diff --git a/de/development/development.md b/de/development/development.md index ea4f0b4cd675..e5b4b6d7c4f2 100644 --- a/de/development/development.md +++ b/de/development/development.md @@ -3,9 +3,7 @@ This section explains how to support new vehicle types and variants, modify flight algorithms, add new modes, integrate new hardware, and communicate with PX4 from outside the flight controller. ::: tip - This section is for software developers and (new) hardware integrators. It is not needed if you're building an existing airframe or flying using a PX4 vehicle. - ::: It explains how to: diff --git a/de/flying/fixed_wing_takeoff.md b/de/flying/fixed_wing_takeoff.md index 432549b77dda..8807c7ac8e67 100644 --- a/de/flying/fixed_wing_takeoff.md +++ b/de/flying/fixed_wing_takeoff.md @@ -5,7 +5,8 @@ In all cases the vehicle takes off at a predefined pitch in its current directio The sections below explain the main methods. -## Position Flight Mode {#position} + +## Position Flight Mode The vehicle will takeoff in [Position mode](../flight_modes/position_fw.md) if it detects sufficient launch acceleration when launched at an altitude below [FW_CLMBOUT_DIFF](../advanced_config/parameter_reference.md#FW_CLMBOUT_DIFF). @@ -16,7 +17,8 @@ To launch in this mode: The vehicle will ascend to `FW_CLMBOUT_DIFF` using the same climbout behaviour as for [Takeoff mode](#takeoff). It will then continue in *Postion mode*. -## Takeoff Flight Mode {#takeoff} + +## Takeoff Flight Mode [Takeoff Mode](../flight_modes/takeoff.md#fixed_wing) enables takeoff using either *catapult/hand-launch* (default) or *runway takeoff*. @@ -44,8 +46,8 @@ Runway takeoff mode is enabled using [RWTO_TKOFF](../advanced_config/parameter_r The mode is documented in [Takeoff Mode > Fixed Wing > Runway Takeoff](../flight_modes/takeoff.md#runway_launch). - -## Mission Takeoff {#mission} + +## Mission Takeoff You can also hand/catapult launch a fixed wing vehicle in a mission. diff --git a/de/modules/modules_driver.md b/de/modules/modules_driver.md index 9c36c353e6a5..7e557ee4a29f 100644 --- a/de/modules/modules_driver.md +++ b/de/modules/modules_driver.md @@ -905,7 +905,7 @@ Source: [modules/vmount](https://github.com/PX4/Firmware/tree/master/src/modules ### Description Mount (Gimbal) control driver. It maps several different input methods (eg. RC or MAVLink) to a configured output (eg. AUX channels or MAVLink). -Documentation how to use it is on the [gimbal_control](../advanced/gimbal_control.md) page. +Documentation how to use it is on the [gimbal_control](https://dev.px4.io/master/en/advanced/gimbal_control.html) page. ### Implementation Each method is implemented in its own class, and there is a common base class for inputs and outputs. They are connected via an API, defined by the `ControlData` data structure. This makes sure that each input method can be used with each output method and new inputs/outputs can be added with minimal effort. diff --git a/de/modules/modules_estimator.md b/de/modules/modules_estimator.md index 05c53f74f75d..3c874f2ac98a 100644 --- a/de/modules/modules_estimator.md +++ b/de/modules/modules_estimator.md @@ -45,7 +45,7 @@ Source: [modules/ekf2](https://github.com/PX4/Firmware/tree/master/src/modules/e ### Description Attitude and position estimator using an Extended Kalman Filter. It is used for Multirotors and Fixed-Wing. -The documentation can be found on the [ECL/EKF Overview & Tuning](../advanced_config/tuning_the_ecl_ekf.md) page. +The documentation can be found on the [ECL/EKF Overview & Tuning](https://docs.px4.io/master/en/advanced_config/tuning_the_ecl_ekf.html) page. ekf2 can be started in replay mode (`-r`): in this mode it does not access the system time, but only uses the timestamps from the sensor topics. diff --git a/de/modules/modules_system.md b/de/modules/modules_system.md index 545ba11b6ec5..568aef08c408 100644 --- a/de/modules/modules_system.md +++ b/de/modules/modules_system.md @@ -399,7 +399,7 @@ There are 2 environment variables used for configuration: `replay`, which must b 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 the log. -The replay procedure is documented on the [System-wide Replay](../debug/system_wide_replay.md) page. +The replay procedure is documented on the [System-wide Replay](https://dev.px4.io/master/en/debug/system_wide_replay.html) page. @@ -471,7 +471,7 @@ Source: [modules/temperature_compensation](https://github.com/PX4/Firmware/tree/ ### Description -The temperature compensation module allows all of the gyro(s), accel(s), and baro(s) in the system to be temperature compensated. The module monitors the data coming from the sensors and updates the associated sensor_thermal_cal topic whenever a change in temperature is detected. The module can also be configured to perform the coeffecient calculation routine at next boot, which allows the thermal calibration coeffecients to be calculated while the vehicle undergoes a temperature cycle. +The temperature compensation module allows all of the gyro(s), accel(s), and baro(s) in the system to be temperature compensated. The module monitors the data coming from the sensors and updates the associated sensor_correction topic whenever a change in temperature is detected. The module can also be configured to perform the coeffecient calculation routine at next boot, which allows the thermal calibration coeffecients to be calculated while the vehicle undergoes a temperature cycle. @@ -480,7 +480,7 @@ The temperature compensation module allows all of the gyro(s), accel(s), and bar temperature_compensation [arguments...] Commands: start Start the module, which monitors the sensors and updates the - sensor_thermal_cal topic + sensor_correction topic calibrate Run temperature calibration process [-g] calibrate the gyro diff --git a/de/ros/external_position_estimation.md b/de/ros/external_position_estimation.md index 9defc6af46c6..4d65c4907b33 100644 --- a/de/ros/external_position_estimation.md +++ b/de/ros/external_position_estimation.md @@ -39,7 +39,7 @@ PX4 uses FRD (X **F**orward, Y **R**ight and Z **D**own) for the local body fram Depending on the source of your reference frame, you will need to apply a custom transformation to the pose estimate before sending the MAVLink Vision/MoCap message. This is necessary to change the orientation of the parent and child frame of the pose estimate, such that it fits the PX4 convention. Have a look at the MAVROS [*odom* plugin](https://github.com/mavlink/mavros/blob/master/mavros_extras/src/plugins/odom.cpp) for the necessary transformations. -> **Tip** ROS users can find more detailed instructions below in [Reference Frames and ROS](#ros_reference_frames). +> **Tip** ROS users can find more detailed instructions below in [Reference Frames and ROS](#reference-frames-and-ros). For example, if using the Optitrack framework the local frame has $x{}$ and $z{}$ on the horizontal plane (*x* front and *z* right) while *y* axis is vertical and pointing up. A simple trick is swapping axis in order to obtained NED convention. @@ -146,7 +146,6 @@ If you're working with EKF2, only the "vision" pipelines are supported. To use M - The odometry frames `frame_id = odom`, `child_frame_id = base_link` can be changed by updating the file in `mavros/launch/px4_config.yaml`. However, the current version of mavros (`1.3.0`) needs to be able to use the tf tree to find a transform from `frame_id` to the hardcoded frame `odom_ned`. The same applies to the `child_frame_id`, which needs to be connected in the tf tree to the hardcoded frame `base_link_frd`. If you are using mavros `1.2.0` and you didn't update the file `mavros/launch/px4_config.yaml`, then you can safely use the odometry frames `frame_id = odom`, `child_frame_id = base_link` without much worry. - Note that if you are sending odometry data to px4 using `child_frame_id = base_link`, then then you need to make sure that the `twist` portion of the `nav_msgs/Odometry` message is **expressed in body frame**, **not in inertial frame!!!!!**. - ### Reference Frames and ROS diff --git a/de/tutorials/tutorials.md b/de/tutorials/tutorials.md index de8ecfe6783e..3a2173fedc24 100644 --- a/de/tutorials/tutorials.md +++ b/de/tutorials/tutorials.md @@ -1 +1,3 @@ -# Tutorials \ No newline at end of file +# Tutorials for Development Tasks + +These tutorials require some level of development expertise. The solutions described are not considered turnkey/typical use. diff --git a/ja/development/development.md b/ja/development/development.md index ea4f0b4cd675..e5b4b6d7c4f2 100644 --- a/ja/development/development.md +++ b/ja/development/development.md @@ -3,9 +3,7 @@ This section explains how to support new vehicle types and variants, modify flight algorithms, add new modes, integrate new hardware, and communicate with PX4 from outside the flight controller. ::: tip - This section is for software developers and (new) hardware integrators. It is not needed if you're building an existing airframe or flying using a PX4 vehicle. - ::: It explains how to: diff --git a/ja/flying/fixed_wing_takeoff.md b/ja/flying/fixed_wing_takeoff.md index 432549b77dda..8807c7ac8e67 100644 --- a/ja/flying/fixed_wing_takeoff.md +++ b/ja/flying/fixed_wing_takeoff.md @@ -5,7 +5,8 @@ In all cases the vehicle takes off at a predefined pitch in its current directio The sections below explain the main methods. -## Position Flight Mode {#position} + +## Position Flight Mode The vehicle will takeoff in [Position mode](../flight_modes/position_fw.md) if it detects sufficient launch acceleration when launched at an altitude below [FW_CLMBOUT_DIFF](../advanced_config/parameter_reference.md#FW_CLMBOUT_DIFF). @@ -16,7 +17,8 @@ To launch in this mode: The vehicle will ascend to `FW_CLMBOUT_DIFF` using the same climbout behaviour as for [Takeoff mode](#takeoff). It will then continue in *Postion mode*. -## Takeoff Flight Mode {#takeoff} + +## Takeoff Flight Mode [Takeoff Mode](../flight_modes/takeoff.md#fixed_wing) enables takeoff using either *catapult/hand-launch* (default) or *runway takeoff*. @@ -44,8 +46,8 @@ Runway takeoff mode is enabled using [RWTO_TKOFF](../advanced_config/parameter_r The mode is documented in [Takeoff Mode > Fixed Wing > Runway Takeoff](../flight_modes/takeoff.md#runway_launch). - -## Mission Takeoff {#mission} + +## Mission Takeoff You can also hand/catapult launch a fixed wing vehicle in a mission. diff --git a/ja/modules/modules_driver.md b/ja/modules/modules_driver.md index 9c36c353e6a5..7e557ee4a29f 100644 --- a/ja/modules/modules_driver.md +++ b/ja/modules/modules_driver.md @@ -905,7 +905,7 @@ Source: [modules/vmount](https://github.com/PX4/Firmware/tree/master/src/modules ### Description Mount (Gimbal) control driver. It maps several different input methods (eg. RC or MAVLink) to a configured output (eg. AUX channels or MAVLink). -Documentation how to use it is on the [gimbal_control](../advanced/gimbal_control.md) page. +Documentation how to use it is on the [gimbal_control](https://dev.px4.io/master/en/advanced/gimbal_control.html) page. ### Implementation Each method is implemented in its own class, and there is a common base class for inputs and outputs. They are connected via an API, defined by the `ControlData` data structure. This makes sure that each input method can be used with each output method and new inputs/outputs can be added with minimal effort. diff --git a/ja/modules/modules_estimator.md b/ja/modules/modules_estimator.md index 05c53f74f75d..3c874f2ac98a 100644 --- a/ja/modules/modules_estimator.md +++ b/ja/modules/modules_estimator.md @@ -45,7 +45,7 @@ Source: [modules/ekf2](https://github.com/PX4/Firmware/tree/master/src/modules/e ### Description Attitude and position estimator using an Extended Kalman Filter. It is used for Multirotors and Fixed-Wing. -The documentation can be found on the [ECL/EKF Overview & Tuning](../advanced_config/tuning_the_ecl_ekf.md) page. +The documentation can be found on the [ECL/EKF Overview & Tuning](https://docs.px4.io/master/en/advanced_config/tuning_the_ecl_ekf.html) page. ekf2 can be started in replay mode (`-r`): in this mode it does not access the system time, but only uses the timestamps from the sensor topics. diff --git a/ja/modules/modules_system.md b/ja/modules/modules_system.md index 545ba11b6ec5..568aef08c408 100644 --- a/ja/modules/modules_system.md +++ b/ja/modules/modules_system.md @@ -399,7 +399,7 @@ There are 2 environment variables used for configuration: `replay`, which must b 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 the log. -The replay procedure is documented on the [System-wide Replay](../debug/system_wide_replay.md) page. +The replay procedure is documented on the [System-wide Replay](https://dev.px4.io/master/en/debug/system_wide_replay.html) page. @@ -471,7 +471,7 @@ Source: [modules/temperature_compensation](https://github.com/PX4/Firmware/tree/ ### Description -The temperature compensation module allows all of the gyro(s), accel(s), and baro(s) in the system to be temperature compensated. The module monitors the data coming from the sensors and updates the associated sensor_thermal_cal topic whenever a change in temperature is detected. The module can also be configured to perform the coeffecient calculation routine at next boot, which allows the thermal calibration coeffecients to be calculated while the vehicle undergoes a temperature cycle. +The temperature compensation module allows all of the gyro(s), accel(s), and baro(s) in the system to be temperature compensated. The module monitors the data coming from the sensors and updates the associated sensor_correction topic whenever a change in temperature is detected. The module can also be configured to perform the coeffecient calculation routine at next boot, which allows the thermal calibration coeffecients to be calculated while the vehicle undergoes a temperature cycle. @@ -480,7 +480,7 @@ The temperature compensation module allows all of the gyro(s), accel(s), and bar temperature_compensation [arguments...] Commands: start Start the module, which monitors the sensors and updates the - sensor_thermal_cal topic + sensor_correction topic calibrate Run temperature calibration process [-g] calibrate the gyro diff --git a/ja/ros/external_position_estimation.md b/ja/ros/external_position_estimation.md index 9defc6af46c6..4d65c4907b33 100644 --- a/ja/ros/external_position_estimation.md +++ b/ja/ros/external_position_estimation.md @@ -39,7 +39,7 @@ PX4 uses FRD (X **F**orward, Y **R**ight and Z **D**own) for the local body fram Depending on the source of your reference frame, you will need to apply a custom transformation to the pose estimate before sending the MAVLink Vision/MoCap message. This is necessary to change the orientation of the parent and child frame of the pose estimate, such that it fits the PX4 convention. Have a look at the MAVROS [*odom* plugin](https://github.com/mavlink/mavros/blob/master/mavros_extras/src/plugins/odom.cpp) for the necessary transformations. -> **Tip** ROS users can find more detailed instructions below in [Reference Frames and ROS](#ros_reference_frames). +> **Tip** ROS users can find more detailed instructions below in [Reference Frames and ROS](#reference-frames-and-ros). For example, if using the Optitrack framework the local frame has $x{}$ and $z{}$ on the horizontal plane (*x* front and *z* right) while *y* axis is vertical and pointing up. A simple trick is swapping axis in order to obtained NED convention. @@ -146,7 +146,6 @@ If you're working with EKF2, only the "vision" pipelines are supported. To use M - The odometry frames `frame_id = odom`, `child_frame_id = base_link` can be changed by updating the file in `mavros/launch/px4_config.yaml`. However, the current version of mavros (`1.3.0`) needs to be able to use the tf tree to find a transform from `frame_id` to the hardcoded frame `odom_ned`. The same applies to the `child_frame_id`, which needs to be connected in the tf tree to the hardcoded frame `base_link_frd`. If you are using mavros `1.2.0` and you didn't update the file `mavros/launch/px4_config.yaml`, then you can safely use the odometry frames `frame_id = odom`, `child_frame_id = base_link` without much worry. - Note that if you are sending odometry data to px4 using `child_frame_id = base_link`, then then you need to make sure that the `twist` portion of the `nav_msgs/Odometry` message is **expressed in body frame**, **not in inertial frame!!!!!**. - ### Reference Frames and ROS diff --git a/ja/tutorials/tutorials.md b/ja/tutorials/tutorials.md index de8ecfe6783e..3a2173fedc24 100644 --- a/ja/tutorials/tutorials.md +++ b/ja/tutorials/tutorials.md @@ -1 +1,3 @@ -# Tutorials \ No newline at end of file +# Tutorials for Development Tasks + +These tutorials require some level of development expertise. The solutions described are not considered turnkey/typical use. diff --git a/ko/development/development.md b/ko/development/development.md index ea4f0b4cd675..e5b4b6d7c4f2 100644 --- a/ko/development/development.md +++ b/ko/development/development.md @@ -3,9 +3,7 @@ This section explains how to support new vehicle types and variants, modify flight algorithms, add new modes, integrate new hardware, and communicate with PX4 from outside the flight controller. ::: tip - This section is for software developers and (new) hardware integrators. It is not needed if you're building an existing airframe or flying using a PX4 vehicle. - ::: It explains how to: diff --git a/ko/flying/fixed_wing_takeoff.md b/ko/flying/fixed_wing_takeoff.md index 432549b77dda..8807c7ac8e67 100644 --- a/ko/flying/fixed_wing_takeoff.md +++ b/ko/flying/fixed_wing_takeoff.md @@ -5,7 +5,8 @@ In all cases the vehicle takes off at a predefined pitch in its current directio The sections below explain the main methods. -## Position Flight Mode {#position} + +## Position Flight Mode The vehicle will takeoff in [Position mode](../flight_modes/position_fw.md) if it detects sufficient launch acceleration when launched at an altitude below [FW_CLMBOUT_DIFF](../advanced_config/parameter_reference.md#FW_CLMBOUT_DIFF). @@ -16,7 +17,8 @@ To launch in this mode: The vehicle will ascend to `FW_CLMBOUT_DIFF` using the same climbout behaviour as for [Takeoff mode](#takeoff). It will then continue in *Postion mode*. -## Takeoff Flight Mode {#takeoff} + +## Takeoff Flight Mode [Takeoff Mode](../flight_modes/takeoff.md#fixed_wing) enables takeoff using either *catapult/hand-launch* (default) or *runway takeoff*. @@ -44,8 +46,8 @@ Runway takeoff mode is enabled using [RWTO_TKOFF](../advanced_config/parameter_r The mode is documented in [Takeoff Mode > Fixed Wing > Runway Takeoff](../flight_modes/takeoff.md#runway_launch). - -## Mission Takeoff {#mission} + +## Mission Takeoff You can also hand/catapult launch a fixed wing vehicle in a mission. diff --git a/ko/modules/modules_system.md b/ko/modules/modules_system.md index f027bef171d5..a129aba5ceeb 100644 --- a/ko/modules/modules_system.md +++ b/ko/modules/modules_system.md @@ -459,7 +459,7 @@ Source: [modules/temperature_compensation](https://github.com/PX4/Firmware/tree/ ### Description -The temperature compensation module allows all of the gyro(s), accel(s), and baro(s) in the system to be temperature compensated. The module monitors the data coming from the sensors and updates the associated sensor_thermal_cal topic whenever a change in temperature is detected. The module can also be configured to perform the coeffecient calculation routine at next boot, which allows the thermal calibration coeffecients to be calculated while the vehicle undergoes a temperature cycle. +The temperature compensation module allows all of the gyro(s), accel(s), and baro(s) in the system to be temperature compensated. The module monitors the data coming from the sensors and updates the associated sensor_correction topic whenever a change in temperature is detected. The module can also be configured to perform the coeffecient calculation routine at next boot, which allows the thermal calibration coeffecients to be calculated while the vehicle undergoes a temperature cycle. @@ -468,7 +468,7 @@ The temperature compensation module allows all of the gyro(s), accel(s), and bar temperature_compensation [arguments...] Commands: start Start the module, which monitors the sensors and updates the - sensor_thermal_cal topic + sensor_correction topic calibrate Run temperature calibration process [-g] calibrate the gyro diff --git a/ko/ros/external_position_estimation.md b/ko/ros/external_position_estimation.md index ee726f74ef1f..39cfd5a406ad 100644 --- a/ko/ros/external_position_estimation.md +++ b/ko/ros/external_position_estimation.md @@ -39,7 +39,7 @@ PX4 uses FRD (X **F**orward, Y **R**ight and Z **D**own) for the local body fram Depending on your source your source system reference frame you will need to apply a custom transformation to obtain the appropriate NED convention when sending the MAVLink Vision/MoCap messages. This is necessary to change the orientation of the parent and child frame of the pose estimate, such that it fits the PX4 convention. Have a look at the MAVROS [*odom* plugin](https://github.com/mavlink/mavros/blob/master/mavros_extras/src/plugins/odom.cpp) for the necessary transformations. -> **Tip** ROS users can find more detailed instructions below in [Reference Frames and ROS](#ros_reference_frames). +> **Tip** ROS users can find more detailed instructions below in [Reference Frames and ROS](#reference-frames-and-ros). For example, if using the Optitrack framework the local frame has $x{}$ and $z{}$ on the horizontal plane (*x* front and *z* right) while *y* axis is vertical and pointing up. A simple trick is swapping axis in order to obtained NED convention. @@ -146,7 +146,6 @@ If you're working with EKF2, only the "vision" pipelines are supported. To use M - The odometry frames `frame_id = odom`, `child_frame_id = base_link` can be changed by updating the file in `mavros/launch/px4_config.yaml`. However, the current version of mavros (`1.3.0`) needs to be able to use the tf tree to find a transform from `frame_id` to the hardcoded frame `odom_ned`. The same applies to the `child_frame_id`, which needs to be connected in the tf tree to the hardcoded frame `base_link_frd`. If you are using mavros `1.2.0` and you didn't update the file `mavros/launch/px4_config.yaml`, then you can safely use the odometry frames `frame_id = odom`, `child_frame_id = base_link` without much worry. - **Note** Remapping pose topics is covered above [Relaying pose data to PX4](#relaying_pose_data_to_px4) (`/vrpn_client_node//pose` is of type `geometry_msgs/PoseStamped`). - ### Reference Frames and ROS diff --git a/ko/tutorials/tutorials.md b/ko/tutorials/tutorials.md index de8ecfe6783e..3a2173fedc24 100644 --- a/ko/tutorials/tutorials.md +++ b/ko/tutorials/tutorials.md @@ -1 +1,3 @@ -# Tutorials \ No newline at end of file +# Tutorials for Development Tasks + +These tutorials require some level of development expertise. The solutions described are not considered turnkey/typical use. diff --git a/ru/development/development.md b/ru/development/development.md index ea4f0b4cd675..e5b4b6d7c4f2 100644 --- a/ru/development/development.md +++ b/ru/development/development.md @@ -3,9 +3,7 @@ This section explains how to support new vehicle types and variants, modify flight algorithms, add new modes, integrate new hardware, and communicate with PX4 from outside the flight controller. ::: tip - This section is for software developers and (new) hardware integrators. It is not needed if you're building an existing airframe or flying using a PX4 vehicle. - ::: It explains how to: diff --git a/ru/flying/fixed_wing_takeoff.md b/ru/flying/fixed_wing_takeoff.md index 432549b77dda..8807c7ac8e67 100644 --- a/ru/flying/fixed_wing_takeoff.md +++ b/ru/flying/fixed_wing_takeoff.md @@ -5,7 +5,8 @@ In all cases the vehicle takes off at a predefined pitch in its current directio The sections below explain the main methods. -## Position Flight Mode {#position} + +## Position Flight Mode The vehicle will takeoff in [Position mode](../flight_modes/position_fw.md) if it detects sufficient launch acceleration when launched at an altitude below [FW_CLMBOUT_DIFF](../advanced_config/parameter_reference.md#FW_CLMBOUT_DIFF). @@ -16,7 +17,8 @@ To launch in this mode: The vehicle will ascend to `FW_CLMBOUT_DIFF` using the same climbout behaviour as for [Takeoff mode](#takeoff). It will then continue in *Postion mode*. -## Takeoff Flight Mode {#takeoff} + +## Takeoff Flight Mode [Takeoff Mode](../flight_modes/takeoff.md#fixed_wing) enables takeoff using either *catapult/hand-launch* (default) or *runway takeoff*. @@ -44,8 +46,8 @@ Runway takeoff mode is enabled using [RWTO_TKOFF](../advanced_config/parameter_r The mode is documented in [Takeoff Mode > Fixed Wing > Runway Takeoff](../flight_modes/takeoff.md#runway_launch). - -## Mission Takeoff {#mission} + +## Mission Takeoff You can also hand/catapult launch a fixed wing vehicle in a mission. diff --git a/ru/modules/modules_driver.md b/ru/modules/modules_driver.md index 9c36c353e6a5..7e557ee4a29f 100644 --- a/ru/modules/modules_driver.md +++ b/ru/modules/modules_driver.md @@ -905,7 +905,7 @@ Source: [modules/vmount](https://github.com/PX4/Firmware/tree/master/src/modules ### Description Mount (Gimbal) control driver. It maps several different input methods (eg. RC or MAVLink) to a configured output (eg. AUX channels or MAVLink). -Documentation how to use it is on the [gimbal_control](../advanced/gimbal_control.md) page. +Documentation how to use it is on the [gimbal_control](https://dev.px4.io/master/en/advanced/gimbal_control.html) page. ### Implementation Each method is implemented in its own class, and there is a common base class for inputs and outputs. They are connected via an API, defined by the `ControlData` data structure. This makes sure that each input method can be used with each output method and new inputs/outputs can be added with minimal effort. diff --git a/ru/modules/modules_estimator.md b/ru/modules/modules_estimator.md index 05c53f74f75d..3c874f2ac98a 100644 --- a/ru/modules/modules_estimator.md +++ b/ru/modules/modules_estimator.md @@ -45,7 +45,7 @@ Source: [modules/ekf2](https://github.com/PX4/Firmware/tree/master/src/modules/e ### Description Attitude and position estimator using an Extended Kalman Filter. It is used for Multirotors and Fixed-Wing. -The documentation can be found on the [ECL/EKF Overview & Tuning](../advanced_config/tuning_the_ecl_ekf.md) page. +The documentation can be found on the [ECL/EKF Overview & Tuning](https://docs.px4.io/master/en/advanced_config/tuning_the_ecl_ekf.html) page. ekf2 can be started in replay mode (`-r`): in this mode it does not access the system time, but only uses the timestamps from the sensor topics. diff --git a/ru/modules/modules_system.md b/ru/modules/modules_system.md index 545ba11b6ec5..568aef08c408 100644 --- a/ru/modules/modules_system.md +++ b/ru/modules/modules_system.md @@ -399,7 +399,7 @@ There are 2 environment variables used for configuration: `replay`, which must b 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 the log. -The replay procedure is documented on the [System-wide Replay](../debug/system_wide_replay.md) page. +The replay procedure is documented on the [System-wide Replay](https://dev.px4.io/master/en/debug/system_wide_replay.html) page. @@ -471,7 +471,7 @@ Source: [modules/temperature_compensation](https://github.com/PX4/Firmware/tree/ ### Description -The temperature compensation module allows all of the gyro(s), accel(s), and baro(s) in the system to be temperature compensated. The module monitors the data coming from the sensors and updates the associated sensor_thermal_cal topic whenever a change in temperature is detected. The module can also be configured to perform the coeffecient calculation routine at next boot, which allows the thermal calibration coeffecients to be calculated while the vehicle undergoes a temperature cycle. +The temperature compensation module allows all of the gyro(s), accel(s), and baro(s) in the system to be temperature compensated. The module monitors the data coming from the sensors and updates the associated sensor_correction topic whenever a change in temperature is detected. The module can also be configured to perform the coeffecient calculation routine at next boot, which allows the thermal calibration coeffecients to be calculated while the vehicle undergoes a temperature cycle. @@ -480,7 +480,7 @@ The temperature compensation module allows all of the gyro(s), accel(s), and bar temperature_compensation [arguments...] Commands: start Start the module, which monitors the sensors and updates the - sensor_thermal_cal topic + sensor_correction topic calibrate Run temperature calibration process [-g] calibrate the gyro diff --git a/ru/ros/external_position_estimation.md b/ru/ros/external_position_estimation.md index 9defc6af46c6..4d65c4907b33 100644 --- a/ru/ros/external_position_estimation.md +++ b/ru/ros/external_position_estimation.md @@ -39,7 +39,7 @@ PX4 uses FRD (X **F**orward, Y **R**ight and Z **D**own) for the local body fram Depending on the source of your reference frame, you will need to apply a custom transformation to the pose estimate before sending the MAVLink Vision/MoCap message. This is necessary to change the orientation of the parent and child frame of the pose estimate, such that it fits the PX4 convention. Have a look at the MAVROS [*odom* plugin](https://github.com/mavlink/mavros/blob/master/mavros_extras/src/plugins/odom.cpp) for the necessary transformations. -> **Tip** ROS users can find more detailed instructions below in [Reference Frames and ROS](#ros_reference_frames). +> **Tip** ROS users can find more detailed instructions below in [Reference Frames and ROS](#reference-frames-and-ros). For example, if using the Optitrack framework the local frame has $x{}$ and $z{}$ on the horizontal plane (*x* front and *z* right) while *y* axis is vertical and pointing up. A simple trick is swapping axis in order to obtained NED convention. @@ -146,7 +146,6 @@ If you're working with EKF2, only the "vision" pipelines are supported. To use M - The odometry frames `frame_id = odom`, `child_frame_id = base_link` can be changed by updating the file in `mavros/launch/px4_config.yaml`. However, the current version of mavros (`1.3.0`) needs to be able to use the tf tree to find a transform from `frame_id` to the hardcoded frame `odom_ned`. The same applies to the `child_frame_id`, which needs to be connected in the tf tree to the hardcoded frame `base_link_frd`. If you are using mavros `1.2.0` and you didn't update the file `mavros/launch/px4_config.yaml`, then you can safely use the odometry frames `frame_id = odom`, `child_frame_id = base_link` without much worry. - Note that if you are sending odometry data to px4 using `child_frame_id = base_link`, then then you need to make sure that the `twist` portion of the `nav_msgs/Odometry` message is **expressed in body frame**, **not in inertial frame!!!!!**. - ### Reference Frames and ROS diff --git a/ru/tutorials/tutorials.md b/ru/tutorials/tutorials.md index de8ecfe6783e..3a2173fedc24 100644 --- a/ru/tutorials/tutorials.md +++ b/ru/tutorials/tutorials.md @@ -1 +1,3 @@ -# Tutorials \ No newline at end of file +# Tutorials for Development Tasks + +These tutorials require some level of development expertise. The solutions described are not considered turnkey/typical use. diff --git a/tr/development/development.md b/tr/development/development.md index ea4f0b4cd675..e5b4b6d7c4f2 100644 --- a/tr/development/development.md +++ b/tr/development/development.md @@ -3,9 +3,7 @@ This section explains how to support new vehicle types and variants, modify flight algorithms, add new modes, integrate new hardware, and communicate with PX4 from outside the flight controller. ::: tip - This section is for software developers and (new) hardware integrators. It is not needed if you're building an existing airframe or flying using a PX4 vehicle. - ::: It explains how to: diff --git a/tr/flying/fixed_wing_takeoff.md b/tr/flying/fixed_wing_takeoff.md index 432549b77dda..8807c7ac8e67 100644 --- a/tr/flying/fixed_wing_takeoff.md +++ b/tr/flying/fixed_wing_takeoff.md @@ -5,7 +5,8 @@ In all cases the vehicle takes off at a predefined pitch in its current directio The sections below explain the main methods. -## Position Flight Mode {#position} + +## Position Flight Mode The vehicle will takeoff in [Position mode](../flight_modes/position_fw.md) if it detects sufficient launch acceleration when launched at an altitude below [FW_CLMBOUT_DIFF](../advanced_config/parameter_reference.md#FW_CLMBOUT_DIFF). @@ -16,7 +17,8 @@ To launch in this mode: The vehicle will ascend to `FW_CLMBOUT_DIFF` using the same climbout behaviour as for [Takeoff mode](#takeoff). It will then continue in *Postion mode*. -## Takeoff Flight Mode {#takeoff} + +## Takeoff Flight Mode [Takeoff Mode](../flight_modes/takeoff.md#fixed_wing) enables takeoff using either *catapult/hand-launch* (default) or *runway takeoff*. @@ -44,8 +46,8 @@ Runway takeoff mode is enabled using [RWTO_TKOFF](../advanced_config/parameter_r The mode is documented in [Takeoff Mode > Fixed Wing > Runway Takeoff](../flight_modes/takeoff.md#runway_launch). - -## Mission Takeoff {#mission} + +## Mission Takeoff You can also hand/catapult launch a fixed wing vehicle in a mission. diff --git a/tr/modules/modules_driver.md b/tr/modules/modules_driver.md index 9c36c353e6a5..7e557ee4a29f 100644 --- a/tr/modules/modules_driver.md +++ b/tr/modules/modules_driver.md @@ -905,7 +905,7 @@ Source: [modules/vmount](https://github.com/PX4/Firmware/tree/master/src/modules ### Description Mount (Gimbal) control driver. It maps several different input methods (eg. RC or MAVLink) to a configured output (eg. AUX channels or MAVLink). -Documentation how to use it is on the [gimbal_control](../advanced/gimbal_control.md) page. +Documentation how to use it is on the [gimbal_control](https://dev.px4.io/master/en/advanced/gimbal_control.html) page. ### Implementation Each method is implemented in its own class, and there is a common base class for inputs and outputs. They are connected via an API, defined by the `ControlData` data structure. This makes sure that each input method can be used with each output method and new inputs/outputs can be added with minimal effort. diff --git a/tr/modules/modules_estimator.md b/tr/modules/modules_estimator.md index 05c53f74f75d..3c874f2ac98a 100644 --- a/tr/modules/modules_estimator.md +++ b/tr/modules/modules_estimator.md @@ -45,7 +45,7 @@ Source: [modules/ekf2](https://github.com/PX4/Firmware/tree/master/src/modules/e ### Description Attitude and position estimator using an Extended Kalman Filter. It is used for Multirotors and Fixed-Wing. -The documentation can be found on the [ECL/EKF Overview & Tuning](../advanced_config/tuning_the_ecl_ekf.md) page. +The documentation can be found on the [ECL/EKF Overview & Tuning](https://docs.px4.io/master/en/advanced_config/tuning_the_ecl_ekf.html) page. ekf2 can be started in replay mode (`-r`): in this mode it does not access the system time, but only uses the timestamps from the sensor topics. diff --git a/tr/modules/modules_system.md b/tr/modules/modules_system.md index 545ba11b6ec5..568aef08c408 100644 --- a/tr/modules/modules_system.md +++ b/tr/modules/modules_system.md @@ -399,7 +399,7 @@ There are 2 environment variables used for configuration: `replay`, which must b 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 the log. -The replay procedure is documented on the [System-wide Replay](../debug/system_wide_replay.md) page. +The replay procedure is documented on the [System-wide Replay](https://dev.px4.io/master/en/debug/system_wide_replay.html) page. @@ -471,7 +471,7 @@ Source: [modules/temperature_compensation](https://github.com/PX4/Firmware/tree/ ### Description -The temperature compensation module allows all of the gyro(s), accel(s), and baro(s) in the system to be temperature compensated. The module monitors the data coming from the sensors and updates the associated sensor_thermal_cal topic whenever a change in temperature is detected. The module can also be configured to perform the coeffecient calculation routine at next boot, which allows the thermal calibration coeffecients to be calculated while the vehicle undergoes a temperature cycle. +The temperature compensation module allows all of the gyro(s), accel(s), and baro(s) in the system to be temperature compensated. The module monitors the data coming from the sensors and updates the associated sensor_correction topic whenever a change in temperature is detected. The module can also be configured to perform the coeffecient calculation routine at next boot, which allows the thermal calibration coeffecients to be calculated while the vehicle undergoes a temperature cycle. @@ -480,7 +480,7 @@ The temperature compensation module allows all of the gyro(s), accel(s), and bar temperature_compensation [arguments...] Commands: start Start the module, which monitors the sensors and updates the - sensor_thermal_cal topic + sensor_correction topic calibrate Run temperature calibration process [-g] calibrate the gyro diff --git a/tr/ros/external_position_estimation.md b/tr/ros/external_position_estimation.md index 9defc6af46c6..4d65c4907b33 100644 --- a/tr/ros/external_position_estimation.md +++ b/tr/ros/external_position_estimation.md @@ -39,7 +39,7 @@ PX4 uses FRD (X **F**orward, Y **R**ight and Z **D**own) for the local body fram Depending on the source of your reference frame, you will need to apply a custom transformation to the pose estimate before sending the MAVLink Vision/MoCap message. This is necessary to change the orientation of the parent and child frame of the pose estimate, such that it fits the PX4 convention. Have a look at the MAVROS [*odom* plugin](https://github.com/mavlink/mavros/blob/master/mavros_extras/src/plugins/odom.cpp) for the necessary transformations. -> **Tip** ROS users can find more detailed instructions below in [Reference Frames and ROS](#ros_reference_frames). +> **Tip** ROS users can find more detailed instructions below in [Reference Frames and ROS](#reference-frames-and-ros). For example, if using the Optitrack framework the local frame has $x{}$ and $z{}$ on the horizontal plane (*x* front and *z* right) while *y* axis is vertical and pointing up. A simple trick is swapping axis in order to obtained NED convention. @@ -146,7 +146,6 @@ If you're working with EKF2, only the "vision" pipelines are supported. To use M - The odometry frames `frame_id = odom`, `child_frame_id = base_link` can be changed by updating the file in `mavros/launch/px4_config.yaml`. However, the current version of mavros (`1.3.0`) needs to be able to use the tf tree to find a transform from `frame_id` to the hardcoded frame `odom_ned`. The same applies to the `child_frame_id`, which needs to be connected in the tf tree to the hardcoded frame `base_link_frd`. If you are using mavros `1.2.0` and you didn't update the file `mavros/launch/px4_config.yaml`, then you can safely use the odometry frames `frame_id = odom`, `child_frame_id = base_link` without much worry. - Note that if you are sending odometry data to px4 using `child_frame_id = base_link`, then then you need to make sure that the `twist` portion of the `nav_msgs/Odometry` message is **expressed in body frame**, **not in inertial frame!!!!!**. - ### Reference Frames and ROS diff --git a/tr/tutorials/tutorials.md b/tr/tutorials/tutorials.md index de8ecfe6783e..3a2173fedc24 100644 --- a/tr/tutorials/tutorials.md +++ b/tr/tutorials/tutorials.md @@ -1 +1,3 @@ -# Tutorials \ No newline at end of file +# Tutorials for Development Tasks + +These tutorials require some level of development expertise. The solutions described are not considered turnkey/typical use. diff --git a/zh/README.md b/zh/README.md index 3f0e23fa38be..f5788f9815e3 100644 --- a/zh/README.md +++ b/zh/README.md @@ -50,7 +50,7 @@ PX4 是一款*专业级飞控*。 它由来自业界和学术界的世界级开 * [Development](../development/development.md) explains how to support new airframes and types of vehicles, modify flight algorithms, add new modes, integrate new hardware, communicate with PX4 from outside the flight controller, and contribute to PX4. -## Getting Help +## 获取帮助 The[Support](contribute/support.md) page explains how to get help from the core dev team and the wider community. @@ -63,9 +63,9 @@ Among other things it covers: ## 报告Bug & 问题 -If you have any problems using PX4 first post them on the [support channels above](#forums-and-chat) (as they may be caused by vehicle configuration). +如果您在使用 PX4 时遇到任何问题，请先将其发布在 [支持频道](#forums-and-chat) 上（因为它们可能是由飞机配置引起的）。 -If directed by the development team, code issues may be raised on [Github here](https://github.com/PX4/PX4-Autopilot/issues). Where possible provide [flight logs](getting_started/flight_reporting.md) and other information requested in the issue template. +也有可能由开发团队指示，让你在 [Github](https://github.com/PX4/PX4-Autopilot/issues) 上提出代码问题。 在可能的情况下，提供问题模板中要求的 [飞行日志](getting_started/flight_reporting.md) 和其他信息。 ## 参与贡献 @@ -75,39 +75,39 @@ Information on how to contribute to code and documentation can be found in the [ * [文档撰写](../contribute/docs.md) * [参与翻译（中文翻译组长微信：253331754，QQ：76006963）](../contribute/translation.md) -## Translations +## 翻译 -There are Chinese and Korean [translations](contribute/docs.md#translation) of this guide. You can access these by clicking the language-switcher icon: +本指南中有中文和韩文 [翻译](contribute/docs.md#translation)。 您可以通过单击语言切换器图标来访问这些内容： -![Gitbook Language Selector](../assets/gitbook/gitbook_language_selector.png) +![Gitbook 语言选择器](../assets/gitbook/gitbook_language_selector.png) -## License +## 许可证 -PX4 code is free to use and modify under the terms of the permissive [BSD 3-clause license](https://opensource.org/licenses/BSD-3-Clause). This documentation is licensed under [CC BY 4.0](https://creativecommons.org/licenses/by/4.0/). For more information see: [PX4 Development Guide > Licences](../contribute/licenses.md). +根据许可 [BSD 3 条款许可证](https://opensource.org/licenses/BSD-3-Clause) 的细则，PX4 代码可自由使用和修改。 本文档可在 [CC BY 4.0](https://creativecommons.org/licenses/by/4.0/) 下进行许可 。 有关详细信息，请参阅：[PX4 开发指南 > 许可证](../contribute/licenses.md)。 -## Calendar & Events +## 日历 & 活动 The *Dronecode Calendar* shows important community events for platform users and developers. Select the links below to display the calendar in your timezone (and to add it to your own calendar): * [Switzerland – Zurich](https://calendar.google.com/calendar/embed?src=linuxfoundation.org_g21tvam24m7pm7jhev01bvlqh8%40group.calendar.google.com&ctz=Europe%2FZurich) -* [Pacific Time – Tijuana](https://calendar.google.com/calendar/embed?src=linuxfoundation.org_g21tvam24m7pm7jhev01bvlqh8%40group.calendar.google.com&ctz=America%2FTijuana) +* [太平洋时间 – Tijuana](https://calendar.google.com/calendar/embed?src=linuxfoundation.org_g21tvam24m7pm7jhev01bvlqh8%40group.calendar.google.com&ctz=America%2FTijuana) * [Australia – Melbourne/Sydney/Hobart](https://calendar.google.com/calendar/embed?src=linuxfoundation.org_g21tvam24m7pm7jhev01bvlqh8%40group.calendar.google.com&ctz=Australia%2FSydney) -> **Note:** calendar defaults to CET. +> **Note:** 日历默认为 CET 时间。 ### 图标 -The following icons used in this library are licensed separately (as shown below): +此库中使用的以下图标是单独授权的（如下所示）： - *placeholder* icon made by Smashicons from www.flaticon.com is licensed by CC 3.0 BY. + [www.flaticon.com](https://www.flaticon.com/ "Flaticon") 的 Smashicons 制作 placeholder 图标由 CC 3.0 BY 授权。 - *camera-automatic-mode* icon made by Freepik from www.flaticon.com is licensed by CC 3.0 BY. + [www.flaticon.com](https://www.flaticon.com/ "Flaticon") 的 Freepik 制作的 camera-automatic-mode 图标由 CC 3.0 BY 授权。 -## Governance +## 治理 -The PX4 flight stack is hosted under the governance of the [Dronecode Project](https://www.dronecode.org/). +PX4飞行栈由 [Dronecode项目](https://www.dronecode.org/) 治理。 -Dronecode Logo -Linux Foundation Logo +Dronecode 徽标 +Linux 基金会徽标
 
diff --git a/zh/SUMMARY.md b/zh/SUMMARY.md index a4eeb73c7e4d..f61d63db966e 100644 --- a/zh/SUMMARY.md +++ b/zh/SUMMARY.md @@ -20,11 +20,11 @@ * [雷迅 V5 nano飞控快速接线指南](assembly/quick_start_cuav_v5_nano.md) * [Durandal 快速接线指南](assembly/quick_start_durandal.md) * [Pix32 v5 Wiring Quickstart](assembly/quick_start_holybro_pix32_v5.md) - * [Pixhawk 4 Wiring Quickstart](assembly/quick_start_pixhawk4.md) - * [Pixhawk 4 Mini Wiring Quickstart](assembly/quick_start_pixhawk4_mini.md) - * [Cube Wiring Quickstart](assembly/quick_start_cube.md) - * [Pixracer Wiring Quickstart](assembly/quick_start_pixracer.md) - * [Pixhawk Wiring Quickstart](assembly/quick_start_pixhawk.md) + * [Pixhawk 4 快速接线指南](assembly/quick_start_pixhawk4.md) + * [Pixhawk 4 Mini 快速接线指南](assembly/quick_start_pixhawk4_mini.md) + * [Cube 快速接线指南](assembly/quick_start_cube.md) + * [Pixracer 快速接线指南 ](assembly/quick_start_pixracer.md) + * [Pixhawk 快速接线指南](assembly/quick_start_pixhawk.md) * [基本配置](config/README.md) * [固件](config/firmware.md) * [机架](config/airframe.md) @@ -44,9 +44,9 @@ * [机架参考](airframes/airframe_reference.md) * [Autogyros](frames_autogyro/README.md) * [ThunderFly Auto-G2 (Holybro pix32)](frames_autogyro/thunderfly_auto_g2.md) - * [Multicopters](frames_multicopter/README.md) - * [DJI F450 (CUAV v5+)](frames_multicopter/dji_f450_cuav_5plus.md) - * [DJI F450 (CUAV v5 nano)](frames_multicopter/dji_f450_cuav_5nano.md) + * [多旋翼](frames_multicopter/README.md) + * [DJI F450 (雷迅 v5+)](frames_multicopter/dji_f450_cuav_5plus.md) + * [DJI F450 (雷迅 v5 nano)](frames_multicopter/dji_f450_cuav_5nano.md) * [QAV250 (Pixhawk4 Mini)](frames_multicopter/holybro_qav250_pixhawk4_mini.md) * [X500 (Pixhawk 4)](frames_multicopter/holybro_x500_pixhawk4.md) * [S500 V2 (Pixhawk 4)](frames_multicopter/holybro_s500_v2_pixhawk4.md) @@ -55,17 +55,17 @@ * [QAV250 \(Pixhawk/AUAV\_X2\)](frames_multicopter/lumenier_qav250_pixhawk_auav_x2.md) * [Spedix 250 \(Pixracer\)](frames_multicopter/spedix_s250_pixracer.md) * [Robocat 270 \(Pixracer\)](frames_multicopter/robocat_270_pixracer.md) - * [Matrice 100 (Pixhawk 1)](frames_multicopter/matrice100.md) + * [大疆Matrice 100 (Pixhawk 1)](frames_multicopter/matrice100.md) * [QAV-R 5" Racer (Pixracer)](frames_multicopter/qav_r_5_kiss_esc_racer.md) - * [Planes](frames_plane/README.md) + * [固定翼](frames_plane/README.md) * [Wing Wing Z84 \(Pixracer\)](frames_plane/wing_wing_z84.md) - * [VTOL](frames_vtol/README.md) + * [垂直起降](frames_vtol/README.md) * [FunCub QuadPlane (Pixhawk)](frames_vtol/vtol_quadplane_fun_cub_vtol_pixhawk.md) * [Ranger QuadPlane (Pixhawk)](frames_vtol/vtol_quadplane_volantex_ranger_ex_pixhawk.md) - * [Convergence Tiltrotor (Pixfalcon)](frames_vtol/vtol_tiltrotor_eflite_convergence_pixfalcon.md) + * [Convergence 倾转旋翼机（Pixfalcon）](frames_vtol/vtol_tiltrotor_eflite_convergence_pixfalcon.md) * [TBS Caipiroshka (Pixracer)](frames_vtol/vtol_tailsitter_caipiroshka_pixracer.md) - * [Falcon Vertigo QuadPlane (Dropix)](frames_vtol/vtol_quadplane_falcon_vertigo_hybrid_rtf_dropix.md) - * [Rovers](frames_rover/README.md) + * [Falcon Vertigo 四旋翼 (Dropix)](frames_vtol/vtol_quadplane_falcon_vertigo_hybrid_rtf_dropix.md) + * [小车](frames_rover/README.md) * [Traxxas Stampede](frames_rover/traxxas_stampede.md) * [飞行](flying/README.md) * [首次飞行指南](flying/first_flight_guidelines.md) @@ -98,19 +98,19 @@ * [飞行日志分析](log/flight_log_analysis.md) * [使用 Flight Review 进行日志分析](log/flight_review.md) * [高级功能](advanced_features/README.md) - * [Air Traffic Avoidance: ADSB/FLARM](advanced_features/traffic_avoidance_adsb.md) - * [Air Traffic Avoidance: UTM](advanced_features/traffic_avoidance_utm.md) - * [Computer Vision](computer_vision/README.md) - * [Obstacle Avoidance](computer_vision/obstacle_avoidance.md) - * [Safe Landing](computer_vision/safe_landing.md) - * [Collision Prevention](computer_vision/collision_prevention.md) - * [Path Planning Interface](computer_vision/path_planning_interface.md) - * [Motion Capture (MoCap)](computer_vision/motion_capture.md) - * [Visual Inertial Odometry (VIO)](computer_vision/visual_inertial_odometry.md) + * [空中交通避障：ADSB/FLARM](advanced_features/traffic_avoidance_adsb.md) + * [空中交通避障：UTM](advanced_features/traffic_avoidance_utm.md) + * [机器视觉](computer_vision/README.md) + * [自主避障](computer_vision/obstacle_avoidance.md) + * [安全着陆](computer_vision/safe_landing.md) + * [防撞功能](computer_vision/collision_prevention.md) + * [路径规划接口](computer_vision/path_planning_interface.md) + * [运动捕捉（MoCap）](computer_vision/motion_capture.md) + * [视觉惯性里程计(VIO)](computer_vision/visual_inertial_odometry.md) * [Realsense T265 Tracking Camera (VIO)](peripherals/camera_t265_vio.md) - * [Precision Landing](advanced_features/precland.md) + * [精准着陆](advanced_features/precland.md) * [RTK GPS Positioning/Heading](advanced_features/rtk-gps.md) - * [RockBlock SatCom System](advanced_features/satcom_roadblock.md) + * [RockBlock SatCom 系统](advanced_features/satcom_roadblock.md) * [高级配置](advanced_config/README.md) * [查找/更新参数](advanced_config/parameters.md) * [多旋翼配置/调试](config_mc/README.md) @@ -137,7 +137,7 @@ * [传感器热补偿](advanced_config/sensor_thermal_calibration.md) * [指南针动力补偿](advanced_config/compass_power_compensation.md) * [高级控制器转向](advanced_config/advanced_flight_controller_orientation_leveling.md) - * [Static Pressure Buildup](advanced_config/static_pressure_buildup.md) + * [静态压力生成](advanced_config/static_pressure_buildup.md) * [解锁前/解锁/加锁 配置](advanced_config/prearm_arm_disarm.md) * [全部参数对照表](advanced_config/parameter_reference.md) * [外围硬件](peripherals/README.md) @@ -154,45 +154,45 @@ * [Holybro H-RTK-M8P](gps_compass/rtk_gps_holybro_h-rtk-m8p.md) * [Trimble MB-Two](gps_compass/rtk_gps_trimble_mb_two.md) * [RTK GPS Heading (with u-blox F9P)](gps_compass/u-blox_f9p_heading.md) - * [Telemetry Radios](telemetry/README.md) - * [SiK Radio](telemetry/sik_radio.md) - * [RFD900 (SiK) Telemetry Radio](telemetry/rfd900_telemetry.md) - * [HKPilot (SIK) Telemetry Radio](telemetry/hkpilot_sik_radio.md) - * [HolyBro (SIK) Telemetry Radio](telemetry/holybro_sik_radio.md) - * [Telemetry Wifi](telemetry/telemetry_wifi.md) - * [ESP8266 WiFi Module](telemetry/esp8266_wifi_module.md) + * [数传电台](telemetry/README.md) + * [SiK 电台](telemetry/sik_radio.md) + * [RFD900 数传电台](telemetry/rfd900_telemetry.md) + * [HKPilot（SIK）遥测无线电](telemetry/hkpilot_sik_radio.md) + * [HolyBro（SIK）遥测无线电](telemetry/holybro_sik_radio.md) + * [WiFi 数传](telemetry/telemetry_wifi.md) + * [ESP8266 WiFi 模块](telemetry/esp8266_wifi_module.md) * [3DR Telemetry Wifi (Discontinued)](telemetry/3dr_telemetry_wifi.md) - * [MAVLink Telemetry (OSD/GCS)](peripherals/mavlink_peripherals.md) - * [FrSky Telemetry](peripherals/frsky_telemetry.md) - * [Power Modules](power_module/README.md) - * [CUAV HV pm](power_module/cuav_hv_pm.md) + * [MAVLink 回传（OSD/GCS）](peripherals/mavlink_peripherals.md) + * [睿思凯（FrSky）数传功能](peripherals/frsky_telemetry.md) + * [电源模块](power_module/README.md) + * [CUAV HV 电源模块](power_module/cuav_hv_pm.md) * [CUAV CAN PMU](power_module/cuav_can_pmu.md) - * [Holybro PM07 (Pixhawk 4 PM)](power_module/holybro_pm07_pixhawk4_power_module.md) - * [Holybro PM06 (Micro Power Module)](power_module/holybro_pm06_pixhawk4mini_power_module.md) + * [Holybro PM07（Pixhawk 4 电源模块）](power_module/holybro_pm07_pixhawk4_power_module.md) + * [Holybro PM06（体积小带四路分电板）](power_module/holybro_pm06_pixhawk4mini_power_module.md) * [Pomegranate Systems Power Module](power_module/pomegranate_systems_pm.md) - * [Distance Sensors \(Rangefinders\)](sensor/rangefinders.md) + * [距离传感器 \(测距仪\)](sensor/rangefinders.md) * [Lightware SFxx Lidar](sensor/sfxx_lidar.md) * [Ainstein US-D1 Standard Radar Altimeter](sensor/ulanding_radar.md) * [LeddarOne Lidar](sensor/leddar_one.md) - * [Benewake TFmini Lidar](sensor/tfmini.md) + * [北醒 Benewake TFmini 激光雷达](sensor/tfmini.md) * [Lidar-Lite](sensor/lidar_lite.md) * [TeraRanger](sensor/teraranger.md) * [Lanbao PSK-CM8JL65-CC5](sensor/cm8jl65_ir_distance_sensor.md) * [Avionics Anonymous Laser Altimeter UAVCAN Interface](sensor/avanon_laser_interface.md) * [Tachometers (Revolution Counters)](sensor/tachometers.md) * [ThunderFly TFRPM01 Tachometer Sensor](sensor/thunderfly_tachometer.md) - * [Airspeed Sensors](sensor/airspeed.md) - * [Optical Flow](sensor/optical_flow.md) + * [空速传感器](sensor/airspeed.md) + * [光流](sensor/optical_flow.md) * [PX4FLOW](sensor/px4flow.md) * [PMW3901](sensor/pmw3901.md) - * [ESCs & Motors](peripherals/esc_motors.md) + * [电调 & 电机](peripherals/esc_motors.md) * [PWM ESCs and Servos](peripherals/pwm_escs_and_servo.md) * [DShot ESCs](peripherals/dshot.md) - * [UAVCAN ESCs](peripherals/uavcan_escs.md) - * [Camera](peripherals/camera.md) - * [Parachute](peripherals/parachute.md) - * [Companion Computer Peripherals](peripherals/companion_computer_peripherals.md) - * [ADSB/FLARM (Traffic Avoidance)](peripherals/adsb_flarm.md) + * [UAVCAN 电调](peripherals/uavcan_escs.md) + * [相机](peripherals/camera.md) + * [降落伞](peripherals/parachute.md) + * [机载计算机外设](peripherals/companion_computer_peripherals.md) + * [ADSB/FLARM（交通避撞）](peripherals/adsb_flarm.md) * [自动驾驶仪硬件](flight_controller/README.md) * [Pixhawk 系列](flight_controller/pixhawk_series.md) * [芯片勘误表](flight_controller/silicon_errata.md) @@ -234,13 +234,13 @@ * [mRo AUAV-X2 (Discontinued)](flight_controller/auav_x2.md) * [Raspberry Pi 2/3 Navio2](flight_controller/raspberry_pi_navio2.md) * [Raspberry Pi 2/3/4 PilotPi](flight_controller/raspberry_pi_pilotpi.md) - * [PilotPi with Raspberry Pi OS](flight_controller/raspberry_pi_pilotpi_rpios.md) - * [PilotPi with Ubuntu Server](flight_controller/raspberry_pi_pilotpi_ubuntu_server.md) - * [Snapdragon Flight (Discontinued)](flight_controller/snapdragon_flight.md) + * [在 Raspberry Pi OS 上使用 PilotPi](flight_controller/raspberry_pi_pilotpi_rpios.md) + * [PilotPi 使用 Ubuntu Server 操作系统](flight_controller/raspberry_pi_pilotpi_ubuntu_server.md) + * [骁龙飞控（停产）](flight_controller/snapdragon_flight.md) * [Hardware Setup Example](flight_controller/snapdragon_flight_hardware_example_setup.md) * [Developer Environment Installation](flight_controller/snapdragon_flight_dev_environment_installation.md) * [Snapdragon Software Installation](flight_controller/snapdragon_flight_software_installation.md) - * [Configuration](flight_controller/snapdragon_flight_configuration.md) + * [配置](flight_controller/snapdragon_flight_configuration.md) * [Snapdragon Advanced](flight_controller/snapdragon_flight_advanced.md) * [3DR Pixhawk 1 (Discontinued)](flight_controller/pixhawk.md) * [成品机](complete_vehicles/README.md) @@ -248,159 +248,159 @@ * [MindRacer BNF & RTF](complete_vehicles/mindracer_BNF_RTF.md) * [MindRacer 210](complete_vehicles/mindracer210.md) * [NanoMind 110](complete_vehicles/nanomind110.md) - * [BetaFPV Beta75X 2S Brushless Whoop](complete_vehicles/betafpv_beta75x.md) + * [BetaFPV Beta75X 2S 穿越机](complete_vehicles/betafpv_beta75x.md) * [Holybro Kopis 2](complete_vehicles/holybro_kopis2.md) - * [Intel® Aero RTF Drone (Discontinued)](complete_vehicles/intel_aero.md) -* [Development](development/development.md) - * [Getting Started](dev_setup/getting_started.md) - * [Initial Setup](dev_setup/config_initial.md) - * [Toolchain Installation](dev_setup/dev_env.md) + * [Intel® Aero RTF Drone（已停产）](complete_vehicles/intel_aero.md) +* [开发用途](development/development.md) + * [由此开始](dev_setup/getting_started.md) + * [初始设置](dev_setup/config_initial.md) + * [工具链安装](dev_setup/dev_env.md) * [Mac OS](dev_setup/dev_env_mac.md) * [Linux](dev_setup/dev_env_linux.md) * [Ubuntu/Debian Linux](dev_setup/dev_env_linux_ubuntu.md) * [CentOS Linux](dev_setup/dev_env_linux_centos.md) * [Arch Linux](dev_setup/dev_env_linux_arch.md) - * [Advanced Linux](dev_setup/dev_env_advanced_linux.md) + * [高级 Linux](dev_setup/dev_env_advanced_linux.md) * [Windows](dev_setup/dev_env_windows.md) - * [Cygwin Toolchain](dev_setup/dev_env_windows_cygwin.md) - * [Virtual Machine Toolchain](dev_setup/dev_env_windows_vm.md) - * [Bash on Windows Toolchain](dev_setup/dev_env_windows_bash_on_win.md) + * [Cygwin 工具链](dev_setup/dev_env_windows_cygwin.md) + * [Virtual Machine 工具链](dev_setup/dev_env_windows_vm.md) + * [Bash on Windows 工具链](dev_setup/dev_env_windows_bash_on_win.md) * [Visual Studio Code IDE](dev_setup/vscode.md) - * [Fast RTPS installation](dev_setup/fast-rtps-installation.md) - * [Additional Tools](dev_setup/generic_dev_tools.md) - * [Building the Code](dev_setup/building_px4.md) - * [Writing your First Application](modules/hello_sky.md) - * [Application/Module Template](modules/module_template.md) - * [Concepts](concept/README.md) - * [PX4 Architectural Overview](concept/architecture.md) - * [Controller Diagrams](flight_stack/controller_diagrams.md) - * [Dronecode Platform Overview](concept/dronecode_architecture.md) - * [Flight Modes](concept/flight_modes.md) - * [Flight Tasks](concept/flight_tasks.md) - * [Mixing and Actuators](concept/mixing.md) + * [FastRTPS 安装](dev_setup/fast-rtps-installation.md) + * [额外工具](dev_setup/generic_dev_tools.md) + * [构建代码](dev_setup/building_px4.md) + * [编写您的第一个应用程序](modules/hello_sky.md) + * [应用/模块模板](modules/module_template.md) + * [概念](concept/README.md) + * [PX4 系统架构概述](concept/architecture.md) + * [控制器图解](flight_stack/controller_diagrams.md) + * [Dronecode 平台概述](concept/dronecode_architecture.md) + * [飞行模式](concept/flight_modes.md) + * [飞行任务](concept/flight_tasks.md) + * [混控器和执行器](concept/mixing.md) * [Custom Payload Mixer](concept/custom_mixer_payload.md) - * [PWM limit state machine](concept/pwm_limit.md) - * [System Startup](concept/system_startup.md) + * [PWM 限位状态机](concept/pwm_limit.md) + * [系统启动](concept/system_startup.md) * [SD Card Layout](concept/sd_card_layout.md) - * [Simulation](simulation/README.md) - * [jMAVSim Simulation](simulation/jmavsim.md) - * [Multi-Vehicle Sim with JMAVSim](simulation/multi_vehicle_jmavsim.md) - * [Gazebo Simulation](simulation/gazebo.md) - * [Gazebo Vehicles](simulation/gazebo_vehicles.md) - * [Gazebo Worlds](simulation/gazebo_worlds.md) - * [Multi-Vehicle Sim with Gazebo](simulation/multi_vehicle_simulation_gazebo.md) - * [FlightGear Simulation](simulation/flightgear.md) + * [仿真](simulation/README.md) + * [jMAVSim 仿真模拟](simulation/jmavsim.md) + * [使用 JMAVSim 进行多飞行器仿真](simulation/multi_vehicle_jmavsim.md) + * [Gazebo 仿真](simulation/gazebo.md) + * [Gazebo 机型](simulation/gazebo_vehicles.md) + * [Gazebo 世界（Worlds）](simulation/gazebo_worlds.md) + * [基于 Gazebo 的多飞行器仿真](simulation/multi_vehicle_simulation_gazebo.md) + * [AirSim 仿真](simulation/flightgear.md) * [FlightGear Vehicles](simulation/flightgear_vehicles.md) - * [Multi-Vehicle Sim with FlightGear](simulation/multi_vehicle_flightgear.md) + * [MAVROS 包](simulation/multi_vehicle_flightgear.md) * [JSBSim Simulation](simulation/jsbsim.md) - * [AirSim Simulation](simulation/airsim.md) - * [Multi-Vehicle Simulation](simulation/multi-vehicle-simulation.md) - * [Simulate Failsafes](simulation/failsafes.md) - * [HITL Simulation](simulation/hitl.md) + * [AirSim 仿真](simulation/airsim.md) + * [多机仿真](simulation/multi-vehicle-simulation.md) + * [模拟故障保护](simulation/failsafes.md) + * [HITL 仿真](simulation/hitl.md) * [Simulation-In-Hardware](simulation/simulation-in-hardware.md) - * [Hardware](hardware/README.md) - * [Flight Controller Reference Design](hardware/reference_design.md) + * [硬件](hardware/README.md) + * [飞行控制器参考设计](hardware/reference_design.md) * [Manufacturer’s Board Support Guide](hardware/board_support_guide.md) - * [Flight Controller Porting Guide](hardware/porting_guide.md) - * [NuttX Board Porting Guide](hardware/porting_guide_nuttx.md) - * [Airframes](dev_airframes/README.md) - * [Adding a New Airframe](dev_airframes/adding_a_new_frame.md) - * [Device Drivers](middleware/drivers.md) - * [Telemetry Radio](data_links/telemetry.md) - * [SiK Radio](data_links/sik_radio.md) - * [Sensor and Actuator I/O](sensor_bus/README.md) - * [I2C Bus](sensor_bus/i2c.md) - * [UAVCAN Bus](uavcan/README.md) + * [飞行控制器移植指南](hardware/porting_guide.md) + * [机架参考](hardware/porting_guide_nuttx.md) + * [机架](dev_airframes/README.md) + * [增加一个新的机型](dev_airframes/adding_a_new_frame.md) + * [设备驱动](middleware/drivers.md) + * [数传电台](data_links/telemetry.md) + * [SiK 电台](data_links/sik_radio.md) + * [传感器和执行器 I/O](sensor_bus/README.md) + * [I2C 总线](sensor_bus/i2c.md) + * [UAVCAN 总线](uavcan/README.md) * [UAVCAN Bootloader](uavcan/bootloader_installation.md) - * [UAVCAN Firmware Upgrades](uavcan/node_firmware.md) - * [UAVCAN Configuration](uavcan/node_enumeration.md) - * [UAVCAN Various Notes](uavcan/notes.md) - * [UART/Serial Ports](uart/README.md) - * [Port-Configurable Serial Drivers](uart/user_configurable_serial_driver.md) + * [UAVCAN 固件升级](uavcan/node_firmware.md) + * [UAVCAN 配置](uavcan/node_enumeration.md) + * [UAVCAN 各种注释](uavcan/notes.md) + * [串行总线](uart/README.md) + * [端口-配置串行驱动](uart/user_configurable_serial_driver.md) * [RTK GPS (Integration)](advanced/rtk_gps.md) - * [Gimbal \(Mount\) Control Setup](advanced/gimbal_control.md) - * [Companion Computers](companion_computer/pixhawk_companion.md) - * [Middleware](middleware/README.md) - * [uORB Messaging](middleware/uorb.md) - * [MAVLink Messaging](middleware/mavlink.md) - * [RTPS/ROS2 Interface](middleware/micrortps.md) - * [Throughput Test](middleware/micrortps_throughput_test.md) - * [Manually Generate Client/Agent](middleware/micrortps_manual_code_generation.md) - * [Modules & Commands](modules/modules_main.md) - * [Commands](modules/modules_command.md) - * [Communication](modules/modules_communication.md) - * [Controllers](modules/modules_controller.md) - * [Drivers](modules/modules_driver.md) + * [云台（安装）控制设置](advanced/gimbal_control.md) + * [机载计算机设置](companion_computer/pixhawk_companion.md) + * [中间件](middleware/README.md) + * [uORB 消息](middleware/uorb.md) + * [MAVLink 通讯](middleware/mavlink.md) + * [RTPS/ROS2 接口](middleware/micrortps.md) + * [输出测试](middleware/micrortps_throughput_test.md) + * [手动生成客户端和代理端代码](middleware/micrortps_manual_code_generation.md) + * [模块 & 命令](modules/modules_main.md) + * [命令](modules/modules_command.md) + * [通信](modules/modules_communication.md) + * [控制器](modules/modules_controller.md) + * [驱动](modules/modules_driver.md) * [Airspeed Sensor](modules/modules_driver_airspeed_sensor.md) * [Baro](modules/modules_driver_baro.md) - * [Distance Sensor](modules/modules_driver_distance_sensor.md) + * [距离传感器](modules/modules_driver_distance_sensor.md) * [IMU](modules/modules_driver_imu.md) - * [Magnetometer](modules/modules_driver_magnetometer.md) - * [Estimators](modules/modules_estimator.md) + * [磁力计](modules/modules_driver_magnetometer.md) + * [估计器](modules/modules_estimator.md) * [Simulations](modules/modules_simulation.md) - * [System](modules/modules_system.md) - * [Template](modules/modules_template.md) - * [Robotics](robotics/README.md) - * [Offboard Control from Linux](ros/offboard_control.md) + * [系统](modules/modules_system.md) + * [模板](modules/modules_template.md) + * [机器人技术](robotics/README.md) + * [Linux 的离板模式控制](ros/offboard_control.md) * [ROS](ros/README.md) - * [MAVROS \(MAVLink on ROS\)](ros/mavros_installation.md) - * [MAVROS Offboard Example](ros/mavros_offboard.md) - * [ROS with Gazebo Simulation](simulation/ros_interface.md) - * [OctoMap Models with ROS](simulation/gazebo_octomap.md) - * [ROS Installation on RPi](ros/raspberrypi_installation.md) - * [External Position Estimation (Vision/Motion based)](ros/external_position_estimation.md) + * [MAVROS \（ROS 上的 MAVLink\）](ros/mavros_installation.md) + * [MAVROS 离板例程](ros/mavros_offboard.md) + * [Gazebo 与 ROS 仿真](simulation/ros_interface.md) + * [具有 ROS 的 OctoMap 模型](simulation/gazebo_octomap.md) + * [在 RPi 上安装 ROS](ros/raspberrypi_installation.md) + * [外部位置估计（基于视觉/运动）](ros/external_position_estimation.md) * [Sending Custom Messages from MAVROS](ros/mavros_custom_messages.md) * [DroneKit](robotics/dronekit.md) - * [Debugging/Logging](debug/README.md) - * [FAQ](debug/faq.md) + * [调试日志](debug/README.md) + * [常见问题](debug/faq.md) * [Consoles/Shells](debug/consoles.md) * [MAVLink Shell](debug/mavlink_shell.md) - * [System Console](debug/system_console.md) + * [系统控制台](debug/system_console.md) * [SWD/JLink Debug Interface](debug/swd_debug.md) - * [Autopilot Debugging](debug/gdb_debugging.md) - * [Eclipse/JLink Hardware Debugging](debug/eclipse_jlink.md) - * [Sensor/Topic Debugging](debug/sensor_uorb_topic_debugging.md) - * [Simulation Debugging](debug/simulation_debugging.md) - * [Sending Debug Values](debug/debug_values.md) - * [System-wide Replay](debug/system_wide_replay.md) - * [Profiling](debug/profiling.md) - * [Logging](dev_log/logging.md) - * [Flight Log Analysis](dev_log/flight_log_analysis.md) - * [ULog File Format](dev_log/ulog_file_format.md) - * [Tutorials](tutorials/tutorials.md) - * [Video Streaming from Odroid C1 to QGC](tutorials/video_streaming.md) - * [Long-distance Video Streaming](tutorials/video_streaming_wifi_broadcast.md) - * [Connecting an RC Receiver on Linux](tutorials/linux_sbus.md) - * [Advanced Topics](advanced/README.md) - * [Parameters & Configs](advanced/parameters_and_configurations.md) - * [Parameter Reference](advanced/parameter_reference.md) - * [Computer Vision](advanced/computer_vision.md) - * [Motion Capture (VICON, Optitrack)](tutorials/motion-capture-vicon-optitrack.md) - * [Installing driver for Intel RealSense R200](advanced/realsense_intel_driver.md) - * [Switching State Estimators](advanced/switching_state_estimators.md) - * [Out-of-Tree Modules](advanced/out_of_tree_modules.md) + * [飞控调试](debug/gdb_debugging.md) + * [仿真调试](debug/eclipse_jlink.md) + * [传感器/话题调试](debug/sensor_uorb_topic_debugging.md) + * [仿真调试](debug/simulation_debugging.md) + * [发送调试参数](debug/debug_values.md) + * [全系统回放](debug/system_wide_replay.md) + * [剖析](debug/profiling.md) + * [日志记录](dev_log/logging.md) + * [飞行日志分析](dev_log/flight_log_analysis.md) + * [ULog 文件格式](dev_log/ulog_file_format.md) + * [教程](tutorials/tutorials.md) + * [Video Streaming in QGC](tutorials/video_streaming.md) + * [远距离视频流](tutorials/video_streaming_wifi_broadcast.md) + * [ecl EKF](tutorials/linux_sbus.md) + * [高级主题](advanced/README.md) + * [参数 & 配置](advanced/parameters_and_configurations.md) + * [参数对照表](advanced/parameter_reference.md) + * [机器视觉](advanced/computer_vision.md) + * [运动捕获（VICON, Optitrack）](tutorials/motion-capture-vicon-optitrack.md) + * [安装英特尔 RealSense R200 的驱动程序](advanced/realsense_intel_driver.md) + * [切换状态估计器](advanced/switching_state_estimators.md) + * [树外模块](advanced/out_of_tree_modules.md) * [STM32 Bootloader](software_update/stm32_bootloader.md) * [System Tunes](advanced/system_tunes.md) - * [Platform Testing and CI](test_and_ci/README.md) - * [Test Flights](test_and_ci/test_flights.md) - * [Test MC_01 - Manual Modes](test_cards/mc_01_manual_modes.md) - * [Test MC_02 - Full Autonomous](test_cards/mc_02_full_autonomous.md) - * [Test MC_03 - Auto Manual Mix](test_cards/mc_03_auto_manual_mix.md) - * [Test MC_04 - Failsafe Testing](test_cards/mc_04_failsafe_testing.md) - * [Test MC_05 - Indoor Flight (Manual Modes)](test_cards/mc_05_indoor_flight_manual_modes.md) - * [Unit Tests](test_and_ci/unit_tests.md) - * [Continuous Integration](test_and_ci/continous_integration.md) - * [Jenkins Continuous Integration](test_and_ci/jenkins_ci.md) - * [ROS Integration Testing](test_and_ci/integration_testing.md) - * [MAVSDK Integration Testing](test_and_ci/integration_testing_mavsdk.md) - * [Docker Containers](test_and_ci/docker.md) - * [Maintenance](test_and_ci/maintenance.md) -* [Contribution (&Dev Call)](contribute/README.md) - * [Dev Call](contribute/dev_call.md) - * [Source Code Management](contribute/code.md) - * [GIT Examples](contribute/git_examples.md) - * [Documentation](contribute/docs.md) - * [Translation](contribute/translation.md) - * [Terminology/Notation](contribute/notation.md) - * [Licenses](contribute/licenses.md) -* [Support](contribute/support.md) \ No newline at end of file + * [平台测试和 CI](test_and_ci/README.md) + * [测试飞行](test_and_ci/test_flights.md) + * [测试 MC_01 - 手动模式](test_cards/mc_01_manual_modes.md) + * [测试 MC_02-完全自主](test_cards/mc_02_full_autonomous.md) + * [测试 MC_03 - 自动手动混合](test_cards/mc_03_auto_manual_mix.md) + * [测试 MC_04 -故障安全测试](test_cards/mc_04_failsafe_testing.md) + * [测试 MC_05-室内飞行（手动模式）](test_cards/mc_05_indoor_flight_manual_modes.md) + * [单元测试](test_and_ci/unit_tests.md) + * [持续集成](test_and_ci/continous_integration.md) + * [Jenkins 持续集成](test_and_ci/jenkins_ci.md) + * [ROS集成测试](test_and_ci/integration_testing.md) + * [MAVSDK集成测试](test_and_ci/integration_testing_mavsdk.md) + * [Docker 容器](test_and_ci/docker.md) + * [维护](test_and_ci/maintenance.md) +* [Contributing & Dev Call](contribute/README.md) + * [Dev呼叫](contribute/dev_call.md) + * [源代码管理](contribute/code.md) + * [GIT 示例](contribute/git_examples.md) + * [文档](contribute/docs.md) + * [参与翻译（中文翻译组长微信：253331754，QQ：76006963）](contribute/translation.md) + * [术语/符号](contribute/notation.md) + * [许可证](contribute/licenses.md) +* [技术支持](contribute/support.md) \ No newline at end of file diff --git a/zh/advanced/computer_vision.md b/zh/advanced/computer_vision.md index 68e8abecb38c..691525c5f061 100644 --- a/zh/advanced/computer_vision.md +++ b/zh/advanced/computer_vision.md @@ -1,36 +1,36 @@ # Computer Vision (VIO, Avoidance) -[Computer vision](https://en.wikipedia.org/wiki/Computer_vision) techniques enable computers to use visual data to make sense of their environment. +[计算机视觉](https://en.wikipedia.org/wiki/Computer_vision) 技术使计算机能够使用视觉数据来理解他们的环境。 -PX4 uses computer vision systems (primarily running on [Companion Computers](../companion_computer/pixhawk_companion.md)) in order to support the following features: -- [Optical Flow](#optical_flow) provides 2D velocity estimation (using a downward facing camera and a downward facing distance sensor). -- [Motion Capture](#mocap) provides 3D pose estimation using a vision system that is *external* to the vehicle. It is primarily used for indoor navigation. It is primarily used for indoor navigation. -- [Visual Inertial Odometry](#vio) provides 3D pose and velocity estimation using an onboard vision system and IMU. It is used for navigation when global position information is absent or unreliable. It is used for navigation when global position information is absent or unreliable. -- [Obstacle Avoidance](https://docs.px4.io/en/computer_vision/obstacle_avoidance.html) provides navigation around obstacles when flying a planned path (currently missions are supported). This uses [PX4/avoidance](https://github.com/PX4/avoidance) running on a companion computer. This uses [PX4/avoidance](https://github.com/PX4/avoidance) running on a companion computer. +PX4 使用计算机视觉系统（主要在机载计算机上运行）以支持以下功能： +- [光流](#optical_flow)提供 2D 速度估计（使用向下的相机和向下的距离传感器）。 +- [Motion Capture](#mocap) provides 3D pose estimation using a vision system that is *external* to the vehicle. It is primarily used for indoor navigation. 它主要用于室内导航。 +- [Visual Inertial Odometry](#vio) provides 3D pose and velocity estimation using an onboard vision system and IMU. It is used for navigation when global position information is absent or unreliable. 当 GPS 不存在或不可靠时，它用于导航。 +- [Obstacle Avoidance](https://docs.px4.io/en/computer_vision/obstacle_avoidance.html) provides navigation around obstacles when flying a planned path (currently missions are supported). This uses [PX4/avoidance](https://github.com/PX4/avoidance) running on a companion computer. 这依赖机载电脑上运行的 [PX4/avoidance](https://github.com/PX4/avoidance) - [Collision Prevention](https://docs.px4.io/en/computer_vision/collision_prevention.html) is used to stop vehicles before they can crash into an obstacle (primarily when flying in manual modes). -> **Tip** The [PX4 Vision Autonomy Development Kit](../complete_vehicles/px4_vision_kit.md) (Holybro) is a robust and inexpensive kit for developers working with computer vision on PX4. It comes with [PX4 avoidance](https://github.com/PX4/avoidance#obstacle-detection-and-avoidance) software pre-installed, and can be used as the base for your own algorithms. +> **Tip** The [PX4 Vision Autonomy Development Kit](../complete_vehicles/px4_vision_kit.md) (Holybro) is a robust and inexpensive kit for developers working with computer vision on PX4. 它预安装了 [ PX4 避障](https://github.com/PX4/avoidance#obstacle-detection-and-avoidance) 软件，可以用作您自己算法的基础。 ## 运动捕捉 {#mocap} -Motion Capture (MoCap) is a technique for estimating the 3D *pose* (position and orientation) of a vehicle using a positioning mechanism that is *external* to the vehicle. MoCap systems most commonly detect motion using infrared cameras, but other types of cameras, Lidar, or Ultra Wideband (UWB) may also be used. MoCap systems most commonly detect motion using infrared cameras, but other types of cameras, Lidar, or Ultra Wideband (UWB) may also be used. +Motion Capture (MoCap) is a technique for estimating the 3D *pose* (position and orientation) of a vehicle using a positioning mechanism that is *external* to the vehicle. MoCap systems most commonly detect motion using infrared cameras, but other types of cameras, Lidar, or Ultra Wideband (UWB) may also be used. MoCap系统最常使用红外摄像机检测运动，但也可以使用其他类型的摄像机，激光雷达或Ultra Wideband (UWB)。 -> **Note** MoCap is commonly used to navigate a vehicle in situations where GPS is absent (e.g. indoors), and provides position relative to a a *local* co-ordinate system. +> **Note** MoCap 通常用于在 GPS 不存在（例如室内）的情况下导航飞机，并提供相对于*本地*坐标系统的位置。 -For information about MoCap see: -- [External Position Estimation](../ros/external_position_estimation.md) -- [Flying with Motion Capture (VICON, Optitrack)](../tutorials/motion-capture-vicon-optitrack.md) +有关MoCap的信息，请参阅： +- [外部位置的估计](../ros/external_position_estimation.md) +- [使用 Motion Capture 飞行（VICON，Optitrack）](../tutorials/motion-capture-vicon-optitrack.md) - [EKF > External Vision System](../advanced_config/tuning_the_ecl_ekf.md#external-vision-system) -## Visual Inertial Odometry {#vio} +## 视觉惯性测距法 {#vio} -Visual Inertial Odometry (VIO) is used for estimating the 3D *pose* (position and orientation) of a moving vehicle relative to a *local* starting position. It is commonly used to navigate a vehicle in situations where GPS is absent (e.g. indoors) or unreliable (e.g. when flying under a bridge). It is commonly used to navigate a vehicle in situations where GPS is absent (e.g. indoors) or unreliable (e.g. when flying under a bridge). +Visual Inertial Odometry (VIO) is used for estimating the 3D *pose* (position and orientation) of a moving vehicle relative to a *local* starting position. It is commonly used to navigate a vehicle in situations where GPS is absent (e.g. indoors) or unreliable (e.g. when flying under a bridge). 它通常用于在GPS不存在（例如室内）或不可靠的情况下（例如在桥下飞行时）导航载具。 -VIO uses [Visual Odometry](https://en.wikipedia.org/wiki/Visual_odometry) to estimate vehicle *pose* from visual information, combined with inertial measurements from an IMU (to correct for errors associated with rapid vehicle movement resulting in poor image capture). +VIO使用[视觉测距](https://en.wikipedia.org/wiki/Visual_odometry)来从视觉信息估计车辆*姿势*，结合来自IMU的惯性测量（以校正与载具快速移动导致不良的图像捕获）。 -> **Note** On difference between VIO and [MoCap](#mocap) is that VIO cameras/IMU are vehicle-based, and additionally provide velocity information. +> **Note** VIO 和 [MoCap](#mocap) 之间的区别在于 VIO 摄像机、IMU 是基于飞机本身的，并且还提供速度信息。 For information about VIO see: - [EKF > External Vision System](../advanced_config/tuning_the_ecl_ekf.md#external-vision-system) @@ -38,13 +38,13 @@ For information about VIO see: - [Snapdragon > Installation > Install Snap VIO](../flight_controller/snapdragon_flight_software_installation.md#install-snap-vio) -## Optical Flow {#optical_flow} +## 光流 {#optical_flow} [Optical Flow](https://docs.px4.io/en/sensor/optical_flow.html) provides 2D velocity estimation (using a downward facing camera and a downward facing distance sensor). -For information about optical flow see: -- [Optical Flow](../sensor/optical_flow.md) - - [PX4Flow Smart Camera](../sensor/px4flow.md) +有关光流的信息，请参阅： +- [光流](../sensor/optical_flow.md) + - [PX4Flow 智能摄像机](../sensor/px4flow.md) - [EKF > Optical Flow](../advanced_config/tuning_the_ecl_ekf.md#optical-flow) ## External Resources diff --git a/zh/advanced/gimbal_control.md b/zh/advanced/gimbal_control.md index c82431a4aa91..3da521872af9 100644 --- a/zh/advanced/gimbal_control.md +++ b/zh/advanced/gimbal_control.md @@ -3,14 +3,14 @@ 如果你想要去控制一个装在飞机上带相机的云台（或者是其他的挂载设备），你需要配置使用什么去控制它和 PX4 怎样才能命令它。 本页内容就是讲解这些设置。 PX4 包含了一个通用的挂载设备/云台的控制驱动，它含有多种输入输出方式。 -- The input defines how you control the gimbal: via RC or via MAVLink commands (for example in missions or surveys). +- 输入就是你使用什么去控制云台：通过遥控器或者 MAVLink 命令（例如处在任务模式或者搜索模式时）。 - The output defines how the gimbal is connected: either via MAVLink commands or using the Flight Controller AUX PWM port. 可以选择任何的输入方式去驱动任何的输出。 两种方式都需要通过参数配置。 ## 参数 [这些参数](../advanced/parameter_reference.md#mount) 被用于配置挂载设备的驱动。 -The most important ones are the input ([MNT_MODE_IN](../advanced_config/parameter_reference.md#MNT_MODE_IN)) and the output ([MNT_MODE_OUT](../advanced_config/parameter_reference.md#MNT_MODE_OUT)) mode. 默认情况下，输入是没有被使能的，所以这个驱动没有运行。 After selecting the input mode, reboot the vehicle so that the mount driver starts. +其中最重要的是输入模式 ([ MNT_MODE_IN ](../advanced_config/parameter_reference.md#MNT_MODE_IN)) 和输出模式 ([ MNT_MODE_OUT ](../advanced_config/parameter_reference.md#MNT_MODE_OUT)) 。 默认情况下，输入是没有被使能的，所以这个驱动没有运行。 选择了输入模式之后，重启飞机便可以使设备驱动开始工作。 如果输入模式设置为 `AUTO`，则模式将根据最新输入进行自动切换。 如果需要从 MAVLink 切换为 RC 输入，则需要一个较大的杆量。 @@ -70,7 +70,7 @@ S: 2 2 10000 10000 0 -10000 10000 台风 H480 的模型带有一个预先配置的仿真云台。 -To run it, use: +若要运行它，请使用： ``` make px4_sitl gazebo_typhoon_h480 ``` @@ -78,10 +78,10 @@ make px4_sitl gazebo_typhoon_h480 为了能够在其他模型或者仿真器件下测试挂载驱动，请使用 `vmount start` 去确保驱动正在运行。 然后再配置它的参数。 -## Testing +## 测试 驱动程序提供了一个简单的测试指令。 首先它需要使用 vmount stop 指令来停止。 接下来描述了在SITL中的测试方式，但是这些指令也可以在真实的设备中使用。 -Start the simulation with (no parameter needs to be changed for that): +使用下面这条指令开始仿真（不需要修改任何参数）： ``` make px4_sitl gazebo_typhoon_h480 ``` diff --git a/zh/advanced/out_of_tree_modules.md b/zh/advanced/out_of_tree_modules.md index 4cf2be08c6bb..812f94ab8dbe 100644 --- a/zh/advanced/out_of_tree_modules.md +++ b/zh/advanced/out_of_tree_modules.md @@ -1,20 +1,20 @@ -# External Modules (Out-of-Tree) +# 外部模块（Out-of-Tree） -External modules provide a convenient mechanism for developers to manage/group proprietary modules that they want add to (or update in) PX4 firmware. External modules can use the same includes as internal modules and can interact with internal modules via uORB. External modules can use the same includes as internal modules and can interact with internal modules via uORB. +External modules provide a convenient mechanism for developers to manage/group proprietary modules that they want add to (or update in) PX4 firmware. External modules can use the same includes as internal modules and can interact with internal modules via uORB. 外部模块可以使用与内部模块相同的includes，并可以通过uORB与内部模块交互。 -This topic explains how to add an external ("out of tree") module to the PX4 build. +本主题说明如何将外部（“out of tree”）模块添加到PX4编译中。 -> **Tip** We encourage you to contribute your changes into PX4, where possible! +> **Tip** 我们鼓励您尽可能将更改贡献给 PX4！ ## 用法 -To create an external module: +要创建外部模块： -- Create an *external directory* directory for grouping the external modules: +- 创建*外部目录*目录以对外部模块进行分组： - This can be located anywhere outside of the **Firmware** tree. - It must have the same structure as **Firmware** (i.e. it must contain a directory called **src**). - - Later we refer to this directory using `EXTERNAL_MODULES_LOCATION`. -- Copy an existing module (e.g. **examples/px4_simple_app**) to the external directory, or directly create a new module. + - 稍后我们使用` EXTERNAL_MODULES_LOCATION `来引用此目录。 +- 将现有模块（例如**examples/px4_simple_app**）复制到外部目录，或直接创建新模块。 - Rename the module (including `MODULE` in **CMakeLists.txt**) or remove it from the existing Firmware *cmake* build config. This is to avoid conflicts with internal modules. This is to avoid conflicts with internal modules. - Add a file **CMakeLists.txt** in the external directory with content: set(config_module_list_external modules/ ``` @@ -42,12 +42,12 @@ To create an external module: -## Out-of-Tree uORB Message Definitions +## Out-of-Tree uORB 消息定义 -uORB messages can also be defined out-of-tree. uORB messages can also be defined out-of-tree. For this, the `$EXTERNAL_MODULES_LOCATION/msg` folder must exist. +uORB消息也可以在树外定义。 uORB messages can also be defined out-of-tree. For this, the `$EXTERNAL_MODULES_LOCATION/msg` folder must exist. -- Place all new message definitions within the `$EXTERNAL_MODULES_LOCATION/msg` directory. Place all new message definitions within the `$EXTERNAL_MODULES_LOCATION/msg` directory. The format of these new out-of-tree message definitions are the same as for any other [uORB message definition](../middleware/uorb.md#adding-a-new-topic). -- Add a file `$EXTERNAL_MODULES_LOCATION/msg/CMakeLists.txt` with content: +- 将所有新消息定义放在 `$EXTERNAL_MODULES_LOCATION/msg` 目录中。 Place all new message definitions within the `$EXTERNAL_MODULES_LOCATION/msg` directory. The format of these new out-of-tree message definitions are the same as for any other [uORB message definition](../middleware/uorb.md#adding-a-new-topic). +- 将以下内容添加文件`$EXTERNAL_MODULES_LOCATION/msg/CMakeLists.txt`： ``` set(config_msg_list_external @@ -57,20 +57,20 @@ uORB messages can also be defined out-of-tree. uORB messages can also be defined PARENT_SCOPE ) ``` - where `.msg` is the name of the uORB message definition file to be processed and used for uORB message generation. + 其中` <message#>.msg `是要处理并用于生成uORB消息的uORB消息定义文件的名称。 -The out-of-tree uORB messages will be generated in the same locations as the normal uORB messages. The out-of-tree uORB messages will be generated in the same locations as the normal uORB messages. The uORB topic headers are generated in `/uORB/topics/`, and the message source files are generated in `/msg/topics_sources/`. +树外uORB消息将在与正常uORB消息相同的位置生成。 The out-of-tree uORB messages will be generated in the same locations as the normal uORB messages. The uORB topic headers are generated in `/uORB/topics/`, and the message source files are generated in `/msg/topics_sources/`. -The new uORB messages can be used like any other uORB message as described [here](../middleware/uorb.md#adding-a-new-topic). +新的uORB消息可以像任何其他uORB消息一样使用，如[这里](../middleware/uorb.md#adding-a-new-topic)所述。 -> **Warning** The out-of-tree uORB message definitions cannot have the same name as any of the normal uORB messages. +> **Warning** 树外的uORB消息定义不能与任何普通的uORB消息具有相同的名称。 -## Building External Modules and uORB Messages +## 构建外部模块和 uORB 消息 -Execute `make px4_sitl EXTERNAL_MODULES_LOCATION=`. +执行` make px4_sitl EXTERNAL_MODULES_LOCATION = <path> `。 -Any other build target can be used, but the build directory must not yet exist. Any other build target can be used, but the build directory must not yet exist. If it already exists, you can also just set the *cmake* variable in the build folder. +可以使用任何其他构建目标，但构建目标目录必须不存在。 Any other build target can be used, but the build directory must not yet exist. If it already exists, you can also just set the *cmake* variable in the build folder. -For subsequent incremental builds `EXTERNAL_MODULES_LOCATION` does not need to be specified. +对于后续增量构建，不需要指定` EXTERNAL_MODULES_LOCATION `。 diff --git a/zh/advanced/parameter_reference.md b/zh/advanced/parameter_reference.md index 85dec7b856a0..d9818b50f4e4 100644 --- a/zh/advanced/parameter_reference.md +++ b/zh/advanced/parameter_reference.md @@ -1,15 +1,15 @@ -# Parameter Reference -> **Note** **This documentation was auto-generated from the source code for this PX4 version** (using `make parameters_metadata`). +# 参数对照表 +> **注意****该文档是该版本PX4根据源码自动生成的**（通过执行`make parameters_metadata`）。 -> **Note** If a listed parameter is missing from the Firmware see: [Finding/Updating Parameters](../advanced_config/parameters.md#missing). +> **注意** 如果列表中的某个参数编译后在固件中丢失，查看: [Finding/Updating Parameters](../advanced_config/parameters.md#missing)来解决。 ## UAVCAN Motor Parameters - + @@ -152,14 +152,14 @@
NameDescriptionMin > Max (Incr.)DefaultUnits
参数名参数描述最小最大值 (增量)默认值单位
- +
NameDescriptionMin > Max (Incr.)DefaultUnits
参数名参数描述最小最大值 (增量)默认值单位
gnss.dyn_model (INT32)

