diff --git a/docs/uk/SUMMARY.md b/docs/uk/SUMMARY.md index bc32b68cce..3fed612949 100644 --- a/docs/uk/SUMMARY.md +++ b/docs/uk/SUMMARY.md @@ -534,6 +534,7 @@ - [Шина I2C](sensor_bus/i2c_development.md) - [UART/Послідовний порт](uart/index.md) - [Драйвери послідовного порту і їх налаштування](uart/user_configurable_serial_driver.md) + - [Serial Passthrough (MAVLink SERIAL_CONTROL)](uart/serial_passthrough.md) - [RTK GPS (Інтеграція)](advanced/rtk_gps.md) - [PPS Time Synchronization](advanced/pps_time_sync.md) - [Проміжне програмне забезпечення](middleware/index.md) @@ -912,6 +913,7 @@ - [Multi-Vehicle Sim with JMAVSim](sim_jmavsim/multi_vehicle.md) - [JSBSim Simulation](sim_jsbsim/index.md) - [AirSim Simulation](sim_airsim/index.md) + - [RotorPy Simulation](sim_rotorpy/index.md) - [Hardware Simulation](simulation/hardware.md) - [HITL Simulation](simulation/hitl.md) - [SIH on Hardware](sim_sih/hardware.md) diff --git a/docs/uk/companion_computer/index.md b/docs/uk/companion_computer/index.md index 505840d88e..136715c6d5 100644 --- a/docs/uk/companion_computer/index.md +++ b/docs/uk/companion_computer/index.md @@ -4,7 +4,7 @@ Companion computers ("mission computers"), are separate on-vehicle computers tha На схемі нижче показана можлива архітектура безпілотного транспортного засобу, яка включає в себе контролер польоту і супутній комп'ютер. -![Архітектура PX4 - система з політним контролером і супутнім комп'ютером](../../assets/diagrams/px4_companion_computer_simple.svg) +PX4 architecture - FC + Companion Computer diff --git a/docs/uk/concept/pwm_limit.md b/docs/uk/concept/pwm_limit.md index 7dedea265c..2caeb59a40 100644 --- a/docs/uk/concept/pwm_limit.md +++ b/docs/uk/concept/pwm_limit.md @@ -24,4 +24,4 @@ ## Діаграма зміну стану -![PWM Limit state machine diagram](../../assets/diagrams/pwm_limit_state_diagram.svg) +PWM Limit state machine diagram diff --git a/docs/uk/concept/px4_systems_architecture.md b/docs/uk/concept/px4_systems_architecture.md index 08988a457e..ab29821a92 100644 --- a/docs/uk/concept/px4_systems_architecture.md +++ b/docs/uk/concept/px4_systems_architecture.md @@ -11,7 +11,7 @@ На діаграмі нижче показано загальний огляд типової "простої" системи PX4 на основі польотного контролера. -![PX4 architecture - FC only system](../../assets/diagrams/px4_arch_fc.svg) +PX4 architecture - FC only system @@ -34,7 +34,7 @@ На діаграмі показано систему PX4, яка включає як політний контролер, так і супутній комп'ютер (тут згадується як "комп'ютер політного завдання"). -![PX4 architecture - FC + Companion Computer](../../assets/diagrams/px4_arch_fc_companion.svg) +PX4 architecture - FC + Companion Computer diff --git a/docs/uk/dev_setup/dev_env_linux_ubuntu.md b/docs/uk/dev_setup/dev_env_linux_ubuntu.md index 534a3c0c1c..f20d20c62f 100644 --- a/docs/uk/dev_setup/dev_env_linux_ubuntu.md +++ b/docs/uk/dev_setup/dev_env_linux_ubuntu.md @@ -10,8 +10,11 @@ The environment includes: The build toolchain for other flight controllers, simulators, and working with ROS are discussed in the [Other Targets](#other-targets) section below. :::info -PX4 targets the **current Ubuntu LTS** (24.04) for CI and release builds, with the **previous LTS** (22.04) also supported. -Older Ubuntu versions are not supported and may not work. +The current CI and release target is **Ubuntu 24.04**, with build tests also run on **Ubuntu 22.04**. +Ubuntu 26.04 is not yet supported. + +More generally, PX4 supports all currently active Ubuntu LTS releases, dropping versions when they reach end-of-life. +Support for a new LTS release is added once it provides the toolchain packages required by CI — including the ability to build for hardware targets and run