ubuntu-18.04.5-preinstalled-server-arm64+raspi4.img.xz) - [Ubuntu Server 20.04.1 for RPi 3/4](https://old-releases.ubuntu.com/releases/focal/ubuntu-20.04.2-preinstalled-server-arm64+raspi.img.xz) #### Найновіша ОС -Please refer to official [cdimage](https://cdimage.ubuntu.com/releases/) page for any new updates. +Please refer to official [cdimage](https://cdimage.ubuntu.com/ubuntu/releases/) page for any new updates. ### Перший запуск diff --git a/docs/uk/flight_modes/offboard.md b/docs/uk/flight_modes/offboard.md index a5f6554a73..ba38ae69de 100644 --- a/docs/uk/flight_modes/offboard.md +++ b/docs/uk/flight_modes/offboard.md @@ -363,13 +363,12 @@ Rover MAVLink setpoints are gated by the MAVLink parameter [MAV_FWDEXTSP](../adv _Offboard mode_ is affected by the following parameters: -| Parameter | Опис | -| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -| [COM_OF_LOSS_T](../advanced_config/parameter_reference.md#COM_OF_LOSS_T) | Time-out (in seconds) to wait when offboard connection is lost before triggering offboard lost failsafe (`COM_OBL_RC_ACT`) | -| [COM_OBL_RC_ACT](../advanced_config/parameter_reference.md#COM_OBL_RC_ACT) | Flight mode to switch to if offboard control is lost. | -| [COM_RC_OVERRIDE](../advanced_config/parameter_reference.md#COM_RC_OVERRIDE) | Controls whether stick movement on a multicopter (or VTOL in MC mode) causes a mode change to [Position mode](../flight_modes_mc/position.md). This is not enabled for offboard mode by default. | -| [COM_RC_STICK_OV](../advanced_config/parameter_reference.md#COM_RC_STICK_OV) | The amount of stick movement that causes a transition to [Position mode](../flight_modes_mc/position.md) (if [COM_RC_OVERRIDE](#COM_RC_OVERRIDE) is enabled). | -| [COM_RCL_EXCEPT](../advanced_config/parameter_reference.md#COM_RCL_EXCEPT) | Specify modes in which RC loss is ignored and the failsafe action not triggered. Set bit `2` to ignore RC loss in Offboard mode. | +| Parameter | Опис | +| -------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | +| [COM_OF_LOSS_T](../advanced_config/parameter_reference.md#COM_OF_LOSS_T) | Time-out (in seconds) to wait when offboard connection is lost before triggering offboard lost failsafe (`COM_OBL_RC_ACT`) | +| [COM_OBL_RC_ACT](../advanced_config/parameter_reference.md#COM_OBL_RC_ACT) | Flight mode to switch to if offboard control is lost. | +| [MAN_OVERRIDE_SPD](../advanced_config/parameter_reference.md#MAN_OVERRIDE_SPD) | Speed (normalized stick travel per second) above which moving the sticks controlling a multicopter (or VTOL in hover) gives control back to the pilot by switching to [Position mode](../flight_modes_mc/position.md) (or Altitude mode if position is unavailable). At the default value of 1 a half-stick movement in ~0.5 s triggers it; lower is more sensitive. A stick held statically has zero speed and will not trigger. Set to -1 to disable. | +| [COM_RCL_EXCEPT](../advanced_config/parameter_reference.md#COM_RCL_EXCEPT) | Specify modes in which RC loss is ignored and the failsafe action not triggered. Set bit `2` to ignore RC loss in Offboard mode. | ## Developer Resources diff --git a/docs/uk/flight_modes/return.md b/docs/uk/flight_modes/return.md index be4d65ab44..e4d8ee6314 100644 --- a/docs/uk/flight_modes/return.md +++ b/docs/uk/flight_modes/return.md @@ -18,8 +18,8 @@ The _Return_ flight mode is used to _fly a vehicle to safety_ on an unobstructed - Літаючі транспортні засоби перейдуть в режим аварійної безпеки, якщо втратять оцінку положення. - Режим вимагає встановленої домашньої позиції. - Mode prevents arming (vehicle cannot be armed while this mode is selected). -- Перемикачі керування RC можуть використовуватися для зміни режимів польоту на будь-якому транспортному засобі. -- RC stick movement in a multicopter (or VTOL in multicopter mode) will [by default](#COM_RC_OVERRIDE) change the vehicle to [Position mode](../flight_modes_mc/position.md) unless prevented by the active failsafe state. +- RC switches can be used to change flight modes on any vehicle. +- Stick movement in a multicopter (or VTOL in hover) will [by default](#MAN_OVERRIDE_SPD) change the vehicle to [Position mode](../flight_modes_mc/position.md) unless prevented by the active failsafe state. - VTOL повернеться як MC або FW на основі свого режиму в точці, коли режим повернення було запущено. У режимі багтороторного літання він буде дотримуватися параметрів багтороторного літання, таких як "конус" посадки. У режимі ФПВ він буде дотримуватися параметрів фіксованого крила (ігнорувати конус), але, якщо не використовується місійна посадка, перейде в режим багтороторного літання та посадиться у пункт призначення після нависання на висоті спуску. @@ -46,10 +46,10 @@ PX4 provides four alternative approaches for finding an unobstructed path to a s На високому рівні є: -- [Home/rally point return](#home_return) (`RTL_TYPE=0`): Ascend to safe altitude and return via a direct path to the closest rally point or home location. -- [Mission landing/rally point return](#mission-landing-rally-point-return-type-rtl-type-1) (`RTL_TYPE=1`): Ascend to a safe altitude, fly direct to the closest destination _other than home_: rally point or start of mission landing. +- [Home/rally point return](#rtl_type_0) (`RTL_TYPE=0`): Ascend to safe altitude and return via a direct path to the closest rally point or home location. +- [Mission landing/rally point return](#rtl_type_1) (`RTL_TYPE=1`): Ascend to a safe altitude, fly direct to the closest destination _other than home_: rally point or start of mission landing. Якщо не визначено пунктів посадки або збору місії, поверніться додому прямим шляхом. -- [Mission path return](#mission-path-return-type-rtl-type-2) (`RTL_TYPE=2`): Use mission path and fast-continue to mission landing (if defined). +- [Mission path return](#rtl_type_2) (`RTL_TYPE=2`): Use mission path and fast-continue to mission landing (if defined). If no mission _landing_ defined, fast-reverse mission to home. If no _mission_ defined, return direct to home (rally points are ignored). - [Closest safe destination return](#closest-safe-destination-return-type-rtl-type-3) (`RTL_TYPE=3`): Ascend to a safe altitude and return via direct path to closest destination: home, start of mission landing pattern, or rally point. @@ -57,16 +57,14 @@ PX4 provides four alternative approaches for finding an unobstructed path to a s Більш детальні пояснення щодо кожного з типів наведено в наступних розділах. - - -### Тип повернення додому/точка збору (RTL_TYPE=0) +### Home/Rally Point Return Type (RTL_TYPE=0) {#rtl_type_0} This is the default return type for a [multicopter](../flight_modes_mc/return.md) (see topic for more information). У цьому типі повернення транспортний засіб: - Ascends to a safe [minimum return altitude](#minimum-return-altitude) (above any expected obstacles). -- Летить прямою траєкторією до вихідної позиції або точки збору (залежно від того, що ближче) +- Flies to the home position or a rally point (whichever is closest), preferring a [geofence-aware](#geofence_awareness) horizontal path over a direct path where possible. - On [arrival](#loiter-landing-at-destination) descends to "descent altitude" and waits for a configurable time. Цей час можна використати для розгортання шасі для посадки. - Lands or waits (this depends on landing parameters), @@ -77,7 +75,7 @@ This is the default return type for a [multicopter](../flight_modes_mc/return.md If no rally points are defined, this is the same as a _Return to Launch_ (RTL)/_Return to Home_ (RTH). ::: -### Тип посадки/повернення точки збору (RTL_TYPE=1) +### Mission Landing/Rally Point Return Type (RTL_TYPE=1) {#rtl_type_1} This is the default return type for a [fixed-wing](../flight_modes_fw/return.md) or [VTOL](../flight_modes_vtol/return.md) vehicle (see topics for more information). @@ -85,7 +83,7 @@ This is the default return type for a [fixed-wing](../flight_modes_fw/return.md) - Ascends to a safe [minimum return altitude](#minimum-return-altitude) (above any expected obstacles) if needed. Транспортний засіб підтримує свою початкову висоту, якщо вона вище, ніж мінімальна висота повернення. -- Flies via direct constant-altitude path to a rally point or the start of a [mission landing pattern](#mission-landing-pattern) (whichever is closest). +- Flies at constant-altitude to a rally point or the start of a [mission landing pattern](#mission-landing-pattern) (whichever is closest), preferring a [geofence-aware](#geofence_awareness) horizontal path over a direct path where possible. Якщо місця посадки або збору не визначені, транспортний засіб повертається додому прямим шляхом. - Якщо призначенням є місійний маршрут посадки, апарат буде дотримуватися маршруту для посадки. - If the destination is a rally point or home it will [land or wait](#loiter-landing-at-destination) at descent altitude (depending on landing parameters). @@ -100,7 +98,7 @@ This is the default return type for a [fixed-wing](../flight_modes_fw/return.md) Fixed wing vehicles commonly also set [MIS_TKO_LAND_REQ](#MIS_TKO_LAND_REQ) to _require_ a mission landing pattern. ::: -### Тип повернення маршруту завдання (RTL_TYPE=2) +### Mission Path Return Type (RTL_TYPE=2) {#rtl_type_2} This return type uses the mission (if defined) to provide a safe return _path_, and the [mission landing pattern](#mission-landing-pattern) (if defined) to provide landing behaviour. If there is a mission but no mission landing pattern, the mission is flown _in reverse_. @@ -110,6 +108,10 @@ If there is a mission but no mission landing pattern, the mission is flown _in r The behaviour is fairly complex because it depends on the flight mode, and whether a mission and mission landing are defined. ::: +:::warning +This return type does have [geofence awareness](#geofence_awareness) (at any stage). +::: + Mission _with_ landing pattern: - **Mission mode:** @@ -145,7 +147,7 @@ For `RTL_TYPE=4`, PX4 currently chooses between continuing to a mission landing This is only an approximation of the flown path length, because the number if mission items is not indicative of the distance remaining and non-position items are also counted. ::: -### Тип повернення додому/точка збору (RTL_TYPE=3) +### Closest Safe Destination Return Type (RTL_TYPE=3) {#rtl_type_3} У цьому типі повернення транспортний засіб: @@ -156,12 +158,62 @@ This is only an approximation of the flown path length, because the number if mi За замовчуванням багатороторні квадрокоптери або вертикально-взлітно-посадкові літаки в режимі багатороторника приземлюються, а фіксованокрилі літаки обертаються на висоті спуску. ВТОЛ у режимі FW вирівнює свою орієнтацію на точку призначення, переходить у режим МБ і потім приземлюється. +## Geofence Awareness {#geofence_awareness} + +For most of the return types (including the default home/rally point return type) the return path is chosen to avoid breaching any geofence. +Planning is purely horizontal: the altitude profile is unaffected, and only the lateral path is adjusted to avoid the fence. +If no geofence is set, the vehicle flies a direct path to the destination. + +While the return mode is inactive, the autopilot constantly recalculates a [shortest horizontal return path](#shortest-path-calculation) that does not enter any exclusion zones and does not exit any inclusion zones. + +If the return mode is triggered while the vehicle is violating any geofence, then the vehicle will first fly directly to the most recent recorded location at which it was not violating the geofence. +If no such point exists, or if the autopilot fails to plan a feasible path (e.g. the destination is located in an exclusion zone), then the vehicle falls back to flying directly to the destination. + +:::info +The estimated time for return is based on the current shortest horizontal path to the destination and may change if the geofence is updated. +::: + +:::warning +Geofence awareness currently supports a maximum of 99 polygon vertices in total (circles count as 8 vertices each). +If this limit is exceeded, the autopilot falls back to a direct path as described above. +::: + +:::warning +There is no absolute guarantee that the vehicle will not breach a geofence on the return path. +Things like path tracking error, wind and other disturbances may cause temporary violation of the geofence. +It is therefore very important to consider this possibility and especially to review the geofence breach action (e.g. [GF_ACTION](../advanced_config/parameter_reference.md#GF_ACTION)). +::: + +### RTL-types with Geofence-Awareness + +The following table shows which return types currently support geofence awareness: + +| Return Type (RTL_TYPE) | Geofence Awareness | +| -------------------------------------------------------------- | ------------------ | +| 0 (home/rally point) | Так | +| 1 (mission landing) | Так | +| 2 (mission path) | Ні | +| 3 (closest safe dest.) | Так | +| 4 (mission path) | Ні | +| 5 (rally point only) | Так | + +### Shortest-Path Calculation + +For the construction of the shortest path between the starting location and the destination, the autopilot uses the vertices of the geofence polygons as intermediate waypoints. +In order to avoid the path being too close to the polygon boundaries, the autopilot constructs a corresponding set of polygons, which are either enlarged (for exclusion zones) or shrunk (for inclusion zones). +The margin in both images below is 10m. +The figures below show an exclusion zone and an inclusion zone. + +![Exclusion Zone](../../assets/flight_modes/rtl_geofence_exclusion.jpg) + +![Inclusion Zone](../../assets/flight_modes/rtl_geofence_inclusion.jpg) + ## Мінімальна висота повернення For most [return types](#return_types) a vehicle will ascend to a _minimum safe altitude_ before returning (unless already above that altitude), in order to avoid any obstacles between it and the destination. :::info -The exception is when executing a [mission path return](#mission-path-return-type-rtl-type-2) from _within a mission_. +The exception is when executing a [mission path return](#rtl_type_2) from _within a mission_. У цьому випадку транспортний засіб слідує точкам маршруту місії, які ми припускаємо, що сплановані таким чином, щоб уникнути будь-яких перешкод. ::: @@ -206,7 +258,7 @@ If `RTL_LAND_DELAY=-1` it will loiter indefinitely. This consists of a [MAV_CMD_DO_LAND_START](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_LAND_START), one or more position waypoints, and a [MAV_CMD_NAV_LAND](https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_LAND) (or [MAV_CMD_NAV_VTOL_LAND](https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_VTOL_LAND) for a VTOL Vehicle). Landing patterns defined in missions are the safest way to automatically land a _fixed-wing_ vehicle on PX4. -For this reason fixed-wing vehicles are configured to use [Mission landing/really point return](#mission-landing-rally-point-return-type-rtl-type-1) by default. +For this reason fixed-wing vehicles are configured to use [Mission landing/really point return](#rtl_type_1) by default. ## Параметри @@ -221,7 +273,6 @@ The RTL parameters are listed in [Parameter Reference > Return Mode](../advanced | [RTL_MIN_DIST](../advanced_config/parameter_reference.md#RTL_MIN_DIST) | Within this distance from the return destination, the return altitude is calculated from the "cone" rather than directly from `RTL_RETURN_ALT`. | | [RTL_CONE_ANG](../advanced_config/parameter_reference.md#RTL_CONE_ANG) | Половина кута конуса, який визначає висоту повернення транспортного засобу RTL. Values (in degrees): `0`, `25`, `45`, `65`, `80`, `90`. Note that `0` is "no cone" (always return at `RTL_RETURN_ALT` or higher), while `90` indicates an almost vertical cone, so the vehicle generally returns at its current altitude when close to the destination. The return altitude may still be constrained to avoid flying too low while approaching the destination. | | [RTL_APPR_FORCE](../advanced_config/parameter_reference.md#RTL_APPR_FORCE) | [VTOL FW only] If set, home or rally-point RTL destinations are only considered when a valid VTOL approach loiter is defined for that landing location. Mission landing patterns are unaffected. | -| [COM_RC_OVERRIDE](../advanced_config/parameter_reference.md#COM_RC_OVERRIDE) | Controls whether stick movement on a multicopter (or VTOL in MC mode) causes a mode change to [Position mode](../flight_modes_mc/position.md) (unless prevented by the active failsafe state). Це можна окремо увімкнути для автоматичних режимів та для режиму поза бортом, і в автоматичних режимах воно включено за замовчуванням. | -| [COM_RC_STICK_OV](../advanced_config/parameter_reference.md#COM_RC_STICK_OV) | The amount of stick movement that causes a transition to [Position mode](../flight_modes_mc/position.md) (if [COM_RC_OVERRIDE](#COM_RC_OVERRIDE) is enabled). | +| [MAN_OVERRIDE_SPD](../advanced_config/parameter_reference.md#MAN_OVERRIDE_SPD) | Speed (normalized stick travel per second) above which moving the sticks controlling a multicopter (or VTOL in hover) gives control back to the pilot by switching to [Position mode](../flight_modes_mc/position.md) (or Altitude mode if position is unavailable). At the default 1 a half-stick movement in ~0.5 s triggers it; lower is more sensitive. A stick held statically has zero speed and will not trigger. Set to -1 to disable. | | [RTL_LOITER_RAD](../advanced_config/parameter_reference.md#RTL_LOITER_RAD) | [Тільки фіксоване крило] Радіус круга обертання (у значенні [RTL_LAND_DELAY](#RTL_LAND_DELAY)). | | [MIS_TKO_LAND_REQ](../advanced_config/parameter_reference.md#MIS_TKO_LAND_REQ) | Вказує, чи _необхідний_ місійний маршрут посадки або зльоту. Зазвичай літаки з фіксованим крилом встановлюють це для вимоги до посадкового маршруту, але VTOL - ні. | diff --git a/docs/uk/flight_modes_fw/return.md b/docs/uk/flight_modes_fw/return.md index 1d3d907292..2ddbc3be11 100644 --- a/docs/uk/flight_modes_fw/return.md +++ b/docs/uk/flight_modes_fw/return.md @@ -4,10 +4,10 @@ Режим польоту _Return_ використовується для _повернення транспортного засобу до безпеки_ по вільному шляху до безпечного пункту призначення, де він може приземлитися. -Літаки з фіксованим крилом за замовчуванням використовують тип повернення до призначення [місії посадки/точка збору](../flight_modes/return.md#mission-landing-rally-point-return-type-rtl-type-1), і завжди передбачається, що у них буде завдання з шаблоном посадки. +Fixed-wing vehicles use the [Mission Landing/Rally Point](../flight_modes/return.md#rtl_type_1) return type by default, and are expected to always have a mission with a landing pattern. З цією конфігурацією режим повернення зумовлює підняття транспортного засобу на мінімальну безпечну висоту над перешкодами (якщо потрібно), польот до початку схеми посадки, визначеної у плані місії, і далі слідує за нею для посадки. -Фіксоване крило підтримує [інші типи повернення PX4](../flight_modes/return.md#return-types-rtl-type), включаючи повернення додому/радільної точки, маршрут місії та найближче безпечне місце призначення. +Fixed-wing supports the [other PX4 return types](../flight_modes/return.md#return_types), including home/rally point return, mission path and closest safe destination. За замовчуванням рекомендується використовувати цей тип. ::: info @@ -33,7 +33,8 @@ - Піднімається на безпечну мінімальну висоту повернення, визначену за допомогою [RTL_RETURN_ALT](#RTL_RETURN_ALT) (безпечно вище будь-яких очікуваних перешкод). Транспортний засіб підтримує свою початкову висоту, якщо вона вище, ніж мінімальна висота повернення. Зверніть увагу, що висоту повернення не можна налаштувати, використовуючи параметр "cone" в літаках з фіксованим крилом. -- Летить прямим шляхом на постійній висоті до призначення, яким буде найближча з точки старту місійного маршруту посадки та будь-яка точка збору, або домашня локація, якщо місійний маршрут посадки або точки збору не визначені. +- Flies via a constant-altitude path to the destination, which will be the closest of the start of a _mission landing pattern_ and any rally point, or the home location if no mission landing pattern or rally points are defined. + The path is chosen to be the shortest horizontal [geofence-aware path](../flight_modes/return.md#geofence_awareness). - Якщо призначення - це шаблон посадки місії, воно буде слідувати за шаблоном для посадки. - Якщо місце призначення - це точка ралі або дім, воно спуститься на висоту спуску, а потім обережно почекає або приземлиться (в залежності від параметрів посадки). diff --git a/docs/uk/flight_modes_mc/hold.md b/docs/uk/flight_modes_mc/hold.md index d1501560a3..fae98cdfda 100644 --- a/docs/uk/flight_modes_mc/hold.md +++ b/docs/uk/flight_modes_mc/hold.md @@ -18,7 +18,7 @@ _Hold mode_ can be used to pause a mission or to help you regain control of a ve - Роззброєні транспортні засоби можуть переключатися в режим без дійсної оцінки позиції, але не можуть озброюватися. - Режим вимагає, щоб швидкість вітру та час польоту були в межах допустимих значень (вказано через параметри). - Перемикачі керування RC можуть використовуватися для зміни режимів польоту на будь-якому транспортному засобі. -- RC stick movement will [by default](#COM_RC_OVERRIDE) change the