GNSS dynamic model

Comment: Dynamic model used in the GNSS positioning engine. 0 – Automotive, 1 – Sea, 2 – Airborne. -

Values:
    +

    参数对照:
    • 0: Automotive
    • 1: Sea
      • @@ -177,7 +177,7 @@ uavcan.equipment.gnss.Fix alongside the new alternative uavcan.equipment.gnss.Fix2. It is recommended to disable this feature to reduce the CAN bus traffic. -

      Values:
        +

        参数对照:
        • 0: Fix2
        • 1: Fix and Fix2
          • @@ -193,7 +193,7 @@ the GNSS solution is less than this value. 3 for the full (3D) solution, 2 for planar (2D) solution, 1 for time-only solution, 0 disables the feature. -

          Values:
            +

            参数对照:
            • 0: disables the feature
            • 1: time-only solution
              • @@ -229,12 +229,12 @@
-## Airspeed Validator +## 空速器相关参数 - + @@ -253,7 +253,7 @@ - @@ -261,12 +261,12 @@ - @@ -284,25 +284,25 @@ - + - + - + - @@ -345,7 +345,7 @@ - + @@ -359,7 +359,7 @@ - + @@ -370,39 +370,37 @@
NameDescriptionMin > Max (Incr.)DefaultUnits
参数名参数描述最小最大值 (增量)默认值单位
ASPD_DO_CHECKS (INT32)

Enable checks on airspeed sensors

Comment: If set to true then the data comming from the airspeed sensors is checked for validity. Only applied if ASPD_PRIMARY > 0.

Reboot required: true

+

Enable checks on airspeed sensors

Comment: If set to true then the data comming from the airspeed sensors is checked for validity. Only applied if ASPD_PRIMARY > 0.

要求重启:是

 Disabled (0)
ASPD_FALLBACK (INT32)

Enable fallback to secondary airspeed measurement

Comment: If ASPD_DO_CHECKS is set to true, then airspeed estimation can fallback from what specified in ASPD_PRIMARY to secondary source (other airspeed sensors, groundspeed minus windspeed).

Values:
    +

Enable fallback to secondary airspeed measurement

Comment: If ASPD_DO_CHECKS is set to true, then airspeed estimation can fallback from what specified in ASPD_PRIMARY to secondary source (other airspeed sensors, groundspeed minus windspeed).

参数对照:
  • 0: To other airspeed sensor (if one valid), else disable airspeed
  • 1: To other airspeed sensor (if one valid), else to ground-windspeed
-

Reboot required: true

+

要求重启:是

 Disabled (0)

Airspeed failsafe consistency delay (Experimental)

Comment: This sets the time integral of airspeed test ratio exceedance above ASPD_FS_INNOV required to trigger a failsafe. For example if ASPD_FS_INNOV is 1 and estimator_status.tas_test_ratio is 2.0, then the exceedance is 1.0 and the integral will rise at a rate of 1.0/second. A negative value disables the check. Larger positive values make the check less sensitive, smaller positive values make it more sensitive.

 ? > 30.0 -1.0s秒
ASPD_FS_T1 (INT32)

Airspeed failsafe stop delay (Experimental)

Comment: Delay before stopping use of airspeed sensor if checks indicate sensor is bad.

 1 > 10 3s秒
ASPD_FS_T2 (INT32)

Airspeed failsafe start delay (Experimental)

Comment: Delay before switching back to using airspeed sensor if checks indicate sensor is good.

 10 > 1000 100s秒
ASPD_PRIMARY (INT32)

Index or primary airspeed measurement source

Values:
    +

Index or primary airspeed measurement source

参数对照:
  • -1: Disabled
  • 0: Groundspeed minus windspeed
    • @@ -313,7 +313,7 @@
  • 3: Third airspeed sensor
-

Reboot required: true

+

要求重启:是

 1

Airspeed fault detection stall airspeed. (Experimental)

Comment: This is the minimum indicated airspeed at which the wing can produce 1g of lift. It is used by the airspeed sensor fault detection and failsafe calculation to detect a significant airspeed low measurement error condition and should be set based on flight test for reliable operation.

 10.0m/s米/秒
ASPD_TAS_GATE (INT32)

Airspeed Selector: Wind estimator true airspeed measurement noise

Comment: True airspeed measurement noise of the internal wind estimator(s) of the airspeed selector.

 0 > 4 1.4m/s米/秒
ASPD_W_P_NOISE (FLOAT)
-## Attitude Q estimator +## 姿态 Q 估计器 - + - + - + - + - @@ -411,59 +409,59 @@ Set to 2 to use heading from motion capture

Values:
- + - + - + - + - + - + - +
NameDescriptionMin > Max (Incr.)DefaultUnits
参数名参数描述最小最大值 (增量)默认值单位
ATT_ACC_COMP (INT32)

Acceleration compensation based on GPS -velocity

基于 GPS速度的加速度补偿

 Enabled (1)
ATT_BIAS_MAX (FLOAT)

Gyro bias limit

陀螺仪偏置范围

 0 > 2 0.05rad/s度/秒
ATT_EXT_HDG_M (INT32)

External heading usage mode (from Motion capture/Vision) -Set to 1 to use heading estimate from vision. -Set to 2 to use heading from motion capture

Values:
    -
  • 0: None
    • +

外部模块航向使用模式（运动捕捉/视觉）。设置为1则使用视觉模块相关航向数据; +设置为 2则使用从运动捕捉的相关航向数据.

参数对照:
    +
  • 0:无
    • -
  • 1: Vision
    • +
  • 1:使用视觉模块数据
    • -
  • 2: Motion Capture
    • +
  • 2:使用运动捕捉模块数据
 0 > 2
ATT_MAG_DECL (FLOAT)

Magnetic declination, in degrees

Comment: This parameter is not used in normal operation, as the declination is looked up based on the GPS coordinates of the vehicle.

磁偏角, 以角度为单位

说明: 在常规操作中不使用此参数, 因为磁偏角是基于无人机所在GPS坐标位置进行检索得到的.

 0.0deg度
ATT_MAG_DECL_A (INT32)

Automatic GPS based declination compensation

基于GPS的自动磁偏角补偿

 Enabled (1)
ATT_W_ACC (FLOAT)

Complimentary filter accelerometer weight

互补滤波器加速度计权重值

 0 > 1 0.2
ATT_W_EXT_HDG (FLOAT)

Complimentary filter external heading weight

互补滤波器外部航向权重值

 0 > 1 0.1
ATT_W_GYRO_BIAS (FLOAT)

Complimentary filter gyroscope bias weight

互补滤波器陀螺仪偏置权重值

 0 > 1 0.1
ATT_W_MAG (FLOAT)

Complimentary filter magnetometer weight

Comment: Set to 0 to avoid using the magnetometer.

互补滤波器磁罗盘权重值

注意: 设为0时，不使用磁罗盘数据

 0 > 1 0.1
-## Battery Calibration +## 电池校准 - + - @@ -479,7 +477,7 @@ Set to 2 to use heading from motion capture

Values:
- @@ -487,36 +485,36 @@ Set to 2 to use heading from motion capture

Values:
- @@ -534,12 +532,12 @@ Set to 2 to use heading from motion capture

Values:
- - @@ -559,7 +557,7 @@ Set to 2 to use heading from motion capture

Values:
- @@ -567,7 +565,7 @@ Set to 2 to use heading from motion capture

Values:
- @@ -575,7 +573,7 @@ Set to 2 to use heading from motion capture

Values:
- @@ -583,7 +581,7 @@ Set to 2 to use heading from motion capture

Values:
- @@ -591,7 +589,7 @@ Set to 2 to use heading from motion capture

Values:
- @@ -607,7 +605,7 @@ Set to 2 to use heading from motion capture

Values:
- @@ -615,36 +613,36 @@ Set to 2 to use heading from motion capture

Values:
- @@ -662,12 +660,12 @@ Set to 2 to use heading from motion capture

Values:
- - @@ -687,7 +685,7 @@ Set to 2 to use heading from motion capture

Values:
- @@ -695,7 +693,7 @@ Set to 2 to use heading from motion capture

Values:
- @@ -703,7 +701,7 @@ Set to 2 to use heading from motion capture

Values:
- @@ -711,7 +709,7 @@ Set to 2 to use heading from motion capture

Values:
- @@ -733,7 +731,7 @@ Set to 2 to use heading from motion capture

Values:
- @@ -741,7 +739,7 @@ Set to 2 to use heading from motion capture

Values:
- @@ -749,7 +747,7 @@ Set to 2 to use heading from motion capture

Values:
- @@ -757,7 +755,7 @@ Set to 2 to use heading from motion capture

Values:
- @@ -765,40 +763,40 @@ Set to 2 to use heading from motion capture

Values:
- @@ -806,7 +804,7 @@ Set to 2 to use heading from motion capture

Values:
- @@ -814,10 +812,10 @@ Set to 2 to use heading from motion capture

Values:
- @@ -826,7 +824,7 @@ Set to 2 to use heading from motion capture

Values:
- @@ -841,7 +839,7 @@ Set to 2 to use heading from motion capture

Values:
- @@ -849,7 +847,7 @@ Set to 2 to use heading from motion capture

Values:
- @@ -857,7 +855,7 @@ Set to 2 to use heading from motion capture

Values:
- + @@ -869,7 +867,7 @@ Set to 2 to use heading from motion capture

Values:
NameDescriptionMin > Max (Incr.)DefaultUnits
参数名参数描述最小最大值 (增量)默认值单位
BAT1_A_PER_V (FLOAT)

Battery 1 current per volt (A/V)

Comment: The voltage seen by the ADC multiplied by this factor will determine the battery current. A value of -1 means to use the board default.

Reboot required: True

+

Battery 1 current per volt (A/V)

Comment: The voltage seen by the ADC multiplied by this factor will determine the battery current. 当此值为-1时，使用板载默认设定值

Reboot required: True

 -1.0
BAT1_I_CHANNEL (INT32)

Battery 1 Current ADC Channel

Comment: This parameter specifies the ADC channel used to monitor current of main power battery. A value of -1 means to use the board default.

Reboot required: True

+

Battery 1 Current ADC Channel

Comment: This parameter specifies the ADC channel used to monitor current of main power battery. 当此值为-1时，使用板载默认设定值

Reboot required: True

 -1
BAT1_N_CELLS (INT32)

Number of cells for battery 1

Comment: Defines the number of cells the attached battery consists of.

Values:
    -
  • 2: 2S Battery
    • +

Number of cells for battery 1

说明:定义所安装的电池内部包含的串联电芯数量.

参数对照:
    +
  • 2:2S电池
    • -
  • 3: 3S Battery
    • +
  • 3:3S电池
    • -
  • 4: 4S Battery
    • +
  • 4:4S电池
    • -
  • 5: 5S Battery
    • +
  • 5:5S电池
    • -
  • 6: 6S Battery
    • +
  • 6:6S电池
    • -
  • 7: 7S Battery
    • +
  • 7:7S电池
    • -
  • 8: 8S Battery
    • +
  • 8:8S电池
    • -
  • 9: 9S Battery
    • +
  • 9:9S电池
    • -
  • 10: 10S Battery
    • +
  • 10:10S电池
    • -
  • 11: 11S Battery
    • +
  • 11:11S电池
    • -
  • 12: 12S Battery
    • +
  • 12:12S电池
    • -
  • 13: 13S Battery
    • +
  • 13:13S电池
    • -
  • 14: 14S Battery
    • +
  • 14:14S电池
    • -
  • 15: 15S Battery
    • +
  • 15:15S电池
    • -
  • 16: 16S Battery
    • +
  • 16:16S电池

Reboot required: True
BAT1_SOURCE (INT32)

Battery 1 monitoring source

Comment: This parameter controls the source of battery data. The value 'Power Module' means that measurements are expected to come from a power module. If the value is set to 'External' then the system expects to receive mavlink battery status messages. If the value is set to 'ESCs', the battery information are taken from the esc_status message. This requires the ESC to provide both voltage as well as current.

Values:
    +

Battery 1 monitoring source

说明:此参数决定了电池监测数据的来源. 参数''0'' 表示测量信号来源于一个电源模块. 参数"1"表示系统从外部接收到的Mavlink消息中获取电池状态信息. If the value is set to 'ESCs', the battery information are taken from the esc_status message. This requires the ESC to provide both voltage as well as current.

参数对照:
  • -1: Disabled
    • -
  • 0: Power Module
    • +
  • 0:电源模块
    • -
  • 1: External
    • +
  • 1:外部信息
  • 2: ESCs
@@ -551,7 +549,7 @@ Set to 2 to use heading from motion capture

Values:
BAT1_V_CHANNEL (INT32)

Battery 1 Voltage ADC Channel

Comment: This parameter specifies the ADC channel used to monitor voltage of main power battery. A value of -1 means to use the board default.

Reboot required: True

+

Battery 1 Voltage ADC Channel

注意:此参数指定用于监视主电源电池电压的 ADC 通道, 当此值为-1时，使用板载默认设定值

Reboot required: True

 -1
BAT1_V_CHARGED (FLOAT)

Full cell voltage (5C load)

Comment: Defines the voltage where a single cell of battery 1 is considered full under a mild load. This will never be the nominal voltage of 4.2V

Reboot required: True

+

满电电压(5C 负载)

Comment: Defines the voltage where a single cell of battery 1 is considered full under a mild load. 这永远不会是标称电压4.2V.

Reboot required: True

 (0.01) 4.05
BAT1_V_DIV (FLOAT)

Battery 1 voltage divider (V divider)

Comment: This is the divider from battery 1 voltage to ADC voltage. If using e.g. Mauch power modules the value from the datasheet can be applied straight here. A value of -1 means to use the board default.

Reboot required: True

+

Battery 1 voltage divider (V divider)

Comment: This is the divider from battery 1 voltage to ADC voltage. 如果使用Mauch 电源模块，数据表中的值可以在这里直接应用。 当此值为-1时，使用板载默认设定值

Reboot required: True

 -1.0
BAT1_V_EMPTY (FLOAT)

Empty cell voltage (5C load)

Comment: Defines the voltage where a single cell of battery 1 is considered empty. The voltage should be chosen before the steep dropoff to 2.8V. A typical lithium battery can only be discharged down to 10% before it drops off to a voltage level damaging the cells.

Reboot required: True

+

空电电压(5C负载)

Comment: Defines the voltage where a single cell of battery 1 is considered empty. 该电压应该选择设置在陡降至2.8V之前， 一个典型的锂电池只能放电到10%，在它陡降至会损坏电芯的电压之前。

Reboot required: True

 (0.01) 3.5
BAT1_V_LOAD_DROP (FLOAT)

Voltage drop per cell on full throttle

Comment: This implicitely defines the internal resistance to maximum current ratio for battery 1 and assumes linearity. A good value to use is the difference between the 5C and 20-25C load. Not used if BAT1_R_INTERNAL is set.

Reboot required: True

+

在全油门工作时每节电芯的压降

Comment: This implicitely defines the internal resistance to maximum current ratio for battery 1 and assumes linearity. 比较好的值是测量并计算在5C负载时的压降和20~25C负载时的压降的差值. Not used if BAT1_R_INTERNAL is set.

Reboot required: True

 0.07 > 0.5 (0.01) 0.3
BAT2_A_PER_V (FLOAT)

Battery 2 current per volt (A/V)

Comment: The voltage seen by the ADC multiplied by this factor will determine the battery current. A value of -1 means to use the board default.

Reboot required: True

+

Battery 2 current per volt (A/V)

Comment: The voltage seen by the ADC multiplied by this factor will determine the battery current. 当此值为-1时，使用板载默认设定值

Reboot required: True

 -1.0
BAT2_I_CHANNEL (INT32)

Battery 2 Current ADC Channel

Comment: This parameter specifies the ADC channel used to monitor current of main power battery. A value of -1 means to use the board default.

Reboot required: True

+

Battery 2 Current ADC Channel

Comment: This parameter specifies the ADC channel used to monitor current of main power battery. 当此值为-1时，使用板载默认设定值

Reboot required: True

 -1
BAT2_N_CELLS (INT32)

Number of cells for battery 2

Comment: Defines the number of cells the attached battery consists of.

Values:
    -
  • 2: 2S Battery
    • +

Number of cells for battery 2

说明:定义所安装的电池内部包含的串联电芯数量.

参数对照:
    +
  • 2:2S电池
    • -
  • 3: 3S Battery
    • +
  • 3:3S电池
    • -
  • 4: 4S Battery
    • +
  • 4:4S电池
    • -
  • 5: 5S Battery
    • +
  • 5:5S电池
    • -
  • 6: 6S Battery
    • +
  • 6:6S电池
    • -
  • 7: 7S Battery
    • +
  • 7:7S电池
    • -
  • 8: 8S Battery
    • +
  • 8:8S电池
    • -
  • 9: 9S Battery
    • +
  • 9:9S电池
    • -
  • 10: 10S Battery
    • +
  • 10:10S电池
    • -
  • 11: 11S Battery
    • +
  • 11:11S电池
    • -
  • 12: 12S Battery
    • +
  • 12:12S电池
    • -
  • 13: 13S Battery
    • +
  • 13:13S电池
    • -
  • 14: 14S Battery
    • +
  • 14:14S电池
    • -
  • 15: 15S Battery
    • +
  • 15:15S电池
    • -
  • 16: 16S Battery
    • +
  • 16:16S电池

Reboot required: True
BAT2_SOURCE (INT32)

Battery 2 monitoring source

Comment: This parameter controls the source of battery data. The value 'Power Module' means that measurements are expected to come from a power module. If the value is set to 'External' then the system expects to receive mavlink battery status messages. If the value is set to 'ESCs', the battery information are taken from the esc_status message. This requires the ESC to provide both voltage as well as current.

Values:
    +

Battery 2 monitoring source

说明:此参数决定了电池监测数据的来源. 参数''0'' 表示测量信号来源于一个电源模块. 参数"1"表示系统从外部接收到的Mavlink消息中获取电池状态信息. If the value is set to 'ESCs', the battery information are taken from the esc_status message. This requires the ESC to provide both voltage as well as current.

参数对照:
  • -1: Disabled
    • -
  • 0: Power Module
    • +
  • 0:电源模块
    • -
  • 1: External
    • +
  • 1:外部信息
  • 2: ESCs
@@ -679,7 +677,7 @@ Set to 2 to use heading from motion capture

Values:
BAT2_V_CHANNEL (INT32)

Battery 2 Voltage ADC Channel

Comment: This parameter specifies the ADC channel used to monitor voltage of main power battery. A value of -1 means to use the board default.

Reboot required: True

+

Battery 2 Voltage ADC Channel

注意:此参数指定用于监视主电源电池电压的 ADC 通道, 当此值为-1时，使用板载默认设定值

Reboot required: True

 -1
BAT2_V_CHARGED (FLOAT)

Full cell voltage (5C load)

Comment: Defines the voltage where a single cell of battery 1 is considered full under a mild load. This will never be the nominal voltage of 4.2V

Reboot required: True

+

满电电压(5C 负载)

Comment: Defines the voltage where a single cell of battery 1 is considered full under a mild load. 这永远不会是标称电压4.2V.

Reboot required: True

 (0.01) 4.05
BAT2_V_DIV (FLOAT)

Battery 2 voltage divider (V divider)

Comment: This is the divider from battery 2 voltage to ADC voltage. If using e.g. Mauch power modules the value from the datasheet can be applied straight here. A value of -1 means to use the board default.

Reboot required: True

+

Battery 2 voltage divider (V divider)

Comment: This is the divider from battery 2 voltage to ADC voltage. 如果使用Mauch 电源模块，数据表中的值可以在这里直接应用。 当此值为-1时，使用板载默认设定值

Reboot required: True

 -1.0
BAT2_V_EMPTY (FLOAT)

Empty cell voltage (5C load)

Comment: Defines the voltage where a single cell of battery 1 is considered empty. The voltage should be chosen before the steep dropoff to 2.8V. A typical lithium battery can only be discharged down to 10% before it drops off to a voltage level damaging the cells.

Reboot required: True

+

空电电压(5C负载)

Comment: Defines the voltage where a single cell of battery 1 is considered empty. 该电压应该选择设置在陡降至2.8V之前， 一个典型的锂电池只能放电到10%，在它陡降至会损坏电芯的电压之前。

Reboot required: True

 (0.01) 3.5
BAT2_V_LOAD_DROP (FLOAT)

Voltage drop per cell on full throttle

Comment: This implicitely defines the internal resistance to maximum current ratio for battery 1 and assumes linearity. A good value to use is the difference between the 5C and 20-25C load. Not used if BAT2_R_INTERNAL is set.

Reboot required: True

+

在全油门工作时每节电芯的压降

Comment: This implicitely defines the internal resistance to maximum current ratio for battery 1 and assumes linearity. 比较好的值是测量并计算在5C负载时的压降和20~25C负载时的压降的差值. Not used if BAT2_R_INTERNAL is set.

Reboot required: True

 0.07 > 0.5 (0.01) 0.3
BAT_CAPACITY (FLOAT)

This parameter is deprecated. Please use BAT1_CAPACITY instead

Comment: Defines the capacity of battery 1.

Reboot required: true

+

This parameter is deprecated. Please use BAT1_CAPACITY instead

Comment: Defines the capacity of battery 1.

要求重启:是

 -1.0 > 100000 (50) -1.0
BAT_CRIT_THR (FLOAT)

Critical threshold

Comment: Sets the threshold when the battery will be reported as critically low. This has to be lower than the low threshold. This threshold commonly will trigger RTL.

Reboot required: true

+

临界阈值

说明:设置提示严重低电压报警的阈值. 这个值设置必须低于低电压报警阈值. 此阈值通常会触发 RTL。

要求重启:是

 0.05 > 0.25 (0.01) 0.07
BAT_EMERGEN_THR (FLOAT)

Emergency threshold

Comment: Sets the threshold when the battery will be reported as dangerously low. This has to be lower than the critical threshold. This threshold commonly will trigger landing.

Reboot required: true

+

危险紧急阈值

说明:设置低电压危险报警阈值. 这个值必须低于严重低电压报警阈值. 此阈值一般会触发LAND.

要求重启:是

 0.03 > 0.1 (0.01) 0.05
BAT_LOW_THR (FLOAT)

Low threshold

Comment: Sets the threshold when the battery will be reported as low. This has to be higher than the critical threshold.

Reboot required: true

+

低电压阈值

说明:此为触发低电压报警的阈值. 这个值必须高于严重低电压报警阈值.

要求重启:是

 0.12 > 0.5 (0.01) 0.15
BAT_N_CELLS (INT32)

This parameter is deprecated. Please use BAT1_N_CELLS instead

Comment: Defines the number of cells the attached battery consists of.

Values:
    -
  • 0: Unconfigured
    • +

This parameter is deprecated. Please use BAT1_N_CELLS instead

说明:定义所安装的电池内部包含的串联电芯数量.

参数对照:
    +
  • 0:未配置
    • -
  • 2: 2S Battery
    • +
  • 2:2S电池
    • -
  • 3: 3S Battery
    • +
  • 3:3S电池
    • -
  • 4: 4S Battery
    • +
  • 4:4S电池
    • -
  • 5: 5S Battery
    • +
  • 5:5S电池
    • -
  • 6: 6S Battery
    • +
  • 6:6S电池
    • -
  • 7: 7S Battery
    • +
  • 7:7S电池
    • -
  • 8: 8S Battery
    • +
  • 8:8S电池
    • -
  • 9: 9S Battery
    • +
  • 9:9S电池
    • -
  • 10: 10S Battery
    • +
  • 10:10S电池
    • -
  • 11: 11S Battery
    • +
  • 11:11S电池
    • -
  • 12: 12S Battery
    • +
  • 12:12S电池
    • -
  • 13: 13S Battery
    • +
  • 13:13S电池
    • -
  • 14: 14S Battery
    • +
  • 14:14S电池
    • -
  • 15: 15S Battery
    • +
  • 15:15S电池
    • -
  • 16: 16S Battery
    • +
  • 16:16S电池
-

Reboot required: true

+

要求重启:是

 0
BAT_R_INTERNAL (FLOAT)

This parameter is deprecated. Please use BAT1_R_INTERNAL instead

Comment: If non-negative, then this will be used in place of BAT_V_LOAD_DROP for all calculations.

Reboot required: true

+

This parameter is deprecated. Please use BAT1_R_INTERNAL instead

说明:如果是非负值, 则会用于在所有计算中替换BAT_V_LOAD_DROP.

要求重启:是

 -1.0 > 0.2 -1.0
BAT_SOURCE (INT32)

This parameter is deprecated. Please use BAT1_SOURCE instead

Comment: Battery monitoring source. This parameter controls the source of battery data. The value 'Power Module' means that measurements are expected to come from a power module. If the value is set to 'External' then the system expects to receive mavlink battery status messages.

Values:
    -
  • 0: Power Module
    • +

This parameter is deprecated. Please use BAT1_SOURCE instead

Comment: Battery monitoring source. This parameter controls the source of battery data. 参数''0'' 表示测量信号来源于一个电源模块. 参数"1"表示系统从外部接收到的Mavlink消息中获取电池状态信息.

参数对照:
    +
  • 0:电源模块
    • -
  • 1: External
    • +
  • 1:外部信息
 0 > 1
BAT_V_CHARGED (FLOAT)

This parameter is deprecated. Please use BAT1_V_CHARGED instead

Comment: Defines the voltage where a single cell of battery 1 is considered full under a mild load. This will never be the nominal voltage of 4.2V

Reboot required: true

+

This parameter is deprecated. Please use BAT1_V_CHARGED instead

Comment: Defines the voltage where a single cell of battery 1 is considered full under a mild load. 这永远不会是标称电压4.2V.

要求重启:是

 (0.01) 4.05
BAT_V_EMPTY (FLOAT)

This parameter is deprecated. Please use BAT1_V_EMPTY instead

Comment: Defines the voltage where a single cell of battery 1 is considered empty. The voltage should be chosen before the steep dropoff to 2.8V. A typical lithium battery can only be discharged down to 10% before it drops off to a voltage level damaging the cells.

Reboot required: true

+

This parameter is deprecated. Please use BAT1_V_EMPTY instead

Comment: Defines the voltage where a single cell of battery 1 is considered empty. 该电压应该选择设置在陡降至2.8V之前， 一个典型的锂电池只能放电到10%，在它陡降至会损坏电芯的电压之前。

要求重启:是

 (0.01) 3.5
BAT_V_LOAD_DROP (FLOAT)

This parameter is deprecated. Please use BAT1_V_LOAD_DROP instead

Comment: This implicitely defines the internal resistance to maximum current ratio for battery 1 and assumes linearity. A good value to use is the difference between the 5C and 20-25C load. Not used if BAT_R_INTERNAL is set.

Reboot required: true

+

This parameter is deprecated. Please use BAT1_V_LOAD_DROP instead

Comment: This implicitely defines the internal resistance to maximum current ratio for battery 1 and assumes linearity. 比较好的值是测量并计算在5C负载时的压降和20~25C负载时的压降的差值. 当参数BAT_R_INTERNAL被设置的时候会不使用此参数.

要求重启:是

 0.07 > 0.5 (0.01) 0.3
BAT_V_OFFS_CURR (FLOAT)

Offset in volt as seen by the ADC input of the current sensor

Comment: This offset will be subtracted before calculating the battery current based on the voltage.

电流传感器ADC通道输入电压偏移

说明:在根据电压计算电池电流之前，这个偏移量将被减去。

 0.0
- + @@ -881,22 +879,22 @@ Set to 2 to use heading from motion capture

Values:
NameDescriptionMin > Max (Incr.)DefaultUnits
参数名参数描述最小最大值 (增量)默认值单位
-## Camera Control +## 相机控制 - + - @@ -904,7 +902,7 @@ Set to 2 to use heading from motion capture

Values:
- @@ -912,14 +910,14 @@ Set to 2 to use heading from motion capture

Values:
- @@ -927,17 +925,17 @@ Set to 2 to use heading from motion capture

Values:
NameDescriptionMin > Max (Incr.)DefaultUnits
参数名参数描述最小最大值 (增量)默认值单位
CAM_CAP_EDGE (INT32)

Camera capture edge

Values:
    -
  • 0: Falling edge
    • +

相机拍照捕获边沿类型

参数对照:
    +
  • 0:下降沿
    • -
  • 1: Rising edge
    • +
  • 1: 上升沿
-

Reboot required: true

+

要求重启:是

 0
CAM_CAP_FBACK (INT32)

Camera capture feedback

Comment: Enables camera capture feedback

Reboot required: true

+

相机捕获反馈

说明:使能相机捕获反馈

要求重启:是

 Disabled (0)
CAM_CAP_MODE (INT32)

Camera capture timestamping mode

Comment: Change time measurement

Values:
    +

Camera capture timestamping mode

Comment: Change time measurement

参数对照:
  • 0: Get absolute timestamp
  • 1: Get timestamp of mid exposure (active high)
  • 2: Get timestamp of mid exposure (active low)
-

Reboot required: true

+

要求重启:是

 0
-## Camera trigger +## 相机触发 - + - @@ -945,24 +943,24 @@ Set to 2 to use heading from motion capture

Values:
- - + - @@ -970,7 +968,7 @@ Set to 2 to use heading from motion capture

Values:
- @@ -978,7 +976,7 @@ Set to 2 to use heading from motion capture

Values:
- @@ -986,18 +984,18 @@ Set to 2 to use heading from motion capture

Values:
- @@ -1005,7 +1003,7 @@ Set to 2 to use heading from motion capture

Values:
- @@ -1013,12 +1011,12 @@ Set to 2 to use heading from motion capture

Values:
- @@ -1026,7 +1024,7 @@ Set to 2 to use heading from motion capture

Values:
- @@ -1034,7 +1032,7 @@ Set to 2 to use heading from motion capture

Values:
- @@ -1042,17 +1040,17 @@ Set to 2 to use heading from motion capture

Values:
NameDescriptionMin > Max (Incr.)DefaultUnits
参数名参数描述最小最大值 (增量)默认值单位
TRIG_ACT_TIME (FLOAT)

Camera trigger activation time

Comment: This parameter sets the time the trigger needs to pulled high or low.

Reboot required: true

+

相机触发激活时间

说明:此参数设置了快门触发信号需要被拉高或置低的持续时间.

要求重启:是

 0.1 > 3000 40.0
TRIG_DISTANCE (FLOAT)

Camera trigger distance

Comment: Sets the distance at which to trigger the camera.

Reboot required: true

+

相机定距触发的间距

说明:设置相隔多远触发一次相机快门.

要求重启:是

 0 > ? (1) 25.0m米
TRIG_INTERFACE (INT32)

Camera trigger Interface

Comment: Selects the trigger interface

Values:
    -
  • 1: GPIO
    • +

相机触发接口

说明:选择相机触发接口

参数对照:
    +
  • 1:使用GPIO触发
  • 2: Seagull MAP2 (over PWM)
    • -
  • 3: MAVLink (forward via MAV_CMD_IMAGE_START_CAPTURE)
    • +
  • 3:使用Mavlink消息触发(通过MAV_CMD_IMAGE_START_CAPTURE指令)
    • -
  • 4: Generic PWM (IR trigger, servo)
    • +
  • 4:使用通用PWM信号触发(红外快门控制器，舵机)
-

Reboot required: true

+

要求重启:是

 4
TRIG_INTERVAL (FLOAT)

Camera trigger interval

Comment: This parameter sets the time between two consecutive trigger events

Reboot required: true

+

相机触发间隔

说明:此参数设置两个连续触发事件之间的时间间隔.

要求重启:是

 4.0 > 10000.0 40.0
TRIG_MIN_INTERVA (FLOAT)

Minimum camera trigger interval

Comment: This parameter sets the minimum time between two consecutive trigger events the specific camera setup is supporting.

Reboot required: true

+

Minimum camera trigger interval

Comment: This parameter sets the minimum time between two consecutive trigger events the specific camera setup is supporting.

要求重启:是

 1.0 > 10000.0 1.0
TRIG_MODE (INT32)

Camera trigger mode

Values:
    -
  • 0: Disable
    • +

相机触发模式

参数对照:
    +
  • 0:禁用相机触发功能
    • -
  • 1: Time based, on command
    • +
  • 1:基于时间, 使用指令控制
    • -
  • 2: Time based, always on
    • +
  • 2:基于时间, 持续触发
    • -
  • 3: Distance based, always on
    • +
  • 3:基于距离, 持续触发
    • -
  • 4: Distance based, on command (Survey mode)
    • +
  • 4:基于距离, 使用指令控制(航测模式)
-

Reboot required: true

+

要求重启:是

 0 > 4 0
TRIG_PINS (INT32)

Camera trigger pin

Comment: Selects which FMU pin is used (range: AUX1-AUX8 on Pixhawk controllers with an I/O board, MAIN1-MAIN8 on controllers without an I/O board. The PWM interface takes two pins per camera, while relay triggers on every pin individually. Example: Value 56 would trigger on pins 5 and 6. For GPIO mode Pin 6 will be triggered followed by 5. With a value of 65 pin 5 will be triggered followed by 6. Pins may be non contiguous. I.E. 16 or 61. In GPIO mode the delay pin to pin is < .2 uS. Note: only with a value of 56 or 78 it is possible to use the lower pins for actuator outputs (e.g. ESC's).

Reboot required: true

+

相机触发引脚

Comment: Selects which FMU pin is used (range: AUX1-AUX8 on Pixhawk controllers with an I/O board, MAIN1-MAIN8 on controllers without an I/O board. PWM接口在每个摄像机上使用两个引脚，而在每个引脚上分别使用继电器触发器. 例如: 设置参数值56会在pin5和pin6上产生触发信号. 在GPIO模式时, Pin6会在Pin5之后产生触发信号. 设置参数65则表示Pin5会在Pin6之后产生触发信号. 引脚可能是非连续的。 I.E. 16 or 61. 在GPIO模式下,两个引脚之间的触发信号时间差＜0.2us. Note: only with a value of 56 or 78 it is possible to use the lower pins for actuator outputs (e.g. ESC's).

要求重启:是

 1 > 12345678 56
TRIG_POLARITY (INT32)

Camera trigger polarity

Comment: This parameter sets the polarity of the trigger (0 = active low, 1 = active high )

Values:
    -
  • 0: Active low
    • +

相机触发极性

说明:此参数设置相机触发的极性(0表示低电平触发, 1表示高电平触发)

参数对照:
    +
  • 0:低电平有效
    • -
  • 1: Active high
    • +
  • 1:高电平有效
-

Reboot required: true

+

要求重启:是

 0 > 1 0
TRIG_PWM_NEUTRAL (INT32)

PWM neutral output on trigger pin

Reboot required: true

+

PWM neutral output on trigger pin

要求重启:是

 1000 > 2000 1500
TRIG_PWM_SHOOT (INT32)

PWM output to trigger shot

Reboot required: true

+

PWM output to trigger shot

要求重启:是

 1000 > 2000 1900
-## Circuit Breaker +## 外部模块配置 - + - @@ -1060,7 +1058,7 @@ Set to 2 to use heading from motion capture

Values:
- @@ -1068,7 +1066,8 @@ Set to 2 to use heading from motion capture

Values:
- @@ -1076,7 +1075,7 @@ Set to 2 to use heading from motion capture

Values:
- @@ -1084,7 +1083,7 @@ Set to 2 to use heading from motion capture

Values:
- @@ -1092,7 +1091,7 @@ Set to 2 to use heading from motion capture

Values:
- @@ -1100,7 +1099,7 @@ Set to 2 to use heading from motion capture

Values:
- @@ -1108,7 +1107,7 @@ Set to 2 to use heading from motion capture

Values:
- @@ -1116,7 +1115,7 @@ Set to 2 to use heading from motion capture

Values:
- @@ -1124,7 +1123,7 @@ Set to 2 to use heading from motion capture

Values:
- @@ -1137,7 +1136,7 @@ Set to 2 to use heading from motion capture

Values:
NameDescriptionMin > Max (Incr.)DefaultUnits
参数名参数描述最小最大值 (增量)默认值单位
CBRK_AIRSPD_CHK (INT32)

Circuit breaker for airspeed sensor

Comment: Setting this parameter to 162128 will disable the check for an airspeed sensor. The sensor driver will not be started and it cannot be calibrated. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK

Reboot required: true

+

空速计检查开关

说明:将此参数设置为162128将禁用空速计检查. The sensor driver will not be started and it cannot be calibrated. 警告: 启用这个开关是有风险的.

要求重启:是

 0 > 162128 0
CBRK_BUZZER (INT32)

Circuit breaker for disabling buzzer

Comment: Setting this parameter to 782097 will disable the buzzer audio notification. Setting this parameter to 782090 will disable the startup tune, while keeping all others enabled.

Reboot required: true

+

蜂鸣器使能开关

说明: 将此参数设置为782097将禁用蜂鸣器音频通知. Setting this parameter to 782090 will disable the startup tune, while keeping all others enabled.

要求重启:是

 0 > 782097 0
CBRK_ENGINEFAIL (INT32)

Circuit breaker for engine failure detection

Comment: Setting this parameter to 284953 will disable the engine failure detection. If the aircraft is in engine failure mode the engine failure flag will be set to healthy WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK

Reboot required: true

+

用于发动机故障检测的断路器

说明: 将此参数设置为284953将禁用发送机故障检测. 如果飞机处于引擎故障模式，引擎故障标志将设置为健康状态. +警告: 启用此开关是有风险的.

要求重启:是

 0 > 284953 284953
CBRK_FLIGHTTERM (INT32)

Circuit breaker for flight termination

Comment: Setting this parameter to 121212 will disable the flight termination action if triggered by the FailureDetector logic or if FMU is lost. This circuit breaker does not affect the RC loss, data link loss, geofence, and takeoff failure detection safety logic.

Reboot required: true

+

飞行终止断路器

Comment: Setting this parameter to 121212 will disable the flight termination action if triggered by the FailureDetector logic or if FMU is lost. This circuit breaker does not affect the RC loss, data link loss, geofence, and takeoff failure detection safety logic.

要求重启:是

 0 > 121212 121212
CBRK_IO_SAFETY (INT32)

Circuit breaker for IO safety

Comment: Setting this parameter to 22027 will disable IO safety. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK

Reboot required: true

+

Circuit breaker for IO safety

说明:将这个参数设置为22027会关闭IO安全开关。 警告: 启用这个开关是有风险的.

要求重启:是

 0 > 22027 0
CBRK_RATE_CTRL (INT32)

Circuit breaker for rate controller output

Comment: Setting this parameter to 140253 will disable the rate controller uORB publication. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK

Reboot required: true

+

Circuit breaker for rate controller output

Comment: Setting this parameter to 140253 will disable the rate controller uORB publication. 警告: 启用这个开关是有风险的.

要求重启:是

 0 > 140253 0
CBRK_SUPPLY_CHK (INT32)

Circuit breaker for power supply check

Comment: Setting this parameter to 894281 will disable the power valid checks in the commander. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK

Reboot required: true

+

用于电源检查的断路器

Comment: Setting this parameter to 894281 will disable the power valid checks in the commander. 警告: 启用这个开关是有风险的.

要求重启:是

 0 > 894281 0
CBRK_USB_CHK (INT32)

Circuit breaker for USB link check

Comment: Setting this parameter to 197848 will disable the USB connected checks in the commander. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK

Reboot required: true

+

Circuit breaker for USB link check

Comment: Setting this parameter to 197848 will disable the USB connected checks in the commander. 警告: 启用这个开关是有风险的.

要求重启:是

 0 > 197848 0
CBRK_VELPOSERR (INT32)

Circuit breaker for position error check

Comment: Setting this parameter to 201607 will disable the position and velocity accuracy checks in the commander. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK

Reboot required: true

+

用于位置错误检查的断路器

Comment: Setting this parameter to 201607 will disable the position and velocity accuracy checks in the commander. 警告: 启用这个开关是有风险的.

要求重启:是

 0 > 201607 0
CBRK_VTOLARMING (INT32)

Circuit breaker for arming in fixed-wing mode check

Comment: Setting this parameter to 159753 will enable arming in fixed-wing mode for VTOLs. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK

Reboot required: true

+

Circuit breaker for arming in fixed-wing mode check

Comment: Setting this parameter to 159753 will enable arming in fixed-wing mode for VTOLs. 警告: 启用这个开关是有风险的.

要求重启:是

 0 > 159753 0
- + @@ -1149,7 +1148,7 @@ Set to 2 to use heading from motion capture

Values:
- - + @@ -1186,7 +1185,7 @@ Set to 2 to use heading from motion capture

Values:
    Note: ekf2 will limit the delta velocity bias estimate magnitude to be less than EKF2_ABL_LIM * FILTER_UPDATE_PERIOD_MS * 0.001 so this parameter must be less than that to be useful

- + @@ -1225,17 +1224,17 @@ Note: ekf2 will limit the delta velocity bias estimate magnitude to be less than - + - + - + @@ -1243,7 +1242,7 @@ Note: ekf2 will limit the delta velocity bias estimate magnitude to be less than Set -1 to disable the check

- + @@ -1254,7 +1253,7 @@ Set -1 to disable the check

- + @@ -1268,7 +1267,7 @@ Set -1 to disable the check

- + @@ -1282,24 +1281,24 @@ Set -1 to disable the check

- + - + - + - + - + @@ -1320,7 +1319,7 @@ Set -1 to disable the check

- + @@ -1331,34 +1330,34 @@ Set -1 to disable the check

- @@ -1367,34 +1366,34 @@ Set -1 to disable the check

- @@ -1403,34 +1402,34 @@ Set -1 to disable the check

- @@ -1439,34 +1438,34 @@ Set -1 to disable the check

- @@ -1475,34 +1474,34 @@ Set -1 to disable the check

- @@ -1511,34 +1510,34 @@ Set -1 to disable the check

- @@ -1547,7 +1546,7 @@ Set -1 to disable the check

- - + - + - + - + - + - + - + - + - + - + - - - See COM_OBL_ACT and COM_OBL_RC_ACT to configure action

- + - - - + - + - + - @@ -1722,11 +1721,11 @@ See COM_OBL_ACT and COM_OBL_RC_ACT to configure action

- - + @@ -1737,8 +1736,8 @@ See COM_OBL_ACT and COM_OBL_RC_ACT to configure action

- - + - @@ -1772,10 +1771,10 @@ See COM_OBL_ACT and COM_OBL_RC_ACT to configure action

- + - + @@ -1806,7 +1805,7 @@ See COM_OBL_ACT and COM_OBL_RC_ACT to configure action

- +
NameDescriptionMin > Max (Incr.)DefaultUnits
参数名参数描述最小最大值 (增量)默认值单位
COM_ARM_AUTH_MET (INT32)

Arm authorization method

Comment: Methods: - one arm: request authorization and arm when authorization is received - two step arm: 1st arm command request an authorization and 2nd arm command arm the drone if authorized Used if arm authorization is requested by COM_ARM_AUTH_REQ.

Values:
    +

Arm authorization method

Comment: Methods: - one arm: request authorization and arm when authorization is received - two step arm: 1st arm command request an authorization and 2nd arm command arm the drone if authorized Used if arm authorization is requested by COM_ARM_AUTH_REQ.

参数对照:
  • 0: one arm
  • 1: two step arm
    • @@ -1171,7 +1170,7 @@ Set to 2 to use heading from motion capture

    Values:

Arm authorization timeout

Comment: Timeout for authorizer answer. Used if arm authorization is requested by COM_ARM_AUTH_REQ.

 (0.1) 1s秒
COM_ARM_CHK_ESCS (INT32) 0.001 > 0.01 (0.0001) 0.0022m/s米/秒
COM_ARM_EKF_GB (FLOAT)
COM_ARM_IMU_ACC (FLOAT)

Maximum accelerometer inconsistency between IMU units that will allow arming

解锁允许的各个IMU单元之间最大的加速度不一致性.

 0.1 > 1.0 (0.05) 0.7 m/s^2
COM_ARM_IMU_GYR (FLOAT)

Maximum rate gyro inconsistency between IMU units that will allow arming

解锁允许的各个IMU单元之间最大的陀螺仪不一致性.

 0.02 > 0.3 (0.01) 0.25rad/s度/秒
COM_ARM_MAG_ANG (INT32) 3 > 180 45deg度
COM_ARM_MAG_STR (INT32)
COM_ARM_MIS_REQ (INT32)

Require valid mission to arm

Comment: The default allows to arm the vehicle without a valid mission.