SIH-based integration tests. ::: ## Симуляція та NuttX (Pixhawk) diff --git a/docs/uk/flight_stack/controller_diagrams.md b/docs/uk/flight_stack/controller_diagrams.md index a3db91e552..4a78acbe8f 100644 --- a/docs/uk/flight_stack/controller_diagrams.md +++ b/docs/uk/flight_stack/controller_diagrams.md @@ -44,7 +44,9 @@ The diagrams use the standard [PX4 notation](../contribute/notation.md) (and eac - The attitude controller makes use of [quaternions](https://en.wikipedia.org/wiki/Quaternion). - The controller is implemented from this [article](https://www.research-collection.ethz.ch/bitstream/handle/20.500.11850/154099/eth-7387-01.pdf). -- При налаштуванні цього контролера єдиний параметр, що становить зацікавленість, - це коефіцієнт P. +- The attitude setpoint is first smoothed by a 2nd-order critically-damped reference model ([MC_REF_W_N](../advanced_config/parameter_reference#MC_REF_W_N)); the P-law tracks its reference attitude, and the model's reference body rate is fed forward to the rate setpoint, removing the pure-P law's steady-state tracking lag. +- The feedforward is scaled by `MC_REF_FF` (`0` disables it), clipped per axis by `MC_REF_FF_MAX`, and suppressed during autotuning. +- Higher `MC_REF_W_N` or `MC_REF_FF` tracks more aggressively but demands more peak rate; the P gain remains the main tuning parameter. - Команда швидкості насичена. ### Перетворення заданого значення прискорення мультикоптера в тягу та положення diff --git a/docs/uk/mavlink/security_hardening.md b/docs/uk/mavlink/security_hardening.md index d351d14e02..4e40edc40c 100644 --- a/docs/uk/mavlink/security_hardening.md +++ b/docs/uk/mavlink/security_hardening.md @@ -17,6 +17,7 @@ When MAVLink signing is not enabled, an attacker within communication range can: | Capability | MAVLink mechanism | | ------------------------------------------- | ------------------------------------------------ | | Execute shell commands | `SERIAL_CONTROL` with `SERIAL_CONTROL_DEV_SHELL` | +| Read/write arbitrary UART pin | `SERIAL_CONTROL` | | Read, write, or delete files | MAVLink FTP protocol | | Change any flight parameter | `PARAM_SET` / `PARAM_EXT_SET` | | Upload or overwrite missions | Mission protocol | diff --git a/docs/uk/middleware/uxrce_dds.md b/docs/uk/middleware/uxrce_dds.md index c0d07fa9c4..3760910ceb 100644 --- a/docs/uk/middleware/uxrce_dds.md +++ b/docs/uk/middleware/uxrce_dds.md @@ -22,13 +22,13 @@ PX4 uses an XRCE-DDS implementation that leverages [eProsima Micro XRCE-DDS](htt ![Architecture uXRCE-DDS with ROS 2](../../assets/middleware/xrce_dds/architecture_xrce-dds_ros2.svg) -In order for PX4 uORB topics to be shared on the DDS network you will need _uXRCE-DDS client_ running on PX4, connected to the _micro XRCE-DDS agent_ running on the companion. +In order for PX4 uORB topics to be shared on the DDS network you will need _uXRCE-DDS client_ running on PX4, connected to the _Micro XRCE-DDS Agent_ running on the companion. The PX4 [uxrce_dds_client](../modules/modules_system.md#uxrce-dds-client) publishes to/from a defined set of uORB topics to the global DDS data space. -The [eProsima micro XRCE-DDS _agent_](https://github.com/eProsima/Micro-XRCE-DDS-Agent) runs on the companion computer and acts as a proxy for the client in the DDS/ROS 2 network. +The [eProsima Micro XRCE-DDS _Agent_](https://github.com/eProsima/Micro-XRCE-DDS-Agent) runs on the companion computer and acts as a proxy for the client in the DDS/ROS 2 network. -Сам агент не залежить від коду на стороні клієнта і може бути побудований та/або встановлений незалежно від PX4 або ROS. +The agent itself has no dependency on client-side code and can be built and/or installed independent of