vehicle to [Position mode](../flight_modes_mc/position.md) unless prevented by the active failsafe state. +- Stick movement will [by default](#MAN_OVERRIDE_SPD) change the vehicle to [Position mode](../flight_modes_mc/position.md) unless prevented by the active failsafe state. @@ -29,17 +29,17 @@ _Hold mode_ can be used to pause a mission or to help you regain control of a ve The vehicle stops and hovers, maintaining its position and altitude. The vehicle will first ascend to [NAV_MIN_LTR_ALT](#NAV_MIN_LTR_ALT) if the mode is engaged below this altitude. -RC stick movement will change the vehicle to [Position mode](../flight_modes_mc/position.md) (by [default](#COM_RC_OVERRIDE)). +Stick movement will change the vehicle to [Position mode](../flight_modes_mc/position.md) (by [default](#MAN_OVERRIDE_SPD)). ### Параметри Поведінку режиму утримання можна налаштувати за допомогою наведених нижче параметрів. -| Parameter | Опис | -| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -| [NAV_MIN_LTR_ALT](../advanced_config/parameter_reference.md#NAV_MIN_LTR_ALT) | Це мінімальна висота над домашньою позицією, яку система завжди буде дотримуватися в режимі утримання, якщо перемикається в цей режим без вказівки висоти (наприклад, за допомогою перемикача на дистанційному керуванні). | -| [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). Це можна окремо увімкнути для автоматичних режимів та для режиму поза бортом, і в автоматичних режимах воно включено за замовчуванням. | -| [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 | Опис | +| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | +| [NAV_MIN_LTR_ALT](../advanced_config/parameter_reference.md#NAV_MIN_LTR_ALT) | Це мінімальна висота над домашньою позицією, яку система завжди буде дотримуватися в режимі утримання, якщо перемикається в цей режим без вказівки висоти (наприклад, за допомогою перемикача на дистанційному керуванні). | +| [MAN_OVERRIDE_SPD](../advanced_config/parameter_reference.md#MAN_OVERRIDE_SPD) | Speed (normalized stick travel per second) above which moving the sticks controlling a multicopter (or VTOL in hover) gives control back to the pilot by switching to [Position mode](../flight_modes_mc/position.md) (or Altitude mode if position is unavailable). At the default value of 1 a half-stick movement in ~0.5 s triggers it; lower is more sensitive. A stick held statically has zero speed and will not trigger. Set to -1 to disable. | +| [MPC_AUTO_NUDGING](../advanced_config/parameter_reference.md#MPC_AUTO_NUDGING) | Bitmask enabling stick nudging in Auto modes (multicopter). Bit 0 (yaw nudging) lets the yaw stick nudge heading in Hold, held when the stick is released; switching flight mode clears the held heading. Requires stick override to be disabled ([MAN_OVERRIDE_SPD](#MAN_OVERRIDE_SPD) = -1). | diff --git a/docs/uk/flight_modes_mc/land.md b/docs/uk/flight_modes_mc/land.md index 47dc08b6eb..564c2719f6 100644 --- a/docs/uk/flight_modes_mc/land.md +++ b/docs/uk/flight_modes_mc/land.md @@ -13,7 +13,7 @@ - Літаючі транспортні засоби перейдуть в режим аварійної безпеки, якщо втратять оцінку положення. - Mode prevents arming (vehicle cannot be armed while this mode is selected). - Перемикачі керування RC можуть використовуватися для зміни режимів польоту на будь-якому транспортному засобі. -- RC stick movement in a multicopter (or VTOL in multicopter mode) will [by default](#COM_RC_OVERRIDE) change the vehicle to [Position mode](../flight_modes_mc/position.md) unless prevented by the active failsafe state. +- Stick movement in a multicopter (or VTOL in hover) will [by default](#MAN_OVERRIDE_SPD) change the vehicle to [Position mode](../flight_modes_mc/position.md) unless prevented by the active failsafe state. - The mode can be triggered using the [MAV_CMD_NAV_LAND](https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_LAND) MAVLink command, or by explicitly switching to Land mode. @@ -25,18 +25,18 @@ Транспортний засіб приземлиться в місці, в якому був активований режим. The vehicle descends at the rate specified in [MPC_LAND_SPEED](#MPC_LAND_SPEED) and will disarm after landing (by [default](#COM_DISARM_LAND)). -RC stick movement will change the vehicle to [Position mode](../flight_modes_mc/position.md) (by [default](#COM_RC_OVERRIDE)). +Stick movement will change the vehicle to [Position mode](../flight_modes_mc/position.md) (by [default](#MAN_OVERRIDE_SPD)). ### Параметри Поведінку режиму приземлення можна налаштувати за допомогою наведених нижче параметрів. -| Parameter | Опис | -| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -| [MPC_LAND_SPEED](../advanced_config/parameter_reference.md#MPC_LAND_SPEED) | Швидкість спуску під час посадки. Це повинно бути тримано досить низько, оскільки ґрунтові умови не відомі. | -| [COM_DISARM_LAND](../advanced_config/parameter_reference.md#COM_DISARM_LAND) | Тайм-аут для автоматичного роззброєння після посадки, у секундах. Якщо встановлено на -1, транспортний засіб не роззброюється при посадці. | -| [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). Це можна окремо увімкнути для автоматичних режимів та для режиму поза бортом, і в автоматичних режимах воно включено за замовчуванням. | -| [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 | Опис | +| ----------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| [MPC_LAND_SPEED](../advanced_config/parameter_reference.md#MPC_LAND_SPEED) | Швидкість спуску під час посадки. Це повинно бути тримано досить низько, оскільки ґрунтові умови не відомі. | +| [COM_DISARM_LAND](../advanced_config/parameter_reference.md#COM_DISARM_LAND) | Тайм-аут для автоматичного роззброєння після посадки, у секундах. Якщо встановлено на -1, транспортний засіб не роззброюється при посадці. | +| [MAN_OVERRIDE_SPD](../advanced_config/parameter_reference.md#MAN_OVERRIDE_SPD) | Speed (normalized stick travel per second) above which moving the sticks controlling a multicopter (or VTOL in hover) gives control back to the pilot by switching to [Position mode](../flight_modes_mc/position.md) (or Altitude mode if position is unavailable). At the default value of 1 a half-stick movement in ~0.5 s triggers it; lower is more sensitive. A stick held statically has zero speed and will not trigger. Set to -1 to disable. | +| [MPC_AUTO_NUDGING](../advanced_config/parameter_reference.md#MPC_AUTO_NUDGING) | Bitmask enabling stick nudging in Auto modes (multicopter). Bit 0 (yaw nudging) lets the yaw stick nudge heading during landing. Bit 1 (land nudging) additionally lets the pitch/roll sticks move the vehicle horizontally (within [MPC_LAND_RADIUS](#MPC_LAND_RADIUS)), the throttle stick amend the descent speed, and the yaw stick rotate the heading. Requires stick override to be disabled ([MAN_OVERRIDE_SPD](#MAN_OVERRIDE_SPD) = -1). | ## Дивіться також diff --git a/docs/uk/flight_modes_mc/mission.md b/docs/uk/flight_modes_mc/mission.md index d30279149a..0f12cf0251 100644 --- a/docs/uk/flight_modes_mc/mission.md +++ b/docs/uk/flight_modes_mc/mission.md @@ -11,8 +11,9 @@ _Режим місії_ змушує транспортний засіб вик - Транспортний засіб повинен бути озброєний перед тим, як цей режим може бути активований. - Цей режим є автоматичним - для керування автомобілем не потрібно втручання користувача. - Перемикачі керування RC можуть використовуватися для зміни режимів польоту на будь-якому транспортному засобі. -- 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. - Це справжнє для багтороторів і ВПС у режимі КУ. +- Stick movement will [by default](#MAN_OVERRIDE_SPD) change the vehicle to [Position mode](../flight_modes_mc/position.md) unless prevented by the active failsafe state. + This is true for multicopters and VTOL in hover. +- The yaw stick can optionally nudge vehicle heading during the mission without changing mode (see [MPC_AUTO_NUDGING](#MPC_AUTO_NUDGING)). ::: @@ -110,11 +111,11 @@ _QGroundControl_ надає додаткову підтримку обробки Загальні параметри: -| Parameter | Опис | -| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -| [NAV_RCL_ACT](../advanced_config/parameter_reference.md#NAV_RCL_ACT) | Режим аварійного відновлення зв'язку RC (що робить транспортний засіб, якщо втрачає зв'язок RC) - наприклад, увійти в режим утримання, режим повернення, завершити тощо. | -| [COM_RC_OVERRIDE](../advanced_config/parameter_reference.md#COM_RC_OVERRIDE) | Контролює переміщення джойстика на мультикоптері (або конвертоплані у режимі MC) повертає керування пілоту в [Режим положення](../flight_modes_mc/position.md). Це можна окремо увімкнути для автоматичних режимів та для режиму поза бортом, і в автоматичних режимах воно включено за замовчуванням. | -| [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 | Опис | +| ----------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | +| [NAV_RCL_ACT](../advanced_config/parameter_reference.md#NAV_RCL_ACT) | Режим аварійного відновлення зв'язку RC (що робить транспортний засіб, якщо втрачає зв'язок RC) - наприклад, увійти в режим утримання, режим повернення, завершити тощо. | +| [MAN_OVERRIDE_SPD](../advanced_config/parameter_reference.md#MAN_OVERRIDE_SPD) | Speed (normalized stick travel per second) above which moving the sticks controlling a multicopter (or VTOL in hover) gives control back to the pilot by switching to [Position mode](../flight_modes_mc/position.md) (or Altitude mode if position is unavailable). At the default value of 1 a half-stick movement in ~0.5 s triggers it; lower is more sensitive. A stick held statically has zero speed and will not trigger. Set to -1 to disable. | +| [MPC_AUTO_NUDGING](../advanced_config/parameter_reference.md#MPC_AUTO_NUDGING) | Bitmask enabling stick nudging in Auto modes (multicopter). Bit 0 (yaw nudging) lets the yaw stick nudge heading without switching modes; the heading is held when the stick is released. Switching flight mode (e.g. to Hold and back) clears the held heading and returns yaw to the mode default. Requires stick override to be disabled ([MAN_OVERRIDE_SPD](#MAN_OVERRIDE_SPD) = -1). | Параметри, пов'язані з [перевірками можливостей місії](#mission-feasibility-checks): diff --git a/docs/uk/flight_modes_mc/return.md b/docs/uk/flight_modes_mc/return.md index c885dea9c3..40ef6538b5 100644 --- a/docs/uk/flight_modes_mc/return.md +++ b/docs/uk/flight_modes_mc/return.md @@ -4,11 +4,11 @@ Режим польоту _Return_ використовується для _повернення транспортного засобу до безпеки_ по вільному шляху до безпечного пункту призначення, де він може приземлитися. -Мультикоптери за замовчуванням використовують тип повертання до [домашньої/ралійної точки](../flight_modes/return.md#home-rally-point-return-type-rtl-type-0). -У цьому типі повернення транспортні засоби підіймаються на безпечну висоту над перешкодами, якщо потрібно, прямують безпосередньо до найближчої безпечної точки посадки (точки збору або домашньої позиції), опускаються на "висоту опускання", надвіюються коротко, а потім сідають. +Multicopters use a [home/rally point return type](../flight_modes/return.md#home_return) by default. +In this return type vehicles ascend to a safe altitude above obstructions if needed, fly to the closest safe landing point (a rally point or the home position) via the shortest horizontal [geofence-aware path](../flight_modes/return.md#geofence_awareness), descend to the "descent altitude", wait briefly, and then land. Висота повернення, висота зниження та затримка при посадці зазвичай встановлені на консервативні "безпечні" значення, але їх можна змінити за потреби. -Multicopter підтримує [інші типи повернення PX4](../flight_modes/return.md#return-types-rtl-type), включаючи посадку місії, маршрут місії і найближче безпечне місце призначення. +Multicopter supports the [other PX4 return types](../flight_modes/return.md#return_types), including mission landing, mission path and closest safe destination. За замовчуванням рекомендується використовувати цей тип. ::: info @@ -20,7 +20,7 @@ Multicopter підтримує [інші типи повернення PX4](../f - Режим вимагає встановленої домашньої позиції. - Mode prevents arming (vehicle cannot be armed while this mode is selected). - Перемикачі керування RC можуть використовуватися для зміни режимів польоту на будь-якому транспортному засобі. -- RC stick movement will [by default](#COM_RC_OVERRIDE) change the vehicle to [Position mode](../flight_modes_mc/position.md) unless prevented by the active failsafe state. +- Stick movement will [by default](#MAN_OVERRIDE_SPD) change the vehicle to [Position mode](../flight_modes_mc/position.md) unless prevented by the active failsafe state. @@ -28,12 +28,13 @@ Multicopter підтримує [інші типи повернення PX4](../f ## Технічний підсумок -Multicopters use the [home/rally point return type](../flight_modes/return.md#home-rally-point-return-type-rtl-type-0) by default ([RTL_TYPE=0](../advanced_config/parameter_reference.md#RTL_TYPE)). +Multicopters use the [home/rally point return type](../flight_modes/return.md#home_return) by default. ([RTL_TYPE=0](../advanced_config/parameter_reference.md#RTL_TYPE)). У цьому типі повернення вертольот: - Піднімається на [мінімальну висоту повернення](#minimum-return-altitude) (безпечно вище будь-яких очікуваних перешкод). Транспортний засіб підтримує свою початкову висоту, якщо вона вище, ніж мінімальна висота повернення. -- Летить за допомогою прямого постійного шляху на безпечну точку посадки, яка буде найближчою із всіх ралі-точок та домашньої позиції. +- Flies via a constant-altitude path to the safe landing point, which will be the nearest of any rally points and the home position. + The path is chosen to be the shortest horizontal [geofence-aware path](../flight_modes/return.md#geofence_awareness). - Прибуваючи до пункту призначення, він швидко спускається на «висоту спуску» ([RTL_DESCEND_ALT](#RTL_DESCEND_ALT)). - Він чекає протягом налаштованого часу ([RTL_LAND_DELAY](#RTL_LAND_DELAY)), який може бути використаний для розгортання шасі посадки. - Потім сідає на землю. @@ -52,7 +53,7 @@ The cone affects the minimum return altitude if return mode is triggered within Inside the cone, the vehicle returns at an altitude calculated from the cone geometry, up to `RTL_RETURN_ALT`. After reaching the destination, it descends to `RTL_DESCEND_ALT` (if above that altitude) before landing or loitering. -Для отримання додаткової інформації про цей тип повернення див. [Тип повернення додому/району збору (RTL_TYPE=0)](../flight_modes/return.md#home-rally-point-return-type-rtl-type-0) +For more information on this return type see [Home/Rally Point Return Type (RTL_TYPE=0)](../flight_modes/return.md#home_return) ## Параметри @@ -60,15 +61,14 @@ After reaching the destination, it descends to `RTL_DESCEND_ALT` (if above that Параметри, які є важливими для мультикоптерів (припускаючи, що [RTL_TYPE](../advanced_config/parameter_reference.md#RTL_TYPE) встановлено на 0), перераховані нижче. -| Parameter | Опис | -| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -| [RTL_RETURN_ALT](../advanced_config/parameter_reference.md#RTL_RETURN_ALT) | Повернути висоту в метрах (за замовчуванням: 60м), коли [RTL_CONE_ANG](../advanced_config/parameter_reference.md#RTL_CONE_ANG) дорівнює 0. Якщо вже вище цієї величини, транспортний засіб повернеться на поточну висоту. | -| [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. Якщо встановлено значення -1, система буде кружляти на висоті `RTL_DESCEND_ALT` замість посадки. Затримка надається для того, щоб ви могли налаштувати час для розгортання шасі для посадки (автоматично спрацьовує). | -| [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) | Половина кута конуса, який визначає висоту повернення транспортного засобу RTL. 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). Це можна окремо увімкнути для автоматичних режимів та для режиму поза бортом, і в автоматичних режимах воно включено за замовчуванням. | -| [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 | Опис | +| ----------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | +| [RTL_RETURN_ALT](../advanced_config/parameter_reference.md#RTL_RETURN_ALT) | Повернути висоту в метрах (за замовчуванням: 60м), коли [RTL_CONE_ANG](../advanced_config/parameter_reference.md#RTL_CONE_ANG) дорівнює 0. Якщо вже вище цієї величини, транспортний засіб повернеться на поточну висоту. | +| [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. Якщо встановлено значення -1, система буде кружляти на висоті `RTL_DESCEND_ALT` замість посадки. Затримка надається для того, щоб ви могли налаштувати час для розгортання шасі для посадки (автоматично спрацьовує). | +| [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) | Половина кута конуса, який визначає висоту повернення транспортного засобу RTL. Values (in degrees): `0`, `25`, `45`, `65`, `80`, `90`. Note that `0` is "no cone" (always return at `RTL_RETURN_ALT` or higher), while `90` indicates an almost vertical cone, so the vehicle generally returns at its current altitude when close to the destination. The return altitude may still be constrained to avoid flying too low while approaching the destination. | +| [MAN_OVERRIDE_SPD](../advanced_config/parameter_reference.md#MAN_OVERRIDE_SPD) | Speed (normalized stick travel per second) above which moving the sticks controlling a multicopter (or VTOL in hover) gives control back to the pilot by switching to [Position mode](../flight_modes_mc/position.md) (or Altitude mode if position is unavailable). At the default value of 1 a half-stick movement in ~0.5 s triggers it; lower is more sensitive. A stick held statically has zero speed and will not trigger. Set to -1 to disable. | ## Дивіться також diff --git a/docs/uk/flight_modes_mc/takeoff.md b/docs/uk/flight_modes_mc/takeoff.md index 4525c96403..0228657431 100644 --- a/docs/uk/flight_modes_mc/takeoff.md +++ b/docs/uk/flight_modes_mc/takeoff.md @@ -12,7 +12,7 @@ The _Takeoff_ flight mode causes the vehicle to take off to a specified height a - Літаючі транспортні засоби перейдуть в режим аварійної безпеки, якщо втратять оцінку положення. - Роззброєні транспортні засоби можуть переключатися в режим без дійсної оцінки позиції, але не можуть озброюватися. - Перемикачі радіокерування можна використовувати для зміни режимів польоту. -- RC stick movement will [by default](#COM_RC_OVERRIDE) change the vehicle to [Position mode](../flight_modes_mc/position.md) unless prevented by the active failsafe state. +- Stick movement will [by default](#MAN_OVERRIDE_SPD) change the vehicle to [Position mode](../flight_modes_mc/position.md) unless prevented by the active failsafe state. - The [Failure Detector](../config/safety.md#failure-detector) will automatically stop the engines if there is a problem on takeoff. @@ -23,18 +23,33 @@ The _Takeoff_ flight mode causes the vehicle to take off to a specified height a A multi rotor ascends vertically to the altitude defined in [MIS_TAKEOFF_ALT](../advanced_config/parameter_reference.md#MIS_TAKEOFF_ALT) and holds position. -RC stick movement will change the vehicle to [Position mode](../flight_modes_mc/position.md) (by [default](#COM_RC_OVERRIDE)). +Stick movement will change the vehicle to [Position mode](../flight_modes_mc/position.md) (by [default](#MAN_OVERRIDE_SPD)). ### Параметри Взліт впливається наступними параметрами: -| Parameter | Опис | -| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -| [MIS_TAKEOFF_ALT](../advanced_config/parameter_reference.md#MIS_TAKEOFF_ALT) | Цільова висота під час злітання (типово: 2.5м) | -| [MPC_TKO_SPEED](../advanced_config/parameter_reference.md#MPC_TKO_SPEED) | Швидкість підйому (за замовчуванням: 1.5м/с) | -| [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). Це можна окремо увімкнути для автоматичних режимів та для режиму поза бортом, і в автоматичних режимах воно включено за замовчуванням. | -| [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 | Опис | +| ----------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | +| [MIS_TAKEOFF_ALT](../advanced_config/parameter_reference.md#MIS_TAKEOFF_ALT) | Цільова висота під час злітання (типово: 2.5м) | +| [MPC_TKO_SPEED](../advanced_config/parameter_reference.md#MPC_TKO_SPEED) | Швидкість підйому (за замовчуванням: 1.5м/с) | +| [MAN_OVERRIDE_SPD](../advanced_config/parameter_reference.md#MAN_OVERRIDE_SPD) | Speed (normalized stick travel per second) above which moving the sticks controlling a multicopter (or VTOL in hover) gives control back to the pilot by switching to [Position mode](../flight_modes_mc/position.md) (or Altitude mode if position is unavailable). At the default value of 1 a half-stick movement in ~0.5 s triggers it; lower is more sensitive. A stick held statically has zero speed and will not trigger. Set to -1 to disable. | + +## Takeoff From a Moving Platform (Boat Deck) + +Automatic takeoff from a moving platform, such as a boat deck, is supported. The multicopter climbs and holds the point where it left the deck, rather than following the boat. + +:::warning +Given that the vehicle holds the point where it left the deck and does not travel along with the boat, always take off from the **back (stern) of the boat**, with clear open space behind it. +Taking off from the bow or the middle of the boat can leave it behind across the deck and into masts, antennas, superstructure, or