需要有效的任务才能解锁

说明:默认允许不需要一个有效任务也可以解锁.

 Disabled (0)
COM_ARM_WO_GPS (INT32)

Allow arming without GPS

Comment: The default allows to arm the vehicle without GPS signal.

允许在无GPS的状态下解锁

说明: 默认允许在无GPS信号的状态下解锁自驾仪.

 Enabled (1)
COM_DISARM_LAND (FLOAT)

Time-out for auto disarm after landing

Comment: A non-zero, positive value specifies the time-out period in seconds after which the vehicle will be automatically disarmed in case a landing situation has been detected during this period. A zero or negative value means that automatic disarming triggered by landing detection is disabled.

降落后自动锁定超时时间

Comment: A non-zero, positive value specifies the time-out period in seconds after which the vehicle will be automatically disarmed in case a landing situation has been detected during this period. A zero or negative value means that automatic disarming triggered by landing detection is disabled.

 2.0s秒
COM_DISARM_PRFLT (FLOAT)

Time-out for auto disarm if too slow to takeoff

Comment: A non-zero, positive value specifies the time after arming, in seconds, within which the vehicle must take off (after which it will automatically disarm). A zero or negative value means that automatic disarming triggered by a pre-takeoff timeout is disabled.

 10.0s秒
COM_DL_LOSS_T (INT32)

Datalink loss time threshold

Comment: After this amount of seconds without datalink the data link lost mode triggers

数据链路失效时间阈值

说明: 超过此设定参数对应的时间没有数据传输时会启动数据链路失效模式.

 5 > 300 (1) 10s秒
COM_EF_C2T (FLOAT)

Engine Failure Time Threshold

Comment: Engine failure triggers only if the throttle threshold and the current to throttle threshold are violated for this time

 0.0 > 60.0 (1) 10.0s秒
COM_FLIGHT_UUID (INT32)
COM_FLTMODE1 (INT32)

First flightmode slot (1000-1160)

Comment: If the main switch channel is in this range the selected flight mode will be applied.

Values:
    -
  • -1: Unassigned
    • +

飞行模式1(1000-1160)

说明: 如果主开关控制通道值在此范围内 (1000-1160) 则应用此参数对应的飞行模式.

参数对照:
    +
  • -1: 未定义
    • -
  • 0: Manual
    • +
  • 0: 手动
    • -
  • 1: Altitude
    • +
  • 1: 定高
    • -
  • 2: Position
    • +
  • 2: 定点
    • -
  • 3: Mission
    • +
  • 3: 自动任务
  • 4: Hold
    • -
  • 5: Return
    • +
  • 5: 返航
  • 6: Acro
  • 7: Offboard
    • -
  • 8: Stabilized
    • +
  • 8: 自稳
  • 9: Rattitude
    • -
  • 10: Takeoff
    • +
  • 10: 起飞
    • -
  • 11: Land
    • +
  • 11: 降落
    • -
  • 12: Follow Me
    • +
  • 12: 跟随
COM_FLTMODE2 (INT32)

Second flightmode slot (1160-1320)

Comment: If the main switch channel is in this range the selected flight mode will be applied.

Values:
    -
  • -1: Unassigned
    • +

飞行模式2 (1160-1320)

说明: 如果主开关控制通道值在此范围内 (1000-1160) 则应用此参数对应的飞行模式.

参数对照:
    +
  • -1: 未定义
    • -
  • 0: Manual
    • +
  • 0: 手动
    • -
  • 1: Altitude
    • +
  • 1: 定高
    • -
  • 2: Position
    • +
  • 2: 定点
    • -
  • 3: Mission
    • +
  • 3: 自动任务
  • 4: Hold
    • -
  • 5: Return
    • +
  • 5: 返航
  • 6: Acro
  • 7: Offboard
    • -
  • 8: Stabilized
    • +
  • 8: 自稳
  • 9: Rattitude
    • -
  • 10: Takeoff
    • +
  • 10: 起飞
    • -
  • 11: Land
    • +
  • 11: 降落
    • -
  • 12: Follow Me
    • +
  • 12: 跟随
COM_FLTMODE3 (INT32)

Third flightmode slot (1320-1480)

Comment: If the main switch channel is in this range the selected flight mode will be applied.

Values:
    -
  • -1: Unassigned
    • +

飞行模式3(1320-1480)

说明: 如果主开关控制通道值在此范围内 (1000-1160) 则应用此参数对应的飞行模式.

参数对照:
    +
  • -1: 未定义
    • -
  • 0: Manual
    • +
  • 0: 手动
    • -
  • 1: Altitude
    • +
  • 1: 定高
    • -
  • 2: Position
    • +
  • 2: 定点
    • -
  • 3: Mission
    • +
  • 3: 自动任务
  • 4: Hold
    • -
  • 5: Return
    • +
  • 5: 返航
  • 6: Acro
  • 7: Offboard
    • -
  • 8: Stabilized
    • +
  • 8: 自稳
  • 9: Rattitude
    • -
  • 10: Takeoff
    • +
  • 10: 起飞
    • -
  • 11: Land
    • +
  • 11: 降落
    • -
  • 12: Follow Me
    • +
  • 12: 跟随
COM_FLTMODE4 (INT32)

Fourth flightmode slot (1480-1640)

Comment: If the main switch channel is in this range the selected flight mode will be applied.

Values:
    -
  • -1: Unassigned
    • +

飞行模式4(1480-1640)

说明: 如果主开关控制通道值在此范围内 (1000-1160) 则应用此参数对应的飞行模式.

参数对照:
    +
  • -1: 未定义
    • -
  • 0: Manual
    • +
  • 0: 手动
    • -
  • 1: Altitude
    • +
  • 1: 定高
    • -
  • 2: Position
    • +
  • 2: 定点
    • -
  • 3: Mission
    • +
  • 3: 自动任务
  • 4: Hold
    • -
  • 5: Return
    • +
  • 5: 返航
  • 6: Acro
  • 7: Offboard
    • -
  • 8: Stabilized
    • +
  • 8: 自稳
  • 9: Rattitude
    • -
  • 10: Takeoff
    • +
  • 10: 起飞
    • -
  • 11: Land
    • +
  • 11: 降落
    • -
  • 12: Follow Me
    • +
  • 12: 跟随
COM_FLTMODE5 (INT32)

Fifth flightmode slot (1640-1800)

Comment: If the main switch channel is in this range the selected flight mode will be applied.

Values:
    -
  • -1: Unassigned
    • +

飞行模式5(1640-1800)

说明: 如果主开关控制通道值在此范围内 (1000-1160) 则应用此参数对应的飞行模式.

参数对照:
    +
  • -1: 未定义
    • -
  • 0: Manual
    • +
  • 0: 手动
    • -
  • 1: Altitude
    • +
  • 1: 定高
    • -
  • 2: Position
    • +
  • 2: 定点
    • -
  • 3: Mission
    • +
  • 3: 自动任务
  • 4: Hold
    • -
  • 5: Return
    • +
  • 5: 返航
  • 6: Acro
  • 7: Offboard
    • -
  • 8: Stabilized
    • +
  • 8: 自稳
  • 9: Rattitude
    • -
  • 10: Takeoff
    • +
  • 10: 起飞
    • -
  • 11: Land
    • +
  • 11: 降落
    • -
  • 12: Follow Me
    • +
  • 12: 跟随
COM_FLTMODE6 (INT32)

Sixth flightmode slot (1800-2000)

Comment: If the main switch channel is in this range the selected flight mode will be applied.

Values:
    -
  • -1: Unassigned
    • +

飞行模式6(1800-2000)

说明: 如果主开关控制通道值在此范围内 (1000-1160) 则应用此参数对应的飞行模式.

参数对照:
    +
  • -1: 未定义
    • -
  • 0: Manual
    • +
  • 0: 手动
    • -
  • 1: Altitude
    • +
  • 1: 定高
    • -
  • 2: Position
    • +
  • 2: 定点
    • -
  • 3: Mission
    • +
  • 3: 自动任务
  • 4: Hold
    • -
  • 5: Return
    • +
  • 5: 返航
  • 6: Acro
  • 7: Offboard
    • -
  • 8: Stabilized
    • +
  • 8: 自稳
  • 9: Rattitude
    • -
  • 10: Takeoff
    • +
  • 10: 起飞
    • -
  • 11: Land
    • +
  • 11: 降落
    • -
  • 12: Follow Me
    • +
  • 12: 跟随
COM_FLT_PROFILE (INT32)

User Flight Profile

Comment: Describes the intended use of the vehicle. Can be used by ground control software or log post processing. This param does not influence the behavior within the firmware. This means for example the control logic is independent of the setting of this param (but depends on other params).

Values:
    +

User Flight Profile

Comment: Describes the intended use of the vehicle. Can be used by ground control software or log post processing. This param does not influence the behavior within the firmware. This means for example the control logic is independent of the setting of this param (but depends on other params).

参数对照:
  • 0: Default
  • 100: Pro User
    • @@ -1563,52 +1562,52 @@ Set -1 to disable the check
COM_HLDL_LOSS_T (INT32)

High Latency Datalink loss time threshold

Comment: After this amount of seconds without datalink the data link lost mode triggers

高延迟数据链路丢失时间阈值

说明: 超过此设定参数对应的时间没有数据传输时会启动数据链路失效模式.

 60 > 3600 120s秒
COM_HLDL_REG_T (INT32)

High Latency Datalink regain time threshold

Comment: After a data link loss: after this this amount of seconds with a healthy datalink the 'datalink loss' flag is set back to false

高延迟数据链恢复时间阈值

Comment: After a data link loss: after this this amount of seconds with a healthy datalink the 'datalink loss' flag is set back to false

 0 > 60 0s秒
COM_HOME_H_T (FLOAT)

Home set horizontal threshold

Comment: The home position will be set if the estimated positioning accuracy is below the threshold.

Home点水平阈值

说明:如果估计的定位精度低于阈值，则设置home位置。

 2 > 15 (0.5) 5.0m米
COM_HOME_V_T (FLOAT)

Home set vertical threshold

Comment: The home position will be set if the estimated positioning accuracy is below the threshold.

Home点垂直阈值

说明:如果估计的定位精度低于阈值，则设置home位置。

 5 > 25 (0.5) 10.0m米
COM_KILL_DISARM (FLOAT)

Timeout value for disarming when kill switch is engaged

 0.0 > 30.0 (0.1) 5.0s秒
COM_LKDOWN_TKO (FLOAT)

Timeout for detecting a failure after takeoff

Comment: A non-zero, positive value specifies the timeframe in seconds within failure detector is allowed to put the vehicle into a lockdown state if attitude exceeds the limits defined in FD_FAIL_P and FD_FAIL_R. The check is not executed for flight modes that do support acrobatic maneuvers, e.g: Acro (MC/FW), Rattitude and Manual (FW). A zero or negative value means that the check is disabled.

 -1.0 > 5.0 3.0s秒
COM_LOW_BAT_ACT (INT32)

Battery failsafe mode

Comment: Action the system takes at critical battery. See also BAT_CRIT_THR and BAT_EMERGEN_THR for definition of battery states.

Values:
    -
  • 0: Warning
    • +

低电安全保护模式

Comment: Action the system takes at critical battery. See also BAT_CRIT_THR and BAT_EMERGEN_THR for definition of battery states.

参数对照:
    +
  • 0: 报警
    • -
  • 2: Land mode
    • +
  • 2: 降落模式
  • 3: Return at critical level, land at emergency level
@@ -1626,14 +1625,14 @@ Set -1 to disable the check
COM_OBL_ACT (INT32)

Set offboard loss failsafe mode

Comment: The offboard loss failsafe will only be entered after a timeout, set by COM_OF_LOSS_T in seconds.

Values:
    +

Set offboard loss failsafe mode

Comment: The offboard loss failsafe will only be entered after a timeout, set by COM_OF_LOSS_T in seconds.

参数对照:
  • -1: Disabled
    • -
  • 0: Land mode
    • +
  • 0: 降落模式
  • 1: Hold mode
    • -
  • 2: Return mode
    • +
  • 2: 返航模式
  • 3: Terminate
    • @@ -1646,18 +1645,18 @@ Set -1 to disable the check
COM_OBL_RC_ACT (INT32)

Set offboard loss failsafe mode when RC is available

Comment: The offboard loss failsafe will only be entered after a timeout, set by COM_OF_LOSS_T in seconds.

Values:
    +

Set offboard loss failsafe mode when RC is available

Comment: The offboard loss failsafe will only be entered after a timeout, set by COM_OF_LOSS_T in seconds.

参数对照:
  • -1: Disabled
  • 0: Position mode
  • 1: Altitude mode
    • -
  • 2: Manual
    • +
  • 2: 手动
    • -
  • 3: Return mode
    • +
  • 3: 返航模式
    • -
  • 4: Land mode
    • +
  • 4: 降落模式
  • 5: Hold mode
    • @@ -1676,11 +1675,11 @@ Set -1 to disable the check

 0 > 60 (0.01) 0.5s秒
COM_POSCTL_NAVL (INT32)

Position control navigation loss response

Comment: This sets the flight mode that will be used if navigation accuracy is no longer adequate for position control. Navigation accuracy checks can be disabled using the CBRK_VELPOSERR parameter, but doing so will remove protection for all flight modes.

Values:
    +

Position control navigation loss response

Comment: This sets the flight mode that will be used if navigation accuracy is no longer adequate for position control. Navigation accuracy checks can be disabled using the CBRK_VELPOSERR parameter, but doing so will remove protection for all flight modes.

参数对照:
  • 0: Altitude/Manual. Assume use of remote control after fallback. Switch to Altitude mode if a height estimate is available, else switch to MANUAL.
  • 1: Land/Terminate. Assume no use of remote control after fallback. Switch to Land mode if a height estimate is available, else switch to TERMINATION.
    • @@ -1692,29 +1691,29 @@ See COM_OBL_ACT and COM_OBL_RC_ACT to configure action
COM_POS_FS_DELAY (INT32)

Loss of position failsafe activation delay

Comment: This sets number of seconds that the position checks need to be failed before the failsafe will activate. The default value has been optimised for rotary wing applications. For fixed wing applications, a larger value between 5 and 10 should be used.

Reboot required: true

+

失去定位故障安全激活延迟

Comment: This sets number of seconds that the position checks need to be failed before the failsafe will activate. The default value has been optimised for rotary wing applications. For fixed wing applications, a larger value between 5 and 10 should be used.

要求重启:是

 1 > 100 1s秒
COM_POS_FS_EPH (FLOAT)

Horizontal position error threshold

Comment: This is the horizontal position error (EPH) threshold that will trigger a failsafe. The default is appropriate for a multicopter. Can be increased for a fixed-wing.

 5m米
COM_POS_FS_EPV (FLOAT)

Vertical position error threshold

Comment: This is the vertical position error (EPV) threshold that will trigger a failsafe. The default is appropriate for a multicopter. Can be increased for a fixed-wing.

 10m米
COM_POS_FS_GAIN (INT32)

Loss of position probation gain factor

Comment: This sets the rate that the loss of position probation time grows when position checks are failing. The default value has been optimised for rotary wing applications. For fixed wing applications a value of 0 should be used.

Reboot required: true

+

Loss of position probation gain factor

Comment: This sets the rate that the loss of position probation time grows when position checks are failing. The default value has been optimised for rotary wing applications. For fixed wing applications a value of 0 should be used.

要求重启:是

 10
COM_POS_FS_PROB (INT32)

Loss of position probation delay at takeoff

Comment: The probation delay is the number of seconds that the EKF innovation checks need to pass for the position to be declared good after it has been declared bad. The probation delay will be reset to this parameter value when takeoff is detected. After takeoff, if position checks are passing, the probation delay will reduce by one second for every lapsed second of valid position down to a minimum of 1 second. If position checks are failing, the probation delay will increase by COM_POS_FS_GAIN seconds for every lapsed second up to a maximum of 100 seconds. The default value has been optimised for rotary wing applications. For fixed wing applications, a value of 1 should be used.

Reboot required: true

+

Loss of position probation delay at takeoff

Comment: The probation delay is the number of seconds that the EKF innovation checks need to pass for the position to be declared good after it has been declared bad. The probation delay will be reset to this parameter value when takeoff is detected. After takeoff, if position checks are passing, the probation delay will reduce by one second for every lapsed second of valid position down to a minimum of 1 second. If position checks are failing, the probation delay will increase by COM_POS_FS_GAIN seconds for every lapsed second up to a maximum of 100 seconds. The default value has been optimised for rotary wing applications. For fixed wing applications, a value of 1 should be used.

要求重启:是

 1 > 100 30s秒
COM_POWER_COUNT (INT32)
COM_PREARM_MODE (INT32)

Condition to enter prearmed mode

Comment: Condition to enter the prearmed state, an intermediate state between disarmed and armed in which non-throttling actuators are active.

Values:
    -
  • 0: Disabled
    • +

Condition to enter prearmed mode

Comment: Condition to enter the prearmed state, an intermediate state between disarmed and armed in which non-throttling actuators are active.

参数对照:
    +
  • 0:禁用相机反馈
  • 1: Safety button
    • @@ -1751,19 +1750,19 @@ See COM_OBL_ACT and COM_OBL_RC_ACT to configure action
COM_RC_ARM_HYST (INT32)

RC input arm/disarm command duration

Comment: The default value of 1000 requires the stick to be held in the arm or disarm position for 1 second.

遥控器输入 解锁/锁定 指令的持续时间

说明: 默认值1000表示摇杆需要保持解锁或锁定动作状态持续1秒钟.

 100 > 1500 1000
COM_RC_IN_MODE (INT32)

RC control input mode

Comment: The default value of 0 requires a valid RC transmitter setup. Setting this to 1 allows joystick control and disables RC input handling and the associated checks. A value of 2 will generate RC control data from manual input received via MAVLink instead of directly forwarding the manual input data.

Values:
    -
  • 0: RC Transmitter
    • +

遥控器信号输入模式

说明: 默认值0表示需要安装一个可用的遥控器. 设置为1允许操纵杆控制(连接到地面站软件的游戏摇杆) 和禁用RC输入处理和相关检查。 A value of 2 will generate RC control data from manual input received via MAVLink instead of directly forwarding the manual input data.

参数对照:
    +
  • 0: RC 遥控器
    • -
  • 1: Joystick/No RC Checks
    • +
  • 1: 游戏手柄/不进行RC遥控器检查
    • -
  • 2: Virtual RC by Joystick
    • +
  • 2: 通过游戏手柄输入RC遥控器输入值
 0 > 2
COM_RC_LOSS_T (FLOAT)

RC loss time threshold

Comment: After this amount of seconds without RC connection the rc lost flag is set to true

遥控器失效时间阈值

说明: 超过这个参数对应的时间没有接收到遥控信号, 那么遥控器失联标志会被置位.

 0 > 35 (0.1) 0.5s秒
COM_RC_OVERRIDE (INT32)

Horizontal velocity error threshold

Comment: This is the horizontal velocity error (EVH) threshold that will trigger a failsafe. The default is appropriate for a multicopter. Can be increased for a fixed-wing.

 1m/s米/秒
@@ -1815,12 +1814,12 @@ See COM_OBL_ACT and COM_OBL_RC_ACT to configure action

- + - -
  • 300: Radio Controller
    • -

    Reboot required: true

    +

    要求重启:是

    @@ -1882,12 +1881,12 @@ See COM_OBL_ACT and COM_OBL_RC_ACT to configure action

    NameDescriptionMin > Max (Incr.)DefaultUnits
    参数名参数描述最小最大值 (增量)默认值单位
    DSHOT_CONFIG (INT32)

    Configure DShot

    Comment: This enables/disables DShot. The different modes define different speeds, for example DShot150 = 150kb/s. Not all ESCs support all modes. Note: this enables DShot on the FMU outputs. For boards with an IO it is the AUX outputs.

    Values:
      +

    Configure DShot

    Comment: This enables/disables DShot. The different modes define different speeds, for example DShot150 = 150kb/s. Not all ESCs support all modes. Note: this enables DShot on the FMU outputs. For boards with an IO it is the AUX outputs.

    参数对照:
    • 0: Disable (use PWM/Oneshot)
    • 150: DShot150
      • @@ -1846,8 +1845,8 @@ See COM_OBL_ACT and COM_OBL_RC_ACT to configure action
    DSHOT_TEL_CFG (INT32)

    Serial Configuration for DShot Driver

    Comment: Configure on which serial port to run DShot Driver.

    Values:
      -
    • 0: Disabled
      • +

    Serial Configuration for DShot Driver

    Comment: Configure on which serial port to run DShot Driver.

    参数对照:
      +
    • 0:禁用相机反馈
    • 6: UART 6
      • @@ -1867,7 +1866,7 @@ See COM_OBL_ACT and COM_OBL_RC_ACT to configure action

    		 0
    -## Data Link Loss +## 数据链路丢失 - + @@ -1895,7 +1894,7 @@ See COM_OBL_ACT and COM_OBL_RC_ACT to configure action

    - + @@ -1918,12 +1917,12 @@ See COM_OBL_ACT and COM_OBL_RC_ACT to configure action

    NameDescriptionMin > Max (Incr.)DefaultUnits
    参数名参数描述最小最大值 (增量)默认值单位

    Airfield home alt

    Comment: Altitude of airfield home waypoint

    		 -50 > ? (0.5) 600.0m米
    NAV_AH_LAT (INT32)
    - + - @@ -1945,7 +1944,7 @@ If the magnitude of the IMU angular rate vector exceeds this value, the EKF delt This reduces the adverse effect of rapid rotation rates and associated errors on the delta velocity bias estimates

    - + @@ -1961,7 +1960,7 @@ The vector magnitude of angular rate and acceleration used to check if learning This parameter controls the time constant of the decay

    - + @@ -1989,7 +1988,7 @@ This parameter controls the time constant of the decay

  • 7: GPS yaw fusion
  • 8: vision velocity fusion
    • -

    Reboot required: true

    +

    要求重启:是

    @@ -1997,7 +1996,7 @@ This parameter controls the time constant of the decay

    - @@ -2011,18 +2010,18 @@ Both airspeed fusion and sideslip fusion must be active for the EKF to continue Use EKF2_FUSE_BETA to activate sideslip fusion

    - + - + - @@ -2030,7 +2029,7 @@ Use EKF2_FUSE_BETA to activate sideslip fusion

    - @@ -2038,7 +2037,7 @@ Use EKF2_FUSE_BETA to activate sideslip fusion

    - @@ -2056,7 +2055,7 @@ Use EKF2_FUSE_BETA to activate sideslip fusion

    - + @@ -2086,7 +2085,7 @@ This should be adjusted to minimise variance of the Y-axis drag specific force i - + @@ -2094,7 +2093,7 @@ This should be adjusted to minimise variance of the Y-axis drag specific force i
  • 1: save EKF2_MAG_DECL on disarm
  • 2: use declination as an observation
    • -

    Reboot required: true

    +

    要求重启:是

    @@ -2113,7 +2112,7 @@ Increasing it makes the multi-rotor wind estimates adjust more slowly

    Measurement noise for airspeed fusion

    - + @@ -2135,7 +2134,7 @@ Sets the number of standard deviations used by the innovation consistency test

    Measurement noise for vision position observations used to lower bound or replace the uncertainty included in the message

    - + @@ -2149,11 +2148,11 @@ Sets the number of standard deviations used by the innovation consistency test

    Measurement noise for vision velocity observations used to lower bound or replace the uncertainty included in the message

    - + - @@ -2171,21 +2170,21 @@ Sets the number of standard deviations used by the innovation consistency test

    X position of VI sensor focal point in body frame (forward axis with origin relative to vehicle centre of gravity)

    - + - + - + @@ -2196,25 +2195,25 @@ Sets the number of standard deviations used by the innovation consistency test - - + - + - + @@ -2235,7 +2234,7 @@ Sets the number of standard deviations used by the innovation consistency test - @@ -2246,21 +2245,21 @@ Sets the number of standard deviations used by the innovation consistency test

    X position of GPS antenna in body frame (forward axis with origin relative to vehicle centre of gravity)

    - + - + - + @@ -2274,7 +2273,7 @@ Sets the number of standard deviations used by the innovation consistency test

    Measurement noise for gps position

    - + @@ -2288,7 +2287,7 @@ Sets the number of standard deviations used by the innovation consistency test

    Measurement noise for gps horizontal velocity

    - + @@ -2296,7 +2295,7 @@ Sets the number of standard deviations used by the innovation consistency test - + @@ -2310,7 +2309,7 @@ If no airspeed measurements are avalable, the EKF-GSF AHRS calculation will assu - + @@ -2328,16 +2327,16 @@ If no airspeed measurements are avalable, the EKF-GSF AHRS calculation will assu - @@ -2348,25 +2347,25 @@ If no airspeed measurements are avalable, the EKF-GSF AHRS calculation will assu - + - + - + - @@ -2375,7 +2374,7 @@ If no airspeed measurements are avalable, the EKF-GSF AHRS calculation will assu @@ -2384,7 +2383,7 @@ This is the amount of X-axis magnetometer bias learned by the EKF and saved from @@ -2393,7 +2392,7 @@ This is the amount of Y-axis magnetometer bias learned by the EKF and saved from @@ -2410,7 +2409,7 @@ Smaller values make the saved mag bias learn slower from flight to flight. Large @@ -2443,11 +2442,11 @@ This parameter is used when the magnetometer fusion method is set automatically - + - @@ -2476,7 +2475,7 @@ This parameter is used when the magnetometer fusion method is set automatically - @@ -2501,12 +2500,12 @@ This parameter is used when the magnetometer fusion method is set automatically This parameter is used when the magnetometer fusion method is set automatically (EKF2_MAG_TYPE = 0). If the filtered yaw rate is greater than this parameter value, then the EKF will use 3-axis magnetomer fusion

    - + @@ -2517,7 +2516,7 @@ Baro and Magnetometer data will be averaged before downsampling, other data will - + @@ -2528,7 +2527,7 @@ Baro and Magnetometer data will be averaged before downsampling, other data will - @@ -2536,7 +2535,7 @@ Baro and Magnetometer data will be averaged before downsampling, other data will - @@ -2547,7 +2546,7 @@ Baro and Magnetometer data will be averaged before downsampling, other data will - + @@ -2559,7 +2558,7 @@ Baro and Magnetometer data will be averaged before downsampling, other data will @@ -2577,35 +2576,35 @@ Assumes measurement is timestamped at trailing edge of integration period

    - + - + - + - + - + @@ -2663,29 +2662,29 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi - + - + - - + - + @@ -2706,18 +2705,18 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi - + - + - - + @@ -2746,11 +2745,11 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi - + - @@ -2768,7 +2767,7 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi - + @@ -2782,21 +2781,21 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi - + - + - + @@ -2824,7 +2823,7 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi - + @@ -2838,7 +2837,7 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi - + @@ -2852,14 +2851,14 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi - + - + @@ -2883,7 +2882,7 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi - + @@ -2899,12 +2898,12 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi
    NameDescriptionMin > Max (Incr.)DefaultUnits
    参数名参数描述最小最大值 (增量)默认值单位
    EKF2_ABIAS_INIT (FLOAT)

    1-sigma IMU accelerometer switch-on bias

    Reboot required: true

    +

    1-sigma IMU accelerometer switch-on bias

    要求重启:是

    		 0.0 > 0.5 0.2 2.0 > 20.0 3.0rad/s度/秒
    EKF2_ABL_LIM (FLOAT) 0.1 > 1.0 0.5s秒
    EKF2_ACC_B_NOISE (FLOAT) 0 > 511 1
    EKF2_ANGERR_INIT (FLOAT)

    1-sigma tilt angle uncertainty after gravity vector alignment

    Reboot required: true

    +

    1-sigma tilt angle uncertainty after gravity vector alignment

    要求重启:是

    		 0.0 > 0.5 0.1 0.0 > ? 0.0m/s米/秒
    EKF2_ASPD_MAX (FLOAT)

    Upper limit on airspeed along individual axes used to correct baro for position error effects

    		 5.0 > 50.0 20.0m/s米/秒
    EKF2_ASP_DELAY (FLOAT)

    Airspeed measurement delay relative to IMU measurements

    Reboot required: true

    +

    Airspeed measurement delay relative to IMU measurements

    要求重启:是

    		 0 > 300 100
    EKF2_AVEL_DELAY (FLOAT)

    Auxillary Velocity Estimate (e.g from a landing target) delay relative to IMU measurements

    Reboot required: true

    +

    Auxillary Velocity Estimate (e.g from a landing target) delay relative to IMU measurements

    要求重启:是

    		 0 > 300 5
    EKF2_BARO_DELAY (FLOAT)

    Barometer measurement delay relative to IMU measurements

    Reboot required: true

    +

    Barometer measurement delay relative to IMU measurements

    要求重启:是

    		 0 > 300 0

    Measurement noise for barometric altitude

    		 0.01 > 15.0 3.5m米
    EKF2_BCOEF_X (FLOAT)

    Noise for synthetic sideslip fusion

    		 0.1 > 1.0 0.3m/s米/秒
    EKF2_DECL_TYPE (INT32) 0 > 7 7 0.5 > 5.0 1.4m/s米/秒
    EKF2_EVA_NOISE (FLOAT) 0.01 > ? 0.1m米
    EKF2_EVV_GATE (FLOAT) 0.01 > ? 0.1m/s米/秒
    EKF2_EV_DELAY (FLOAT)

    Vision Position Estimator delay relative to IMU measurements

    Reboot required: true

    +

    Vision Position Estimator delay relative to IMU measurements

    要求重启:是

    		 0 > 300 175 0.0m米
    EKF2_EV_POS_Y (FLOAT)

    Y position of VI sensor focal point in body frame (right axis with origin relative to vehicle centre of gravity)

    		 0.0m米
    EKF2_EV_POS_Z (FLOAT)

    Z position of VI sensor focal point in body frame (down axis with origin relative to vehicle centre of gravity)

    		 0.0m米
    EKF2_FUSE_BETA (INT32)
    EKF2_GBIAS_INIT (FLOAT)

    1-sigma IMU gyro switch-on bias

    Reboot required: true

    +

    1-sigma IMU gyro switch-on bias

    要求重启:是

    		 0.0 > 0.2 0.1rad/s度/秒
    EKF2_GND_EFF_DZ (FLOAT)

    Baro deadzone range for height fusion

    Comment: Sets the value of deadzone applied to negative baro innovations. Deadzone is enabled when EKF2_GND_EFF_DZ > 0.

    		 0.0 > 10.0 0.0m米
    EKF2_GND_MAX_HGT (FLOAT)

    Height above ground level for ground effect zone

    Comment: Sets the maximum distance to the ground level where negative baro innovations are expected.

    		 0.0 > 5.0 0.5m米
    EKF2_GPS_CHECK (INT32)
    EKF2_GPS_DELAY (FLOAT)

    GPS measurement delay relative to IMU measurements

    Reboot required: true

    +

    GPS measurement delay relative to IMU measurements

    要求重启:是

    		 0 > 300 110 0.0m米
    EKF2_GPS_POS_Y (FLOAT)

    Y position of GPS antenna in body frame (right axis with origin relative to vehicle centre of gravity)

    		 0.0m米
    EKF2_GPS_POS_Z (FLOAT)

    Z position of GPS antenna in body frame (down axis with origin relative to vehicle centre of gravity)

    		 0.0m米
    EKF2_GPS_P_GATE (FLOAT) 0.01 > 10.0 0.5m米
    EKF2_GPS_V_GATE (FLOAT) 0.01 > 5.0 0.3m/s米/秒
    EKF2_GSF_TAS (FLOAT) 0.0 > 100.0 15.0m/s米/秒
    EKF2_GYR_B_NOISE (FLOAT)

    Rate gyro noise for covariance prediction

    		 0.0001 > 0.1 1.5e-2rad/s度/秒
    EKF2_HDG_GATE (FLOAT)
    EKF2_HGT_MODE (INT32)

    Determines the primary source of height data used by the EKF

    Comment: The range sensor option should only be used when for operation over a flat surface as the local NED origin will move up and down with ground level.

    Values:
      +

    Determines the primary source of height data used by the EKF

    Comment: The range sensor option should only be used when for operation over a flat surface as the local NED origin will move up and down with ground level.

    参数对照:
    • 0: Barometric pressure
    • 1: GPS
    • 2: Range sensor
      • -
    • 3: Vision
      • +
    • 3:使用视觉模块数据
    -

    Reboot required: true

    +

    要求重启:是

    		 0

    X position of IMU in body frame (forward axis with origin relative to vehicle centre of gravity)

    		 0.0m米
    EKF2_IMU_POS_Y (FLOAT)

    Y position of IMU in body frame (right axis with origin relative to vehicle centre of gravity)

    		 0.0m米
    EKF2_IMU_POS_Z (FLOAT)

    Z position of IMU in body frame (down axis with origin relative to vehicle centre of gravity)

    		 0.0m米
    EKF2_MAGBIAS_ID (INT32)

    ID of Magnetometer the learned bias is for

    Reboot required: true

    +

    ID of Magnetometer the learned bias is for

    要求重启:是

    		 0
    EKF2_MAGBIAS_X (FLOAT)

    Learned value of magnetometer X axis bias. -This is the amount of X-axis magnetometer bias learned by the EKF and saved from the last flight. It must be set to zero if the ground based magnetometer calibration is repeated

    Reboot required: true

    +This is the amount of X-axis magnetometer bias learned by the EKF and saved from the last flight. It must be set to zero if the ground based magnetometer calibration is repeated

    要求重启:是

    		 -0.5 > 0.5 0.0
    EKF2_MAGBIAS_Y (FLOAT)

    Learned value of magnetometer Y axis bias. -This is the amount of Y-axis magnetometer bias learned by the EKF and saved from the last flight. It must be set to zero if the ground based magnetometer calibration is repeated

    Reboot required: true

    +This is the amount of Y-axis magnetometer bias learned by the EKF and saved from the last flight. It must be set to zero if the ground based magnetometer calibration is repeated

    要求重启:是

    		 -0.5 > 0.5 0.0
    EKF2_MAGBIAS_Z (FLOAT)

    Learned value of magnetometer Z axis bias. -This is the amount of Z-axis magnetometer bias learned by the EKF and saved from the last flight. It must be set to zero if the ground based magnetometer calibration is repeated

    Reboot required: true

    +This is the amount of Z-axis magnetometer bias learned by the EKF and saved from the last flight. It must be set to zero if the ground based magnetometer calibration is repeated

    要求重启:是

    		 -0.5 > 0.5 0.0
    EKF2_MAGB_VREF (FLOAT)

    State variance assumed for magnetometer bias storage. -This is a reference variance used to calculate the fraction of learned magnetometer bias that will be used to update the stored value. Smaller values will make the stored bias data adjust more slowly from flight to flight. Larger values will make it adjust faster

    Reboot required: true

    +This is a reference variance used to calculate the fraction of learned magnetometer bias that will be used to update the stored value. Smaller values will make the stored bias data adjust more slowly from flight to flight. Larger values will make it adjust faster

    要求重启:是

    		 2.5E-7

    Magnetic declination

    		 0deg度
    EKF2_MAG_DELAY (FLOAT)

    Magnetometer measurement delay relative to IMU measurements

    Reboot required: true

    +

    Magnetometer measurement delay relative to IMU measurements

    要求重启:是

    		 0 > 300 0
    EKF2_MAG_TYPE (INT32)

    Type of magnetometer fusion

    Comment: Integer controlling the type of magnetometer fusion used - magnetic heading or 3-component vector. The fuson of magnetomer data as a three component vector enables vehicle body fixed hard iron errors to be learned, but requires a stable earth field. If set to 'Automatic' magnetic heading fusion is used when on-ground and 3-axis magnetic field fusion in-flight with fallback to magnetic heading fusion if there is insufficient motion to make yaw or magnetic field states observable. If set to 'Magnetic heading' magnetic heading fusion is used at all times If set to '3-axis' 3-axis field fusion is used at all times. If set to 'VTOL custom' the behaviour is the same as 'Automatic', but if fusing airspeed, magnetometer fusion is only allowed to modify the magnetic field states. This can be used by VTOL platforms with large magnetic field disturbances to prevent incorrect bias states being learned during forward flight operation which can adversely affect estimation accuracy after transition to hovering flight. If set to 'MC custom' the behaviour is the same as 'Automatic, but if there are no earth frame position or velocity observations being used, the magnetometer will not be used. This enables vehicles to operate with no GPS in environments where the magnetic field cannot be used to provide a heading reference. Prior to flight, the yaw angle is assumed to be constant if movement tests controlled by the EKF2_MOVE_TEST parameter indicate that the vehicle is static. This allows the vehicle to be placed on the ground to learn the yaw gyro bias prior to flight. If set to 'None' the magnetometer will not be used under any circumstance. If no external source of yaw is available, it is possible to use post-takeoff horizontal movement combined with GPS velocity measurements to align the yaw angle with the timer required (depending on the amount of movement and GPS data quality). Other external sources of yaw may be used if selected via the EKF2_AID_MASK parameter.

    Values:
      +

    Type of magnetometer fusion

    Comment: Integer controlling the type of magnetometer fusion used - magnetic heading or 3-component vector. The fuson of magnetomer data as a three component vector enables vehicle body fixed hard iron errors to be learned, but requires a stable earth field. If set to 'Automatic' magnetic heading fusion is used when on-ground and 3-axis magnetic field fusion in-flight with fallback to magnetic heading fusion if there is insufficient motion to make yaw or magnetic field states observable. If set to 'Magnetic heading' magnetic heading fusion is used at all times If set to '3-axis' 3-axis field fusion is used at all times. If set to 'VTOL custom' the behaviour is the same as 'Automatic', but if fusing airspeed, magnetometer fusion is only allowed to modify the magnetic field states. This can be used by VTOL platforms with large magnetic field disturbances to prevent incorrect bias states being learned during forward flight operation which can adversely affect estimation accuracy after transition to hovering flight. If set to 'MC custom' the behaviour is the same as 'Automatic, but if there are no earth frame position or velocity observations being used, the magnetometer will not be used. This enables vehicles to operate with no GPS in environments where the magnetic field cannot be used to provide a heading reference. Prior to flight, the yaw angle is assumed to be constant if movement tests controlled by the EKF2_MOVE_TEST parameter indicate that the vehicle is static. This allows the vehicle to be placed on the ground to learn the yaw gyro bias prior to flight. If set to 'None' the magnetometer will not be used under any circumstance. If no external source of yaw is available, it is possible to use post-takeoff horizontal movement combined with GPS velocity measurements to align the yaw angle with the timer required (depending on the amount of movement and GPS data quality). Other external sources of yaw may be used if selected via the EKF2_AID_MASK parameter.

    参数对照:
    • 0: Automatic
    • 1: Magnetic heading
      • @@ -2487,9 +2486,9 @@ This parameter is used when the magnetometer fusion method is set automatically
    • 4: MC custom
      • -
    • 5: None
      • +
    • 5:无
    -

    Reboot required: true

    +

    要求重启:是

    		 0 0.0 > 1.0 0.25rad/s度/秒
    EKF2_MIN_OBS_DT (INT32)

    Minimum time of arrival delta between non-IMU observations before data is downsampled. -Baro and Magnetometer data will be averaged before downsampling, other data will be point sampled resulting in loss of information

    Reboot required: true

    +Baro and Magnetometer data will be averaged before downsampling, other data will be point sampled resulting in loss of information

    要求重启:是

    		 10 > 50 20

    Expected range finder reading when on ground

    Comment: If the vehicle is on ground, is not moving as determined by the motion test controlled by EKF2_MOVE_TEST and the range finder is returning invalid or no data, then an assumed range value of EKF2_MIN_RNG will be used by the terrain estimator so that a terrain height estimate is avilable at the start of flight in situations where the range finder may be inside its minimum measurements distance when on ground.

    		 0.01 > ? 0.1m米
    EKF2_MOVE_TEST (FLOAT)
    EKF2_MULTI_IMU (INT32)

    Multi-EKF IMUs

    Comment: Maximum number of IMUs to use for Multi-EKF. Set 0 to disable. Requires SENS_IMU_MODE 0.

    Reboot required: true

    +

    Multi-EKF IMUs

    Comment: Maximum number of IMUs to use for Multi-EKF. Set 0 to disable. Requires SENS_IMU_MODE 0.

    要求重启:是

    		 0 > 4 0
    EKF2_MULTI_MAG (INT32)

    Multi-EKF Magnetometers

    Comment: Maximum number of magnetometers to use for Multi-EKF. Set 0 to disable. Requires SENS_MAG_MODE 0.

    Reboot required: true

    +

    Multi-EKF Magnetometers

    Comment: Maximum number of magnetometers to use for Multi-EKF. Set 0 to disable. Requires SENS_MAG_MODE 0.

    要求重启:是

    		 0 > 4 0

    Measurement noise for non-aiding position hold

    		 0.5 > 50.0 10.0m米
    EKF2_NOAID_TOUT (INT32)
    EKF2_OF_DELAY (FLOAT)

    Optical flow measurement delay relative to IMU measurements -Assumes measurement is timestamped at trailing edge of integration period

    Reboot required: true

    +Assumes measurement is timestamped at trailing edge of integration period

    要求重启:是

    		 0 > 300 20

    Measurement noise for the optical flow sensor

    Comment: (when it's reported quality metric is at the minimum set by EKF2_OF_QMIN). The following condition must be met: EKF2_OF_N_MAXN >= EKF2_OF_N_MIN

    		 0.05 > ? 0.5rad/s度/秒
    EKF2_OF_N_MIN (FLOAT)

    Measurement noise for the optical flow sensor when it's reported quality metric is at the maximum

    		 0.05 > ? 0.15rad/s度/秒
    EKF2_OF_POS_X (FLOAT)

    X position of optical flow focal point in body frame (forward axis with origin relative to vehicle centre of gravity)

    		 0.0m米
    EKF2_OF_POS_Y (FLOAT)

    Y position of optical flow focal point in body frame (right axis with origin relative to vehicle centre of gravity)

    		 0.0m米
    EKF2_OF_POS_Z (FLOAT)

    Z position of optical flow focal point in body frame (down axis with origin relative to vehicle centre of gravity)

    		 0.0m米
    EKF2_OF_QMIN (INT32)

    Required EPH to use GPS

    		 2 > 100 3.0m米
    EKF2_REQ_EPV (FLOAT)

    Required EPV to use GPS

    		 2 > 100 5.0m米
    EKF2_REQ_GPS_H (FLOAT)

    Required GPS health time on startup

    Comment: Minimum continuous period without GPS failure required to mark a healthy GPS status. It can be reduced to speed up initialization, but it's recommended to keep this unchanged for a vehicle.

    Reboot required: true

    +

    Required GPS health time on startup

    Comment: Minimum continuous period without GPS failure required to mark a healthy GPS status. It can be reduced to speed up initialization, but it's recommended to keep this unchanged for a vehicle.

    要求重启:是

    		 0.1 > ? 10.0s秒
    EKF2_REQ_HDRIFT (FLOAT)

    Maximum horizontal drift speed to use GPS

    		 0.1 > 1.0 0.1m/s米/秒
    EKF2_REQ_NSATS (INT32)

    Required speed accuracy to use GPS

    		 0.5 > 5.0 0.5m/s米/秒
    EKF2_REQ_VDRIFT (FLOAT)

    Maximum vertical drift speed to use GPS

    		 0.1 > 1.5 0.2m/s米/秒
    EKF2_RNG_AID (INT32)

    Range sensor aid

    Comment: If this parameter is enabled then the estimator will make use of the range finder measurements to estimate it's height even if range sensor is not the primary height source. It will only do so if conditions for range measurement fusion are met. This enables the range finder to be used during low speed and low altitude operation, eg takeoff and landing, where baro interference from rotor wash is excessive and can corrupt EKF state estimates. It is intended to be used where a vertical takeoff and landing is performed, and horizontal flight does not occur until above EKF2_RNG_A_HMAX. If vehicle motion causes repeated switching between the primary height sensor and range finder, an offset in the local position origin can accumulate. Also range finder measurements are less reliable and can experience unexpected errors. For these reasons, if accurate control of height relative to ground is required, it is recommended to use the MPC_ALT_MODE parameter instead, unless baro errors are severe enough to cause problems with landing and takeoff.

    Values:
      +

    Range sensor aid

    Comment: If this parameter is enabled then the estimator will make use of the range finder measurements to estimate it's height even if range sensor is not the primary height source. It will only do so if conditions for range measurement fusion are met. This enables the range finder to be used during low speed and low altitude operation, eg takeoff and landing, where baro interference from rotor wash is excessive and can corrupt EKF state estimates. It is intended to be used where a vertical takeoff and landing is performed, and horizontal flight does not occur until above EKF2_RNG_A_HMAX. If vehicle motion causes repeated switching between the primary height sensor and range finder, an offset in the local position origin can accumulate. Also range finder measurements are less reliable and can experience unexpected errors. For these reasons, if accurate control of height relative to ground is required, it is recommended to use the MPC_ALT_MODE parameter instead, unless baro errors are severe enough to cause problems with landing and takeoff.

    参数对照:
    • 0: Range aid disabled
    • 1: Range aid enabled
      • @@ -2732,7 +2731,7 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi

    Maximum absolute altitude (height above ground level) allowed for range aid mode

    Comment: If the vehicle absolute altitude exceeds this value then the estimator will not fuse range measurements to estimate it's height. This only applies when range aid mode is activated (EKF2_RNG_AID = enabled).

    		 1.0 > 10.0 5.0m米
    EKF2_RNG_A_IGATE (FLOAT)

    Maximum horizontal velocity allowed for range aid mode

    Comment: If the vehicle horizontal speed exceeds this value then the estimator will not fuse range measurements to estimate it's height. This only applies when range aid mode is activated (EKF2_RNG_AID = enabled).

    		 0.1 > 2 1.0m/s米/秒
    EKF2_RNG_DELAY (FLOAT)

    Range finder measurement delay relative to IMU measurements

    Reboot required: true

    +

    Range finder measurement delay relative to IMU measurements

    要求重启:是

    		 0 > 300 5

    Measurement noise for range finder fusion

    		 0.01 > ? 0.1m米
    EKF2_RNG_PITCH (FLOAT)

    X position of range finder origin in body frame (forward axis with origin relative to vehicle centre of gravity)

    		 0.0m米
    EKF2_RNG_POS_Y (FLOAT)

    Y position of range finder origin in body frame (right axis with origin relative to vehicle centre of gravity)

    		 0.0m米
    EKF2_RNG_POS_Z (FLOAT)

    Z position of range finder origin in body frame (down axis with origin relative to vehicle centre of gravity)

    		 0.0m米
    EKF2_RNG_SFE (FLOAT)

    Selector angular threshold

    Comment: EKF2 selector maximum accumulated angular error threshold for comparing gyros. Accumulated angular error larger than this will result in the sensor being declared faulty.

    		 15.0deg度
    EKF2_SEL_IMU_RAT (FLOAT)

    Selector angular threshold

    Comment: EKF2 selector maximum accumulated velocity threshold for comparing accelerometers. Accumulated velocity error larger than this will result in the sensor being declared faulty.

    		 2.0m/s米/秒
    EKF2_TAS_GATE (FLOAT)

    Time constant of the position output prediction and smoothing filter. Controls how tightly the output track the EKF states

    		 0.1 > 1.0 0.25s秒
    EKF2_TAU_VEL (FLOAT)

    Time constant of the velocity output prediction and smoothing filter

    		 ? > 1.0 0.25s秒
    EKF2_TERR_GRAD (FLOAT)

    Terrain altitude process noise - accounts for instability in vehicle height estimate

    		 0.5 > ? 5.0m/s米/秒
    EKF2_WIND_NOISE (FLOAT)
    - + - @@ -2912,7 +2911,7 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi - @@ -2925,7 +2924,7 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi
    NameDescriptionMin > Max (Incr.)DefaultUnits
    参数名参数描述最小最大值 (增量)默认值单位
    EV_TSK_RC_LOSS (INT32)

    RC Loss Alarm

    Comment: Enable/disable event task for RC Loss. When enabled, an alarm tune will be played via buzzer or ESCs, if supported. The alarm will sound after a disarm, if the vehicle was previously armed and only if the vehicle had RC signal at some point. Particularly useful for locating crashed drones without a GPS sensor.

    Reboot required: true

    +

    RC Loss Alarm

    Comment: Enable/disable event task for RC Loss. When enabled, an alarm tune will be played via buzzer or ESCs, if supported. The alarm will sound after a disarm, if the vehicle was previously armed and only if the vehicle had RC signal at some point. Particularly useful for locating crashed drones without a GPS sensor.

    要求重启:是

    		 Disabled (0)
    EV_TSK_STAT_DIS (INT32)

    Status Display

    Comment: Enable/disable event task for displaying the vehicle status using arm-mounted LEDs. When enabled and if the vehicle supports it, LEDs will flash indicating various vehicle status changes. Currently PX4 has not implemented any specific status events. -

    Reboot required: true

    +

    Status Display

    Comment: Enable/disable event task for displaying the vehicle status using arm-mounted LEDs. When enabled and if the vehicle supports it, LEDs will flash indicating various vehicle status changes. Currently PX4 has not implemented any specific status events. -

    要求重启:是

    		 Disabled (0)
    - + @@ -2933,25 +2932,25 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi - + - + - + - - + - + @@ -3078,18 +3077,18 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi - + - + - + @@ -3127,7 +3126,7 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi - + @@ -3148,7 +3147,7 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi - + @@ -3197,7 +3196,7 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi - + @@ -3211,7 +3210,7 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi - + @@ -3297,7 +3296,7 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi
    NameDescriptionMin > Max (Incr.)DefaultUnits
    参数名参数描述最小最大值 (增量)默认值单位

    Acro body x max rate

    Comment: This is the rate the controller is trying to achieve if the user applies full roll stick input in acro mode.

    		 45 > 720 90deg度
    FW_ACRO_Y_MAX (FLOAT)

    Acro body y max rate

    Comment: This is the body y rate the controller is trying to achieve if the user applies full pitch stick input in acro mode.

    		 45 > 720 90deg度
    FW_ACRO_Z_MAX (FLOAT)

    Acro body z max rate

    Comment: This is the body z rate the controller is trying to achieve if the user applies full yaw stick input in acro mode.

    		 10 > 180 45deg度
    FW_ARSP_MODE (INT32)

    Airspeed mode

    Comment: For small wings or VTOL without airspeed sensor this parameter can be used to enable flying without an airspeed reading

    Values:
      +

    Airspeed mode

    Comment: For small wings or VTOL without airspeed sensor this parameter can be used to enable flying without an airspeed reading

    参数对照:
    • 0: Normal (use airspeed if available)
    • 1: Airspeed disabled
      • @@ -3064,11 +3063,11 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi

    Max manual pitch

    Comment: Max pitch for manual control in attitude stabilized mode

    		 0.0 > 90.0 (0.5) 45.0deg度
    FW_MAN_P_SC (FLOAT)

    Manual pitch scale

    Comment: Scale factor applied to the desired pitch actuator command in full manual mode. This parameter allows to adjust the throws of the control surfaces.

    Manual pitch scale

    Comment: Scale factor applied to the desired pitch actuator command in full manual mode. 此参数允许调整控制舵偏的偏转。

    		 0.0 > ? (0.01) 1.0 norm

    Max manual roll

    Comment: Max roll for manual control in attitude stabilized mode

    		 0.0 > 90.0 (0.5) 45.0deg度
    FW_MAN_R_SC (FLOAT)

    Manual roll scale

    Comment: Scale factor applied to the desired roll actuator command in full manual mode. This parameter allows to adjust the throws of the control surfaces.

    Manual roll scale

    Comment: Scale factor applied to the desired roll actuator command in full manual mode. 此参数允许调整控制舵偏的偏转。

    		 0.0 > 1.0 (0.01) 1.0 norm
    FW_MAN_Y_SC (FLOAT)

    Manual yaw scale

    Comment: Scale factor applied to the desired yaw actuator command in full manual mode. This parameter allows to adjust the throws of the control surfaces.

    Manual yaw scale

    Comment: Scale factor applied to the desired yaw actuator command in full manual mode. 此参数允许调整控制舵偏的偏转。

    		 0.0 > ? (0.01) 1.0 norm

    Pitch setpoint offset

    Comment: An airframe specific offset of the pitch setpoint in degrees, the value is added to the pitch setpoint and should correspond to the typical cruise speed of the airframe.

    		 -90.0 > 90.0 (0.5) 0.0deg度
    FW_P_RMAX_NEG (FLOAT)

    Attitude pitch time constant

    Comment: This defines the latency between a pitch step input and the achieved setpoint (inverse to a P gain). Half a second is a good start value and fits for most average systems. Smaller systems may require smaller values, but as this will wear out servos faster, the value should only be decreased as needed.

    		 0.2 > 1.0 (0.05) 0.4s秒
    FW_RATT_TH (FLOAT)

    Roll setpoint offset

    Comment: An airframe specific offset of the roll setpoint in degrees, the value is added to the roll setpoint and should correspond to the typical cruise speed of the airframe.

    		 -90.0 > 90.0 (0.5) 0.0deg度
    FW_R_RMAX (FLOAT)

    Attitude Roll Time Constant

    Comment: This defines the latency between a roll step input and the achieved setpoint (inverse to a P gain). Half a second is a good start value and fits for most average systems. Smaller systems may require smaller values, but as this will wear out servos faster, the value should only be decreased as needed.

    		 0.4 > 1.0 (0.05) 0.4s秒
    FW_WR_FF (FLOAT)
    - + @@ -3305,7 +3304,7 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi - + @@ -3319,7 +3318,7 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi - + @@ -3330,7 +3329,7 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi - + @@ -3340,7 +3339,7 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi - + @@ -3351,39 +3350,39 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi - + - + - + - + - - + - + @@ -3397,7 +3396,7 @@ Set to 0 to disable heading hold

    - + @@ -3408,7 +3407,7 @@ Set to 0 to disable heading hold

    - - + - + - + @@ -3455,7 +3454,7 @@ Set to 0 to disable heading hold

    - + @@ -3469,14 +3468,14 @@ Set to 0 to disable heading hold

    - + - + @@ -3495,7 +3494,7 @@ Set to 0 to disable heading hold

    NameDescriptionMin > Max (Incr.)DefaultUnits
    参数名参数描述最小最大值 (增量)默认值单位

    Climbout Altitude difference

    Comment: If the altitude error exceeds this parameter, the system will climb out with maximum throttle and minimum airspeed until it is closer than this distance to the desired altitude. Mostly used for takeoff waypoints / modes. Set to 0 to disable climbout mode (not recommended).

    		 0.0 > 150.0 (0.5) 10.0m米
    FW_L1_DAMPING (FLOAT)

    L1 period

    Comment: This is the L1 distance and defines the tracking point ahead of the aircraft its following. A value of 18-25 meters works for most aircraft. Shorten slowly during tuning until response is sharp without oscillation.

    		 12.0 > 50.0 (0.5) 20.0m米
    FW_L1_R_SLEW_MAX (FLOAT)
    FW_LND_AIRSPD_SC (FLOAT)

    Min. airspeed scaling factor for landing

    Comment: Multiplying this factor with the minimum airspeed of the plane gives the target airspeed the landing approach. FW_AIRSPD_MIN * FW_LND_AIRSPD_SC

    起飞时最小 airspeed scaling factor for landing

    Comment: Multiplying this factor with the minimum airspeed of the plane gives the target airspeed the landing approach. FW_AIRSPD_MIN * FW_LND_AIRSPD_SC

    		 1.0 > 1.5 (0.01) 1.3 norm

    Landing slope angle

    		 1.0 > 15.0 (0.5) 5.0deg度
    FW_LND_EARLYCFG (INT32)
    FW_LND_FLALT (FLOAT)

    Landing flare altitude (relative to landing altitude)

    着陆 flare 高度 (相对于着陆高度)

    		 0.0 > 25.0 (0.5) 3.0m米
    FW_LND_FL_PMAX (FLOAT)

    Flare, maximum pitch

    Comment: Maximum pitch during flare, a positive sign means nose up Applied once FW_LND_FLALT is reached

    		 0 > 45.0 (0.5) 15.0deg度
    FW_LND_FL_PMIN (FLOAT)

    Flare, minimum pitch

    Comment: Minimum pitch during flare, a positive sign means nose up Applied once FW_LND_FLALT is reached

    		 0 > 15.0 (0.5) 2.5deg度
    FW_LND_HHDIST (FLOAT)

    Landing heading hold horizontal distance. +

    着陆航向保持水平距离. Set to 0 to disable heading hold

    		 0 > 30.0 (0.5) 15.0m米
    FW_LND_HVIRT (FLOAT)

    		1.0 > 15.0 (0.5) 10.0m米
    FW_LND_THRTC_SC (FLOAT)

    Landing throttle limit altitude (relative landing altitude)

    Comment: Default of -1.0 lets the system default to applying throttle limiting at 2/3 of the flare altitude.

    		 -1.0 > 30.0 (0.5) -1.0m米
    FW_LND_USETER (INT32)
    FW_POSCTL_INV_ST (INT32)

    RC stick mapping fixed-wing

    Comment: Set RC/joystick configuration for fixed-wing position and altitude controlled flight.

    Values:
      +

    RC stick mapping fixed-wing

    Comment: Set RC/joystick configuration for fixed-wing position and altitude controlled flight.

    参数对照:
    • 0: Normal stick configuration (airspeed on throttle stick, altitude on pitch stick)
    • 1: Alternative stick configuration (altitude on throttle stick, airspeed on pitch stick)
      • @@ -3423,21 +3422,21 @@ Set to 0 to disable heading hold

    Positive pitch limit

    Comment: The maximum positive pitch the controller will output.

    		 0.0 > 60.0 (0.5) 45.0deg度
    FW_P_LIM_MIN (FLOAT)

    Negative pitch limit

    Comment: The minimum negative pitch the controller will output.

    		 -60.0 > 0.0 (0.5) -45.0deg度
    FW_R_LIM (FLOAT)

    Controller roll limit

    Comment: The maximum roll the controller will output.

    		 35.0 > 65.0 (0.5) 50.0deg度
    FW_THR_ALT_SCL (FLOAT)
    FW_THR_IDLE (FLOAT)

    Idle throttle

    Comment: This is the minimum throttle while on the ground For aircraft with internal combustion engine this parameter should be set above desired idle rpm.

    怠速油门

    Comment: This is the minimum throttle while on the ground For aircraft with internal combustion engine this parameter should be set above desired idle rpm.

    		 0.0 > 0.4 (0.01) 0.15 norm
    FW_THR_MAX (FLOAT)

    Throttle limit max

    Comment: This is the maximum throttle % that can be used by the controller. For overpowered aircraft, this should be reduced to a value that provides sufficient thrust to climb at the maximum pitch angle PTCH_MAX.

    油门最大值

    Comment: This is the maximum throttle % that can be used by the controller. For overpowered aircraft, this should be reduced to a value that provides sufficient thrust to climb at the maximum pitch angle PTCH_MAX.

    		 0.0 > 1.0 (0.01) 1.0 norm
    FW_THR_MIN (FLOAT)

    Throttle limit min

    Comment: This is the minimum throttle % that can be used by the controller. For electric aircraft this will normally be set to zero, but can be set to a small non-zero value if a folding prop is fitted to prevent the prop from folding and unfolding repeatedly in-flight or to provide some aerodynamic drag from a turning prop to improve the descent rate. For aircraft with internal combustion engine this parameter should be set for desired idle rpm.

    油门最小值

    Comment: This is the minimum throttle % that can be used by the controller. For electric aircraft this will normally be set to zero, but can be set to a small non-zero value if a folding prop is fitted to prevent the prop from folding and unfolding repeatedly in-flight or to provide some aerodynamic drag from a turning prop to improve the descent rate. For aircraft with internal combustion engine this parameter should be set for desired idle rpm.

    		 0.0 > 1.0 (0.01) 0.0 norm
    - + @@ -3517,21 +3516,21 @@ Set to 0 to disable heading hold

    - + - + - +
    NameDescriptionMin > Max (Incr.)DefaultUnits
    参数名参数描述最小最大值 (增量)默认值单位

    Motor delay

    Comment: Delay between starting attitude control and powering up the throttle (giving throttle control to the controller) Before this timespan is up the throttle will be set to FW_THR_IDLE, set to 0 to deactivate

    		 0.0 > 10.0 (0.5) 0.0s秒
    LAUN_CAT_PMAX (FLOAT)

    Maximum pitch before the throttle is powered up (during motor delay phase)

    Comment: This is an extra limit for the maximum pitch which is imposed in the phase before the throttle turns on. This allows to limit the maximum pitch angle during a bungee launch (make the launch less steep).

    		 0.0 > 45.0 (0.5) 30.0deg度
    LAUN_CAT_T (FLOAT)

    Catapult time threshold

    Comment: LAUN_CAT_A for LAUN_CAT_T serves as threshold to trigger launch detection.

    		 0.0 > 5.0 (0.05) 0.05s秒
    @@ -3540,7 +3539,7 @@ Set to 0 to disable heading hold

    - + @@ -3548,35 +3547,35 @@ Set to 0 to disable heading hold

    - + - + - + - + - + @@ -3618,14 +3617,14 @@ Set to 0 to disable heading hold

    - + - + @@ -3639,7 +3638,7 @@ Set to 0 to disable heading hold

    - + @@ -3653,7 +3652,7 @@ Set to 0 to disable heading hold

    - + @@ -3667,7 +3666,7 @@ Set to 0 to disable heading hold

    - + @@ -3678,19 +3677,19 @@ Set to 0 to disable heading hold

    NameDescriptionMin > Max (Incr.)DefaultUnits
    参数名参数描述最小最大值 (增量)默认值单位

    Maximum Airspeed

    Comment: If the airspeed is above this value, the TECS controller will try to decrease airspeed more aggressively.

    		 0.0 > 40 (0.5) 20.0m/s米/秒
    FW_AIRSPD_MIN (FLOAT)

    Minimum Airspeed

    Comment: If the airspeed falls below this value, the TECS controller will try to increase airspeed more aggressively.

    		 0.0 > 40 (0.5) 10.0m/s米/秒
    FW_AIRSPD_TRIM (FLOAT)

    Cruise Airspeed

    Comment: The fixed wing controller tries to fly at this airspeed.

    		 0.0 > 40 (0.5) 15.0m/s米/秒
    FW_GND_SPD_MIN (FLOAT)

    Minimum groundspeed

    Comment: The controller will increase the commanded airspeed to maintain this minimum groundspeed to the next waypoint.

    		 0.0 > 40 (0.5) 5.0m/s米/秒
    FW_T_CLMB_MAX (FLOAT)

    Maximum climb rate

    Comment: This is the best climb rate that the aircraft can achieve with the throttle set to THR_MAX and the airspeed set to the default value. For electric aircraft make sure this number can be achieved towards the end of flight when the battery voltage has reduced. The setting of this parameter can be checked by commanding a positive altitude change of 100m in loiter, RTL or guided mode. If the throttle required to climb is close to THR_MAX and the aircraft is maintaining airspeed, then this parameter is set correctly. If the airspeed starts to reduce, then the parameter is set to high, and if the throttle demand required to climb and maintain speed is noticeably less than FW_THR_MAX, then either FW_T_CLMB_MAX should be increased or FW_THR_MAX reduced.

    		 1.0 > 15.0 (0.5) 5.0m/s米/秒
    FW_T_HRATE_FF (FLOAT)

    Maximum descent rate

    Comment: This sets the maximum descent rate that the controller will use. If this value is too large, the aircraft can over-speed on descent. This should be set to a value that can be achieved without exceeding the lower pitch angle limit and without over-speeding the aircraft.

    		 1.0 > 15.0 (0.5) 5.0m/s米/秒
    FW_T_SINK_MIN (FLOAT)

    Minimum descent rate

    Comment: This is the sink rate of the aircraft with the throttle set to THR_MIN and flown at the same airspeed as used to measure FW_T_CLMB_MAX.

    		 1.0 > 5.0 (0.5) 2.0m/s米/秒
    FW_T_SPDWEIGHT (FLOAT)

    Complementary filter "omega" parameter for speed

    Comment: This is the cross-over frequency (in radians/second) of the complementary filter used to fuse longitudinal acceleration and airspeed to obtain an improved airspeed estimate. Increasing this frequency weights the solution more towards use of the airspeed sensor, whilst reducing it weights the solution more towards use of the accelerometer data.

    		 1.0 > 10.0 (0.5) 2.0rad/s度/秒
    FW_T_SRATE_P (FLOAT)

    TECS Throttle time constant

    Comment: This is the time constant of the TECS throttle control algorithm (in seconds). Smaller values make it faster to respond, larger values make it slower to respond.

    		 1.0 > 10.0 (0.5) 8.0s秒
    FW_T_THR_DAMP (FLOAT)

    TECS time constant

    Comment: This is the time constant of the TECS control algorithm (in seconds). Smaller values make it faster to respond, larger values make it slower to respond.

    		 1.0 > 10.0 (0.5) 5.0s秒
    FW_T_VERT_ACC (FLOAT)
    -## Failure Detector +## 故障检测器 - + @@ -3699,7 +3698,7 @@ Timeout for receiving an acknowledgement from the ESCs is 0.3s, if no feedback i @@ -3717,28 +3716,28 @@ automatic trigger system (ATS)

    Comment: External ATS is r

    - + - + - + - +
    NameDescriptionMin > Max (Incr.)DefaultUnits
    参数名参数描述最小最大值 (增量)默认值单位
    FD_ESCS_EN (INT32)

    Enable checks on ESCs that report their arming state. If enabled, failure detector will verify that all the ESCs have successfully armed when the vehicle has transitioned to the armed state. -Timeout for receiving an acknowledgement from the ESCs is 0.3s, if no feedback is received the failure detector will auto disarm the vehicle

    Reboot required: true

    +Timeout for receiving an acknowledgement from the ESCs is 0.3s, if no feedback is received the failure detector will auto disarm the vehicle

    要求重启:是

    		 Enabled (1)
    FD_EXT_ATS_EN (INT32)

    Enable PWM input on AUX5 or MAIN5 (depending on board) for engaging failsafe from an external -automatic trigger system (ATS)

    Comment: External ATS is required by ASTM F3322-18.

    Reboot required: true

    +automatic trigger system (ATS)

    Comment: External ATS is required by ASTM F3322-18.

    要求重启:是

    		 Disabled (0)

    FailureDetector Max Pitch

    Comment: Maximum pitch angle before FailureDetector triggers the attitude_failure flag. The flag triggers flight termination (if @CBRK_FLIGHTTERM = 0), which sets outputs to their failsafe values. On takeoff the flag triggers lockdown (irrespective of @CBRK_FLIGHTTERM), which disarms motors but does not set outputs to failsafe values. Setting this parameter to 0 disables the check

    		 60 > 180 60deg度
    FD_FAIL_P_TTRI (FLOAT)

    Pitch failure trigger time

    Comment: Seconds (decimal) that pitch has to exceed FD_FAIL_P before being considered as a failure.

    		 0.02 > 5 0.3s秒
    FD_FAIL_R (INT32)

    FailureDetector Max Roll

    Comment: Maximum roll angle before FailureDetector triggers the attitude_failure flag. The flag triggers flight termination (if @CBRK_FLIGHTTERM = 0), which sets outputs to their failsafe values. On takeoff the flag triggers lockdown (irrespective of @CBRK_FLIGHTTERM), which disarms motors but does not set outputs to failsafe values. Setting this parameter to 0 disables the check

    		 60 > 180 60deg度
    FD_FAIL_R_TTRI (FLOAT)

    Roll failure trigger time

    Comment: Seconds (decimal) that roll has to exceed FD_FAIL_R before being considered as a failure.

