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New Crowdin translations - zh-CN (#24563)

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238
docs/zh/modules/hello_sky.md
View File

@@ -29,151 +29,151 @@ This consists of a single _C_ file and a _cmake_ definition (which tells the too
2. Create a new C file in that directory named **px4_simple_app.c**:
- Copy in the default header to the top of the page.
该注释应出现在所有贡献的文件中！
- Copy in the default header to the top of the page.
该注释应出现在所有贡献的文件中！
```c
/****************************************************************************
*
* Copyright (c) 2012-2022 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
```
```c
/****************************************************************************
*
* Copyright (c) 2012-2022 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
```
- 将下面的代码复制到头部注释的下方，
该注释应出现在所有贡献的文件中！
- 将下面的代码复制到头部注释的下方，
该注释应出现在所有贡献的文件中！
```c
/**
* @file px4_simple_app.c
* Minimal application example for PX4 autopilot
*
* @author Example User <mail@example.com>
*/
```c
/**
* @file px4_simple_app.c
* Minimal application example for PX4 autopilot
*
* @author Example User <mail@example.com>
*/
#include <px4_platform_common/log.h>
#include <px4_platform_common/log.h>
__EXPORT int px4_simple_app_main(int argc, char *argv[]);
__EXPORT int px4_simple_app_main(int argc, char *argv[]);
int px4_simple_app_main(int argc, char *argv[])
{
PX4_INFO("Hello Sky!");
return OK;
}
```
int px4_simple_app_main(int argc, char *argv[])
{
PX4_INFO("Hello Sky!");
return OK;
}
```
:::tip
The main function must be named `<module_name>_main` and exported from the module as shown.
:::tip
The main function must be named `<module_name>_main` and exported from the module as shown.
:::
:::tip
`PX4_INFO` is the equivalent of `printf` for the PX4 shell (included from **px4_platform_common/log.h**).
There are different log levels: `PX4_INFO`, `PX4_WARN`, `PX4_ERR`, `PX4_DEBUG`.
Warnings and errors are additionally added to the [ULog](../dev_log/ulog_file_format.md) and shown on [Flight Review](https://logs.px4.io/).
:::tip
`PX4_INFO` is the equivalent of `printf` for the PX4 shell (included from **px4_platform_common/log.h**).
There are different log levels: `PX4_INFO`, `PX4_WARN`, `PX4_ERR`, `PX4_DEBUG`.
Warnings and errors are additionally added to the [ULog](../dev_log/ulog_file_format.md) and shown on [Flight Review](https://logs.px4.io/).
:::
3. Create and open a new _cmake_ definition file named **CMakeLists.txt**.
复制下面的文本：
复制下面的文本：
```cmake
############################################################################
#
# Copyright (c) 2015 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
px4_add_module(
MODULE examples__px4_simple_app
MAIN px4_simple_app
STACK_MAIN 2000
SRCS
px4_simple_app.c
DEPENDS
)
```
```cmake
############################################################################
#
# Copyright (c) 2015 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
px4_add_module(
MODULE examples__px4_simple_app
MAIN px4_simple_app
STACK_MAIN 2000
SRCS
px4_simple_app.c
DEPENDS
)
```
The `px4_add_module()` method builds a static library from a module description.
The `px4_add_module()` method builds a static library from a module description.
- The `MODULE` block is the Firmware-unique name of the module (by convention the module name is prefixed by parent directories back to `src`).
- The `MAIN` block lists the entry point of the module, which registers the command with NuttX so that it can be called from the PX4 shell or SITL console.
- The `MODULE` block is the Firmware-unique name of the module (by convention the module name is prefixed by parent directories back to `src`).
- The `MAIN` block lists the entry point of the module, which registers the command with NuttX so that it can be called from the PX4 shell or SITL console.
:::tip
The `px4_add_module()` format is documented in [PX4-Autopilot/cmake/px4_add_module.cmake](https://github.com/PX4/PX4-Autopilot/blob/main/cmake/px4_add_module.cmake). <!-- NEED px4_version -->
:::tip
The `px4_add_module()` format is documented in [PX4-Autopilot/cmake/px4_add_module.cmake](https://github.com/PX4/PX4-Autopilot/blob/main/cmake/px4_add_module.cmake). <!-- NEED px4_version -->
:::
::: info
If you specify `DYNAMIC` as an option to `px4_add_module`, a _shared library_ is created instead of a static library on POSIX platforms (these can be loaded without having to recompile PX4, and shared to others as binaries rather than source code).
Your app will not become a builtin command, but ends up in a separate file called `examples__px4_simple_app.px4mod`.
You can then run your command by loading the file at runtime using the `dyn` command: `dyn ./examples__px4_simple_app.px4mod`
::: info
If you specify `DYNAMIC` as an option to `px4_add_module`, a _shared library_ is created instead of a static library on POSIX platforms (these can be loaded without having to recompile PX4, and shared to others as binaries rather than source code).
Your app will not become a builtin command, but ends up in a separate file called `examples__px4_simple_app.px4mod`.
You can then run your command by loading the file at runtime using the `dyn` command: `dyn ./examples__px4_simple_app.px4mod`
:::
4. Create and open a new _Kconfig_ definition file named **Kconfig** and define your symbol for naming (see [Kconfig naming convention](../hardware/porting_guide_config.md#px4-kconfig-symbol-naming-convention)).
复制下面的文本：
复制下面的文本：
```
menuconfig EXAMPLES_PX4_SIMPLE_APP
bool "px4_simple_app"
default n
---help---
Enable support for px4_simple_app
```
```
menuconfig EXAMPLES_PX4_SIMPLE_APP
bool "px4_simple_app"
default n
---help---
Enable support for px4_simple_app
```
## 编译应用程序/固件