crew. +::: + +:::info +Takeoff from a moving platform is only supported in [Takeoff mode](#technical-summary) (or the equivalent coordinate-less takeoff commanded from a ground station), not as part of a [Mission](../flight_modes_mc/mission.md). +To run a mission from a boat, take off first in Takeoff mode and then start the mission once the vehicle is airborne. +::: + +The moving-platform case can be exercised in simulation with the Gazebo [Moving Platform world](../sim_gazebo_gz/worlds.md#moving-platform). ## Дивіться також diff --git a/docs/uk/flight_modes_vtol/return.md b/docs/uk/flight_modes_vtol/return.md index d2b0b6f149..90c199ac0e 100644 --- a/docs/uk/flight_modes_vtol/return.md +++ b/docs/uk/flight_modes_vtol/return.md @@ -4,7 +4,7 @@ Режим _повернення_ використовується для _політів засобом перевезення до безпечного місця_ при наявності вільного шляху до безпечного пункту призначення, де він може зачекати (зависнути або обійти колом) або сісти. -Літальні апарати типу VTOL за замовчуванням використовують тип повернення до призначення [місії посадки/точка збору](../flight_modes/return.md#mission-landing-rally-point-return-type-rtl-type-1). +VTOL vehicles use the [Mission Landing/Rally Point](../flight_modes/return.md#rtl_type_1) return type by default. У цьому типі повернення апарат піднімається на мінімальну безпечну висоту над перешкодами (за необхідності), а потім напряму летить до точки збору або початкової точки призначення місії (яка є найближчою), або додому, якщо жодна з точок збору або місійний маршрут посадки не визначені. Якщо призначенням є місійний маршрут посадки, апарат потім дотримуватиметься маршруту для посадки. If the destination is a rally point or the home location, the vehicle will fly to that destination and land. @@ -12,7 +12,7 @@ If the destination is a rally point or the home location, the vehicle will fly t Літальний апарат повернеться за допомогою режиму польоту (MC або FW), який він використовував у той момент, коли був активований режим повернення. Загалом, він буде дотримуватися того ж поведінкового зразка режиму повернення, що й відповідний тип транспортного засобу, але завжди перейде до режиму MC (якщо потрібно) перед посадкою. -VTOL підтримує [інші типи повернення PX4](../flight_modes/return.md#return-types-rtl-type), включаючи повернення до дому / точки збору, маршрут місії і найближче безпечне місце призначення. Рекомендується використовувати тип за замовчуванням. +VTOL supports the [other PX4 return types](../flight_modes/return.md#return_types), including home/rally point return, mission path and closest safe destination. За замовчуванням рекомендується використовувати цей тип. ::: info @@ -32,7 +32,7 @@ VTOL підтримує [інші типи повернення PX4](../flight_m ## Технічний підсумок -Літальні апарати типу VTOL за замовчуванням використовують тип повернення до призначення [місії посадки/ точки збору](../flight_modes/return.md#mission-landing-rally-point-return-type-rtl-type-1), і повертаються, використовуючи режим польоту (MC або FW), який вони використовували в момент активації режиму повернення. +VTOL vehicles use the [Mission Landing/Rally Point](../flight_modes/return.md#rtl_type_1) return type by default, and return using the flying mode (MC or FW) it was using at the point when return mode was triggered. ### Повернення режиму фіксованого крила (FW) @@ -42,7 +42,8 @@ VTOL підтримує [інші типи повернення PX4](../flight_m Транспортний засіб підтримує свою початкову висоту, якщо вона вище, ніж мінімальна висота повернення. -- Летить прямим шляхом на постійній висоті до призначення, яким буде найближча з точки старту місійного маршруту посадки та будь-яка точка збору, або домашня локація, якщо місійний маршрут посадки або точки збору не визначені. +- Flies via a constant-altitude path to the destination, which will be the closest of the start of a _mission landing pattern_ and any rally point, or the home location if no mission landing pattern or rally points are defined. + The path is chosen to be the shortest horizontal [geofence-aware path](../flight_modes/return.md#geofence_awareness). - Якщо призначенням є місійний маршрут посадки, апарат буде дотримуватися маршруту для посадки. diff --git a/docs/uk/frames_autogyro/index.md b/docs/uk/frames_autogyro/index.md index 4c07c75a6d..4e2b176f6c 100644 --- a/docs/uk/frames_autogyro/index.md +++ b/docs/uk/frames_autogyro/index.md @@ -34,5 +34,5 @@ The set of supported configurations can be seen in [Airframes Reference > Autogy У цьому розділі перелічені транспортні засоби, які продаються повністю зібраними та готові до польоту (RTF), з встановленим PX4. -- [ThunderFly TF-G2](https://docs.thunderfly.cz/instruments/TF-G2) - Unmanned Autogyro Development Kit -- [ThunderFly TF-G250](https://docs.thunderfly.cz/instruments/TF-G250) - Atmospheric Sounding Aerological Autogyro +- [ThunderFly TF-G2](https://docs.thunderfly.cz/instruments/TF-G2/) - Unmanned Autogyro Development Kit +- [ThunderFly TF-G250](https://docs.thunderfly.cz/instruments/TF-G250/) - Atmospheric Sounding Aerological Autogyro diff --git a/docs/uk/frames_autogyro/thunderfly_auto_g2.md b/docs/uk/frames_autogyro/thunderfly_auto_g2.md index 3f532aa9f1..1b1f39fc90 100644 --- a/docs/uk/frames_autogyro/thunderfly_auto_g2.md +++ b/docs/uk/frames_autogyro/thunderfly_auto_g2.md @@ -6,7 +6,7 @@ Durafly™ Auto-G2 Gyrocopter RC model, with several parts of the original model ![Auto-G2](../../assets/airframes/autogyro/auto-g2/autog2_title.jpg) :::info -Auto-G2 autogyro’s airframe was originally developed by [ThunderFly](https://www.thunderfly.cz/) and has since evolved into the updated [TF-G2 platform](https://docs.thunderfly.cz/instruments/TF-G2). +Auto-G2 autogyro’s airframe was originally developed by [ThunderFly](https://www.thunderfly.cz/) and has since evolved into the updated [TF-G2 platform](https://docs.thunderfly.cz/instruments/TF-G2/). Check out our site for more information on the current [TF-G2 commercial airframe](https://www.thunderfly.cz/tf-g2.html). ::: @@ -30,7 +30,7 @@ Durafly Auto-G2 коробка автожира містить полістир ### Автопілот Літак з усіма модифікаціями вже досить важкий. -Therefore a low-weight flight controller is recommended (e.g. [Holybro pix32](../flight_controller/holybro_pix32.md) or [CUAV nano](../flight_controller/cuav_v5_nano.md)). +Therefore a low-weight flight controller is recommended. The autopilot should be mounted on the bottom side of the autogyro on a 3D-printed damping pad. We have used the damping platform found on [thingiverse](https://www.thingiverse.com/thing:160655) @@ -104,7 +104,7 @@ It is a small box equipped with a servo that pulls out the pin and releases the ### Електроніка -- Autopilot ([Holybro pix32](../flight_controller/holybro_pix32.md), [CUAV nano](../flight_controller/cuav_v5_nano.md)) +- Autopilot ([Holybro pix32](../flight_controller/holybro_pix32.md), _CUAV nano_ (discontinued) - GPS (Модуль GPS NEO-6M, з патч-антеною) - Airspeed sensor ([SDP3x series](https://sensirion.com/products/catalog?categories=differential-pressure&series=SDP3x&page=1&page_size=12)) - Stronger servos as a substitution for the original ones (optional), ([BlueBird BMS-125WV](https://www.blue-bird-model.com/products_detail/411.htm)) diff --git a/docs/uk/frames_multicopter/dji_f450_cuav_5nano.md b/docs/uk/frames_multicopter/dji_f450_cuav_5nano.md index 23f77f0040..739485e583 100644 --- a/docs/uk/frames_multicopter/dji_f450_cuav_5nano.md +++ b/docs/uk/frames_multicopter/dji_f450_cuav_5nano.md @@ -14,7 +14,7 @@ This topic provides full instructions for building the kit and configuring PX4 u Компоненти, необхідні для цієї збірки, є: -- Flight controller: [CUAV V5 nano](https://store.cuav.net/shop/v5-nano/): +- Flight controller: [CUAV V5 nano](../flight_controller/cuav_v5_nano.md) (Discontinued): - GPS: [CUAV NEO V2 GPS](https://store.cuav.net/?id_product=97&id_product_attribute=0&rewrite=cuav-new-ublox-neo-m8n-gps-module-with-shell-stand-holder-for-flight-controller-gps-compass-for-pixhack-v5-plus-rc-parts-px4&controller=product&id_lang=1) - Модуль живлення - Frame: [DJI F450](https://www.amazon.com/Flame-Wheel-Basic-Quadcopter-Drone/dp/B00HNMVQHY) diff --git a/docs/uk/frames_multicopter/dji_f450_cuav_5plus.md b/docs/uk/frames_multicopter/dji_f450_cuav_5plus.md index b29a2f70ea..247c857b71 100644 --- a/docs/uk/frames_multicopter/dji_f450_cuav_5plus.md +++ b/docs/uk/frames_multicopter/dji_f450_cuav_5plus.md @@ -5,7 +5,7 @@ This topic provides full instructions for building the kit and configuring PX4 u Основна Інформація - **Frame:** DJI F450 -- **Flight controller:** [CUAV V5+](../flight_controller/cuav_v5_plus.md) +- **Flight controller:** [CUAV V5+](../flight_controller/cuav_v5_plus.md) (Discontinued) - **Assembly time (approx.):** 90 minutes (45 minutes for frame, 45 minutes autopilot installation/configuration) ![Finished setup 1](../../assets/airframes/multicopter/dji_f450_cuav_5plus/f450_cuav5_plus_complete.png) @@ -14,7 +14,7 @@ This topic provides full instructions for building the kit and configuring PX4 u Компоненти, необхідні для цієї збірки, є: -- Flight controller: [CUAV V5+](https://store.cuav.net/uav-flight-controller/): +- Flight controller: _CUAV V5+_ (Discontinued): - GPS: CUAV NEO V2 GPS (Discontined) - Модуль живлення - Frame: [DJI F450](https://www.amazon.com/Flame-Wheel-Basic-Quadcopter-Drone/dp/B00HNMVQHY) diff --git a/docs/uk/frames_multicopter/kits.md b/docs/uk/frames_multicopter/kits.md index f77bd0c08c..57967091b6 100644 --- a/docs/uk/frames_multicopter/kits.md +++ b/docs/uk/frames_multicopter/kits.md @@ -14,12 +14,16 @@ Kits generally do not include: ::: +:::tip +Kits certified by the PX4 team are listed in [PX4 Developer Kits](../dev_kits/index.md). +::: + ## Набори Наступні комплекти в даний час доступні: +- [Holybro X500 v2 PX4 Development Kit](https://holybro.com/collections/x500-kits) (Pixhawk 6c) ([Build instructions](../frames_multicopter/holybro_x500v2_pixhawk6c.md)) - [Official PX4 Developer Kit](../dev_kits/index.md) - [Holybro X650 PX4 Development Kit](https://holybro.com/collections/x650-kits) (Pixhawk 6C/6X) ([Frame assembly guide](https://docs.holybro.com/drone-development-kit/x650-development-kit/download)) -- [Holybro X500 v2 PX4 Development Kit](https://holybro.com/collections/x500-kits) (Pixhawk 6c) ([Build instructions](../frames_multicopter/holybro_x500v2_pixhawk6c.md)) - [Holybro S500 Kit v2](https://holybro.com/collections/s500/products/s500-v2-development-kit) (Pixhawk 6c) - [Holybro QAV250 Kit](https://holybro.com/products/qav250-kit) (Pixhawk 6c) - [NXP HoverGames KIT-HGDRONEK66](https://www.nxp.com/KIT-HGDRONEK66) ([hovergames.com](https://www.hovergames.com/)) diff --git a/docs/uk/frames_multicopter/omnicopter.md b/docs/uk/frames_multicopter/omnicopter.md index 395a72e623..a39b7f8c31 100644 --- a/docs/uk/frames_multicopter/omnicopter.md +++ b/docs/uk/frames_multicopter/omnicopter.md @@ -34,8 +34,8 @@ This build follows the original design from [Brescianini, Dario, and Raffaello D - Акумулятор: ми використовували LiPo на 6S 3300mAh. Обов'язково перевірте розміри, щоб він підійшов до рами. - Ремінь для акумулятора - Рама: - - Carbon square tube R 8mm X 7mm X 1000mm, e.g. [here on shop.swiss-composite.ch](https://www.shop.swiss-composite.ch/de/produkt/cfk-vierkantrohr-8x8-7x7mm) - - Carbon Rods R 3mm X 2mm X 1000mm, e.g. [here on shop.swiss-composite.ch](https://www.shop.swiss-composite.ch/de/produkt/carbon-microtubes-100cm-x-20-3mm) + - Carbon square tube R 8mm X 7mm X 1000mm, e.g. [here on shop.swiss-composite.ch](https://shop.swiss-composite.ch/de/produkt/cfk-vierkantrohr-8x8-7x7mm) + - Carbon Rods R 3mm X 2mm X 1000mm, e.g. [here on shop.swiss-composite.ch](https://shop.swiss-composite.ch/de/produkt/carbon-microtubes-100cm-x-20-3mm) - Необхідні довжини: - квадратна трубка: 8 штук довжиною 248 мм - стрижні: 12x328мм, 6x465мм diff --git a/docs/uk/frames_plane/wing_wing_z84.md b/docs/uk/frames_plane/wing_wing_z84.md index d62842c2a0..10fa29e8ec 100644 --- a/docs/uk/frames_plane/wing_wing_z84.md +++ b/docs/uk/frames_plane/wing_wing_z84.md @@ -14,7 +14,7 @@ It is small, rugged and just large enough to host a [Pixracer](../flight_control ### Z-84 Plug n' Fly (PNF/PNP) або Комплект -- [Banggood](https://www.banggood.com/Wing-Wing-Z-84-Z84-EPO-845mm-Wingspan-Flying-Wing-PNP-p-973125.html) +- [Banggood](https://www.banggood.com/Zeta-Wing-Wing-Z-84-Z84-EPO-845mm-Wingspan-Flying-Wing-PNP-p-973125.html?akmClientCountry=America&) :::tip PNF (or "PNP") versions include motor, propeller and electronic speed controller. diff --git a/docs/uk/frames_vtol/tailsitter.md b/docs/uk/frames_vtol/tailsitter.md index 9518661446..59991f9c73 100644 --- a/docs/uk/frames_vtol/tailsitter.md +++ b/docs/uk/frames_vtol/tailsitter.md @@ -92,7 +92,7 @@ This section contains videos that are specific to Tailsitter VTOL (videos that a :::: tabs :::tab WingtraOne -[WingtraOne](https://wingtra.com/mapping-drone-fast-accurate-surveying/) +[WingtraOne](https://wingtra.com/wingtraone-gen-ii-drone/) ![Wingtra: WingtraOne VTOL Duo Tailsitter](../../assets/airframes/vtol/wingtraone/hero.jpg) ::: diff --git a/docs/uk/frames_vtol/vtol_quadplane_foxtech_loong_2160.md b/docs/uk/frames_vtol/vtol_quadplane_foxtech_loong_2160.md index 340e9b9d9f..e23be5995d 100644 --- a/docs/uk/frames_vtol/vtol_quadplane_foxtech_loong_2160.md +++ b/docs/uk/frames_vtol/vtol_quadplane_foxtech_loong_2160.md @@ -50,7 +50,7 @@ Foxtech Loong 2160 VTOL - це легкий у монтажі майже гот - [Радіо (RC) система](../getting_started/rc_transmitter_receiver.md) на ваш вибір - [Groundstation and Radio link](https://holybro.com/products/skydroid-h12) - [Розширення кабеля USB-C](https://www.digitec.ch/en/s1/product/powerguard-usb-c-usb-c-025-m-usb-cables-22529949?dbq=1&gclid=Cj0KCQjw2cWgBhDYARIsALggUhrh-z-7DSU0wKfLBVa8filkXLQaxUpi7pC0ffQyRzLng8Ph01h2R1gaAp0mEALw_wcB&gclsrc=aw.ds) -- [I2C Splitter](https://www.3dxr.co.uk/autopilots-c2/the-cube-aka-pixhawk-2-1-c9/cube-cables-accessories-sensors-c15/cubepilot-i2c-can-splitter-jst-gh-4pin-hx4-06152-p2840) +- [I2C Splitter](https://www.3dxr.co.uk/products/cubepilot-i2c-can-splitter-jst-gh-4pin-hx4-06152) - [3D-Printed mounts](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/airframes/vtol/foxtech_loong_2160/loong-3d-prints.zip) - 1x Базова плита - 1x Stack-fixture diff --git a/docs/uk/frames_vtol/vtol_tailsitter_caipiroshka_pixracer.md b/docs/uk/frames_vtol/vtol_tailsitter_caipiroshka_pixracer.md index f2104d27eb..0ff2e112c9 100644 --- a/docs/uk/frames_vtol/vtol_tailsitter_caipiroshka_pixracer.md +++ b/docs/uk/frames_vtol/vtol_tailsitter_caipiroshka_pixracer.md @@ -14,8 +14,8 @@ These instructions _should_ work with the updated vehicle: [TBS Caipirinha 2](ht - TBS Caipirinha Wing (no longer available - try [TBS Caipirinha 2](https://www.team-blacksheep.com/products/prod:tbs_caipi2_pnp)) - Left and right 3D-printed motor mount (design files) -- CW 8045 propeller ([Eflight store](https://www.banggood.com/GEMFAN-Carbon-Nylon-8045-CWCCW-Propeller-For-Quadcopters-1-Pair-p-950874.html)) -- CCW 8045 propeller ([Eflight store](https://www.banggood.com/GEMFAN-Carbon-Nylon-8045-CWCCW-Propeller-For-Quadcopters-1-Pair-p-950874.html)) +- CW 8045 propeller ([Eflight store](https://www.banggood.com/GEMFAN-Carbon-Nylon-8045-8x4_5-8-Inch-Propeller-for-Quacopters-p-950874.html?akmClientCountry=America&)) +- CCW 8045 propeller ([Eflight store](https://www.banggood.com/GEMFAN-Carbon-Nylon-8045-8x4_5-8-Inch-Propeller-for-Quacopters-p-950874.html?akmClientCountry=America&)) - 2x 1800 kV 120-180W двигуни - [ePower 2208](https://www.galaxus.ch/en/s5/product/epower-22081400-fuer-2-3-lipo-imax-rc-motors-8355913) - [Armattan 2208 1800kV Multirotor Motor](https://www.amazon.com/Armattan-2208-1800kV-Multirotor-Motor/dp/B00UWLW0C8) diff --git a/docs/uk/getting_started/flight_reporting.md b/docs/uk/getting_started/flight_reporting.md index 73ddb7935e..e8c5098429 100644 --- a/docs/uk/getting_started/flight_reporting.md +++ b/docs/uk/getting_started/flight_reporting.md @@ -33,7 +33,7 @@ For more information see: [Flight Analysis](../dev_log/flight_log_analysis.md). :::tip If you have a constant high-rate MAVLink connection to the vehicle (not just a telemetry link) then you can use _QGroundControl_ to automatically upload logs directly to _Flight Review_. -For more information see [Settings > MAVLink Settings > MAVLink 2 Logging (PX4 only)](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/settings_view/mavlink.html#logging). +For more information see [Settings > MAVLink Settings > MAVLink 2 Logging (PX4 only)](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/settings_view/px4_log_transfer.html). ::: ## Надання доступу до файлів журналів розробникам PX4 diff --git a/docs/uk/gps_compass/rtk_gps_holybro_unicore_um982.md b/docs/uk/gps_compass/rtk_gps_holybro_unicore_um982.md index 479b9d277e..dc476d9766 100644 --- a/docs/uk/gps_compass/rtk_gps_holybro_unicore_um982.md +++ b/docs/uk/gps_compass/rtk_gps_holybro_unicore_um982.md @@ -4,7 +4,7 @@ The [Holybro H-RTK Unicore UM982 GPS](https://holybro.com/products/h-rtk-unicore ![HB-pmw3901-1](../../assets/hardware/gps/holybro-unicore-um982/holybro-unicore-um982-1.jpg) -This module is based on the [Unicore UM982 Chip](https://en.unicore.com/products/dual-antenna-gnss-um982/), which supports RTK positioning and dual-antenna heading calculation. +This module is based on the [Unicore UM982 Chip](https://en.unicore.com/products/um982/), which supports RTK positioning and dual-antenna heading calculation. Це означає, що він може генерувати рухому базову лінію визначення курсу/рискання для автопілотів з одним GPS-модулем і двома антенами - магнітометр не потрібен. Unlike when using a module such as the U-blox F9P, where you would need [two U-blox F9P modules to compute a heading angle](../gps_compass/u-blox_f9p_heading.md), with the Unicore UM982 GPS, you only need one GPS module! diff --git a/docs/uk/hardware/board_support_guide.md b/docs/uk/hardware/board_support_guide.md index 3e93aed6cd..4dddaf813c 100644 --- a/docs/uk/hardware/board_support_guide.md +++ b/docs/uk/hardware/board_support_guide.md @@ -197,7 +197,7 @@ For that reason: The board support process improves over time, and contributions to the process itself are welcome. -- Ask the community on the PX4 [Discord](https://chat.dronecode.org) under the `Hardware` channels, or on the [discuss forum](https://discuss.px4.io/). +- Ask the community on the PX4 [Discord](https://discord.com/invite/dronecode) under the `Hardware` channels, or on the [discuss forum](https://discuss.px4.io/). - Join the regular hardware call. - Consultancy options are listed at [px4.io/community/consultants](https://px4.io/community/consultants/). diff --git a/docs/uk/hardware/dev_kit_program.md b/docs/uk/hardware/dev_kit_program.md new file mode 100644 index 0000000000..3554048189 --- /dev/null +++ b/docs/uk/hardware/dev_kit_program.md @@ -0,0 +1,65 @@ +# Official PX4 Developer Kit Program + +This topic explains how manufacturers can get a drone kit certified as an _Official PX4 Developer Kit_. + +The PX4 community is growing quickly, and developers are frequently blocked on getting the right hardware into their hands. +Too many options and configuration permutations also make it hard for maintainers to support the community well. +Official PX4 Developer Kits solve this by establishing a foundational hardware reference for the ecosystem: kits that meet a defined standard for the bare-minimum components a PX4 developer needs to create modern applications, backed by the trust of the PX4 name. + +In return, Dronecode puts its official weight behind qualifying products (see [What you get](#what-you-get) below). + +Currently certified kits are listed in [PX4 Developer Kits](../dev_kits/index.md). + +## Вимоги + +A kit qualifies when it meets all five requirements: + +1. A flight controller meeting the latest [Pixhawk standard](https://pixhawk.org/standards/), or matching its capabilities +2. The latest stable PX4 release, pre-installed +3. Pre-assembled, or assembly that requires no technical skill (no soldering) +4. A guide, a focused tutorial, and a reference sheet included with the kit +5. Third-party build quality verification + +The reference sheet must ship printed, in the box: pinouts, connectors, and specs at a glance, with no screen required ([example: ModalAI VOXL 2 reference sheet](https://docs.modalai.com/voxl2-d0014)). +The guide and tutorial may ship as QR-code links. + +## What Qualifying Looks Like in Practice + +The experience your kit must deliver: + +- **Rapid start:** No technical skill needed to get flying. Minimal or zero assembly, software pre-installed, documentation included. +- **Room to extend:** Ample headroom for performant code. The latest components, or space to expand. +- **Current hardware:** Latest-generation drone hardware, matching the newest Pixhawk standard or its capabilities. +- **A modern companion computer:** Able to offload compute from the flight controller MCU. +- **Everything included:** Bundled with the open source software and tools developers expect. +- **Quality assurance:** An available support channel or forum. + +### Where to Focus: the Companion Computer + +The biggest differentiator