PX4 or ROS, as long as version compatibility is ensured. Код, який хоче підписатися/публікувати до PX4, залежить від коду на стороні клієнта; йому потрібні визначення повідомлень uORB, які збігаються з тими, що були використані для створення клієнта PX4 uXRCE-DDS, щоб він міг інтерпретувати повідомлення. @@ -41,7 +41,7 @@ The [eProsima micro XRCE-DDS _agent_](https://github.com/eProsima/Micro-XRCE-DDS The PX4 [uxrce_dds_client](../modules/modules_system.md#uxrce-dds-client) is generated at build time and included in PX4 firmware by default. Агент не залежить від клієнтського коду. -Він може бути побудований окремо або в робочому просторі ROS 2, або встановлений як snap пакет в Ubuntu. +It can be built standalone or in a ROS 2 workspace. When PX4 is built, a code generator uses the uORB message definitions in the source tree ([PX4-Autopilot/msg](https://github.com/PX4/PX4-Autopilot/tree/main/msg)) to compile support for the subset of uORB topics in [/src/modules/uxrce_dds_client/dds_topics.yaml](../middleware/dds_topics.md) into [uxrce_dds_client](../modules/modules_system.md#uxrce-dds-client). @@ -51,6 +51,28 @@ ROS 2 applications need to be built in a workspace that includes the _same_ mess These can be included into a workspace by cloning the interface package [PX4/px4_msgs](https://github.com/PX4/px4_msgs) into your ROS 2 workspace and switching to the appropriate branch. Зауважте, що вся генерація коду, пов'язана з повідомленнями, обробляється ROS 2. +## Version selection + +There are two main major active Micro XRCE-DDS versions: `v2.x` and `v3.x`. +These need to be paired to the corresponding major DDS version. + +In standalone DDS applications you should use the latest DDS version with `Micro XRCE-DDS v3.x`. +However, in ROS 2 applications the DDS version is locked down by the chosen ROS 2 distribution: `v3.x` is required if you want to use the latest ROS 2 distributions. + + In its default configuration `uxrce_dds_client` is built targeting Micro XRCE-DDS `v2.x`. +To target `v3.x` instead, the [`Kconfig`](../hardware/porting_guide_config.md#px4-menuconfig-setup) variable `UXRCE_DDS_CLIENT_USE_DDS_V3` must be set, and a custom build performed. + +The following table explains the required Micro-XRCE-DDS-Agent versions and `UXRCE_DDS_CLIENT_USE_DDS_V3` value for different ROS 2 distributions. + +| ROS 2 version | fast-dds version | required Micro-XRCE-DDS-Agent version | `UXRCE_DDS_CLIENT_USE_DDS_V3` | +| ------------- | -------------------------------------- | ------------------------------------- | ------------------------------------------------------------------- | +| Foxy | 2.0.x | 2.4.2 | unset / `N` | +| Humble | 2.6.x | 2.4.2 | unset / `N` | +| Jazzy | 2.14.0 | 2.4.3 | unset / `N` | +| Kilted | 2.14.4 | 2.4.3 | unset / `N` | +| Lyrical | 3.6.x | 3.0.1 | set / `Y` | +| Rolling | 3.6.x | 3.0.1 | set / `Y` | + ## Встановлення Micro XRCE-DDS Agent Micro XRCE-DDS Agent може бути встановлений на комп'ютер за допомогою бінарного пакета, зібраний і встановлений з вихідного коду, або зібраний і запущений з робочого простору ROS 2. @@ -61,14 +83,14 @@ The official (and more complete) installation guide is the Eprosima: [micro XRCE У цьому розділі узагальнено варіанти, які були протестовані за допомогою PX4 під час створення цієї документації. ::: -:::warning -PX4 Micro XRCE-DDS Client is based on version `v2.x` which is not compatible with the latest `v3.x` Agent version. -::: - ### Окреме встановлення з вихідного коду В Ubuntu ви можете зібрати з вихідного коду і встановити Агент окремо за допомогою наступних команд: +::::tabs + +:::tab DDS v2 + ```sh git clone -b v2.4.3 https://github.com/eProsima/Micro-XRCE-DDS-Agent.git