    		 0.02 > 5 0.3s秒
    @@ -3747,7 +3746,7 @@ automatic trigger system (ATS)

    Comment: External ATS is r - + @@ -3755,7 +3754,7 @@ automatic trigger system (ATS)

    Comment: External ATS is r

    - + @@ -3778,7 +3777,7 @@ but also ignore less noise

    - +
    NameDescriptionMin > Max (Incr.)DefaultUnits
    参数名参数描述最小最大值 (增量)默认值单位

    Distance to follow target from

    Comment: The distance in meters to follow the target at

    		 1.0 > ? 8.0m米
    NAV_FT_FS (INT32)

    Minimum follow target altitude

    Comment: The minimum height in meters relative to home for following a target

    		 8.0 > ? 8.0m米
    @@ -3787,13 +3786,13 @@ but also ignore less noise

    - + -
  • 300: Radio Controller
    • -

    Reboot required: true

    +

    要求重启:是

    @@ -3821,7 +3820,7 @@ but also ignore less noise

    -
  • 4: Emlid Reach
    • -

    Reboot required: true

    +

    要求重启:是

    @@ -3840,8 +3839,8 @@ but also ignore less noise

    -
  • 300: Radio Controller
    • -

    Reboot required: true

    +

    要求重启:是

    @@ -3869,7 +3868,7 @@ but also ignore less noise

    -
  • 4: Emlid Reach
    • -

    Reboot required: true

    +

    要求重启:是

    @@ -3888,8 +3887,8 @@ but also ignore less noise

    - -
  • 8: airborne with <4g acceleration
    • -

    Reboot required: true

    +

    要求重启:是

    @@ -3919,12 +3918,12 @@ but also ignore less noise

    - @@ -3932,11 +3931,11 @@ but also ignore less noise

    - - +
    NameDescriptionMin > Max (Incr.)DefaultUnits
    参数名参数描述最小最大值 (增量)默认值单位
    GPS_1_CONFIG (INT32)

    Serial Configuration for Main GPS

    Comment: Configure on which serial port to run Main GPS.

    Values:
      -
    • 0: Disabled
      • +

    Serial Configuration for Main GPS

    Comment: Configure on which serial port to run Main GPS.

    参数对照:
      +
    • 0:禁用相机反馈
    • 6: UART 6
      • @@ -3813,7 +3812,7 @@ but also ignore less noise

    		 201
    GPS_1_PROTOCOL (INT32)

    Protocol for Main GPS

    Comment: Select the GPS protocol over serial. Auto-detection will probe all protocols, and thus is a bit slower.

    Values:
      +

    Protocol for Main GPS

    Comment: Select the GPS protocol over serial. Auto-detection will probe all protocols, and thus is a bit slower.

    参数对照:
    • 0: Auto detect
    • 1: u-blox
      • @@ -3832,7 +3831,7 @@ but also ignore less noise

    		 0 > 4 1
    GPS_2_CONFIG (INT32)

    Serial Configuration for Secondary GPS

    Comment: Configure on which serial port to run Secondary GPS.

    Values:
      -
    • 0: Disabled
      • +

    Serial Configuration for Secondary GPS

    Comment: Configure on which serial port to run Secondary GPS.

    参数对照:
      +
    • 0:禁用相机反馈
    • 6: UART 6
      • @@ -3861,7 +3860,7 @@ but also ignore less noise

    		 0
    GPS_2_PROTOCOL (INT32)

    Protocol for Secondary GPS

    Comment: Select the GPS protocol over serial. Auto-detection will probe all protocols, and thus is a bit slower.

    Values:
      +

    Protocol for Secondary GPS

    Comment: Select the GPS protocol over serial. Auto-detection will probe all protocols, and thus is a bit slower.

    参数对照:
    • 0: Auto detect
    • 1: u-blox
      • @@ -3880,7 +3879,7 @@ but also ignore less noise

    		 0 > 4 1
    GPS_DUMP_COMM (INT32)

    Dump GPS communication to a file

    Comment: If this is set to 1, all GPS communication data will be published via uORB, and written to the log file as gps_dump message.

    Values:
      -
    • 0: Disable
      • +

    Dump GPS communication to a file

    Comment: If this is set to 1, all GPS communication data will be published via uORB, and written to the log file as gps_dump message.

    参数对照:
      +
    • 0:禁用相机触发功能
    • 1: Enable
    @@ -3900,7 +3899,7 @@ but also ignore less noise
    GPS_UBX_DYNMODEL (INT32)

    u-blox GPS dynamic platform model

    Comment: u-blox receivers support different dynamic platform models to adjust the navigation engine to the expected application environment.

    Values:
      +

    u-blox GPS dynamic platform model

    Comment: u-blox receivers support different dynamic platform models to adjust the navigation engine to the expected application environment.

    参数对照:
    • 2: stationary
    • 4: automotive
      • @@ -3911,7 +3910,7 @@ but also ignore less noise

    		 0 > 9 7
    GPS_UBX_MODE (INT32)

    u-blox GPS Mode

    Comment: Select the u-blox configuration setup. Most setups will use the default, including RTK and dual GPS without heading. The Heading mode requires 2 F9P devices to be attached. The main GPS will act as rover and output heading information, whereas the secondary will act as moving base, sending RTCM on UART2 to the rover GPS. RTK is still possible with this setup.

    Values:
      +

    u-blox GPS Mode

    Comment: Select the u-blox configuration setup. Most setups will use the default, including RTK and dual GPS without heading. The Heading mode requires 2 F9P devices to be attached. The main GPS will act as rover and output heading information, whereas the secondary will act as moving base, sending RTCM on UART2 to the rover GPS. RTK is still possible with this setup.

    参数对照:
    • 0: Default
    • 1: Heading
    -

    Reboot required: true

    +

    要求重启:是

    		 0 > 1 0
    GPS_YAW_OFFSET (FLOAT)

    Heading/Yaw offset for dual antenna GPS

    Comment: Heading offset angle for dual antenna GPS setups that support heading estimation. (currently only for the Trimble MB-Two). Set this to 0 if the antennas are parallel to the forward-facing direction of the vehicle and the first antenna is in front. The offset angle increases counterclockwise. Set this to 90 if the first antenna is placed on the right side and the second on the left side of the vehicle.

    Reboot required: true

    +

    Heading/Yaw offset for dual antenna GPS

    Comment: Heading offset angle for dual antenna GPS setups that support heading estimation. (currently only for the Trimble MB-Two). Set this to 0 if the antennas are parallel to the forward-facing direction of the vehicle and the first antenna is in front. The offset angle increases counterclockwise. Set this to 90 if the first antenna is placed on the right side and the second on the left side of the vehicle.

    要求重启:是

    		 0 > 360 0.deg度
    @@ -3945,29 +3944,29 @@ but also ignore less noise

    - + - + - + - + - + @@ -3983,23 +3982,23 @@ but also ignore less noise

    NameDescriptionMin > Max (Incr.)DefaultUnits
    参数名参数描述最小最大值 (增量)默认值单位
    NAV_GPSF_LT (FLOAT)

    Loiter time

    Comment: The time in seconds the system should do open loop loiter and wait for GPS recovery before it goes into flight termination. Set to 0 to disable.

    Loiter time

    Comment: The time in seconds the system should do open loop loiter and wait for GPS recovery before it goes into flight termination. 设置为 0 以禁用。

    		 0.0 > 3600.0 (1) 0.0s秒
    NAV_GPSF_P (FLOAT)

    Fixed pitch angle

    Comment: Pitch in degrees during the open loop loiter

    		 -30.0 > 30.0 (0.5) 0.0deg度
    NAV_GPSF_R (FLOAT)

    Fixed bank angle

    Comment: Roll in degrees during the loiter

    		 0.0 > 30.0 (0.5) 15.0deg度
    NAV_GPSF_TR (FLOAT)
    - + - @@ -4008,7 +4007,7 @@ but also ignore less noise

    - - + @@ -4030,18 +4029,18 @@ but also ignore less noise

    - + - + -
    NameDescriptionMin > Max (Incr.)DefaultUnits
    参数名参数描述最小最大值 (增量)默认值单位
    GF_ACTION (INT32)

    Geofence violation action

    Comment: Note: Setting this value to 4 enables flight termination, which will kill the vehicle on violation of the fence. Due to the inherent danger of this, this function is disabled using a software circuit breaker, which needs to be reset to 0 to really shut down the system.

    Values:
      -
    • 0: None
      • +

    Geofence violation action

    Comment: Note: Setting this value to 4 enables flight termination, which will kill the vehicle on violation of the fence. Due to the inherent danger of this, this function is disabled using a software circuit breaker, which needs to be reset to 0 to really shut down the system.

    参数对照:
      +
    • 0:无
      • -
    • 1: Warning
      • +
    • 1: 报警
    • 2: Hold mode
      • -
    • 3: Return mode
      • +
    • 3: 返航模式
    • 4: Terminate
      • -
    • 5: Land mode
      • +
    • 5: 降落模式
    		 0 > 5
    GF_ALTMODE (INT32)

    Geofence altitude mode

    Comment: Select which altitude reference should be used 0 = WGS84, 1 = AMSL

    Values:
      +

    地理围栏定高模式

    Comment: Select which altitude reference should be used 0 = WGS84, 1 = AMSL

    参数对照:
    • 0: WGS84
    • 1: AMSL
      • @@ -4020,7 +4019,7 @@ but also ignore less noise
    GF_COUNT (INT32)

    Geofence counter limit

    Comment: Set how many subsequent position measurements outside of the fence are needed before geofence violation is triggered

    地理围栏计数限制

    Comment: Set how many subsequent position measurements outside of the fence are needed before geofence violation is triggered

    		 -1 > 10 (1) -1

    Max horizontal distance in meters

    Comment: Maximum horizontal distance in meters the vehicle can be from home before triggering a geofence action. Disabled if 0.

    		 0 > 10000 (1) 0m米
    GF_MAX_VER_DIST (FLOAT)

    Max vertical distance in meters

    Comment: Maximum vertical distance in meters the vehicle can be from home before triggering a geofence action. Disabled if 0.

    		 0 > 10000 (1) 0m米
    GF_SOURCE (INT32)

    Geofence source

    Comment: Select which position source should be used. Selecting GPS instead of global position makes sure that there is no dependence on the position estimator 0 = global position, 1 = GPS

    Values:
      +

    地理围栏来源

    Comment: Select which position source should be used. Selecting GPS instead of global position makes sure that there is no dependence on the position estimator 0 = global position, 1 = GPS

    参数对照:
    • 0: GPOS
    • 1: GPS
      • @@ -4058,7 +4057,7 @@ but also ignore less noise
    - + @@ -4089,13 +4088,13 @@ but also ignore less noise

    NameDescriptionMin > Max (Incr.)DefaultUnits
    参数名参数描述最小最大值 (增量)默认值单位
    - + -
  • 300: Radio Controller
    • -

    Reboot required: true

    +

    要求重启:是

    @@ -4126,14 +4125,14 @@ but also ignore less noise

    - + - + @@ -4150,7 +4149,7 @@ Value 0 turns the functionality off

    NameDescriptionMin > Max (Incr.)DefaultUnits
    参数名参数描述最小最大值 (增量)默认值单位
    ISBD_CONFIG (INT32)

    Serial Configuration for Iridium (with MAVLink)

    Comment: Configure on which serial port to run Iridium (with MAVLink).

    Values:
      -
    • 0: Disabled
      • +

    Serial Configuration for Iridium (with MAVLink)

    Comment: Configure on which serial port to run Iridium (with MAVLink).

    参数对照:
      +
    • 0:禁用相机反馈
    • 6: UART 6
      • @@ -4115,7 +4114,7 @@ but also ignore less noise

    		 0

    Satellite radio read interval. Only required to be nonzero if data is not sent using a ring call

    		 0 > 5000 0s秒
    ISBD_SBD_TIMEOUT (INT32)

    Iridium SBD session timeout

    		 0 > 300 60s秒
    ISBD_STACK_TIME (INT32)
    - + @@ -4158,21 +4157,21 @@ Value 0 turns the functionality off

    - + - + - + @@ -4186,7 +4185,7 @@ Value 0 turns the functionality off

    - + @@ -4200,14 +4199,14 @@ Value 0 turns the functionality off

    - + - + @@ -4230,7 +4229,7 @@ Value 0 turns the functionality off

    NameDescriptionMin > Max (Incr.)DefaultUnits
    参数名参数描述最小最大值 (增量)默认值单位

    Airspeed max

    Comment: Maximum airspeed allowed in the landed state (m/s)

    		 4 > 20 8.00m/s米/秒
    LNDFW_VEL_XY_MAX (FLOAT)

    Fixedwing max horizontal velocity

    Comment: Maximum horizontal velocity allowed in the landed state (m/s)

    		 0.5 > 10 5.0m/s米/秒
    LNDFW_VEL_Z_MAX (FLOAT)

    Fixedwing max climb rate

    Comment: Maximum vertical velocity allowed in the landed state (m/s up and down)

    		 0.1 > 20 3.0m/s米/秒
    LNDFW_XYACC_MAX (FLOAT)

    Maximum altitude for multicopters

    Comment: The system will obey this limit as a hard altitude limit. This setting will be consolidated with the GF_MAX_VER_DIST parameter. A negative value indicates no altitude limitation.

    		 -1 > 10000 -1.0m米
    LNDMC_ROT_MAX (FLOAT)

    Multicopter max horizontal velocity

    Comment: Maximum horizontal velocity allowed in the landed state (m/s)

    		 1.5m/s米/秒
    LNDMC_Z_VEL_MAX (FLOAT)

    Multicopter max climb rate

    Comment: Maximum vertical velocity allowed in the landed state (m/s up and down)

    		 0.50m/s米/秒
    LND_FLIGHT_T_HI (INT32)
    - + @@ -4249,7 +4248,7 @@ Value 0 turns the functionality off

    -
    NameDescriptionMin > Max (Incr.)DefaultUnits
    参数名参数描述最小最大值 (增量)默认值单位
    LTEST_MODE (INT32)

    Landing target mode

    Comment: Configure the mode of the landing target. Depending on the mode, the landing target observations are used differently to aid position estimation. Mode Moving: The landing target may be moving around while in the field of view of the vehicle. Landing target measurements are not used to aid positioning. Mode Stationary: The landing target is stationary. Measured velocity w.r.t. the landing target is used to aid velocity estimation.

    Values:
      +

    Landing target mode

    Comment: Configure the mode of the landing target. Depending on the mode, the landing target observations are used differently to aid position estimation. Mode Moving: The landing target may be moving around while in the field of view of the vehicle. Landing target measurements are not used to aid positioning. Mode Stationary: The landing target is stationary. Measured velocity w.r.t. the landing target is used to aid velocity estimation.

    参数对照:
    • 0: Moving
    • 1: Stationary
      • @@ -4294,7 +4293,7 @@ Value 0 turns the functionality off
    - + @@ -4316,21 +4315,21 @@ Value 0 turns the functionality off

    - + - + - + @@ -4352,7 +4351,7 @@ by initializing the estimator to the LPE_LAT/LON parameters when global informat - + @@ -4380,7 +4379,7 @@ by initializing the estimator to the LPE_LAT/LON parameters when global informat - + @@ -4403,7 +4402,7 @@ by initializing the estimator to the LPE_LAT/LON parameters when global informat - + @@ -4411,70 +4410,70 @@ by initializing the estimator to the LPE_LAT/LON parameters when global informat EPV used if greater than this value

    - + - + - + - + - + - + - + - + - + - + @@ -4516,14 +4515,14 @@ EPV used if greater than this value

    - + - + @@ -4538,35 +4537,35 @@ Used to calculate increased terrain random walk nosie due to movement

    Vicon position standard deviation

    - + - + - + - + - + @@ -4580,7 +4579,7 @@ Used to calculate increased terrain random walk nosie due to movement

    Required z standard deviation to publish altitude/ terrain

    - +
    NameDescriptionMin > Max (Incr.)DefaultUnits
    参数名参数描述最小最大值 (增量)默认值单位

    Barometric presssure altitude z standard deviation

    		 0.01 > 100 3.0m米
    LPE_EPH_MAX (FLOAT)

    Max EPH allowed for GPS initialization

    		 1.0 > 5.0 3.0m米
    LPE_EPV_MAX (FLOAT)

    Max EPV allowed for GPS initialization

    		 1.0 > 5.0 5.0m米
    LPE_FAKE_ORIGIN (INT32)

    Optical flow z offset from center

    		 -1 > 1 0.0m米
    LPE_FLW_QMIN (INT32)

    Optical flow scale

    		 0.1 > 10.0 1.3m米
    LPE_FUSION (INT32)

    GPS delay compensaton

    		 0 > 0.4 0.29s秒
    LPE_GPS_VXY (FLOAT) 0.01 > 2 0.25m/s2\] Velocity NED \(m/s\)
    LPE_GPS_VZ (FLOAT)

    GPS z velocity standard deviation

    		 0.01 > 2 0.25m/s2\] Velocity NED \(m/s\)
    LPE_GPS_XY (FLOAT)

    Minimum GPS xy standard deviation, uses reported EPH if greater

    		 0.01 > 5 1.0m米
    LPE_GPS_Z (FLOAT)

    Minimum GPS z standard deviation, uses reported EPV if greater

    		 0.01 > 200 3.0m米
    LPE_LAND_VXY (FLOAT)

    Land detector xy velocity standard deviation

    		 0.01 > 10.0 0.05m/s米/秒
    LPE_LAND_Z (FLOAT)

    Land detector z standard deviation

    		 0.001 > 10.0 0.03m米
    LPE_LAT (FLOAT)

    Local origin latitude for nav w/o GPS

    		 -90 > 90 47.397742deg度
    LPE_LDR_OFF_Z (FLOAT)

    Lidar z offset from center of vehicle +down

    		 -1 > 1 0.00m米
    LPE_LDR_Z (FLOAT)

    Lidar z standard deviation

    		 0.01 > 1 0.03m米
    LPE_LON (FLOAT)

    Local origin longitude for nav w/o GPS

    		 -180 > 180 8.545594deg度
    LPE_LT_COV (FLOAT)

    Sonar z offset from center of vehicle +down

    		 -1 > 1 0.00m米
    LPE_SNR_Z (FLOAT)

    Sonar z standard deviation

    		 0.01 > 1 0.05m米
    LPE_T_MAX_GRADE (FLOAT) 0.0001 > 1 0.001m米
    LPE_VIS_DELAY (FLOAT)

    Vision delay compensaton

    Comment: Set to zero to enable automatic compensation from measurement timestamps

    		 0 > 0.1 0.1s秒
    LPE_VIS_XY (FLOAT)

    Vision xy standard deviation

    		 0.01 > 1 0.1m米
    LPE_VIS_Z (FLOAT)

    Vision z standard deviation

    		 0.01 > 100 0.5m米
    LPE_VXY_PUB (FLOAT)

    Required velocity xy standard deviation to publish position

    		 0.01 > 1.0 0.3m/s米/秒
    LPE_X_LP (FLOAT) 0.3 > 5.0 1.0m米
    @@ -4589,13 +4588,13 @@ Used to calculate increased terrain random walk nosie due to movement

    - NameDescriptionMin > Max (Incr.)DefaultUnits + 参数名参数描述最小最大值 (增量)默认值单位 MAV_0_CONFIG (INT32) -

    Serial Configuration for MAVLink (instance 0)

    Comment: Configure on which serial port to run MAVLink.

    Values:
      -
    • 0: Disabled
      • +

      Serial Configuration for MAVLink (instance 0)

      Comment: Configure on which serial port to run MAVLink.

      参数对照:
        +
      • 0:禁用相机反馈
      • 6: UART 6
        • @@ -4615,7 +4614,7 @@ Used to calculate increased terrain random walk nosie due to movement

        300: Radio Controller
      -

      Reboot required: true

      +

      要求重启:是

      101 @@ -4631,7 +4630,7 @@ Used to calculate increased terrain random walk nosie due to movement

      MAV_0_MODE (INT32) -

      MAVLink Mode for instance 0

      Comment: The MAVLink Mode defines the set of streamed messages (for example the vehicle's attitude) and their sending rates.

      Values:
        +

        MAVLink Mode for instance 0

        Comment: The MAVLink Mode defines the set of streamed messages (for example the vehicle's attitude) and their sending rates.

        参数对照:
        • 0: Normal
        • 1: Custom
          • @@ -4672,8 +4671,8 @@ Used to calculate increased terrain random walk nosie due to movement

          MAV_1_CONFIG (INT32) -

          Serial Configuration for MAVLink (instance 1)

          Comment: Configure on which serial port to run MAVLink.

          Values:
            -
          • 0: Disabled
            • +

            Serial Configuration for MAVLink (instance 1)

            Comment: Configure on which serial port to run MAVLink.

            参数对照:
              +
            • 0:禁用相机反馈
            • 6: UART 6
              • @@ -4693,7 +4692,7 @@ Used to calculate increased terrain random walk nosie due to movement

              300: Radio Controller
            -

            Reboot required: true

            +

            要求重启:是

            0 @@ -4709,7 +4708,7 @@ Used to calculate increased terrain random walk nosie due to movement

            MAV_1_MODE (INT32) -

            MAVLink Mode for instance 1

            Comment: The MAVLink Mode defines the set of streamed messages (for example the vehicle's attitude) and their sending rates.

            Values:
              +

              MAVLink Mode for instance 1

              Comment: The MAVLink Mode defines the set of streamed messages (for example the vehicle's attitude) and their sending rates.

              参数对照:
              • 0: Normal
              • 1: Custom
                • @@ -4750,8 +4749,8 @@ Used to calculate increased terrain random walk nosie due to movement

                MAV_2_CONFIG (INT32) -

                Serial Configuration for MAVLink (instance 2)

                Comment: Configure on which serial port to run MAVLink.

                Values:
                  -
                • 0: Disabled
                  • +

                  Serial Configuration for MAVLink (instance 2)

                  Comment: Configure on which serial port to run MAVLink.

                  参数对照:
                    +
                  • 0:禁用相机反馈
                  • 6: UART 6
                    • @@ -4771,7 +4770,7 @@ Used to calculate increased terrain random walk nosie due to movement

                    300: Radio Controller
                  -

                  Reboot required: true

                  +

                  要求重启:是

                  0 @@ -4787,7 +4786,7 @@ Used to calculate increased terrain random walk nosie due to movement

                  MAV_2_MODE (INT32) -

                  MAVLink Mode for instance 2

                  Comment: The MAVLink Mode defines the set of streamed messages (for example the vehicle's attitude) and their sending rates.

                  Values:
                    +

                    MAVLink Mode for instance 2

                    Comment: The MAVLink Mode defines the set of streamed messages (for example the vehicle's attitude) and their sending rates.

                    参数对照:
                    • 0: Normal
                    • 1: Custom
                      • @@ -4828,7 +4827,7 @@ Used to calculate increased terrain random walk nosie due to movement

                      MAV_BROADCAST (INT32) -

                      Broadcast heartbeats on local network

                      Comment: This allows a ground control station to automatically find the drone on the local network.

                      Values:
                        +

                        Broadcast heartbeats on local network

                        Comment: This allows a ground control station to automatically find the drone on the local network.

                        参数对照:
                        • 0: Never broadcast
                        • 1: Always broadcast
                          • @@ -4842,7 +4841,7 @@ Used to calculate increased terrain random walk nosie due to movement

                          MAV_COMP_ID (INT32) -

                          MAVLink component ID

                          Reboot required: true

                          +

                          MAVLink component ID

                          要求重启:是

                          1 > 250 1 @@ -4878,7 +4877,7 @@ Used to calculate increased terrain random walk nosie due to movement

                          MAV_PROTO_VER (INT32) -

                          MAVLink protocol version

                          Values:
                            +

                            MAVLink protocol version

                            参数对照:
                            • 0: Default to 1, switch to 2 if GCS sends version 2
                            • 1: Always use version 1
                              • @@ -4895,7 +4894,7 @@ Used to calculate increased terrain random walk nosie due to movement

                              Timeout in seconds for the RADIO_STATUS reports coming in

                              Comment: If the connected radio stops reporting RADIO_STATUS for a certain time, a warning is triggered and, if MAV_X_RADIO_CTL is enabled, the software-flow control is reset.

                              1 > 250 5 - s + 秒 MAV_SIK_RADIO_ID (INT32) @@ -4906,7 +4905,7 @@ Used to calculate increased terrain random walk nosie due to movement

                              MAV_SYS_ID (INT32) -

                              MAVLink system ID

                              Reboot required: true

                              +

                              MAVLink system ID

                              要求重启:是

                              1 > 250 1 @@ -4914,7 +4913,7 @@ Used to calculate increased terrain random walk nosie due to movement

                              MAV_TYPE (INT32) -

                              MAVLink airframe type

                              Values:
                                +

                                MAVLink airframe type

                                参数对照:
                                • 0: Generic micro air vehicle
                                • 1: Fixed wing aircraft
                                  • @@ -4953,9 +4952,9 @@ Used to calculate increased terrain random walk nosie due to movement

                                  18: Onboard companion controller -
                                • 19: Two-rotor VTOL using control surfaces in vertical operation in addition. Tailsitter.
                                  • +
                                • 19: Two-rotor VTOL using control surfaces in vertical operation in addition.
                                  • -
                                • 20: Quad-rotor VTOL using a V-shaped quad config in vertical operation. Tailsitter.
                                  • +
                                • 20: Quad-rotor VTOL using a V-shaped quad config in vertical operation.
                                • 21: Tiltrotor VTOL
                                  • @@ -4990,7 +4989,7 @@ Used to calculate increased terrain random walk nosie due to movement

                                  - NameDescriptionMin > Max (Incr.)DefaultUnits + 参数名参数描述最小最大值 (增量)默认值单位 @@ -5002,12 +5001,12 @@ Used to calculate increased terrain random walk nosie due to movement

                                  -## Mission +## 任务 - + @@ -5019,7 +5018,7 @@ Used to calculate increased terrain random walk nosie due to movement

                                  -

                                  Maximal horizontal distance from home to first waypoint

                                  Comment: Failsafe check to prevent running mission stored from previous flight at a new takeoff location. Set a value of zero or less to disable. The mission will not be started if the current waypoint is more distant than MIS_DIS_1WP from the home position.

                                  - + - + - + -

                                  Take-off altitude

                                  Comment: This is the minimum altitude the system will take off to.

                                  - + @@ -5081,18 +5080,18 @@ Used to calculate increased terrain random walk nosie due to movement

                                  Max yaw error in degrees needed for waypoint heading acceptance

                                  - + - + -

                                  Acceptance Radius

                                  Comment: Default acceptance radius, overridden by acceptance radius of waypoint if set. For fixed wing the L1 turning distance is used for horizontal acceptance.

                                  - + -

                                  FW Altitude Acceptance Radius before a landing

                                  Comment: Altitude acceptance used for the last waypoint before a fixed-wing landing. This is usually smaller than the standard vertical acceptance because close to the ground higher accuracy is required.

                                  - + - + - + - + - -

                                  Set NAV TRAFFIC AVOID RADIUS MANNED

                                  Comment: Defines the Radius where NAV TRAFFIC AVOID is Called For Manned Aviation

                                  - + - +
                                  NameDescriptionMin > Max (Incr.)DefaultUnits
                                  参数名参数描述最小最大值 (增量)默认值单位
                                  COM_TAKEOFF_ACT (INT32)

                                  Action after TAKEOFF has been accepted

                                  Comment: The mode transition after TAKEOFF has completed successfully.

                                  Values:
                                    +

                                  Action after TAKEOFF has been accepted

                                  Comment: The mode transition after TAKEOFF has completed successfully.

                                  参数对照:
                                  • 0: Hold
                                  • 1: Mission (if valid)
                                    • @@ -5034,26 +5033,26 @@ Used to calculate increased terrain random walk nosie due to movement

                                  		 0 > 10000 (100) 900m米
                                  MIS_DIST_WPS (FLOAT)

                                  Maximal horizontal distance between waypoint

                                  Comment: Failsafe check to prevent running missions which are way too big. Set a value of zero or less to disable. The mission will not be started if any distance between two subsequent waypoints is greater than MIS_DIST_WPS.

                                  		 0 > 10000 (100) 900m米
                                  MIS_LTRMIN_ALT (FLOAT)

                                  Minimum Loiter altitude

                                  Comment: This is the minimum altitude the system will always obey. The intent is to stay out of ground effect. set to -1, if there shouldn't be a minimum loiter altitude

                                  		 -1 > 80 (0.5) -1.0m米
                                  MIS_MNT_YAW_CTL (INT32)

                                  Enable yaw control of the mount. (Only affects multicopters and ROI mission items)

                                  Comment: If enabled, yaw commands will be sent to the mount and the vehicle will follow its heading towards the flight direction. If disabled, the vehicle will yaw towards the ROI.

                                  Values:
                                    -
                                  • 0: Disable
                                    • +

                                  Enable yaw control of the mount. (Only affects multicopters and ROI mission items)

                                  Comment: If enabled, yaw commands will be sent to the mount and the vehicle will follow its heading towards the flight direction. If disabled, the vehicle will yaw towards the ROI.

                                  参数对照:
                                    +
                                  • 0:禁用相机触发功能
                                  • 1: Enable
                                  @@ -5067,7 +5066,7 @@ Used to calculate increased terrain random walk nosie due to movement

                                  		 0 > 80 (0.5) 2.5m米
                                  MIS_TAKEOFF_REQ (INT32) 0 > 90 (1) 12.0deg度
                                  MIS_YAW_TMT (FLOAT)

                                  Time in seconds we wait on reaching target heading at a waypoint if it is forced

                                  Comment: If set > 0 it will ignore the target heading for normal waypoint acceptance. If the waypoint forces the heading the timeout will matter. For example on VTOL forwards transition. Mainly useful for VTOLs that have less yaw authority and might not reach target yaw in wind. Disabled by default.

                                  		 -1 > 20 (1) -1.0s秒
                                  MPC_YAW_MODE (INT32)

                                  Yaw mode

                                  Comment: Specifies the heading in Auto.

                                  Values:
                                    +

                                  Yaw mode

                                  Comment: Specifies the heading in Auto.

                                  参数对照:
                                  • 0: towards waypoint
                                  • 1: towards home
                                    • @@ -5113,18 +5112,18 @@ Used to calculate increased terrain random walk nosie due to movement

                                  		 0.05 > 200.0 (0.5) 10.0m米
                                  NAV_DLL_ACT (INT32)

                                  Set data link loss failsafe mode

                                  Comment: The data link loss failsafe will only be entered after a timeout, set by COM_DL_LOSS_T in seconds. Once the timeout occurs the selected action will be executed.

                                  Values:
                                    -
                                  • 0: Disabled
                                    • +

                                  Set data link loss failsafe mode

                                  Comment: The data link loss failsafe will only be entered after a timeout, set by COM_DL_LOSS_T in seconds. Once the timeout occurs the selected action will be executed.

                                  参数对照:
                                    +
                                  • 0:禁用相机反馈
                                  • 1: Hold mode
                                    • -
                                  • 2: Return mode
                                    • +
                                  • 2: 返航模式
                                    • -
                                  • 3: Land mode
                                    • +
                                  • 3: 降落模式
                                  • 5: Terminate
                                    • @@ -5147,39 +5146,39 @@ Used to calculate increased terrain random walk nosie due to movement

                                  		 0.05 > 200.0 5.0m米
                                  NAV_FW_ALT_RAD (FLOAT)

                                  FW Altitude Acceptance Radius

                                  Comment: Acceptance radius for fixedwing altitude.

                                  		 0.05 > 200.0 (0.5) 10.0m米
                                  NAV_LOITER_RAD (FLOAT)

                                  Loiter radius (FW only)

                                  Comment: Default value of loiter radius for missions, Hold mode, Return mode, etc. (fixedwing only).

                                  		 25 > 1000 (0.5) 50.0m米
                                  NAV_MC_ALT_RAD (FLOAT)

                                  MC Altitude Acceptance Radius

                                  Comment: Acceptance radius for multicopter altitude.

                                  		 0.05 > 200.0 (0.5) 0.8m米
                                  NAV_RCL_ACT (INT32)

                                  Set RC loss failsafe mode

                                  Comment: The RC loss failsafe will only be entered after a timeout, set by COM_RC_LOSS_T in seconds. If RC input checks have been disabled by setting the COM_RC_IN_MODE param it will not be triggered.

                                  Values:
                                    -
                                  • 0: Disabled
                                    • +

                                  Set RC loss failsafe mode

                                  Comment: The RC loss failsafe will only be entered after a timeout, set by COM_RC_LOSS_T in seconds. If RC input checks have been disabled by setting the COM_RC_IN_MODE param it will not be triggered.

                                  参数对照:
                                    +
                                  • 0:禁用相机反馈
                                  • 1: Hold mode
                                    • -
                                  • 2: Return mode
                                    • +
                                  • 2: 返航模式
                                    • -
                                  • 3: Land mode
                                    • +
                                  • 3: 降落模式
                                  • 5: Terminate
                                    • @@ -5192,14 +5191,14 @@ Used to calculate increased terrain random walk nosie due to movement
                                  NAV_TRAFF_AVOID (INT32)

                                  Set traffic avoidance mode

                                  Comment: Enabling this will allow the system to respond to transponder data from e.g. ADSB transponders

                                  Values:
                                    -
                                  • 0: Disabled
                                    • +

                                  Set traffic avoidance mode

                                  Comment: Enabling this will allow the system to respond to transponder data from e.g. ADSB transponders

                                  参数对照:
                                    +
                                  • 0:禁用相机反馈
                                    • -
                                  • 1: Warn only
                                    • +
                                  • 1: 只是警告
                                    • -
                                  • 2: Return mode
                                    • +
                                  • 2: 返航模式
                                    • -
                                  • 3: Land mode
                                    • +
                                  • 3: 降落模式
                                  • 4: Position Hold mode
                                  @@ -5213,14 +5212,14 @@ Used to calculate increased terrain random walk nosie due to movement

                                  		 500 > ? 500m米
                                  NAV_TRAFF_A_RADU (FLOAT)

                                  Set NAV TRAFFIC AVOID RADIUS

                                  Comment: Defines the Radius where NAV TRAFFIC AVOID is Called For Unmanned Aviation

                                  		 10 > 500 10m米
                                  @@ -5229,13 +5228,13 @@ Used to calculate increased terrain random walk nosie due to movement

                                  - NameDescriptionMin > Max (Incr.)DefaultUnits + 参数名参数描述最小最大值 (增量)默认值单位 MC_AIRMODE (INT32) -

                                  Multicopter air-mode

                                  Comment: The air-mode enables the mixer to increase the total thrust of the multirotor in order to keep attitude and rate control even at low and high throttle. This function should be disabled during tuning as it will help the controller to diverge if the closed-loop is unstable (i.e. the vehicle is not tuned yet). Enabling air-mode for yaw requires the use of an arming switch.

                                  Values:
                                    -
                                  • 0: Disabled
                                    • +

                                    Multicopter air-mode

                                    Comment: The air-mode enables the mixer to increase the total thrust of the multirotor in order to keep attitude and rate control even at low and high throttle. This function should be disabled during tuning as it will help the controller to diverge if the closed-loop is unstable (i.e. the vehicle is not tuned yet). Enabling air-mode for yaw requires the use of an arming switch.

                                    参数对照:
                                      +
                                    • 0:禁用相机反馈
                                    • 1: Roll/Pitch
                                      • @@ -5248,7 +5247,7 @@ Used to calculate increased terrain random walk nosie due to movement

                                      MOT_ORDERING (INT32) -

                                      Motor Ordering

                                      Comment: Determines the motor ordering. This can be used for example in combination with a 4-in-1 ESC that assumes a motor ordering which is different from PX4. ONLY supported for Quads. When changing this, make sure to test the motor response without props first.

                                      Values:
                                        +

                                        Motor Ordering

                                        Comment: Determines the motor ordering. This can be used for example in combination with a 4-in-1 ESC that assumes a motor ordering which is different from PX4. ONLY supported for Quads. When changing this, make sure to test the motor response without props first.

                                        参数对照:
                                        • 0: PX4
                                        • 1: Betaflight / Cleanflight
                                          • @@ -5265,7 +5264,7 @@ Used to calculate increased terrain random walk nosie due to movement

                                          - NameDescriptionMin > Max (Incr.)DefaultUnits + 参数名参数描述最小最大值 (增量)默认值单位 @@ -5278,8 +5277,8 @@ Does not affect MAVLINK_ROI input

                                          MNT_MAN_PITCH (INT32) -

                                          Auxiliary channel to control pitch (in AUX input or manual mode)

                                          Values:
                                            -
                                          • 0: Disable
                                            • +

                                            Auxiliary channel to control pitch (in AUX input or manual mode)

                                            参数对照:
                                              +
                                            • 0:禁用相机触发功能
                                            • 1: AUX1
                                              • @@ -5300,8 +5299,8 @@ Does not affect MAVLINK_ROI input

                                              MNT_MAN_ROLL (INT32) -

                                              Auxiliary channel to control roll (in AUX input or manual mode)

                                              Values:
                                                -
                                              • 0: Disable
                                                • +

                                                Auxiliary channel to control roll (in AUX input or manual mode)

                                                参数对照:
                                                  +
                                                • 0:禁用相机触发功能
                                                • 1: AUX1
                                                  • @@ -5322,8 +5321,8 @@ Does not affect MAVLINK_ROI input

                                                  MNT_MAN_YAW (INT32) -

                                                  Auxiliary channel to control yaw (in AUX input or manual mode)

                                                  Values:
                                                    -
                                                  • 0: Disable
                                                    • +

                                                    Auxiliary channel to control yaw (in AUX input or manual mode)

                                                    参数对照:
                                                      +
                                                    • 0:禁用相机触发功能
                                                    • 1: AUX1
                                                      • @@ -5358,7 +5357,7 @@ Does not affect MAVLINK_ROI input

                                                      MNT_MODE_IN (INT32) -

                                                      Mount input mode

                                                      Comment: RC uses the AUX input channels (see MNT_MAN_* parameters), MAVLINK_ROI uses the MAV_CMD_DO_SET_ROI Mavlink message, and MAVLINK_DO_MOUNT the MAV_CMD_DO_MOUNT_CONFIGURE and MAV_CMD_DO_MOUNT_CONTROL messages to control a mount.

                                                      Values:
                                                        +

                                                        Mount input mode

                                                        Comment: RC uses the AUX input channels (see MNT_MAN_* parameters), MAVLINK_ROI uses the MAV_CMD_DO_SET_ROI Mavlink message, and MAVLINK_DO_MOUNT the MAV_CMD_DO_MOUNT_CONFIGURE and MAV_CMD_DO_MOUNT_CONTROL messages to control a mount.

                                                        参数对照:
                                                        • -1: DISABLED
                                                        • 0: AUTO
                                                          • @@ -5369,7 +5368,7 @@ Does not affect MAVLINK_ROI input

                                                        • 3: MAVLINK_DO_MOUNT
                                                        -

                                                        Reboot required: true

                                                        +

                                                        要求重启:是

                                                        -1 > 3 -1 @@ -5377,7 +5376,7 @@ Does not affect MAVLINK_ROI input

                                                        MNT_MODE_OUT (INT32) -

                                                        Mount output mode

                                                        Comment: AUX uses the mixer output Control Group #2. MAVLINK uses the MAV_CMD_DO_MOUNT_CONFIGURE and MAV_CMD_DO_MOUNT_CONTROL MavLink messages to control a mount (set MNT_MAV_SYSID & MNT_MAV_COMPID)

                                                        Values:
                                                          +

                                                          Mount output mode

                                                          Comment: AUX uses the mixer output Control Group #2. MAVLINK uses the MAV_CMD_DO_MOUNT_CONFIGURE and MAV_CMD_DO_MOUNT_CONTROL MavLink messages to control a mount (set MNT_MAV_SYSID & MNT_MAV_COMPID)

                                                          参数对照:
                                                          • 0: AUX
                                                          • 1: MAVLINK
                                                            • @@ -5452,7 +5451,7 @@ if required by the gimbal (only in AUX output mode)

                                                            - + @@ -5525,7 +5524,7 @@ if required by the gimbal (only in AUX output mode)

                                                            NameDescriptionMin > Max (Incr.)DefaultUnits
                                                            参数名参数描述最小最大值 (增量)默认值单位
                                                            - + @@ -5533,14 +5532,14 @@ if required by the gimbal (only in AUX output mode)

                                                            - + - + @@ -5554,7 +5553,7 @@ if required by the gimbal (only in AUX output mode)

                                                            - + @@ -5562,7 +5561,7 @@ if required by the gimbal (only in AUX output mode)

                                                            Setting this parameter to 0 disables the filter

                                                            - + @@ -5594,7 +5593,7 @@ Setting this parameter to 0 disables the filter

                                                            - - + - + @@ -5660,21 +5659,21 @@ Setting this parameter to 0 disables the filter

                                                            - + - + - + - + @@ -5682,7 +5681,7 @@ Setting this parameter to 0 disables the filter

                                                            Set the value higher than the otherwise expected maximum to disable any slowdown

                                                            - + @@ -5696,7 +5695,7 @@ Set the value higher than the otherwise expected maximum to disable any slowdown - + @@ -5711,11 +5710,11 @@ Set the value higher than the otherwise expected maximum to disable any slowdown Setting this parameter to 0 disables the filter

                                                            - + - - + - - + - + @@ -5795,7 +5794,7 @@ Setting this parameter to 0 disables the filter

                                                            - + @@ -5818,14 +5817,14 @@ If velocity setpoint larger than MPC_XY_VEL_MAX is set, then the setpoint will be capped to MPC_XY_VEL_MAX

                                                            - + - + @@ -5867,7 +5866,7 @@ the setpoint will be capped to MPC_XY_VEL_MAX

                                                            - + @@ -5916,14 +5915,14 @@ the setpoint will be capped to MPC_XY_VEL_MAX

                                                            - + - + @@ -5944,7 +5943,7 @@ the setpoint will be capped to MPC_XY_VEL_MAX

                                                            - + @@ -5960,7 +5959,7 @@ the setpoint will be capped to MPC_XY_VEL_MAX

                                                            NameDescriptionMin > Max (Incr.)DefaultUnits
                                                            参数名参数描述最小最大值 (增量)默认值单位

                                                            Average delay of the range sensor message plus the tracking delay of the position controller in seconds

                                                            Comment: Only used in Position mode.

                                                            		 0 > 1 0.4s秒
                                                            CP_DIST (FLOAT)

                                                            Minimum distance the vehicle should keep to all obstacles

                                                            Comment: Only used in Position mode. Collision avoidance is disabled by setting this parameter to a negative value

                                                            		 -1 > 15 -1.0m米
                                                            CP_GO_NO_DATA (FLOAT)

                                                            Angle left/right from the commanded setpoint by which the collision prevention algorithm can choose to change the setpoint direction

                                                            Comment: Only used in Position mode.

                                                            		 0 > 90 30.deg度
                                                            MC_MAN_TILT_TAU (FLOAT) 0.0 > 2.0 0.0s秒
                                                            MPC_ACC_DOWN_MAX (FLOAT)
                                                            MPC_ALT_MODE (INT32)

                                                            Altitude control mode

                                                            Comment: Set to 0 to control height relative to the earth frame origin. This origin may move up and down in flight due to sensor drift. Set to 1 to control height relative to estimated distance to ground. The vehicle will move up and down with terrain height variation. Requires a distance to ground sensor. The height controller will revert to using height above origin if the distance to ground estimate becomes invalid as indicated by the local_position.distance_bottom_valid message being false. Set to 2 to control height relative to ground (requires a distance sensor) when stationary and relative to earth frame origin when moving horizontally. The speed threshold is controlled by the MPC_HOLD_MAX_XY parameter.

                                                            Values:
                                                              +

                                                            Altitude control mode

                                                            Comment: Set to 0 to control height relative to the earth frame origin. This origin may move up and down in flight due to sensor drift. Set to 1 to control height relative to estimated distance to ground. The vehicle will move up and down with terrain height variation. Requires a distance to ground sensor. The height controller will revert to using height above origin if the distance to ground estimate becomes invalid as indicated by the local_position.distance_bottom_valid message being false. Set to 2 to control height relative to ground (requires a distance sensor) when stationary and relative to earth frame origin when moving horizontally. The speed threshold is controlled by the MPC_HOLD_MAX_XY parameter.

                                                            参数对照:
                                                            • 0: Altitude following
                                                            • 1: Terrain following
                                                              • @@ -5625,14 +5624,14 @@ Setting this parameter to 0 disables the filter

                                                            Maximum horizontal velocity for which position hold is enabled (use 0 to disable check)

                                                            		 0.0 > 3.0 0.8m/s米/秒
                                                            MPC_HOLD_MAX_Z (FLOAT)

                                                            Maximum vertical velocity for which position hold is enabled (use 0 to disable check)

                                                            		 0.0 > 3.0 0.6m/s米/秒
                                                            MPC_JERK_AUTO (FLOAT)

                                                            Altitude for 1. step of slow landing (descend)

                                                            Comment: Below this altitude: - descending velocity gets limited to a value between "MPC_Z_VEL_MAX" and "MPC_LAND_SPEED" - horizontal velocity gets limited to a value between "MPC_VEL_MANUAL" and "MPC_LAND_VEL_XY" for a smooth descent and landing experience. Value needs to be higher than "MPC_LAND_ALT2"

                                                            		 0 > 122 10.0m米
                                                            MPC_LAND_ALT2 (FLOAT)

                                                            Altitude for 2. step of slow landing (landing)

                                                            Comment: Below this altitude descending and horizontal velocities get limited to "MPC_LAND_SPEED" and "MPC_LAND_VEL_XY", respectively. Value needs to be lower than "MPC_LAND_ALT1"

                                                            		 0 > 122 5.0m米
                                                            MPC_LAND_SPEED (FLOAT)

                                                            Landing descend rate

                                                            着陆下降速率：

                                                            		 0.6 > ? 0.7m/s米/秒
                                                            MPC_LAND_VEL_XY (FLOAT) 0 > ? 10.0m/s米/秒
                                                            MPC_MANTHR_MIN (FLOAT)

                                                            Maximal tilt angle in manual or altitude mode

                                                            		 0.0 > 90.0 35.0deg度
                                                            MPC_MAN_Y_MAX (FLOAT) 0.0 > 5.0 0.08s秒
                                                            MPC_POS_MODE (INT32)

                                                            Manual-Position control sub-mode

                                                            Comment: The supported sub-modes are: 0 Simple position control where sticks map directly to velocity setpoints without smoothing. Useful for velocity control tuning. 1 Smooth position control with maximum acceleration and jerk limits based on slew-rates. 3 Smooth position control with maximum acceleration and jerk limits based on jerk optimized trajectory generator (different algorithm than 1). 4 Smooth position control where sticks map to acceleration and there's a virtual brake drag

                                                            Values:
                                                              +

                                                            Manual-Position control sub-mode

                                                            Comment: The supported sub-modes are: 0 Simple position control where sticks map directly to velocity setpoints without smoothing. 对速度控制调整非常有用。 1 Smooth position control with maximum acceleration and jerk limits based on slew-rates. 3 Smooth position control with maximum acceleration and jerk limits based on jerk optimized trajectory generator (different algorithm than 1). 4 Smooth position control where sticks map to acceleration and there's a virtual brake drag

                                                            参数对照:
                                                            • 0: Simple position control
                                                            • 1: Smooth position control
                                                              • @@ -5734,11 +5733,11 @@ Setting this parameter to 0 disables the filter

                                                            Enforced delay between arming and takeoff

                                                            Comment: For altitude controlled modes the time from arming the motors until a takeoff is possible gets forced to be at least MPC_SPOOLUP_TIME seconds to ensure the motors and propellers can sppol up and reach idle speed before getting commanded to spin faster. This delay is particularly useful for vehicles with slow motor spin-up e.g. because of large propellers.

                                                            		 0 > 10 1.0s秒
                                                            MPC_THR_CURVE (INT32)

                                                            Thrust curve in Manual Mode

                                                            Comment: This parameter defines how the throttle stick input is mapped to commanded thrust in Manual/Stabilized flight mode. In case the default is used ('Rescale to hover thrust'), the stick input is linearly rescaled, such that a centered stick corresponds to the hover throttle (see MPC_THR_HOVER). Select 'No Rescale' to directly map the stick 1:1 to the output. This can be useful in case the hover thrust is very low and the default would lead to too much distortion (e.g. if hover thrust is set to 20%, 80% of the upper thrust range is squeezed into the upper half of the stick range). Note: In case MPC_THR_HOVER is set to 50%, the modes 0 and 1 are the same.

                                                            Values:
                                                              +

                                                            Thrust curve in Manual Mode

                                                            Comment: This parameter defines how the throttle stick input is mapped to commanded thrust in Manual/Stabilized flight mode. In case the default is used ('Rescale to hover thrust'), the stick input is linearly rescaled, such that a centered stick corresponds to the hover throttle (see MPC_THR_HOVER). Select 'No Rescale' to directly map the stick 1:1 to the output. This can be useful in case the hover thrust is very low and the default would lead to too much distortion (e.g. if hover thrust is set to 20%, 80% of the upper thrust range is squeezed into the upper half of the stick range). Note: In case MPC_THR_HOVER is set to 50%, the modes 0 and 1 are the same.

                                                            参数对照:
                                                            • 0: Rescale to hover thrust
                                                            • 1: No Rescale
                                                              • @@ -5774,14 +5773,14 @@ Setting this parameter to 0 disables the filter

                                                            Maximum tilt angle in air

                                                            Comment: Limits maximum tilt in AUTO and POSCTRL modes during flight.

                                                            		 20.0 > 89.0 45.0deg度
                                                            MPC_TILTMAX_LND (FLOAT)

                                                            Maximum tilt during landing

                                                            Comment: Limits maximum tilt angle on landing.

                                                            		 10.0 > 89.0 12.0deg度
                                                            MPC_TKO_RAMP_T (FLOAT)

                                                            Takeoff climb rate

                                                            		 1 > 5 1.5m/s米/秒
                                                            MPC_USE_HTE (INT32) 3.0 > 20.0 (1) 10.0m/s米/秒
                                                            MPC_XY_CRUISE (FLOAT)

                                                            Maximum horizontal velocity in mission

                                                            Comment: Normal horizontal velocity in AUTO modes (includes also RTL / hold / etc.) and endpoint for position stabilized mode (POSCTRL).

                                                            		 3.0 > 20.0 (1) 5.0m/s米/秒
                                                            MPC_XY_MAN_EXPO (FLOAT)

                                                            Maximum horizontal velocity

                                                            Comment: Maximum horizontal velocity in AUTO mode. If higher speeds are commanded in a mission they will be capped to this velocity.

                                                            		 0.0 > 20.0 (1) 12.0m/s米/秒
                                                            MPC_XY_VEL_P_ACC (FLOAT)

                                                            Maximum vertical descent velocity

                                                            Comment: Maximum vertical velocity in AUTO mode and endpoint for stabilized modes (ALTCTRL, POSCTRL).

                                                            		 0.5 > 4.0 1.0m/s米/秒
                                                            MPC_Z_VEL_MAX_UP (FLOAT)

                                                            Maximum vertical ascent velocity

                                                            Comment: Maximum vertical velocity in AUTO mode and endpoint for stabilized modes (ALTCTRL, POSCTRL).

                                                            		 0.5 > 8.0 3.0m/s米/秒
                                                            MPC_Z_VEL_P_ACC (FLOAT)

                                                            Minimum roll angle setpoint for weathervane controller to demand a yaw-rate

                                                            		 0 > 5 1.0deg度
                                                            WV_YRATE_MAX (FLOAT)
                                                            - + @@ -6066,7 +6065,7 @@ default 1.5 turns per second

                                                            - + @@ -6080,7 +6079,7 @@ default 1.5 turns per second

                                                            - + @@ -6155,19 +6154,19 @@ default 1.5 turns per second

                                                            NameDescriptionMin > Max (Incr.)DefaultUnits
                                                            参数名参数描述最小最大值 (增量)默认值单位
                                                            MC_ROLLRATE_D (FLOAT)

                                                            Roll rate D gain

                                                            Comment: Roll rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.

                                                            横滚速率微分感度

                                                            Comment: Roll rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.

                                                            		 0.0 > 0.01 (0.0005) 0.003
                                                            MC_ROLLRATE_I (FLOAT)

                                                            Roll rate I gain

                                                            Comment: Roll rate integral gain. Can be set to compensate static thrust difference or gravity center offset.

                                                            横滚速率积分感度

                                                            Comment: Roll rate integral gain. Can be set to compensate static thrust difference or gravity center offset.

                                                            		 0.0 > ? (0.01) 0.2
                                                            - + - @@ -6180,7 +6179,7 @@ default 1.5 turns per second

                                                            NameDescriptionMin > Max (Incr.)DefaultUnits
                                                            参数名参数描述最小最大值 (增量)默认值单位
                                                            OSD_ATXXXX_CFG (INT32)

                                                            Enable/Disable the ATXXX OSD Chip

                                                            Comment: Configure the ATXXXX OSD Chip (mounted on the OmnibusF4SD board) and select the transmission standard.

                                                            Values:
                                                              -
                                                            • 0: Disabled
                                                              • +

                                                            Enable/Disable the ATXXX OSD Chip

                                                            Comment: Configure the ATXXXX OSD Chip (mounted on the OmnibusF4SD board) and select the transmission standard.

                                                            参数对照:
                                                              +
                                                            • 0:禁用相机反馈
                                                            • 1: NTSC
                                                            • 2: PAL
                                                            -

                                                            Reboot required: true

                                                            +

                                                            要求重启:是

                                                            		 0
                                                            - + @@ -6192,7 +6191,7 @@ default 1.5 turns per second

                                                            - @@ -6200,7 +6199,7 @@ default 1.5 turns per second

                                                            - @@ -6208,7 +6207,7 @@ default 1.5 turns per second

                                                            - @@ -6216,7 +6215,7 @@ default 1.5 turns per second

                                                            - @@ -6224,7 +6223,7 @@ default 1.5 turns per second

                                                            - @@ -6232,7 +6231,7 @@ default 1.5 turns per second

                                                            - @@ -6240,7 +6239,7 @@ default 1.5 turns per second

                                                            - @@ -6248,7 +6247,7 @@ default 1.5 turns per second

                                                            - @@ -6256,7 +6255,7 @@ default 1.5 turns per second

                                                            - @@ -6264,7 +6263,7 @@ default 1.5 turns per second

                                                            - @@ -6272,7 +6271,7 @@ default 1.5 turns per second

                                                            - @@ -6280,7 +6279,7 @@ default 1.5 turns per second

                                                            - @@ -6288,7 +6287,7 @@ default 1.5 turns per second

                                                            - @@ -6296,7 +6295,7 @@ default 1.5 turns per second

                                                            - @@ -6304,7 +6303,7 @@ default 1.5 turns per second

                                                            - @@ -6312,7 +6311,7 @@ default 1.5 turns per second

                                                            - @@ -6320,7 +6319,7 @@ default 1.5 turns per second

                                                            - @@ -6328,7 +6327,7 @@ default 1.5 turns per second

                                                            - @@ -6336,7 +6335,7 @@ default 1.5 turns per second

                                                            - @@ -6344,7 +6343,7 @@ default 1.5 turns per second

                                                            - @@ -6352,7 +6351,7 @@ default 1.5 turns per second

                                                            - @@ -6360,7 +6359,7 @@ default 1.5 turns per second

                                                            - @@ -6368,7 +6367,7 @@ default 1.5 turns per second

                                                            - @@ -6376,7 +6375,7 @@ default 1.5 turns per second

                                                            - @@ -6384,7 +6383,7 @@ default 1.5 turns per second

                                                            - @@ -6392,7 +6391,7 @@ default 1.5 turns per second

                                                            - @@ -6400,7 +6399,7 @@ default 1.5 turns per second

                                                            - @@ -6408,7 +6407,7 @@ default 1.5 turns per second

                                                            - @@ -6416,7 +6415,7 @@ default 1.5 turns per second

                                                            - @@ -6424,7 +6423,7 @@ default 1.5 turns per second

                                                            - @@ -6432,7 +6431,7 @@ default 1.5 turns per second

                                                            - @@ -6440,7 +6439,7 @@ default 1.5 turns per second

                                                            - @@ -6448,7 +6447,7 @@ default 1.5 turns per second

                                                            - @@ -6456,7 +6455,7 @@ default 1.5 turns per second

                                                            - @@ -6464,7 +6463,7 @@ default 1.5 turns per second

                                                            - @@ -6472,7 +6471,7 @@ default 1.5 turns per second

                                                            - @@ -6592,7 +6591,7 @@ default 1.5 turns per second

                                                            - @@ -6600,7 +6599,7 @@ default 1.5 turns per second

                                                            - @@ -6608,7 +6607,7 @@ default 1.5 turns per second

                                                            - @@ -6616,7 +6615,7 @@ default 1.5 turns per second

                                                            - @@ -6624,7 +6623,7 @@ default 1.5 turns per second

                                                            - @@ -6632,7 +6631,7 @@ default 1.5 turns per second

                                                            - @@ -6640,7 +6639,7 @@ default 1.5 turns per second

                                                            - @@ -6648,7 +6647,7 @@ default 1.5 turns per second

                                                            - @@ -6656,7 +6655,7 @@ default 1.5 turns per second

                                                            - @@ -6664,7 +6663,7 @@ default 1.5 turns per second

                                                            - @@ -6672,7 +6671,7 @@ default 1.5 turns per second

                                                            - @@ -6680,7 +6679,7 @@ default 1.5 turns per second

                                                            - @@ -6688,7 +6687,7 @@ default 1.5 turns per second

                                                            - @@ -6696,7 +6695,7 @@ default 1.5 turns per second

                                                            - @@ -6704,7 +6703,7 @@ default 1.5 turns per second

                                                            - @@ -6712,7 +6711,7 @@ default 1.5 turns per second

                                                            - @@ -6720,7 +6719,7 @@ default 1.5 turns per second

                                                            - @@ -6728,7 +6727,7 @@ default 1.5 turns per second

                                                            - @@ -6736,7 +6735,7 @@ default 1.5 turns per second

                                                            - @@ -6744,7 +6743,7 @@ default 1.5 turns per second

                                                            - @@ -6752,7 +6751,7 @@ default 1.5 turns per second

                                                            - @@ -6760,7 +6759,7 @@ default 1.5 turns per second

                                                            - @@ -6768,7 +6767,7 @@ default 1.5 turns per second

                                                            - @@ -6776,7 +6775,7 @@ default 1.5 turns per second

                                                            - @@ -6784,7 +6783,7 @@ default 1.5 turns per second

                                                            - @@ -6792,7 +6791,7 @@ default 1.5 turns per second

                                                            - @@ -6800,7 +6799,7 @@ default 1.5 turns per second

                                                            - @@ -6808,7 +6807,7 @@ default 1.5 turns per second

                                                            - @@ -6816,7 +6815,7 @@ default 1.5 turns per second

                                                            - @@ -6824,7 +6823,7 @@ default 1.5 turns per second

                                                            - @@ -6832,7 +6831,7 @@ default 1.5 turns per second

                                                            - @@ -6840,7 +6839,7 @@ default 1.5 turns per second

                                                            - @@ -6848,7 +6847,7 @@ default 1.5 turns per second

                                                            - @@ -6968,7 +6967,7 @@ default 1.5 turns per second

                                                            - @@ -6976,7 +6975,7 @@ default 1.5 turns per second

                                                            - @@ -6984,7 +6983,7 @@ default 1.5 turns per second

                                                            - @@ -7011,12 +7010,12 @@ default 1.5 turns per second

                                                            NameDescriptionMin > Max (Incr.)DefaultUnits
                                                            参数名参数描述最小最大值 (增量)默认值单位
                                                            PWM_AUX_DIS1 (INT32)

                                                            Set the disarmed PWM for the auxiliary 1 output

                                                            Comment: This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_AUX_DISARMED will be used

                                                            Reboot required: true

                                                            +

                                                            Set the disarmed PWM for the auxiliary 1 output

                                                            Comment: This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_AUX_DISARMED will be used

                                                            要求重启:是

                                                            		 -1 > 2200 -1
                                                            PWM_AUX_DIS2 (INT32)

                                                            Set the disarmed PWM for the auxiliary 2 output

                                                            Comment: This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_AUX_DISARMED will be used

                                                            Reboot required: true

                                                            +

                                                            Set the disarmed PWM for the auxiliary 2 output

                                                            Comment: This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_AUX_DISARMED will be used

                                                            要求重启:是

                                                            		 -1 > 2200 -1
                                                            PWM_AUX_DIS3 (INT32)

                                                            Set the disarmed PWM for the auxiliary 3 output

                                                            Comment: This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_AUX_DISARMED will be used

                                                            Reboot required: true

                                                            +

                                                            Set the disarmed PWM for the auxiliary 3 output

                                                            Comment: This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_AUX_DISARMED will be used

                                                            要求重启:是

                                                            		 -1 > 2200 -1
                                                            PWM_AUX_DIS4 (INT32)

                                                            Set the disarmed PWM for the auxiliary 4 output

                                                            Comment: This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_AUX_DISARMED will be used

                                                            Reboot required: true

                                                            +

                                                            Set the disarmed PWM for the auxiliary 4 output

                                                            Comment: This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_AUX_DISARMED will be used

                                                            要求重启:是

                                                            		 -1 > 2200 -1
                                                            PWM_AUX_DIS5 (INT32)

                                                            Set the disarmed PWM for the auxiliary 5 output

                                                            Comment: This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_AUX_DISARMED will be used

                                                            Reboot required: true

                                                            +

                                                            Set the disarmed PWM for the auxiliary 5 output

                                                            Comment: This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_AUX_DISARMED will be used

                                                            要求重启:是

                                                            		 -1 > 2200 -1
                                                            PWM_AUX_DIS6 (INT32)

                                                            Set the disarmed PWM for the auxiliary 6 output

                                                            Comment: This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_AUX_DISARMED will be used

                                                            Reboot required: true

                                                            +

                                                            Set the disarmed PWM for the auxiliary 6 output

                                                            Comment: This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_AUX_DISARMED will be used

                                                            要求重启:是

                                                            		 -1 > 2200 -1
                                                            PWM_AUX_DIS7 (INT32)

                                                            Set the disarmed PWM for the auxiliary 7 output

                                                            Comment: This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_AUX_DISARMED will be used

                                                            Reboot required: true

                                                            +

                                                            Set the disarmed PWM for the auxiliary 7 output

                                                            Comment: This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_AUX_DISARMED will be used

                                                            要求重启:是

                                                            		 -1 > 2200 -1
                                                            PWM_AUX_DIS8 (INT32)

                                                            Set the disarmed PWM for the auxiliary 8 output

                                                            Comment: This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_AUX_DISARMED will be used

                                                            Reboot required: true

                                                            +

                                                            Set the disarmed PWM for the auxiliary 8 output

                                                            Comment: This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_AUX_DISARMED will be used

                                                            要求重启:是

                                                            		 -1 > 2200 -1
                                                            PWM_AUX_DISARMED (INT32)

                                                            Set the disarmed PWM for auxiliary outputs

                                                            Comment: This is the PWM pulse the autopilot is outputting if not armed. The main use of this parameter is to silence ESCs when they are disarmed.

                                                            Reboot required: true

                                                            +

                                                            Set the disarmed PWM for auxiliary outputs

                                                            Comment: This is the PWM pulse the autopilot is outputting if not armed. The main use of this parameter is to silence ESCs when they are disarmed.

                                                            要求重启:是

                                                            		 0 > 2200 1500
                                                            PWM_AUX_FAIL1 (INT32)

                                                            Set the failsafe PWM for the auxiliary 1 output

                                                            Comment: This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)

                                                            Reboot required: true

                                                            +

                                                            Set the failsafe PWM for the auxiliary 1 output

                                                            Comment: This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)

                                                            要求重启:是

                                                            		 -1 > 2200 -1
                                                            PWM_AUX_FAIL2 (INT32)

                                                            Set the failsafe PWM for the auxiliary 2 output

                                                            Comment: This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)

                                                            Reboot required: true

                                                            +

                                                            Set the failsafe PWM for the auxiliary 2 output

                                                            Comment: This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)

                                                            要求重启:是

                                                            		 -1 > 2200 -1
                                                            PWM_AUX_FAIL3 (INT32)

                                                            Set the failsafe PWM for the auxiliary 3 output

                                                            Comment: This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)

                                                            Reboot required: true

                                                            +

                                                            Set the failsafe PWM for the auxiliary 3 output

                                                            Comment: This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)

                                                            要求重启:是

                                                            		 -1 > 2200 -1
                                                            PWM_AUX_FAIL4 (INT32)

                                                            Set the failsafe PWM for the auxiliary 4 output

                                                            Comment: This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)

                                                            Reboot required: true

                                                            +

                                                            Set the failsafe PWM for the auxiliary 4 output

                                                            Comment: This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)

                                                            要求重启:是

                                                            		 -1 > 2200 -1
                                                            PWM_AUX_FAIL5 (INT32)

                                                            Set the failsafe PWM for the auxiliary 5 output

                                                            Comment: This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)

                                                            Reboot required: true

                                                            +

                                                            Set the failsafe PWM for the auxiliary 5 output

                                                            Comment: This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)

                                                            要求重启:是

                                                            		 -1 > 2200 -1
                                                            PWM_AUX_FAIL6 (INT32)

                                                            Set the failsafe PWM for the auxiliary 6 output

                                                            Comment: This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)

                                                            Reboot required: true

                                                            +

                                                            Set the failsafe PWM for the auxiliary 6 output

                                                            Comment: This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)

                                                            要求重启:是

                                                            		 -1 > 2200 -1
                                                            PWM_AUX_FAIL7 (INT32)

                                                            Set the failsafe PWM for the auxiliary 7 output

                                                            Comment: This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)

                                                            Reboot required: true

                                                            +

                                                            Set the failsafe PWM for the auxiliary 7 output

                                                            Comment: This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)

                                                            要求重启:是

                                                            		 -1 > 2200 -1
                                                            PWM_AUX_FAIL8 (INT32)

                                                            Set the failsafe PWM for the auxiliary 8 output

                                                            Comment: This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)

                                                            Reboot required: true

                                                            +

                                                            Set the failsafe PWM for the auxiliary 8 output

                                                            Comment: This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)

                                                            要求重启:是

                                                            		 -1 > 2200 -1
                                                            PWM_AUX_MAX (INT32)

                                                            Set the maximum PWM for the auxiliary outputs

                                                            Comment: Set to 2000 for industry default or 2100 to increase servo travel.

                                                            Reboot required: true

                                                            +

                                                            Set the maximum PWM for the auxiliary outputs

                                                            Comment: Set to 2000 for industry default or 2100 to increase servo travel.

                                                            要求重启:是

                                                            		 1600 > 2200 2000
                                                            PWM_AUX_MAX1 (INT32)

                                                            Set the max PWM value for the auxiliary 1 output

                                                            Comment: This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MAX will be used

                                                            Reboot required: true

                                                            +

                                                            Set the max PWM value for the auxiliary 1 output

                                                            Comment: This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MAX will be used

                                                            要求重启:是

                                                            		 -1 > 2200 -1
                                                            PWM_AUX_MAX2 (INT32)

                                                            Set the max PWM value for the auxiliary 2 output

                                                            Comment: This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MAX will be used

                                                            Reboot required: true

                                                            +

                                                            Set the max PWM value for the auxiliary 2 output

                                                            Comment: This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MAX will be used

                                                            要求重启:是

                                                            		 -1 > 2200 -1
                                                            PWM_AUX_MAX3 (INT32)

                                                            Set the max PWM value for the auxiliary 3 output

                                                            Comment: This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MAX will be used

                                                            Reboot required: true

                                                            +

                                                            Set the max PWM value for the auxiliary 3 output

                                                            Comment: This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MAX will be used

                                                            要求重启:是

                                                            		 -1 > 2200 -1
                                                            PWM_AUX_MAX4 (INT32)

                                                            Set the max PWM value for the auxiliary 4 output

                                                            Comment: This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MAX will be used

                                                            Reboot required: true

                                                            +

                                                            Set the max PWM value for the auxiliary 4 output

                                                            Comment: This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MAX will be used

                                                            要求重启:是

                                                            		 -1 > 2200 -1
                                                            PWM_AUX_MAX5 (INT32)

                                                            Set the max PWM value for the auxiliary 5 output

                                                            Comment: This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MAX will be used

                                                            Reboot required: true

                                                            +

                                                            Set the max PWM value for the auxiliary 5 output

                                                            Comment: This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MAX will be used

                                                            要求重启:是

                                                            		 -1 > 2200 -1
                                                            PWM_AUX_MAX6 (INT32)

                                                            Set the max PWM value for the auxiliary 6 output

                                                            Comment: This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MAX will be used

                                                            Reboot required: true

                                                            +

                                                            Set the max PWM value for the auxiliary 6 output

                                                            Comment: This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MAX will be used

                                                            要求重启:是

                                                            		 -1 > 2200 -1
                                                            PWM_AUX_MAX7 (INT32)

                                                            Set the max PWM value for the auxiliary 7 output

                                                            Comment: This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MAX will be used

                                                            Reboot required: true

                                                            +

                                                            Set the max PWM value for the auxiliary 7 output

                                                            Comment: This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MAX will be used

                                                            要求重启:是

                                                            		 -1 > 2200 -1
                                                            PWM_AUX_MAX8 (INT32)

                                                            Set the max PWM value for the auxiliary 8 output

                                                            Comment: This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MAX will be used

                                                            Reboot required: true

                                                            +

                                                            Set the max PWM value for the auxiliary 8 output

                                                            Comment: This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MAX will be used

                                                            要求重启:是

                                                            		 -1 > 2200 -1
                                                            PWM_AUX_MIN (INT32)

                                                            Set the minimum PWM for the auxiliary outputs

                                                            Comment: Set to 1000 for industry default or 900 to increase servo travel.