for a kit is the companion computer and the tools developers can leverage on it: + +- **MAVLink:** A solid interface that can feed multiple targets, using [MAVSDK](https://mavsdk.mavlink.io/), mission planning tools, or MAVROS. +- **DDS & ROS 2:** Leverage the [uXRCE-DDS](../middleware/uxrce_dds.md) integration and expose the interface directly to the companion computer over a high-bandwidth link. +- **Easy app deployment:** Tools that help developers continuously test applications across the whole development lifecycle. +- **LTE / WiFi:** A competent network stack that reaches the cloud securely and efficiently. +- **Great documentation:** Publicly accessible docs, with ways to contribute back for continuous improvement. + +## What You Get {#what-you-get} + +Kits accepted into the program receive: + +- **Official endorsement:** The _Official PX4 Developer Kit_ designation, on your product and your marketing. +- **PX4 website listing:** A listing on the PX4 website and in this documentation, for standing presence in front of the entire community. +- **Official promotion:** A promotional announcement from official Dronecode accounts on social media. + +## Eligibility + +The program is open exclusively to [Dronecode Foundation](https://dronecode.org/) members. +Active membership is required for the endorsement, the website listing, and the promotion. + +To apply, or to discuss membership as a first step, [contact Dronecode](https://dronecode.org/contact/). + +## Дивіться також + +- [PX4 Developer Kits](../dev_kits/index.md) +- [Manufacturer's Board Support Guide](../hardware/board_support_guide.md) diff --git a/docs/uk/hardware/index.md b/docs/uk/hardware/index.md index 4bd8843499..07dc28a41f 100644 --- a/docs/uk/hardware/index.md +++ b/docs/uk/hardware/index.md @@ -3,7 +3,7 @@ This section contains topics about integrating PX4 with _new_ autopilot and peripheral hardware, including: - [Flight Controller Reference Design](../hardware/reference_design.md) -- [Manufacturer’s Board Support Guide](../hardware/board_support_guide.md) +- [Manufacturers](../hardware/manufacturers.md) - board support guide and developer kit program - [Flight Controller Porting Guide](../hardware/porting_guide.md) - [Serial Port Mapping](../hardware/serial_port_mapping.md) - [Airframes](../dev_airframes/index.md) diff --git a/docs/uk/hardware/manufacturers.md b/docs/uk/hardware/manufacturers.md new file mode 100644 index 0000000000..ee12fcb8b7 --- /dev/null +++ b/docs/uk/hardware/manufacturers.md @@ -0,0 +1,13 @@ +# Manufacturers + +This section contains information for manufacturers building hardware products for the PX4 ecosystem: + +- [Manufacturer's Board Support Guide](../hardware/board_support_guide.md) - How to create and maintain PX4-compatible flight controllers, including branding, licensing, and support expectations. +- [Official PX4 Developer Kit Program](../hardware/dev_kit_program.md) - How to get a drone kit certified as an _Official PX4 Developer Kit_. + +Related topics: + +- [Flight Controller Reference Design](../hardware/reference_design.md) +- [Flight Controller Porting Guide](../hardware/porting_guide.md) +- [Pixhawk Standards](https://pixhawk.org/standards/) +- [Dronecode Foundation](https://dronecode.org/) (membership, trademarks, working groups) diff --git a/docs/uk/index.md b/docs/uk/index.md index da920b8e18..0d627bdade 100644 --- a/docs/uk/index.md +++ b/docs/uk/index.md @@ -33,6 +33,10 @@ Want to modify PX4 or build from source? Start with the [Development Guide](deve Start with [Basic Concepts](getting_started/px4_basic_concepts.md) for an overview of the flight stack, flight modes, safety features, and supported hardware. +## Developer Kits + +The fastest way to get flying hardware for PX4 development. [Official PX4 Developer Kits](dev_kits/index.md) ship with the latest stable PX4 pre-installed on current Pixhawk-standard hardware, need no build skills, and are certified by the PX4 team. + ## Build a Vehicle Pick your frame type: [Multicopter](frames_multicopter/index.md), [Fixed-Wing](frames_plane/index.md), [VTOL](frames_vtol/index.md), [Helicopter](frames_helicopter/index.md), or [Rover](frames_rover/index.md). Each section covers complete vehicles, kits, and DIY builds. For assembly instructions see [Assembling a Multicopter](assembly/assembly_mc.md) or the equivalent for your frame. @@ -91,7 +95,7 @@ The calendar default timezone is Central European Time (CET). _placeholder_ icon made by Smashicons from www.flaticon.com is licensed by CC 3.0 BY. - _camera-automatic-mode_ icon made by Freepik from www.flaticon.com is licensed by CC 3.0 BY. + _camera-automatic-mode_ icon made by Magnific (formerly Freepik) from www.flaticon.com is licensed by CC 3.0 BY. ## Управління diff --git a/docs/uk/middleware/dds_topics.md b/docs/uk/middleware/dds_topics.md index bdf403a45c..2d3fe1366c 100644 --- a/docs/uk/middleware/dds_topics.md +++ b/docs/uk/middleware/dds_topics.md @@ -12,75 +12,79 @@ This document shows a markdown-rendered version of [dds_topics.yaml](https://git | Topic | Тип | Rate Limit | | ---------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------- | -| `/fmu/out/register_ext_component_reply` | [px4_msgs::msg::RegisterExtComponentReply](../msg_docs/RegisterExtComponentReply.md) | | -| `/fmu/out/arming_check_request` | [px4_msgs::msg::ArmingCheckRequest](../msg_docs/ArmingCheckRequest.md) | 5.0 | -| `/fmu/out/mode_completed` | [px4_msgs::msg::ModeCompleted](../msg_docs/ModeCompleted.md) | 50.0 | +| `/fmu/out/airspeed_validated` | [px4_msgs::msg::AirspeedValidated](../msg_docs/AirspeedValidated.md) | 50.0 | +| `/fmu/out/arming_check_request` | [px4_msgs::msg::ArmingCheckRequest](../msg_docs/ArmingCheckRequest.md) | | | `/fmu/out/battery_status` | [px4_msgs::msg::BatteryStatus](../msg_docs/BatteryStatus.md) | 1.0 | | `/fmu/out/collision_constraints` | [px4_msgs::msg::CollisionConstraints](../msg_docs/CollisionConstraints.md) | 50.0 | +| `/fmu/out/config_overrides_confirm` | [px4_msgs::msg::ConfigOverrides](../msg_docs/ConfigOverrides.md) | | | `/fmu/out/estimator_status_flags` | [px4_msgs::msg::EstimatorStatusFlags](../msg_docs/EstimatorStatusFlags.md) | 5.0 | | `/fmu/out/failsafe_flags` | [px4_msgs::msg::FailsafeFlags](../msg_docs/FailsafeFlags.md) | 5.0 | +| `/fmu/out/gimbal_device_attitude_status` | [px4_msgs::msg::GimbalDeviceAttitudeStatus](../msg_docs/GimbalDeviceAttitudeStatus.md) | 20.0 | +| `/fmu/out/home_position` | [px4_msgs::msg::HomePosition](../msg_docs/HomePosition.md) | 5.0 | +| `/fmu/out/input_rc` | [px4_msgs::msg::InputRc](../msg_docs/InputRc.md) | 10.0 | | `/fmu/out/manual_control_setpoint` | [px4_msgs::msg::ManualControlSetpoint](../msg_docs/ManualControlSetpoint.md) | 25.0 | | `/fmu/out/message_format_response` | [px4_msgs::msg::MessageFormatResponse](../msg_docs/MessageFormatResponse.md) | | +| `/fmu/out/mode_completed` | [px4_msgs::msg::ModeCompleted](../msg_docs/ModeCompleted.md) | 50.0 | | `/fmu/out/position_setpoint_triplet` | [px4_msgs::msg::PositionSetpointTriplet](../msg_docs/PositionSetpointTriplet.md) | 5.0 | +| `/fmu/out/register_ext_component_reply` | [px4_msgs::msg::RegisterExtComponentReply](../msg_docs/RegisterExtComponentReply.md) | | | `/fmu/out/sensor_combined` | [px4_msgs::msg::SensorCombined](../msg_docs/SensorCombined.md) | | +| `/fmu/out/setpoint_config_reply` | [px4_msgs::msg::SetpointConfigReply](../msg_docs/SetpointConfigReply.md) | | | `/fmu/out/timesync_status` | [px4_msgs::msg::TimesyncStatus](../msg_docs/TimesyncStatus.md) | 10.0 | | `/fmu/out/transponder_report` | [px4_msgs::msg::TransponderReport](../msg_docs/TransponderReport.md) | | -| `/fmu/out/vehicle_land_detected` | [px4_msgs::msg::VehicleLandDetected](../msg_docs/VehicleLandDetected.md) | 5.0 | | `/fmu/out/vehicle_attitude` | [px4_msgs::msg::VehicleAttitude](../msg_docs/VehicleAttitude.md) | 50.0 | -| `/fmu/out/vehicle_control_mode` | [px4_msgs::msg::VehicleControlMode](../msg_docs/VehicleControlMode.md) | 50.0 | | `/fmu/out/vehicle_command_ack` | [px4_msgs::msg::VehicleCommandAck](../msg_docs/VehicleCommandAck.md) | | +| `/fmu/out/vehicle_control_mode` | [px4_msgs::msg::VehicleControlMode](../msg_docs/VehicleControlMode.md) | 50.0 | | `/fmu/out/vehicle_global_position` | [px4_msgs::msg::VehicleGlobalPosition](../msg_docs/VehicleGlobalPosition.md) | 50.0 | | `/fmu/out/vehicle_gps_position` | [px4_msgs::msg::SensorGps](../msg_docs/SensorGps.md) | 50.0 | +| `/fmu/out/vehicle_land_detected` | [px4_msgs::msg::VehicleLandDetected](../msg_docs/VehicleLandDetected.md) | 5.0 | | `/fmu/out/vehicle_local_position` | [px4_msgs::msg::VehicleLocalPosition](../msg_docs/VehicleLocalPosition.md) | 50.0 | | `/fmu/out/vehicle_odometry` | [px4_msgs::msg::VehicleOdometry](../msg_docs/VehicleOdometry.md) | 100.0 | | `/fmu/out/vehicle_status` | [px4_msgs::msg::VehicleStatus](../msg_docs/VehicleStatus.md) | 5.0 | -| `/fmu/out/airspeed_validated` | [px4_msgs::msg::AirspeedValidated](../msg_docs/AirspeedValidated.md) | 50.0 | | `/fmu/out/vtol_vehicle_status` | [px4_msgs::msg::VtolVehicleStatus](../msg_docs/VtolVehicleStatus.md) | | -| `/fmu/out/home_position` | [px4_msgs::msg::HomePosition](../msg_docs/HomePosition.md) | 5.0 | +| `/fmu/out/vtx` | [px4_msgs::msg::Vtx](../msg_docs/Vtx.md) | 1.0 | | `/fmu/out/wind` | [px4_msgs::msg::Wind](../msg_docs/Wind.md) | 1.0 | -| `/fmu/out/gimbal_device_attitude_status` | [px4_msgs::msg::GimbalDeviceAttitudeStatus](../msg_docs/GimbalDeviceAttitudeStatus.md) | 20.0 | ## Subscriptions -| Topic | Тип | -| ------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -| /fmu/in/register_ext_component_request | [px4_msgs::msg::RegisterExtComponentRequest](../msg_docs/RegisterExtComponentRequest.md) | -| /fmu/in/unregister_ext_component | [px4_msgs::msg::UnregisterExtComponent](../msg_docs/UnregisterExtComponent.md) | -| /fmu/in/config_overrides_request | [px4_msgs::msg::ConfigOverrides](../msg_docs/ConfigOverrides.md) | -| /fmu/in/arming_check_reply | [px4_msgs::msg::ArmingCheckReply](../msg_docs/ArmingCheckReply.md) | -| /fmu/in/message_format_request | [px4_msgs::msg::MessageFormatRequest](../msg_docs/MessageFormatRequest.md) | -| /fmu/in/mode_completed | [px4_msgs::msg::ModeCompleted](../msg_docs/ModeCompleted.md) | -| /fmu/in/config_control_setpoints | [px4_msgs::msg::VehicleControlMode](../msg_docs/VehicleControlMode.md) | -| /fmu/in/distance_sensor | [px4_msgs::msg::DistanceSensor](../msg_docs/DistanceSensor.md) | -| /fmu/in/manual_control_input | [px4_msgs::msg::ManualControlSetpoint](../msg_docs/ManualControlSetpoint.md) | -| /fmu/in/offboard_control_mode | [px4_msgs::msg::OffboardControlMode](../msg_docs/OffboardControlMode.md) | -| /fmu/in/onboard_computer_status | [px4_msgs::msg::OnboardComputerStatus](../msg_docs/OnboardComputerStatus.md) | -| /fmu/in/obstacle_distance | [px4_msgs::msg::ObstacleDistance](../msg_docs/ObstacleDistance.md) | -| /fmu/in/sensor_optical_flow | [px4_msgs::msg::SensorOpticalFlow](../msg_docs/SensorOpticalFlow.md) | -| /fmu/in/goto_setpoint | [px4_msgs::msg::GotoSetpoint](../msg_docs/GotoSetpoint.md) | -| /fmu/in/telemetry_status | [px4_msgs::msg::TelemetryStatus](../msg_docs/TelemetryStatus.md) | -| /fmu/in/trajectory_setpoint | [px4_msgs::msg::TrajectorySetpoint](../msg_docs/TrajectorySetpoint.md) | -| /fmu/in/vehicle_attitude_setpoint | [px4_msgs::msg::VehicleAttitudeSetpoint](../msg_docs/VehicleAttitudeSetpoint.md) | -| /fmu/in/vehicle_mocap_odometry | [px4_msgs::msg::VehicleOdometry](../msg_docs/VehicleOdometry.md) | -| /fmu/in/vehicle_rates_setpoint | [px4_msgs::msg::VehicleRatesSetpoint](../msg_docs/VehicleRatesSetpoint.md) | -| /fmu/in/vehicle_visual_odometry | [px4_msgs::msg::VehicleOdometry](../msg_docs/VehicleOdometry.md) | -| /fmu/in/vehicle_command | [px4_msgs::msg::VehicleCommand](../msg_docs/VehicleCommand.md) | -| /fmu/in/vehicle_command_mode_executor | [px4_msgs::msg::VehicleCommand](../msg_docs/VehicleCommand.md) | -| /fmu/in/vehicle_thrust_setpoint | [px4_msgs::msg::VehicleThrustSetpoint](../msg_docs/VehicleThrustSetpoint.md) | -| /fmu/in/vehicle_torque_setpoint | [px4_msgs::msg::VehicleTorqueSetpoint](../msg_docs/VehicleTorqueSetpoint.md) | -| /fmu/in/actuator_motors | [px4_msgs::msg::ActuatorMotors](../msg_docs/ActuatorMotors.md) | -| /fmu/in/actuator_servos | [px4_msgs::msg::ActuatorServos](../msg_docs/ActuatorServos.md) | -| /fmu/in/fixed_wing_longitudinal_setpoint | [px4_msgs::msg::FixedWingLongitudinalSetpoint](../msg_docs/FixedWingLongitudinalSetpoint.md) | -| /fmu/in/fixed_wing_lateral_setpoint | [px4_msgs::msg::FixedWingLateralSetpoint](../msg_docs/FixedWingLateralSetpoint.md) | -| /fmu/in/longitudinal_control_configuration | [px4_msgs::msg::LongitudinalControlConfiguration](../msg_docs/LongitudinalControlConfiguration.md) | -| /fmu/in/lateral_control_configuration | [px4_msgs::msg::LateralControlConfiguration](../msg_docs/LateralControlConfiguration.md) | -| /fmu/in/rover_position_setpoint | [px4_msgs::msg::RoverPositionSetpoint](../msg_docs/RoverPositionSetpoint.md) | -| /fmu/in/rover_speed_setpoint | [px4_msgs::msg::RoverSpeedSetpoint](../msg_docs/RoverSpeedSetpoint.md) | -| /fmu/in/rover_attitude_setpoint | [px4_msgs::msg::RoverAttitudeSetpoint](../msg_docs/RoverAttitudeSetpoint.md) | -| /fmu/in/rover_rate_setpoint | [px4_msgs::msg::RoverRateSetpoint](../msg_docs/RoverRateSetpoint.md) | -| /fmu/in/rover_throttle_setpoint | [px4_msgs::msg::RoverThrottleSetpoint](../msg_docs/RoverThrottleSetpoint.md) | -| /fmu/in/rover_steering_setpoint | [px4_msgs::msg::RoverSteeringSetpoint](../msg_docs/RoverSteeringSetpoint.md) | -| /fmu/in/landing_gear | [px4_msgs::msg::LandingGear](../msg_docs/LandingGear.md) | +| Topic | Тип | +| -------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| `/fmu/in/actuator_motors` | [px4_msgs::msg::ActuatorMotors](../msg_docs/ActuatorMotors.md) | +| `/fmu/in/actuator_servos` | [px4_msgs::msg::ActuatorServos](../msg_docs/ActuatorServos.md) | +| `/fmu/in/arming_check_reply` | [px4_msgs::msg::ArmingCheckReply](../msg_docs/ArmingCheckReply.md) | +| `/fmu/in/config_overrides_request` | [px4_msgs::msg::ConfigOverrides](../msg_docs/ConfigOverrides.md) | +| `/fmu/in/distance_sensor` | [px4_msgs::msg::DistanceSensor](../msg_docs/DistanceSensor.md) | +| `/fmu/in/fixed_wing_lateral_setpoint` | [px4_msgs::msg::FixedWingLateralSetpoint](../msg_docs/FixedWingLateralSetpoint.md) | +| `/fmu/in/fixed_wing_longitudinal_setpoint` | [px4_msgs::msg::FixedWingLongitudinalSetpoint](../msg_docs/FixedWingLongitudinalSetpoint.md) | +| `/fmu/in/goto_setpoint` | [px4_msgs::msg::GotoSetpoint](../msg_docs/GotoSetpoint.md) | +| `/fmu/in/landing_gear` | [px4_msgs::msg::LandingGear](../msg_docs/LandingGear.md) | +| `/fmu/in/lateral_control_configuration` | [px4_msgs::msg::LateralControlConfiguration](../msg_docs/LateralControlConfiguration.md) | +| `/fmu/in/longitudinal_control_configuration` | [px4_msgs::msg::LongitudinalControlConfiguration](../msg_docs/LongitudinalControlConfiguration.md) | +| `/fmu/in/manual_control_input` | [px4_msgs::msg::ManualControlSetpoint](../msg_docs/ManualControlSetpoint.md) | +| `/fmu/in/message_format_request` | [px4_msgs::msg::MessageFormatRequest](../msg_docs/MessageFormatRequest.md) | +| `/fmu/in/mode_completed` | [px4_msgs::msg::ModeCompleted](../msg_docs/ModeCompleted.md) | +| `/fmu/in/obstacle_distance` | [px4_msgs::msg::ObstacleDistance](../msg_docs/ObstacleDistance.md) | +| `/fmu/in/offboard_control_mode` | [px4_msgs::msg::OffboardControlMode](../msg_docs/OffboardControlMode.md) | +| `/fmu/in/onboard_computer_status` | [px4_msgs::msg::OnboardComputerStatus](../msg_docs/OnboardComputerStatus.md) | +| `/fmu/in/register_ext_component_request` | [px4_msgs::msg::RegisterExtComponentRequest](../msg_docs/RegisterExtComponentRequest.md) | +| `/fmu/in/rover_attitude_setpoint` | [px4_msgs::msg::RoverAttitudeSetpoint](../msg_docs/RoverAttitudeSetpoint.md) | +| `/fmu/in/rover_position_setpoint` | [px4_msgs::msg::RoverPositionSetpoint](../msg_docs/RoverPositionSetpoint.md) | +| `/fmu/in/rover_rate_setpoint` | [px4_msgs::msg::RoverRateSetpoint](../msg_docs/RoverRateSetpoint.md) | +| `/fmu/in/rover_speed_setpoint` | [px4_msgs::msg::RoverSpeedSetpoint](../msg_docs/RoverSpeedSetpoint.md) | +| `/fmu/in/rover_steering_setpoint` | [px4_msgs::msg::RoverSteeringSetpoint](../msg_docs/RoverSteeringSetpoint.md) | +| `/fmu/in/rover_throttle_setpoint` | [px4_msgs::msg::RoverThrottleSetpoint](../msg_docs/RoverThrottleSetpoint.md) | +| `/fmu/in/sensor_optical_flow` | [px4_msgs::msg::SensorOpticalFlow](../msg_docs/SensorOpticalFlow.md) | +| `/fmu/in/setpoint_config` | [px4_msgs::msg::SetpointConfig](../msg_docs/SetpointConfig.md) | +| `/fmu/in/telemetry_status` | [px4_msgs::msg::TelemetryStatus](../msg_docs/TelemetryStatus.md) | +| `/fmu/in/trajectory_setpoint` | [px4_msgs::msg::TrajectorySetpoint](../msg_docs/TrajectorySetpoint.md) | +| `/fmu/in/unregister_ext_component` | [px4_msgs::msg::UnregisterExtComponent](../msg_docs/UnregisterExtComponent.md) | +| `/fmu/in/vehicle_attitude_setpoint` | [px4_msgs::msg::VehicleAttitudeSetpoint](../msg_docs/VehicleAttitudeSetpoint.md) | +| `/fmu/in/vehicle_command` | [px4_msgs::msg::VehicleCommand](../msg_docs/VehicleCommand.md) | +| `/fmu/in/vehicle_command_mode_executor` | [px4_msgs::msg::VehicleCommand](../msg_docs/VehicleCommand.md) | +| `/fmu/in/vehicle_mocap_odometry` | [px4_msgs::msg::VehicleOdometry](../msg_docs/VehicleOdometry.md) | +| `/fmu/in/vehicle_rates_setpoint` | [px4_msgs::msg::VehicleRatesSetpoint](../msg_docs/VehicleRatesSetpoint.md) | +| `/fmu/in/vehicle_thrust_setpoint` | [px4_msgs::msg::VehicleThrustSetpoint](../msg_docs/VehicleThrustSetpoint.md) | +| `/fmu/in/vehicle_torque_setpoint` | [px4_msgs::msg::VehicleTorqueSetpoint](../msg_docs/VehicleTorqueSetpoint.md) | +| `/fmu/in/vehicle_visual_odometry` | [px4_msgs::msg::VehicleOdometry](../msg_docs/VehicleOdometry.md) | ## Subscriptions Multi @@ -96,221 +100,220 @@ They are not build into the module, and hence are neither published or subscribe :::details See messages -- [SensorGnssRelative](../msg_docs/SensorGnssRelative.md) -- [FlightPhaseEstimation](../msg_docs/FlightPhaseEstimation.md) -- [VelocityLimits](../msg_docs/VelocityLimits.md) -- [SensorsStatusImu](../msg_docs/SensorsStatusImu.md) -- [SensorBaro](../msg_docs/SensorBaro.md) -- [Vtx](../msg_docs/Vtx.md) -- [Mission](../msg_docs/Mission.md) -- [RcChannels](../msg_docs/RcChannels.md) -- [ActuatorArmed](../msg_docs/ActuatorArmed.md) -- [FigureEightStatus](../msg_docs/FigureEightStatus.md) -- [SensorsStatus](../msg_docs/SensorsStatus.md) -- [PowerMonitor](../msg_docs/PowerMonitor.md) -- [VehicleAcceleration](../msg_docs/VehicleAcceleration.md) -- [MavlinkLog](../msg_docs/MavlinkLog.md) -- [SensorHygrometer](../msg_docs/SensorHygrometer.md) -- [Rpm](../msg_docs/Rpm.md) -- [EstimatorEventFlags](../msg_docs/EstimatorEventFlags.md) -- [UavcanParameterRequest](../msg_docs/UavcanParameterRequest.md) -- [IrlockReport](../msg_docs/IrlockReport.md) -- [ArmingCheckReplyV0](../msg_docs/ArmingCheckReplyV0.md) -- [GeofenceResult](../msg_docs/GeofenceResult.md) -- [SensorPreflightMag](../msg_docs/SensorPreflightMag.md) -- [TecsStatus](../msg_docs/TecsStatus.md) -- [PurePursuitStatus](../msg_docs/PurePursuitStatus.md) -- [DistanceSensorModeChangeRequest](../msg_docs/DistanceSensorModeChangeRequest.md) -- [GimbalManagerStatus](../msg_docs/GimbalManagerStatus.md) -- [VehicleConstraints](../msg_docs/VehicleConstraints.md) -- [EstimatorStates](../msg_docs/EstimatorStates.md) -- [EscEepromRead](../msg_docs/EscEepromRead.md) -- [RaptorStatus](../msg_docs/RaptorStatus.md) -- [VteOrientation](../msg_docs/VteOrientation.md) -- [FiducialMarkerPosReport](../msg_docs/FiducialMarkerPosReport.md) -- [GimbalDeviceInformation](../msg_docs/GimbalDeviceInformation.md) -- [ButtonEvent](../msg_docs/ButtonEvent.md) -- [PwmInput](../msg_docs/PwmInput.md) -- [VehicleStatusV3](../msg_docs/VehicleStatusV3.md) -- [GpioOut](../msg_docs/GpioOut.md) -- [GimbalManagerSetAttitude](../msg_docs/GimbalManagerSetAttitude.md) -- [DebugKeyValue](../msg_docs/DebugKeyValue.md) -- [NavigatorMissionItem](../msg_docs/NavigatorMissionItem.md) -- [CanInterfaceStatus](../msg_docs/CanInterfaceStatus.md) -- [LandingTargetPose](../msg_docs/LandingTargetPose.md) -- [HomePositionV0](../msg_docs/HomePositionV0.md) -- [FiducialMarkerYawReport](../msg_docs/FiducialMarkerYawReport.md) -- [BatteryInfo](../msg_docs/BatteryInfo.md) -- [InternalCombustionEngineControl](../msg_docs/InternalCombustionEngineControl.md) -- [TakeoffStatus](../msg_docs/TakeoffStatus.md) -- [GimbalManagerSetManualControl](../msg_docs/GimbalManagerSetManualControl.md) -- [MountOrientation](../msg_docs/MountOrientation.md) -- [VehicleRoi](../msg_docs/VehicleRoi.md) -- [GimbalManagerInformation](../msg_docs/GimbalManagerInformation.md) -- [RoverAttitudeStatus](../msg_docs/RoverAttitudeStatus.md) -- [OpenDroneIdArmStatus](../msg_docs/OpenDroneIdArmStatus.md) -- [WheelEncoders](../msg_docs/WheelEncoders.md) -- [VehicleAirData](../msg_docs/VehicleAirData.md) -- [QshellReq](../msg_docs/QshellReq.md) -- [SensorAccel](../msg_docs/SensorAccel.md) -- [RangingBeacon](../msg_docs/RangingBeacon.md) -- [DebugArray](../msg_docs/DebugArray.md) -- [VehicleStatusV0](../msg_docs/VehicleStatusV0.md) -- [PpsCapture](../