cd Micro-XRCE-DDS-Agent @@ -80,47 +102,36 @@ sudo make install sudo ldconfig /usr/local/lib/ ``` +::: + +:::tab DDS v3 + +```sh +git clone -b v3.0.1 https://github.com/eProsima/Micro-XRCE-DDS-Agent.git +cd Micro-XRCE-DDS-Agent +mkdir build +cd build +cmake .. +make +sudo make install +sudo ldconfig /usr/local/lib/ +``` + +Don't forget to set `UXRCE_DDS_CLIENT_USE_DDS_V3` before building PX4 when using DDS v3! + +::: + +:::: + :::info There are various build configuration options linked from the corresponding topic in the [official guide](https://micro-xrce-dds.docs.eprosima.com/en/latest/installation.html#installing-the-agent-standalone), but these have not been tested. ::: -Запустити агент з налаштуваннями для підключення до клієнта uXRCE-DDS, запущеного у симуляторі: - -```sh -MicroXRCEAgent udp4 -p 8888 -``` - -### Встановлення з Snap пакунку - -Встановіть з пакунка snap на Ubuntu за допомогою наступної команди: - -```sh -sudo snap install micro-xrce-dds-agent --edge -``` - -Запустити агента з налаштуваннями для підключення до клієнта uXRCE-DDS, запущеного у симуляторі (зверніть увагу, що назва команди відрізняється від назви, яку ви збираєте локально): - -```sh -micro-xrce-dds-agent udp4 -p 8888 -``` - ### Збірка/Запуск у межах робочого простору ROS 2 -The agent can be built and launched within a ROS 2 workspace (or build standalone and launched from a workspace). +The agent can be built and launched within a ROS 2 workspace (or built standalone and launched from a workspace). You must already have installed ROS 2 following the instructions in: [ROS 2 User Guide > Install ROS 2](../ros2/user_guide.md#install-ros-2). -:::warning -This approach will use the existing ROS 2 versions of the Agent dependencies, such as `fastcdr` and `fastdds`. -This considerably speeds up the build process but requires that the Agent dependency versions match the ROS 2 ones: - -| ROS 2 version | Micro-XRCE-DDS-Agent version | -| ------------- | -------------------------------------- | -| Foxy | v2.4.2 | -| Humble | v2.4.2 | -| Jazzy | v2.4.3 | - -::: - Створити агента в межах ROS: 1. Створіть директорію робочого простору для агента: @@ -133,6 +144,28 @@ This considerably speeds up the build process but requires that the Agent depend ::::tabs + ::: tab lyrical + + ```sh + cd ~/px4_ros_uxrce_dds_ws/src + git clone -b v3.0.1 https://github.com/eProsima/Micro-XRCE-DDS-Agent.git + ``` + + Don't forget to set `UXRCE_DDS_CLIENT_USE_DDS_V3` before building PX4 when using DDS v3! + + +::: + + ::: tab kilted + + ```sh + cd ~/px4_ros_uxrce_dds_ws/src + git clone -b v2.4.3 https://github.com/eProsima/Micro-XRCE-DDS-Agent.git + ``` + + +::: + ::: tab jazzy ```sh @@ -169,6 +202,26 @@ This considerably speeds up the build process but requires that the Agent depend :::: tabs + ::: tab lyrical + + ```sh + source /opt/ros/lyrical/setup.bash + colcon build + ``` + + +::: + + ::: tab kilted + + ```sh + source /opt/ros/kilted/setup.bash + colcon build + ``` + + +::: + ::: tab jazzy ```sh @@ -201,51 +254,58 @@ This considerably speeds up the build process but requires that the Agent depend :::: - This builds all the folders under `/src` using the sourced toolchain. + This builds all the folders under `~/px4_ros_uxrce_dds_ws/src` using the sourced toolchain. -Для запуску агента micro XRCE-DDS в робочому просторі: +To run the Micro XRCE-DDS Agent in the workspace you just need to source the `local_setup.bash` to make the executables available in the terminal (also `setup.bash` if using a new terminal). -1. Source the `local_setup.bash` to make the executables available in the terminal (also `setup.bash` if using a new terminal). +:::: tabs - :::: tabs - - ::: tab jazzy - - ```sh - source /opt/ros/jazzy/setup.bash - source install/local_setup.bash - ``` +:::tab lyrical +```sh +source /opt/ros/lyrical/setup.bash +source install/local_setup.bash +``` ::: - ::: tab humble - - ```sh - source /opt/ros/humble/setup.bash - source install/local_setup.bash - ``` +:::tab kilted +```sh +source /opt/ros/kilted/setup.bash +source install/local_setup.bash +``` ::: - ::: tab foxy - - ```sh - source /opt/ros/foxy/setup.bash - source install/local_setup.bash - ``` +:::tab jazzy +```sh +source /opt/ros/jazzy/setup.bash +source install/local_setup.bash +``` ::: - :::: +:::tab humble -1) Запустіть агента з налаштуваннями для підключення до клієнта uXRCE-DDS, який працює на симуляторі: +```sh +source /opt/ros/humble/setup.bash +source install/local_setup.bash +``` - ```sh - MicroXRCEAgent udp4 -p 8888 - ``` +::: + +:::tab foxy + +```sh +source /opt/ros/foxy/setup.bash +source install/local_setup.bash +``` + +::: + +:::: ## Запуск агента та клієнта @@ -328,7 +388,7 @@ The configuration can be done using the [UXRCE-DDS parameters](../advanced_confi Це забезпечує логічне розділення мереж DDS і може бути використано для розділення клієнтів на різні мережі. За замовчуванням, ROS 2 працює з ID 0. - [UXRCE_DDS_PTCFG](../advanced_config/parameter_reference.md#UXRCE_DDS_PTCFG): uXRCE-DDS participant configuration. - It allows to restrict the visibility of the DDS topics to the _localhost_ only and to use user-customized participant configuration files stored on the agent side. + It allows you to restrict the visibility of the DDS topics to the _localhost_ only and to use user-customized participant configuration files stored on the agent side. - [UXRCE_DDS_SYNCT](../advanced_config/parameter_reference.md#UXRCE_DDS_SYNCT): Bridge time synchronization enable. Клієнтський модуль uXRCE-DDS може синхронізувати мітку часу повідомлень, якими обмінюються через міст. Це стандартна конфігурація. In certain situations, for example during [simulations](../ros2/user_guide.md#ros-gazebo-and-px4-time-synchronization), this feature may be disabled. @@ -339,7 +399,7 @@ The configuration can be done using the [UXRCE-DDS parameters](../advanced_confi To use hardware flow control, a custom MicroXRCE Agent needs to be adopted. Please refer to [this PR](https://github.com/eProsima/Micro-XRCE-DDS-Agent/pull/407) for the required changes, cherry-pick them on top of the [agent version](#build-run-within-ros-2-workspace) you need to use and then run the agent with the additional `--flow-control` option. :::info -Many ports are already have a default configuration. +Many ports already have a default configuration. Щоб використовувати ці порти, спочатку вимкніть існуючу конфігурацію: - `TELEM1` and `TELEM2` are set up by default to connect via MAVLink to a GCS and a companion computer (respectively). @@ -376,7 +436,7 @@ Environment variables are provided that override some [UXRCE-DDS parameters](../ - `ROS_DOMAIN_ID`: Use this to replace [UXRCE_DDS_DOM_ID](../advanced_config/parameter_reference.md#UXRCE_DDS_DOM_ID). - `PX4_UXRCE_DDS_PORT`: Use this to replace [UXRCE_DDS_PRT](../advanced_config/parameter_reference.md#UXRCE_DDS_PRT). -For example, the following command can be used to start a Gazebo simulation with che client operating on the DDS domain `3`, port `9999` and topic namespace `drone`. +For example, the following command can be used to start a Gazebo simulation with the client operating on the DDS domain `3`, port `9999` and topic namespace `drone`. ```sh ROS_DOMAIN_ID=3 PX4_UXRCE_DDS_PORT=9999 PX4_UXRCE_DDS_NS=drone make px4_sitl gz_x500 @@ -545,7 +605,7 @@ subscriptions_multi: ``` -Each (`topic`,`type`) pairs defines: +Each (`topic`, `type`) pair defines: 1. A new `publication`, `subscription`, or `subscriptions_multi`, depending on the list to which it is added. 