                                                            Reboot required: true

                                                            +

                                                            Set the minimum PWM for the auxiliary outputs

                                                            Comment: Set to 1000 for industry default or 900 to increase servo travel.

                                                            要求重启:是

                                                            		 800 > 1400 1000
                                                            PWM_AUX_MIN1 (INT32)

                                                            Set the min PWM value for the auxiliary 1 output

                                                            Comment: This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MIN will be used

                                                            Reboot required: true

                                                            +

                                                            Set the min PWM value for the auxiliary 1 output

                                                            Comment: This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MIN will be used

                                                            要求重启:是

                                                            		 -1 > 2200 -1
                                                            PWM_AUX_MIN2 (INT32)

                                                            Set the min PWM value for the auxiliary 2 output

                                                            Comment: This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MIN will be used

                                                            Reboot required: true

                                                            +

                                                            Set the min PWM value for the auxiliary 2 output

                                                            Comment: This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MIN will be used

                                                            要求重启:是

                                                            		 -1 > 2200 -1
                                                            PWM_AUX_MIN3 (INT32)

                                                            Set the min PWM value for the auxiliary 3 output

                                                            Comment: This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MIN will be used

                                                            Reboot required: true

                                                            +

                                                            Set the min PWM value for the auxiliary 3 output

                                                            Comment: This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MIN will be used

                                                            要求重启:是

                                                            		 -1 > 2200 -1
                                                            PWM_AUX_MIN4 (INT32)

                                                            Set the min PWM value for the auxiliary 4 output

                                                            Comment: This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MIN will be used

                                                            Reboot required: true

                                                            +

                                                            Set the min PWM value for the auxiliary 4 output

                                                            Comment: This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MIN will be used

                                                            要求重启:是

                                                            		 -1 > 2200 -1
                                                            PWM_AUX_MIN5 (INT32)

                                                            Set the min PWM value for the auxiliary 5 output

                                                            Comment: This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MIN will be used

                                                            Reboot required: true

                                                            +

                                                            Set the min PWM value for the auxiliary 5 output

                                                            Comment: This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MIN will be used

                                                            要求重启:是

                                                            		 -1 > 2200 -1
                                                            PWM_AUX_MIN6 (INT32)

                                                            Set the min PWM value for the auxiliary 6 output

                                                            Comment: This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MIN will be used

                                                            Reboot required: true

                                                            +

                                                            Set the min PWM value for the auxiliary 6 output

                                                            Comment: This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MIN will be used

                                                            要求重启:是

                                                            		 -1 > 2200 -1
                                                            PWM_AUX_MIN7 (INT32)

                                                            Set the min PWM value for the auxiliary 7 output

                                                            Comment: This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MIN will be used

                                                            Reboot required: true

                                                            +

                                                            Set the min PWM value for the auxiliary 7 output

                                                            Comment: This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MIN will be used

                                                            要求重启:是

                                                            		 -1 > 2200 -1
                                                            PWM_AUX_MIN8 (INT32)

                                                            Set the min PWM value for the auxiliary 8 output

                                                            Comment: This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MIN will be used

                                                            Reboot required: true

                                                            +

                                                            Set the min PWM value for the auxiliary 8 output

                                                            Comment: This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MIN will be used

                                                            要求重启:是

                                                            		 -1 > 2200 -1
                                                            PWM_AUX_RATE (INT32)

                                                            Set the PWM output frequency for the auxiliary outputs

                                                            Comment: Set to 400 for industry default or 1000 for high frequency ESCs. Set to 0 for Oneshot125.

                                                            Reboot required: true

                                                            +

                                                            Set the PWM output frequency for the auxiliary outputs

                                                            Comment: Set to 400 for industry default or 1000 for high frequency ESCs. Set to 0 for Oneshot125.

                                                            要求重启:是

                                                            		 -1 > 2000 50
                                                            PWM_DISARMED (INT32)

                                                            Set the disarmed PWM for the main outputs

                                                            Comment: This is the PWM pulse the autopilot is outputting if not armed. The main use of this parameter is to silence ESCs when they are disarmed.

                                                            Reboot required: true

                                                            +

                                                            Set the disarmed PWM for the main outputs

                                                            Comment: This is the PWM pulse the autopilot is outputting if not armed. The main use of this parameter is to silence ESCs when they are disarmed.

                                                            要求重启:是

                                                            		 0 > 2200 900
                                                            PWM_MAIN_DIS1 (INT32)

                                                            Set the disarmed PWM for the main 1 output

                                                            Comment: This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_DISARMED will be used

                                                            Reboot required: true

                                                            +

                                                            Set the disarmed PWM for the main 1 output

                                                            Comment: This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_DISARMED will be used

                                                            要求重启:是

                                                            		 -1 > 2200 -1
                                                            PWM_MAIN_DIS2 (INT32)

                                                            Set the disarmed PWM for the main 2 output

                                                            Comment: This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_DISARMED will be used

                                                            Reboot required: true

                                                            +

                                                            Set the disarmed PWM for the main 2 output

                                                            Comment: This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_DISARMED will be used

                                                            要求重启:是

                                                            		 -1 > 2200 -1
                                                            PWM_MAIN_DIS3 (INT32)

                                                            Set the disarmed PWM for the main 3 output

                                                            Comment: This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_DISARMED will be used

                                                            Reboot required: true

                                                            +

                                                            Set the disarmed PWM for the main 3 output

                                                            Comment: This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_DISARMED will be used

                                                            要求重启:是

                                                            		 -1 > 2200 -1
                                                            PWM_MAIN_DIS4 (INT32)

                                                            Set the disarmed PWM for the main 4 output

                                                            Comment: This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_DISARMED will be used

                                                            Reboot required: true

                                                            +

                                                            Set the disarmed PWM for the main 4 output

                                                            Comment: This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_DISARMED will be used

                                                            要求重启:是

                                                            		 -1 > 2200 -1
                                                            PWM_MAIN_DIS5 (INT32)

                                                            Set the disarmed PWM for the main 5 output

                                                            Comment: This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_DISARMED will be used

                                                            Reboot required: true

                                                            +

                                                            Set the disarmed PWM for the main 5 output

                                                            Comment: This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_DISARMED will be used

                                                            要求重启:是

                                                            		 -1 > 2200 -1
                                                            PWM_MAIN_DIS6 (INT32)

                                                            Set the disarmed PWM for the main 6 output

                                                            Comment: This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_DISARMED will be used

                                                            Reboot required: true

                                                            +

                                                            Set the disarmed PWM for the main 6 output

                                                            Comment: This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_DISARMED will be used

                                                            要求重启:是

                                                            		 -1 > 2200 -1
                                                            PWM_MAIN_DIS7 (INT32)

                                                            Set the disarmed PWM for the main 7 output

                                                            Comment: This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_DISARMED will be used

                                                            Reboot required: true

                                                            +

                                                            Set the disarmed PWM for the main 7 output

                                                            Comment: This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_DISARMED will be used

                                                            要求重启:是

                                                            		 -1 > 2200 -1
                                                            PWM_MAIN_DIS8 (INT32)

                                                            Set the disarmed PWM for the main 8 output

                                                            Comment: This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_DISARMED will be used

                                                            Reboot required: true

                                                            +

                                                            Set the disarmed PWM for the main 8 output

                                                            Comment: This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_DISARMED will be used

                                                            要求重启:是

                                                            		 -1 > 2200 -1
                                                            PWM_MAIN_FAIL1 (INT32)

                                                            Set the failsafe PWM for the main 1 output

                                                            Comment: This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)

                                                            Reboot required: true

                                                            +

                                                            Set the failsafe PWM for the main 1 output

                                                            Comment: This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)

                                                            要求重启:是

                                                            		 -1 > 2200 -1
                                                            PWM_MAIN_FAIL2 (INT32)

                                                            Set the failsafe PWM for the main 2 output

                                                            Comment: This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)

                                                            Reboot required: true

                                                            +

                                                            Set the failsafe PWM for the main 2 output

                                                            Comment: This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)

                                                            要求重启:是

                                                            		 -1 > 2200 -1
                                                            PWM_MAIN_FAIL3 (INT32)

                                                            Set the failsafe PWM for the main 3 output

                                                            Comment: This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)

                                                            Reboot required: true

                                                            +

                                                            Set the failsafe PWM for the main 3 output

                                                            Comment: This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)

                                                            要求重启:是

                                                            		 -1 > 2200 -1
                                                            PWM_MAIN_FAIL4 (INT32)

                                                            Set the failsafe PWM for the main 4 output

                                                            Comment: This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)

                                                            Reboot required: true

                                                            +

                                                            Set the failsafe PWM for the main 4 output

                                                            Comment: This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)

                                                            要求重启:是

                                                            		 -1 > 2200 -1
                                                            PWM_MAIN_FAIL5 (INT32)

                                                            Set the failsafe PWM for the main 5 output

                                                            Comment: This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)

                                                            Reboot required: true

                                                            +

                                                            Set the failsafe PWM for the main 5 output

                                                            Comment: This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)

                                                            要求重启:是

                                                            		 -1 > 2200 -1
                                                            PWM_MAIN_FAIL6 (INT32)

                                                            Set the failsafe PWM for the main 6 output

                                                            Comment: This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)

                                                            Reboot required: true

                                                            +

                                                            Set the failsafe PWM for the main 6 output

                                                            Comment: This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)

                                                            要求重启:是

                                                            		 -1 > 2200 -1
                                                            PWM_MAIN_FAIL7 (INT32)

                                                            Set the failsafe PWM for the main 7 output

                                                            Comment: This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)

                                                            Reboot required: true

                                                            +

                                                            Set the failsafe PWM for the main 7 output

                                                            Comment: This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)

                                                            要求重启:是

                                                            		 -1 > 2200 -1
                                                            PWM_MAIN_FAIL8 (INT32)

                                                            Set the failsafe PWM for the main 8 output

                                                            Comment: This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)

                                                            Reboot required: true

                                                            +

                                                            Set the failsafe PWM for the main 8 output

                                                            Comment: This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)

                                                            要求重启:是

                                                            		 -1 > 2200 -1
                                                            PWM_MAIN_MAX1 (INT32)

                                                            Set the max PWM value for the main 1 output

                                                            Comment: This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MAX will be used

                                                            Reboot required: true

                                                            +

                                                            Set the max PWM value for the main 1 output

                                                            Comment: This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MAX will be used

                                                            要求重启:是

                                                            		 -1 > 2200 -1
                                                            PWM_MAIN_MAX2 (INT32)

                                                            Set the max PWM value for the main 2 output

                                                            Comment: This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MAX will be used

                                                            Reboot required: true

                                                            +

                                                            Set the max PWM value for the main 2 output

                                                            Comment: This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MAX will be used

                                                            要求重启:是

                                                            		 -1 > 2200 -1
                                                            PWM_MAIN_MAX3 (INT32)

                                                            Set the max PWM value for the main 3 output

                                                            Comment: This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MAX will be used

                                                            Reboot required: true

                                                            +

                                                            Set the max PWM value for the main 3 output

                                                            Comment: This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MAX will be used

                                                            要求重启:是

                                                            		 -1 > 2200 -1
                                                            PWM_MAIN_MAX4 (INT32)

                                                            Set the max PWM value for the main 4 output

                                                            Comment: This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MAX will be used

                                                            Reboot required: true

                                                            +

                                                            Set the max PWM value for the main 4 output

                                                            Comment: This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MAX will be used

                                                            要求重启:是

                                                            		 -1 > 2200 -1
                                                            PWM_MAIN_MAX5 (INT32)

                                                            Set the max PWM value for the main 5 output

                                                            Comment: This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MAX will be used

                                                            Reboot required: true

                                                            +

                                                            Set the max PWM value for the main 5 output

                                                            Comment: This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MAX will be used

                                                            要求重启:是

                                                            		 -1 > 2200 -1
                                                            PWM_MAIN_MAX6 (INT32)

                                                            Set the max PWM value for the main 6 output

                                                            Comment: This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MAX will be used

                                                            Reboot required: true

                                                            +

                                                            Set the max PWM value for the main 6 output

                                                            Comment: This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MAX will be used

                                                            要求重启:是

                                                            		 -1 > 2200 -1
                                                            PWM_MAIN_MAX7 (INT32)

                                                            Set the max PWM value for the main 7 output

                                                            Comment: This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MAX will be used

                                                            Reboot required: true

                                                            +

                                                            Set the max PWM value for the main 7 output

                                                            Comment: This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MAX will be used

                                                            要求重启:是

                                                            		 -1 > 2200 -1
                                                            PWM_MAIN_MAX8 (INT32)

                                                            Set the max PWM value for the main 8 output

                                                            Comment: This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MAX will be used

                                                            Reboot required: true

                                                            +

                                                            Set the max PWM value for the main 8 output

                                                            Comment: This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MAX will be used

                                                            要求重启:是

                                                            		 -1 > 2200 -1
                                                            PWM_MAIN_MIN1 (INT32)

                                                            Set the min PWM value for the main 1 output

                                                            Comment: This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MIN will be used

                                                            Reboot required: true

                                                            +

                                                            Set the min PWM value for the main 1 output

                                                            Comment: This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MIN will be used

                                                            要求重启:是

                                                            		 -1 > 2200 -1
                                                            PWM_MAIN_MIN2 (INT32)

                                                            Set the min PWM value for the main 2 output

                                                            Comment: This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MIN will be used

                                                            Reboot required: true

                                                            +

                                                            Set the min PWM value for the main 2 output

                                                            Comment: This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MIN will be used

                                                            要求重启:是

                                                            		 -1 > 2200 -1
                                                            PWM_MAIN_MIN3 (INT32)

                                                            Set the min PWM value for the main 3 output

                                                            Comment: This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MIN will be used

                                                            Reboot required: true

                                                            +

                                                            Set the min PWM value for the main 3 output

                                                            Comment: This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MIN will be used

                                                            要求重启:是

                                                            		 -1 > 2200 -1
                                                            PWM_MAIN_MIN4 (INT32)

                                                            Set the min PWM value for the main 4 output

                                                            Comment: This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MIN will be used

                                                            Reboot required: true

                                                            +

                                                            Set the min PWM value for the main 4 output

                                                            Comment: This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MIN will be used

                                                            要求重启:是

                                                            		 -1 > 2200 -1
                                                            PWM_MAIN_MIN5 (INT32)

                                                            Set the min PWM value for the main 5 output

                                                            Comment: This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MIN will be used

                                                            Reboot required: true

                                                            +

                                                            Set the min PWM value for the main 5 output

                                                            Comment: This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MIN will be used

                                                            要求重启:是

                                                            		 -1 > 2200 -1
                                                            PWM_MAIN_MIN6 (INT32)

                                                            Set the min PWM value for the main 6 output

                                                            Comment: This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MIN will be used

                                                            Reboot required: true

                                                            +

                                                            Set the min PWM value for the main 6 output

                                                            Comment: This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MIN will be used

                                                            要求重启:是

                                                            		 -1 > 2200 -1
                                                            PWM_MAIN_MIN7 (INT32)

                                                            Set the min PWM value for the main 7 output

                                                            Comment: This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MIN will be used

                                                            Reboot required: true

                                                            +

                                                            Set the min PWM value for the main 7 output

                                                            Comment: This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MIN will be used

                                                            要求重启:是

                                                            		 -1 > 2200 -1
                                                            PWM_MAIN_MIN8 (INT32)

                                                            Set the min PWM value for the main 8 output

                                                            Comment: This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MIN will be used

                                                            Reboot required: true

                                                            +

                                                            Set the min PWM value for the main 8 output

                                                            Comment: This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MIN will be used

                                                            要求重启:是

                                                            		 -1 > 2200 -1
                                                            PWM_MAX (INT32)

                                                            Set the maximum PWM for the main outputs

                                                            Comment: Set to 2000 for industry default or 2100 to increase servo travel.

                                                            Reboot required: true

                                                            +

                                                            Set the maximum PWM for the main outputs

                                                            Comment: Set to 2000 for industry default or 2100 to increase servo travel.

                                                            要求重启:是

                                                            		 1600 > 2200 2000
                                                            PWM_MIN (INT32)

                                                            Set the minimum PWM for the main outputs

                                                            Comment: Set to 1000 for industry default or 900 to increase servo travel.

                                                            Reboot required: true

                                                            +

                                                            Set the minimum PWM for the main outputs

                                                            Comment: Set to 1000 for industry default or 900 to increase servo travel.

                                                            要求重启:是

                                                            		 800 > 1400 1000
                                                            PWM_RATE (INT32)

                                                            Set the PWM output frequency for the main outputs

                                                            Comment: Set to 400 for industry default or 1000 for high frequency ESCs. Set to 0 for Oneshot125.

                                                            Reboot required: true

                                                            +

                                                            Set the PWM output frequency for the main outputs

                                                            Comment: Set to 400 for industry default or 1000 for high frequency ESCs. Set to 0 for Oneshot125.

                                                            要求重启:是

                                                            		 -1 > 2000 400
                                                            - + - @@ -7029,7 +7028,7 @@ default 1.5 turns per second

                                                            NameDescriptionMin > Max (Incr.)DefaultUnits
                                                            参数名参数描述最小最大值 (增量)默认值单位
                                                            LIGHT_EN_BLINKM (INT32)

                                                            BlinkM LED

                                                            Reboot required: true

                                                            +

                                                            BlinkM LED

                                                            要求重启:是

                                                            		 Disabled (0)
                                                            - + @@ -7037,21 +7036,21 @@ default 1.5 turns per second

                                                            - + - + - + @@ -7065,14 +7064,14 @@ default 1.5 turns per second

                                                            - + - +
                                                            NameDescriptionMin > Max (Incr.)DefaultUnits
                                                            参数名参数描述最小最大值 (增量)默认值单位

                                                            Landing Target Timeout

                                                            Comment: Time after which the landing target is considered lost without any new measurements.

                                                            		 0.0 > 50 (0.5) 5.0s秒
                                                            PLD_FAPPR_ALT (FLOAT)

                                                            Final approach altitude

                                                            Comment: Allow final approach (without horizontal positioning) if losing landing target closer than this to the ground.

                                                            		 0.0 > 10 (0.1) 0.1m米
                                                            PLD_HACC_RAD (FLOAT)

                                                            Horizontal acceptance radius

                                                            Comment: Start descending if closer above landing target than this.

                                                            		 0.0 > 10 (0.1) 0.2m米
                                                            PLD_MAX_SRCH (INT32)

                                                            Search altitude

                                                            Comment: Altitude above home to which to climb when searching for the landing target.

                                                            		 0.0 > 100 (0.1) 10.0m米
                                                            PLD_SRCH_TOUT (FLOAT)

                                                            Search timeout

                                                            Comment: Time allowed to search for the landing target before falling back to normal landing.

                                                            		 0.0 > 100 (0.1) 10.0s秒
                                                            @@ -7081,13 +7080,13 @@ default 1.5 turns per second

                                                            - + -
                                                          • 300: Radio Controller
                                                            • -

                                                            Reboot required: true

                                                            +

                                                            要求重启:是

                                                            @@ -7115,8 +7114,8 @@ default 1.5 turns per second

                                                            -
                                                          • 300: Radio Controller
                                                            • -

                                                            Reboot required: true

                                                            +

                                                            要求重启:是

                                                            @@ -7149,7 +7148,7 @@ default 1.5 turns per second

                                                            NameDescriptionMin > Max (Incr.)DefaultUnits
                                                            参数名参数描述最小最大值 (增量)默认值单位
                                                            RTPS_CONFIG (INT32)

                                                            Serial Configuration for FastRTPS

                                                            Comment: Configure on which serial port to run FastRTPS.

                                                            Values:
                                                              -
                                                            • 0: Disabled
                                                              • +

                                                            Serial Configuration for FastRTPS

                                                            Comment: Configure on which serial port to run FastRTPS.

                                                            参数对照:
                                                              +
                                                            • 0:禁用相机反馈
                                                            • 6: UART 6
                                                              • @@ -7107,7 +7106,7 @@ default 1.5 turns per second

                                                            		 0
                                                            RTPS_MAV_CONFIG (INT32)

                                                            Serial Configuration for MAVLink + FastRTPS

                                                            Comment: Configure on which serial port to run MAVLink + FastRTPS.

                                                            Values:
                                                              -
                                                            • 0: Disabled
                                                              • +

                                                            Serial Configuration for MAVLink + FastRTPS

                                                            Comment: Configure on which serial port to run MAVLink + FastRTPS.

                                                            参数对照:
                                                              +
                                                            • 0:禁用相机反馈
                                                            • 6: UART 6
                                                              • @@ -7136,7 +7135,7 @@ default 1.5 turns per second

                                                            		 0
                                                            - + @@ -7175,7 +7174,7 @@ default 1.5 turns per second

                                                            - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
                                                            NameDescriptionMin > Max (Incr.)DefaultUnits
                                                            参数名参数描述最小最大值 (增量)默认值单位
                                                            RC10_REV (FLOAT)

                                                            RC channel 10 reverse

                                                            Comment: Set to -1 to reverse channel.

                                                            Values:
                                                              +

                                                            RC channel 10 reverse

                                                            Comment: Set to -1 to reverse channel.

                                                            参数对照:
                                                            • -1.0: Reverse
                                                            • 1.0: Normal
                                                              • @@ -7215,7 +7214,7 @@ default 1.5 turns per second
                                                            RC11_REV (FLOAT)

                                                            RC channel 11 reverse

                                                            Comment: Set to -1 to reverse channel.

                                                            Values:
                                                              +

                                                            RC channel 11 reverse

                                                            Comment: Set to -1 to reverse channel.

                                                            参数对照:
                                                            • -1.0: Reverse
                                                            • 1.0: Normal
                                                              • @@ -7255,7 +7254,7 @@ default 1.5 turns per second
                                                            RC12_REV (FLOAT)

                                                            RC channel 12 reverse

                                                            Comment: Set to -1 to reverse channel.

                                                            Values:
                                                              +

                                                            RC channel 12 reverse

                                                            Comment: Set to -1 to reverse channel.

                                                            参数对照:
                                                            • -1.0: Reverse
                                                            • 1.0: Normal
                                                              • @@ -7295,7 +7294,7 @@ default 1.5 turns per second
                                                            RC13_REV (FLOAT)

                                                            RC channel 13 reverse

                                                            Comment: Set to -1 to reverse channel.

                                                            Values:
                                                              +

                                                            RC channel 13 reverse

                                                            Comment: Set to -1 to reverse channel.

                                                            参数对照:
                                                            • -1.0: Reverse
                                                            • 1.0: Normal
                                                              • @@ -7335,7 +7334,7 @@ default 1.5 turns per second
                                                            RC14_REV (FLOAT)

                                                            RC channel 14 reverse

                                                            Comment: Set to -1 to reverse channel.

                                                            Values:
                                                              +

                                                            RC channel 14 reverse

                                                            Comment: Set to -1 to reverse channel.

                                                            参数对照:
                                                            • -1.0: Reverse
                                                            • 1.0: Normal
                                                              • @@ -7375,7 +7374,7 @@ default 1.5 turns per second
                                                            RC15_REV (FLOAT)

                                                            RC channel 15 reverse

                                                            Comment: Set to -1 to reverse channel.

                                                            Values:
                                                              +

                                                            RC channel 15 reverse

                                                            Comment: Set to -1 to reverse channel.

                                                            参数对照:
                                                            • -1.0: Reverse
                                                            • 1.0: Normal
                                                              • @@ -7415,7 +7414,7 @@ default 1.5 turns per second
                                                            RC16_REV (FLOAT)

                                                            RC channel 16 reverse

                                                            Comment: Set to -1 to reverse channel.

                                                            Values:
                                                              +

                                                            RC channel 16 reverse

                                                            Comment: Set to -1 to reverse channel.

                                                            参数对照:
                                                            • -1.0: Reverse
                                                            • 1.0: Normal
                                                              • @@ -7455,7 +7454,7 @@ default 1.5 turns per second
                                                            RC17_REV (FLOAT)

                                                            RC channel 17 reverse

                                                            Comment: Set to -1 to reverse channel.

                                                            Values:
                                                              +

                                                            RC channel 17 reverse

                                                            Comment: Set to -1 to reverse channel.

                                                            参数对照:
                                                            • -1.0: Reverse
                                                            • 1.0: Normal
                                                              • @@ -7495,7 +7494,7 @@ default 1.5 turns per second
                                                            RC18_REV (FLOAT)

                                                            RC channel 18 reverse

                                                            Comment: Set to -1 to reverse channel.

                                                            Values:
                                                              +

                                                            RC channel 18 reverse

                                                            Comment: Set to -1 to reverse channel.

                                                            参数对照:
                                                            • -1.0: Reverse
                                                            • 1.0: Normal
                                                              • @@ -7535,7 +7534,7 @@ default 1.5 turns per second
                                                            RC1_REV (FLOAT)

                                                            RC channel 1 reverse

                                                            Comment: Set to -1 to reverse channel.

                                                            Values:
                                                              +

                                                            RC channel 1 reverse

                                                            Comment: Set to -1 to reverse channel.

                                                            参数对照:
                                                            • -1.0: Reverse
                                                            • 1.0: Normal
                                                              • @@ -7575,7 +7574,7 @@ default 1.5 turns per second
                                                            RC2_REV (FLOAT)

                                                            RC channel 2 reverse

                                                            Comment: Set to -1 to reverse channel.

                                                            Values:
                                                              +

                                                            RC channel 2 reverse

                                                            Comment: Set to -1 to reverse channel.

                                                            参数对照:
                                                            • -1.0: Reverse
                                                            • 1.0: Normal
                                                              • @@ -7615,7 +7614,7 @@ default 1.5 turns per second
                                                            RC3_REV (FLOAT)

                                                            RC channel 3 reverse

                                                            Comment: Set to -1 to reverse channel.

                                                            Values:
                                                              +

                                                            RC channel 3 reverse

                                                            Comment: Set to -1 to reverse channel.

                                                            参数对照:
                                                            • -1.0: Reverse
                                                            • 1.0: Normal
                                                              • @@ -7655,7 +7654,7 @@ default 1.5 turns per second
                                                            RC4_REV (FLOAT)

                                                            RC channel 4 reverse

                                                            Comment: Set to -1 to reverse channel.

                                                            Values:
                                                              +

                                                            RC channel 4 reverse

                                                            Comment: Set to -1 to reverse channel.

                                                            参数对照:
                                                            • -1.0: Reverse
                                                            • 1.0: Normal
                                                              • @@ -7695,7 +7694,7 @@ default 1.5 turns per second
                                                            RC5_REV (FLOAT)

                                                            RC channel 5 reverse

                                                            Comment: Set to -1 to reverse channel.

                                                            Values:
                                                              +

                                                            RC channel 5 reverse

                                                            Comment: Set to -1 to reverse channel.

                                                            参数对照:
                                                            • -1.0: Reverse
                                                            • 1.0: Normal
                                                              • @@ -7735,7 +7734,7 @@ default 1.5 turns per second
                                                            RC6_REV (FLOAT)

                                                            RC channel 6 reverse

                                                            Comment: Set to -1 to reverse channel.

                                                            Values:
                                                              +

                                                            RC channel 6 reverse

                                                            Comment: Set to -1 to reverse channel.

                                                            参数对照:
                                                            • -1.0: Reverse
                                                            • 1.0: Normal
                                                              • @@ -7775,7 +7774,7 @@ default 1.5 turns per second
                                                            RC7_REV (FLOAT)

                                                            RC channel 7 reverse

                                                            Comment: Set to -1 to reverse channel.

                                                            Values:
                                                              +

                                                            RC channel 7 reverse

                                                            Comment: Set to -1 to reverse channel.

                                                            参数对照:
                                                            • -1.0: Reverse
                                                            • 1.0: Normal
                                                              • @@ -7815,7 +7814,7 @@ default 1.5 turns per second
                                                            RC8_REV (FLOAT)

                                                            RC channel 8 reverse

                                                            Comment: Set to -1 to reverse channel.

                                                            Values:
                                                              +

                                                            RC channel 8 reverse

                                                            Comment: Set to -1 to reverse channel.

                                                            参数对照:
                                                            • -1.0: Reverse
                                                            • 1.0: Normal
                                                              • @@ -7855,7 +7854,7 @@ default 1.5 turns per second
                                                            RC9_REV (FLOAT)

                                                            RC channel 9 reverse

                                                            Comment: Set to -1 to reverse channel.

                                                            Values:
                                                              +

                                                            RC channel 9 reverse

                                                            Comment: Set to -1 to reverse channel.

                                                            参数对照:
                                                            • -1.0: Reverse
                                                            • 1.0: Normal
                                                              • @@ -7888,7 +7887,7 @@ default 1.5 turns per second
                                                            RC_MAP_AUX1 (INT32)

                                                            AUX1 Passthrough RC channel

                                                            Comment: Default function: Camera pitch

                                                            Values:
                                                              +

                                                            AUX1 Passthrough RC channel

                                                            Comment: Default function: Camera pitch

                                                            参数对照:
                                                            • 0: Unassigned
                                                            • 1: Channel 1
                                                              • @@ -7934,7 +7933,7 @@ default 1.5 turns per second
                                                            RC_MAP_AUX2 (INT32)

                                                            AUX2 Passthrough RC channel

                                                            Comment: Default function: Camera roll

                                                            Values:
                                                              +

                                                            AUX2 Passthrough RC channel

                                                            Comment: Default function: Camera roll

                                                            参数对照:
                                                            • 0: Unassigned
                                                            • 1: Channel 1
                                                              • @@ -7980,7 +7979,7 @@ default 1.5 turns per second
                                                            RC_MAP_AUX3 (INT32)

                                                            AUX3 Passthrough RC channel

                                                            Comment: Default function: Camera azimuth / yaw

                                                            Values:
                                                              +

                                                            AUX3 Passthrough RC channel

                                                            Comment: Default function: Camera azimuth / yaw

                                                            参数对照:
                                                            • 0: Unassigned
                                                            • 1: Channel 1
                                                              • @@ -8026,7 +8025,7 @@ default 1.5 turns per second
                                                            RC_MAP_AUX4 (INT32)

                                                            AUX4 Passthrough RC channel

                                                            Values:
                                                              +

                                                            AUX4 Passthrough RC channel

                                                            参数对照:
                                                            • 0: Unassigned
                                                            • 1: Channel 1
                                                              • @@ -8072,7 +8071,7 @@ default 1.5 turns per second
                                                            RC_MAP_AUX5 (INT32)

                                                            AUX5 Passthrough RC channel

                                                            Values:
                                                              +

                                                            AUX5 Passthrough RC channel

                                                            参数对照:
                                                            • 0: Unassigned
                                                            • 1: Channel 1
                                                              • @@ -8118,7 +8117,7 @@ default 1.5 turns per second
                                                            RC_MAP_AUX6 (INT32)

                                                            AUX6 Passthrough RC channel

                                                            Values:
                                                              +

                                                            AUX6 Passthrough RC channel

                                                            参数对照:
                                                            • 0: Unassigned
                                                            • 1: Channel 1
                                                              • @@ -8164,7 +8163,7 @@ default 1.5 turns per second
                                                            RC_MAP_FAILSAFE (INT32)

                                                            Failsafe channel mapping

                                                            Comment: The RC mapping index indicates which channel is used for failsafe If 0, whichever channel is mapped to throttle is used otherwise the value indicates the specific RC channel to use

                                                            Values:
                                                              +

                                                            Failsafe channel mapping

                                                            Comment: The RC mapping index indicates which channel is used for failsafe If 0, whichever channel is mapped to throttle is used otherwise the value indicates the specific RC channel to use

                                                            参数对照:
                                                            • 0: Unassigned
                                                            • 1: Channel 1
                                                              • @@ -8210,7 +8209,7 @@ default 1.5 turns per second
                                                            RC_MAP_PARAM1 (INT32)

                                                            PARAM1 tuning channel

                                                            Comment: Can be used for parameter tuning with the RC. This one is further referenced as the 1st parameter channel. Set to 0 to deactivate *

                                                            Values:
                                                              +

                                                            PARAM1 tuning channel

                                                            Comment: Can be used for parameter tuning with the RC. This one is further referenced as the 1st parameter channel. Set to 0 to deactivate *

                                                            参数对照:
                                                            • 0: Unassigned
                                                            • 1: Channel 1
                                                              • @@ -8256,7 +8255,7 @@ default 1.5 turns per second
                                                            RC_MAP_PARAM2 (INT32)

                                                            PARAM2 tuning channel

                                                            Comment: Can be used for parameter tuning with the RC. This one is further referenced as the 2nd parameter channel. Set to 0 to deactivate *

                                                            Values:
                                                              +

                                                            PARAM2 tuning channel

                                                            Comment: Can be used for parameter tuning with the RC. This one is further referenced as the 2nd parameter channel. Set to 0 to deactivate *

                                                            参数对照:
                                                            • 0: Unassigned
                                                            • 1: Channel 1
                                                              • @@ -8302,7 +8301,7 @@ default 1.5 turns per second
                                                            RC_MAP_PARAM3 (INT32)

                                                            PARAM3 tuning channel

                                                            Comment: Can be used for parameter tuning with the RC. This one is further referenced as the 3th parameter channel. Set to 0 to deactivate *

                                                            Values:
                                                              +

                                                            PARAM3 tuning channel

                                                            Comment: Can be used for parameter tuning with the RC. This one is further referenced as the 3th parameter channel. Set to 0 to deactivate *

                                                            参数对照:
                                                            • 0: Unassigned
                                                            • 1: Channel 1
                                                              • @@ -8348,7 +8347,7 @@ default 1.5 turns per second
                                                            RC_MAP_PITCH (INT32)

                                                            Pitch control channel mapping

                                                            Comment: The channel index (starting from 1 for channel 1) indicates which channel should be used for reading pitch inputs from. A value of zero indicates the switch is not assigned.

                                                            Values:
                                                              +

                                                            Pitch control channel mapping

                                                            Comment: The channel index (starting from 1 for channel 1) indicates which channel should be used for reading pitch inputs from. A value of zero indicates the switch is not assigned.

                                                            参数对照:
                                                            • 0: Unassigned
                                                            • 1: Channel 1
                                                              • @@ -8394,7 +8393,7 @@ default 1.5 turns per second
                                                            RC_MAP_ROLL (INT32)

                                                            Roll control channel mapping

                                                            Comment: The channel index (starting from 1 for channel 1) indicates which channel should be used for reading roll inputs from. A value of zero indicates the switch is not assigned.

                                                            Values:
                                                              +

                                                            Roll control channel mapping

                                                            Comment: The channel index (starting from 1 for channel 1) indicates which channel should be used for reading roll inputs from. A value of zero indicates the switch is not assigned.

                                                            参数对照:
                                                            • 0: Unassigned
                                                            • 1: Channel 1
                                                              • @@ -8440,7 +8439,7 @@ default 1.5 turns per second
                                                            RC_MAP_THROTTLE (INT32)

                                                            Throttle control channel mapping

                                                            Comment: The channel index (starting from 1 for channel 1) indicates which channel should be used for reading throttle inputs from. A value of zero indicates the switch is not assigned.

                                                            Values:
                                                              +

                                                            Throttle control channel mapping

                                                            Comment: The channel index (starting from 1 for channel 1) indicates which channel should be used for reading throttle inputs from. A value of zero indicates the switch is not assigned.

                                                            参数对照:
                                                            • 0: Unassigned
                                                            • 1: Channel 1
                                                              • @@ -8486,7 +8485,7 @@ default 1.5 turns per second
                                                            RC_MAP_YAW (INT32)

                                                            Yaw control channel mapping

                                                            Comment: The channel index (starting from 1 for channel 1) indicates which channel should be used for reading yaw inputs from. A value of zero indicates the switch is not assigned.

                                                            Values:
                                                              +

                                                            Yaw control channel mapping

                                                            Comment: The channel index (starting from 1 for channel 1) indicates which channel should be used for reading yaw inputs from. A value of zero indicates the switch is not assigned.

                                                            参数对照:
                                                            • 0: Unassigned
                                                            • 1: Channel 1
                                                              • @@ -8532,7 +8531,7 @@ default 1.5 turns per second
                                                            RC_RSSI_PWM_CHAN (INT32)

                                                            PWM input channel that provides RSSI

                                                            Comment: 0: do not read RSSI from input channel 1-18: read RSSI from specified input channel Specify the range for RSSI input with RC_RSSI_PWM_MIN and RC_RSSI_PWM_MAX parameters.

                                                            Values:
                                                              +

                                                            PWM input channel that provides RSSI

                                                            Comment: 0: do not read RSSI from input channel 1-18: read RSSI from specified input channel Specify the range for RSSI input with RC_RSSI_PWM_MIN and RC_RSSI_PWM_MAX parameters.

                                                            参数对照:
                                                            • 0: Unassigned
                                                            • 1: Channel 1
                                                              • @@ -8618,7 +8617,7 @@ default 1.5 turns per second
                                                            - + @@ -8679,7 +8678,7 @@ default 1.5 turns per second

                                                            - - - - - - - - - - - - - - -
                                                            NameDescriptionMin > Max (Incr.)DefaultUnits
                                                            参数名参数描述最小最大值 (增量)默认值单位
                                                            RC_MAP_ACRO_SW (INT32)

                                                            Acro switch channel

                                                            Values:
                                                              +

                                                            Acro switch channel

                                                            参数对照:
                                                            • 0: Unassigned
                                                            • 1: Channel 1
                                                              • @@ -8725,7 +8724,7 @@ default 1.5 turns per second
                                                            RC_MAP_ARM_SW (INT32)

                                                            Arm switch channel

                                                            Comment: Use it to arm/disarm via switch instead of default throttle stick. If this is assigned, arming and disarming via stick is disabled.

                                                            Values:
                                                              +

                                                            Arm switch channel

                                                            Comment: Use it to arm/disarm via switch instead of default throttle stick. If this is assigned, arming and disarming via stick is disabled.

                                                            参数对照:
                                                            • 0: Unassigned
                                                            • 1: Channel 1
                                                              • @@ -8771,7 +8770,7 @@ default 1.5 turns per second
                                                            RC_MAP_FLAPS (INT32)

                                                            Flaps channel

                                                            Values:
                                                              +

                                                            Flaps channel

                                                            参数对照:
                                                            • 0: Unassigned
                                                            • 1: Channel 1
                                                              • @@ -8817,7 +8816,7 @@ default 1.5 turns per second
                                                            RC_MAP_FLTMODE (INT32)

                                                            Single channel flight mode selection

                                                            Comment: If this parameter is non-zero, flight modes are only selected by this channel and are assigned to six slots.

                                                            Values:
                                                              +

                                                            Single channel flight mode selection

                                                            Comment: If this parameter is non-zero, flight modes are only selected by this channel and are assigned to six slots.

                                                            参数对照:
                                                            • 0: Unassigned
                                                            • 1: Channel 1
                                                              • @@ -8863,7 +8862,7 @@ default 1.5 turns per second
                                                            RC_MAP_GEAR_SW (INT32)

                                                            Landing gear switch channel

                                                            Values:
                                                              +

                                                            Landing gear switch channel

                                                            参数对照:
                                                            • 0: Unassigned
                                                            • 1: Channel 1
                                                              • @@ -8909,7 +8908,7 @@ default 1.5 turns per second
                                                            RC_MAP_KILL_SW (INT32)

                                                            Emergency Kill switch channel

                                                            Values:
                                                              +

                                                            Emergency Kill switch channel

                                                            参数对照:
                                                            • 0: Unassigned
                                                            • 1: Channel 1
                                                              • @@ -8955,7 +8954,7 @@ default 1.5 turns per second
                                                            RC_MAP_LOITER_SW (INT32)

                                                            Loiter switch channel

                                                            Values:
                                                              +

                                                            Loiter switch channel

                                                            参数对照:
                                                            • 0: Unassigned
                                                            • 1: Channel 1
                                                              • @@ -9001,7 +9000,7 @@ default 1.5 turns per second
                                                            RC_MAP_MAN_SW (INT32)

                                                            Manual switch channel mapping

                                                            Values:
                                                              +

                                                            Manual switch channel mapping

                                                            参数对照:
                                                            • 0: Unassigned
                                                            • 1: Channel 1
                                                              • @@ -9047,7 +9046,7 @@ default 1.5 turns per second
                                                            RC_MAP_MODE_SW (INT32)

                                                            Mode switch channel mapping

                                                            Comment: This is the main flight mode selector. The channel index (starting from 1 for channel 1) indicates which channel should be used for deciding about the main mode. A value of zero indicates the switch is not assigned.

                                                            Values:
                                                              +

                                                            Mode switch channel mapping

                                                            Comment: This is the main flight mode selector. The channel index (starting from 1 for channel 1) indicates which channel should be used for deciding about the main mode. A value of zero indicates the switch is not assigned.

                                                            参数对照:
                                                            • 0: Unassigned
                                                            • 1: Channel 1
                                                              • @@ -9093,7 +9092,7 @@ default 1.5 turns per second
                                                            RC_MAP_OFFB_SW (INT32)

                                                            Offboard switch channel

                                                            Values:
                                                              +

                                                            Offboard switch channel

                                                            参数对照:
                                                            • 0: Unassigned
                                                            • 1: Channel 1
                                                              • @@ -9139,7 +9138,7 @@ default 1.5 turns per second
                                                            RC_MAP_POSCTL_SW (INT32)

                                                            Position Control switch channel

                                                            Values:
                                                              +

                                                            Position Control switch channel

                                                            参数对照:
                                                            • 0: Unassigned
                                                            • 1: Channel 1
                                                              • @@ -9185,7 +9184,7 @@ default 1.5 turns per second
                                                            RC_MAP_RATT_SW (INT32)

                                                            Rattitude switch channel

                                                            Values:
                                                              +

                                                            Rattitude switch channel

                                                            参数对照:
                                                            • 0: Unassigned
                                                            • 1: Channel 1
                                                              • @@ -9231,7 +9230,7 @@ default 1.5 turns per second
                                                            RC_MAP_RETURN_SW (INT32)

                                                            Return switch channel

                                                            Values:
                                                              +

                                                            Return switch channel

                                                            参数对照:
                                                            • 0: Unassigned
                                                            • 1: Channel 1
                                                              • @@ -9277,7 +9276,7 @@ default 1.5 turns per second
                                                            RC_MAP_STAB_SW (INT32)

                                                            Stabilize switch channel mapping

                                                            Values:
                                                              +

                                                            Stabilize switch channel mapping

                                                            参数对照:
                                                            • 0: Unassigned
                                                            • 1: Channel 1
                                                              • @@ -9323,7 +9322,7 @@ default 1.5 turns per second
                                                            RC_MAP_TRANS_SW (INT32)

                                                            VTOL transition switch channel mapping

                                                            Values:
                                                              +

                                                            VTOL transition switch channel mapping

                                                            参数对照:
                                                            • 0: Unassigned
                                                            • 1: Channel 1
                                                              • @@ -9411,17 +9410,17 @@ default 1.5 turns per second
                                                            -## Return Mode +## 返航模式 - + - - + - + - + - + - + -
                                                            NameDescriptionMin > Max (Incr.)DefaultUnits
                                                            参数名参数描述最小最大值 (增量)默认值单位
                                                            RTL_CONE_ANG (INT32)

                                                            Half-angle of the return mode altitude cone

                                                            Comment: Defines the half-angle of a cone centered around the destination position that affects the altitude at which the vehicle returns.

                                                            Values:
                                                              +

                                                            Half-angle of the return mode altitude cone

                                                            Comment: Defines the half-angle of a cone centered around the destination position that affects the altitude at which the vehicle returns.

                                                            参数对照:
                                                            • 0: No cone, always climb to RTL_RETURN_ALT above destination.
                                                            • 25: 25 degrees half cone angle.
                                                              • @@ -9437,39 +9436,39 @@ default 1.5 turns per second

                                                            		 0 > 90 0deg度
                                                            RTL_DESCEND_ALT (FLOAT)

                                                            Return mode loiter altitude

                                                            Comment: Descend to this altitude (above destination position) after return, and wait for time defined in RTL_LAND_DELAY. Land (i.e. slowly descend) from this altitude if autolanding allowed.

                                                            		 2 > 100 (0.5) 30m米
                                                            RTL_LAND_DELAY (FLOAT)

                                                            Return mode delay

                                                            Comment: Delay before landing (after initial descent) in Return mode. If set to -1 the system will not land but loiter at RTL_DESCEND_ALT.

                                                            		 -1 > 300 (0.5) -1.0s秒
                                                            RTL_MIN_DIST (FLOAT)

                                                            Maximum horizontal distance from return destination, below which RTL_DESCEND_ALT is used as return altitude

                                                            Comment: If the vehicle is less than this horizontal distance from the return destination when return mode is activated it will ascend to RTL_DESCEND_ALT for the return journey (rather than the altitude set by RTL_RETURN_ALT and RTL_CONE_ANG).

                                                            		 0.5 > 100 (0.5) 5.0m米
                                                            RTL_RETURN_ALT (FLOAT)

                                                            Return mode return altitude

                                                            Comment: Default minimum altitude above destination (e.g. home, safe point, landing pattern) for return flight. This is affected by RTL_MIN_DIST and RTL_CONE_ANG.

                                                            		 0 > 150 (0.5) 60m米
                                                            RTL_TYPE (INT32)

                                                            Return type

                                                            Comment: Return mode destination and flight path (home location, rally point, mission landing pattern, reverse mission)

                                                            Values:
                                                              +

                                                            Return type

                                                            Comment: Return mode destination and flight path (home location, rally point, mission landing pattern, reverse mission)

                                                            参数对照:
                                                            • 0: Return to closest safe point (home or rally point) via direct path.
                                                            • 1: Return to closest safe point other than home (mission landing pattern or rally point), via direct path. If no mission landing or rally points are defined return home via direct path.
                                                              • @@ -9490,12 +9489,12 @@ default 1.5 turns per second
                                                            - + -
                                                            NameDescriptionMin > Max (Incr.)DefaultUnits
                                                            参数名参数描述最小最大值 (增量)默认值单位
                                                            RTL_PLD_MD (INT32)

                                                            RTL precision land mode

                                                            Comment: Use precision landing when doing an RTL landing phase.

                                                            Values:
                                                              +

                                                            RTL precision land mode

                                                            Comment: Use precision landing when doing an RTL landing phase.

                                                            参数对照:
                                                            • 0: No precision landing
                                                            • 1: Opportunistic precision landing
                                                              • @@ -9514,13 +9513,13 @@ default 1.5 turns per second
                                                            - + -
                                                          • 300: Radio Controller
                                                            • -

                                                            Reboot required: true

                                                            +

                                                            要求重启:是

                                                            @@ -9553,12 +9552,12 @@ default 1.5 turns per second

                                                            NameDescriptionMin > Max (Incr.)DefaultUnits
                                                            参数名参数描述最小最大值 (增量)默认值单位
                                                            RBCLW_SER_CFG (INT32)

                                                            Serial Configuration for Roboclaw Driver

                                                            Comment: Configure on which serial port to run Roboclaw Driver.

                                                            Values:
                                                              -
                                                            • 0: Disabled
                                                              • +

                                                            Serial Configuration for Roboclaw Driver

                                                            Comment: Configure on which serial port to run Roboclaw Driver.

                                                            参数对照:
                                                              +
                                                            • 0:禁用相机反馈
                                                            • 6: UART 6
                                                              • @@ -9540,7 +9539,7 @@ default 1.5 turns per second

                                                            		 0
                                                            - + - -
                                                          • 460800: 460800 baud
                                                            • -

                                                            Reboot required: true

                                                            +

                                                            要求重启:是

                                                            @@ -9633,7 +9632,7 @@ default 1.5 turns per second

                                                            NameDescriptionMin > Max (Incr.)DefaultUnits
                                                            参数名参数描述最小最大值 (增量)默认值单位
                                                            RBCLW_ADDRESS (INT32)

                                                            Address of the Roboclaw

                                                            Comment: The Roboclaw can be configured to have an address from 0x80 to 0x87, inclusive. It must be configured to match this parameter.

                                                            Values:
                                                              +

                                                            Address of the Roboclaw

                                                            Comment: The Roboclaw can be configured to have an address from 0x80 to 0x87, inclusive. It must be configured to match this parameter.

                                                            参数对照:
                                                            • 128: 0x80
                                                            • 129: 0x81
                                                              • @@ -9582,7 +9581,7 @@ default 1.5 turns per second
                                                            RBCLW_BAUD (INT32)

                                                            Roboclaw serial baud rate

                                                            Comment: Baud rate of the serial communication with the Roboclaw. The Roboclaw must be configured to match this rate.

                                                            Values:
                                                              +

                                                            Roboclaw serial baud rate

                                                            Comment: Baud rate of the serial communication with the Roboclaw. The Roboclaw must be configured to match this rate.

                                                            参数对照:
                                                            • 2400: 2400 baud
                                                            • 9600: 9600 baud
                                                              • @@ -9599,7 +9598,7 @@ default 1.5 turns per second

                                                            		 2400 > 460800 2400
                                                            - + @@ -9648,14 +9647,14 @@ default 1.5 turns per second

                                                            - + - + @@ -9692,7 +9691,7 @@ At a control output of 1, the steering wheels are at GND_MAX_ANG radians

                                                            < - + @@ -9713,11 +9712,11 @@ At a control output of 1, the steering wheels are at GND_MAX_ANG radians

                                                            < - + - - + - + - + @@ -9760,7 +9759,7 @@ At a control output of 1, the steering wheels are at GND_MAX_ANG radians

                                                            < - +
                                                            NameDescriptionMin > Max (Incr.)DefaultUnits
                                                            参数名参数描述最小最大值 (增量)默认值单位

                                                            L1 distance

                                                            Comment: This is the waypoint radius

                                                            		 0.0 > 100.0 (0.1) 5.0m米
                                                            GND_L1_PERIOD (FLOAT)

                                                            L1 period

                                                            Comment: This is the L1 distance and defines the tracking point ahead of the rover it's following. Using values around 2-5 for a traxxas stampede. Shorten slowly during tuning until response is sharp without oscillation.

                                                            		 0.0 > 50.0 (0.5) 10.0m米
                                                            GND_MAX_ANG (FLOAT)

                                                            Maximum ground speed

                                                            		 0.0 > 40 (0.5) 10.0m/s米/秒
                                                            GND_SPEED_P (FLOAT)

                                                            Trim ground speed

                                                            		 0.0 > 40 (0.5) 3.0m/s米/秒
                                                            GND_SP_CTRL_MODE (INT32)

                                                            Control mode for speed

                                                            Comment: This allows the user to choose between closed loop gps speed or open loop cruise throttle speed

                                                            Values:
                                                              +

                                                            Control mode for speed

                                                            Comment: This allows the user to choose between closed loop gps speed or open loop cruise throttle speed

                                                            参数对照:
                                                            • 0: open loop control
                                                            • 1: close the loop with gps speed
                                                              • @@ -9736,21 +9735,21 @@ At a control output of 1, the steering wheels are at GND_MAX_ANG radians

                                                              <
                                                            GND_THR_IDLE (FLOAT)

                                                            Idle throttle

                                                            Comment: This is the minimum throttle while on the ground, it should be 0 for a rover

                                                            怠速油门

                                                            Comment: This is the minimum throttle while on the ground, it should be 0 for a rover

                                                            		 0.0 > 0.4 (0.01) 0.0 norm
                                                            GND_THR_MAX (FLOAT)

                                                            Throttle limit max

                                                            Comment: This is the maximum throttle % that can be used by the controller. For a Traxxas stampede vxl with the ESC set to training, 30 % is enough

                                                            油门最大值

                                                            Comment: This is the maximum throttle % that can be used by the controller. For a Traxxas stampede vxl with the ESC set to training, 30 % is enough

                                                            		 0.0 > 1.0 (0.01) 0.3 norm
                                                            GND_THR_MIN (FLOAT)

                                                            Throttle limit min

                                                            Comment: This is the minimum throttle % that can be used by the controller. Set to 0 for rover

                                                            油门最小值

                                                            Comment: This is the minimum throttle % that can be used by the controller. Set to 0 for rover

                                                            		 0.0 > 1.0 (0.01) 0.0 norm

                                                            Distance from front axle to rear axle

                                                            		 0.0 > ? (0.01) 2.0m米
                                                            @@ -9769,12 +9768,12 @@ At a control output of 1, the steering wheels are at GND_MAX_ANG radians

                                                            < - + - @@ -9783,7 +9782,7 @@ FW_AIRSPD_MIN * RWTO_AIRSPD_SCL

                                                            - - + @@ -9809,11 +9808,11 @@ Roll is limited during climbout to ensure enough lift and prevents aggressive navigation before we're on a safe height

                                                            - + - @@ -9827,7 +9826,7 @@ rudder is used to keep the heading (see RWTO_HDG). This should be below FW_CLMBOUT_DIFF if FW_CLMBOUT_DIFF > 0

                                                            - + @@ -9837,14 +9836,14 @@ a little to keep it's wheel on the ground before airspeed to takeoff is reached

                                                            - + - + @@ -9860,7 +9859,7 @@ to takeoff is reached

                                                            NameDescriptionMin > Max (Incr.)DefaultUnits
                                                            参数名参数描述最小最大值 (增量)默认值单位
                                                            RWTO_AIRSPD_SCL (FLOAT)

                                                            Min. airspeed scaling factor for takeoff. +

                                                            起飞时最小 空速比例因子 Pitch up will be commanded when the following airspeed is reached: FW_AIRSPD_MIN * RWTO_AIRSPD_SCL

                                                            		 0.0 > 2.0 (0.01)
                                                            RWTO_HDG (INT32)

                                                            Specifies which heading should be held during runnway takeoff

                                                            Comment: 0: airframe heading, 1: heading towards takeoff waypoint

                                                            Values:
                                                              +

                                                            Specifies which heading should be held during runnway takeoff

                                                            Comment: 0: airframe heading, 1: heading towards takeoff waypoint

                                                            参数对照:
                                                            • 0: Airframe
                                                            • 1: Waypoint
                                                              • @@ -9800,7 +9799,7 @@ Fixed-wing settings are used if set to 0. Note that there is also a minimum pitch of 10 degrees during takeoff, so this must be larger if set

                                                            		 0.0 > 60.0 (0.5) 20.0deg度
                                                            RWTO_MAX_ROLL (FLOAT) 0.0 > 60.0 (0.5) 25.0deg度
                                                            RWTO_MAX_THR (FLOAT)

                                                            Max throttle during runway takeoff. +

                                                            跑道起飞时的最大油门。 (Can be used to test taxi on runway)

                                                            		 0.0 > 1.0 (0.01) 1.0 0.0 > 100.0 (1) 5.0m米
                                                            RWTO_PSP (FLOAT) -10.0 > 20.0 (0.5) 0.0deg度
                                                            RWTO_RAMP_TIME (FLOAT)

                                                            Throttle ramp up time for runway takeoff

                                                            		 1.0 > 15.0 (0.1) 2.0s秒
                                                            RWTO_TKOFF (INT32)
                                                            - + @@ -9872,7 +9871,7 @@ to takeoff is reached

                                                            - @@ -9880,14 +9879,14 @@ to takeoff is reached

                                                            - @@ -9895,7 +9894,7 @@ to takeoff is reached

                                                            -
                                                          • 3: depending on AUX1 RC channel
                                                            • -

                                                            Reboot required: true

                                                            +

                                                            要求重启:是

                                                            @@ -9925,7 +9924,7 @@ to takeoff is reached

                                                          • 8: Raw FIFO high-rate IMU (Gyro)
                                                          • 9: Raw FIFO high-rate IMU (Accel)
                                                            • -

                                                            Reboot required: true

                                                            +

                                                            重启要求:是

                                                            @@ -9947,12 +9946,12 @@ to takeoff is reached

                                                            NameDescriptionMin > Max (Incr.)DefaultUnits
                                                            参数名参数描述最小最大值 (增量)默认值单位
                                                            SDLOG_DIRS_MAX (INT32)

                                                            Maximum number of log directories to keep

                                                            Comment: If there are more log directories than this value, the system will delete the oldest directories during startup. In addition, the system will delete old logs if there is not enough free space left. The minimum amount is 300 MB. If this is set to 0, old directories will only be removed if the free space falls below the minimum. Note: this does not apply to mission log files.

                                                            Reboot required: true

                                                            +

                                                            Maximum number of log directories to keep

                                                            Comment: If there are more log directories than this value, the system will delete the oldest directories during startup. In addition, the system will delete old logs if there is not enough free space left. The minimum amount is 300 MB. If this is set to 0, old directories will only be removed if the free space falls below the minimum. Note: this does not apply to mission log files.

                                                            要求重启:是

                                                            		 0 > 1000 0
                                                            SDLOG_MISSION (INT32)

                                                            Mission Log

                                                            Comment: If enabled, a small additional "mission" log file will be written to the SD card. The log contains just those messages that are useful for tasks like generating flight statistics and geotagging. The different modes can be used to further reduce the logged data (and thus the log file size). For example, choose geotagging mode to only log data required for geotagging. Note that the normal/full log is still created, and contains all the data in the mission log (and more).

                                                            Values:
                                                              -
                                                            • 0: Disabled
                                                              • +

                                                            Mission Log

                                                            Comment: If enabled, a small additional "mission" log file will be written to the SD card. The log contains just those messages that are useful for tasks like generating flight statistics and geotagging. The different modes can be used to further reduce the logged data (and thus the log file size). For example, choose geotagging mode to only log data required for geotagging. Note that the normal/full log is still created, and contains all the data in the mission log (and more).

                                                            参数对照:
                                                              +
                                                            • 0:禁用相机反馈
                                                            • 1: All mission messages
                                                            • 2: Geotagging messages
                                                            -

                                                            Reboot required: true

                                                            +

                                                            要求重启:是

                                                            		 0
                                                            SDLOG_MODE (INT32)

                                                            Logging Mode

                                                            Comment: Determines when to start and stop logging. By default, logging is started when arming the system, and stopped when disarming.

                                                            Values:
                                                              +

                                                            Logging Mode

                                                            Comment: Determines when to start and stop logging. By default, logging is started when arming the system, and stopped when disarming.

                                                            参数对照:
                                                            • -1: disabled
                                                            • 0: when armed until disarm (default)
                                                              • @@ -9906,7 +9905,7 @@ to takeoff is reached

                                                            		 0 0 > 1023 1
                                                            -## SITL +## 软件在环仿真（ SITL ） - + @@ -9960,7 +9959,7 @@ to takeoff is reached

                                                            - + @@ -9978,7 +9977,7 @@ Particularly useful for testing different low-battery behaviour

                                                            NameDescriptionMin > Max (Incr.)DefaultUnits
                                                            参数名描述最小最大值 (增量)默认值单位

                                                            Simulator Battery drain interval

                                                            		 1 > 86400 (1) 60s秒
                                                            SIM_BAT_MIN_PCT (FLOAT)
                                                            - + @@ -9990,7 +9989,7 @@ Particularly useful for testing different low-battery behaviour

                                                            - -
                                                          • 41: Roll 270°, Yaw 180°
                                                            • -

                                                            Reboot required: true

                                                            +

                                                            要求重启:是

                                                            @@ -10156,7 +10155,7 @@ Particularly useful for testing different low-battery behaviour

                                                            - -
                                                          • 41: Roll 270°, Yaw 180°
                                                            • -

                                                            Reboot required: true

                                                            +

                                                            要求重启:是

                                                            @@ -10322,7 +10321,7 @@ Particularly useful for testing different low-battery behaviour

                                                            - -
                                                          • 41: Roll 270°, Yaw 180°
                                                            • -

                                                            Reboot required: true

                                                            +

                                                            要求重启:是

                                                            @@ -10488,7 +10487,7 @@ Particularly useful for testing different low-battery behaviour

                                                            - -
                                                          • 41: Roll 270°, Yaw 180°
                                                            • -

                                                            Reboot required: true

                                                            +

                                                            要求重启:是

                                                            @@ -10654,7 +10653,7 @@ Particularly useful for testing different low-battery behaviour

                                                            - -
                                                          • 41: Roll 270°, Yaw 180°
                                                            • -

                                                            Reboot required: true

                                                            +

                                                            要求重启:是

                                                            @@ -10799,7 +10798,7 @@ Particularly useful for testing different low-battery behaviour

                                                            - -
                                                          • 41: Roll 270°, Yaw 180°
                                                            • -

                                                            Reboot required: true

                                                            +

                                                            要求重启:是

                                                            @@ -10944,7 +10943,7 @@ Particularly useful for testing different low-battery behaviour

                                                            - -
                                                          • 41: Roll 270°, Yaw 180°
                                                            • -

                                                            Reboot required: true

                                                            +

                                                            要求重启:是

                                                            @@ -11089,7 +11088,7 @@ Particularly useful for testing different low-battery behaviour

                                                            - -
                                                          • 41: Roll 270°, Yaw 180°
                                                            • -

                                                            Reboot required: true

                                                            +

                                                            要求重启:是

                                                            @@ -11234,7 +11233,7 @@ Particularly useful for testing different low-battery behaviour

                                                            - -
                                                          • 41: Roll 270°, Yaw 180°
                                                            • -

                                                            Reboot required: true

                                                            +

                                                            要求重启:是

                                                            @@ -11454,7 +11453,7 @@ for current-based compensation [G/kA]

                                                            - -
                                                          • 41: Roll 270°, Yaw 180°
                                                            • -

                                                            Reboot required: true

                                                            +

                                                            要求重启:是

                                                            @@ -11674,7 +11673,7 @@ for current-based compensation [G/kA]

                                                            - -
                                                          • 41: Roll 270°, Yaw 180°
                                                            • -

                                                            Reboot required: true

                                                            +

                                                            要求重启:是

                                                            @@ -11894,7 +11893,7 @@ for current-based compensation [G/kA]

                                                            - -
                                                          • 41: Roll 270°, Yaw 180°
                                                            • -

                                                            Reboot required: true

                                                            +

                                                            要求重启:是

                                                            @@ -12107,8 +12106,8 @@ for current-based compensation [G/kA]

                                                            - - + @@ -12150,28 +12149,28 @@ control loops will be instructed to limit ground speed such that the flow rate p is less than 50% of this value

                                                            - + - +
                                                            NameDescriptionMin > Max (Incr.)DefaultUnits
                                                            参数名描述最小最大值 (增量)默认值单位
                                                            CAL_ACC0_PRIO (INT32)

                                                            Accelerometer 0 priority

                                                            Values:
                                                              +

                                                            Accelerometer 0 priority

                                                            参数对照:
                                                            • -1: Uninitialized
                                                            • 0: Disabled
                                                              • @@ -10012,7 +10011,7 @@ Particularly useful for testing different low-battery behaviour
                                                            CAL_ACC0_ROT (INT32)

                                                            Rotation of accelerometer 0 relative to airframe

                                                            Comment: An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.

                                                            Values:
                                                              +

                                                            Rotation of accelerometer 0 relative to airframe

                                                            Comment: An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.

                                                            参数对照:
                                                            • -1: Internal
                                                            • 0: No rotation
                                                              • @@ -10099,7 +10098,7 @@ Particularly useful for testing different low-battery behaviour

                                                            		 -1 > 41 -1
                                                            CAL_ACC1_PRIO (INT32)

                                                            Accelerometer 1 priority

                                                            Values:
                                                              +

                                                            Accelerometer 1 priority

                                                            参数对照:
                                                            • -1: Uninitialized
                                                            • 0: Disabled
                                                              • @@ -10178,7 +10177,7 @@ Particularly useful for testing different low-battery behaviour
                                                            CAL_ACC1_ROT (INT32)

                                                            Rotation of accelerometer 1 relative to airframe

                                                            Comment: An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.

                                                            Values:
                                                              +

                                                            Rotation of accelerometer 1 relative to airframe

                                                            Comment: An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.

                                                            参数对照:
                                                            • -1: Internal
                                                            • 0: No rotation
                                                              • @@ -10265,7 +10264,7 @@ Particularly useful for testing different low-battery behaviour

                                                            		 -1 > 41 -1
                                                            CAL_ACC2_PRIO (INT32)

                                                            Accelerometer 2 priority

                                                            Values:
                                                              +

                                                            Accelerometer 2 priority

                                                            参数对照:
                                                            • -1: Uninitialized
                                                            • 0: Disabled
                                                              • @@ -10344,7 +10343,7 @@ Particularly useful for testing different low-battery behaviour
                                                            CAL_ACC2_ROT (INT32)

                                                            Rotation of accelerometer 2 relative to airframe

                                                            Comment: An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.

                                                            Values:
                                                              +

                                                            Rotation of accelerometer 2 relative to airframe

                                                            Comment: An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.

                                                            参数对照:
                                                            • -1: Internal
                                                            • 0: No rotation
                                                              • @@ -10431,7 +10430,7 @@ Particularly useful for testing different low-battery behaviour

                                                            		 -1 > 41 -1
                                                            CAL_ACC3_PRIO (INT32)

                                                            Accelerometer 3 priority

                                                            Values:
                                                              +

                                                            Accelerometer 3 priority

                                                            参数对照:
                                                            • -1: Uninitialized
                                                            • 0: Disabled
                                                              • @@ -10510,7 +10509,7 @@ Particularly useful for testing different low-battery behaviour
                                                            CAL_ACC3_ROT (INT32)

                                                            Rotation of accelerometer 3 relative to airframe

                                                            Comment: An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.

                                                            Values:
                                                              +

                                                            Rotation of accelerometer 3 relative to airframe

                                                            Comment: An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.

                                                            参数对照:
                                                            • -1: Internal
                                                            • 0: No rotation
                                                              • @@ -10597,7 +10596,7 @@ Particularly useful for testing different low-battery behaviour

                                                            		 -1 > 41 -1
                                                            CAL_GYRO0_PRIO (INT32)

                                                            Gyro 0 priority

                                                            Values:
                                                              +

                                                            Gyro 0 priority

                                                            参数对照:
                                                            • -1: Uninitialized
                                                            • 0: Disabled
                                                              • @@ -10676,7 +10675,7 @@ Particularly useful for testing different low-battery behaviour
                                                            CAL_GYRO0_ROT (INT32)

                                                            Rotation of gyro 0 relative to airframe

                                                            Comment: An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.

                                                            Values:
                                                              +

                                                            Rotation of gyro 0 relative to airframe

                                                            Comment: An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.

                                                            参数对照:
                                                            • -1: Internal
                                                            • 0: No rotation
                                                              • @@ -10763,7 +10762,7 @@ Particularly useful for testing different low-battery behaviour

                                                            		 -1 > 41 -1
                                                            CAL_GYRO1_PRIO (INT32)

                                                            Gyro 1 priority

                                                            Values:
                                                              +

                                                            Gyro 1 priority

                                                            参数对照:
                                                            • -1: Uninitialized
                                                            • 0: Disabled
                                                              • @@ -10821,7 +10820,7 @@ Particularly useful for testing different low-battery behaviour
                                                            CAL_GYRO1_ROT (INT32)

                                                            Rotation of gyro 1 relative to airframe

                                                            Comment: An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.

                                                            Values:
                                                              +

                                                            Rotation of gyro 1 relative to airframe

                                                            Comment: An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.

                                                            参数对照:
                                                            • -1: Internal
                                                            • 0: No rotation
                                                              • @@ -10908,7 +10907,7 @@ Particularly useful for testing different low-battery behaviour

                                                            		 -1 > 41 -1
                                                            CAL_GYRO2_PRIO (INT32)

                                                            Gyro 2 priority

                                                            Values:
                                                              +

                                                            Gyro 2 priority

                                                            参数对照:
                                                            • -1: Uninitialized
                                                            • 0: Disabled
                                                              • @@ -10966,7 +10965,7 @@ Particularly useful for testing different low-battery behaviour
                                                            CAL_GYRO2_ROT (INT32)

                                                            Rotation of gyro 2 relative to airframe

                                                            Comment: An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.