msg_docs/PpsCapture.md) -- [VteAidSource1d](../msg_docs/VteAidSource1d.md) -- [OrbTestLarge](../msg_docs/OrbTestLarge.md) -- [EstimatorSensorBias](../msg_docs/EstimatorSensorBias.md) -- [VehicleCommandAckV0](../msg_docs/VehicleCommandAckV0.md) -- [EstimatorBias3d](../msg_docs/EstimatorBias3d.md) -- [Px4ioStatus](../msg_docs/Px4ioStatus.md) -- [GimbalControls](../msg_docs/GimbalControls.md) -- [Ekf2Timestamps](../msg_docs/Ekf2Timestamps.md) -- [FixedWingLateralGuidanceStatus](../msg_docs/FixedWingLateralGuidanceStatus.md) -- [VteInput](../msg_docs/VteInput.md) -- [Event](../msg_docs/Event.md) -- [Cpuload](../msg_docs/Cpuload.md) -- [RegisterExtComponentRequestV0](../msg_docs/RegisterExtComponentRequestV0.md) -- [VtePosition](../msg_docs/VtePosition.md) -- [ControlAllocatorStatus](../msg_docs/ControlAllocatorStatus.md) -- [EscEepromWrite](../msg_docs/EscEepromWrite.md) -- [ParameterSetValueResponse](../msg_docs/ParameterSetValueResponse.md) -- [VehicleStatusV1](../msg_docs/VehicleStatusV1.md) -- [SensorGyroFifo](../msg_docs/SensorGyroFifo.md) -- [IridiumsbdStatus](../msg_docs/IridiumsbdStatus.md) -- [GpioIn](../msg_docs/GpioIn.md) -- [TargetGnss](../msg_docs/TargetGnss.md) -- [SensorTemp](../msg_docs/SensorTemp.md) -- [RoverRateStatus](../msg_docs/RoverRateStatus.md) -- [LogMessage](../msg_docs/LogMessage.md) -- [Gripper](../msg_docs/Gripper.md) -- [RegisterExtComponentRequestV1](../msg_docs/RegisterExtComponentRequestV1.md) -- [SensorSelection](../msg_docs/SensorSelection.md) -- [FollowTargetStatus](../msg_docs/FollowTargetStatus.md) -- [SensorGyro](../msg_docs/SensorGyro.md) -- [DebugVect](../msg_docs/DebugVect.md) -- [SensorMag](../msg_docs/SensorMag.md) -- [RateCtrlStatus](../msg_docs/RateCtrlStatus.md) -- [DatamanRequest](../msg_docs/DatamanRequest.md) -- [MissionResult](../msg_docs/MissionResult.md) -- [InputRc](../msg_docs/InputRc.md) -- [LandingGearWheel](../msg_docs/LandingGearWheel.md) -- [VehicleLocalPositionSetpoint](../msg_docs/VehicleLocalPositionSetpoint.md) -- [ArmingCheckRequestV0](../msg_docs/ArmingCheckRequestV0.md) -- [RtlTimeEstimate](../msg_docs/RtlTimeEstimate.md) -- [GpsInjectData](../msg_docs/GpsInjectData.md) -- [OpenDroneIdSelfId](../msg_docs/OpenDroneIdSelfId.md) -- [RegisterExtComponentReplyV0](../msg_docs/RegisterExtComponentReplyV0.md) -- [LedControl](../msg_docs/LedControl.md) -- [LoggerStatus](../msg_docs/LoggerStatus.md) -- [TrajectorySetpoint6dof](../msg_docs/TrajectorySetpoint6dof.md) -- [TaskStackInfo](../msg_docs/TaskStackInfo.md) -- [SensorGyroFft](../msg_docs/SensorGyroFft.md) -- [AdcReport](../msg_docs/AdcReport.md) -- [MagnetometerBiasEstimate](../msg_docs/MagnetometerBiasEstimate.md) -- [ConfigOverridesV0](../msg_docs/ConfigOverridesV0.md) -- [ParameterUpdate](../msg_docs/ParameterUpdate.md) -- [OrbTestMedium](../msg_docs/OrbTestMedium.md) -- [VteBiasInitStatus](../msg_docs/VteBiasInitStatus.md) -- [ActuatorControlsStatus](../msg_docs/ActuatorControlsStatus.md) -- [ParameterSetValueRequest](../msg_docs/ParameterSetValueRequest.md) -- [BatteryStatusV0](../msg_docs/BatteryStatusV0.md) -- [VehicleStatusV2](../msg_docs/VehicleStatusV2.md) -- [FollowTargetEstimator](../msg_docs/FollowTargetEstimator.md) -- [EstimatorFusionControl](../msg_docs/EstimatorFusionControl.md) -- [MagWorkerData](../msg_docs/MagWorkerData.md) -- [ManualControlSwitches](../msg_docs/ManualControlSwitches.md) -- [RoverSpeedStatus](../msg_docs/RoverSpeedStatus.md) -- [VehicleAttitudeSetpointV0](../msg_docs/VehicleAttitudeSetpointV0.md) -- [EstimatorGpsStatus](../msg_docs/EstimatorGpsStatus.md) -- [DronecanNodeStatus](../msg_docs/DronecanNodeStatus.md) -- [EstimatorSelectorStatus](../msg_docs/EstimatorSelectorStatus.md) -- [NavigatorStatus](../msg_docs/NavigatorStatus.md) -- [PositionControllerStatus](../msg_docs/PositionControllerStatus.md) -- [AutotuneAttitudeControlStatus](../msg_docs/AutotuneAttitudeControlStatus.md) -- [OpenDroneIdSystem](../msg_docs/OpenDroneIdSystem.md) -- [CellularStatus](../msg_docs/CellularStatus.md) -- [EstimatorAidSource3d](../msg_docs/EstimatorAidSource3d.md) -- [NeuralControl](../msg_docs/NeuralControl.md) - [ActionRequest](../msg_docs/ActionRequest.md) -- [LandingTargetInnovations](../msg_docs/LandingTargetInnovations.md) +- [ActuatorArmed](../msg_docs/ActuatorArmed.md) +- [ActuatorControlsStatus](../msg_docs/ActuatorControlsStatus.md) +- [ActuatorOutputs](../msg_docs/ActuatorOutputs.md) - [ActuatorServosTrim](../msg_docs/ActuatorServosTrim.md) -- [EstimatorAidSource1d](../msg_docs/EstimatorAidSource1d.md) -- [EstimatorAidSource2d](../msg_docs/EstimatorAidSource2d.md) -- [ParameterSetUsedRequest](../msg_docs/ParameterSetUsedRequest.md) - [ActuatorServosV0](../msg_docs/ActuatorServosV0.md) -- [VehicleImuStatus](../msg_docs/VehicleImuStatus.md) -- [VehicleOpticalFlow](../msg_docs/VehicleOpticalFlow.md) -- [GainCompression](../msg_docs/GainCompression.md) -- [CameraTrigger](../msg_docs/CameraTrigger.md) -- [VehicleLocalPositionV0](../msg_docs/VehicleLocalPositionV0.md) -- [VehicleAngularVelocity](../msg_docs/VehicleAngularVelocity.md) -- [RaptorInput](../msg_docs/RaptorInput.md) -- [VehicleImu](../msg_docs/VehicleImu.md) -- [SensorGnssStatus](../msg_docs/SensorGnssStatus.md) -- [HeaterStatus](../msg_docs/HeaterStatus.md) -- [MavlinkTunnel](../msg_docs/MavlinkTunnel.md) -- [FollowTarget](../msg_docs/FollowTarget.md) -- [GeofenceStatus](../msg_docs/GeofenceStatus.md) -- [OpenDroneIdOperatorId](../msg_docs/OpenDroneIdOperatorId.md) -- [EstimatorStatus](../msg_docs/EstimatorStatus.md) -- [VehicleGlobalPositionV0](../msg_docs/VehicleGlobalPositionV0.md) -- [UlogStream](../msg_docs/UlogStream.md) -- [EventV0](../msg_docs/EventV0.md) -- [NormalizedUnsignedSetpoint](../msg_docs/NormalizedUnsignedSetpoint.md) -- [PowerButtonState](../msg_docs/PowerButtonState.md) -- [PositionControllerLandingStatus](../msg_docs/PositionControllerLandingStatus.md) +- [ActuatorTest](../msg_docs/ActuatorTest.md) +- [AdcReport](../msg_docs/AdcReport.md) +- [Airspeed](../msg_docs/Airspeed.md) +- [AirspeedValidatedV0](../msg_docs/AirspeedValidatedV0.md) +- [AirspeedWind](../msg_docs/AirspeedWind.md) +- [ArmingCheckReplyV0](../msg_docs/ArmingCheckReplyV0.md) +- [ArmingCheckRequestV0](../msg_docs/ArmingCheckRequestV0.md) +- [AutotuneAttitudeControlStatus](../msg_docs/AutotuneAttitudeControlStatus.md) +- [BatteryInfo](../msg_docs/BatteryInfo.md) +- [BatteryStatusV0](../msg_docs/BatteryStatusV0.md) +- [ButtonEvent](../msg_docs/ButtonEvent.md) - [CameraCapture](../msg_docs/CameraCapture.md) - [CameraStatus](../msg_docs/CameraStatus.md) -- [SensorUwb](../msg_docs/SensorUwb.md) -- [RadioStatus](../msg_docs/RadioStatus.md) -- [FailureDetectorStatus](../msg_docs/FailureDetectorStatus.md) -- [VehicleMagnetometer](../msg_docs/VehicleMagnetometer.md) -- [GpsDump](../msg_docs/GpsDump.md) -- [HealthReport](../msg_docs/HealthReport.md) -- [GpioRequest](../msg_docs/GpioRequest.md) -- [SatelliteInfo](../msg_docs/SatelliteInfo.md) -- [DifferentialPressure](../msg_docs/DifferentialPressure.md) -- [EscReport](../msg_docs/EscReport.md) -- [SystemPower](../msg_docs/SystemPower.md) -- [FixedWingRunwayControl](../msg_docs/FixedWingRunwayControl.md) -- [FuelTankStatus](../msg_docs/FuelTankStatus.md) -- [VteAidSource3d](../msg_docs/VteAidSource3d.md) -- [PositionSetpoint](../msg_docs/PositionSetpoint.md) -- [TuneControl](../msg_docs/TuneControl.md) -- [QshellRetval](../msg_docs/QshellRetval.md) -- [EscStatus](../msg_docs/EscStatus.md) -- [RcParameterMap](../msg_docs/RcParameterMap.md) -- [OrbitStatus](../msg_docs/OrbitStatus.md) -- [Airspeed](../msg_docs/Airspeed.md) -- [LaunchDetectionStatus](../msg_docs/LaunchDetectionStatus.md) -- [ParameterResetRequest](../msg_docs/ParameterResetRequest.md) -- [UlogStreamAck](../msg_docs/UlogStreamAck.md) -- [GeneratorStatus](../msg_docs/GeneratorStatus.md) -- [GpioConfig](../msg_docs/GpioConfig.md) -- [OrbTest](../msg_docs/OrbTest.md) -- [FixedWingLateralStatus](../msg_docs/FixedWingLateralStatus.md) -- [ActuatorTest](../msg_docs/ActuatorTest.md) -- [GimbalDeviceSetAttitude](../msg_docs/GimbalDeviceSetAttitude.md) -- [DeviceInformation](../msg_docs/DeviceInformation.md) -- [HoverThrustEstimate](../msg_docs/HoverThrustEstimate.md) -- [DebugValue](../msg_docs/DebugValue.md) -- [InternalCombustionEngineStatus](../msg_docs/InternalCombustionEngineStatus.md) -- [VehicleOpticalFlowVel](../msg_docs/VehicleOpticalFlowVel.md) -- [TiltrotorExtraControls](../msg_docs/TiltrotorExtraControls.md) +- [CameraTrigger](../msg_docs/CameraTrigger.md) +- [CanInterfaceStatus](../msg_docs/CanInterfaceStatus.md) +- [CellularStatus](../msg_docs/CellularStatus.md) +- [ConfigOverridesV0](../msg_docs/ConfigOverridesV0.md) +- [ControlAllocatorStatus](../msg_docs/ControlAllocatorStatus.md) +- [Cpuload](../msg_docs/Cpuload.md) +- [DatamanRequest](../msg_docs/DatamanRequest.md) - [DatamanResponse](../msg_docs/DatamanResponse.md) -- [SensorAirflow](../msg_docs/SensorAirflow.md) -- [RtlStatus](../msg_docs/RtlStatus.md) -- [VehicleAngularAccelerationSetpoint](../msg_docs/VehicleAngularAccelerationSetpoint.md) -- [YawEstimatorStatus](../msg_docs/YawEstimatorStatus.md) -- [PrecLandStatus](../msg_docs/PrecLandStatus.md) -- [ActuatorOutputs](../msg_docs/ActuatorOutputs.md) -- [AirspeedValidatedV0](../msg_docs/AirspeedValidatedV0.md) -- [Ping](../msg_docs/Ping.md) -- [AirspeedWind](../msg_docs/AirspeedWind.md) +- [DebugArray](../msg_docs/DebugArray.md) +- [DebugKeyValue](../msg_docs/DebugKeyValue.md) +- [DebugValue](../msg_docs/DebugValue.md) +- [DebugVect](../msg_docs/DebugVect.md) +- [DeviceInformation](../msg_docs/DeviceInformation.md) +- [DifferentialPressure](../msg_docs/DifferentialPressure.md) +- [DistanceSensorModeChangeRequest](../msg_docs/DistanceSensorModeChangeRequest.md) +- [DronecanNodeStatus](../msg_docs/DronecanNodeStatus.md) +- [Ekf2Timestamps](../msg_docs/Ekf2Timestamps.md) +- [EscEepromRead](../msg_docs/EscEepromRead.md) +- [EscEepromWrite](../msg_docs/EscEepromWrite.md) +- [EscReport](../msg_docs/EscReport.md) +- [EscStatus](../msg_docs/EscStatus.md) +- [EstimatorAidSource1d](../msg_docs/EstimatorAidSource1d.md) +- [EstimatorAidSource2d](../msg_docs/EstimatorAidSource2d.md) +- [EstimatorAidSource3d](../msg_docs/EstimatorAidSource3d.md) - [EstimatorBias](../msg_docs/EstimatorBias.md) -- [SensorAccelFifo](../msg_docs/SensorAccelFifo.md) +- [EstimatorBias3d](../msg_docs/EstimatorBias3d.md) +- [EstimatorEventFlags](../msg_docs/EstimatorEventFlags.md) +- [EstimatorFusionControl](../msg_docs/EstimatorFusionControl.md) +- [EstimatorGpsStatus](../msg_docs/EstimatorGpsStatus.md) - [EstimatorInnovations](../msg_docs/EstimatorInnovations.md) +- [EstimatorSelectorStatus](../msg_docs/EstimatorSelectorStatus.md) +- [EstimatorSensorBias](../msg_docs/EstimatorSensorBias.md) +- [EstimatorStates](../msg_docs/EstimatorStates.md) +- [EstimatorStatus](../msg_docs/EstimatorStatus.md) +- [Event](../msg_docs/Event.md) +- [EventV0](../msg_docs/EventV0.md) +- [FailureDetectorStatus](../msg_docs/FailureDetectorStatus.md) +- [FailureInjection](../msg_docs/FailureInjection.md) +- [FiducialMarkerPosReport](../msg_docs/FiducialMarkerPosReport.md) +- [FiducialMarkerYawReport](../msg_docs/FiducialMarkerYawReport.md) +- [FigureEightStatus](../msg_docs/FigureEightStatus.md) +- [FixedWingLateralGuidanceStatus](../msg_docs/FixedWingLateralGuidanceStatus.md) +- [FixedWingLateralStatus](../msg_docs/FixedWingLateralStatus.md) +- [FixedWingRunwayControl](../msg_docs/FixedWingRunwayControl.md) +- [FlightPhaseEstimation](../msg_docs/FlightPhaseEstimation.md) +- [FollowTarget](../msg_docs/FollowTarget.md) +- [FollowTargetEstimator](../msg_docs/FollowTargetEstimator.md) +- [FollowTargetStatus](../msg_docs/FollowTargetStatus.md) +- [FuelTankStatus](../msg_docs/FuelTankStatus.md) +- [GainCompression](../msg_docs/GainCompression.md) +- [GeneratorStatus](../msg_docs/GeneratorStatus.md) +- [GeofenceResult](../msg_docs/GeofenceResult.md) +- [GeofenceStatus](../msg_docs/GeofenceStatus.md) +- [GimbalControls](../msg_docs/GimbalControls.md) +- [GimbalDeviceInformation](../msg_docs/GimbalDeviceInformation.md) +- [GimbalDeviceSetAttitude](../msg_docs/GimbalDeviceSetAttitude.md) +- [GimbalManagerInformation](../msg_docs/GimbalManagerInformation.md) +- [GimbalManagerSetAttitude](../msg_docs/GimbalManagerSetAttitude.md) +- [GimbalManagerSetManualControl](../msg_docs/GimbalManagerSetManualControl.md) +- [GimbalManagerStatus](../msg_docs/GimbalManagerStatus.md) +- [GpioConfig](../msg_docs/GpioConfig.md) +- [GpioIn](../msg_docs/GpioIn.md) +- [GpioOut](../msg_docs/GpioOut.md) +- [GpioRequest](../msg_docs/GpioRequest.md) +- [GpsDump](../msg_docs/GpsDump.md) +- [GpsInjectData](../msg_docs/GpsInjectData.md) +- [Gripper](../msg_docs/Gripper.md) +- [HealthReport](../msg_docs/HealthReport.md) +- [HeaterStatus](../msg_docs/HeaterStatus.md) +- [HomePositionV0](../msg_docs/HomePositionV0.md) +- [HoverThrustEstimate](../msg_docs/HoverThrustEstimate.md) +- [InternalCombustionEngineControl](../msg_docs/InternalCombustionEngineControl.md) +- [InternalCombustionEngineStatus](../msg_docs/InternalCombustionEngineStatus.md) +- [IridiumsbdStatus](../msg_docs/IridiumsbdStatus.md) +- [IrlockReport](../msg_docs/IrlockReport.md) +- [LandingGearWheel](../msg_docs/LandingGearWheel.md) +- [LandingTargetInnovations](../msg_docs/LandingTargetInnovations.md) +- [LandingTargetPose](../msg_docs/LandingTargetPose.md) +- [LaunchDetectionStatus](../msg_docs/LaunchDetectionStatus.md) +- [LedControl](../msg_docs/LedControl.md) +- [LogMessage](../msg_docs/LogMessage.md) +- [LoggerStatus](../msg_docs/LoggerStatus.md) +- [MagWorkerData](../msg_docs/MagWorkerData.md) +- [MagnetometerBiasEstimate](../msg_docs/MagnetometerBiasEstimate.md) +- [ManualControlSwitches](../msg_docs/ManualControlSwitches.md) +- [MavlinkLog](../msg_docs/MavlinkLog.md) +- [MavlinkTunnel](../msg_docs/MavlinkTunnel.md) +- [Mission](../msg_docs/Mission.md) +- [MissionResult](../msg_docs/MissionResult.md) +- [MountOrientation](../msg_docs/MountOrientation.md) +- [NavigatorMissionItem](../msg_docs/NavigatorMissionItem.md) +- [NavigatorStatus](../msg_docs/NavigatorStatus.md) +- [NeuralControl](../msg_docs/NeuralControl.md) +- [NormalizedUnsignedSetpoint](../msg_docs/NormalizedUnsignedSetpoint.md) +- [OpenDroneIdArmStatus](../msg_docs/OpenDroneIdArmStatus.md) +- [OpenDroneIdBasicId](../msg_docs/OpenDroneIdBasicId.md) +- [OpenDroneIdOperatorId](../msg_docs/OpenDroneIdOperatorId.md) +- [OpenDroneIdSelfId](../msg_docs/OpenDroneIdSelfId.md) +- [OpenDroneIdSystem](../msg_docs/OpenDroneIdSystem.md) +- [OrbTest](../msg_docs/OrbTest.md) +- [OrbTestLarge](../msg_docs/OrbTestLarge.md) +- [OrbTestMedium](../msg_docs/OrbTestMedium.md) +- [OrbitStatus](../msg_docs/OrbitStatus.md) +- [ParameterResetRequest](../msg_docs/ParameterResetRequest.md) +- [ParameterSetUsedRequest](../msg_docs/ParameterSetUsedRequest.md) +- [ParameterSetValueRequest](../msg_docs/ParameterSetValueRequest.md) +- [ParameterSetValueResponse](../msg_docs/ParameterSetValueResponse.md) +- [ParameterUpdate](../msg_docs/ParameterUpdate.md) +- [Ping](../msg_docs/Ping.md) +- [PositionControllerLandingStatus](../msg_docs/PositionControllerLandingStatus.md) +- [PositionControllerStatus](../msg_docs/PositionControllerStatus.md) +- [PositionSetpoint](../msg_docs/PositionSetpoint.md) +- [PowerButtonState](../msg_docs/PowerButtonState.md) +- [PowerMonitor](../msg_docs/PowerMonitor.md) +- [PpsCapture](../msg_docs/PpsCapture.md) +- [PrecLandStatus](../msg_docs/PrecLandStatus.md) +- [PurePursuitStatus](../msg_docs/PurePursuitStatus.md) +- [PwmInput](../msg_docs/PwmInput.md) +- [Px4ioStatus](../msg_docs/Px4ioStatus.md) +- [QshellReq](../msg_docs/QshellReq.md) +- [QshellRetval](../msg_docs/QshellRetval.md) +- [RadioStatus](../msg_docs/RadioStatus.md) +- [RangingBeacon](../msg_docs/RangingBeacon.md) +- [RaptorInput](../msg_docs/RaptorInput.md) +- [RaptorStatus](../msg_docs/RaptorStatus.md) +- [RateCtrlStatus](../msg_docs/RateCtrlStatus.md) +- [RcChannels](../msg_docs/RcChannels.md) +- [RcParameterMap](../msg_docs/RcParameterMap.md) +- [RegisterExtComponentReplyV0](../msg_docs/RegisterExtComponentReplyV0.md) +- [RegisterExtComponentRequestV0](../msg_docs/RegisterExtComponentRequestV0.md) +- [RegisterExtComponentRequestV1](../msg_docs/RegisterExtComponentRequestV1.md) +- [RoverAttitudeStatus](../msg_docs/RoverAttitudeStatus.md) +- [RoverRateStatus](../msg_docs/RoverRateStatus.md) +- [RoverSpeedStatus](../msg_docs/RoverSpeedStatus.md) +- [Rpm](../msg_docs/Rpm.md) +- [RtlStatus](../msg_docs/RtlStatus.md) +- [RtlTimeEstimate](../msg_docs/RtlTimeEstimate.md) +- [SatelliteInfo](../msg_docs/SatelliteInfo.md) +- [SensorAccel](../msg_docs/SensorAccel.md) +- [SensorAccelFifo](../msg_docs/SensorAccelFifo.md) +- [SensorAirflow](../msg_docs/SensorAirflow.md) +- [SensorBaro](../msg_docs/SensorBaro.md) - [SensorCorrection](../msg_docs/SensorCorrection.md) +- [SensorGnssRelative](../msg_docs/SensorGnssRelative.md) +- [SensorGnssStatus](../msg_docs/SensorGnssStatus.md) +- [SensorGyro](../msg_docs/SensorGyro.md) +- [SensorGyroFft](../msg_docs/SensorGyroFft.md) +- [SensorGyroFifo](../msg_docs/SensorGyroFifo.md) +- [SensorHygrometer](../msg_docs/SensorHygrometer.md) +- [SensorMag](../msg_docs/SensorMag.md) +- [SensorPreflightMag](../msg_docs/SensorPreflightMag.md) +- [SensorSelection](../msg_docs/SensorSelection.md) +- [SensorTemp](../msg_docs/SensorTemp.md) +- [SensorUwb](../msg_docs/SensorUwb.md) +- [SensorsStatus](../msg_docs/SensorsStatus.md) +- [SensorsStatusImu](../msg_docs/SensorsStatusImu.md) +- [SystemPower](../msg_docs/SystemPower.md) +- [TakeoffStatus](../msg_docs/TakeoffStatus.md) +- [TargetGnss](../msg_docs/TargetGnss.md) +- [TaskStackInfo](../msg_docs/TaskStackInfo.md) +- [TecsStatus](../msg_docs/TecsStatus.md) +- [TiltrotorExtraControls](../msg_docs/TiltrotorExtraControls.md) +- [TrajectorySetpoint6dof](../msg_docs/TrajectorySetpoint6dof.md) +- [TuneControl](../msg_docs/TuneControl.md) +- [UavcanParameterRequest](../msg_docs/UavcanParameterRequest.md) - [UavcanParameterValue](../msg_docs/UavcanParameterValue.md) +- [UlogStream](../msg_docs/UlogStream.md) +- [UlogStreamAck](../msg_docs/UlogStreamAck.md) +- [VehicleAcceleration](../msg_docs/VehicleAcceleration.md) +- [VehicleAirData](../msg_docs/VehicleAirData.md) +- [VehicleAngularVelocity](../msg_docs/VehicleAngularVelocity.md) +- [VehicleAttitudeSetpointV0](../msg_docs/VehicleAttitudeSetpointV0.md) +- [VehicleCommandAckV0](../msg_docs/VehicleCommandAckV0.md) +- [VehicleConstraints](../msg_docs/VehicleConstraints.md) +- [VehicleGlobalPositionV0](../msg_docs/VehicleGlobalPositionV0.md) +- [VehicleImu](../msg_docs/VehicleImu.md) +- [VehicleImuStatus](../msg_docs/VehicleImuStatus.md) +- [VehicleLocalPositionSetpoint](../msg_docs/VehicleLocalPositionSetpoint.md) +- [VehicleLocalPositionV0](../msg_docs/VehicleLocalPositionV0.md) +- [VehicleMagnetometer](../msg_docs/VehicleMagnetometer.md) +- [VehicleOpticalFlow](../msg_docs/VehicleOpticalFlow.md) +- [VehicleOpticalFlowVel](../msg_docs/VehicleOpticalFlowVel.md) +- [VehicleRoi](../msg_docs/VehicleRoi.md) +- [VehicleStatusV0](../msg_docs/VehicleStatusV0.md) +- [VehicleStatusV1](../msg_docs/VehicleStatusV1.md) +- [VehicleStatusV2](../msg_docs/VehicleStatusV2.md) +- [VehicleStatusV3](../msg_docs/VehicleStatusV3.md) +- [VelocityLimits](../msg_docs/VelocityLimits.md) +- [VteAidSource1d](../msg_docs/VteAidSource1d.md) +- [VteAidSource3d](../msg_docs/VteAidSource3d.md) +- [VteBiasInitStatus](../msg_docs/VteBiasInitStatus.md) +- [VteInput](../msg_docs/VteInput.md) +- [VteOrientation](../msg_docs/VteOrientation.md) +- [VtePosition](../msg_docs/VtePosition.md) +- [WheelEncoders](../msg_docs/WheelEncoders.md) +- [YawEstimatorStatus](../msg_docs/YawEstimatorStatus.md) ::: diff --git a/docs/uk/modules/hello_sky.md b/docs/uk/modules/hello_sky.md index 741d74686a..db30b4cb00 100644 --- a/docs/uk/modules/hello_sky.md +++ b/docs/uk/modules/hello_sky.md @@ -310,7 +310,7 @@ The benefits of the PX4 hardware abstraction comes into play here! Немає потреби взаємодіяти з драйверами сенсорів та оновлювати додаток, якщо плата або сенсори оновлені. ::: -Individual message channels between applications are called [topics](../middleware/uorb.md). For this tutorial, we are interested in the [VehicleAcceleration](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleAcceleration.msg) topic, which holds the filtered vehicle acceleration data. +Individual message channels between applications are called [topics](../middleware/uorb.md). For this tutorial, we are interested in the [VehicleAcceleration](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleAcceleration.msg) topic, which holds the filtered vehicle acceleration data. Підписка на тему проста: diff --git a/docs/uk/modules/module_template.md b/docs/uk/modules/module_template.md index 263e7a0c31..b205eb7f67 100644 --- a/docs/uk/modules/module_template.md +++ b/docs/uk/modules/module_template.md @@ -69,6 +69,6 @@ PX4/PX4-Autopilot contains a template for writing a new application (module) tha [startup script](../concept/system_startup.md). - Парсинг аргументів командного рядка. - Documentation: the `PRINT_MODULE_*` methods serve two purposes (the API is - documented [in the source