2. The topic _base name_, which **must** coincide with the desired uORB topic name that you want to publish/subscribe. @@ -644,7 +704,7 @@ Take a look at the [client startup section](#starting-the-client) to learn how t #### New file for setting which topics are published -The list of topics that are published and subscribed for a particular firmware is now managed by the [dds_topics.yaml](../middleware/dds_topics.md) configuration file, which replaces [urtps_bridge_topics.yaml](https://github.com/PX4/PX4-Autopilot/blob/release/1.13/msg/tools/urtps_bridge_topics.yaml) +The list of topics that are published and subscribed for a particular firmware is now managed by the [dds_topics.yaml](../middleware/dds_topics.md) configuration file, which replaces [urtps_bridge_topics.yaml](https://github.com/PX4/PX4-Autopilot/blob/release/1.13/msg/tools/urtps_bridge_topics.yaml). See [Supported uORB Messages](#supported-uorb-messages) and [DDS Topics YAML](#dds-topics-yaml) sections for more information. @@ -673,7 +733,7 @@ There are many ways to install it on your PC / companion computer - for more inf #### Application-Specific Changes -If you where not using ROS 2 alongside the agent ([Fast DDS Interface ROS-Independent](https://docs.px4.io/v1.13/en/middleware/micrortps#agent-in-an-offboard-fast-dds-interface-ros-independent)), then you need to migrate to [eProsima Fast DDS](https://fast-dds.docs.eprosima.com/en/latest/index.html). +If you were not using ROS 2 alongside the agent ([Fast DDS Interface ROS-Independent](https://docs.px4.io/v1.13/en/middleware/micrortps#agent-in-an-offboard-fast-dds-interface-ros-independent)), then you need to migrate to [eProsima Fast DDS](https://fast-dds.docs.eprosima.com/en/latest/index.html). ROS 2 applications still need to compile alongside the PX4 messages, which you do by adding the [px4_msgs](https://github.com/PX4/px4_msgs) package to your workspace. You can remove the [px4_ros_com](https://github.com/PX4/px4_ros_com) package as it is no longer needed, other than for example code. diff --git a/docs/uk/msg_docs/DifferentialPressure.md b/docs/uk/msg_docs/DifferentialPressure.md index 6ad32f9a4f..6a18079af3 100644 --- a/docs/uk/msg_docs/DifferentialPressure.md +++ b/docs/uk/msg_docs/DifferentialPressure.md @@ -13,14 +13,15 @@ The information is published in the `SCALED_PRESSURE_n` MAVLink messages (along ## Fields -| Назва | Тип | Unit [Frame] | Range/Enum | Опис | -| ----------------------------------------------------------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------- | -| timestamp | `uint64` | us | | Time of publication (since system start) | -| 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 | -| differential_pressure_pa | `float32` | Pa | | Differential pressure reading (may be negative) | -| temperature | `float32` | degC | | Temperature (Invalid: NaN if unknown) | -| error_count | `uint32` | | | Number of errors detected by driver | +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ----------------------------------------------------------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | ---------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | us | | Time of publication (since system start) | +| 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 | +| differential_pressure_pa | `float32` | Pa | | Differential pressure reading (may be negative) | +| temperature | `float32` | degC | | Temperature (Invalid: NaN if unknown) | +| pitot_temperature | `float32` | degC | | Pitot temperature (if available) (Invalid: NaN if unknown) | +| error_count | `uint32` | | | Number of errors detected by driver | ## Source Message @@ -41,6 +42,7 @@ 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 differential_pressure_pa # [Pa] Differential pressure reading (may be negative) float32 temperature # [degC] [@invalid NaN if unknown] Temperature +float32 pitot_temperature # [degC] [@invalid NaN if unknown] Pitot temperature (if available) uint32 error_count # [-] Number of errors detected by driver ``` diff --git a/docs/uk/peripherals/dshot.md b/docs/uk/peripherals/dshot.md index 7977d38ace..f44c7f5816 100644 --- a/docs/uk/peripherals/dshot.md +++ b/docs/uk/peripherals/dshot.md @@ -51,7 +51,7 @@ DShot comes with different speed options: _DShot150_, _DShot300_, and _DShot600_ ## ESC Commands {#commands} Commands can be sent to the ESC via the [MAVLink shell](../debug/mavlink_shell.md). -See [here](../modules/modules_driver.md#dshot) for a full reference of the supported commands. +See the [`dshot` module](../modules/modules_driver.md#dshot) for a full reference of the supported commands. ## ESC Telemetry @@ -144,3 +144,23 @@ PX4 can read and write AM32 ESC firmware settings (EEPROM) via a ground station, PX4 automatically reads the full EEPROM from each ESC on boot. The ground station can then display individual settings and allow the user to modify them. Changes are written back to the ESC one byte at a time using the DShot programming protocol. + + + + diff --git a/docs/uk/releases/1.18.md b/docs/uk/releases/1.18.md index 9ba8181b0a..11ad20fb59 100644 --- a/docs/uk/releases/1.18.md +++ b/docs/uk/releases/1.18.md @@ -44,21 +44,28 @@ Please continue reading for [upgrade instructions](#upgrade-guide). ### Загальні - [Remote ID (Open Drone ID) in-flight failsafe](../peripherals/remote_id.md): extended [COM_ARM_ODID](../advanced_config/parameter_reference.md#COM_ARM_ODID) to also trigger a configurable failsafe action (Return, Land, or Terminate) if the Remote ID heartbeat is lost while airborne. Users previously on `COM_ARM_ODID=2` retain the same arming behaviour; set to `3` or higher to enable the in-flight action. ([PX4-Autopilot#27029](https://github.com/PX4/PX4-Autopilot/pull/27029)) + - [QGroundControl Bootloader Update](../advanced_config/bootloader_update.md#qgc-bootloader-update-sys-bl-update) via the [SYS_BL_UPDATE](../advanced_config/parameter_reference.md#SYS_BL_UPDATE) parameter has been re-enabled after being broken for a number of releases. ([PX4-Autopilot#25032: build: romf: fix generation of rc.board_bootloader_upgrade](https://github.com/PX4/PX4-Autopilot/pull/25032)). + - [Feature: Allow prioritization of manual control inputs based on their instance number in ascending or descending order](../config/manual_control.md#px4-configuration). ([PX4-Autopilot#25602: Ascending and descending manual control input priorities](https://github.com/PX4/PX4-Autopilot/pull/25602)). + - Removed parameters: - | Назва | Примітки | - | ------------------ | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | - | `COM_FLT_PROFILE` | Unused ([PX4-Autopilot#26735](https://github.com/PX4/PX4-Autopilot/pull/26735)) | - | `COM_KILL_DISARM` | Autopilot now always disarms if still killed after 5 sections (previous default). ([PX4-Autopilot#26736](https://github.com/PX4/PX4-Autopilot/pull/26736)) | - | `COM_MOT_TEST_EN` | Motor tests now always possible (was the default). ([PX4-Autopilot#26775](https://github.com/PX4/PX4-Autopilot/pull/26775)) | - | `COM_TAKEOFF_ACT` | Vehicle always switches to Hold mode when the takeoff is done. If you want to automatically do a mission, take off in Mission mode. ([PX4-Autopilot#26808](https://github.com/PX4/PX4-Autopilot/pull/26808)) | - | `COM_HLDL_REG_T` | When