                                                            Values:
                                                              +

                                                            Rotation of gyro 2 relative to airframe

                                                            Comment: An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.

                                                            参数对照:
                                                            • -1: Internal
                                                            • 0: No rotation
                                                              • @@ -11053,7 +11052,7 @@ Particularly useful for testing different low-battery behaviour

                                                            		 -1 > 41 -1
                                                            CAL_GYRO3_PRIO (INT32)

                                                            Gyro 3 priority

                                                            Values:
                                                              +

                                                            Gyro 3 priority

                                                            参数对照:
                                                            • -1: Uninitialized
                                                            • 0: Disabled
                                                              • @@ -11111,7 +11110,7 @@ Particularly useful for testing different low-battery behaviour
                                                            CAL_GYRO3_ROT (INT32)

                                                            Rotation of gyro 3 relative to airframe

                                                            Comment: An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.

                                                            Values:
                                                              +

                                                            Rotation of gyro 3 relative to airframe

                                                            Comment: An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.

                                                            参数对照:
                                                            • -1: Internal
                                                            • 0: No rotation
                                                              • @@ -11198,7 +11197,7 @@ Particularly useful for testing different low-battery behaviour

                                                            		 -1 > 41 -1
                                                            CAL_MAG0_PRIO (INT32)

                                                            Mag 0 priority

                                                            Values:
                                                              +

                                                            Mag 0 priority

                                                            参数对照:
                                                            • -1: Uninitialized
                                                            • 0: Disabled
                                                              • @@ -11256,7 +11255,7 @@ Particularly useful for testing different low-battery behaviour
                                                            CAL_MAG0_ROT (INT32)

                                                            Rotation of magnetometer 0 relative to airframe

                                                            Comment: An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.

                                                            Values:
                                                              +

                                                            Rotation of magnetometer 0 relative to airframe

                                                            Comment: An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.

                                                            参数对照:
                                                            • -1: Internal
                                                            • 0: No rotation
                                                              • @@ -11343,7 +11342,7 @@ Particularly useful for testing different low-battery behaviour

                                                            		 -1 > 41 -1
                                                            CAL_MAG1_PRIO (INT32)

                                                            Mag 1 priority

                                                            Values:
                                                              +

                                                            Mag 1 priority

                                                            参数对照:
                                                            • -1: Uninitialized
                                                            • 0: Disabled
                                                              • @@ -11476,7 +11475,7 @@ for current-based compensation [G/kA]
                                                            CAL_MAG1_ROT (INT32)

                                                            Rotation of magnetometer 1 relative to airframe

                                                            Comment: An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.

                                                            Values:
                                                              +

                                                            Rotation of magnetometer 1 relative to airframe

                                                            Comment: An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.

                                                            参数对照:
                                                            • -1: Internal
                                                            • 0: No rotation
                                                              • @@ -11563,7 +11562,7 @@ for current-based compensation [G/kA]

                                                            		 -1 > 41 -1
                                                            CAL_MAG2_PRIO (INT32)

                                                            Mag 2 priority

                                                            Values:
                                                              +

                                                            Mag 2 priority

                                                            参数对照:
                                                            • -1: Uninitialized
                                                            • 0: Disabled
                                                              • @@ -11696,7 +11695,7 @@ for current-based compensation [G/kA]
                                                            CAL_MAG2_ROT (INT32)

                                                            Rotation of magnetometer 2 relative to airframe

                                                            Comment: An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.

                                                            Values:
                                                              +

                                                            Rotation of magnetometer 2 relative to airframe

                                                            Comment: An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.

                                                            参数对照:
                                                            • -1: Internal
                                                            • 0: No rotation
                                                              • @@ -11783,7 +11782,7 @@ for current-based compensation [G/kA]

                                                            		 -1 > 41 -1
                                                            CAL_MAG3_PRIO (INT32)

                                                            Mag 3 priority

                                                            Values:
                                                              +

                                                            Mag 3 priority

                                                            参数对照:
                                                            • -1: Uninitialized
                                                            • 0: Disabled
                                                              • @@ -11916,7 +11915,7 @@ for current-based compensation [G/kA]
                                                            CAL_MAG3_ROT (INT32)

                                                            Rotation of magnetometer 3 relative to airframe

                                                            Comment: An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.

                                                            Values:
                                                              +

                                                            Rotation of magnetometer 3 relative to airframe

                                                            Comment: An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.

                                                            参数对照:
                                                            • -1: Internal
                                                            • 0: No rotation
                                                              • @@ -12003,7 +12002,7 @@ for current-based compensation [G/kA]

                                                            		 -1 > 41 -1
                                                            CAL_MAG_COMP_TYP (INT32)

                                                            Type of magnetometer compensation

                                                            Values:
                                                              -
                                                            • 0: Disabled
                                                              • +

                                                            Type of magnetometer compensation

                                                            参数对照:
                                                              +
                                                            • 0:禁用相机反馈
                                                            • 1: Throttle-based compensation
                                                              • @@ -12140,7 +12139,7 @@ for current-based compensation [G/kA]

                                                            Maximum height above ground when reliant on optical flow

                                                            Comment: This parameter defines the maximum distance from ground at which the optical flow sensor operates reliably. The height setpoint will be limited to be no greater than this value when the navigation system is completely reliant on optical flow data and the height above ground estimate is valid. The sensor may be usable above this height, but accuracy will progressively degrade.

                                                            		 1.0 > 25.0 (0.1) 3.0m米
                                                            SENS_FLOW_MAXR (FLOAT) 1.0 > ? 2.5rad/s度/秒
                                                            SENS_FLOW_MINHGT (FLOAT)

                                                            Minimum height above ground when reliant on optical flow

                                                            Comment: This parameter defines the minimum distance from ground at which the optical flow sensor operates reliably. The sensor may be usable below this height, but accuracy will progressively reduce to loss of focus.

                                                            		 0.0 > 1.0 (0.1) 0.7m米
                                                            -## Sensors +## 传感器 - + - @@ -12179,14 +12178,14 @@ is less than 50% of this value

                                                            - @@ -12194,7 +12193,7 @@ is less than 50% of this value

                                                            - - + - + @@ -12229,7 +12228,7 @@ is less than 50% of this value

                                                            - - @@ -12251,7 +12250,7 @@ is less than 50% of this value

                                                            - @@ -12259,7 +12258,7 @@ is less than 50% of this value

                                                            - @@ -12267,7 +12266,7 @@ is less than 50% of this value

                                                            - @@ -12275,7 +12274,7 @@ is less than 50% of this value

                                                            - @@ -12283,7 +12282,7 @@ is less than 50% of this value

                                                            - @@ -12291,7 +12290,7 @@ is less than 50% of this value

                                                            - @@ -12299,7 +12298,7 @@ is less than 50% of this value

                                                            - @@ -12307,7 +12306,7 @@ is less than 50% of this value

                                                            -
                                                          • 2000: 2000 Hz
                                                            • -

                                                            Reboot required: true

                                                            +

                                                            要求重启:是

                                                            @@ -12328,14 +12327,14 @@ is less than 50% of this value

                                                            - @@ -12364,12 +12363,12 @@ is less than 50% of this value

                                                            - @@ -12377,7 +12376,7 @@ is less than 50% of this value

                                                            - @@ -12386,7 +12385,7 @@ is less than 50% of this value

                                                            @@ -12394,7 +12393,7 @@ How often the sensor is readout

                                                            Reboot required: true

                                                            - @@ -12402,7 +12401,7 @@ How often the sensor is readout

                                                            Reboot required: true

                                                            - @@ -12410,7 +12409,7 @@ How often the sensor is readout

                                                            Reboot required: true

                                                            - @@ -12418,7 +12417,7 @@ How often the sensor is readout

                                                            Reboot required: true

                                                            - @@ -12514,26 +12513,26 @@ How often the sensor is readout

                                                            Reboot required: true

                                                            - + - + - + - @@ -12561,7 +12560,7 @@ How often the sensor is readout

                                                            Reboot required: true

                                                            - - @@ -12590,14 +12589,14 @@ How often the sensor is readout

                                                            Reboot required: true

                                                            - @@ -12605,7 +12604,7 @@ How often the sensor is readout

                                                            Reboot required: true

                                                            - @@ -12613,12 +12612,12 @@ How often the sensor is readout

                                                            Reboot required: true

                                                            - @@ -12626,7 +12625,7 @@ How often the sensor is readout

                                                            Reboot required: true

                                                            - @@ -12634,7 +12633,7 @@ How often the sensor is readout

                                                            Reboot required: true

                                                            - @@ -12642,7 +12641,7 @@ How often the sensor is readout

                                                            Reboot required: true

                                                            - @@ -12650,7 +12649,7 @@ How often the sensor is readout

                                                            Reboot required: true

                                                            - @@ -12658,7 +12657,7 @@ How often the sensor is readout

                                                            Reboot required: true

                                                            - @@ -12677,8 +12676,8 @@ How often the sensor is readout

                                                            Reboot required: true

                                                            - @@ -12700,7 +12699,7 @@ How often the sensor is readout

                                                            Reboot required: true

                                                            - @@ -12708,7 +12707,7 @@ How often the sensor is readout

                                                            Reboot required: true

                                                            - - @@ -12750,7 +12749,7 @@ How often the sensor is readout

                                                            Reboot required: true

                                                            - @@ -12789,16 +12788,16 @@ How often the sensor is readout

                                                            Reboot required: true

                                                            - + - @@ -12827,8 +12826,8 @@ How often the sensor is readout

                                                            Reboot required: true

                                                            - @@ -12856,12 +12855,12 @@ How often the sensor is readout

                                                            Reboot required: true

                                                            - @@ -12869,7 +12868,7 @@ How often the sensor is readout

                                                            Reboot required: true

                                                            - @@ -12877,7 +12876,7 @@ How often the sensor is readout

                                                            Reboot required: true

                                                            - @@ -12902,7 +12901,7 @@ How often the sensor is readout

                                                            Reboot required: true

                                                            - @@ -12927,7 +12926,7 @@ How often the sensor is readout

                                                            Reboot required: true

                                                            - @@ -12952,7 +12951,7 @@ How often the sensor is readout

                                                            Reboot required: true

                                                            - @@ -12977,7 +12976,7 @@ How often the sensor is readout

                                                            Reboot required: true

                                                            - @@ -13002,7 +13001,7 @@ How often the sensor is readout

                                                            Reboot required: true

                                                            - @@ -13027,7 +13026,7 @@ How often the sensor is readout

                                                            Reboot required: true

                                                            - @@ -13052,7 +13051,7 @@ How often the sensor is readout

                                                            Reboot required: true

                                                            - @@ -13077,7 +13076,7 @@ How often the sensor is readout

                                                            Reboot required: true

                                                            - @@ -13102,7 +13101,7 @@ How often the sensor is readout

                                                            Reboot required: true

                                                            - @@ -13127,7 +13126,7 @@ How often the sensor is readout

                                                            Reboot required: true

                                                            - @@ -13152,7 +13151,7 @@ How often the sensor is readout

                                                            Reboot required: true

                                                            - @@ -13177,7 +13176,7 @@ How often the sensor is readout

                                                            Reboot required: true

                                                            - @@ -13202,7 +13201,7 @@ How often the sensor is readout

                                                            Reboot required: true

                                                            - @@ -13227,7 +13226,7 @@ How often the sensor is readout

                                                            Reboot required: true

                                                            - @@ -13252,7 +13251,7 @@ How often the sensor is readout

                                                            Reboot required: true

                                                            - @@ -13277,7 +13276,7 @@ How often the sensor is readout

                                                            Reboot required: true

                                                            - @@ -13302,7 +13301,7 @@ How often the sensor is readout

                                                            Reboot required: true

                                                            - @@ -13327,7 +13326,7 @@ How often the sensor is readout

                                                            Reboot required: true

                                                            - @@ -13352,7 +13351,7 @@ How often the sensor is readout

                                                            Reboot required: true

                                                            - @@ -13377,7 +13376,7 @@ How often the sensor is readout

                                                            Reboot required: true

                                                            - @@ -13402,7 +13401,7 @@ How often the sensor is readout

                                                            Reboot required: true

                                                            - @@ -13427,7 +13426,7 @@ How often the sensor is readout

                                                            Reboot required: true

                                                            - @@ -13452,7 +13451,7 @@ How often the sensor is readout

                                                            Reboot required: true

                                                            - @@ -13477,8 +13476,8 @@ How often the sensor is readout

                                                            Reboot required: true

                                                            - @@ -13513,8 +13512,8 @@ How often the sensor is readout

                                                            Reboot required: true

                                                            - @@ -13542,8 +13541,8 @@ How often the sensor is readout

                                                            Reboot required: true

                                                            - @@ -13571,8 +13570,8 @@ How often the sensor is readout

                                                            Reboot required: true

                                                            - @@ -13600,7 +13599,7 @@ How often the sensor is readout

                                                            Reboot required: true

                                                            - @@ -13608,7 +13607,7 @@ How often the sensor is readout

                                                            Reboot required: true

                                                            - @@ -13621,13 +13620,13 @@ How often the sensor is readout

                                                            Reboot required: true

                                                            NameDescriptionMin > Max (Incr.)DefaultUnits
                                                            参数名参数描述最小最大值 (增量)默认值单位
                                                            BAT_C_MULT (FLOAT)

                                                            Capacity/current multiplier for high-current capable SMBUS battery

                                                            Reboot required: true

                                                            +

                                                            Capacity/current multiplier for high-current capable SMBUS battery

                                                            要求重启:是

                                                            		 1.0
                                                            BAT_SMBUS_MODEL (INT32)

                                                            Battery device model

                                                            Values:
                                                              +

                                                            Battery device model

                                                            参数对照:
                                                            • 0: AutoDetect
                                                            • 1: BQ40Z50 based
                                                            • 2: BQ40Z80 based
                                                            -

                                                            Reboot required: true

                                                            +

                                                            要求重启:是

                                                            		 0 > 2 0
                                                            CAL_AIR_CMODEL (INT32)

                                                            Airspeed sensor compensation model for the SDP3x

                                                            Comment: Model with Pitot CAL_AIR_TUBED_MM: Not used, 1.5 mm tubes assumed. CAL_AIR_TUBELEN: Length of the tubes connecting the pitot to the sensor. Model without Pitot (1.5 mm tubes) CAL_AIR_TUBED_MM: Not used, 1.5 mm tubes assumed. CAL_AIR_TUBELEN: Length of the tubes connecting the pitot to the sensor. Tube Pressure Drop CAL_AIR_TUBED_MM: Diameter in mm of the pitot and tubes, must have the same diameter. CAL_AIR_TUBELEN: Length of the tubes connecting the pitot to the sensor and the static + dynamic port length of the pitot.

                                                            Values:
                                                              +

                                                            Airspeed sensor compensation model for the SDP3x

                                                            Comment: Model with Pitot CAL_AIR_TUBED_MM: Not used, 1.5 mm tubes assumed. CAL_AIR_TUBELEN: Length of the tubes connecting the pitot to the sensor. Model without Pitot (1.5 mm tubes) CAL_AIR_TUBED_MM: Not used, 1.5 mm tubes assumed. CAL_AIR_TUBELEN: Length of the tubes connecting the pitot to the sensor. Tube Pressure Drop CAL_AIR_TUBED_MM: Diameter in mm of the pitot and tubes, must have the same diameter. CAL_AIR_TUBELEN: Length of the tubes connecting the pitot to the sensor and the static + dynamic port length of the pitot.

                                                            参数对照:
                                                            • 0: Model with Pitot
                                                            • 1: Model without Pitot (1.5 mm tubes)
                                                              • @@ -12211,14 +12210,14 @@ is less than 50% of this value

                                                            Airspeed sensor tube diameter. Only used for the Tube Pressure Drop Compensation

                                                            		 0.1 > 100 1.5mm毫米
                                                            CAL_AIR_TUBELEN (FLOAT)

                                                            Airspeed sensor tube length

                                                            Comment: See the CAL_AIR_CMODEL explanation on how this parameter should be set.

                                                            		 0.01 > 2.00 0.2m米
                                                            CAL_MAG_ROT_AUTO (INT32)
                                                            CAL_MAG_SIDES (INT32)

                                                            Bitfield selecting mag sides for calibration

                                                            Comment: If set to two side calibration, only the offsets are estimated, the scale calibration is left unchanged. Thus an initial six side calibration is recommended. Bits: ORIENTATION_TAIL_DOWN = 1 ORIENTATION_NOSE_DOWN = 2 ORIENTATION_LEFT = 4 ORIENTATION_RIGHT = 8 ORIENTATION_UPSIDE_DOWN = 16 ORIENTATION_RIGHTSIDE_UP = 32

                                                            Values:
                                                              +

                                                            Bitfield selecting mag sides for calibration

                                                            Comment: If set to two side calibration, only the offsets are estimated, the scale calibration is left unchanged. Thus an initial six side calibration is recommended. Bits: ORIENTATION_TAIL_DOWN = 1 ORIENTATION_NOSE_DOWN = 2 ORIENTATION_LEFT = 4 ORIENTATION_RIGHT = 8 ORIENTATION_UPSIDE_DOWN = 16 ORIENTATION_RIGHTSIDE_UP = 32

                                                            参数对照:
                                                            • 34: Two side calibration
                                                            • 38: Three side calibration
                                                              • @@ -12243,7 +12242,7 @@ is less than 50% of this value
                                                            IMU_ACCEL_CUTOFF (FLOAT)

                                                            Low pass filter cutoff frequency for accel

                                                            Comment: The cutoff frequency for the 2nd order butterworth filter on the primary accelerometer. This only affects the signal sent to the controllers, not the estimators. 0 disables the filter.

                                                            Reboot required: true

                                                            +

                                                            Low pass filter cutoff frequency for accel

                                                            Comment: The cutoff frequency for the 2nd order butterworth filter on the primary accelerometer. This only affects the signal sent to the controllers, not the estimators. 0 disables the filter.

                                                            要求重启:是

                                                            		 0 > 1000 30.0
                                                            IMU_DGYRO_CUTOFF (FLOAT)

                                                            Cutoff frequency for angular acceleration (D-Term filter)

                                                            Comment: The cutoff frequency for the 2nd order butterworth filter used on the time derivative of the measured angular velocity, also known as the D-term filter in the rate controller. The D-term uses the derivative of the rate and thus is the most susceptible to noise. Therefore, using a D-term filter allows to increase IMU_GYRO_CUTOFF, which leads to reduced control latency and permits to increase the P gains. A value of 0 disables the filter.

                                                            Reboot required: true

                                                            +

                                                            Cutoff frequency for angular acceleration (D-Term filter)

                                                            Comment: The cutoff frequency for the 2nd order butterworth filter used on the time derivative of the measured angular velocity, also known as the D-term filter in the rate controller. The D-term uses the derivative of the rate and thus is the most susceptible to noise. Therefore, using a D-term filter allows to increase IMU_GYRO_CUTOFF, which leads to reduced control latency and permits to increase the P gains. A value of 0 disables the filter.

                                                            要求重启:是

                                                            		 0 > 1000 0.0
                                                            IMU_GYRO_CUTOFF (FLOAT)

                                                            Low pass filter cutoff frequency for gyro

                                                            Comment: The cutoff frequency for the 2nd order butterworth filter on the primary gyro. This only affects the angular velocity sent to the controllers, not the estimators. It applies also to the angular acceleration (D-Term filter), see IMU_DGYRO_CUTOFF. A value of 0 disables the filter.

                                                            Reboot required: true

                                                            +

                                                            Low pass filter cutoff frequency for gyro

                                                            Comment: The cutoff frequency for the 2nd order butterworth filter on the primary gyro. This only affects the angular velocity sent to the controllers, not the estimators. It applies also to the angular acceleration (D-Term filter), see IMU_DGYRO_CUTOFF. A value of 0 disables the filter.

                                                            要求重启:是

                                                            		 0 > 1000 30.0
                                                            IMU_GYRO_FFT_EN (INT32)

                                                            IMU gyro FFT enable

                                                            Reboot required: true

                                                            +

                                                            IMU gyro FFT enable

                                                            要求重启:是

                                                            		 Disabled (0)
                                                            IMU_GYRO_FFT_MAX (FLOAT)

                                                            IMU gyro FFT maximum frequency

                                                            Reboot required: true

                                                            +

                                                            IMU gyro FFT maximum frequency

                                                            要求重启:是

                                                            		 1 > 1000 200.0
                                                            IMU_GYRO_FFT_MIN (FLOAT)

                                                            IMU gyro FFT minimum frequency

                                                            Reboot required: true

                                                            +

                                                            IMU gyro FFT minimum frequency

                                                            要求重启:是

                                                            		 1 > 1000 50.0
                                                            IMU_GYRO_NF_BW (FLOAT)

                                                            Notch filter bandwidth for gyro

                                                            Comment: The frequency width of the stop band for the 2nd order notch filter on the primary gyro. See "IMU_GYRO_NF_FREQ" to activate the filter and to set the notch frequency. Applies to both angular velocity and angular acceleration sent to the controllers.

                                                            Reboot required: true

                                                            +

                                                            Notch filter bandwidth for gyro

                                                            Comment: The frequency width of the stop band for the 2nd order notch filter on the primary gyro. See "IMU_GYRO_NF_FREQ" to activate the filter and to set the notch frequency. Applies to both angular velocity and angular acceleration sent to the controllers.

                                                            要求重启:是

                                                            		 0 > 100 20.0
                                                            IMU_GYRO_NF_FREQ (FLOAT)

                                                            Notch filter frequency for gyro

                                                            Comment: The center frequency for the 2nd order notch filter on the primary gyro. This filter can be enabled to avoid feedback amplification of structural resonances at a specific frequency. This only affects the signal sent to the controllers, not the estimators. Applies to both angular velocity and angular acceleration sent to the controllers. See "IMU_GYRO_NF_BW" to set the bandwidth of the filter. A value of 0 disables the filter.

                                                            Reboot required: true

                                                            +

                                                            Notch filter frequency for gyro

                                                            Comment: The center frequency for the 2nd order notch filter on the primary gyro. This filter can be enabled to avoid feedback amplification of structural resonances at a specific frequency. This only affects the signal sent to the controllers, not the estimators. Applies to both angular velocity and angular acceleration sent to the controllers. See "IMU_GYRO_NF_BW" to set the bandwidth of the filter. A value of 0 disables the filter.

                                                            要求重启:是

                                                            		 0 > 1000 0.0
                                                            IMU_GYRO_RATEMAX (INT32)

                                                            Gyro control data maximum publication rate

                                                            Comment: This is the maximum rate the gyro control data (sensor_gyro) will be allowed to publish at. Set to 0 to disable and publish at the native sensor sample rate.

                                                            Values:
                                                              +

                                                            Gyro control data maximum publication rate

                                                            Comment: This is the maximum rate the gyro control data (sensor_gyro) will be allowed to publish at. Set to 0 to disable and publish at the native sensor sample rate.

                                                            参数对照:
                                                            • 0: 0 (no limit)
                                                            • 50: 50 Hz
                                                              • @@ -12320,7 +12319,7 @@ is less than 50% of this value

                                                            		 0 > 2000 0
                                                            IMU_INTEG_RATE (INT32)

                                                            IMU integration rate

                                                            Comment: The rate at which raw IMU data is integrated to produce delta angles and delta velocities. Recommended to set this to a multiple of the estimator update period (currently 10 ms for ekf2).

                                                            Values:
                                                              +

                                                            IMU integration rate

                                                            Comment: The rate at which raw IMU data is integrated to produce delta angles and delta velocities. Recommended to set this to a multiple of the estimator update period (currently 10 ms for ekf2).

                                                            参数对照:
                                                            • 100: 100 Hz
                                                            • 200: 200 Hz
                                                            • 400: 400 Hz
                                                            -

                                                            Reboot required: true

                                                            +

                                                            要求重启:是

                                                            		 100 > 1000 200
                                                            PCF8583_ADDR (INT32)

                                                            PCF8583 rotorfreq (i2c) i2c address

                                                            Values:
                                                              +

                                                            PCF8583 rotorfreq (i2c) i2c address

                                                            参数对照:
                                                            • 80: Address 0x50 (80)
                                                            • 81: Address 0x51 (81)
                                                            -

                                                            Reboot required: true

                                                            +

                                                            要求重启:是

                                                            		 80
                                                            PCF8583_MAGNET (INT32)

                                                            PCF8583 rotorfreq (i2c) pulse count

                                                            Comment: Nmumber of signals per rotation of actuator

                                                            Reboot required: true

                                                            +

                                                            PCF8583 rotorfreq (i2c) pulse count

                                                            Comment: Nmumber of signals per rotation of actuator

                                                            要求重启:是

                                                            		 1 > ? 2
                                                            PCF8583_POOL (INT32)

                                                            PCF8583 rotorfreq (i2c) pool interval -How often the sensor is readout

                                                            Reboot required: true

                                                            +How often the sensor is readout

                                                            要求重启:是

                                                            		 1000000
                                                            PCF8583_RESET (INT32)

                                                            PCF8583 rotorfreq (i2c) pulse reset value

                                                            Comment: Internal device counter is reset to 0 when overun this value, counter is able to store upto 6 digits reset of counter takes some time - measurement with reset has worse accurancy. 0 means reset counter after every measurement.

                                                            Reboot required: true

                                                            +

                                                            PCF8583 rotorfreq (i2c) pulse reset value

                                                            Comment: Internal device counter is reset to 0 when overun this value, counter is able to store upto 6 digits reset of counter takes some time - measurement with reset has worse accurancy. 0 means reset counter after every measurement.

                                                            要求重启:是

                                                            		 500000
                                                            SENS_BARO_QNH (FLOAT)

                                                            QNH for barometer

                                                            Reboot required: true

                                                            +

                                                            QNH for barometer

                                                            要求重启:是

                                                            		 500 > 1500 1013.25
                                                            SENS_BARO_RATE (FLOAT)

                                                            Baro max rate

                                                            Comment: Barometric air data maximum publication rate. This is an upper bound, actual barometric data rate is still dependant on the sensor.

                                                            Reboot required: true

                                                            +

                                                            Baro max rate

                                                            Comment: Barometric air data maximum publication rate. This is an upper bound, actual barometric data rate is still dependant on the sensor.

                                                            要求重启:是

                                                            		 1 > 200 20.0
                                                            SENS_BOARD_ROT (INT32)

                                                            Board rotation

                                                            Comment: This parameter defines the rotation of the FMU board relative to the platform.

                                                            Values:
                                                              +

                                                            Board rotation

                                                            Comment: This parameter defines the rotation of the FMU board relative to the platform.

                                                            参数对照:
                                                            • 0: No rotation
                                                            • 1: Yaw 45°
                                                              • @@ -12503,7 +12502,7 @@ How often the sensor is readout

                                                              Reboot required: true

                                                            • 41: Roll 270°, Yaw 180°
                                                            -

                                                            Reboot required: true

                                                            +

                                                            要求重启:是

                                                            		 -1 > 41 0

                                                            Board rotation X (Roll) offset

                                                            Comment: This parameter defines a rotational offset in degrees around the X (Roll) axis It allows the user to fine tune the board offset in the event of misalignment.

                                                            		 0.0deg度
                                                            SENS_BOARD_Y_OFF (FLOAT)

                                                            Board rotation Y (Pitch) offset

                                                            Comment: This parameter defines a rotational offset in degrees around the Y (Pitch) axis. It allows the user to fine tune the board offset in the event of misalignment.

                                                            		 0.0deg度
                                                            SENS_BOARD_Z_OFF (FLOAT)

                                                            Board rotation Z (YAW) offset

                                                            Comment: This parameter defines a rotational offset in degrees around the Z (Yaw) axis. It allows the user to fine tune the board offset in the event of misalignment.

                                                            		 0.0deg度
                                                            SENS_CM8JL65_CFG (INT32)

                                                            Serial Configuration for Lanbao PSK-CM8JL65-CC5

                                                            Comment: Configure on which serial port to run Lanbao PSK-CM8JL65-CC5.

                                                            Values:
                                                              -
                                                            • 0: Disabled
                                                              • +

                                                            Serial Configuration for Lanbao PSK-CM8JL65-CC5

                                                            Comment: Configure on which serial port to run Lanbao PSK-CM8JL65-CC5.

                                                            参数对照:
                                                              +
                                                            • 0:禁用相机反馈
                                                            • 6: UART 6
                                                              • @@ -12553,7 +12552,7 @@ How often the sensor is readout

                                                              Reboot required: true

                                                            • 300: Radio Controller
                                                            -

                                                            Reboot required: true

                                                            +

                                                            要求重启:是

                                                            		 0
                                                            SENS_CM8JL65_R_0 (INT32)

                                                            Distance Sensor Rotation

                                                            Comment: Distance Sensor Rotation as MAV_SENSOR_ORIENTATION enum

                                                            Values:
                                                              +

                                                            Distance Sensor Rotation

                                                            Comment: Distance Sensor Rotation as MAV_SENSOR_ORIENTATION enum

                                                            参数对照:
                                                            • 0: ROTATION_FORWARD_FACING
                                                            • 2: ROTATION_RIGHT_FACING
                                                              • @@ -12582,7 +12581,7 @@ How often the sensor is readout

                                                              Reboot required: true

                                                            SENS_EN_BATT (INT32)

                                                            SMBUS Smart battery driver BQ40Z50 and BQ40Z80

                                                            Reboot required: true

                                                            +

                                                            SMBUS Smart battery driver BQ40Z50 and BQ40Z80

                                                            要求重启:是

                                                            		 Disabled (0)
                                                            SENS_EN_LL40LS (INT32)

                                                            Lidar-Lite (LL40LS)

                                                            Values:
                                                              -
                                                            • 0: Disabled
                                                              • +

                                                            Lidar-Lite (LL40LS)

                                                            参数对照:
                                                              +
                                                            • 0:禁用相机反馈
                                                            • 1: PWM
                                                            • 2: I2C
                                                            -

                                                            Reboot required: true

                                                            +

                                                            要求重启:是

                                                            		 0 > 2 0
                                                            SENS_EN_MB12XX (INT32)

                                                            Maxbotix Sonar (mb12xx)

                                                            Reboot required: true

                                                            +

                                                            Maxbotix Sonar (mb12xx)

                                                            要求重启:是

                                                            		 Disabled (0)
                                                            SENS_EN_MPDT (INT32)

                                                            Enable Mappydot rangefinder (i2c)

                                                            Values:
                                                              -
                                                            • 0: Disabled
                                                              • +

                                                            Enable Mappydot rangefinder (i2c)

                                                            参数对照:
                                                              +
                                                            • 0:禁用相机反馈
                                                            • 1: Autodetect
                                                            -

                                                            Reboot required: true

                                                            +

                                                            要求重启:是

                                                            		 0 > 1 0
                                                            SENS_EN_PAW3902 (INT32)

                                                            PAW3902 & PAW3903 Optical Flow

                                                            Reboot required: true

                                                            +

                                                            PAW3902 & PAW3903 Optical Flow

                                                            要求重启:是

                                                            		 Disabled (0)
                                                            SENS_EN_PGA460 (INT32)

                                                            PGA460 Ultrasonic driver (PGA460)

                                                            Reboot required: true

                                                            +

                                                            PGA460 Ultrasonic driver (PGA460)

                                                            要求重启:是

                                                            		 Disabled (0)
                                                            SENS_EN_PMW3901 (INT32)

                                                            PMW3901 Optical Flow

                                                            Reboot required: true

                                                            +

                                                            PMW3901 Optical Flow

                                                            要求重启:是

                                                            		 Disabled (0)
                                                            SENS_EN_PX4FLOW (INT32)

                                                            PX4 Flow Optical Flow

                                                            Reboot required: true

                                                            +

                                                            PX4 Flow Optical Flow

                                                            要求重启:是

                                                            		 Disabled (0)
                                                            SENS_EN_SF0X (INT32)

                                                            Lightware Laser Rangefinder hardware model (serial)

                                                            Values:
                                                              +

                                                            Lightware Laser Rangefinder hardware model (serial)

                                                            参数对照:
                                                            • 1: SF02
                                                            • 2: SF10/a
                                                              • @@ -12669,7 +12668,7 @@ How often the sensor is readout

                                                              Reboot required: true

                                                            • 5: SF11/c
                                                            -

                                                            Reboot required: true

                                                            +

                                                            要求重启:是

                                                            		 1
                                                            SENS_EN_SF1XX (INT32)

                                                            Lightware SF1xx/SF20/LW20 laser rangefinder (i2c)

                                                            Values:
                                                              -
                                                            • 0: Disabled
                                                              • +

                                                            Lightware SF1xx/SF20/LW20 laser rangefinder (i2c)

                                                            参数对照:
                                                              +
                                                            • 0:禁用相机反馈
                                                            • 1: SF10/a
                                                              • @@ -12692,7 +12691,7 @@ How often the sensor is readout

                                                              Reboot required: true

                                                            • 6: SF/LW20/c
                                                            -

                                                            Reboot required: true

                                                            +

                                                            要求重启:是

                                                            		 0 > 6 0
                                                            SENS_EN_SR05 (INT32)

                                                            HY-SRF05 / HC-SR05

                                                            Reboot required: true

                                                            +

                                                            HY-SRF05 / HC-SR05

                                                            要求重启:是

                                                            		 Disabled (0)
                                                            SENS_EN_THERMAL (INT32)

                                                            Thermal control of sensor temperature

                                                            Values:
                                                              +

                                                            Thermal control of sensor temperature

                                                            参数对照:
                                                            • -1: Thermal control unavailable
                                                            • 0: Thermal control off
                                                              • @@ -12722,8 +12721,8 @@ How often the sensor is readout

                                                              Reboot required: true

                                                            SENS_EN_TRANGER (INT32)

                                                            TeraRanger Rangefinder (i2c)

                                                            Values:
                                                              -
                                                            • 0: Disabled
                                                              • +

                                                            TeraRanger Rangefinder (i2c)

                                                            参数对照:
                                                              +
                                                            • 0:禁用相机反馈
                                                            • 1: Autodetect
                                                              • @@ -12735,7 +12734,7 @@ How often the sensor is readout

                                                              Reboot required: true

                                                            • 5: TREvo3m
                                                            -

                                                            Reboot required: true

                                                            +

                                                            要求重启:是

                                                            		 0 > 3 0
                                                            SENS_FLOW_ROT (INT32)

                                                            PX4Flow board rotation

                                                            Comment: This parameter defines the yaw rotation of the PX4FLOW board relative to the vehicle body frame. Zero rotation is defined as X on flow board pointing towards front of vehicle. The recommneded installation default for the PX4FLOW board is with the Y axis forward (270 deg yaw).

                                                            Values:
                                                              +

                                                            PX4Flow board rotation

                                                            Comment: This parameter defines the yaw rotation of the PX4FLOW board relative to the vehicle body frame. Zero rotation is defined as X on flow board pointing towards front of vehicle. The recommneded installation default for the PX4FLOW board is with the Y axis forward (270 deg yaw).

                                                            参数对照:
                                                            • 0: No rotation
                                                            • 1: Yaw 45°
                                                              • @@ -12767,7 +12766,7 @@ How often the sensor is readout

                                                              Reboot required: true

                                                            • 7: Yaw 315°
                                                            -

                                                            Reboot required: true

                                                            +

                                                            要求重启:是

                                                            		 6

                                                            Multi GPS Blending Time Constant

                                                            Comment: Sets the longest time constant that will be applied to the calculation of GPS position and height offsets used to correct data from multiple GPS data for steady state position differences.

                                                            		 1.0 > 100.0 10.0s秒
                                                            SENS_IMU_MODE (INT32)

                                                            Sensors hub IMU mode

                                                            Values:
                                                              -
                                                            • 0: Disabled
                                                              • +

                                                            Sensors hub IMU mode

                                                            参数对照:
                                                              +
                                                            • 0:禁用相机反馈
                                                            • 1: Publish primary IMU selection
                                                            -

                                                            Reboot required: true

                                                            +

                                                            要求重启:是

                                                            		 1
                                                            SENS_LEDDAR1_CFG (INT32)

                                                            Serial Configuration for LeddarOne Rangefinder

                                                            Comment: Configure on which serial port to run LeddarOne Rangefinder.

                                                            Values:
                                                              -
                                                            • 0: Disabled
                                                              • +

                                                            Serial Configuration for LeddarOne Rangefinder

                                                            Comment: Configure on which serial port to run LeddarOne Rangefinder.

                                                            参数对照:
                                                              +
                                                            • 0:禁用相机反馈
                                                            • 6: UART 6
                                                              • @@ -12848,7 +12847,7 @@ How often the sensor is readout

                                                              Reboot required: true

                                                            • 300: Radio Controller
                                                            -

                                                            Reboot required: true

                                                            +

                                                            要求重启:是

                                                            		 0
                                                            SENS_MAG_MODE (INT32)

                                                            Sensors hub mag mode

                                                            Values:
                                                              +

                                                            Sensors hub mag mode

                                                            参数对照:
                                                            • 0: Publish all magnetometers
                                                            • 1: Publish primary magnetometer
                                                            -

                                                            Reboot required: true

                                                            +

                                                            要求重启:是

                                                            		 1
                                                            SENS_MAG_RATE (FLOAT)

                                                            Magnetometer max rate

                                                            Comment: Magnetometer data maximum publication rate. This is an upper bound, actual magnetometer data rate is still dependant on the sensor.

                                                            Reboot required: true

                                                            +

                                                            Magnetometer max rate

                                                            Comment: Magnetometer data maximum publication rate. This is an upper bound, actual magnetometer data rate is still dependant on the sensor.

                                                            要求重启:是

                                                            		 1 > 200 50.0
                                                            SENS_MB12_0_ROT (INT32)

                                                            MaxBotix MB12XX Sensor 0 Rotation

                                                            Comment: This parameter defines the rotation of the sensor relative to the platform.

                                                            Values:
                                                              +

                                                            MaxBotix MB12XX Sensor 0 Rotation

                                                            Comment: This parameter defines the rotation of the sensor relative to the platform.

                                                            参数对照:
                                                            • 0: No rotation
                                                            • 1: Yaw 45°
                                                              • @@ -12894,7 +12893,7 @@ How often the sensor is readout

                                                              Reboot required: true

                                                            • 7: Yaw 315°
                                                            -

                                                            Reboot required: true

                                                            +

                                                            要求重启:是

                                                            		 0 > 7 0
                                                            SENS_MB12_10_ROT (INT32)

                                                            MaxBotix MB12XX Sensor 10 Rotation

                                                            Comment: This parameter defines the rotation of the sensor relative to the platform.

                                                            Values:
                                                              +

                                                            MaxBotix MB12XX Sensor 10 Rotation

                                                            Comment: This parameter defines the rotation of the sensor relative to the platform.

                                                            参数对照:
                                                            • 0: No rotation
                                                            • 1: Yaw 45°
                                                              • @@ -12919,7 +12918,7 @@ How often the sensor is readout

                                                              Reboot required: true

                                                            • 7: Yaw 315°
                                                            -

                                                            Reboot required: true

                                                            +

                                                            要求重启:是

                                                            		 0 > 7 0
                                                            SENS_MB12_11_ROT (INT32)

                                                            MaxBotix MB12XX Sensor 12 Rotation

                                                            Comment: This parameter defines the rotation of the sensor relative to the platform.

                                                            Values:
                                                              +

                                                            MaxBotix MB12XX Sensor 12 Rotation

                                                            Comment: This parameter defines the rotation of the sensor relative to the platform.

                                                            参数对照:
                                                            • 0: No rotation
                                                            • 1: Yaw 45°
                                                              • @@ -12944,7 +12943,7 @@ How often the sensor is readout

                                                              Reboot required: true

                                                            • 7: Yaw 315°
                                                            -

                                                            Reboot required: true

                                                            +

                                                            要求重启:是

                                                            		 0 > 7 0
                                                            SENS_MB12_1_ROT (INT32)

                                                            MaxBotix MB12XX Sensor 1 Rotation

                                                            Comment: This parameter defines the rotation of the sensor relative to the platform.

                                                            Values:
                                                              +

                                                            MaxBotix MB12XX Sensor 1 Rotation

                                                            Comment: This parameter defines the rotation of the sensor relative to the platform.

                                                            参数对照:
                                                            • 0: No rotation
                                                            • 1: Yaw 45°
                                                              • @@ -12969,7 +12968,7 @@ How often the sensor is readout

                                                              Reboot required: true

                                                            • 7: Yaw 315°
                                                            -

                                                            Reboot required: true

                                                            +

                                                            要求重启:是

                                                            		 0 > 7 0
                                                            SENS_MB12_2_ROT (INT32)

                                                            MaxBotix MB12XX Sensor 2 Rotation

                                                            Comment: This parameter defines the rotation of the sensor relative to the platform.

                                                            Values:
                                                              +

                                                            MaxBotix MB12XX Sensor 2 Rotation

                                                            Comment: This parameter defines the rotation of the sensor relative to the platform.

                                                            参数对照:
                                                            • 0: No rotation
                                                            • 1: Yaw 45°
                                                              • @@ -12994,7 +12993,7 @@ How often the sensor is readout

                                                              Reboot required: true

                                                            • 7: Yaw 315°
                                                            -

                                                            Reboot required: true

                                                            +

                                                            要求重启:是

                                                            		 0 > 7 0
                                                            SENS_MB12_3_ROT (INT32)

                                                            MaxBotix MB12XX Sensor 3 Rotation

                                                            Comment: This parameter defines the rotation of the sensor relative to the platform.

                                                            Values:
                                                              +

                                                            MaxBotix MB12XX Sensor 3 Rotation

                                                            Comment: This parameter defines the rotation of the sensor relative to the platform.

                                                            参数对照:
                                                            • 0: No rotation
                                                            • 1: Yaw 45°
                                                              • @@ -13019,7 +13018,7 @@ How often the sensor is readout

                                                              Reboot required: true

                                                            • 7: Yaw 315°
                                                            -

                                                            Reboot required: true

                                                            +

                                                            要求重启:是

                                                            		 0 > 7 0
                                                            SENS_MB12_4_ROT (INT32)

                                                            MaxBotix MB12XX Sensor 4 Rotation

                                                            Comment: This parameter defines the rotation of the sensor relative to the platform.

                                                            Values:
                                                              +

                                                            MaxBotix MB12XX Sensor 4 Rotation

                                                            Comment: This parameter defines the rotation of the sensor relative to the platform.

                                                            参数对照:
                                                            • 0: No rotation
                                                            • 1: Yaw 45°
                                                              • @@ -13044,7 +13043,7 @@ How often the sensor is readout

                                                              Reboot required: true

                                                            • 7: Yaw 315°
                                                            -

                                                            Reboot required: true

                                                            +

                                                            要求重启:是

                                                            		 0 > 7 0
                                                            SENS_MB12_5_ROT (INT32)

                                                            MaxBotix MB12XX Sensor 5 Rotation

                                                            Comment: This parameter defines the rotation of the sensor relative to the platform.

                                                            Values:
                                                              +

                                                            MaxBotix MB12XX Sensor 5 Rotation

                                                            Comment: This parameter defines the rotation of the sensor relative to the platform.

                                                            参数对照:
                                                            • 0: No rotation
                                                            • 1: Yaw 45°
                                                              • @@ -13069,7 +13068,7 @@ How often the sensor is readout

                                                              Reboot required: true

                                                            • 7: Yaw 315°
                                                            -

                                                            Reboot required: true

                                                            +

                                                            要求重启:是

                                                            		 0 > 7 0
                                                            SENS_MB12_6_ROT (INT32)

                                                            MaxBotix MB12XX Sensor 6 Rotation

                                                            Comment: This parameter defines the rotation of the sensor relative to the platform.

                                                            Values:
                                                              +

                                                            MaxBotix MB12XX Sensor 6 Rotation

                                                            Comment: This parameter defines the rotation of the sensor relative to the platform.

                                                            参数对照:
                                                            • 0: No rotation
                                                            • 1: Yaw 45°
                                                              • @@ -13094,7 +13093,7 @@ How often the sensor is readout

                                                              Reboot required: true

                                                            • 7: Yaw 315°
                                                            -

                                                            Reboot required: true

                                                            +

                                                            要求重启:是

                                                            		 0 > 7 0
                                                            SENS_MB12_7_ROT (INT32)

                                                            MaxBotix MB12XX Sensor 7 Rotation

                                                            Comment: This parameter defines the rotation of the sensor relative to the platform.

                                                            Values:
                                                              +

                                                            MaxBotix MB12XX Sensor 7 Rotation

                                                            Comment: This parameter defines the rotation of the sensor relative to the platform.

                                                            参数对照:
                                                            • 0: No rotation
                                                            • 1: Yaw 45°
                                                              • @@ -13119,7 +13118,7 @@ How often the sensor is readout

                                                              Reboot required: true

                                                            • 7: Yaw 315°
                                                            -

                                                            Reboot required: true

                                                            +

                                                            要求重启:是

                                                            		 0 > 7 0
                                                            SENS_MB12_8_ROT (INT32)

                                                            MaxBotix MB12XX Sensor 8 Rotation

                                                            Comment: This parameter defines the rotation of the sensor relative to the platform.

                                                            Values:
                                                              +

                                                            MaxBotix MB12XX Sensor 8 Rotation

                                                            Comment: This parameter defines the rotation of the sensor relative to the platform.

                                                            参数对照:
                                                            • 0: No rotation
                                                            • 1: Yaw 45°
                                                              • @@ -13144,7 +13143,7 @@ How often the sensor is readout

                                                              Reboot required: true

                                                            • 7: Yaw 315°
                                                            -

                                                            Reboot required: true

                                                            +

                                                            要求重启:是

                                                            		 0 > 7 0
                                                            SENS_MB12_9_ROT (INT32)

                                                            MaxBotix MB12XX Sensor 9 Rotation

                                                            Comment: This parameter defines the rotation of the sensor relative to the platform.

                                                            Values:
                                                              +

                                                            MaxBotix MB12XX Sensor 9 Rotation

                                                            Comment: This parameter defines the rotation of the sensor relative to the platform.

                                                            参数对照:
                                                            • 0: No rotation
                                                            • 1: Yaw 45°
                                                              • @@ -13169,7 +13168,7 @@ How often the sensor is readout

                                                              Reboot required: true

                                                            • 7: Yaw 315°
                                                            -

                                                            Reboot required: true

                                                            +

                                                            要求重启:是

                                                            		 0 > 7 0
                                                            SENS_MPDT0_ROT (INT32)

                                                            MappyDot Sensor 0 Rotation

                                                            Comment: This parameter defines the rotation of the Mappydot sensor relative to the platform.

                                                            Values:
                                                              +

                                                            MappyDot Sensor 0 Rotation

                                                            Comment: This parameter defines the rotation of the Mappydot sensor relative to the platform.

                                                            参数对照:
                                                            • 0: No rotation
                                                            • 1: Yaw 45°
                                                              • @@ -13194,7 +13193,7 @@ How often the sensor is readout

                                                              Reboot required: true

                                                            • 7: Yaw 315°
                                                            -

                                                            Reboot required: true

                                                            +

                                                            要求重启:是

                                                            		 0 > 7 0
                                                            SENS_MPDT10_ROT (INT32)

                                                            MappyDot Sensor 10 Rotation

                                                            Comment: This parameter defines the rotation of the Mappydot sensor relative to the platform.

                                                            Values:
                                                              +

                                                            MappyDot Sensor 10 Rotation

                                                            Comment: This parameter defines the rotation of the Mappydot sensor relative to the platform.

                                                            参数对照:
                                                            • 0: No rotation
                                                            • 1: Yaw 45°
                                                              • @@ -13219,7 +13218,7 @@ How often the sensor is readout

                                                              Reboot required: true

                                                            • 7: Yaw 315°
                                                            -

                                                            Reboot required: true

                                                            +

                                                            要求重启:是

                                                            		 0 > 7 0
                                                            SENS_MPDT11_ROT (INT32)

                                                            MappyDot Sensor 12 Rotation

                                                            Comment: This parameter defines the rotation of the Mappydot sensor relative to the platform.

                                                            Values:
                                                              +

                                                            MappyDot Sensor 12 Rotation

                                                            Comment: This parameter defines the rotation of the Mappydot sensor relative to the platform.

                                                            参数对照:
                                                            • 0: No rotation
                                                            • 1: Yaw 45°
                                                              • @@ -13244,7 +13243,7 @@ How often the sensor is readout

                                                              Reboot required: true

                                                            • 7: Yaw 315°
                                                            -

                                                            Reboot required: true

                                                            +

                                                            要求重启:是

                                                            		 0 > 7 0
                                                            SENS_MPDT1_ROT (INT32)

                                                            MappyDot Sensor 1 Rotation

                                                            Comment: This parameter defines the rotation of the Mappydot sensor relative to the platform.

                                                            Values:
                                                              +

                                                            MappyDot Sensor 1 Rotation

                                                            Comment: This parameter defines the rotation of the Mappydot sensor relative to the platform.

                                                            参数对照:
                                                            • 0: No rotation
                                                            • 1: Yaw 45°
                                                              • @@ -13269,7 +13268,7 @@ How often the sensor is readout

                                                              Reboot required: true

                                                            • 7: Yaw 315°
                                                            -

                                                            Reboot required: true

                                                            +

                                                            要求重启:是

                                                            		 0 > 7 0
                                                            SENS_MPDT2_ROT (INT32)

                                                            MappyDot Sensor 2 Rotation

                                                            Comment: This parameter defines the rotation of the Mappydot sensor relative to the platform.

                                                            Values:
                                                              +

                                                            MappyDot Sensor 2 Rotation

                                                            Comment: This parameter defines the rotation of the Mappydot sensor relative to the platform.

                                                            参数对照:
                                                            • 0: No rotation
                                                            • 1: Yaw 45°
                                                              • @@ -13294,7 +13293,7 @@ How often the sensor is readout

                                                              Reboot required: true

                                                            • 7: Yaw 315°
                                                            -

                                                            Reboot required: true

                                                            +

                                                            要求重启:是

                                                            		 0 > 7 0
                                                            SENS_MPDT3_ROT (INT32)

                                                            MappyDot Sensor 3 Rotation

                                                            Comment: This parameter defines the rotation of the Mappydot sensor relative to the platform.

                                                            Values:
                                                              +

                                                            MappyDot Sensor 3 Rotation

                                                            Comment: This parameter defines the rotation of the Mappydot sensor relative to the platform.

                                                            参数对照:
                                                            • 0: No rotation
                                                            • 1: Yaw 45°
                                                              • @@ -13319,7 +13318,7 @@ How often the sensor is readout

                                                              Reboot required: true

                                                            • 7: Yaw 315°
                                                            -

                                                            Reboot required: true

                                                            +

                                                            要求重启:是

                                                            		 0 > 7 0
                                                            SENS_MPDT4_ROT (INT32)

                                                            MappyDot Sensor 4 Rotation

                                                            Comment: This parameter defines the rotation of the Mappydot sensor relative to the platform.

                                                            Values:
                                                              +

                                                            MappyDot Sensor 4 Rotation

                                                            Comment: This parameter defines the rotation of the Mappydot sensor relative to the platform.

                                                            参数对照:
                                                            • 0: No rotation
                                                            • 1: Yaw 45°
                                                              • @@ -13344,7 +13343,7 @@ How often the sensor is readout

                                                              Reboot required: true

                                                            • 7: Yaw 315°
                                                            -

                                                            Reboot required: true

                                                            +

                                                            要求重启:是

                                                            		 0 > 7 0
                                                            SENS_MPDT5_ROT (INT32)

                                                            MappyDot Sensor 5 Rotation

                                                            Comment: This parameter defines the rotation of the Mappydot sensor relative to the platform.

                                                            Values:
                                                              +

                                                            MappyDot Sensor 5 Rotation

                                                            Comment: This parameter defines the rotation of the Mappydot sensor relative to the platform.

                                                            参数对照:
                                                            • 0: No rotation
                                                            • 1: Yaw 45°
                                                              • @@ -13369,7 +13368,7 @@ How often the sensor is readout

                                                              Reboot required: true

                                                            • 7: Yaw 315°
                                                            -

                                                            Reboot required: true

                                                            +

                                                            要求重启:是

                                                            		 0 > 7 0
                                                            SENS_MPDT6_ROT (INT32)

                                                            MappyDot Sensor 6 Rotation

                                                            Comment: This parameter defines the rotation of the Mappydot sensor relative to the platform.

                                                            Values:
                                                              +

                                                            MappyDot Sensor 6 Rotation

                                                            Comment: This parameter defines the rotation of the Mappydot sensor relative to the platform.

                                                            参数对照:
                                                            • 0: No rotation
                                                            • 1: Yaw 45°
                                                              • @@ -13394,7 +13393,7 @@ How often the sensor is readout

                                                              Reboot required: true

                                                            • 7: Yaw 315°
                                                            -

                                                            Reboot required: true

                                                            +

                                                            要求重启:是

                                                            		 0 > 7 0
                                                            SENS_MPDT7_ROT (INT32)

                                                            MappyDot Sensor 7 Rotation

                                                            Comment: This parameter defines the rotation of the Mappydot sensor relative to the platform.

                                                            Values:
                                                              +

                                                            MappyDot Sensor 7 Rotation

                                                            Comment: This parameter defines the rotation of the Mappydot sensor relative to the platform.

                                                            参数对照:
                                                            • 0: No rotation
                                                            • 1: Yaw 45°
                                                              • @@ -13419,7 +13418,7 @@ How often the sensor is readout

                                                              Reboot required: true

                                                            • 7: Yaw 315°
                                                            -

                                                            Reboot required: true

                                                            +

                                                            要求重启:是

                                                            		 0 > 7 0
                                                            SENS_MPDT8_ROT (INT32)

                                                            MappyDot Sensor 8 Rotation

                                                            Comment: This parameter defines the rotation of the Mappydot sensor relative to the platform.

                                                            Values:
                                                              +

                                                            MappyDot Sensor 8 Rotation

                                                            Comment: This parameter defines the rotation of the Mappydot sensor relative to the platform.

                                                            参数对照:
                                                            • 0: No rotation
                                                            • 1: Yaw 45°
                                                              • @@ -13444,7 +13443,7 @@ How often the sensor is readout

                                                              Reboot required: true

                                                            • 7: Yaw 315°
                                                            -

                                                            Reboot required: true

                                                            +

                                                            要求重启:是

                                                            		 0 > 7 0
                                                            SENS_MPDT9_ROT (INT32)

                                                            MappyDot Sensor 9 Rotation

                                                            Comment: This parameter defines the rotation of the Mappydot sensor relative to the platform.

                                                            Values:
                                                              +

                                                            MappyDot Sensor 9 Rotation

                                                            Comment: This parameter defines the rotation of the Mappydot sensor relative to the platform.

                                                            参数对照:
                                                            • 0: No rotation
                                                            • 1: Yaw 45°
                                                              • @@ -13469,7 +13468,7 @@ How often the sensor is readout

                                                              Reboot required: true

                                                            • 7: Yaw 315°
                                                            -

                                                            Reboot required: true

                                                            +

                                                            要求重启:是

                                                            		 0 > 7 0
                                                            SENS_SF0X_CFG (INT32)

                                                            Serial Configuration for Lightware Laser Rangefinder (serial)

                                                            Comment: Configure on which serial port to run Lightware Laser Rangefinder (serial).

                                                            Values:
                                                              -
                                                            • 0: Disabled
                                                              • +

                                                            Serial Configuration for Lightware Laser Rangefinder (serial)

                                                            Comment: Configure on which serial port to run Lightware Laser Rangefinder (serial).

                                                            参数对照:
                                                              +
                                                            • 0:禁用相机反馈
                                                            • 6: UART 6
                                                              • @@ -13498,7 +13497,7 @@ How often the sensor is readout

                                                              Reboot required: true

                                                            • 300: Radio Controller
                                                            -

                                                            Reboot required: true

                                                            +

                                                            要求重启:是

                                                            		 0
                                                            SENS_TFLOW_CFG (INT32)

                                                            Serial Configuration for ThoneFlow-3901U optical flow sensor

                                                            Comment: Configure on which serial port to run ThoneFlow-3901U optical flow sensor.

                                                            Values:
                                                              -
                                                            • 0: Disabled
                                                              • +

                                                            Serial Configuration for ThoneFlow-3901U optical flow sensor

                                                            Comment: Configure on which serial port to run ThoneFlow-3901U optical flow sensor.

                                                            参数对照:
                                                              +
                                                            • 0:禁用相机反馈
                                                            • 6: UART 6
                                                              • @@ -13534,7 +13533,7 @@ How often the sensor is readout

                                                              Reboot required: true

                                                            • 300: Radio Controller
                                                            -

                                                            Reboot required: true

                                                            +

                                                            要求重启:是

                                                            		 0
                                                            SENS_TFMINI_CFG (INT32)

                                                            Serial Configuration for Benewake TFmini Rangefinder

                                                            Comment: Configure on which serial port to run Benewake TFmini Rangefinder.

                                                            Values:
                                                              -
                                                            • 0: Disabled
                                                              • +

                                                            Serial Configuration for Benewake TFmini Rangefinder

                                                            Comment: Configure on which serial port to run Benewake TFmini Rangefinder.

                                                            参数对照:
                                                              +
                                                            • 0:禁用相机反馈
                                                            • 6: UART 6
                                                              • @@ -13563,7 +13562,7 @@ How often the sensor is readout

                                                              Reboot required: true

                                                            • 300: Radio Controller
                                                            -

                                                            Reboot required: true

                                                            +

                                                            要求重启:是

                                                            		 0
                                                            SENS_ULAND_CFG (INT32)

                                                            Serial Configuration for uLanding Radar

                                                            Comment: Configure on which serial port to run uLanding Radar.

                                                            Values:
                                                              -
                                                            • 0: Disabled
                                                              • +

                                                            Serial Configuration for uLanding Radar

                                                            Comment: Configure on which serial port to run uLanding Radar.

                                                            参数对照:
                                                              +
                                                            • 0:禁用相机反馈
                                                            • 6: UART 6
                                                              • @@ -13592,7 +13591,7 @@ How often the sensor is readout

                                                              Reboot required: true

                                                            • 300: Radio Controller
                                                            -

                                                            Reboot required: true

                                                            +

                                                            要求重启:是

                                                            		 0
                                                            VOXLPM_SHUNT_BAT (FLOAT)

                                                            VOXL Power Monitor Shunt, Battery

                                                            Reboot required: true

                                                            +

                                                            VOXL Power Monitor Shunt, Battery

                                                            要求重启:是

                                                            		 0.000000001 > 0.1 (.000000001) 0.00063
                                                            VOXLPM_SHUNT_REG (FLOAT)

                                                            VOXL Power Monitor Shunt, Regulator

                                                            Reboot required: true

                                                            +

                                                            VOXL Power Monitor Shunt, Regulator

                                                            要求重启:是

                                                            		 0.000000001 > 0.1 (.000000001) 0.0056
                                                            - + - @@ -13655,7 +13654,7 @@ How often the sensor is readout

                                                            Reboot required: true

                                                            - @@ -13716,7 +13715,7 @@ How often the sensor is readout

                                                            Reboot required: true

                                                            - @@ -13777,7 +13776,7 @@ How often the sensor is readout

                                                            Reboot required: true

                                                            - @@ -13838,7 +13837,7 @@ How often the sensor is readout

                                                            Reboot required: true

                                                            - @@ -13899,7 +13898,7 @@ How often the sensor is readout

                                                            Reboot required: true

                                                            - @@ -13960,7 +13959,7 @@ How often the sensor is readout

                                                            Reboot required: true

                                                            - @@ -14021,7 +14020,7 @@ How often the sensor is readout

                                                            Reboot required: true

                                                            - @@ -14082,7 +14081,7 @@ How often the sensor is readout

                                                            Reboot required: true

                                                            - @@ -14143,7 +14142,7 @@ How often the sensor is readout

                                                            Reboot required: true

                                                            - @@ -14209,7 +14208,7 @@ How often the sensor is readout

                                                            Reboot required: true

                                                            NameDescriptionMin > Max (Incr.)DefaultUnits
                                                            参数名参数描述最小最大值 (增量)默认值单位
                                                            RC_PORT_CONFIG (INT32)

                                                            Serial Configuration for RC Input Driver

                                                            Comment: Configure on which serial port to run RC Input Driver. Setting this to 'Disabled' will use a board-specific default port for RC input.

                                                            Values:
                                                              -
                                                            • 0: Disabled
                                                              • +

                                                            Serial Configuration for RC Input Driver

                                                            Comment: Configure on which serial port to run RC Input Driver. Setting this to 'Disabled' will use a board-specific default port for RC input.

                                                            参数对照:
                                                              +
                                                            • 0:禁用相机反馈
                                                            • 6: UART 6
                                                              • @@ -13647,7 +13646,7 @@ How often the sensor is readout

                                                              Reboot required: true

                                                            • 300: Radio Controller
                                                            -

                                                            Reboot required: true

                                                            +

                                                            要求重启:是

                                                            		 300
                                                            SER_GPS1_BAUD (INT32)

                                                            Baudrate for the GPS 1 Serial Port

                                                            Comment: Configure the Baudrate for the GPS 1 Serial Port. Note: certain drivers such as the GPS can determine the Baudrate automatically.

                                                            Values:
                                                              +

                                                            GPS1串口波特率

                                                            说明:配置GPS1串口的波特率. 注意: 某些驱动程序，如GPS，可以自动确定波特率

                                                            参数对照:
                                                            • 0: Auto
                                                            • 50: 50 8N1
                                                              • @@ -13708,7 +13707,7 @@ How often the sensor is readout

                                                              Reboot required: true

                                                            • 3000000: 3000000 8N1
                                                            -

                                                            Reboot required: true

                                                            +

                                                            要求重启:是

                                                            		 0
                                                            SER_GPS2_BAUD (INT32)

                                                            Baudrate for the GPS 2 Serial Port

                                                            Comment: Configure the Baudrate for the GPS 2 Serial Port. Note: certain drivers such as the GPS can determine the Baudrate automatically.

                                                            Values:
                                                              +

                                                            GPS2串口波特率

                                                            说明:配置GPS2串口的波特率. 注意: 某些驱动程序，如GPS，可以自动确定波特率

                                                            参数对照:
                                                            • 0: Auto
                                                            • 50: 50 8N1
                                                              • @@ -13769,7 +13768,7 @@ How often the sensor is readout

                                                              Reboot required: true

                                                            • 3000000: 3000000 8N1
                                                            -

                                                            Reboot required: true

                                                            +

                                                            要求重启:是

                                                            		 0
                                                            SER_GPS3_BAUD (INT32)

                                                            Baudrate for the GPS 3 Serial Port

                                                            Comment: Configure the Baudrate for the GPS 3 Serial Port. Note: certain drivers such as the GPS can determine the Baudrate automatically.

                                                            Values:
                                                              +

                                                            GPS3串口波特率

                                                            说明:配置GPS3串口的波特率. 注意: 某些驱动程序，如GPS，可以自动确定波特率

                                                            参数对照:
                                                            • 0: Auto
                                                            • 50: 50 8N1
                                                              • @@ -13830,7 +13829,7 @@ How often the sensor is readout

                                                              Reboot required: true

                                                            • 3000000: 3000000 8N1
                                                            -

                                                            Reboot required: true

                                                            +

                                                            要求重启:是

                                                            		 0
                                                            SER_RC_BAUD (INT32)

                                                            Baudrate for the Radio Controller Serial Port

                                                            Comment: Configure the Baudrate for the Radio Controller Serial Port. Note: certain drivers such as the GPS can determine the Baudrate automatically.

                                                            Values:
                                                              +

                                                            Baudrate for the Radio Controller Serial Port

                                                            Comment: Configure the Baudrate for the Radio Controller Serial Port. 注意: 某些驱动程序，如GPS，可以自动确定波特率

                                                            参数对照:
                                                            • 0: Auto
                                                            • 50: 50 8N1
                                                              • @@ -13891,7 +13890,7 @@ How often the sensor is readout

                                                              Reboot required: true

                                                            • 3000000: 3000000 8N1
                                                            -

                                                            Reboot required: true

                                                            +

                                                            要求重启:是

                                                            		 0
                                                            SER_TEL1_BAUD (INT32)

                                                            Baudrate for the TELEM 1 Serial Port

                                                            Comment: Configure the Baudrate for the TELEM 1 Serial Port. Note: certain drivers such as the GPS can determine the Baudrate automatically.

                                                            Values:
                                                              +

                                                            TELE1串口波特率参数

                                                            Comment: Configure the Baudrate for the TELEM 1 Serial Port. 注意: 某些驱动程序，如GPS，可以自动确定波特率

                                                            参数对照:
                                                            • 0: Auto
                                                            • 50: 50 8N1
                                                              • @@ -13952,7 +13951,7 @@ How often the sensor is readout

                                                              Reboot required: true

                                                            • 3000000: 3000000 8N1
                                                            -

                                                            Reboot required: true

                                                            +

                                                            要求重启:是

                                                            		 57600
                                                            SER_TEL2_BAUD (INT32)

                                                            Baudrate for the TELEM 2 Serial Port

                                                            Comment: Configure the Baudrate for the TELEM 2 Serial Port. Note: certain drivers such as the GPS can determine the Baudrate automatically.

                                                            Values:
                                                              +

                                                            TELE2串口波特率参数

                                                            Comment: Configure the Baudrate for the TELEM 2 Serial Port. 注意: 某些驱动程序，如GPS，可以自动确定波特率

                                                            参数对照:
                                                            • 0: Auto
                                                            • 50: 50 8N1
                                                              • @@ -14013,7 +14012,7 @@ How often the sensor is readout

                                                              Reboot required: true

                                                            • 3000000: 3000000 8N1
                                                            -

                                                            Reboot required: true

                                                            +

                                                            要求重启:是

                                                            		 921600
                                                            SER_TEL3_BAUD (INT32)

                                                            Baudrate for the TELEM 3 Serial Port

                                                            Comment: Configure the Baudrate for the TELEM 3 Serial Port. Note: certain drivers such as the GPS can determine the Baudrate automatically.

                                                            Values:
                                                              +

                                                            TELE3串口波特率参数

                                                            Comment: Configure the Baudrate for the TELEM 3 Serial Port. 注意: 某些驱动程序，如GPS，可以自动确定波特率

                                                            参数对照:
                                                            • 0: Auto
                                                            • 50: 50 8N1
                                                              • @@ -14074,7 +14073,7 @@ How often the sensor is readout

                                                              Reboot required: true

                                                            • 3000000: 3000000 8N1
                                                            -

                                                            Reboot required: true

                                                            +

                                                            要求重启:是

                                                            		 57600
                                                            SER_TEL4_BAUD (INT32)

                                                            Baudrate for the TELEM/SERIAL 4 Serial Port

                                                            Comment: Configure the Baudrate for the TELEM/SERIAL 4 Serial Port. Note: certain drivers such as the GPS can determine the Baudrate automatically.

                                                            Values:
                                                              +

                                                            TELE4串口波特率参数

                                                            Comment: Configure the Baudrate for the TELEM/SERIAL 4 Serial Port. 注意: 某些驱动程序，如GPS，可以自动确定波特率

                                                            参数对照:
                                                            • 0: Auto
                                                            • 50: 50 8N1
                                                              • @@ -14135,7 +14134,7 @@ How often the sensor is readout

                                                              Reboot required: true

                                                            • 3000000: 3000000 8N1
                                                            -

                                                            Reboot required: true

                                                            +

                                                            要求重启:是

                                                            		 57600
                                                            SER_URT6_BAUD (INT32)

                                                            Baudrate for the UART 6 Serial Port

                                                            Comment: Configure the Baudrate for the UART 6 Serial Port. Note: certain drivers such as the GPS can determine the Baudrate automatically.