code](https://github.com/PX4/PX4-Autopilot/blob/v1.17/platforms/common/include/px4_platform_common/module.h)): + documented [in the source code](https://github.com/PX4/PX4-Autopilot/blob/v1.17.0/platforms/common/include/px4_platform_common/module.h)): - They are used to print the command-line usage when entering `module help` on the console. - They are automatically extracted via script to generate the [Modules & Commands Reference](../modules/modules_main.md) page. diff --git a/docs/uk/modules/modules_driver.md b/docs/uk/modules/modules_driver.md index 62fc7165c7..58ccc564da 100644 --- a/docs/uk/modules/modules_driver.md +++ b/docs/uk/modules/modules_driver.md @@ -1085,7 +1085,7 @@ px4io [arguments...] ## rgbled -Source: [drivers/lights/rgbled_ncp5623c](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/lights/rgbled_ncp5623c) +Source: [drivers/lights/rgbled](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/lights/rgbled) ### Usage {#rgbled_usage} @@ -1100,9 +1100,7 @@ rgbled [arguments...] [-f ] bus frequency in kHz [-q] quiet startup (no message if no device found) [-a ] I2C address - default: 57 - [-o ] RGB PWM Assignment - default: 123 + default: 85 stop diff --git a/docs/uk/modules/modules_driver_baro.md b/docs/uk/modules/modules_driver_baro.md index 8d2a83f4f3..f94707fbcd 100644 --- a/docs/uk/modules/modules_driver_baro.md +++ b/docs/uk/modules/modules_driver_baro.md @@ -122,6 +122,7 @@ dps310 [arguments...] [-m ] SPI mode [-f ] bus frequency in kHz [-q] quiet startup (no message if no device found) + [-8] Drive DPS368 stop diff --git a/docs/uk/modules/modules_driver_ins.md b/docs/uk/modules/modules_driver_ins.md index a6f559ffac..dc98c925bf 100644 --- a/docs/uk/modules/modules_driver_ins.md +++ b/docs/uk/modules/modules_driver_ins.md @@ -9,7 +9,7 @@ Source: [drivers/ins/microstrain](https://github.com/PX4/PX4-Autopilot/tree/main MicroStrain by HBK Inertial Sensor Driver. Currently supports the following sensors: --[CV7-AR](https://www.hbkworld.com/en/products/transducers/inertial-sensors/vertical-reference-units--vru-/3dm-cv7-ar) -[CV7-AHRS](https://www.hbkworld.com/en/products/transducers/inertial-sensors/attitude-and-heading-reference-systems--ahrs-/3dm-cv7-ahrs) -[CV7-INS](https://www.hbkworld.com/en/products/transducers/inertial-sensors/navigation/3dm-cv7-ins) -[CV7-GNSS/INS](https://www.hbkworld.com/en/products/transducers/inertial-sensors/navigation/3dm-cv7-gnss-ins) +-[CV7-AR](https://www.hbkworld.com/en/products/transducers/inertial-sensors/vertical-reference-units--vru-/3dm-cv7-ar) -[CV7-AHRS](https://www.hbkworld.com/en/products/transducers/inertial-sensors/attitude-and-heading/3dm-cv7-ahrs) -[CV7-INS](https://www.hbkworld.com/en/products/transducers/inertial-sensors/navigation/3dm-cv7-ins) -[CV7-GNSS/INS](https://www.hbkworld.com/en/products/transducers/inertial-sensors/navigation/3dm-cv7-gnss-ins) This driver is not included in the firmware by default. Include the module in firmware by setting the diff --git a/docs/uk/msg_docs/CellularStatus.md b/docs/uk/msg_docs/CellularStatus.md index b504bed0fc..9aea4fd27f 100644 --- a/docs/uk/msg_docs/CellularStatus.md +++ b/docs/uk/msg_docs/CellularStatus.md @@ -6,22 +6,33 @@ pageClass: is-wide-page Cellular status. -This is currently used only for logging cell status from MAVLink. +This is currently used only for logging cell status from MAVLink 1:1. **TOPICS:** cellular_status ## Fields -| Назва | Тип | Unit [Frame] | Range/Enum | Опис | -| ------------------------------------------------------------------ | -------- | ---------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------- | -| timestamp | `uint64` | us | | Time since system start | -| status | `uint16` | | [STATUS_FLAG](#STATUS_FLAG) | Status bitmap | -| failure_reason | `uint8` | | [FAILURE_REASON](#FAILURE_REASON) | Failure reason | -| type | `uint8` | | [CELLULAR_NETWORK_RADIO_TYPE](#CELLULAR_NETWORK_RADIO_TYPE) | Cellular network radio type | -| quality | `uint8` | dBm | | Cellular network RSSI/RSRP, absolute value | -| mcc | `uint16` | | | Mobile country code (Invalid: UINT16_MAX) | -| mnc | `uint16` | | | Mobile network code (Invalid: UINT16_MAX) | -| lac | `uint16` | | | Location area code (Invalid: 0) | +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ------------------------------------------------------------------------------------- | --------- | ---------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | us | | Time since system start | +| status | `uint8` | | [STATUS_FLAG](#STATUS_FLAG) | Status | +| failure_reason | `uint8` | | [FAILURE_REASON](#FAILURE_REASON) | Failure reason | +| type | `uint8` | | [CELLULAR_NETWORK_RADIO_TYPE](#CELLULAR_NETWORK_RADIO_TYPE) | Cellular network radio type | +| quality | `uint8` | % | | Cellular network signal quality in percent. May be used for RSSI (Invalid: UINT8_MAX) | +| mcc | `uint16` | | | Mobile country code (Invalid: UINT16_MAX) | +| mnc | `uint16` | | | Mobile network code (Invalid: UINT16_MAX) | +| lac | `uint16` | | | Location area code (Invalid: 0) | +| id | `uint8` | | | Cellular instance number. Indexed from 1. A value of 0 indicates the sender does not support reporting of multiple modems | +| link_tx_rate | `uint32` | KiB/s | | Download rate (Invalid: 0) | +| link_rx_rate | `uint32` | KiB/s | | Upload rate (Invalid: 0) | +| cell_tower_id | `char[9]` | | | ID of the currently connected cell tower. Must be NULL terminated if the length is less than 9 human-readable characters, and without NULL termination character if the length is exactly 9 characters (Invalid: 0) | +| band_number | `uint8` | | | LTE frequency band number (Invalid: 0) | +| band_frequency | `float32` | MHz | | LTE radio frequency (Invalid: 0) | +| channel_number | `uint32` | | | Channel Number (CN), Absolute radio-frequency (ARFCN) / E-UTRA (EARFCN) / UTRA (UARFCN) / New radio (NR_CH) (Invalid: 0) | +| rx_level | `float32` | dBm | | Receiver signal level. On 3G is Received Signal Code Power (RSCP). On LTE Reference Signal Received Power (RSRP). On 5G is New Radio Reference Signal Received Power (NR_RSRP) (Invalid: 0) | +| tx_level | `float32` | dBm | | Transmitter signal absolute level (Invalid: 0) | +| rx_quality | `float32` | dBm | | Received signal quality. On 3G is Receiver Quality (RxQual). On LTE is Reference Signal Received Quality (RSRQ). On 5G is New Radio Reference Signal Received Quality (NR_RSRQ) (Invalid: 0) | +| sinr | `float32` | dB | | Signal to Interference plus Noise Ratio (Invalid: 0) | ## Enums @@ -29,21 +40,21 @@ This is currently used only for logging cell status from MAVLink. Used in field(s): [status](#fld_status) -| Назва | Тип | Значення | Опис | -| ----------------------------------------------------------------------------------------------------------- | -------- | -------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -| STATUS_FLAG_UNKNOWN | `uint16` | 1 | State unknown or not reportable | -| STATUS_FLAG_FAILED | `uint16` | 2 | Modem is unusable | -| STATUS_FLAG_INITIALIZING | `uint16` | 4 | Modem is being initialized | -| STATUS_FLAG_LOCKED | `uint16` | 8 | Modem is locked | -| STATUS_FLAG_DISABLED | `uint16` | 16 | Modem is not enabled and is powered down | -| STATUS_FLAG_DISABLING | `uint16` | 32 | Modem is currently transitioning to the STATUS_FLAG_DISABLED state | -| STATUS_FLAG_ENABLING | `uint16` | 64 | Modem is currently transitioning to the STATUS_FLAG_ENABLED state | -| STATUS_FLAG_ENABLED | `uint16` | 128 | Modem is enabled and powered on but not registered with a network provider and not available for data connections | -| STATUS_FLAG_SEARCHING | `uint16` | 256 | Modem is searching for a network provider to register | -| STATUS_FLAG_REGISTERED | `uint16` | 512 | Modem is registered with a network provider, and data connections and messaging may be available for use | -| STATUS_FLAG_DISCONNECTING | `uint16` | 1024 | Modem is disconnecting and deactivating the last active packet data bearer. This state will not be entered if more than one packet data bearer is active and one of the active bearers is deactivated | -| STATUS_FLAG_CONNECTING | `uint16` | 2048 | Modem is activating and connecting the first packet data bearer. Subsequent bearer activations when another bearer is already active do not cause this state to be entered | -| STATUS_FLAG_CONNECTED | `uint16` | 4096 | One or more packet data bearers is active and connected | +| Назва | Тип | Значення | Опис | +| ----------------------------------------------------------------------------------------------------------- | ------- | -------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| STATUS_FLAG_UNKNOWN | `uint8` | 0 | State unknown or not reportable | +| STATUS_FLAG_FAILED | `uint8` | 1 | Modem is unusable | +| STATUS_FLAG_INITIALIZING | `uint8` | 2 | Modem is being initialized | +| STATUS_FLAG_LOCKED | `uint8` | 3 | Modem is locked | +| STATUS_FLAG_DISABLED | `uint8` | 4 | Modem is not enabled and is powered down | +| STATUS_FLAG_DISABLING | `uint8` | 5 | Modem is currently transitioning to the STATUS_FLAG_DISABLED state | +| STATUS_FLAG_ENABLING | `uint8` | 6 | Modem is currently transitioning to the STATUS_FLAG_ENABLED state | +| STATUS_FLAG_ENABLED | `uint8` | 7 | Modem is enabled and powered on but not registered with a network provider and not available for data connections | +| STATUS_FLAG_SEARCHING | `uint8` | 8 | Modem is searching for a network provider to register | +| STATUS_FLAG_REGISTERED | `uint8` | 9 | Modem is registered with a network provider, and data connections and messaging may be available for use | +| STATUS_FLAG_DISCONNECTING | `uint8` | 10 | Modem is disconnecting and deactivating the last active packet data bearer. This state will not be entered if more than one packet data bearer is active and one of the active bearers is deactivated | +| STATUS_FLAG_CONNECTING | `uint8` | 11 | Modem is activating and connecting the first packet data bearer. Subsequent bearer activations when another bearer is already active do not cause this state to be entered | +| STATUS_FLAG_CONNECTED | `uint8` | 12 | One or more packet data bearers is active and connected | ### FAILURE_REASON {#FAILURE_REASON} @@ -78,42 +89,54 @@ Click here to see original file ```c # Cellular status # -# This is currently used only for logging cell status from MAVLink. +# This is currently used only for logging cell status from MAVLink 1:1. -uint64 timestamp # [us] Time since system start +uint64 timestamp # [us] Time since system start -uint16 status # [@enum STATUS_FLAG] Status bitmap -uint16 STATUS_FLAG_UNKNOWN = 1 # State unknown or not reportable -uint16 STATUS_FLAG_FAILED = 2 # Modem is unusable -uint16 STATUS_FLAG_INITIALIZING = 4 # Modem is being initialized -uint16 STATUS_FLAG_LOCKED = 8 # Modem is locked -uint16 STATUS_FLAG_DISABLED = 16 # Modem is not enabled and is powered down -uint16 STATUS_FLAG_DISABLING = 32 # Modem is currently transitioning to the STATUS_FLAG_DISABLED state -uint16 STATUS_FLAG_ENABLING = 64 # Modem is currently transitioning to the STATUS_FLAG_ENABLED state -uint16 STATUS_FLAG_ENABLED = 128 # Modem is enabled and powered on but not registered with a network provider and not available for data connections -uint16 STATUS_FLAG_SEARCHING = 256 # Modem is searching for a network provider to register -uint16 STATUS_FLAG_REGISTERED = 512 # Modem is registered with a network provider, and data connections and messaging may be available for use -uint16 STATUS_FLAG_DISCONNECTING = 1024 # Modem is disconnecting and deactivating the last active packet data bearer. This state will not be entered if more than one packet data bearer is active and one of the active bearers is deactivated -uint16 STATUS_FLAG_CONNECTING = 2048 # Modem is activating and connecting the first packet data bearer. Subsequent bearer activations when another bearer is already active do not cause this state to be entered -uint16 STATUS_FLAG_CONNECTED = 4096 # One or more packet data bearers is active and connected +uint8 status # [@enum STATUS_FLAG] Status +uint8 STATUS_FLAG_UNKNOWN = 0 # State unknown or not reportable +uint8 STATUS_FLAG_FAILED = 1 # Modem is unusable +uint8 STATUS_FLAG_INITIALIZING = 2 # Modem is being initialized +uint8 STATUS_FLAG_LOCKED = 3 # Modem is locked +uint8 STATUS_FLAG_DISABLED = 4 # Modem is not enabled and is powered down +uint8 STATUS_FLAG_DISABLING = 5 # Modem is currently transitioning to the STATUS_FLAG_DISABLED state +uint8 STATUS_FLAG_ENABLING = 6 # Modem is currently transitioning to the STATUS_FLAG_ENABLED state +uint8 STATUS_FLAG_ENABLED = 7 # Modem is enabled and powered on but not registered with a network provider and not available for data connections +uint8 STATUS_FLAG_SEARCHING = 8 # Modem is searching for a network provider to register +uint8 STATUS_FLAG_REGISTERED = 9 # Modem is registered with a network provider, and data connections and messaging may be available for use +uint8 STATUS_FLAG_DISCONNECTING = 10 # Modem is disconnecting and deactivating the last active packet data bearer. This state will not be entered if more than one packet data bearer is active and one of the active bearers is deactivated +uint8 STATUS_FLAG_CONNECTING = 11 # Modem is activating and connecting the first packet data bearer. Subsequent bearer activations when another bearer is already active do not cause this state to be entered +uint8 STATUS_FLAG_CONNECTED = 12 # One or more packet data bearers is active and connected -uint8 failure_reason # [@enum FAILURE_REASON] Failure reason -uint8 FAILURE_REASON_NONE = 0 # No error -uint8 FAILURE_REASON_UNKNOWN = 1 # Error state is unknown -uint8 FAILURE_REASON_SIM_MISSING = 2 # SIM is required for the modem but missing -uint8 FAILURE_REASON_SIM_ERROR = 3 # SIM is available, but not usable for connection +uint8 failure_reason # [@enum FAILURE_REASON] Failure reason +uint8 FAILURE_REASON_NONE = 0 # No error +uint8 FAILURE_REASON_UNKNOWN = 1 # Error state is unknown +uint8 FAILURE_REASON_SIM_MISSING = 2 # SIM is required for the modem but missing +uint8 FAILURE_REASON_SIM_ERROR = 3 # SIM is available, but not usable for connection -uint8 type # [@enum CELLULAR_NETWORK_RADIO_TYPE] Cellular network radio type -uint8 CELLULAR_NETWORK_RADIO_TYPE_NONE = 0 # None -uint8 CELLULAR_NETWORK_RADIO_TYPE_GSM = 1 # GSM -uint8 CELLULAR_NETWORK_RADIO_TYPE_CDMA = 2 # CDMA -uint8 CELLULAR_NETWORK_RADIO_TYPE_WCDMA = 3 # WCDMA -uint8 CELLULAR_NETWORK_RADIO_TYPE_LTE = 4 # LTE +uint8 type # [@enum CELLULAR_NETWORK_RADIO_TYPE] Cellular network radio type +uint8 CELLULAR_NETWORK_RADIO_TYPE_NONE = 0 # None +uint8 CELLULAR_NETWORK_RADIO_TYPE_GSM = 1 # GSM +uint8 CELLULAR_NETWORK_RADIO_TYPE_CDMA = 2 # CDMA +uint8 CELLULAR_NETWORK_RADIO_TYPE_WCDMA = 3 # WCDMA +uint8 CELLULAR_NETWORK_RADIO_TYPE_LTE = 4 # LTE -uint8 quality # [dBm] Cellular network RSSI/RSRP, absolute value -uint16 mcc # [@invalid UINT16_MAX] Mobile country code -uint16 mnc # [@invalid UINT16_MAX] Mobile network code -uint16 lac # [@invalid 0] Location area code +uint8 quality # [%] [@invalid UINT8_MAX] Cellular network signal quality in percent. May be used for RSSI +uint16 mcc # [@invalid UINT16_MAX] Mobile country code +uint16 mnc # [@invalid UINT16_MAX] Mobile network code +uint16 lac # [@invalid 0] Location area code + +uint8 id # [-] Cellular instance number. Indexed from 1. A value of 0 indicates the sender does not support reporting of multiple modems +uint32 link_tx_rate # [KiB/s] [@invalid 0] Download rate +uint32 link_rx_rate # [KiB/s] [@invalid 0] Upload rate +char[9] cell_tower_id # [@invalid 0] ID of the currently connected cell tower. Must be NULL terminated if the length is less than 9 human-readable characters, and without NULL termination character if the length is exactly 9 characters +uint8 band_number # [-] [@invalid 0] LTE frequency band number +float32 band_frequency # [MHz] [@invalid 0] LTE radio frequency +uint32 channel_number # [@invalid 0] Channel Number (CN), Absolute radio-frequency (ARFCN) / E-UTRA (EARFCN) / UTRA (UARFCN) / New radio (NR_CH) +float32 rx_level # [dBm] [@invalid 0] Receiver signal level. On 3G is Received Signal Code Power (RSCP). On LTE Reference Signal Received Power (RSRP). On 5G is New Radio Reference Signal Received Power (NR_RSRP) +float32 tx_level # [dBm] [@invalid 0] Transmitter signal absolute level +float32 rx_quality # [dBm] [@invalid 0] Received signal quality. On 3G is Receiver Quality (RxQual). On LTE is Reference Signal Received Quality (RSRQ). On 5G is New Radio Reference Signal Received Quality (NR_RSRQ) +float32 sinr # [dB] [@invalid 0] Signal to Interference plus Noise Ratio ``` ::: diff --git a/docs/uk/msg_docs/ConfigOverrides.md b/docs/uk/msg_docs/ConfigOverrides.md index 4bddb35807..9e8c25a476 100644 --- a/docs/uk/msg_docs/ConfigOverrides.md +++ b/docs/uk/msg_docs/ConfigOverrides.md @@ -6,7 +6,7 @@ pageClass: is-wide-page Configurable overrides by (external) modes or mode executors. -**TOPICS:** config_overrides config_overrides_request +**TOPICS:** config_overrides config_overrides_request config_overrides_confirm ## Fields @@ -57,7 +57,7 @@ uint8 source_id # ID depending on source_type uint8 ORB_QUEUE_LENGTH = 4 -# TOPICS config_overrides config_overrides_request +# TOPICS config_overrides config_overrides_request config_overrides_confirm ``` ::: diff --git a/docs/uk/msg_docs/FixedWingLateralGuidanceStatus.md b/docs/uk/msg_docs/FixedWingLateralGuidanceStatus.md index aef1dc6423..899a40458a 100644 --- a/docs/uk/msg_docs/FixedWingLateralGuidanceStatus.md +++ b/docs/uk/msg_docs/FixedWingLateralGuidanceStatus.md @@ -10,17 +10,18 @@ Fixed Wing Lateral Guidance Status message. Published by fw_pos_control module t ## Fields -| Назва | Тип | Unit [Frame] | Range/Enum | Опис | -| -------------------------------------------------------------------------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ------------------------------------------------------------------------------ | -------------------------------------------------------------------------------------------------------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| course_setpoint | `float32` | rad | [-pi : pi] | Desired direction of travel over ground w.r.t (true) North. Set by guidance law | -| lateral_acceleration_ff | `float32` | FRD | | lateral acceleration demand only for maintaining curvature | -| bearing_feas | `float32` | | [0 : 1] | bearing feasibility | -| bearing_feas_on_track | `float32` | | [0 : 1] | on-track bearing feasibility | -| signed_track_error | `float32` | m | | signed track error | -| track_error_bound | `float32` | m | | track error bound | -| adapted_period | `float32` | s | | adapted period (if auto-tuning enabled) | -| wind_est_valid | `uint8` | boolean | | true = wind estimate is valid and/or being used by controller (also indicates if wind estimate usage is disabled despite being valid) | +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| -------------------------------------------------------------------------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ------------------------------------------------------------------------------ | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| course_setpoint | `float32` | rad | [-pi : pi] | Desired direction of travel over ground w.r.t (true) North. Set by guidance law | +| lateral_acceleration_ff | `float32` | FRD | | lateral acceleration demand only for maintaining curvature | +| bearing_feas | `float32` | | [0 : 1] | bearing feasibility | +| bearing_feas_on_track | `float32` | | [0 : 1] | on-track bearing feasibility | +| signed_track_error | `float32` | m | | signed track error | +| track_error_bound | `float32` | m | | track error bound | +| switch_distance | `float32` | m | [0 : INF] | distance from the current waypoint at which the navigator should advance to the next one (turn anticipation). If below NAV_ACC_RAD, the parameter value is used instead. (Invalid: NaN) | +| adapted_period | `float32` | s | | adapted period (if auto-tuning enabled) | +| wind_est_valid | `uint8` | boolean | | true = wind estimate is valid and/or being used by controller (also indicates if wind estimate usage is disabled despite being valid) | ## Source Message @@ -41,6 +42,7 @@ float32 bearing_feas # [@range 0,1] bearing feasibility float32 bearing_feas_on_track # [@range 0,1] on-track bearing feasibility float32 signed_track_error # [m] signed track error float32 track_error_bound # [m] track error bound +float32 switch_distance # [m] [@range 0, INF] [@invalid NaN] distance from the current waypoint at which the navigator should advance to the next one (turn anticipation). If below NAV_ACC_RAD, the parameter value is used instead. float32 adapted_period # [s] adapted period (if auto-tuning enabled) uint8 wind_est_valid # [boolean] true = wind estimate is valid and/or being used by controller (also indicates if wind estimate usage is disabled despite being valid) ``` diff --git a/docs/uk/msg_docs/InternalCombustionEngineStatus.md b/docs/uk/msg_docs/InternalCombustionEngineStatus.md index fa5782336f..220cc927a9 100644 --- a/docs/uk/msg_docs/InternalCombustionEngineStatus.md +++ b/docs/uk/msg_docs/InternalCombustionEngineStatus.md @@ -8,40 +8,63 @@ pageClass: is-wide-page ## Fields -| Назва | Тип | Unit [Frame] | Range/Enum | Опис | -| ------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| state | `uint8` | | | | -| flags | `uint32` | | | | -| engine_load_percent | `uint8` | | | Engine load estimate, percent, [0, 127] | -| engine_speed_rpm | `uint32` | | | Engine speed, revolutions per minute | -| spark_dwell_time_ms | `float32` | | | Spark dwell time, millisecond | -| atmospheric_pressure_kpa | `float32` | | | Atmospheric (barometric) pressure, kilopascal | -| intake_manifold_pressure_kpa | `float32` | | | Engine intake manifold pressure, kilopascal | -| intake_manifold_temperature | `float32` | | | Engine intake manifold temperature, kelvin | -| coolant_temperature | `float32` | | | Engine coolant temperature, kelvin | -| oil_pressure | `float32` | | | Oil pressure, kilopascal | -| oil_temperature | `float32` | | | Oil temperature, kelvin | -| fuel_pressure | `float32` | | | Fuel pressure, kilopascal | -| fuel_consumption_rate_cm3pm | `float32` | | | Instant fuel consumption estimate, (centimeter^3)/minute | -| estimated_consumed_fuel_volume_cm3 | `float32` | | | Estimate of the consumed fuel since the start of the engine, centimeter^3 | -| throttle_position_percent | `uint8` | | | Throttle position, percent | -| ecu_index | `uint8` | | | The index of the publishing ECU | -| spark_plug_usage | `uint8` | | | Spark plug activity report. | -| ignition_timing_deg | `float32` | | | Cylinder ignition timing, angular degrees of the crankshaft | -| injection_time_ms | `float32` | | | Fuel injection time, millisecond | -| cylinder_head_temperature | `float32` | | | Cylinder head temperature (CHT), kelvin | -| exhaust_gas_temperature | `float32` | | | Exhaust gas temperature (EGT), kelvin | -| lambda_coefficient | `float32` | | | Estimated lambda coefficient, dimensionless ratio | +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | --------- | ---------------------------------------------------------------- | -------------------------------------------------------------------------------- | ----------------------------------------------------------- | +| timestamp | `uint64` | us | | Time since system start | +| state | `uint8` | | [STATE](#STATE) | Engine state | +| substate | `uint8` | | [SUBSTATE](#SUBSTATE) | Engine substate | +| flags | `uint32` | | [FLAG](#FLAG) | Engine status flags bitmap | +| engine_load_percent | `uint8` | % | [0 : 127] | Engine load estimate | +| engine_speed_rpm | `uint32` | rpm | [0 : inf] | Engine speed | +| spark_dwell_time_ms | `float32` | ms | [0 : inf] | Spark dwell time | +| atmospheric_pressure_kpa | `float32` | kPa | [0 : inf] | Atmospheric (barometric) pressure | +| intake_manifold_pressure_kpa | `float32` | kPa | [0 : inf] | Engine intake manifold pressure | +| intake_manifold_temperature | `float32` | K | [0 : inf] | Engine intake manifold temperature | +| coolant_temperature | `float32` | K | [0 : inf] | Engine coolant temperature | +| oil_pressure | `float32` | kPa | [0 : inf] | Oil pressure | +| oil_temperature | `float32` | K | [0 : inf] | Oil temperature | +| fuel_pressure | `float32` | kPa | [0 : inf] | Fuel pressure | +| fuel_consumption_rate_cm3pm | `float32` | cm^3/min | [0 : inf] | Instant fuel consumption estimate | +| estimated_consumed_fuel_volume_cm3 | `float32` | cm^3 | [0 : inf] | Estimate of the consumed fuel since the start of the engine | +| throttle_position_percent | `uint8` | % | [0 : 100] | Throttle position | +| ecu_index | `uint8` | | [0 : 255] | The index of the publishing ECU | +| spark_plug_usage | `uint8` | | [SPARK_PLUG](#SPARK_PLUG) | Spark plug activity report | +| ignition_timing_deg | `float32` | deg | [-inf : inf] | Cylinder ignition timing, angular degrees of the crankshaft | +| injection_time_ms | `float32` | ms | [0 : inf] | Fuel injection time | +| cylinder_head_temperature | `float32` | K | [0 : inf] | Cylinder head temperature (CHT) | +| exhaust_gas_temperature | `float32` | K | [0 : inf] | Exhaust gas temperature (EGT) | +| lambda_coefficient | `float32` | | [0 : inf] | Estimated lambda coefficient, dimensionless ratio | +| pid_idle_rpm_integral | `float32` | | [-1 : 1] | Integral of the PID for the closed loop idle RPM controller | -## Constants +## Enums + +### STATE {#STATE} + +Used in field(s): [state](#fld_state) + +| Назва | Тип | Значення | Опис | +| ---------------------------------------------------------------- | ------- | -------- | ------------------------------------------------------------------------------------- | +| STATE_STOPPED | `uint8` | 0 | The engine is not running. This is the default state. | +| STATE_STARTING | `uint8` | 1 | The engine is starting. This is a transient state. | +| STATE_RUNNING | `uint8` | 2 | The engine is running normally. | +| STATE_FAULT | `uint8` | 3 | The engine can no longer function. | + +### SUBSTATE {#SUBSTATE} + +Used in field(s): [substate](#fld_substate) + +| Назва | Тип | Значення | Опис | +| -------------------------------------------------------------- | ------- | -------- | --------------------------------------------------------------------------------- | +| SUBSTATE_RUN | `uint8` | 0 | The engine is running. This is the default state. | +| SUBSTATE_IDLE | `uint8` | 1 | The engine idle rpm controller is running. | +| SUBSTATE_REST | `uint8` | 2 | The engine is at rest. | + +### FLAG {#FLAG} + +Used in field(s): [flags](#fld_flags) | Назва | Тип | Значення | Опис | | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | -------- | -------------------------------------------------------------------------------------- | -| STATE_STOPPED | `uint8` | 0 | The engine is not running. This is the default state. | -| STATE_STARTING | `uint8` | 1 | The engine is starting. This is a transient state. | -| STATE_RUNNING | `uint8` | 2 | The engine is running normally. | -| STATE_FAULT | `uint8` | 3 | The engine can no longer function. | | FLAG_GENERAL_ERROR | `uint32` | 1 | General error. | | FLAG_CRANKSHAFT_SENSOR_ERROR_SUPPORTED | `uint32` | 2 | Error of the crankshaft sensor. This flag is optional. | | FLAG_CRANKSHAFT_SENSOR_ERROR | `uint32` | 4 | | @@ -62,10 +85,17 @@ pageClass: is-wide-page | FLAG_OIL_PRESSURE_ABOVE_NOMINAL | `uint32` | 131072 | Over-pressure warning | | FLAG_DEBRIS_SUPPORTED | `uint32` | 262144 | Debris warning. This flag is optional | | FLAG_DEBRIS_DETECTED | `uint32` | 524288 | Detection of debris warning | -| SPARK_PLUG_SINGLE | `uint8` | 0 | | -| SPARK_PLUG_FIRST_ACTIVE | `uint8` | 1 | | -| SPARK_PLUG_SECOND_ACTIVE | `uint8` | 2 | | -| SPARK_PLUG_BOTH_ACTIVE | `uint8` | 3 | | + +### SPARK_PLUG {#SPARK_PLUG} + +Used in field(s): [spark_plug_usage](#fld_spark_plug_usage) + +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------------------------------------------------------------------ | ------- | -------- | ---- | +| SPARK_PLUG_SINGLE | `uint8` | 0 | | +| SPARK_PLUG_FIRST_ACTIVE | `uint8` | 1 | | +| SPARK_PLUG_SECOND_ACTIVE | `uint8` | 2 | | +| SPARK_PLUG_BOTH_ACTIVE | `uint8` | 3 | | ## Source Message @@ -75,13 +105,18 @@ pageClass: is-wide-page Click here to see original file ```c -uint64 timestamp # time since system start (microseconds) +uint64 timestamp # [us] Time since system start uint8 STATE_STOPPED = 0 # The engine is not running. This is the default state. uint8 STATE_STARTING = 1 # The engine is starting. This is a transient state. uint8 STATE_RUNNING = 2 # The engine is running normally. uint8 STATE_FAULT = 3 # The engine can no longer function. -uint8 state +uint8 state # [@enum STATE] Engine state + +uint8 SUBSTATE_RUN = 0 # The engine is running. This is the default state. +uint8 SUBSTATE_IDLE = 1 # The engine idle rpm controller is running. +uint8 SUBSTATE_REST = 2 # The engine is at rest. +uint8 substate # [@enum SUBSTATE] Engine substate uint32 FLAG_GENERAL_ERROR = 1 # General error. @@ -110,35 +145,37 @@ uint32 FLAG_OIL_PRESSURE_ABOVE_NOMINAL = 131072 # Over-pressure warning uint32 FLAG_DEBRIS_SUPPORTED = 262144 # Debris warning. This flag is optional uint32 FLAG_DEBRIS_DETECTED = 524288 # Detection of debris warning -uint32 flags +uint32 flags # [@enum FLAG] Engine status flags bitmap -uint8 engine_load_percent # Engine load estimate, percent, [0, 127] -uint32 engine_speed_rpm # Engine speed, revolutions per minute -float32 spark_dwell_time_ms # Spark dwell time, millisecond -float32 atmospheric_pressure_kpa # Atmospheric (barometric) pressure, kilopascal -float32 intake_manifold_pressure_kpa # Engine intake manifold pressure, kilopascal -float32 intake_manifold_temperature # Engine intake manifold temperature, kelvin -float32 coolant_temperature # Engine coolant temperature, kelvin -float32 oil_pressure # Oil pressure, kilopascal -float32 oil_temperature # Oil temperature, kelvin -float32 fuel_pressure # Fuel pressure, kilopascal -float32 fuel_consumption_rate_cm3pm # Instant fuel consumption estimate, (centimeter^3)/minute -float32 estimated_consumed_fuel_volume_cm3 # Estimate of the consumed fuel since the start of the engine, centimeter^3 -uint8 throttle_position_percent # Throttle position, percent -uint8 ecu_index # The index of the publishing ECU +uint8 engine_load_percent # [%] [@range 0, 127] Engine load estimate +uint32 engine_speed_rpm # [rpm] [@range 0, inf] Engine speed +float32 spark_dwell_time_ms # [ms] [@range 0, inf] Spark dwell time +float32 atmospheric_pressure_kpa # [kPa] [@range 0, inf] Atmospheric (barometric) pressure +float32 intake_manifold_pressure_kpa # [kPa] [@range 0, inf] Engine intake manifold pressure +float32 intake_manifold_temperature # [K] [@range 0, inf] Engine intake manifold temperature +float32 coolant_temperature # [K] [@range 0, inf] Engine coolant temperature +float32 oil_pressure # [kPa] [@range 0, inf] Oil pressure +float32 oil_temperature # [K] [@range 0, inf] Oil temperature +float32 fuel_pressure # [kPa] [@range 0, inf] Fuel pressure +float32 fuel_consumption_rate_cm3pm # [cm^3/min] [@range 0, inf] Instant fuel consumption estimate +float32 estimated_consumed_fuel_volume_cm3 # [cm^3] [@range 0, inf] Estimate of the consumed fuel since the start of the engine +uint8 throttle_position_percent # [%] [@range 0, 100] Throttle position +uint8 ecu_index # [-] [@range 0, 255] The index of the publishing ECU uint8 SPARK_PLUG_SINGLE = 0 uint8 SPARK_PLUG_FIRST_ACTIVE = 1 uint8 SPARK_PLUG_SECOND_ACTIVE = 2 uint8 SPARK_PLUG_BOTH_ACTIVE = 3 -uint8 spark_plug_usage # Spark plug activity report. +uint8 spark_plug_usage # [@enum SPARK_PLUG] Spark plug activity report -float32 ignition_timing_deg # Cylinder ignition timing, angular degrees of the crankshaft -float32 injection_time_ms # Fuel injection time, millisecond -float32 cylinder_head_temperature # Cylinder head temperature (CHT), kelvin -float32 exhaust_gas_temperature # Exhaust gas temperature (EGT), kelvin -float32 lambda_coefficient # Estimated lambda coefficient, dimensionless ratio +float32 ignition_timing_deg # [deg] [@range -inf, inf] Cylinder ignition timing, angular degrees of the crankshaft +float32 injection_time_ms # [ms] [@range 0, inf] Fuel injection time +float32 cylinder_head_temperature # [K] [@range 0, inf] Cylinder head temperature (CHT) +float32 exhaust_gas_temperature # [K] [@range 0, inf] Exhaust gas temperature (EGT) +float32 lambda_coefficient # [-] [@range 0, inf] Estimated lambda coefficient, dimensionless ratio + +float32 pid_idle_rpm_integral # [-] [@range -1, 1] Integral of the PID for the closed loop idle RPM controller ``` ::: diff --git a/docs/uk/msg_docs/ManualControlSetpoint.md b/docs/uk/msg_docs/ManualControlSetpoint.md index 7c1a7b5f2f..55563590b5 100644 --- a/docs/uk/msg_docs/ManualControlSetpoint.md +++ b/docs/uk/msg_docs/ManualControlSetpoint.md @@ -8,25 +8,25 @@ pageClass: is-wide-page ## Fields -| Назва | Тип | Unit [Frame] | Range/Enum | Опис | -| ---------------------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | ----------------------------------------------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) | -| valid | `bool` | | | | -| data_source | `uint8` | | | | -| roll | `float32` | | | move right, positive roll rotation, right side down | -| pitch | `float32` | | | move forward, negative pitch rotation, nose down | -| yaw | `float32` | | | positive yaw rotation, clockwise when seen top down | -| throttle | `float32` | | | move up, positive thrust, -1 is minimum available 0% or -100% +1 is 100% thrust | -| flaps | `float32` | | | position of flaps switch/knob/lever [-1, 1] | -| aux1 | `float32` | | | | -| aux2 | `float32` | | | | -| aux3 | `float32` | | | | -| aux4 | `float32` | | | | -| aux5 | `float32` | | | | -| aux6 | `float32` | | | | -| sticks_moving | `bool` | | | | -| buttons | `uint16` | | | From uint16 buttons field of Mavlink manual_control message | +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ---------------------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) | +| valid | `bool` | | | | +| data_source | `uint8` | | | | +| roll | `float32` | | | move right, positive roll rotation, right side down | +| pitch | `float32` | | | move forward, negative pitch rotation, nose down | +| yaw | `float32` | | | positive yaw rotation, clockwise when seen top down | +| throttle | `float32` | | | move up, positive thrust, -1 is minimum available 0% or -100% +1 is 100% thrust | +| flaps | `float32` | | | position of flaps switch/knob/lever [-1, 1] | +| aux1 | `float32` | | | | +| aux2 | `float32` | | | | +| aux3 | `float32` | | | | +| aux4 | `float32` | | | | +| aux5 | `float32` | | | | +| aux6 | `float32` | | | | +| sticks_moving | `bool` | | | manual control override request in an auto or offboard mode, only gets true if feature is enabled | +| buttons | `uint16` | | | From uint16 buttons field of Mavlink manual_control message | ## Constants @@ -89,7 +89,7 @@ float32 aux4 float32 aux5 float32 aux6 -bool sticks_moving +bool sticks_moving # manual control override request in an auto or offboard mode, only gets true if feature is enabled uint16 buttons # From uint16 buttons field of Mavlink manual_control message diff --git a/docs/uk/msg_docs/OpenDroneIdBasicId.md b/docs/uk/msg_docs/OpenDroneIdBasicId.md new file mode 100644 index 0000000000..b0409a2b61 --- /dev/null +++ b/docs/uk/msg_docs/OpenDroneIdBasicId.md @@ -0,0 +1,34 @@ +--- +pageClass: is-wide-page +--- + +# OpenDroneIdBasicId (UORB message) + +**TOPICS:** open_drone_id_basic_id + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ----------------------------------------------------------------------------- | ----------- | ---------------------------------------------------------------- | ---------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | | +| id_or_mac | `uint8[20]` | | | Only used for drone ID data received from other UAs, no null termination, null filled if shorter | +| id_type | `uint8` | | | MAV_ODID_ID_TYPE: indicates the format for the uas_id field | +| ua_type | `uint8` | | | MAV_ODID_UA_TYPE: indicates the type of UA (Unmanned Aircraft) | +| uas_id | `uint8[20]` | | | UAS (Unmanned Aircraft System) ID following the format specified by id_type, no null termination, null filled if shorter | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/OpenDroneIdBasicId.msg) + +:::details +Click here to see original file + +```c +uint64 timestamp +uint8[20] id_or_mac # Only used for drone ID data received from other UAs, no null termination, null filled if shorter +uint8 id_type # MAV_ODID_ID_TYPE: indicates the format for the uas_id field +uint8 ua_type # MAV_ODID_UA_TYPE: indicates the type of UA (Unmanned Aircraft) +uint8[20] uas_id # UAS (Unmanned Aircraft System) ID following the format specified by id_type, no null termination, null filled if shorter +``` + +::: diff --git a/docs/uk/msg_docs/RegisterExtComponentRequest.md b/docs/uk/msg_docs/RegisterExtComponentRequest.md index 301d1460ba..656d86f664 100644 --- a/docs/uk/msg_docs/RegisterExtComponentRequest.md +++ b/docs/uk/msg_docs/RegisterExtComponentRequest.md @@ -30,7 +30,7 @@ Request to register an external component. | Назва | Тип | Значення | Опис | | --------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | -------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | MESSAGE_VERSION | `uint32` | 2 | | -| LATEST_PX4_ROS2_API_VERSION | `uint16` | 1 | API version compatibility. Increase this on a breaking semantic change. Changes to any message field are detected separately and do not require an API version change. | +| LATEST_PX4_ROS2_API_VERSION | `uint16` | 2 | API version compatibility. Increase this on a breaking semantic change. Changes to any message field are detected separately and do not require an API version change. | | ORB_QUEUE_LENGTH | `uint8` | 2 | | ## Source Message @@ -50,7 +50,7 @@ uint64 timestamp # time since system start (microseconds) uint64 request_id # ID, set this to a random value char[25] name # either the requested mode name, or component name -uint16 LATEST_PX4_ROS2_API_VERSION = 1 # API version compatibility. Increase this on a breaking semantic change. Changes to any message field are detected separately and do not require an API version change. +uint16 LATEST_PX4_ROS2_API_VERSION = 2 # API version compatibility. Increase this on a breaking semantic change. Changes to any message field are detected separately and do not require an API version change. uint16 px4_ros2_api_version # Set to LATEST_PX4_ROS2_API_VERSION diff --git a/docs/uk/msg_docs/SensorBaro.md b/docs/uk/msg_docs/SensorBaro.md index 452f1d50f7..7a644fd3a2 100644 --- a/docs/uk/msg_docs/SensorBaro.md +++ b/docs/uk/msg_docs/SensorBaro.md @@ -19,7 +19,7 @@ The information is published in the `SCALED_PRESSURE_n` MAVLink messages (along | timestamp_sample | `uint64` | us | | Time of raw data capture | | device_id | `uint32` | | | Unique device ID for the sensor that does not change between power cycles | | pressure | `float32` | Pa | | Static pressure measurement | -| temperature | `float32` | degC | | Temperature. | +| temperature | `float32` | °C | | Temperature. | | error_count | `uint32` | | | Number of errors detected by driver. | ## Constants @@ -46,7 +46,7 @@ uint64 timestamp_sample # [us] Time of raw data capture uint32 device_id # [-] Unique device ID for the sensor that does not change between power cycles float32 pressure # [Pa] Static pressure measurement -float32 temperature # [degC] Temperature. +float32 temperature # [°C] Temperature. uint32 error_count # [-] Number of errors detected by driver. uint8 ORB_QUEUE_LENGTH = 4 diff --git a/docs/uk/msg_docs/SensorMag.md b/docs/uk/msg_docs/SensorMag.md index b7f6cab074..61051897bd 100644 --- a/docs/uk/msg_docs/SensorMag.md +++ b/docs/uk/msg_docs/SensorMag.md @@ -13,10 +13,10 @@ pageClass: is-wide-page | timestamp | `uint64` | | | time since system start (microseconds) | | timestamp_sample | `uint64` | | | | | device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles | -| x | `float32` | | | magnetic field in the FRD board frame X-axis in Gauss | -| y | `float32` | | | magnetic field in the FRD board frame Y-axis in Gauss | -| z | `float32` | | | magnetic field in the FRD board frame Z-axis in Gauss | -| temperature | `float32` | | | temperature in degrees Celsius | +| x | `float32` | Gauss | | magnetic field in the FRD board frame X-axis | +| y | `float32` | Gauss | | magnetic field in the FRD board frame Y-axis | +| z | `float32` | Gauss | | magnetic field in the FRD board frame Z-axis | +| temperature | `float32` | °C | | Temperature. | | error_count | `uint32` | | | | ## Constants @@ -38,11 +38,11 @@ uint64 timestamp_sample uint32 device_id # unique device ID for the sensor that does not change between power cycles -float32 x # magnetic field in the FRD board frame X-axis in Gauss -float32 y # magnetic field in the FRD board frame Y-axis in Gauss -float32 z # magnetic field in the FRD board frame Z-axis in Gauss +float32 x # [Gauss] magnetic field in the FRD board frame X-axis +float32 y # [Gauss] magnetic field in the FRD board frame Y-axis +float32 z # [Gauss] magnetic field in the FRD board frame Z-axis -float32 temperature # temperature in degrees Celsius +float32 temperature # [°C] Temperature. uint32 error_count diff --git a/docs/uk/msg_docs/SetpointConfig.md b/docs/uk/msg_docs/SetpointConfig.md new file mode 100644 index 0000000000..fe1b2ccabe --- /dev/null +++ b/docs/uk/msg_docs/SetpointConfig.md @@ -0,0 +1,98 @@ +--- +pageClass: is-wide-page +--- + +# SetpointConfig (UORB message) + +Setpoint configuration message. + +Published by external modes and PX4 will respond with SetpointConfigReply. + +**TOPICS:** setpoint_config + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| -------------------------------------------------------------- | -------- | ---------------------------------------------------------------- | ------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | +| timestamp | `uint64` | us | | Time since system start | +| type | `uint16` | | [TYPE](#TYPE) | setpoint type (corresponding to one or more setpoint messages) | +| source_id | `uint8` | | | nav_state of the mode | +| should_apply | `bool` | | | if true: apply as current setpoint configuration (mode should be active). If false: setpoint configuration is not changed (can be used to check if a setpoint can be used with the current vehicle configuration). | +| timeout_ms | `uint16` | | | Configure setpoint timeout. If no setpoint received for this time, PX4 triggers a failsafe. 