31
docs/zh/modules/module_template.md
View File

@@ -22,27 +22,27 @@ PX4-Autopilot contains a template for writing a new application (module) that ru
总结：
1. Specify the dependency on the work queue library in the cmake definition file ([CMakeLists.txt](https://github.com/PX4/PX4-Autopilot/blob/main/src/examples/work_item/CMakeLists.txt)):
```
...
DEPENDS
px4_work_queue
```
```
...
DEPENDS
px4_work_queue
```
2. In addition to `ModuleBase`, the task should also derive from `ScheduledWorkItem` (included from [ScheduledWorkItem.hpp](https://github.com/PX4/PX4-Autopilot/blob/main/platforms/common/include/px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp))
3. 在构造函数初始化中指定要添加任务的队列。
The [work_item](https://github.com/PX4/PX4-Autopilot/blob/main/src/examples/work_item/WorkItemExample.cpp#L42) example adds itself to the `wq_configurations::test1` work queue as shown below:
The [work_item](https://github.com/PX4/PX4-Autopilot/blob/main/src/examples/work_item/WorkItemExample.cpp#L42) example adds itself to the `wq_configurations::test1` work queue as shown below:
```cpp
WorkItemExample::WorkItemExample() :
ModuleParams(nullptr),
ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::test1)
{
}
```
```cpp
WorkItemExample::WorkItemExample() :
ModuleParams(nullptr),
ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::test1)
{
}
```
::: info
The available work queues (`wq_configurations`) are listed in [WorkQueueManager.hpp](https://github.com/PX4/PX4-Autopilot/blob/main/platforms/common/include/px4_platform_common/px4_work_queue/WorkQueueManager.hpp#L49).
::: info
The available work queues (`wq_configurations`) are listed in [WorkQueueManager.hpp](https://github.com/PX4/PX4-Autopilot/blob/main/platforms/common/include/px4_platform_common/px4_work_queue/WorkQueueManager.hpp#L49).
:::
@@ -69,3 +69,4 @@ PX4/PX4-Autopilot contains a template for writing a new application (module) tha
documented [in the source code](https://github.com/PX4/PX4-Autopilot/blob/v1.8.0/src/platforms/px4_module.h#L381)):
- 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.

22
docs/zh/modules/modules_system.md
View File

@@ -370,7 +370,7 @@ CONFIG_DRIVERS_RPM_CAPTURE=y
Additionally, to enable the module:
- Set [ICE_EN](../advanced_config/parameter_reference.md#ICE_EN)
to true and adjust the other `ICE_` module parameters according to your needs.
to true and adjust the other `ICE_` module parameters according to your needs.
- Set [RPM_CAP_ENABLE](../advanced_config/parameter_reference.md#RPM_CAP_ENABLE) to true.
The module outputs control signals for ignition, throttle, and choke,
@@ -390,8 +390,8 @@ The state machine:
- Checks if [Rpm.msg](../msg_docs/Rpm.md) is updated to know if the engine is running
- Allows for user inputs from:
- AUX{N}
- Arming state in [VehicleStatus.msg](../msg_docs/VehicleStatus.md)
- AUX{N}
- Arming state in [VehicleStatus.msg](../msg_docs/VehicleStatus.md)
The module publishes [InternalCombustionEngineControl.msg](../msg_docs/InternalCombustionEngineControl.md).
@@ -510,7 +510,7 @@ The normal log is always a superset of the mission log.
立刻开始记录日志的典型用法：
- The main thread, running at a fixed rate (or polling on a topic if started with -p) and checking for
data updates
data updates
- 写入线程，将数据写入文件中、
In between there is a write buffer with configurable size (and another fixed-size buffer for
@@ -726,9 +726,9 @@ There are 2 environment variables used for configuration: `replay`, which must b
the log file to be replayed. The second is the mode, specified via `replay_mode`:
- `replay_mode=ekf2`: specific EKF2 replay mode. It can only be used with the ekf2 module, but allows the replay
to run as fast as possible.
to run as fast as possible.
- Generic otherwise: this can be used to replay any module(s), but the replay will be done with the same speed as the
log was recorded.
log was recorded.
The module is typically used together with uORB publisher rules, to specify which messages should be replayed.
The replay module will just publish all messages that are found in the log. It also applies the parameters from
@@ -894,12 +894,12 @@ it into a more usable form, and publishes it for the rest of the system.
模块提供的功能包括：
- Read the output from the sensor drivers (`SensorGyro`, etc.).
如果存在多个同类型传感器，那个模块将进行投票和容错处理。
然后应用飞控板的旋转和温度校正（如果被启用）。 And finally publish the data; one of the
topics is `SensorCombined`, used by many parts of the system.
如果存在多个同类型传感器，那个模块将进行投票和容错处理。
然后应用飞控板的旋转和温度校正（如果被启用）。 And finally publish the data; one of the
topics is `SensorCombined`, used by many parts of the system.
- Make sure the sensor drivers get the updated calibration parameters (scale & offset) when the parameters change or
on startup. 传感器驱动使用 ioctl 接口获取参数更新。 For this to work properly, the
sensor drivers must already be running when `sensors` is started.
on startup. 传感器驱动使用 ioctl 接口获取参数更新。 For this to work properly, the
sensor drivers must already be running when `sensors` is started.
- Do sensor consistency checks and publish the `SensorsStatusImu` topic.
### 实现