                                                            Values:
                                                              +

                                                            UART6串口波特率参数

                                                            说明:配置UART6串行口的波特率 注意: 某些驱动程序，如GPS，可以自动确定波特率

                                                            参数对照:
                                                            • 0: Auto
                                                            • 50: 50 8N1
                                                              • @@ -14196,7 +14195,7 @@ How often the sensor is readout

                                                              Reboot required: true

                                                            • 3000000: 3000000 8N1
                                                            -

                                                            Reboot required: true

                                                            +

                                                            要求重启:是

                                                            		 57600
                                                            - + @@ -14273,7 +14272,7 @@ How often the sensor is readout

                                                            Reboot required: true

                                                            - + @@ -14315,14 +14314,14 @@ How often the sensor is readout

                                                            Reboot required: true

                                                            - + - + @@ -14347,12 +14346,12 @@ How often the sensor is readout

                                                            Reboot required: true

                                                            NameDescriptionMin > Max (Incr.)DefaultUnits
                                                            参数名参数描述最小最大值 (增量)默认值单位

                                                            Initial AMSL ground altitude

                                                            Comment: This value represents the Above Mean Sea Level (AMSL) altitude where the simulation begins. If using FlightGear as a visual animation, this value can be tweaked such that the vehicle lies on the ground at takeoff. LAT0, LON0, H0, MU_X, MU_Y, and MU_Z should ideally be consistent among each others to represent a physical ground location on Earth.

                                                            		 -420.0 > 8848.0 (0.01) 32.34m米
                                                            SIH_LOC_LAT0 (INT32)

                                                            Pitch arm length

                                                            Comment: This is the arm length generating the pitching moment This value can be measured with a ruler. This corresponds to half the distance between the front and rear motors.

                                                            		 0.0 > ? (0.05) 0.2m米
                                                            SIH_L_ROLL (FLOAT)

                                                            Roll arm length

                                                            Comment: This is the arm length generating the rolling moment This value can be measured with a ruler. This corresponds to half the distance between the left and right motors.

                                                            		 0.0 > ? (0.05) 0.2m米
                                                            SIH_MASS (FLOAT)
                                                            -## System +## 系统 - + @@ -14371,7 +14370,7 @@ How often the sensor is readout

                                                            Reboot required: true

                                                            - - @@ -14393,7 +14392,7 @@ How often the sensor is readout

                                                            Reboot required: true

                                                            - @@ -14457,7 +14456,7 @@ How often the sensor is readout

                                                            Reboot required: true

                                                            - @@ -14465,7 +14464,7 @@ How often the sensor is readout

                                                            Reboot required: true

                                                            - @@ -14473,7 +14472,7 @@ How often the sensor is readout

                                                            Reboot required: true

                                                            - @@ -14490,14 +14489,14 @@ How often the sensor is readout

                                                            Reboot required: true

                                                            - @@ -14512,7 +14511,7 @@ How often the sensor is readout

                                                            Reboot required: true

                                                            - - @@ -14546,12 +14545,12 @@ How often the sensor is readout

                                                            Reboot required: true

                                                            NameDescriptionMin > Max (Incr.)DefaultUnits
                                                            参数名参数描述最小最大值 (增量)默认值单位
                                                            SYS_AUTOCONFIG (INT32)

                                                            Automatically configure default values

                                                            Comment: Set to 1 to reset parameters on next system startup (setting defaults). Platform-specific values are used if available. RC* parameters are preserved.

                                                            Values:
                                                              +

                                                            Automatically configure default values

                                                            Comment: Set to 1 to reset parameters on next system startup (setting defaults). Platform-specific values are used if available. RC* parameters are preserved.

                                                            参数对照:
                                                            • 0: Keep parameters
                                                            • 1: Reset parameters
                                                              • @@ -14385,7 +14384,7 @@ How often the sensor is readout

                                                              Reboot required: true

                                                            SYS_AUTOSTART (INT32)

                                                            Auto-start script index

                                                            Comment: CHANGING THIS VALUE REQUIRES A RESTART. Defines the auto-start script used to bootstrap the system.

                                                            Reboot required: true

                                                            +

                                                            Auto-start script index

                                                            Comment: CHANGING THIS VALUE REQUIRES A RESTART. Defines the auto-start script used to bootstrap the system.

                                                            要求重启:是

                                                            		 0 > 9999999 0
                                                            SYS_BL_UPDATE (INT32)

                                                            Bootloader update

                                                            Comment: If enabled, update the bootloader on the next boot. WARNING: do not cut the power during an update process, otherwise you will have to recover using some alternative method (e.g. JTAG). Instructions: - Insert an SD card - Enable this parameter - Reboot the board (plug the power or send a reboot command) - Wait until the board comes back up (or at least 2 minutes) - If it does not come back, check the file bootlog.txt on the SD card

                                                            Reboot required: true

                                                            +

                                                            Bootloader update

                                                            Comment: If enabled, update the bootloader on the next boot. WARNING: do not cut the power during an update process, otherwise you will have to recover using some alternative method (e.g. JTAG). Instructions: - Insert an SD card - Enable this parameter - Reboot the board (plug the power or send a reboot command) - Wait until the board comes back up (or at least 2 minutes) - If it does not come back, check the file bootlog.txt on the SD card

                                                            要求重启:是

                                                            		 Disabled (0)
                                                            SYS_HAS_BARO (INT32)

                                                            Control if the vehicle has a barometer

                                                            Comment: Disable this if the board has no barometer, such as some of the the Omnibus F4 SD variants. If disabled, the preflight checks will not check for the presence of a barometer.

                                                            Reboot required: true

                                                            +

                                                            Control if the vehicle has a barometer

                                                            Comment: Disable this if the board has no barometer, such as some of the the Omnibus F4 SD variants. If disabled, the preflight checks will not check for the presence of a barometer.

                                                            要求重启:是

                                                            		 Enabled (1)
                                                            SYS_HAS_MAG (INT32)

                                                            Control if the vehicle has a magnetometer

                                                            Comment: Disable this if the board has no magnetometer, such as the Omnibus F4 SD. If disabled, the preflight checks will not check for the presence of a magnetometer.

                                                            Reboot required: true

                                                            +

                                                            Control if the vehicle has a magnetometer

                                                            Comment: Disable this if the board has no magnetometer, such as the Omnibus F4 SD. If disabled, the preflight checks will not check for the presence of a magnetometer.

                                                            要求重启:是

                                                            		 Enabled (1)
                                                            SYS_HITL (INT32)

                                                            Enable HITL/SIH mode on next boot

                                                            Comment: While enabled the system will boot in Hardware-In-The-Loop (HITL) or Simulation-In-Hardware (SIH) mode and not enable all sensors and checks. When disabled the same vehicle can be flown normally. Set to 'external HITL', if the system should perform as if it were a real vehicle (the only difference to a real system is then only the parameter value, which can be used for log analysis).

                                                            Values:
                                                              +

                                                            Enable HITL/SIH mode on next boot

                                                            Comment: While enabled the system will boot in Hardware-In-The-Loop (HITL) or Simulation-In-Hardware (SIH) mode and not enable all sensors and checks. When disabled the same vehicle can be flown normally. Set to 'external HITL', if the system should perform as if it were a real vehicle (the only difference to a real system is then only the parameter value, which can be used for log analysis).

                                                            参数对照:
                                                            • -1: external HITL
                                                            • 0: HITL and SIH disabled
                                                              • @@ -14482,7 +14481,7 @@ How often the sensor is readout

                                                              Reboot required: true

                                                            • 2: SIH enabled
                                                            -

                                                            Reboot required: true

                                                            +

                                                            要求重启:是

                                                            		 0
                                                            SYS_MC_EST_GROUP (INT32)

                                                            Set multicopter estimator group

                                                            Comment: Set the group of estimators used for multicopters and VTOLs

                                                            Values:
                                                              +

                                                            Set multicopter estimator group

                                                            Comment: Set the group of estimators used for multicopters and VTOLs

                                                            参数对照:
                                                            • 1: local_position_estimator, attitude_estimator_q (unsupported)
                                                            • 2: ekf2 (recommended)
                                                            • 3: Q attitude estimator (no position)
                                                            -

                                                            Reboot required: true

                                                            +

                                                            要求重启:是

                                                            		 2
                                                            SYS_RESTART_TYPE (INT32)

                                                            Set restart type

                                                            Comment: Set by px4io to indicate type of restart

                                                            Values:
                                                              +

                                                            Set restart type

                                                            Comment: Set by px4io to indicate type of restart

                                                            参数对照:
                                                            • 0: Data survives resets
                                                            • 1: Data survives in-flight resets only
                                                              • @@ -14533,7 +14532,7 @@ How often the sensor is readout

                                                              Reboot required: true

                                                            SYS_USE_IO (INT32)

                                                            Set usage of IO board

                                                            Comment: Can be used to use a standard startup script but with a FMU only set-up. Set to 0 to force the FMU only set-up.

                                                            Reboot required: true

                                                            +

                                                            Set usage of IO board

                                                            Comment: Can be used to use a standard startup script but with a FMU only set-up. Set to 0 to force the FMU only set-up.

                                                            要求重启:是

                                                            		 0 > 1 Enabled (1)
                                                            - + - @@ -14559,8 +14558,8 @@ How often the sensor is readout

                                                            Reboot required: true

                                                            - @@ -14588,8 +14587,8 @@ How often the sensor is readout

                                                            Reboot required: true

                                                            - @@ -14617,12 +14616,12 @@ How often the sensor is readout

                                                            Reboot required: true

                                                            NameDescriptionMin > Max (Incr.)DefaultUnits
                                                            参数名参数描述最小最大值 (增量)默认值单位
                                                            TEL_BST_EN (INT32)

                                                            Blacksheep telemetry Enable

                                                            Comment: If true, the FMU will try to connect to Blacksheep telemetry on start up

                                                            Reboot required: true

                                                            +

                                                            Blacksheep telemetry Enable

                                                            Comment: If true, the FMU will try to connect to Blacksheep telemetry on start up

                                                            要求重启:是

                                                            		 Disabled (0)
                                                            TEL_FRSKY_CONFIG (INT32)

                                                            Serial Configuration for FrSky Telemetry

                                                            Comment: Configure on which serial port to run FrSky Telemetry.

                                                            Values:
                                                              -
                                                            • 0: Disabled
                                                              • +

                                                            Serial Configuration for FrSky Telemetry

                                                            Comment: Configure on which serial port to run FrSky Telemetry.

                                                            参数对照:
                                                              +
                                                            • 0:禁用相机反馈
                                                            • 6: UART 6
                                                              • @@ -14580,7 +14579,7 @@ How often the sensor is readout

                                                              Reboot required: true

                                                            • 300: Radio Controller
                                                            -

                                                            Reboot required: true

                                                            +

                                                            要求重启:是

                                                            		 0
                                                            TEL_HOTT_CONFIG (INT32)

                                                            Serial Configuration for HoTT Telemetry

                                                            Comment: Configure on which serial port to run HoTT Telemetry.

                                                            Values:
                                                              -
                                                            • 0: Disabled
                                                              • +

                                                            Serial Configuration for HoTT Telemetry

                                                            Comment: Configure on which serial port to run HoTT Telemetry.

                                                            参数对照:
                                                              +
                                                            • 0:禁用相机反馈
                                                            • 6: UART 6
                                                              • @@ -14609,7 +14608,7 @@ How often the sensor is readout

                                                              Reboot required: true

                                                            • 300: Radio Controller
                                                            -

                                                            Reboot required: true

                                                            +

                                                            要求重启:是

                                                            		 0
                                                            -## Testing +## 测试 - + @@ -14758,7 +14757,7 @@ How often the sensor is readout

                                                            Reboot required: true

                                                            NameDescriptionMin > Max (Incr.)DefaultUnits
                                                            参数名参数描述最小最大值 (增量)默认值单位
                                                            - + @@ -15211,7 +15210,7 @@ How often the sensor is readout

                                                            Reboot required: true

                                                            - @@ -15226,21 +15225,21 @@ How often the sensor is readout

                                                            Reboot required: true

                                                            - + - + - + @@ -15296,21 +15295,21 @@ How often the sensor is readout

                                                            Reboot required: true

                                                            - + - + - + @@ -15366,21 +15365,21 @@ How often the sensor is readout

                                                            Reboot required: true

                                                            - + - + - + @@ -15436,21 +15435,21 @@ How often the sensor is readout

                                                            Reboot required: true

                                                            - + - + - + @@ -15499,7 +15498,7 @@ How often the sensor is readout

                                                            Reboot required: true

                                                            - @@ -15514,21 +15513,21 @@ How often the sensor is readout

                                                            Reboot required: true

                                                            - + - + - + @@ -15626,21 +15625,21 @@ How often the sensor is readout

                                                            Reboot required: true

                                                            - + - + - + @@ -15738,21 +15737,21 @@ How often the sensor is readout

                                                            Reboot required: true

                                                            - + - + - + @@ -15850,21 +15849,21 @@ How often the sensor is readout

                                                            Reboot required: true

                                                            - + - + - + @@ -15955,7 +15954,7 @@ How often the sensor is readout

                                                            Reboot required: true

                                                            - @@ -15968,7 +15967,7 @@ How often the sensor is readout

                                                            Reboot required: true

                                                            NameDescriptionMin > Max (Incr.)DefaultUnits
                                                            参数名参数描述最小最大值 (增量)默认值单位
                                                            TC_A_ENABLE (INT32)

                                                            Thermal compensation for accelerometer sensors

                                                            Reboot required: true

                                                            +

                                                            Thermal compensation for accelerometer sensors

                                                            要求重启:是

                                                            		 Disabled (0)
                                                            TC_B0_TMAX (FLOAT)

                                                            Barometer calibration maximum temperature

                                                            气压计校准最高温度

                                                            		 75.0
                                                            TC_B0_TMIN (FLOAT)

                                                            Barometer calibration minimum temperature

                                                            气压计校准最低温度

                                                            		 5.0
                                                            TC_B0_TREF (FLOAT)

                                                            Barometer calibration reference temperature

                                                            气压计校准参考温度

                                                            		 40.0
                                                            TC_B1_TMAX (FLOAT)

                                                            Barometer calibration maximum temperature

                                                            气压计校准最高温度

                                                            		 75.0
                                                            TC_B1_TMIN (FLOAT)

                                                            Barometer calibration minimum temperature

                                                            气压计校准最低温度

                                                            		 5.0
                                                            TC_B1_TREF (FLOAT)

                                                            Barometer calibration reference temperature

                                                            气压计校准参考温度

                                                            		 40.0
                                                            TC_B2_TMAX (FLOAT)

                                                            Barometer calibration maximum temperature

                                                            气压计校准最高温度

                                                            		 75.0
                                                            TC_B2_TMIN (FLOAT)

                                                            Barometer calibration minimum temperature

                                                            气压计校准最低温度

                                                            		 5.0
                                                            TC_B2_TREF (FLOAT)

                                                            Barometer calibration reference temperature

                                                            气压计校准参考温度

                                                            		 40.0
                                                            TC_B3_TMAX (FLOAT)

                                                            Barometer calibration maximum temperature

                                                            气压计校准最高温度

                                                            		 75.0
                                                            TC_B3_TMIN (FLOAT)

                                                            Barometer calibration minimum temperature

                                                            气压计校准最低温度

                                                            		 5.0
                                                            TC_B3_TREF (FLOAT)

                                                            Barometer calibration reference temperature

                                                            气压计校准参考温度

                                                            		 40.0
                                                            TC_B_ENABLE (INT32)

                                                            Thermal compensation for barometric pressure sensors

                                                            Reboot required: true

                                                            +

                                                            Thermal compensation for barometric pressure sensors

                                                            要求重启:是

                                                            		 Disabled (0)
                                                            TC_G0_TMAX (FLOAT)

                                                            Gyro calibration maximum temperature

                                                            陀螺仪校准最高温度

                                                            		 100.0
                                                            TC_G0_TMIN (FLOAT)

                                                            Gyro calibration minimum temperature

                                                            陀螺仪校准最低温度

                                                            		 0.0
                                                            TC_G0_TREF (FLOAT)

                                                            Gyro calibration reference temperature

                                                            陀螺仪校准的参考温度

                                                            		 25.0
                                                            TC_G1_TMAX (FLOAT)

                                                            Gyro calibration maximum temperature

                                                            陀螺仪校准最高温度

                                                            		 100.0
                                                            TC_G1_TMIN (FLOAT)

                                                            Gyro calibration minimum temperature

                                                            陀螺仪校准最低温度

                                                            		 0.0
                                                            TC_G1_TREF (FLOAT)

                                                            Gyro calibration reference temperature

                                                            陀螺仪校准的参考温度

                                                            		 25.0
                                                            TC_G2_TMAX (FLOAT)

                                                            Gyro calibration maximum temperature

                                                            陀螺仪校准最高温度

                                                            		 100.0
                                                            TC_G2_TMIN (FLOAT)

                                                            Gyro calibration minimum temperature

                                                            陀螺仪校准最低温度

                                                            		 0.0
                                                            TC_G2_TREF (FLOAT)

                                                            Gyro calibration reference temperature

                                                            陀螺仪校准的参考温度

                                                            		 25.0
                                                            TC_G3_TMAX (FLOAT)

                                                            Gyro calibration maximum temperature

                                                            陀螺仪校准最高温度

                                                            		 100.0
                                                            TC_G3_TMIN (FLOAT)

                                                            Gyro calibration minimum temperature

                                                            陀螺仪校准最低温度

                                                            		 0.0
                                                            TC_G3_TREF (FLOAT)

                                                            Gyro calibration reference temperature

                                                            陀螺仪校准的参考温度

                                                            		 25.0
                                                            TC_G_ENABLE (INT32)

                                                            Thermal compensation for rate gyro sensors

                                                            Reboot required: true

                                                            +

                                                            Thermal compensation for rate gyro sensors

                                                            要求重启:是

                                                            		 Disabled (0)
                                                            - + @@ -15987,7 +15986,7 @@ How often the sensor is readout

                                                            Reboot required: true

                                                            - @@ -15995,8 +15994,8 @@ How often the sensor is readout

                                                            Reboot required: true

                                                            - @@ -16012,7 +16011,7 @@ How often the sensor is readout

                                                            Reboot required: true

                                                            - @@ -16020,7 +16019,7 @@ How often the sensor is readout

                                                            Reboot required: true

                                                            - @@ -16037,7 +16036,7 @@ How often the sensor is readout

                                                            Reboot required: true

                                                            - @@ -16054,7 +16053,7 @@ How often the sensor is readout

                                                            Reboot required: true

                                                            - @@ -16071,7 +16070,7 @@ How often the sensor is readout

                                                            Reboot required: true

                                                            - @@ -16088,7 +16087,7 @@ How often the sensor is readout

                                                            Reboot required: true

                                                            - @@ -16099,14 +16098,14 @@ How often the sensor is readout

                                                            Reboot required: true

                                                            - + - +
                                                            NameDescriptionMin > Max (Incr.)DefaultUnits
                                                            参数名参数描述最小最大值 (增量)默认值单位
                                                            UAVCAN_BITRATE (INT32)

                                                            UAVCAN CAN bus bitrate

                                                            Reboot required: true

                                                            +

                                                            UAVCAN CAN bus bitrate

                                                            要求重启:是

                                                            		 20000 > 1000000 1000000
                                                            UAVCAN_ENABLE (INT32)

                                                            UAVCAN mode

                                                            Comment: 0 - UAVCAN disabled. 1 - Enables support for UAVCAN sensors without dynamic node ID allocation and firmware update. 2 - Enables support for UAVCAN sensors with dynamic node ID allocation and firmware update. 3 - Enables support for UAVCAN sensors and actuators with dynamic node ID allocation and firmware update. Also sets the motor control outputs to UAVCAN.

                                                            Values:
                                                              -
                                                            • 0: Disabled
                                                              • +

                                                            UAVCAN mode

                                                            Comment: 0 - UAVCAN disabled. 1 - Enables support for UAVCAN sensors without dynamic node ID allocation and firmware update. 2 - Enables support for UAVCAN sensors with dynamic node ID allocation and firmware update. 3 - Enables support for UAVCAN sensors and actuators with dynamic node ID allocation and firmware update. Also sets the motor control outputs to UAVCAN.

                                                            参数对照:
                                                              +
                                                            • 0:禁用相机反馈
                                                            • 1: Sensors Manual Config
                                                              • @@ -16004,7 +16003,7 @@ How often the sensor is readout

                                                              Reboot required: true

                                                            • 3: Sensors and Actuators (ESCs) Automatic Config
                                                            -

                                                            Reboot required: true

                                                            +

                                                            要求重启:是

                                                            		 0 > 3 0
                                                            UAVCAN_ESC_IDLT (INT32)

                                                            UAVCAN ESC will spin at idle throttle when armed, even if the mixer outputs zero setpoints

                                                            Reboot required: true

                                                            +

                                                            UAVCAN ESC will spin at idle throttle when armed, even if the mixer outputs zero setpoints

                                                            要求重启:是

                                                            		 Enabled (1)
                                                            UAVCAN_LGT_ANTCL (INT32)

                                                            UAVCAN ANTI_COLLISION light operating mode

                                                            Comment: This parameter defines the minimum condition under which the system will command the ANTI_COLLISION lights on 0 - Always off 1 - When autopilot is armed 2 - When autopilot is prearmed 3 - Always on

                                                            Values:
                                                              +

                                                            UAVCAN ANTI_COLLISION light operating mode

                                                            Comment: This parameter defines the minimum condition under which the system will command the ANTI_COLLISION lights on 0 - Always off 1 - When autopilot is armed 2 - When autopilot is prearmed 3 - Always on

                                                            参数对照:
                                                            • 0: Always off
                                                            • 1: When autopilot is armed
                                                              • @@ -16029,7 +16028,7 @@ How often the sensor is readout

                                                              Reboot required: true

                                                            • 3: Always on
                                                            -

                                                            Reboot required: true

                                                            +

                                                            要求重启:是

                                                            		 0 > 3 2
                                                            UAVCAN_LGT_LAND (INT32)

                                                            UAVCAN LIGHT_ID_LANDING light operating mode

                                                            Comment: This parameter defines the minimum condition under which the system will command the LIGHT_ID_LANDING lights on 0 - Always off 1 - When autopilot is armed 2 - When autopilot is prearmed 3 - Always on

                                                            Values:
                                                              +

                                                            UAVCAN LIGHT_ID_LANDING light operating mode

                                                            Comment: This parameter defines the minimum condition under which the system will command the LIGHT_ID_LANDING lights on 0 - Always off 1 - When autopilot is armed 2 - When autopilot is prearmed 3 - Always on

                                                            参数对照:
                                                            • 0: Always off
                                                            • 1: When autopilot is armed
                                                              • @@ -16046,7 +16045,7 @@ How often the sensor is readout

                                                              Reboot required: true

                                                            • 3: Always on
                                                            -

                                                            Reboot required: true

                                                            +

                                                            要求重启:是

                                                            		 0 > 3 0
                                                            UAVCAN_LGT_NAV (INT32)

                                                            UAVCAN RIGHT_OF_WAY light operating mode

                                                            Comment: This parameter defines the minimum condition under which the system will command the RIGHT_OF_WAY lights on 0 - Always off 1 - When autopilot is armed 2 - When autopilot is prearmed 3 - Always on

                                                            Values:
                                                              +

                                                            UAVCAN RIGHT_OF_WAY light operating mode

                                                            Comment: This parameter defines the minimum condition under which the system will command the RIGHT_OF_WAY lights on 0 - Always off 1 - When autopilot is armed 2 - When autopilot is prearmed 3 - Always on

                                                            参数对照:
                                                            • 0: Always off
                                                            • 1: When autopilot is armed
                                                              • @@ -16063,7 +16062,7 @@ How often the sensor is readout

                                                              Reboot required: true

                                                            • 3: Always on
                                                            -

                                                            Reboot required: true

                                                            +

                                                            要求重启:是

                                                            		 0 > 3 3
                                                            UAVCAN_LGT_STROB (INT32)

                                                            UAVCAN STROBE light operating mode

                                                            Comment: This parameter defines the minimum condition under which the system will command the STROBE lights on 0 - Always off 1 - When autopilot is armed 2 - When autopilot is prearmed 3 - Always on

                                                            Values:
                                                              +

                                                            UAVCAN STROBE light operating mode

                                                            Comment: This parameter defines the minimum condition under which the system will command the STROBE lights on 0 - Always off 1 - When autopilot is armed 2 - When autopilot is prearmed 3 - Always on

                                                            参数对照:
                                                            • 0: Always off
                                                            • 1: When autopilot is armed
                                                              • @@ -16080,7 +16079,7 @@ How often the sensor is readout

                                                              Reboot required: true

                                                            • 3: Always on
                                                            -

                                                            Reboot required: true

                                                            +

                                                            要求重启:是

                                                            		 0 > 3 1
                                                            UAVCAN_NODE_ID (INT32)

                                                            UAVCAN Node ID

                                                            Comment: Read the specs at http://uavcan.org to learn more about Node ID.

                                                            Reboot required: true

                                                            +

                                                            UAVCAN Node ID

                                                            Comment: Read the specs at http://uavcan.org to learn more about Node ID.

                                                            要求重启:是

                                                            		 1 > 125 1

                                                            UAVCAN rangefinder maximum range

                                                            Comment: This parameter defines the maximum valid range for a rangefinder connected via UAVCAN.

                                                            		 200.0m米
                                                            UAVCAN_RNG_MIN (FLOAT)

                                                            UAVCAN rangefinder minimum range

                                                            Comment: This parameter defines the minimum valid range for a rangefinder connected via UAVCAN.

                                                            		 0.3m米
                                                            @@ -16115,7 +16114,7 @@ How often the sensor is readout

                                                            Reboot required: true

                                                            - + @@ -16148,7 +16147,7 @@ How often the sensor is readout

                                                            Reboot required: true

                                                            - +本文档中使用下列的图标在
                                                            NameDescriptionMin > Max (Incr.)DefaultUnits
                                                            参数名参数描述最小最大值 (增量)默认值单位
                                                            UUV_INPUT_MODE (INT32)

                                                            Select Input Mode

                                                            Values:
                                                              +

                                                            Select Input Mode

                                                            参数对照:
                                                            • 0: use Attitude Setpoints
                                                            • 1: Direct Feedthrough
                                                              • @@ -16207,22 +16206,22 @@ How often the sensor is readout

                                                              Reboot required: true

                                                              - + - + - + - + @@ -16267,14 +16266,14 @@ Airbrakes need to be enables for your selected model/mixer

                                                              - + - + @@ -16308,7 +16307,7 @@ This technique can be used to avoid the plane having to pitch down in order to m This prevents large, negative lift values being created when facing strong winds. Fixed-wing forward actuators refers to puller/pusher (standard VTOL), or forward-tilt (tiltrotor VTOL). Only active if demaded down pitch is above VT_DWN_PITCH_MAX, and uses VT_FWD_THRUST_SC to get from -demanded down pitch to fixed-wing actuation

                                                              Values:
                                                                +demanded down pitch to fixed-wing actuation

                                                                参数对照:
                                                                • 0: Disable FW forward actuation in hover.
                                                                • 1: Enable FW forward actuation in hover in altitude, position and auto modes (except LANDING).
                                                                  • @@ -16392,7 +16391,7 @@ demanded down pitch to fixed-wing actuation

                                                                  Values:
                                                              - + @@ -16408,7 +16407,7 @@ tailsitter, tiltrotor: main throttle

                                                              - + @@ -16472,32 +16471,32 @@ to fixed wing mode. Zero or negative values will produce an instant throttle ris - + - + - + - @@ -16512,12 +16511,12 @@ to fixed wing mode. Zero or negative values will produce an instant throttle ris
                                                              NameDescriptionMin > Max (Incr.)DefaultUnits
                                                              参数名参数描述最小最大值 (增量)默认值单位
                                                              VT_ARSP_BLEND (FLOAT)

                                                              Transition blending airspeed

                                                              Comment: Airspeed at which we can start blending both fw and mc controls. Set to 0 to disable.

                                                              Transition blending airspeed

                                                              Comment: Airspeed at which we can start blending both fw and mc controls. 设置为 0 以禁用。

                                                              		 0.00 > 30.00 (1) 8.0m/s米/秒
                                                              VT_ARSP_TRANS (FLOAT)

                                                              Transition airspeed

                                                              Comment: Airspeed at which we can switch to fw mode

                                                              		 0.00 > 30.00 (1) 10.0m/s米/秒
                                                              VT_B_DEC_FF (FLOAT)

                                                              Duration of a back transition

                                                              Comment: Time in seconds used for a back transition

                                                              		 0.00 > 20.00 (1) 4.0s秒
                                                              VT_B_TRANS_RAMP (FLOAT)

                                                              Back transition MC motor ramp up time

                                                              Comment: This sets the duration during which the MC motors ramp up to the commanded thrust during the back transition stage.

                                                              		 0.0 > 20.0 3.0s秒
                                                              VT_B_TRANS_THR (FLOAT)

                                                              Duration of a front transition

                                                              Comment: Time in seconds used for a transition

                                                              		 0.00 > 20.00 (1) 5.0s秒
                                                              VT_F_TRANS_THR (FLOAT)

                                                              Airspeed less front transition time (open loop)

                                                              Comment: The duration of the front transition when there is no airspeed feedback available.

                                                              		 1.0 > 30.0 6.0s秒
                                                              VT_IDLE_PWM_MC (INT32)

                                                              Front transition minimum time

                                                              Comment: Minimum time in seconds for front transition.

                                                              		 0.0 > 20.0 2.0s秒
                                                              VT_TRANS_P2_DUR (FLOAT)

                                                              Duration of front transition phase 2

                                                              Comment: Time in seconds it should take for the rotors to rotate forward completely from the point when the plane has picked up enough airspeed and is ready to go into fixed wind mode.

                                                              		 0.1 > 5.0 (0.01) 0.5s秒
                                                              VT_TRANS_TIMEOUT (FLOAT)

                                                              Front transition timeout

                                                              Comment: Time in seconds after which transition will be cancelled. Disabled if set to 0.

                                                              		 0.00 > 30.00 (1) 15.0s秒
                                                              VT_TYPE (INT32)

                                                              VTOL Type (Tailsitter=0, Tiltrotor=1, Standard=2)

                                                              Values:
                                                                +

                                                              VTOL Type (Tailsitter=0, Tiltrotor=1, Standard=2)

                                                              参数对照:
                                                              • 0: Tailsitter
                                                              • 1: Tiltrotor
                                                              • 2: Standard
                                                              -

                                                              Reboot required: true

                                                              +

                                                              要求重启:是

                                                              		 0 > 2 0
                                                              -## Miscellaneous +## 其它选项 - + @@ -16543,7 +16542,7 @@ to fixed wing mode. Zero or negative values will produce an instant throttle ris -
                                                              NameDescriptionMin > Max (Incr.)DefaultUnits
                                                              参数名参数描述最小最大值 (增量)默认值单位
                                                              MPC_LAND_RC_HELP (INT32)

                                                              Enable user assisted descent speed for autonomous land routine

                                                              Comment: When enabled, descent speed will be: stick full up - 0 stick centered - MPC_LAND_SPEED stick full down - 2 * MPC_LAND_SPEED

                                                              Values:
                                                                +

                                                              Enable user assisted descent speed for autonomous land routine

                                                              Comment: When enabled, descent speed will be: stick full up - 0 stick centered - MPC_LAND_SPEED stick full down - 2 * MPC_LAND_SPEED

                                                              参数对照:
                                                              • 0: Fixed descent speed of MPC_LAND_SPEED
                                                              • 1: User assisted descent speed
                                                                • diff --git a/zh/advanced/parameters_and_configurations.md b/zh/advanced/parameters_and_configurations.md index e42eca174d9f..1916eeddc38b 100644 --- a/zh/advanced/parameters_and_configurations.md +++ b/zh/advanced/parameters_and_configurations.md @@ -1,24 +1,32 @@ # 参数设置 -PX4 uses the *param subsystem* (a flat table of `float` and `int32_t` values) and text files (for mixers and startup scripts) to store its configuration. +PX4 使用 *param subsystem *（`float` 和 `int32_t` 值的平面表）和文本文件（用于混频器和启动脚本）来存储其配置。 -This section discusses the *param* subsystem in detail. This section discusses the *param* subsystem in detail. It covers how to list, save and load parameters, and how to define them. +本节详细讨论 *param* 子系统。 This section discusses the *param* subsystem in detail. It covers how to list, save and load parameters, and how to define them. -> **Note** [System startup](../concept/system_startup.md) and the way that [airframe configurations](../airframes/adding_a_new_frame.md) work are detailed on other pages. +> **Note** 在其他页面上详细介绍了 [System 启动 ](../concept/system_startup.md) 和 [airframe 配置 ](../airframes/adding_a_new_frame.md) 工作方式。 -## Command Line Usage +## 命令行使用方法 -The PX4 [system console](../debug/system_console.md) offers the [param](../middleware/modules_command.md#param) tool, which can be used to set parameters, read their value, save them, and export and restore to/from files. +PX4 +system 控制台/0 > 提供了 [param](../middleware/modules_command.md#param) 工具，可用于设置参数、读取其值、保存参数以及从文件中导出和还原参数。

                                                                + + + +### 获取和设置参数 + +`param show ` 命令列出了所有系统参数: -### Getting and Setting Parameters -The `param show` command lists all system parameters: ```sh param show ``` -To be more selective, a partial parameter name with wildcard "*" can be used: + +为了更有选择性，可以使用带有通配符 "*" 的部分参数名称： + + ```sh nsh> param show RC_MAP_A* Symbols: x = used, + = saved, * = unsaved @@ -30,80 +38,110 @@ x RC_MAP_ACRO_SW [375,514] : 0 723 parameters total, 532 used. ``` -You can use the `-c` flag to show all parameters that have changed (from their defaults): + +可以使用 `-c` 标志显示已更改的所有参数（从其默认值）： + + ```sh param show -c ``` + You can save any parameters that have been *touched* since all parameters were last reset to their firmware-defined defaults (this includes any parameters that have changed been changed, even if they have been changed back to their default). -### Exporting and Loading Parameters + + +### 导出和加载参数 Synchronization is important because a parameter can be changed to another value at any time. Your code should *always* use the current value from the parameter store. If getting the latest version is not possible, then a reboot will be required after the parameter is changed (set this requirement using the `@reboot_required` metadata). -The standard `param save` command will store the parameters in the current default file: +标准的 `param save ` 命令将参数存储在当前默认文件中: + + ```sh param save ``` -If provided with an argument, it will store the parameters instead to this new location: + +如果提供了参数，它将将参数存储到这个新位置: + + ```sh param save /fs/microsd/vtol_param_backup ``` -There are two different commands to *load* parameters: -- `param load` first does a full reset of all parameters to their defaults, and then overwrites parameter values with any values stored in the file. -- `param import` just overwrites parameter values with the values from the file and then saves the result (i.e. effectively calls `param save`). -The `load` effectively resets the parameters to the state when the parameters were saved (we say "effectively" because any parameters saved in the file will be updated, but other parameters may have different firmware-defined default values than when the parameters file was created). +有两个不同的命令可用于 *load* 参数: -By contrast, `import` merges the parameters in the file with the current state of the vehicle. By contrast, `import` merges the parameters in the file with the current state of the vehicle. This can be used, for example, to just import a parameter file containing calibration data, without overwriting the rest of the system configuration. +- `param load ` 首先将所有参数完全重置为默认值，然后用存储在文件中的任何值覆盖参数值。 +- `param import ` 只是用文件中的值覆盖参数值，然后保存结果（即有效调用 `param save）。 +
                                                              -Examples for both cases are shown below: +

                                                              load` 有效地将参数重置为保存参数时的状态（我们说 "有效"，因为保存在文件中的任何参数都将被更新，但其他参数可能具有与参数文件）。

                                                              + 相比之下，`import` 将文件中的参数与车辆的当前状态合并。 By contrast, `import` merges the parameters in the file with the current state of the vehicle. This can be used, for example, to just import a parameter file containing calibration data, without overwriting the rest of the system configuration. + + 这两种情况的示例如下所示: + + ```sh -# Reset the parameters to when file was saved +# 将参数重置为保存文件时, param load /fs/microsd/vtol_param_backup -# Optionally save params (not done automatically with load) +# 保存参数 (不自动完成与负载) param save ``` + + + ```sh -# Merge the saved parameters with current parameters +# 将保存的参数与当前参数合并 param import /fs/microsd/vtol_param_backup ``` -## Parameter Names -Parameter names must be no more than 16 ASCII characters. -By convention, every parameter in a group should share the same (meaningful) string prefix followed by an underscore, and `MC_` and `FW_` are used for parameters related specifically to Multicopter or Fixed wing systems. This convention is not enforced. This convention is not enforced. -The name must match in both code and [parameter metadata](#parameter_metadata) to correctly associate the parameter with its metadata (including default value in Firmware). +## 参数名称 + +参数名称不得超过 16个 ASCII 字符。 + +By convention, every parameter in a group should share the same (meaningful) string prefix followed by an underscore, and `MC_` and `FW_` are used for parameters related specifically to Multicopter or Fixed wing systems. This convention is not enforced. 此惯例不强制执行。 + +该名称必须在代码和 [parameter metadatata](#parameter_metadata) 中匹配，才能正确地将参数与其元数据（包括固件中的默认值）相关联。 + + ## C / C++ API -There are separate C and C++ APIs that can be used to access parameter values from within PX4 modules and drivers. +有单独的 C 和 C++ 的 API 可用于从 PX4 模块和驱动程序中访问参数值。 -One important difference between the APIs is that the C++ version has a more efficient standardized mechanism to synchronize with changes to parameter values (i.e. from a GCS). +API 之间的一个重要区别是，C++ 版本具有更有效的标准化机制，可与参数值的更改（即来自 GCS 的更改）同步。 + +同步很重要，因为参数可以随时更改为另一个值。 您的代码应该 *always* 使用参数存储中的当前值。 如果无法获取最新版本，则需要在更改参数后重新启动（使用 `@reboot_required` 元数据设置此要求）。 + +此外，C++ 版本在 RAM 方面也具有更好的类型安全性和更少的开销。 In addition, the C++ version has also better type-safety and less overhead in terms of RAM. The drawback is that the parameter name must be known at compile-time, while the C API can take a dynamically created name as a string. -Synchronization is important because a parameter can be changed to another value at any time. Your code should *always* use the current value from the parameter store. If getting the latest version is not possible, then a reboot will be required after the parameter is changed (set this requirement using the `@reboot_required` metadata). -In addition, the C++ version has also better type-safety and less overhead in terms of RAM. In addition, the C++ version has also better type-safety and less overhead in terms of RAM. The drawback is that the parameter name must be known at compile-time, while the C API can take a dynamically created name as a string. ### C++ API -The C++ API provides macros to declare parameters as *class attributes*. You add some "boilerplate" code to regularly listen for changes in the [uORB Topic](../middleware/uorb.md) associated with *any* parameter update. Framework code then (invisibly) handles tracking uORB messages that affect your parameter attributes and keeping them in sync. In the rest of the code you can just use the defined parameter attributes and they will always be up to date! You add some "boilerplate" code to regularly listen for changes in the [uORB Topic](../middleware/uorb.md) associated with *any* parameter update. Framework code then (invisibly) handles tracking uORB messages that affect your parameter attributes and keeping them in sync. In the rest of the code you can just use the defined parameter attributes and they will always be up to date! +The C++ API provides macros to declare parameters as *class attributes*. You add some "boilerplate" code to regularly listen for changes in the [uORB Topic](../middleware/uorb.md) associated with *any* parameter update. Framework code then (invisibly) handles tracking uORB messages that affect your parameter attributes and keeping them in sync. In the rest of the code you can just use the defined parameter attributes and they will always be up to date! 您可以添加一些 "样板" 代码，以定期侦听与 *any* 参数更新相关的 [uORB topic](../middleware/uorb.md) 中的更改。 然后，框架代码（无形地）处理跟踪影响参数属性并保持它们同步的 uORB 消息。 在代码的其余部分中，您只需使用定义的参数属性，它们将始终是最新的! Derive your class from `ModuleParams`, and use `DEFINE_PARAMETERS` to specify a list of parameters and their associated parameter attributes. The names of the parameters must be the same as their parameter metadata definitions. + + ```cpp #include ``` -Derive your class from `ModuleParams`, and use `DEFINE_PARAMETERS` to specify a list of parameters and their associated parameter attributes. The names of the parameters must be the same as their parameter metadata definitions. + +从 `ModuleParams` 派生类，并使用 `DEFINE_PARAMETERS` 指定参数及其关联参数属性的列表。 参数的名称必须与其参数元数据定义相同。 + + ```cpp class MyModule : ..., public ModuleParams { @@ -134,13 +172,20 @@ private: }; ``` -Update the cpp file with boilerplate to check for the uORB message related to parameter updates. -First include the header to access the uORB parameter_update message: +使用样板更新 CPP 文件，以检查与参数更新相关的 uORB 消息。 + +首先包括访问 uORB parameter_update 消息的标头: + + ```cpp #include ``` -Subscribe to the update message when the module/driver starts and un-subscribe when it is stopped. `parameter_update_sub` returned by `orb_subscribe()` is a handle we can use to refer to this particular subscription. `parameter_update_sub` returned by `orb_subscribe()` is a handle we can use to refer to this particular subscription. + + +Subscribe to the update message when the module/driver starts and un-subscribe when it is stopped. `parameter_update_sub` returned by `orb_subscribe()` is a handle we can use to refer to this particular subscription. `orb_subscribe()` 返回 `parameter_update_sub` 是我们可以用来引用此特定订阅的句柄。 + + ```cpp # Subscribe to parameter_update message int parameter_update_sub = orb_subscribe(ORB_ID(parameter_update)); @@ -151,7 +196,10 @@ orb_unsubscribe(parameter_update_sub); orb_unsubscribe(parameter_update_sub); ``` -Call `parameters_update(parameter_update_sub);` periodically in code to check if there has been an update (this is boilerplate): + +在代码周期性调用 `parameters_update(parameter_update_sub);` ，检查是否有更新（本模板）： + + ```cpp void Module::parameters_update(int parameter_update_sub, bool force) { @@ -176,35 +224,53 @@ void Module::parameters_update(int parameter_update_sub, bool force) } } ``` -In the above method: -- `orb_check()` tells us if there is *any* update to the `param_update` uORB message (but not what parameter is affected) and sets the `updated` bool. -- If there has been "some" parameter updated, we copy the update into a `parameter_update_s` (`param_upd`) -- Then we call `ModuleParams::updateParams()`. Then we call `ModuleParams::updateParams()`. This "under the hood" checks if the specific parameter attributes listed in our `DEFINE_PARAMETERS` list need updating, and then does so if needed. -- This example doesn't call `Module::parameters_update()` with `force=True`. If you had other values that needed to be set up a common pattern is to include them in the function, and call it once with `force=True` during initialisation. If you had other values that needed to be set up a common pattern is to include them in the function, and call it once with `force=True` during initialisation. -The parameter attributes (`_sys_autostart` and `_att_bias_max` in this case) can then be used to represent the parameters, and will be updated whenever the parameter value changes. + +在上面的方法中： + +- `orb_check()` 告诉我们是否有 *任何* 更新 `param_update` 的 uorb 消息 (但不是受影响的参数)，并设置 `updated` bool。 +- 如果更新了 "某些" 参数，我们会将更新复制到 `parameter_update_s` (`param_upd`) +- 调用 `ModuleParams::updateParams()`。 Then we call `ModuleParams::updateParams()`. This "under the hood" checks if the specific parameter attributes listed in our `DEFINE_PARAMETERS` list need updating, and then does so if needed. + +- This example doesn't call `Module::parameters_update()` with `force=True`. If you had other values that needed to be set up a common pattern is to include them in the function, and call it once with `force=True` during initialisation. 如果您有其他需要设置公共模式的值，则是将它们包含在函数中，并在初始化过程中使用 `force=True` 调用它一次。 + +然后，参数属性 (`_sys_autostart` 和 `_att_bias_max` 在本例中) 可用于表示参数，并将在参数值更改时进行更新。 + + > **Tip** The [Application/Module Template](../apps/module_template.md) uses the new-style C++ API but does not include [parameter metadata](#parameter_metadata). + + ### C API -The C API can be used within both modules and drivers. +C API 可以在模块和驱动程序中使用。 + +首先包括参数 API: + -First include the parameter API: ```C #include ``` -Then retrieve the parameter and assign it to a variable (here `my_param`), as shown below for `PARAM_NAME`. The variable `my_param` can then be used in your module code. The variable `my_param` can then be used in your module code. + +Then retrieve the parameter and assign it to a variable (here `my_param`), as shown below for `PARAM_NAME`. The variable `my_param` can then be used in your module code. 然后，可以在模块代码中使用变量 `my_param`。 + + ```C int32_t my_param = 0; param_get(param_find("PARAM_NAME"), &my_param); ``` -> **Note** If `PARAM_NAME` was declared in parameter metadata then its default value will be set, and the above call to find the parameter should always succeed. -`param_find()` is an "expensive" operation, which returns a handle that can be used by `param_get()`. `param_find()` is an "expensive" operation, which returns a handle that can be used by `param_get()`. If you're going to read the parameter multiple times, you may cache the handle and use it in `param_get()` when needed + + +> **Note** 如果在参数元数据中声明了 `PARAM_NAME`，则将设置其默认值，上述查找参数的调用应始终成功。 + +`param_find()` 是一个 "昂贵" 的操作，它返回可供 `param_get()` 使用的句柄。 `param_find()` is an "expensive" operation, which returns a handle that can be used by `param_get()`. If you're going to read the parameter multiple times, you may cache the handle and use it in `param_get()` when needed + + ```cpp # Get the handle to the parameter param_t my_param_handle = PARAM_INVALID; @@ -217,25 +283,31 @@ param_get(my_param_handle, &my_param); -## Parameter Meta Data +## 参数元数据 -PX4 uses an extensive parameter metadata system to drive the user-facing presentation of parameters, and to set the default value for each parameter in firmware. +PX4 使用广泛的参数元数据系统来驱动面向用户的参数表示，并为固件中的每个参数设置默认值。 -> **Tip** Correct meta data is critical for good user experience in a ground station. -Parameter metadata can be stored anywhere in the source tree as either **.c** or **.yaml** parameter definitions (the YAML definition is newer, and more flexible). Typically it is stored alongside its associated module. + +> **Tip** 正确的元数据对于在地面站获得良好的用户体验至关重要。 + +Parameter metadata can be stored anywhere in the source tree as either **.c** or **.yaml** parameter definitions (the YAML definition is newer, and more flexible). 通常，它与关联的模块一起存储。 The build system extracts the metadata (using `make parameters_metadata`) to build the [parameter reference](../advanced/parameter_reference.md) and the parameter information used by ground stations. + + > Parameter metadata can be stored anywhere in the source tree, in a file with extension **.c**. Typically it is stored alongside its associated module. -### c Parameter Metadata +### c 参数 Metadata The legacy approach for defining parameter metadata is in a file with extension **.c** (at time of writing this is the approach most commonly used in the source tree). -Parameter metadata sections look like the following examples: +参数元数据部分如下例所示: + + ```cpp /** @@ -263,6 +335,9 @@ PARAM_DEFINE_FLOAT(MC_PITCH_P, 6.5f); */ PARAM_DEFINE_FLOAT(MC_PITCH_P, 6.5f); ``` + + + ```cpp /** * Acceleration compensation based on GPS @@ -279,9 +354,12 @@ PARAM_DEFINE_INT32(ATT_ACC_COMP, 1); PARAM_DEFINE_INT32(ATT_ACC_COMP, 1); ``` -The `PARAM_DEFINE_*` macro at the end specifies the type of parameter (`PARAM_DEFINE_FLOAT` or `PARAM_DEFINE_INT32`), the name of the parameter (which must match the name used in code), and the default value in firmware. -The lines in the comment block are all optional, and are primarily used to control display and editing options within a ground station. The purpose of each line is given below (for more detail see [module_schema.yaml](https://github.com/PX4/Firmware/blob/master/validation/module_schema.yaml)). The purpose of each line is given below (for more detail see [module_schema.yaml](https://github.com/PX4/PX4-Autopilot/blob/master/validation/module_schema.yaml)). +末尾的 `PARAM_DEFINE_*` 宏指定参数的类型 (`PARAM_DEFINE_FLOAT` 或 `PARAM_DEFINE_INT32`)、参数的名称 (必须与代码中使用的名称匹配) 以及固件中的默认值。 + +The lines in the comment block are all optional, and are primarily used to control display and editing options within a ground station. The purpose of each line is given below (for more detail see [module_schema.yaml](https://github.com/PX4/Firmware/blob/master/validation/module_schema.yaml)). 下面给出了每行的用途 (有关详细信息, 请参阅 [module_schema.yaml](https://github.com/PX4/PX4-Autopilot/blob/master/validation/module_schema.yaml))。 + + ```cpp /** @@ -312,6 +390,8 @@ The lines in the comment block are all optional, and are primarily used to contr ### YAML Metadata + + > **Note** At time of writing YAML parameter definitions cannot be used in *libraries*. YAML meta data is intended as a full replacement for the **.c** definitions. It supports all the same metadata, along with new features like multi-instance definitions. @@ -326,19 +406,24 @@ YAML meta data is intended as a full replacement for the **.c** definitions. It Templated parameter definitions are supported in [YAML parameter definitions](https://github.com/PX4/PX4-Autopilot/blob/master/validation/module_schema.yaml) (templated parameter code is not supported). The YAML allows you to define instance numbers in parameter names, descriptions, etc. using `${i}`. For example, below will generate MY_PARAM_1_RATE, MY_PARAM_2_RATE etc. + + ``` MY_PARAM_${i}_RATE: description: short: Maximum rate for instance ${i} ``` -The following YAML definitions provide the start and end indexes. + +The following YAML definitions provide the start and end indexes. + - `num_instances` (default 1): Number of instances to generate (>=1) - `instance_start` (default 0): First instance number. If 0, `${i}` expands to [0, N-1]`. - For a full example see the MAVLink parameter definitions: [/src/modules/mavlink/module.yaml](https://github.com/PX4/PX4-Autopilot/blob/master/src/modules/mavlink/module.yaml) -## Further Information -- [Finding/Updating Parameters](../advanced_config/parameters.md) -- [Parameter Reference](../advanced_config/parameter_reference.md) + +## 更多信息 + +- [查找/修改参数](../advanced_config/parameters.md) +- [参数对照表](../advanced_config/parameter_reference.md) diff --git a/zh/advanced/realsense_intel_driver.md b/zh/advanced/realsense_intel_driver.md index 6cd07c5c4127..4b62d0fd63b0 100644 --- a/zh/advanced/realsense_intel_driver.md +++ b/zh/advanced/realsense_intel_driver.md @@ -1,60 +1,67 @@ -# Installing driver on Ubuntu for Intel RealSense R200 +# 在 Ubuntu 上安装英特尔 RealSense R200 的驱动程序 -This tutorial aims to give instructions on how to install the camera driver of the Intel RealSense R200 camera head in Linux environment such that the gathered images can be accessed via the Robot Operation System (ROS). The RealSense R200 camera head is depicted below: +本教程旨在提供有关如何在 linux 环境中安装英特尔实感 r200 相机头的相机驱动程序的说明, 以便可以通过机器人操作系统 (ros) 访问收集到的图像。 实感 r200 相机头如下图所示: ![Intel Realsense Camera front view](../../assets/hardware/sensors/realsense/intel_realsense.png) -The installation of the driver package is executed on a Ubuntu operation system (OS) that runs as a guest OS in a Virtual Box. The specifications of the host computer where the Virtual Box is running, the Virtual Box and the guest system are given below: +驱动程序包的安装是在 Virtual Box 中作为虚拟机运行的 ubuntu 操作系统 (os) 上执行的。 运行 Virtual Box 的宿主机、虚拟机的规格如下: -- Host Operation System: Windows 8 -- Processor: Intel(R) Core(TM) i7-4702MQ CPU @ 2.20GHz -- Virtual Box: Oracle VM. Version 5.0.14 r105127 -- Extensions: Extension package for Virtual Box installed (Needed for USB3 support) -- Guest Operation System: Linux - Ubuntu 14.04.3 LTS +- 主机操作系统：Windows 8 +- 处理器：Intel(R) Core(TM) i7-4702MQ CPU @ 2.20GHz +- Virtual Box：Oracle VM。 版本 5.0.14 r105127 +- 扩展：安装了 Virtual Box 的扩展包（用于 USB3.0 支持） +- 客户机操作系统：linux-ubuntu 14.04.3 LTS -The tutorial is ordered in the following way: In a first part it is shown how to install Ubuntu 14.04 as a guest OS in the Virtual Box. In a second part is shown how to install ROS Indigo and the camera driver. The ensuing frequently used expressions have the following meaning: -- Virtual Box (VB): Program that runs different Virtual Machines. In this case the Oracle VM. -- Virtual Machine (VM): The operation system that runs in the Virtual Box as a guest system. In this case Ubuntu. +本教程按以下方式排序: 在第一部分中, 演示如何在 Virtual Box 中安装 ubuntu 14.04 作为客户机系统。 第二部分会演示如何安装 ROS Indigo 和相机驱动程序。 随后频繁使用的短语示意如下： +- 虚拟框（VB）：运行不同虚拟机的程序。 此处使用 Oracle 虚拟机。 +- 虚拟机（VM）：作为来宾系统在虚拟框中运行的操作系统。 此处使用 Ubuntu。 -## Installing Ubuntu 14.04.3 LTS in Virtual Box +## 在虚拟机中安装 Ubuntu 14.04.3 LTS -- Create a new Virtual Machine (VM): Linux 64-Bit. -- Download the iso file of Ubuntu 14.04.3 LTS: ([ubuntu-14.04.3-desktop-amd64.iso](http://www.ubuntu.com/download/desktop)). -- Installation of Ubuntu: - - During the installation procedure leave the following two options unchecked: - - Download updates while installing - - Install this third party software -- After the installation you might need to enable the Virtual Box to display Ubuntu on the whole desktop: +- 创建新的虚拟机 (vm): linux 64位。 +- 下载 ubuntu 14.04.3 lts 的 iso 文件: ([ubuntu-14.04.3-desktop-amd64.iso](http://www.ubuntu.com/download/desktop))。 +- Ubuntu 的安装: + - 在安装过程中，保留以下两项: + - 安装时下载更新 + - 安装此第三方软件 +- 安装完成后，您可能需要启用 Virtual Box 在整个桌面上显示 ubuntu： - Start VM Ubuntu and login, Click on **Devices->Insert Guest Additions CD image** in the menu bar of the Virtual Box. - - Click on **Run** and enter password on the windows that pop up in Ubuntu. - - Wait until the installation is completed and then restart. Now, it should be possible to display the VM on the whole desktop. - - If a window pops up in Ubuntu that asks whether to update, reject to update at this point. -- Enable USB 3 Controller in Virtual Box: - - Shut down Virtual Machine. - - Go to the settings of the Virtual Machine to the menu selection USB and choose: "USB 3.0(xHCI)". This is only possible if you have installed the extension package for the Virtual Box. - - Start the Virtual Machine again. + - 点击 **Run** 并在 Ubuntu 弹出的窗口上输入密码。 + - 等待安装完成，然后重新启动。 现在，应该可以在整个桌面上显示 VM。 + - 如果 ubuntu 中弹出一个窗口, 询问是否更新, 请在此时拒绝更新。 +- 在 Virtual Box 中启用 USB 3 控制器: + - 关闭虚拟机。 + - 转到 "虚拟机" 的设置到菜单选择 USB，然后选择: "USB 3.0(xHCI)"。 只有在安装了虚拟框的扩展包时, 才有可能执行此操作。 + - 再次启动虚拟机。 -## Installing ROS Indigo +## 安装 ROS Indigo -- Follow instructions given at [ROS indigo installation guide](http://wiki.ros.org/indigo/Installation/Ubuntu): - - Install Desktop-Full version. - - Execute steps described in the sections "Initialize rosdep" and "Environment setup". +- 按照 [ROS ndigo installation guide](http://wiki.ros.org/indigo/Installation/Ubuntu) 中给出的说明: + - 安装桌面完整版。 + - 执行 "初始化 rosdep" 和 "环境设置" 部分中描述的步骤。 -## Installing camera driver +## 安装摄像头驱动 -- Install git: +- 安装 Git ```bash sudo apt-get install git ``` -- Download and install the driver - - Clone [RealSense_ROS repository](https://github.com/bestmodule/RealSense_ROS): +- 下载并安装驱动 + - 获取 [RealSense_ROS repository](https://github.com/bestmodule/RealSense_ROS)： ```bash git clone https://github.com/bestmodule/RealSense_ROS.git ``` -- Follow instructions given in [here](https://github.com/bestmodule/RealSense_ROS/tree/master/r200_install). - - Press the enter button when the questions whether to install the following installation packages show up: +- 参照 [here](https://github.com/bestmodule/RealSense_ROS/tree/master/r200_install) 的介绍说明。 + - 无论要不要安装如下包都敲击回车： ``` Intel Low Power Subsystem support in ACPI mode (MFD_INTEL_LPSS_ACPI) [N/m/y/?] (NEW) + + +Intel Low Power Subsystem support in PCI mode (MFD_INTEL_LPSS_PCI) [N/m/y/?] (NEW) + + + +Dell Airplane Mode Switch driver (DELL_RBTN) [N/m/y/?] (NEW) (NEW) ``` ``` Intel Low Power Subsystem support in PCI mode (MFD_INTEL_LPSS_PCI) [N/m/y/?] (NEW) @@ -63,25 +70,25 @@ sudo apt-get install git ``` Dell Airplane Mode Switch driver (DELL_RBTN) [N/m/y/?] (NEW) ``` - - The following error message that can appear at the end of the installation process should not lead to a malfunction of the driver: + - The following error message that can appear at the end of the installation process should not lead to a malfunction of the driver: `rmmod: ERROR: Module uvcvideo is not currently loaded` ``` rmmod: ERROR: Module uvcvideo is not currently loaded ``` -- After the installation has completed, reboot the Virtual Machine. +- 安装结束后，重启虚拟机。 -- Test camera driver: - - Connect the Intel RealSense camera head with the computer with a USB3 cable that is plugged into a USB3 receptacle on the computer. +- 测试摄像头驱动： + - 使用 USB 线缆，一头连接电脑的 USB3 接口，另一端连接　Intel RealSense 相机。 - Click on Devices->USB-> Intel Corp Intel RealSense 3D Camera R200 in the menu bar of the Virtual Box, in order to forward the camera USB connection to the Virtual Machine. - - Execute the file [unpacked folder]/Bin/DSReadCameraInfo: - - If the following error message appears, unplug the camera (physically unplug USB cable from the computer). Plug it in again + Click on Devices->USB-> Intel Corp Intel RealSense 3D Camera R200 in the menu bar of the Virtual Box again and execute again the file [unpacked folder]/Bin/DSReadCameraInfo. + - 执行文件 [unpacked folder]/bin/dsreadcamerainfo： + - 如果出现以下错误消息，请拔下相机 (从计算机物理上拔下 usb 电缆)。 If the following error message appears, unplug the camera (physically unplug USB cable from the computer). Plug it in again + Click on Devices->USB-> Intel Corp Intel RealSense 3D Camera R200 in the menu bar of the Virtual Box again and execute again the file [unpacked folder]/Bin/DSReadCameraInfo. `DSAPI call failed at ReadCameraInfo.cpp:134!` ``` DSAPI call failed at ReadCameraInfo.cpp:134! ``` - - If the camera driver works and recognises the Intel RealSense R200, you should see specific information about the Intel RealSense R200 camera head. + - 如果相机驱动程序工作正常并识别 Intel RealSense R200，您应该看到有关 Intel RealSense R200 相机头的特定信息。 -- Installation and testing of the ROS nodlet: - - Follow the installation instructions in the "Installation" section given [here](https://github.com/bestmodule/RealSense_ROS/blob/master/realsense_dist/2.3/doc/RealSense-ROS-R200-nodelet.md), to install the ROS nodlet. - - Follow the instructions in the "Running the R200 nodelet" section given [here](https://github.com/bestmodule/RealSense_ROS/blob/master/realsense_dist/2.3/doc/RealSense-ROS-R200-nodelet.md), to test the ROS nodlet together with the Intel RealSense R200 camera head. - - If everything works, the different data streams from the Intel RealSense R200 camera are published as ROS topics. +- ROS 节点的安装和测试： + - 按照 [here](https://github.com/bestmodule/RealSense_ROS/blob/master/realsense_dist/2.3/doc/RealSense-ROS-R200-nodelet.md) 提供的 "安装" 部分中的安装说明安装 ROS 节点。 + - 按照 [here](https://github.com/bestmodule/RealSense_ROS/blob/master/realsense_dist/2.3/doc/RealSense-ROS-R200-nodelet.md) 提供的 "Running the R200 nodelet" 部分中的说明，与 Intel RealSense R200 相机头一起测试 ROS 节点。 + - 如果一切正常，Intel RealSense R200 相机中的不同数据流将作为 ROS 主题发布。 diff --git a/zh/advanced/rtk_gps.md b/zh/advanced/rtk_gps.md index b0faa181164e..738e4b5241bf 100644 --- a/zh/advanced/rtk_gps.md +++ b/zh/advanced/rtk_gps.md @@ -23,38 +23,38 @@ PX4目前仅支持u-blox M8P单频（L1频点）RTK接收机。 ## 自动配置 -The PX4 GPS stack automatically sets up the u-blox M8P modules to send and receive the correct messages over the UART or USB, depending on where the module is connected (to *QGroundControl* or the autopilot). +PX4 GPS堆栈自动设置u-blox M8P模块，通过UART或USB发送和接收正确的消息，具体取决于模块的连接位置（* QGroundControl *或自动驾驶仪）。 -As soon as the autopilot receives `GPS_RTCM_DATA` MAVLink messages, it automatically forwards the RTCM data to the attached GPS module. +一旦自动驾驶仪接收到` GPS_RTCM_DATA ` MAVLink消息，它就会自动将RTCM数据转发到附加的GPS模块。 -> **Note** The U-Center RTK module configuration tool is not needed/used! +> **Note** 不需要/不使用 U-Center RTK 模块配置工具！ -> **Note** Both *QGroundControl* and the autopilot firmware share the same [PX4 GPS driver stack](https://github.com/PX4/GpsDrivers). In practice, this means that support for new protocols and/or messages only need to be added to one place. In practice, this means that support for new protocols and/or messages only need to be added to one place. +> **Note** Both *QGroundControl* and the autopilot firmware share the same [PX4 GPS driver stack](https://github.com/PX4/GpsDrivers). In practice, this means that support for new protocols and/or messages only need to be added to one place. 实际上，这意味着只需要将新协议和/或消息的支持添加到一个地方。 -### RTCM messages +### RTCM 报文 -QGroundControl configures the RTK base station to output the following RTCM3.2 frames, each with 1 Hz: +QGroundControl配置RTK基站输出依据RTCM3.2框架，每帧为1 Hz： - **1005** - Station coordinates XYZ for antenna reference point (Base position). - **1077** - Full GPS pseudo-ranges, carrier phases, Doppler and signal strength (high resolution). - **1087** - Full GLONASS pseudo-ranges, carrier phases, Doppler and signal strength (high resolution). -## Uplink datarate +## 上行数据速率 -The raw RTCM messages from the base are packed into a MAVLink `GPS_RTCM_DATA` message and sent over the datalink. The maximum length of each MAVLink message is 182 bytes. Depending on the RTCM message, the MAVLink message is almost never completely filled. The maximum length of each MAVLink message is 182 bytes. Depending on the RTCM message, the MAVLink message is almost never completely filled. +The raw RTCM messages from the base are packed into a MAVLink `GPS_RTCM_DATA` message and sent over the datalink. The maximum length of each MAVLink message is 182 bytes. Depending on the RTCM message, the MAVLink message is almost never completely filled. MAVLink的信息长度最大为182字节。 根据RTCM的信息类型，MAVLink信息是不会填满的。 The RTCM Base Position message (1005) is of length 22 bytes, while the others are all of variable length depending on the number of visible satellites and the number of signals from the satellite (only 1 for L1 units like M8P). Since at a given time, the *maximum* number of satellites visible from any single constellation is 12, under real-world conditions, theoretically an uplink rate of 300 B/s is sufficient. Since at a given time, the _maximum_ number of satellites visible from any single constellation is 12, under real-world conditions, theoretically an uplink rate of 300 B/s is sufficient. -If *MAVLink 1* is used, a 182-byte `GPS_RTCM_DATA` message is sent for every RTCM message, irrespective of its length. As a result the approximate uplink requirement is around 700+ bytes per second. This can lead to link saturation on low-bandwidth half-duplex telemetry modules (e.g. 3DR Telemetry Radios). As a result the approximate uplink requirement is around 700+ bytes per second. This can lead to link saturation on low-bandwidth half-duplex telemetry modules (e.g. 3DR Telemetry Radios). +If *MAVLink 1* is used, a 182-byte `GPS_RTCM_DATA` message is sent for every RTCM message, irrespective of its length. As a result the approximate uplink requirement is around 700+ bytes per second. This can lead to link saturation on low-bandwidth half-duplex telemetry modules (e.g. 3DR Telemetry Radios). 因此，大约每秒上行需求是700多个字节。 这可能导致低带宽半双轨遥测模块 (如3DR Telemetry Radios) 连接的饱和。 -If *MAVLink 2* is used then any empty space in the `GPS_RTCM_DATA message` is removed. The resulting uplink requirement is about the same as the theoretical value (~300 bytes per second). The resulting uplink requirement is about the same as the theoretical value (~300 bytes per second). +If *MAVLink 2* is used then any empty space in the `GPS_RTCM_DATA message` is removed. The resulting uplink requirement is about the same as the theoretical value (~300 bytes per second). 由此产生的上行链路需求与理论值 (~300 字节/秒) 大致相同。 -> **Tip** PX4 automatically switches to MAVLink 2 if the GCS and telemetry modules support it. +> **Tip** 如果 GCS 和数传模块支持，PX4 会自动切换到 MAVLink 2。 -MAVLink 2 must be used on low-bandwidth links for good RTK performance. Care must be taken to make sure that the telemetry chain uses MAVLink 2 throughout. You can verify the protocol version by using the `mavlink status` command on the system console: Care must be taken to make sure that the telemetry chain uses MAVLink 2 throughout. You can verify the protocol version by using the `mavlink status` command on the system console: +MAVLink 2 must be used on low-bandwidth links for good RTK performance. Care must be taken to make sure that the telemetry chain uses MAVLink 2 throughout. You can verify the protocol version by using the `mavlink status` command on the system console: 必须注意确保数传链在整个过程中使用 MAVLink 2。 您可以使用系统控制台上的 `mavlink status` 命令验证协议版本： ``` nsh> mavlink status diff --git a/zh/advanced/system_tunes.md b/zh/advanced/system_tunes.md index 3799282111e5..36d1dcef3659 100644 --- a/zh/advanced/system_tunes.md +++ b/zh/advanced/system_tunes.md @@ -1,72 +1,72 @@ -# System Notification Tunes +# 系统通知提示音 -PX4 defines a number of [standard tones/tunes](../getting_started/tunes.md) that are used to provide audio notification for important system states and problems (e.g. system startup, arming success, battery warnings, etc.) +PX4 定义了一些用于为系统状态和问题提供音频通知的 [标准音符/提示音](../getting_started/tunes.md)（比如系统启动，解锁成功，电池警告等） -Tunes are specified using strings (in [ANSI Music notation](http://artscene.textfiles.com/ansimusic/information/ansimtech.txt)) and played by code using the [tunes](https://github.com/PX4/PX4-Autopilot/tree/master/src/lib/tunes) library. The tunes library also contains the list of default system tunes - see [lib/tunes/tune_definition.desc](https://github.com/PX4/PX4-Autopilot/blob/master/src/lib/tunes/tune_definition.desc). +提示音使用字符串来指定（[ANSI 音乐通知](http://artscene.textfiles.com/ansimusic/information/ansimtech.txt)），并使用 [tunes](https://github.com/PX4/PX4-Autopilot/tree/master/src/lib/tunes) 库播放这些编码。 乐曲库也包含默认系统调节列表——见 [lib/tunes/tune_definition.desc](https://github.com/PX4/PX4-Autopilot/blob/master/src/lib/tunes/tune_definition.desc)。 -PX4 also has a module that can be used to play (test) the default tunes or a user defined tune. +PX4还有一个模块可以用于播放（测试）默认或用户自定义音乐。 -This topic provides general guidance on how to create your own tunes and add to/replace the system notification tones/tunes. +本主题提供了如何创建您自己的声音并添加/替换系统通知音调/乐曲的通用指导。 -## Creating Tunes +## 创建乐曲 -Tune strings are defined using [ANSI Music notation](http://artscene.textfiles.com/ansimusic/information/ansimtech.txt). +提示音字符串使用 [ANSI 音乐提示](http://artscene.textfiles.com/ansimusic/information/ansimtech.txt) 定义。 -> **Tip** More information about the format can be found in [QBasic PLAY statement](https://en.wikibooks.org/wiki/QBasic/Appendix#PLAY) (Wikibooks) and has been reproduced in [tune_definition.desc](https://github.com/PX4/PX4-Autopilot/blob/master/src/lib/tunes/tune_definition.desc). +> **Tip** 关于格式的更多信息见 [QBasic PLAY 声明](https://en.wikibooks.org/wiki/QBasic/Appendix#PLAY)（Wikibooks），而且在[tune_definition.desc](https://github.com/PX4/PX4-Autopilot/blob/master/src/lib/tunes/tune_definition.desc)文件里面也有说明。 -The easiest way to create a new tune is to use a music editor. This allows you to edit the music and play it back on your computer, then export it to a format that can be played by PX4. +创建新乐曲的最简单方式是使用音乐编辑器。 这允许您编辑乐曲并在您的电脑上播放， 然后导出为 PX4 可以播放的格式。 -ANSI music was popular in the days of ANSI BBS systems, and so the best editing tools are DOS utilities. On Windows, one option is to use *Melody Master* within *Dosbox*. +ANSI 音乐在 ANSI BBS 系统中很受欢迎，因此最好的编辑工具是 DOS 实用程序。 在 Windows 上，一个选项是在 *Dosbox* 内使用 *Melody Master*。 -The steps for using the software are: +使用软件的步骤是： -1. Download [DosBox](http://www.dosbox.com/) and install the app -1. Download [Melody Master](ftp://archives.thebbs.org/ansi_utilities/melody21.zip) and unzip into a new directory -1. Open the *Dosbox* console -1. Mount the melody master directory in Dosbox as shown below: +1. 下载 [DosBox](http://www.dosbox.com/) 并安装应用程序 +1. 下载 [Melody Master](ftp://archives.thebbs.org/ansi_utilities/melody21.zip) 并解压缩到新目录 +1. 打开 *Dosbox* 控制台 +1. 将 Melody 主目录挂载到 DosBox，如下： ``` mount c C:\CCC **Note** Out of the box, the tune_control is only present on real hardware (not the simulator). +> **Note** 开箱即用产品中，tune_control 只存在于实际硬件上（而不是模拟器）。 -## Replacing Existing Tunes +## 正在替换已存在的乐曲 -Tunes are defined within [tune_definition.desc](https://github.com/PX4/PX4-Autopilot/blob/master/src/lib/tunes/tune_definition.desc). +乐曲定义在 [tune_definition.desc](https://github.com/PX4/PX4-Autopilot/blob/master/src/lib/tunes/tune_definition.desc)。 -If you just need to replace an existing tune, then you can replace the file in your own fork, and update the tune strings defined in `PX4_DEFINE_TUNE`. +如果你只需要替换现有的乐曲，可以在自己的 fork 中替换文件， 并更新 `PX4_DEFINE_TUNE` 中定义的乐曲字符串。 -## Adding a New Tune +## 添加新乐曲 -TBD. +待开发 -## Telemetry System (Optional) +## 数传系统（可选） -A telemetry system allows you to communicate with, monitor, and control a vehicle in flight from a ground station (for example, you can direct the UAV to a particular position, or upload a new mission). +数传系统允许您通过地面站对飞行器进行通信、监控和控制 (例如，您可以指定无人机飞行到指定位置或上传新的任务)。 -The communication channel is via [Telemetry Radios](../telemetry/README.md). The vehicle-based radio should be connected to the **TELEM1** port (if connected to this port, no further configuration is required). The other radio is connected to your ground station computer or mobile device (usually via USB). +通信通道通过 [数传电台](../telemetry/README.md)。 机载无线数传模块应该连接到 **TELEM1** 端口（如果连接在这个端口，则无需进一步配置）。 另一个数传模块连接到您的地面站电脑或移动设备 （通常通过USB连接）。 -![Telemetry Radio](../../assets/flight_controller/cube/cube_schematic_telemetry.jpg) +![数传电台](../../assets/flight_controller/cube/cube_schematic_telemetry.jpg) ## SD 卡（可选） -SD cards are highly recommended as they are needed to [log and analyse flight details](../getting_started/flight_reporting.md), to run missions, and to use UAVCAN-bus hardware. Insert the Micro-SD card into Cube as shown (if not already present). +SD cards are highly recommended as they are needed to [log and analyse flight details](../getting_started/flight_reporting.md), to run missions, and to use UAVCAN-bus hardware. 下图显示将SD卡插入Cube（如果尚未插入）。 -![Cube - Mount SDCard](../../assets/flight_controller/cube/cube_sdcard.jpg) +![Cube - 安装SD卡](../../assets/flight_controller/cube/cube_sdcard.jpg) > **Tip** For more information see [Basic Concepts > SD Cards (Removable Memory)](../getting_started/px4_basic_concepts.md#sd_cards). ## 电机 -Motors/servos are connected to the **MAIN** and **AUX** ports in the order specified for your vehicle in the [Airframe Reference](../airframes/airframe_reference.md). +电机和舵机按照 [机架参考列表](../airframes/airframe_reference.md) 中为您的飞机指定的顺序连接至 **MAIN** 和 **AUX** 端口。 -![Cube - Motor Connections](../../assets/flight_controller/cube/cube_main_aux_outputs.jpg) +![Cube - 电机连接](../../assets/flight_controller/cube/cube_main_aux_outputs.jpg) -> **Note** This reference lists the output port to motor/servo mapping for all supported air and ground frames (if your frame is not listed in the reference then use a "generic" airframe of the correct type). +> **Note**本参考列出了所有支持的空中和地面机架的接口与电机/舵机的映射关系（如果您的机架没有在参考列表里，您可以使用对应类型的“通用”机架）。 -> **Caution** The mapping is not consistent across frames (e.g. you can't rely on the throttle being on the same output for all plane frames). Make sure to use the correct mapping for your vehicle. +> **Caution** 该参考列表并不是与机架类型完全匹配的（例如，您不能将油门应用在其他所有机型的输出端口上）。 请确保为您的飞行器使用正确的映射。 ## 其它外设 -The wiring and configuration of optional/less common components is covered within the topics for individual [peripherals](../peripherals/README.md). +针对可选/非通用组件的接线与配置，在 [外围设备](../peripherals/README.md) 独立主题中有详细的内容介绍。 > **Note** If connecting peripherals to the port labeled `GPS2`, assign the PX4 [serial port configuration parameter](../peripherals/serial_configuration.md) for the hardware to `TEL4` (not GPS2). ## 配置 -Configuration is performed using [QGroundContro](http://qgroundcontrol.com/). +使用 [QGroundContro](http://qgroundcontrol.com/) 进行配置。 -After downloading, installing and running *QGroundControl*, connect the board to your computer as shown. +下载、安装和运行 *QGroundControl* 后，按照如图所示的方式将您的电脑和飞控连接。 -![Cube - USB Connection to Computer](../../assets/flight_controller/cube/cube_usb_connection.jpg) +![Cube - USB 连接到电脑](../../assets/flight_controller/cube/cube_usb_connection.jpg) -Basic/common configuration information is covered in: [Autopilot Configuration](../config/README.md). +一般配置信息在以下内容中介绍：Autopilot Configuration。