0 disables the timeout (unresponsive modes still trigger a timeout through arming checks). | + +## Enums + +### TYPE {#TYPE} + +Used in field(s): [type](#fld_type) + +| Назва | Тип | Значення | Опис | +| ---------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | -------- | ---------------------------------------------------------- | +| TYPE_INVALID | `uint16` | 0 | | +| TYPE_DIRECT_ACTUATORS | `uint16` | 1 | ActuatorMotors and ActuatorServos | +| TYPE_MULTICOPTER_GOTO | `uint16` | 2 | GotoSetpoint | +| TYPE_FIXEDWING_LATERAL_LONGITUDINAL | `uint16` | 3 | FixedWingLateralSetpoint and FixedWingLongitudinalSetpoint | +| TYPE_TRAJECTORY | `uint16` | 4 | TrajectorySetpoint | +| TYPE_RATES | `uint16` | 5 | VehicleRatesSetpoint | +| TYPE_ATTITUDE | `uint16` | 6 | VehicleAttitudeSetpoint | +| TYPE_ROVER_POSITION | `uint16` | 7 | RoverPositionSetpoint | +| TYPE_ROVER_SPEED_ATTITUDE | `uint16` | 8 | RoverSpeedSetpoint and RoverAttitudeSetpoint | +| TYPE_ROVER_SPEED_RATE | `uint16` | 9 | RoverSpeedSetpoint and RoverRateSetpoint | +| TYPE_ROVER_SPEED_STEERING | `uint16` | 10 | RoverSpeedSetpoint and RoverSteeringSetpoint | +| TYPE_ROVER_THROTTLE_ATTITUDE | `uint16` | 11 | RoverThrottleSetpoint and RoverAttitudeSetpoint | +| TYPE_ROVER_THROTTLE_RATE | `uint16` | 12 | RoverThrottleSetpoint and RoverRateSetpoint | +| TYPE_ROVER_THROTTLE_STEERING | `uint16` | 13 | RoverThrottleSetpoint and RoverSteeringSetpoint | +| TYPE_TRAJECTORY_6DOF | `uint16` | 14 | TrajectorySetpoint6dof | +| TYPE_THRUST_AND_TORQUE | `uint16` | 15 | VehicleThrustSetpoint and VehicleTorqueSetpoint | +| TYPE_POSITION_TRIPLET | `uint16` | 16 | PositionSetpointTriplet | + +## Constants + +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------ | -------- | -------- | ---- | +| MESSAGE_VERSION | `uint32` | 0 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/SetpointConfig.msg) + +:::details +Click here to see original file + +```c +# Setpoint configuration message +# +# Published by external modes and PX4 will respond with SetpointConfigReply. + +uint32 MESSAGE_VERSION = 0 + +uint64 timestamp # [us] Time since system start + +uint16 TYPE_INVALID = 0 +uint16 TYPE_DIRECT_ACTUATORS = 1 # ActuatorMotors and ActuatorServos +uint16 TYPE_MULTICOPTER_GOTO = 2 # GotoSetpoint +uint16 TYPE_FIXEDWING_LATERAL_LONGITUDINAL = 3 # FixedWingLateralSetpoint and FixedWingLongitudinalSetpoint +uint16 TYPE_TRAJECTORY = 4 # TrajectorySetpoint +uint16 TYPE_RATES = 5 # VehicleRatesSetpoint +uint16 TYPE_ATTITUDE = 6 # VehicleAttitudeSetpoint +uint16 TYPE_ROVER_POSITION = 7 # RoverPositionSetpoint +uint16 TYPE_ROVER_SPEED_ATTITUDE = 8 # RoverSpeedSetpoint and RoverAttitudeSetpoint +uint16 TYPE_ROVER_SPEED_RATE = 9 # RoverSpeedSetpoint and RoverRateSetpoint +uint16 TYPE_ROVER_SPEED_STEERING = 10 # RoverSpeedSetpoint and RoverSteeringSetpoint +uint16 TYPE_ROVER_THROTTLE_ATTITUDE = 11 # RoverThrottleSetpoint and RoverAttitudeSetpoint +uint16 TYPE_ROVER_THROTTLE_RATE = 12 # RoverThrottleSetpoint and RoverRateSetpoint +uint16 TYPE_ROVER_THROTTLE_STEERING = 13 # RoverThrottleSetpoint and RoverSteeringSetpoint +uint16 TYPE_TRAJECTORY_6DOF = 14 # TrajectorySetpoint6dof +uint16 TYPE_THRUST_AND_TORQUE = 15 # VehicleThrustSetpoint and VehicleTorqueSetpoint +uint16 TYPE_POSITION_TRIPLET = 16 # PositionSetpointTriplet + +uint16 type # [@enum TYPE] setpoint type (corresponding to one or more setpoint messages) + +uint8 source_id # nav_state of the mode + +bool should_apply # if true: apply as current setpoint configuration (mode should be active). If false: setpoint configuration is not changed (can be used to check if a setpoint can be used with the current vehicle configuration). + +uint16 timeout_ms # Configure setpoint timeout. If no setpoint received for this time, PX4 triggers a failsafe. 0 disables the timeout (unresponsive modes still trigger a timeout through arming checks). +``` + +::: diff --git a/docs/uk/msg_docs/SetpointConfigReply.md b/docs/uk/msg_docs/SetpointConfigReply.md new file mode 100644 index 0000000000..26fdfb8517 --- /dev/null +++ b/docs/uk/msg_docs/SetpointConfigReply.md @@ -0,0 +1,75 @@ +--- +pageClass: is-wide-page +--- + +# SetpointConfigReply (UORB message) + +Reply to SetpointConfig. + +**TOPICS:** setpoint_config_reply + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ---------------------------------------------------------------------------------------------------------------------------------- | -------- | ---------------------------------------------------------------- | ----------------- | ---------------------------------------------------------------------------------- | +| timestamp | `uint64` | us | | Time since system start | +| type | `uint16` | | | See SetpointConfig::TYPE\_\* | +| source_id | `uint8` | | | nav_state of the mode that sent the SetpointConfig | +| result | `uint8` | | [RESULT](#RESULT) | | +| mode_req_angular_velocity | `bool` | | | | +| mode_req_attitude | `bool` | | | | +| mode_req_local_alt | `bool` | | | | +| mode_req_local_position | `bool` | | | | + +## Enums + +### RESULT {#RESULT} + +Used in field(s): [result](#fld_result) + +| Назва | Тип | Значення | Опис | +| -------------------------------------------------------------------------------------------------------------------------------------- | ------- | -------- | ---------------------------------------------------- | +| RESULT_SUCCESS | `uint8` | 0 | | +| RESULT_FAILURE_OTHER | `uint8` | 1 | | +| RESULT_UNSUPPORTED | `uint8` | 2 | Setpoint type is unsupported for the current vehicle | +| RESULT_UNKNOWN_SETPOINT_TYPE | `uint8` | 3 | The setpoint type is not known | + +## Constants + +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------ | -------- | -------- | ---- | +| MESSAGE_VERSION | `uint32` | 0 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/SetpointConfigReply.msg) + +:::details +Click here to see original file + +```c +# Reply to SetpointConfig + +uint32 MESSAGE_VERSION = 0 + +uint64 timestamp # [us] Time since system start + +uint16 type # See SetpointConfig::TYPE_* + +uint8 source_id # nav_state of the mode that sent the SetpointConfig + +uint8 RESULT_SUCCESS = 0 +uint8 RESULT_FAILURE_OTHER = 1 +uint8 RESULT_UNSUPPORTED = 2 # Setpoint type is unsupported for the current vehicle +uint8 RESULT_UNKNOWN_SETPOINT_TYPE = 3 # The setpoint type is not known +uint8 result # [@enum RESULT] + +# Mode requirements for using the given setpoint type. A mode will use these and apply them to the arming check reply (PX4 does not do that itself). +# Certain setpoint types can be used in a reduced way, for example a TrajectorySetpoint without position control. In that case PX4 still sets all requirement flags, and the mode will then ignore mode_req_local_position. +bool mode_req_angular_velocity +bool mode_req_attitude +bool mode_req_local_alt +bool mode_req_local_position +``` + +::: diff --git a/docs/uk/msg_docs/VehicleCommand.md b/docs/uk/msg_docs/VehicleCommand.md index 4c993c9d2b..eb9533a01d 100644 --- a/docs/uk/msg_docs/VehicleCommand.md +++ b/docs/uk/msg_docs/VehicleCommand.md @@ -1528,6 +1528,20 @@ Change mode by specifying nav_state directly. | 6 | | | Unused | | 7 | | | Unused | +### VEHICLE_CMD_DO_SET_GLOBAL_ORIGIN (611) + +Sets GNSS coordinates of the vehicle local origin (0,0,0) position. Send as COMMAND_INT with MAV_FRAME_GLOBAL_INT. + +| Param | Units | Range/Enum | Опис | +| ----- | ----- | ---------- | ------------------------------------- | +| 1 | | | Unused | +| 2 | | | Unused | +| 3 | | | Unused | +| 4 | | | Unused | +| 5 | | | Latitude (WGS-84) | +| 6 | | | Longitude (WGS-84) | +| 7 | m | | Altitude (AMSL) | + ### VEHICLE_CMD_GUIDED_CHANGE_HEADING (43002) Change heading/course. param1: heading type (0=course-over-ground, 1=heading). param2: target [deg]. param3: max rate [deg/s]. @@ -1797,6 +1811,7 @@ uint32 VEHICLE_CMD_PX4_INTERNAL_START = 65537 # Start of PX4 internal only vehic uint32 VEHICLE_CMD_SET_GPS_GLOBAL_ORIGIN = 100000 # Sets the GPS coordinates of the vehicle local origin (0,0,0) position. |Unused|Unused|Unused|Unused|Latitude (WGS-84)|Longitude (WGS-84)|[m] Altitude (AMSL from GNSS, positive above ground)| uint32 VEHICLE_CMD_SET_NAV_STATE = 100001 # Change mode by specifying nav_state directly. |nav_state|Unused|Unused|Unused|Unused|Unused|Unused| +uint16 VEHICLE_CMD_DO_SET_GLOBAL_ORIGIN = 611 # Sets GNSS coordinates of the vehicle local origin (0,0,0) position. Send as COMMAND_INT with MAV_FRAME_GLOBAL_INT. |Unused|Unused|Unused|Unused|Latitude (WGS-84)|Longitude (WGS-84)|[m] Altitude (AMSL)| uint16 VEHICLE_CMD_GUIDED_CHANGE_HEADING = 43002 # Change heading/course. param1: heading type (0=course-over-ground, 1=heading). param2: target [deg]. param3: max rate [deg/s]. |Heading type (HEADING_TYPE enum)|[deg] Target bearing [0..360]|[deg/s] Max rate of change|Unused|Unused|Unused|Unused| uint8 VEHICLE_MOUNT_MODE_RETRACT = 0 # Load and keep safe position (Roll,Pitch,Yaw) from permanent memory and stop stabilization. diff --git a/docs/uk/msg_docs/VehicleControlMode.md b/docs/uk/msg_docs/VehicleControlMode.md index 5bea85b868..3d61a96881 100644 --- a/docs/uk/msg_docs/VehicleControlMode.md +++ b/docs/uk/msg_docs/VehicleControlMode.md @@ -4,7 +4,9 @@ pageClass: is-wide-page # VehicleControlMode (повідомлення UORB) -**TOPICS:** vehicle_control_mode config_control_setpoints +Defines which controllers should run. + +**TOPICS:** vehicle_control_mode ## Fields @@ -20,28 +22,19 @@ pageClass: is-wide-page | flag_control_velocity_enabled | `bool` | | | true if horizontal velocity (implies direction) is controlled | | flag_control_altitude_enabled | `bool` | | | true if altitude is controlled | | flag_control_climb_rate_enabled | `bool` | | | true if climb rate is controlled | -| flag_control_acceleration_enabled | `bool` | | | true if acceleration is controlled | | flag_control_attitude_enabled | `bool` | | | true if attitude stabilization is mixed in | | flag_control_rates_enabled | `bool` | | | true if rates are stabilized | | flag_control_allocation_enabled | `bool` | | | true if control allocation is enabled | -| flag_control_termination_enabled | `bool` | | | true if flighttermination is enabled | -| source_id | `uint8` | | | Mode ID (nav_state) | - -## Constants - -| Назва | Тип | Значення | Опис | -| ------------------------------------------------------------------ | -------- | -------- | ---- | -| MESSAGE_VERSION | `uint32` | 0 | | ## Source Message -[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleControlMode.msg) +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleControlMode.msg) :::details Click here to see original file ```c -uint32 MESSAGE_VERSION = 0 +# Defines which controllers should run uint64 timestamp # time since system start (microseconds) bool flag_armed # synonym for actuator_armed.armed @@ -55,16 +48,9 @@ bool flag_control_position_enabled # true if position is controlled bool flag_control_velocity_enabled # true if horizontal velocity (implies direction) is controlled bool flag_control_altitude_enabled # true if altitude is controlled bool flag_control_climb_rate_enabled # true if climb rate is controlled -bool flag_control_acceleration_enabled # true if acceleration is controlled bool flag_control_attitude_enabled # true if attitude stabilization is mixed in bool flag_control_rates_enabled # true if rates are stabilized bool flag_control_allocation_enabled # true if control allocation is enabled -bool flag_control_termination_enabled # true if flighttermination is enabled - -# TODO: use dedicated topic for external requests -uint8 source_id # Mode ID (nav_state) - -# TOPICS vehicle_control_mode config_control_setpoints ``` ::: diff --git a/docs/uk/msg_docs/VehicleThrustSetpoint.md b/docs/uk/msg_docs/VehicleThrustSetpoint.md index 1667cd8687..d8ca9159fa 100644 --- a/docs/uk/msg_docs/VehicleThrustSetpoint.md +++ b/docs/uk/msg_docs/VehicleThrustSetpoint.md @@ -4,15 +4,19 @@ pageClass: is-wide-page # VehicleThrustSetpoint (повідомлення UORB) +Vehicle thrust setpoint. + +This is the thrust setpoint provided by the controller and fed into the control allocator. + **TOPICS:** vehicle_thrust_setpoint vehicle_thrust_setpoint_virtual_fw vehicle_thrust_setpoint_virtual_mc ## Fields -| Назва | Тип | Unit [Frame] | Range/Enum | Опис | -| ---------------------------------------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| timestamp_sample | `uint64` | | | timestamp of the data sample on which this message is based (microseconds) | -| xyz | `float32[3]` | | | thrust setpoint along X, Y, Z body axis [-1, 1] | +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ---------------------------------------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | us | | Time since system start | +| timestamp_sample | `uint64` | us | | Timestamp of the data sample on which this message is based | +| xyz | `float32[3]` | | [-1 : 1] | Thrust setpoint along X, Y, Z body axis. If set to NAN the motors affecting this axis are stopped. | ## Source Message @@ -22,10 +26,14 @@ pageClass: is-wide-page Click here to see original file ```c -uint64 timestamp # time since system start (microseconds) -uint64 timestamp_sample # timestamp of the data sample on which this message is based (microseconds) +# Vehicle thrust setpoint +# +# This is the thrust setpoint provided by the controller and fed into the control allocator. -float32[3] xyz # thrust setpoint along X, Y, Z body axis [-1, 1] +uint64 timestamp # [us] Time since system start +uint64 timestamp_sample # [us] Timestamp of the data sample on which this message is based + +float32[3] xyz # [-] [@range -1, 1] Thrust setpoint along X, Y, Z body axis. If set to NAN the motors affecting this axis are stopped. # TOPICS vehicle_thrust_setpoint # TOPICS vehicle_thrust_setpoint_virtual_fw vehicle_thrust_setpoint_virtual_mc diff --git a/docs/uk/msg_docs/index.md b/docs/uk/msg_docs/index.md index 7e7b750109..2c6e30055d 100644 --- a/docs/uk/msg_docs/index.md +++ b/docs/uk/msg_docs/index.md @@ -36,6 +36,8 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m - [RaptorStatus](RaptorStatus.md) — Raptor Status. - [RegisterExtComponentReply](RegisterExtComponentReply.md) - [RegisterExtComponentRequest](RegisterExtComponentRequest.md) — Request to register an external component. +- [SetpointConfig](SetpointConfig.md) — Setpoint configuration message. +- [SetpointConfigReply](SetpointConfigReply.md) — Reply to SetpointConfig. - [TrajectorySetpoint](TrajectorySetpoint.md) — Trajectory setpoint in NED frame. Input to PID position controller. Потрібно мати кінематичну консистентність і бути можливим для плавного польоту. setting a value to NaN means the state should not be controlled. - [UnregisterExtComponent](UnregisterExtComponent.md) - [VehicleAngularVelocity](VehicleAngularVelocity.md) @@ -43,7 +45,6 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m - [VehicleAttitudeSetpoint](VehicleAttitudeSetpoint.md) - [VehicleCommand](VehicleCommand.md) — Vehicle Command uORB message. Використовується для управління місією / дією / тощо. Follows the MAVLink COMMAND_INT / COMMAND_LONG definition. - [VehicleCommandAck](VehicleCommandAck.md) — Vehicle Command Acknowledgement uORB message. -- [VehicleControlMode](VehicleControlMode.md) - [VehicleGlobalPosition](VehicleGlobalPosition.md) — Fused global position in WGS84. This struct contains global position estimation. It is not the raw GPS. measurement (@see vehicle_gps_position). This topic is usually published by the position. estimator, which will take more sources of information into account than just GPS,. e.g. control inputs of the vehicle in a Kalman-filter implementation. - [VehicleLandDetected](VehicleLandDetected.md) - [VehicleLocalPosition](VehicleLocalPosition.md) — Fused local position in NED. The coordinate system origin is the vehicle position at the time when the EKF2-module was started. @@ -129,6 +130,7 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m - [EstimatorStatusFlags](EstimatorStatusFlags.md) - [FailsafeFlags](FailsafeFlags.md) — Input flags for the failsafe state machine set by the arming & health checks. - [FailureDetectorStatus](FailureDetectorStatus.md) +- [FailureInjection](FailureInjection.md) — Failure injection configuration. - [FiducialMarkerPosReport](FiducialMarkerPosReport.md) — Relative position of a precision-landing target detected by a vision pipeline (e.g. an ArUco marker). - [FiducialMarkerYawReport](FiducialMarkerYawReport.md) — Yaw of a precision-landing target relative to the NED (North, East, Down) frame, reported by a vision pipeline. - [FigureEightStatus](FigureEightStatus.md) @@ -193,6 +195,7 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m - [OffboardControlMode](OffboardControlMode.md) — Off-board control mode. - [OnboardComputerStatus](OnboardComputerStatus.md) — ONBOARD_COMPUTER_STATUS message data. - [OpenDroneIdArmStatus](OpenDroneIdArmStatus.md) +- [OpenDroneIdBasicId](OpenDroneIdBasicId.md) - [OpenDroneIdOperatorId](OpenDroneIdOperatorId.md) - [OpenDroneIdSelfId](OpenDroneIdSelfId.md) - [OpenDroneIdSystem](OpenDroneIdSystem.md) @@ -275,8 +278,8 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m - [UlogStreamAck](UlogStreamAck.md) — Ack a previously sent ulog_stream message that had. the NEED_ACK flag set. - [VehicleAcceleration](VehicleAcceleration.md) - [VehicleAirData](VehicleAirData.md) — Vehicle air data. -- [VehicleAngularAccelerationSetpoint](VehicleAngularAccelerationSetpoint.md) - [VehicleConstraints](VehicleConstraints.md) — Local setpoint constraints in NED frame. setting something to NaN means that no limit is provided. +- [VehicleControlMode](VehicleControlMode.md) — Defines which controllers should run. - [VehicleImu](VehicleImu.md) — IMU readings in SI-unit form. - [VehicleImuStatus](VehicleImuStatus.md) - [VehicleLocalPositionSetpoint](VehicleLocalPositionSetpoint.md) — Local position setpoint in NED frame. Telemetry of PID position controller to monitor tracking. NaN means the state was not controlled. @@ -284,7 +287,7 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m - [VehicleOpticalFlow](VehicleOpticalFlow.md) — Optical flow in XYZ body frame in SI units. - [VehicleOpticalFlowVel](VehicleOpticalFlowVel.md) - [VehicleRoi](VehicleRoi.md) — Vehicle Region Of Interest (ROI). -- [VehicleThrustSetpoint](VehicleThrustSetpoint.md) +- [VehicleThrustSetpoint](VehicleThrustSetpoint.md) — Vehicle thrust setpoint. - [VehicleTorqueSetpoint](VehicleTorqueSetpoint.md) - [VelocityLimits](VelocityLimits.md) — Velocity and yaw rate limits for a multicopter position slow mode only. - [VteAidSource1d](VteAidSource1d.md) — Vision Target Estimator 1D fusion aid-source diagnostics (e.g. yaw). diff --git a/docs/uk/neural_networks/mc_neural_network_control.md b/docs/uk/neural_networks/mc_neural_network_control.md index a6f0d712df..ebf1112748 100644 --- a/docs/uk/neural_networks/mc_neural_network_control.md +++ b/docs/uk/neural_networks/mc_neural_network_control.md @@ -17,7 +17,7 @@ Note that after training the network you will need to update and rebuild PX4. TLFM is a mature inference library intended for use on embedded devices. It has support for several architectures, so there is a high likelihood that you can build it for the board you want to use. -If not, there are other possible NN frameworks, such as [Eigen](https://eigen.tuxfamily.org/index.php?title=Main_Page) and [Executorch](https://docs.pytorch.org/executorch/stable/intro-overview.html). +If not, there are other possible NN frameworks, such as [Eigen](https://libeigen.gitlab.io/) and [Executorch](https://docs.pytorch.org/executorch/stable/intro-overview.html). This document explains how you can include the module in your PX4 build, and provides a broad overview of how it works. The other documents in the section provide more information about the integration, allowing you to replace the NN with a version trained on different data, or even to replace the TLFM library altogether. diff --git a/docs/uk/neural_networks/nn_module_utilities.md b/docs/uk/neural_networks/nn_module_utilities.md index a6888fa50b..02703ab68a 100644 --- a/docs/uk/neural_networks/nn_module_utilities.md +++ b/docs/uk/neural_networks/nn_module_utilities.md @@ -18,7 +18,7 @@ A line to autostart the [mc_nn_control](../modules/modules_controller.md#mc-nn-c It checks whether the module is included by looking for the parameter [MC_NN_EN](../advanced_config/parameter_reference.md#MC_NN_EN). If this is set to `1` (the default value), the module will be started when booting PX4. -Similarly you could create other parameters in the [`mc_nn_control_params.c`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/mc_nn_control/mc_nn_control_params.c) file for other startup script checks. +Similarly you could create other parameters in the [`mc_nn_control_params.yaml`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/mc_nn_control/mc_nn_control_params.yaml) file for other startup script checks. ## Custom Flight Mode diff --git a/docs/uk/releases/1.18.md b/docs/uk/releases/1.18.md index 11ad20fb59..db51a94a37 100644 --- a/docs/uk/releases/1.18.md +++ b/docs/uk/releases/1.18.md @@ -1,6 +1,6 @@ # PX4-Autopilot v1.18.0 Release Notes - +