a high latency link is regained it's always considered regained immediately (was the default). ([PX4-Autopilot#26809](https://github.com/PX4/PX4-Autopilot/pull/26809)) | - | `COM_ARM_SDCARD` | There's now always warning when the autopilot SD card is missing (was the default). Boards that don't have an SD card need to skip the check with a compile time define. ([PX4-Autopilot#27259](https://github.com/PX4/PX4-Autopilot/pull/27259)) | - | `COM_IMB_PROP_ACT` | There's now always a warning when imbalanced propellers (high vibration) is detected (was the default). ([PX4-Autopilot#27260](https://github.com/PX4/PX4-Autopilot/pull/27260)) | - | `COM_OBC_LOSS_T` | Timeout for missing heartbeats from the onboard computer is always 5 seconds (was the default). ([PX4-Autopilot#27261](https://github.com/PX4/PX4-Autopilot/pull/27261)) | - | `COM_LKDOWN_TKO` | Takeoff failure detection always runs for 3 seconds (was the default). ([PX4-Autopilot#27262](https://github.com/PX4/PX4-Autopilot/pull/27262)) | + | Назва | Примітки | + | ------------------ | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | + | `COM_FLT_PROFILE` | Unused ([PX4-Autopilot#26735](https://github.com/PX4/PX4-Autopilot/pull/26735)) | + | `COM_KILL_DISARM` | Autopilot now always disarms if still killed after 5 seconds (previous default). ([PX4-Autopilot#26736](https://github.com/PX4/PX4-Autopilot/pull/26736)) | + | `COM_MOT_TEST_EN` | Motor tests now always possible (was the default). ([PX4-Autopilot#26775](https://github.com/PX4/PX4-Autopilot/pull/26775)) | + | `COM_TAKEOFF_ACT` | Vehicle always switches to Hold mode when the takeoff is done. If you want to automatically do a mission, take off in Mission mode. ([PX4-Autopilot#26808](https://github.com/PX4/PX4-Autopilot/pull/26808)) | + | `COM_HLDL_REG_T` | When a high latency link is regained it's always considered regained immediately (was the default). ([PX4-Autopilot#26809](https://github.com/PX4/PX4-Autopilot/pull/26809)) | + | `COM_ARM_SDCARD` | There's now always a warning when the autopilot SD card is missing (was the default). Boards that don't have an SD card need to skip the check with a compile time define. ([PX4-Autopilot#27259](https://github.com/PX4/PX4-Autopilot/pull/27259)) | + | `COM_IMB_PROP_ACT` | There's now always a warning when imbalanced propellers (high vibration) is detected (was the default). ([PX4-Autopilot#27260](https://github.com/PX4/PX4-Autopilot/pull/27260)) | + | `COM_OBC_LOSS_T` | Timeout for missing heartbeats from the onboard computer is always 5 seconds (was the default). ([PX4-Autopilot#27261](https://github.com/PX4/PX4-Autopilot/pull/27261)) | + | `COM_LKDOWN_TKO` | Takeoff failure detection always runs for 3 seconds (was the default). ([PX4-Autopilot#27262](https://github.com/PX4/PX4-Autopilot/pull/27262)) | + +- [Serial Passthrough (MAVLink SERIAL_CONTROL)](../uart/serial_passthrough.md): new `serialpassthrough` driver enables MAVLink clients to read from and write to FC serial ports (TEL1/2, GPS1/2, TEL3/4). + On STM32F7/H7 boards, ESC signal pins can also be written via a software bit-bang UART (device IDs 20–27): note that a bridge application is also required, so this functionality is not usable out of the box. + ([PX4-Autopilot#27605: feat(drivers): implemented serial passthrough](https://github.com/PX4/PX4-Autopilot/pull/27605)). ### Управління @@ -108,9 +115,9 @@ Please continue reading for [upgrade instructions](#upgrade-guide). - Уточнюється -### uXRCE-DDS / Zenoh / ROS2 +### uXRCE-DDS / Zenoh / ROS 2 -- Уточнюється +- uXRCE-DDS, add support for DDS `v3`, ROS 2 Lyrical and Rolling ([PX4-Autopilot#27597](https://github.com/PX4/PX4-Autopilot/pull/27597))