                                                              -QuadPlane specific configuration is covered here: [QuadPlane VTOL Configuration](../config_vtol/vtol_quad_configuration.md) +QuadPlane的特定配置在以下内容中介绍：[QuadPlane VTOL Configuration](../config_vtol/vtol_quad_configuration.md)。 diff --git a/zh/assembly/quick_start_durandal.md b/zh/assembly/quick_start_durandal.md index 2338ddb4a307..efe850e8cd97 100644 --- a/zh/assembly/quick_start_durandal.md +++ b/zh/assembly/quick_start_durandal.md @@ -1,6 +1,6 @@ # Durandal Wiring Quick Start -> **Warning** PX4 does not manufacture this (or any) autopilot. Contact the [manufacturer](https://shop.holybro.com/) for hardware support or compliance issues. +> **Warning** PX4 不生产这款且也不生产任何自动驾驶仪。 若需要硬件支持或咨询合规问题，请联系 [制造商](https://shop.holybro.com/)。 This quick start guide shows how to power the Holybro [Durandal](../flight_controller/durandal.md)® flight controller and connect its most important peripherals. @@ -14,16 +14,16 @@ The content of the box with the *PM02 V3* power module is shown below (the box a ![Durandal Box](../../assets/flight_controller/durandal/durandal_unboxing_schematics.jpg) -## Wiring Chart Overview +## 接线图概述 -The image below shows how to connect the most important sensors and peripherals (except the motor and servo outputs). We'll go through each of these in detail in the following sections. +下图展示了如何连接最重要的传感器和外围设备（电机和伺服舵机输出除外）。 我们将在下面各节中介绍它们的细节。 ![Durandal Wiring Overview](../../assets/flight_controller/durandal/durandal_wiring_overview.jpg) > **Tip** More information about available ports can be found here: [Durandal > Pinouts](../flight_controller/durandal.md#pinouts). -## Mount and Orient Controller +## 飞控的安装和方向 *Durandal* should be mounted on the frame positioned as close to your vehicle’s center of gravity as possible, oriented top-side up with the arrow pointing towards the front of the vehicle. @@ -34,18 +34,18 @@ If the controller cannot be mounted in the recommended/default orientation (e.g > **Tip** The board has internal vibration-isolation. Do not use vibration-isolation foam to mount the controller (double sided tape is normally sufficient). -## GPS + Compass + Buzzer + Safety Switch + LED +## GPS + 指南针 + 蜂鸣器 + 安全开关 + LED Durandal is designed to work well with the *Pixhawk 4 GPS module*, which has an integrated compass, safety switch, buzzer and LED. It connects directly to the [GPS port](../flight_controller/durandal.md#gps) using the 10 pin cable. -The GPS/Compass should be mounted on the frame as far away from other electronics as possible, with the direction marker towards the front of the vehicle (separating the compass from other electronics will reduce interference). +GPS/罗盘在安装时应尽可能远离其他电子元器件，方向标记朝向飞行器前方(将罗盘和其他电子元器件分开可以减少干扰)。 ![Connect compass/GPS to Durandal](../../assets/flight_controller/durandal/connection_gps_compass.jpg) -> **Note** The GPS module's integrated safety switch is enabled *by default* (when enabled, PX4 will not let you arm the vehicle). To disable the safety press and hold the safety switch for 1 second. You can press the safety switch again to enable safety and disarm the vehicle (this can be useful if, for whatever reason, you are unable to disarm the vehicle from your remote control or ground station). +> **Note** GPS模块内集成的安全开关 *默认是启用的*（当启用时，PX4将不会让您解锁飞行器）。 如需关闭安全开关，请按住安全开关1秒钟。 您可以在完成任务后再次按下安全开关以启用并锁定飞行器 （因为这是出于安全考虑的机制，无论出于何种原因，您将无法通过遥控器或地面站来远程解锁您的载具）。 -## Power +## 电源 You can use a power module or power distribution board to power motors/servos and measure power consumption. The recommended power modules are shown below. @@ -107,11 +107,11 @@ The battery/power setup must be configured in [Power Settings](../config/battery You will not need to update the *voltage divider* unless you are using some other power module (e.g. the one from the Pixracer). -## Radio Control +## 无线电遥控 -A remote control (RC) radio system is required if you want to *manually* control your vehicle (PX4 does not require a radio system for autonomous flight modes). +如果你想*手动*控制你的飞机，你需要一个遥控器（PX4在自动飞行模式可以不需要遥控器）。 -You will need to [select a compatible transmitter/receiver](../getting_started/rc_transmitter_receiver.md) and then *bind* them so that they communicate (read the instructions that come with your specific transmitter/receiver). +您需要 [选择一个兼容的发射/接收机](../getting_started/rc_transmitter_receiver.md) 并 *对频* 使它们能够通信 (对频方法参考发射/接收机的说明书)。 The instructions below show how to connect the different types of receivers to *Durandal*: @@ -124,21 +124,21 @@ The instructions below show how to connect the different types of receivers to * ![Durandal - Back Pinouts (Schematic)](../../assets/flight_controller/durandal/durandal_pinouts_back.jpg) -- PPM and PWM receivers that have an *individual wire for each channel* must connect to the **PPM RC** port *via a PPM encoder* [like this one](http://www.getfpv.com/radios/radio-accessories/holybro-ppm-encoder-module.html) (PPM-Sum receivers use a single signal wire for all channels). +- PPM 和 *每个通道有单独连接线* 的 PWM 接收机需要连接在 **PPM RC** 端口，PWM信号需要通过一个[类似这样的](http://www.getfpv.com/radios/radio-accessories/holybro-ppm-encoder-module.html)* PPM 编码器*（PPM-Sum 接收机只需要一根信号线就包含所有通道）。 -For more information about selecting a radio system, receiver compatibility, and binding your transmitter/receiver pair, see: [Remote Control Transmitters & Receivers](../getting_started/rc_transmitter_receiver.md). +更多有关遥控器系统选择、接收机兼容性和遥控器接收机对频绑定的详细信息，请参阅：[遥控器发射机&接收器](../getting_started/rc_transmitter_receiver.md)。 -## Telemetry Radios (Optional) +## 数传电台（可选） -Telemetry radios may be used to communicate and control a vehicle in flight from a ground station (for example, you can direct the UAV to a particular position, or upload a new mission). +遥测无线电台可用于地面站的通信和飞行控制 (例如, 您可以指定无人机飞行至特定位置, 或上传新的任务)。 -The vehicle-based radio should be connected to the [TELEM1](../flight_controller/durandal.md#telem1_2_3) port as shown below using one of the 6-pos connectors (if connected to this port, no further configuration is required). The other radio is connected to your ground station computer or mobile device (usually by USB). +The vehicle-based radio should be connected to the [TELEM1](../flight_controller/durandal.md#telem1_2_3) port as shown below using one of the 6-pos connectors (if connected to this port, no further configuration is required). 数传电台中的另一个应该连接到您的地面站电脑或者移动设备上（通常是通过USB接口）。 ![Durandal/Telemetry Radio](../../assets/flight_controller/durandal/holybro_telemetry_radio.jpg) -## SD Card (Optional) +## SD 卡 SD cards are highly recommended as they are needed to [log and analyse flight details](../getting_started/flight_reporting.md), to run missions, and to use UAVCAN-bus hardware. Insert an SD card into the *Durandal* where indicated below. @@ -147,7 +147,7 @@ SD cards are highly recommended as they are needed to [log and analyse flight de > **Tip** For more information see [Basic Concepts > SD Cards (Removable Memory)](../getting_started/px4_basic_concepts.md#sd_cards). -## Motors +## 电机 Motors/servos control signals are connected to the **I/O PWM OUT** (**MAIN OUT**) and **FMU PWM OUT** (**AUX**) ports in the order specified for your vehicle in the [Airframe Reference](../airframes/airframe_reference.md). @@ -161,16 +161,16 @@ The motors must be separately [powered](#power). > **Note** *Durandal* has 5 AUX ports, so cannot be used with airframes that map AUX6, AUX7, AUX8 to motors or other critical flight controls. -## Other Peripherals +## 其它外设 -The wiring and configuration of optional/less common components is covered within the topics for individual [peripherals](../peripherals/README.md). +针对可选/非通用组件的接线与配置，在 [外围设备](../peripherals/README.md) 独立主题中有详细的内容介绍。 -## Pinouts +## 针脚定义 [Durandal > Pinouts](../flight_controller/durandal.md#pinouts) -## PX4 Configuration +## PX4 配置 First you will need to install [PX4 "Master" Firmware](../config/firmware.md#custom) onto the controller using *QGroundControl*. > **Note** Durandal support will be in the *stable* PX4 release that follows PX4 v1.10. @@ -178,10 +178,10 @@ First you will need to install [PX4 "Master" Firmware](../config/firmware.md#cus Further general configuration information is covered in: [Autopilot Configuration](../config/README.md). -QuadPlane specific configuration is covered here: [QuadPlane VTOL Configuration](../config_vtol/vtol_quad_configuration.md) +QuadPlane的特定配置在以下内容中介绍：[QuadPlane VTOL Configuration](../config_vtol/vtol_quad_configuration.md)。 -## Further information +## 更多信息 - [Durandal Overview](../flight_controller/durandal.md) - [Durandal Technical Data Sheet](http://www.holybro.com/manual/Durandal_technical_data_sheet.pdf) (Holybro) diff --git a/zh/assembly/quick_start_holybro_pix32_v5.md b/zh/assembly/quick_start_holybro_pix32_v5.md index 9200d969cf6e..50f4864d2c4c 100644 --- a/zh/assembly/quick_start_holybro_pix32_v5.md +++ b/zh/assembly/quick_start_holybro_pix32_v5.md @@ -1,6 +1,6 @@ # Pix32 v5 Wiring Quick Start -> **Warning** PX4 does not manufacture this (or any) autopilot. Contact the [manufacturer](https://shop.holybro.com/) for hardware support or compliance issues. +> **Warning** PX4 不生产这款且也不生产任何自动驾驶仪。 若需要硬件支持或咨询合规问题，请联系 [制造商](https://shop.holybro.com/)。 This quick start guide shows how to power the [Holybro Pix32v5](../flight_controller/holybro_pix32_v5.md)® flight controller and connect its most important peripherals. @@ -14,36 +14,36 @@ The content of the box with the *PM02 V3* power module and *Pixhawk 4 GPS/Compas ![Pix32 v5 Box](../../assets/flight_controller/holybro_pix32_v5/pix32_v5_unboxing_schematics.png) -## Wiring Chart Overview +## 接线图概述 -The image below shows how to connect the most important sensors and peripherals (except the motor and servo outputs). We'll go through each of these in detail in the following sections. +下图展示了如何连接最重要的传感器和外围设备（电机和伺服舵机输出除外）。 我们将在下面各节中介绍它们的细节。 ![Pix32 v5 Wiring Overview](../../assets/flight_controller/holybro_pix32_v5/pix32_v5_wiring_overview.jpg) > **Tip** More information about available ports can be found [here](http://www.holybro.com/manual/Holybro_PIX32-V5_PINOUTS_V1.1.pdf). -## Mount and Orient Controller +## 飞控的安装和方向 *Pix32 v5* should be mounted on the frame positioned as close to your vehicle’s center of gravity as possible, oriented top-side up with the arrow pointing towards the front of the vehicle. ![Pix32 v5 With Orientation](../../assets/flight_controller/holybro_pix32_v5/pix32_v5_orientation.png) -> **Note** If the controller cannot be mounted in the recommended/default orientation (e.g. due to space constraints) you will need to configure the autopilot software with the orientation that you actually used: [Flight Controller Orientation](../config/flight_controller_orientation.md). +> **Note** 如果无法以推荐/默认方向安装控制器（例如，由于空间限制），则需要以实际使用的方向配置自动驾驶仪参数：[飞控的安装方向](../config/flight_controller_orientation.md)。 > **Tip** The board has internal vibration-isolation. Do not use vibration-isolation foam to mount the controller (double sided tape is normally sufficient). -## GPS + Compass + Buzzer + Safety Switch + LED +## GPS + 指南针 + 蜂鸣器 + 安全开关 + LED Pix32 v5 is designed to work well with the [Pixhawk 4 GPS module](https://shop.holybro.com/pixhawk-4-gps-module_p1094.html), which has an integrated compass, safety switch, buzzer and LED. It connects directly to the [GPS port](../flight_controller/holybro_pix32_v5.md#gps) using the 10 pin cable. -The GPS/Compass should be mounted on the frame as far away from other electronics as possible, with the direction marker towards the front of the vehicle (separating the compass from other electronics will reduce interference). +GPS/罗盘在安装时应尽可能远离其他电子元器件，方向标记朝向飞行器前方(将罗盘和其他电子元器件分开可以减少干扰)。 ![Pix32 v5 with GPS](../../assets/flight_controller/holybro_pix32_v5/pix32_v5_connection_gps_compass.jpg) -> **Note** The GPS module's integrated safety switch is enabled *by default* (when enabled, PX4 will not let you arm the vehicle). To disable the safety press and hold the safety switch for 1 second. You can press the safety switch again to enable safety and disarm the vehicle (this can be useful if, for whatever reason, you are unable to disarm the vehicle from your remote control or ground station). +> **Note** GPS模块内集成的安全开关 *默认是启用的*（当启用时，PX4将不会让您解锁飞行器）。 如需关闭安全开关，请按住安全开关1秒钟。 您可以在完成任务后再次按下安全开关以启用并锁定飞行器 （因为这是出于安全考虑的机制，无论出于何种原因，您将无法通过遥控器或地面站来远程解锁您的载具）。 -## Power +## 电源 You can use a power module or power distribution board to power motors/servos and measure power consumption. The recommended power modules are shown below. @@ -83,11 +83,11 @@ The battery/power setup must be configured in [Power Settings](../config/battery You will not need to update the *voltage divider* unless you are using some other power module (e.g. the one from the Pixracer). -## Radio Control +## 遥控器 -A remote control (RC) radio system is required if you want to *manually* control your vehicle (PX4 does not require a radio system for autonomous flight modes). +如果你想*手动*控制你的飞机，你需要一个遥控器（PX4在自动飞行模式可以不需要遥控器）。 -You will need to [select a compatible transmitter/receiver](../getting_started/rc_transmitter_receiver.md) and then *bind* them so that they communicate (read the instructions that come with your specific transmitter/receiver). +您需要 [选择一个兼容的发射/接收机](../getting_started/rc_transmitter_receiver.md) 并 *对频* 使它们能够通信 (对频方法参考发射/接收机的说明书)。 The instructions below show how to connect the different types of receivers to *Pix32 v5* with Baseboard: @@ -97,31 +97,31 @@ The instructions below show how to connect the different types of receivers to * - PPM and S.Bus receivers connect to the [SBUS_IN/PPM_IN](../flight_controller/holybro_pix32_v5.md#rc-in) input port (marked as RC IN) - ![Pinouts](../../assets/flight_controller/holybro_pix32_v5/pix32_v5_pinouts_back_label.png) + ![针脚定义](../../assets/flight_controller/holybro_pix32_v5/pix32_v5_pinouts_back_label.png) -- PPM and PWM receivers that have an *individual wire for each channel* must connect to the **PPM RC** port *via a PPM encoder* [like this one](http://www.getfpv.com/radios/radio-accessories/holybro-ppm-encoder-module.html) (PPM-Sum receivers use a single signal wire for all channels). +- PPM 和 *每个通道有单独连接线* 的 PWM 接收机需要连接在 **PPM RC** 端口，PWM信号需要通过一个[类似这样的](http://www.getfpv.com/radios/radio-accessories/holybro-ppm-encoder-module.html)* PPM 编码器*（PPM-Sum 接收机只需要一根信号线就包含所有通道）。 -For more information about selecting a radio system, receiver compatibility, and binding your transmitter/receiver pair, see: [Remote Control Transmitters & Receivers](../getting_started/rc_transmitter_receiver.md). +更多有关遥控器系统选择、接收机兼容性和遥控器接收机对频绑定的详细信息，请参阅：[遥控器发射机&接收器](../getting_started/rc_transmitter_receiver.md)。 ## Telemetry Radios (Optional) -Telemetry radios may be used to communicate and control a vehicle in flight from a ground station (for example, you can direct the UAV to a particular position, or upload a new mission). +遥测无线电台可用于地面站的通信和飞行控制 (例如, 您可以指定无人机飞行至特定位置, 或上传新的任务)。 -The vehicle-based radio should be connected to the **TELEM1** port as shown below (if connected to this port, no further configuration is required). The other radio is connected to your ground station computer or mobile device (usually by USB). +机载端的无线数传模块应连接到 **TELEM1** 端口，如下所示（如果连接到此端口，则无需进一步配置）。 数传电台中的另一个应该连接到您的地面站电脑或者移动设备上（通常是通过USB接口）。 ![Pix32 v5 With Telemetry Radios](../../assets/flight_controller/holybro_pix32_v5/pix32_v5_telemetry_radio.jpg) -## SD Card (Optional) +## SD 卡 -SD cards are most commonly used to [log and analyse flight details](../getting_started/flight_reporting.md). A micro SD card should come preinstalled on the pix32 v5, if you have your own micro SD card, insert the card into *pix32 v5* as shown below. +SD卡通常用来 [记录并分析飞行数据](../getting_started/flight_reporting.md)。 A micro SD card should come preinstalled on the pix32 v5, if you have your own micro SD card, insert the card into *pix32 v5* as shown below. ![Pix32 v5 With SD Card](../../assets/flight_controller/holybro_pix32_v5/pix32_v5_sd_card.jpg) > **Tip** The SanDisk Extreme U3 32GB is [highly recommended](../dev_log/logging.md#sd-cards). -## Motors +## 电机 Motors/servos control signals are connected to the **I/O PWM OUT** (**MAIN**) and **FMU PWM OUT** (**AUX**) ports in the order specified for your vehicle in the [Airframe Reference](../airframes/airframe_reference.md). @@ -131,27 +131,28 @@ The motors must be separately [powered](#power). > **Note** If your frame is not listed in the airframe reference then use a "generic" airframe of the correct type. -## Other Peripherals +## 其它外设 -The wiring and configuration of optional/less common components is covered within the topics for individual [peripherals](../peripherals/README.md). +针对可选/非通用组件的接线与配置，在 [外围设备](../peripherals/README.md) 独立主题中有详细的内容介绍。 -## Pinouts +## 针脚定义 [Pix32 v5 Pinouts](http://www.holybro.com/manual/Holybro_PIX32-V5_PINOUTS_V1.1.pdf) (Holybro) -## Configuration +## 配置 -General configuration information is covered in: [Autopilot Configuration](../config/README.md). +一般配置信息在以下内容中介绍: +Autopilot 配置 。

                                                              -QuadPlane specific configuration is covered here: [QuadPlane VTOL Configuration](../config_vtol/vtol_quad_configuration.md) +QuadPlane的特定配置在以下内容中介绍：[QuadPlane VTOL Configuration](../config_vtol/vtol_quad_configuration.md)。 -## Further information +## 更多信息 - [Pix32 v5 Overview](../flight_controller/holybro_pix32_v5.md) (Overview page) - [Pix32 v5 Technical Data Sheet](http://www.holybro.com/manual/Holybro_PIX32-V5_technical_data_sheet_v1.1.pdf) - [Pix32 v5 Pinouts](http://www.holybro.com/manual/Holybro_PIX32-V5_PINOUTS_V1.1.pdf) - [Pix32 v5 Base Schematic Diagram](http://www.holybro.com/manual/Holybro_PIX32-V5-BASE-Schematic_diagram.pdf) - [Pix32 v5 Base Components Layout](http://www.holybro.com/manual/Holybro_PIX32-V5-BASE-ComponentsLayout.pdf) -- [FMUv5 reference design pinout](https://docs.google.com/spreadsheets/d/1-n0__BYDedQrc_2NHqBenG1DNepAgnHpSGglke-QQwY/edit#gid=912976165). +- FMUv5参考设计。 diff --git a/zh/assembly/quick_start_pixhawk.md b/zh/assembly/quick_start_pixhawk.md index fea039f73275..a4f0ad540572 100644 --- a/zh/assembly/quick_start_pixhawk.md +++ b/zh/assembly/quick_start_pixhawk.md @@ -1,12 +1,12 @@ # Pixhawk快速使用指导 -> **Warning** PX4 does not manufacture this (or any) autopilot. Contact the [manufacturer](https://store.mrobotics.io/) for hardware support or compliance issues. +> **Warning** PX4 不生产这款且也不生产任何自动驾驶仪。 若需要硬件支持或咨询合规问题，请联系 [制造商](https://store.mrobotics.io/)。 此快速入门指南演示如何为 * 3DR Pixhawk * 飞行控制器供电并连接其最重要的外围配件设备。 ![Pixhawk 图像](../../assets/flight_controller/pixhawk1/pixhawk_logo_view.jpg) -> **Note** The [3DR Pixhawk](../flight_controller/pixhawk.md) is no longer available from 3DR. Other flight controllers based on the [Pixhawk FMUv2 architecture](../flight_controller/pixhawk_series.md) are available from other companies (these share the same connections, outputs, functions, etc. and are wired in a similar way). +> **Note** 3DR不再提供[3DR Pixhawk](../flight_controller/pixhawk.md)。 可以使用其他公司基于 [ Pixhawk FMUv2 原理图 ](../flight_controller/pixhawk_series.md) 设计的飞行控制器配件 (他们采用相同的连接器、输出、功能等，例如 它们使用相同的连线线材）。 ## 接线介绍 @@ -14,7 +14,7 @@ ![Pixhawk 接线概览](../../assets/flight_controller/pixhawk1/pixhawk_wiring_overview.jpg)   -> **Note** More detailed wiring information is [shown below](#detailed-wiring-infographic-copter). +> ** Note **更详细的接线信息 [ 如下所示 ](#detailed-wiring-infographic-copter)。 ## 飞控的安装和方向 @@ -22,7 +22,7 @@ ![Pixhawk安装和朝向](../../assets/flight_controller/pixhawk1/pixhawk_3dr_mounting_and_foam.jpg) -> **Note** If the controller cannot be mounted in the recommended/default orientation (e.g. due to space constraints) you will need to configure the autopilot software with the orientation that you actually used: [Flight Controller Orientation](../config/flight_controller_orientation.md). +> **Note** 如果飞行控制器无法安装在推荐的默认方向 (例如, 由于空间限制), 则需要根据实际安装的方向来配置自动驾驶仪软件: [飞行控制器方向 ](../config/flight_controller_orientation.md)参数。 ## 蜂鸣器与安全开关 @@ -34,7 +34,7 @@ 使用套件中提供的6线电缆连接GPS(必须) 到GPS端口。 可以选择将使用4线电缆将罗盘连接到I2C端口(Pixhawk有外部罗盘，必要时可以使用)。 -> **Note** The diagram shows a combined GPS and Compass. The GPS/Compass should be mounted on the frame as far away from other electronics as possible, with the direction marker towards the front of the vehicle (separating the compass from other electronics will reduce interference). +> **Note** 下图显示GPS和罗盘的接线方式。 GPS/罗盘在安装时应尽可能远离其他电子元器件，方向标记朝向飞行器前方(将罗盘和其他电子元器件分开可以减少干扰)。 ![将罗盘/GPS连接到Pixhawk](../../assets/flight_controller/pixhawk1/pixhawk_3dr_compass_gps.jpg) @@ -46,7 +46,7 @@ ![Pixhawk - 电源模块](../../assets/flight_controller/pixhawk1/pixhawk_3dr_power_module.jpg) -> **Warning** The power module supplies the flight controller itself, but cannot power servos and other hardware connected to the controller's output ports (rail). For copter this does not matter because the motors are separately powered. +> **Warning**电源模块只能向飞行控制器供电，不能连接到飞行控制器的其他输出端口向电机和其他硬件供电。 对于直升飞机没有影响，因为电机是分开供电的。 对于飞机和VTOL，输出电路需要单独供电为了驱动电机的方向和升降。 通常主要的推拉电机使用集成 [BEC](https://en.wikipedia.org/wiki/Battery_eliminator_circuit) 的ESC控制，ESC可以连接到Pixhawk的输出电路。 如果没有，您需要将一个5V BEC连接到Pixhawk的空闲端口(没有电源，伺服电机将不会工作)。 @@ -80,15 +80,15 @@ 在[Airframe Reference](../airframes/airframe_reference.md)中列出了支持所有飞行或地面机型的MAIN/AUX 输出端口映射和电机/伺服电机。 -> **Caution** The mapping is not consistent across frames (e.g. you can't rely on the throttle being on the same output for all plane frames). Make sure to use the correct mapping for your vehicle. +> **Caution** 该参考列表并不是与机架类型完全匹配的（例如，您不能将油门应用在其他所有机型的输出端口上）。 请确保为您的飞行器使用正确的映射。 -> **Tip** If your frame is not listed in the reference then use a "generic" airframe of the correct type. +> **Tip** 如果您的机型没有列入参考机型中那么使用正确类型中的"generic"一般机型. -> **Note** The output rail must be separately powered, as discussed in the [Power](#power) section above. +> **Note** 外部电路必须单独供电，如上文中的 [Power](#power) 部分所述。 diff --git a/zh/assembly/quick_start_pixhawk4.md b/zh/assembly/quick_start_pixhawk4.md index 452a1ee2db47..de74aaf020c2 100644 --- a/zh/assembly/quick_start_pixhawk4.md +++ b/zh/assembly/quick_start_pixhawk4.md @@ -1,6 +1,6 @@ # Pixhawk 4 接线快速入门 -> **Warning** PX4 does not manufacture this (or any) autopilot. Contact the [manufacturer](https://shop.holybro.com/) for hardware support or compliance issues. +> **Warning** PX4 不生产这款且也不生产任何自动驾驶仪。 若需要硬件支持或咨询合规问题，请联系 [制造商](https://shop.holybro.com/)。 本快速入门指南演示如何为 [Pixhawk 4](../flight_controller/pixhawk4.md) 飞行控制器供电，并连接主要的外围设备。 @@ -12,7 +12,7 @@ ![Pixhawk 4 接线概览](../../assets/flight_controller/pixhawk4/pixhawk4_wiring_overview.png) -> **Tip** More information about available ports can be found here: [Pixhawk 4 > Connections](../flight_controller/pixhawk4.md#connectors). +> **Tip** 有关更多可用端口的详细信息, 请参阅此处：[Pixhawk 4 > 接口 ](../flight_controller/pixhawk4.md#connectors)。 ## 飞控的安装和方向 @@ -20,7 +20,7 @@ -> **Note** If the controller cannot be mounted in the recommended/default orientation (e.g. due to space constraints) you will need to configure the autopilot software with the orientation that you actually used: [Flight Controller Orientation](../config/flight_controller_orientation.md). +> **Note** 如果飞行控制器无法安装在推荐的默认方向 (例如, 由于空间限制), 则需要根据实际安装的方向来配置自动驾驶仪软件: [飞行控制器方向 ](../config/flight_controller_orientation.md)参数。 ## GPS + 指南针 + 蜂鸣器 + 安全开关 + LED @@ -30,7 +30,7 @@ GPS/指南针模块应尽可能安装在远离其他电子设备的位置上, ![将 Compassas/GPS 连接到 Pixhawk 4](../../assets/flight_controller/pixhawk4/pixhawk4_compass_gps.jpg) -> **Note** The GPS module's integrated safety switch is enabled *by default* (when enabled, PX4 will not let you arm the vehicle). To disable the safety press and hold the safety switch for 1 second. You can press the safety switch again to enable safety and disarm the vehicle (this can be useful if, for whatever reason, you are unable to disarm the vehicle from your remote control or ground station). +> **Note** GPS模块内集成的安全开关 *默认是启用的*（当启用时，PX4将不会让您解锁飞行器）。 如需关闭安全开关，请按住安全开关1秒钟。 您可以在完成任务后再次按下安全开关以启用并锁定飞行器 （因为这是出于安全考虑的机制，无论出于何种原因，您将无法通过遥控器或地面站来远程解锁您的载具）。 ## 电源 @@ -40,7 +40,7 @@ GPS/指南针模块应尽可能安装在远离其他电子设备的位置上, ![Pixhawk 4 - 电源管理板](../../assets/hardware/power_module/holybro_pm07/pixhawk4_power_management_board.png) -> **Note** If using a plane or rover, the 8 pin power (+) rail of **FMU PWM-OUT** will need to be separately powered in order to drive servos for rudders, elevons etc. To do this, the power rail needs to be connected to a BEC equipped ESC or a standalone 5V BEC or a 2S LiPo battery. Be careful with the voltage of servo you are going to use here. +> **Note** 如果配置为固定翼或无人车，飞控 **FMU MAIN OUT** 8个输出端口的 power (+) 正极排针需要进行独立供电 ，以保障方向舵、升降舵等伺服舵机的正常驱动。 为此，需要独立供电的正极排针要连接到一个BEC，如具备BEC独立5V输出的ESC电调或者一个2SLiPo电池。 请注意你要在这里使用的伺服舵机的工作电压。 | 针脚&连接器 | 功能 | | ----------- | ------------------------------------------------------------- | @@ -63,7 +63,7 @@ GPS/指南针模块应尽可能安装在远离其他电子设备的位置上, | PWR2 | 5V 3A 输出，连接到 *Pixhawk 4* 的 POWER 2 | | 2~12S | 电源输入，连接到12~S的LiPo电池 | -> **Note** Depending on your airframe type, refer to [Airframe Reference](../airframes/airframe_reference.md) to connect **I/O PWM OUT** and **FMU PWM OUT** ports of *Pixhawk 4* to PM board. **MAIN** outputs in PX4 firmware map to **I/O PWM OUT** port of *Pixhawk 4* whereas **AUX outputs** map to **FMU PWM OUT** of *Pixhawk 4*. For example, **MAIN1** maps to IO_CH1 pin of **I/O PWM OUT** and **AUX1** maps to FMU_CH1 pin of **FMU PWM OUT**. **FMU PWM-IN** of PM board is internally connected to **FMU PWM-OUT**, which is used to drive servos (e.g. aileron, elevator, rudder, elevon, gear, flaps, gimbal, steering). **I/O PWM-IN** of PM board is internally connected to **M1-8**, which is used to drive motors (e.g. throttle in Plane, VTOL and Rover). +> **Note** 根据您所使用的机身类型，参考 [Airframe Reference](../airframes/airframe_reference.md) 连接*Pixhawk 4* 的 **I/O PWM OUT** 和 **FMU PWM OUT** 接口到电源管理板。 PX4 固件中的 **MAIN** 输出映射到 *Pixhawk 4 * 的 **I/O PWM OUT ** 端口，同时 PX4 固件中的 **AUX 输出** 映射到*Pixhawk 4 * 的 **FMU PWM OUT ** 端口。 例如，**MAIN1** 映射至 **I/O PWM OUT** 的 IO_CH1 引脚， **AUX1** 映射至 ** FMU PWM OUT** 的 FMU_CH1 引脚。 PMB电源管理板的 **FMU PWM-IN** 内部是连接到 **FMU PWM-OUT**的，为了独立供电方便驱动伺服舵机（如副翼，升降舵，方向舵，补助翼，起落架，襟翼，云台，转向装置）。 电源模块板的 **I/O PWM-IN** 内部是连接到 **M1-8**，用于驱动电机（例如 固定翼，垂起 或者小车中的油门通道）。 下表总结了如何将 *Pixhawk 4* 的 PWM OUT 端口连接到电源管理板的 PWM-IN 端口，具体取决于机身类型。 @@ -87,7 +87,7 @@ GPS/指南针模块应尽可能安装在远离其他电子设备的位置上, | 5（黑） | GND | GND | | 6（黑） | GND | GND | -> **Note** Using the Power Module that comes with the kit you will need to configure the *Number of Cells* in the [Power Settings](https://docs.qgroundcontrol.com/en/SetupView/Power.html) but you won't need to calibrate the *voltage divider*. You will have to update the *voltage divider* if you are using any other power module (e.g. the one from the Pixracer). +> **Note** 使用套件中附带的电源模块，您需要在 [电源设置](https://docs.qgroundcontrol.com/en/SetupView/Power.html) 中配置 *电池芯数 *参数，但您不需要校准 *电压分压器* 参数。 如果您使用的是其他的电源模块（例如，来自 Pixracer 的电源模块），则必须更新校准 *电压分圧计* 参数。 ## 无线电遥控 @@ -119,37 +119,37 @@ GPS/指南针模块应尽可能安装在远离其他电子设备的位置上, -## SD Card (Optional) +## SD 卡 -SD cards are highly recommended as they are needed to [log and analyse flight details](../getting_started/flight_reporting.md), to run missions, and to use UAVCAN-bus hardware. Insert the card (included in Pixhawk 4 kit) into *Pixhawk 4* as shown below. +SD cards are highly recommended as they are needed to [log and analyse flight details](../getting_started/flight_reporting.md), to run missions, and to use UAVCAN-bus hardware. 将内存卡 (包含在 Pixhawk 套件中) 插入 *Pixhawk 4 * 中，如下所示。 -![Pixhawk 4/SD Card](../../assets/flight_controller/pixhawk4/pixhawk4_sd_card.png) +![Pixhawk 4/SD 卡](../../assets/flight_controller/pixhawk4/pixhawk4_sd_card.png) > **Tip** For more information see [Basic Concepts > SD Cards (Removable Memory)](../getting_started/px4_basic_concepts.md#sd_cards). ## 电机 -Motors/servos are connected to the **I/O PWM OUT** (**MAIN**) and **FMU PWM OUT** (**AUX**) ports in the order specified for your vehicle in the [Airframe Reference](../airframes/airframe_reference.md). +电机和舵机按照 [机架参考](../airframes/airframe_reference.md) 中为您的飞机指定的顺序连接至 **I/O PWM OUT** （**MAIN**）和 **FMU PWM OUT**（**AUX**）端口。 -> **Note** This reference lists the output port to motor/servo mapping for all supported air and ground frames (if your frame is not listed in the reference then use a "generic" airframe of the correct type). +> **Note**本参考列出了所有支持的空中和地面机架的接口与电机/舵机的映射关系（如果您的机架没有在参考列表里，您可以使用对应类型的“通用”机架）。 -> **Caution** The mapping is not consistent across frames (e.g. you can't rely on the throttle being on the same output for all plane frames). Make sure to use the correct mapping for your vehicle. +> **Caution** 该参考列表并不是与机架类型完全匹配的（例如，您不能将油门应用在其他所有机型的输出端口上）。 请确保为您的飞行器使用正确的映射。 ## 其它外设 -The wiring and configuration of optional/less common components is covered within the topics for individual [peripherals](../peripherals/README.md). +针对可选/非通用组件的接线与配置，在 [外围设备](../peripherals/README.md) 独立主题中有详细的内容介绍。 ## 针脚定义 -[Pixhawk 4 Pinouts](http://www.holybro.com/manual/Pixhawk4-Pinouts.pdf) (Holybro) +[Pixhawk 4 针脚定义](http://www.holybro.com/manual/Pixhawk4-Pinouts.pdf)（PDF） ## 配置 -General configuration information is covered in: [Autopilot Configuration](../config/README.md). +一般配置信息在以下内容中介绍: Autopilot 配置 。

                                                              -QuadPlane specific configuration is covered here: [QuadPlane VTOL Configuration](../config_vtol/vtol_quad_configuration.md) +QuadPlane的特定配置在以下内容中介绍：[QuadPlane VTOL Configuration](../config_vtol/vtol_quad_configuration.md)。 diff --git a/zh/assembly/quick_start_pixhawk4_mini.md b/zh/assembly/quick_start_pixhawk4_mini.md index c973caf596a7..91050c5bdc2a 100644 --- a/zh/assembly/quick_start_pixhawk4_mini.md +++ b/zh/assembly/quick_start_pixhawk4_mini.md @@ -1,130 +1,133 @@ -# *Pixhawk 4 Mini* Wiring Quick Start +# *Pixhawk 4 mini 接线快速入门 -> **Warning** PX4 does not manufacture this (or any) autopilot. Contact the [manufacturer](https://shop.holybro.com/) for hardware support or compliance issues. +> **Warning** PX4 不生产这款且也不生产任何自动驾驶仪。 若需要硬件支持或咨询合规问题，请联系 [制造商](https://shop.holybro.com/)。 -This quick start guide shows how to power the [*Pixhawk® 4 Mini*](../flight_controller/pixhawk4_mini.md) flight controller and connect its most important peripherals. +本快速入门指南演示如何为 [*Pixhawk® 4 Mini*](../flight_controller/pixhawk4_mini.md) 飞行控制器供电, 并连接其最重要的外围设备。 ![Pixhawk4 mini](../../assets/flight_controller/pixhawk4mini/pixhawk4mini_iso_1.png) -## Wiring Chart Overview +## 接线图概述 -The image below shows where to connect the most important sensors and peripherals (except for motors and servos). +下图展示了如何连接最重要的传感器和外围设备 (电机和伺服舵机输出除外)。 -![*Pixhawk 4 Mini* Wiring Overview](../../assets/flight_controller/pixhawk4mini/pixhawk4mini_wiring_overview.png) +![*Pixhawk 4 Mini* 接线概览](../../assets/flight_controller/pixhawk4mini/pixhawk4mini_wiring_overview.png) -> **Tip** More information about available ports can be found here: [*Pixhawk 4 Mini* > Interfaces](../flight_controller/pixhawk4_mini.md#interfaces). +> **Tip** 有关更多可用端口的详细信息, 请参阅此处: [*Pixhawk 4 Mini* > 端口](../flight_controller/pixhawk4_mini.md#interfaces)。 -## Mount and Orient Controller +## 飞控的安装和方向 -*Pixhawk 4 Mini* should be mounted on your frame using vibration-damping foam pads (included in the kit). It should be positioned as close to your vehicle’s center of gravity as possible, oriented top-side up with the arrow pointing towards the front of the vehicle. +应使用减震泡沫垫 (包括在配件中) 将 * Pixhawk 4 Mini * 安装在机架上。 应该尽可能接近飞机的重心位置，正面朝上，方向箭头与飞机机头一致朝前 -![*Pixhawk 4 Mini* Orientation](../../assets/flight_controller/pixhawk4mini/pixhawk4mini_orientation.png) +![*Pixhawk 4 Mini* 方向](../../assets/flight_controller/pixhawk4mini/pixhawk4mini_orientation.png) -> **Note** If the controller cannot be mounted in the recommended/default orientation (e.g. due to space constraints) you will need to configure the autopilot software with the orientation that you actually used: [Flight Controller Orientation](../config/flight_controller_orientation.md). +> **Note** 如果飞行控制器无法安装在推荐的默认方向 (例如, 由于空间限制), 则需要根据实际安装的方向来配置自动驾驶仪软件: [飞行控制器方向 ](../config/flight_controller_orientation.md)参数。 -## GPS + Compass + Buzzer + Safety Switch + LED +## GPS + 指南针 + 蜂鸣器 + 安全开关 + LED -Attach the provided GPS with integrated compass, safety switch, buzzer, and LED to the **GPS MODULE** port. The GPS/Compass should be mounted on the frame as far away from other electronics as possible, with the direction marker towards the front of the vehicle (separating the compass from other electronics will reduce interference). +将所提供的集成指南针、安全开关、蜂鸣器和 led的GPS模块连接到 **GPS moulle 端口。 GPS/罗盘在安装时应尽可能远离其他电子元器件，方向标记朝向飞行器前方(将罗盘和其他电子元器件分开可以减少干扰)。

                                                              -![Connect compass/GPS to Pixhawk 4](../../assets/flight_controller/pixhawk4mini/pixhawk4mini_gps.png) +![将 Compassas/GPS 连接到 Pixhawk 4](../../assets/flight_controller/pixhawk4mini/pixhawk4mini_gps.png) -> **Note** The GPS module's integrated safety switch is enabled *by default* (when enabled, PX4 will not let you arm the vehicle). To disable the safety press and hold the safety switch for 1 second. You can press the safety switch again to enable safety and disarm the vehicle (this can be useful if, for whatever reason, you are unable to disarm the vehicle from your remote control or ground station). +> **Note** GPS模块内集成的安全开关 *默认是启用的*（当启用时，PX4将不会让您解锁飞行器）。 如需关闭安全开关，请按住安全开关1秒钟。 您可以在完成任务后再次按下安全开关以启用并锁定飞行器 （因为这是出于安全考虑的机制，无论出于何种原因，您将无法通过遥控器或地面站来远程解锁您的载具）。 -## Power +## 电源 -The Power Management Board (PMB) serves the purpose of a power module as well as a power distribution board. In addition to providing regulated power to *Pixhawk 4 Mini* and the ESCs, it sends information to the autopilot about the battery’s voltage and current draw. +电源管理板（PMB）提供了电源模块与电源分电板的作用。 除了为 *Pixhawk 4 mini*和 ESC 电调提供稳压电源外, 它还向自动驾驶仪发送电池电压和电流的相关信息。 -Connect the output of the PMB that comes with the kit to the **POWER** port of the *Pixhawk 4 Mini* using a 6-wire cable. The connections of the PMB, including power supply and signal connections to the ESCs and servos, are explained in the image below. +使用6PIN线材将套件附带的PMB模块的输出接口连接到*Pixhawk 4 mini* 的 **POWER** 端口。 下表解释了电源管理板的连接, 包括动力电源与 ESC电调和伺服舵机的信号连接。 -![Pixhawk 4 - Power Management Board](../../assets/flight_controller/pixhawk4mini/pixhawk4mini_power_management.png) +![Pixhawk 4 - 电源管理板](../../assets/flight_controller/pixhawk4mini/pixhawk4mini_power_management.png) -> **Note** The image above only shows the connection of a single ESC and a single servo. Connect the remaining ESCs and servos similarly. +> **注意** 上图仅展示了单个 ESC 和单个伺服舵机的连接方式。 以类似方式连接剩余的 ESC电调和伺服舵机。 -| Pin(s) or Connector | Function | -| ------------------- | ------------------------------------------------------------------------ | -| B+ | Connect to ESC B+ to power the ESC | -| GND | Connect to ESC Ground | -| PWR | JST-GH 6-pin Connector, 5V 3A output -connect to *Pixhawk 4 Mini* POWER | -| BAT | Power Input, connect to 2~12s LiPo Battery | +| Pin(s) 或连接器 | 功能 | +| ----------- | -------------------------------------------------------- | +| B+ | 连接到 ESC电调B+以为 ESC电调供电 | +| GND | 连接到 ESC电调负极 | +| PWR | JST-GH 6-pin 接头, 5V 3A 输出 +连接到*Pixhawk 4 Mini* 的POWER接口 | +| BAT | 电源输入，连接到2~12S的LiPo电池 | -The pinout of the *Pixhawk 4 Mini* **POWER** port is shown below. The `CURRENT` signal should carry an analog voltage from 0-3.3V for 0-120A as default. The `VOLTAGE` signal should carry an analog voltage from 0-3.3V for 0-60V as default. The VCC lines have to offer at least 3A continuous and should default to 5.1V. A lower voltage of 5V is still acceptable, but discouraged. +*Pixhawk 4 Mini* 的**电源**输出针脚如下表所示。 The `CURRENT` signal should carry an analog voltage from 0-3.3V for 0-120A as default. The `VOLTAGE` signal should carry an analog voltage from 0-3.3V for 0-60V as default. Vcc 线路必须提供至少 3A 的持续电流，并应默认为 5.1V电压。 低于5V的电压仍然是可以接受的, 但不推荐。 -| Pin | Signal | Volt | -| -------- | ------- | ----- | -| 1(red) | VCC | +5V | -| 2(black) | VCC | +5V | -| 3(black) | CURRENT | +3.3V | -| 4(black) | VOLTAGE | +3.3V | -| 5(black) | GND | GND | -| 6(black) | GND | GND | +| 针脚 | 信号 | 电压 | +| ---- | --- | ----- | +| 1（红） | VCC | +5V | +| 2（黑） | VCC | +5V | +| 3（黑） | 电流 | +3.3V | +| 4（黑） | 电压 | +3.3V | +| 5（黑） | GND | GND | +| 6（黑） | GND | GND | -> **Note** If using a plane or rover, the 8 pin power (+) rail of **MAIN OUT** will need to be separately powered in order to drive servos for rudders, elevons, etc. To do this, the power rail needs to be connected to a BEC equipped ESC, a standalone 5V BEC, or a 2S LiPo battery. Be careful with the voltage of servo you are going to use here. +> **Caution** 如果配置为固定翼或无人车, 飞控**MAIN OUT**8个输出端口的 power (+) 正极线束将要进行独立供电 ，以保障方向舵、升降舵等伺服舵机的正常驱动。 为此，独立供电的正极线束需要连接到一个BEC，如具备BEC独立5V输出的ESC电调或者一个2SLiPo电池。 请注意你要在这里使用的电压是伺服舵机的需要的。 -> **Note** Using the Power Module that comes with the kit you will need to configure the *Number of Cells* in the [Power Settings](https://docs.qgroundcontrol.com/en/SetupView/Power.html) but you won't need to calibrate the *voltage divider*. You will have to update the *voltage divider* if you are using any other power module (e.g. the one from the Pixracer). - -## Radio Control - -A remote control (RC) radio system is required if you want to *manually* control your vehicle (PX4 does not require a radio system for autonomous flight modes). - -You will need to [select a compatible transmitter/receiver](../getting_started/rc_transmitter_receiver.md) and then *bind* them so that they communicate (read the instructions that come with your specific transmitter/receiver). - -The instructions below show how to connect the different types of receivers to *Pixhawk 4 Mini*: - -- Spektrum/DSM or S.BUS receivers connect to the **DSM/SBUS RC** input. - - ![Pixhawk 4 Mini - Radio port for Spektrum receivers](../../assets/flight_controller/pixhawk4mini/pixhawk4mini_rc_dsmsbus.png) - -- PPM receivers connect to the **PPM RC** input port. - - ![Pixhawk 4 Mini - Radio port for PPM receivers](../../assets/flight_controller/pixhawk4mini/pixhawk4mini_rc_ppm.png) - -- PPM and PWM receivers that have an *individual wire for each channel* must connect to the **PPM RC** port *via a PPM encoder* [like this one](http://www.getfpv.com/radios/radio-accessories/holybro-ppm-encoder-module.html) (PPM-Sum receivers use a single signal wire for all channels). - -For more information about selecting a radio system, receiver compatibility, and binding your transmitter/receiver pair, see: [Remote Control Transmitters & Receivers](../getting_started/rc_transmitter_receiver.md). - -## Telemetry Radio (Optional) - -Telemetry radios may be used to communicate and control a vehicle in flight from a ground station (for example, you can direct the UAV to a particular position, or upload a new mission). - -The vehicle-based radio should be connected to the **TELEM1** port as shown below (if connected to this port, no further configuration is required). The other radio is connected to your ground station computer or mobile device (usually by USB). - -![Pixhawk 4 Mini Telemetry](../../assets/flight_controller/pixhawk4mini/pixhawk4mini_telemetry.png) - -## microSD Card (Optional) - -SD cards are highly recommended as they are needed to [log and analyse flight details](../getting_started/flight_reporting.md), to run missions, and to use UAVCAN-bus hardware. Insert the card (included in the kit) into *Pixhawk 4 Mini* as shown below. - -![Pixhawk 4 Mini SD Card](../../assets/flight_controller/pixhawk4mini/pixhawk4mini_sdcard.png) - -> **Tip** For more information see [Basic Concepts > SD Cards (Removable Memory)](../getting_started/px4_basic_concepts.md#sd_cards). - -## Motors - -Motors/servos are connected to the **MAIN OUT** ports in the order specified for your vehicle in the [Airframe Reference](../airframes/airframe_reference.md). See [*Pixhawk 4 Mini* > Supported Platforms](../flight_controller/pixhawk4_mini.md#supported-platforms) for more information. - -> **Note** This reference lists the output port to motor/servo mapping for all supported air and ground frames (if your frame is not listed in the reference then use a "generic" airframe of the correct type). +> **Note** 使用套件中附带的电源模块, 您需要在 电源设置 中配置 *电池片数 *参数，但您不需要校准 *voltage divider* 参数。 如果您使用的是其他的电源模块（例如，来自 Pixracer 的电源模块），则必须更新校准 *电压分圧计* 参数。

                                                              +> +> ## 无线电遥控 +> +> 如果你想*手动* 控制你的飞行器，你需要一个遥控器（PX4在自动飞行模式可以不需要遥控器）。 +> +> 你需要[选择一个兼容的发射机/接收机](../getting_started/rc_transmitter_receiver.md)，并*对好频* 以便它们能够正常通信（对频方法参考您的特定遥控器与接收机附带的说明书）。 +> +> 下面的说明将演示如何将不同类型的接收机连接到 *Pixhawk 4 Mini*: +> +> - Spektrum/DSM 或者 S.BUS 接收机连接到 **DSM/SBUS RC** 输入端口。 +> +> ![Pixhawk 4 Mini - Spektrum接收机的信号接口](../../assets/flight_controller/pixhawk4mini/pixhawk4mini_rc_dsmsbus.png) +> +> - PPM 接收机连接到 **PPM RC** 输入端口。 +> +> ![Pixhawk 4 Mini - PPM接收机的信号接口](../../assets/flight_controller/pixhawk4mini/pixhawk4mini_rc_ppm.png) +> +> - PPM 和 *每个通道有单独连接线* 的 PWM 接收机需要连接在 **PPM RC** 端口，PWM信号需要通过一个[类似这样的](http://www.getfpv.com/radios/radio-accessories/holybro-ppm-encoder-module.html)* PPM 编码器*（PPM-Sum 接收机只需要一根信号线就包含所有通道）。 +> +> 更多有关遥控器系统选择、接收机兼容性和遥控器接收机对频绑定的详细信息，请参阅：[遥控器发射机&接收器](../getting_started/rc_transmitter_receiver.md)。 +> +> ## 数传电台（可选） +> +> 遥测无线电台可用于地面站的通信和飞行控制 (例如, 您可以指定无人机飞行至特定位置, 或上传新的任务)。 +> +> 机载端的无线数传模块应连接到 **TELEM1** 端口，如下所示（如果连接到此端口，则无需进一步配置）。 数传电台中的另一个应该连接到您的地面站电脑或者移动设备上（通常是通过USB接口）。 +> +> ![Pixhawk 4 mini 遥测电台](../../assets/flight_controller/pixhawk4mini/pixhawk4mini_telemetry.png) +> +> ## SD卡（可选） +> +> SD cards are highly recommended as they are needed to [log and analyse flight details](../getting_started/flight_reporting.md), to run missions, and to use UAVCAN-bus hardware. 将内存卡 (包含在套件中) 插入 *Pixhawk 4 Mini * 中，如下所示。 +> +> ![Pixhawk 4 Mini SD卡](../../assets/flight_controller/pixhawk4mini/pixhawk4mini_sdcard.png) +> +> > **Tip** For more information see [Basic Concepts > SD Cards (Removable Memory)](../getting_started/px4_basic_concepts.md#sd_cards). +> +> ## 电机 +> +> 电机和舵机按照 [机架参考列表](../airframes/airframe_reference.md) 中为您的飞机指定的顺序连接至 **MAIN OUT** 端口。 有关更多的详细信息，请参阅[*Pixhawk 4 Mini* > 所支持的平台](../flight_controller/pixhawk4_mini.md#supported-platforms)。 +> +> > **Note**本参考列出了所有支持的空中和地面机架的接口与电机/舵机的映射关系（如果您的机架没有在参考列表里，您可以使用对应类型的“通用”机架）。 +> +> -> **Caution** The mapping is not consistent across frames (e.g. you can't rely on the throttle being on the same output for all plane frames). Make sure to use the correct mapping for your vehicle. - -## Other Peripherals - -The wiring and configuration of optional/less common components is covered within the topics for individual [peripherals](../peripherals/README.md). - -## Configuration - -General configuration information is covered in: [Autopilot Configuration](../config/README.md). - -QuadPlane specific configuration is covered here: [QuadPlane VTOL Configuration](../config_vtol/vtol_quad_configuration.md) - - - -## Further information - -- [*Pixhawk 4 Mini*](../flight_controller/pixhawk4_mini.md) \ No newline at end of file +> +> > **Caution** 该参考列表并不是与机架类型完全匹配的（例如，您不能将油门应用在其他所有机型的输出端口上）。 请确保为您的飞行器使用正确的映射。 +> +> ## 其它外设 +> +> 针对可选/非通用组件的接线与配置，在 [外围设备](../peripherals/README.md) 独立主题中有详细的内容介绍。 +> +> ## 配置 +> +> 一般配置信息在以下内容中介绍：[Autopilot 配置](../config/README.md)。 +> +> QuadPlane的特定配置在以下内容中介绍：[QuadPlane VTOL Configuration](../config_vtol/vtol_quad_configuration.md) +> +> +> +> ## 更多信息 +> +> - [*Pixhawk 4 Mini*](../flight_controller/pixhawk4_mini.md) \ No newline at end of file diff --git a/zh/assembly/quick_start_pixracer.md b/zh/assembly/quick_start_pixracer.md index 082afaf39e83..b1a7b1f8378a 100644 --- a/zh/assembly/quick_start_pixracer.md +++ b/zh/assembly/quick_start_pixracer.md @@ -1,12 +1,12 @@ # Pixracer接线指南 -> **Warning** PX4 does not manufacture this (or any) autopilot. Contact the [manufacturer](https://store.mrobotics.io/) for hardware support or compliance issues. +> **Warning** PX4 不生产这款且也不生产任何自动驾驶仪。 若需要硬件支持或咨询合规问题，请联系 [制造商](https://store.mrobotics.io/)。 -> **Warning** Under construction. +> **Warning** 建设中。 -This quick start guide shows how to power the [Pixracer](../flight_controller/pixracer.md) flight controller and connect its most important peripherals. +这个快速指南会告诉你如何给 [Pixracer](../flight_controller/pixracer.md) 飞控供电和连接跟它配合的组件。 @@ -22,11 +22,11 @@ This quick start guide shows how to power the [Pixracer](../flight_controller/pi ### 电台/远程 控制 -A remote control (RC) radio system is required if you want to *manually* control your vehicle (PX4 does not require a radio system for autonomous flight modes). +如果你想*手动*控制你的飞机，你需要一个遥控器（PX4在自动飞行模式可以不需要遥控器）。 -You will need to [select a compatible transmitter/receiver](../getting_started/rc_transmitter_receiver.md) and then *bind* them so that they communicate (read the instructions that come with your specific transmitter/receiver). +您需要 [选择一个兼容的发射/接收机](../getting_started/rc_transmitter_receiver.md) 并 *对频* 使它们能够通信 (对频方法参考发射/接收机的说明书)。 -The instructions below show how to connect the different types of receivers: +下面介绍如何连接不同的接收机： - Frsky 的接收机通过所示的端口连接, 并可以使用提供的 I/o 连接器。 diff --git a/zh/assembly/vibration_isolation.md b/zh/assembly/vibration_isolation.md index 14cbd938f249..b5a4fdb9ac06 100644 --- a/zh/assembly/vibration_isolation.md +++ b/zh/assembly/vibration_isolation.md @@ -1,10 +1,10 @@ -# Vibration Isolation +# 震动隔离 This topic shows how to determine whether vibration levels are too high, and lists some simple steps to improve vibration characteristics. -## Overview +## 综述 -Flight Control boards with in-built accelerometers or gyros are sensitive to vibrations. High vibration levels can cause a range of problems, including reduced flight efficiency/performance, shorter flight times and increased vehicle wear-and-tear. In extreme cases vibration may lead to sensor clipping/failures, possibly resulting in estimation failures and fly-aways. +飞控板载的加速度计和陀螺仪对振动很敏感。 High vibration levels can cause a range of problems, including reduced flight efficiency/performance, shorter flight times and increased vehicle wear-and-tear. In extreme cases vibration may lead to sensor clipping/failures, possibly resulting in estimation failures and fly-aways. Well-designed airframes damp/reduce the amplitude of specific structural resonances at the autopilot mounting location. Further isolation may be needed in order to reduce vibration to the level that sensitive components can handle (e.g. some flight controllers must be attached to the airframe using some form of anti-vibration foam/mount - while others are internally isolated). @@ -17,10 +17,10 @@ Well-designed airframes damp/reduce the amplitude of specific structural resonan A few of simple steps that may reduce vibrations are: - Make sure everything is firmly attached on the vehicle (landing gear, GPS mast, etc.). -- Use balanced propellers. -- Make sure to use high-quality components for the propellers, motors, ESC and airframe. Each of these components can make a big difference. -- Use a vibration-isolation method to mount the autopilot. Many flight controllers come with *mounting foam* that you can use for this purpose, while others have inbuilt vibration-isolation mechanisms. -- As a *last* measure, adjust the software filters (see [here](../config_mc/racer_setup.md#filters)). It is better to reduce the source of vibrations, rather than filtering them out in software. +- 使用平衡螺旋桨。 +- 确保使用高质量的螺旋桨、发动机、ESC 和机身。 这些组成部分中的每一个都有很大的不同。 +- 使用隔振方法安装自动驾驶仪。 Many flight controllers come with *mounting foam* that you can use for this purpose, while others have inbuilt vibration-isolation mechanisms. +- *最后* 一个措施，调整软件过滤器 (见[ 这里](../config_mc/racer_setup.md#filters))。 最好是减少振动源，而不是在软件中过滤。 ## References diff --git a/zh/companion_computer/pixhawk_companion.md b/zh/companion_computer/pixhawk_companion.md index 0cc6a00d0c09..5bf8e0507ef1 100644 --- a/zh/companion_computer/pixhawk_companion.md +++ b/zh/companion_computer/pixhawk_companion.md @@ -1,6 +1,6 @@ # Pixhawk系列的配套计算机 -Pixhawk与配套计算机(Raspberry Pi，Odroid，Tegra K1) 的交互方式只有一种：通过串口2 `TELEM 2`。 The message format on this link is [MAVLink](https://mavlink.io/en/). +Pixhawk与配套计算机(Raspberry Pi，Odroid，Tegra K1) 的交互方式只有一种：通过串口2 `TELEM 2`。 消息格式是MAVLINK。 ## Pixhawk设置 @@ -32,14 +32,14 @@ Pixhawk与配套计算机(Raspberry Pi，Odroid，Tegra K1) 的交互方式只 安全的选择是使用 ftdi 芯片 usb 到串行适配器板和下面的接线方式。 这种方式有效且容易设置。 -| | TELEM2 | | FTDI | | -| | ------ | --------- | ---- | ---------------------- | -| | 1 | +5V (red) | | DO NOT CONNECT! | -| | 2 | Tx (out) | 5 | FTDI RX (yellow) (in) | -| | 3 | Rx (in) | 4 | FTDI TX (orange) (out) | -| | 4 | CTS (in) | 6 | FTDI RTS (green) (out) | -| | 5 | RTS (out) | 2 | FTDI CTS (brown) (in) | -| | 6 | GND | 1 | FTDI GND (black) | +| | TELEM2 | | FTDI | | +| | ------ | --------- | ---- | ------------------ | +| | 1 | + 5v (红色) | | 请勿连接！ | +| | 2 | Tx (输出) | 5 | FTDI RX (黄色) (输入) | +| | 3 | Rx（输入） | 4 | FTDI TX (橙色) (输出) | +| | 4 | CTS（输入） | 6 | FTDI RTS (绿色) (输出) | +| | 5 | RTS（输出） | 2 | FTDI RTS (棕色) (输出) | +| | 6 | GND | 1 | FTDI GND (黑色) | ## Linux系统上的软件设置 @@ -65,7 +65,7 @@ $lsusb Arduino 是 `Bus 003 Device 004: ID 2341:0042 Arduino SA Mega 2560 R3 (CDC ACM)` -The Pixhawk is `Bus 003 Device 005: ID 26ac:0011` +Pixhawk 是 `Bus 003 Device 005: ID 26ac:0011` > **Note** 如果你没找到你是设备，拔掉，执行 `lsusb`，再插上， 再次执行`lsusb`，查看增加的设备。 diff --git a/zh/complete_vehicles/README.md b/zh/complete_vehicles/README.md index a10815971c35..88b44c9f480d 100644 --- a/zh/complete_vehicles/README.md +++ b/zh/complete_vehicles/README.md @@ -1,15 +1,15 @@ -# Complete Vehicles +# 整机 This section contains information about complete vehicles that run PX4. > **Note** This is a small subset of vehicles that can run PX4. You can find others on [px4.io](https://px4.io/ecosystem/commercial-systems/) and in the [Airframes Reference](../airframes/airframe_reference.md). - Consumer drones run PX4 natively/"out of the box": - - Multicopter + - 多旋翼 - [Teal One](https://tealdrones.com/teal-one/) - [NXP HoverGames KIT-HGDRONEK66](https://www.nxp.com/KIT-HGDRONEK66) ([hovergames.com](https://www.hovergames.com/)) - [ModalAI m500](https://modalai.com/products/voxl-m500) - - VTOL + - 垂直起降 - [Vertical Technologies DeltaQuad](https://px4.io/portfolio/deltaquad-vtol/) - Consumer drones that can be updated to run PX4 (from other flight stacks): @@ -19,16 +19,16 @@ This section contains information about complete vehicles that run PX4. - Consumer drones run a custom version of PX4 (supported by their vendors): - - Multicopter + - 多旋翼 - [Yuneec Typhoon H Plus](https://us.yuneec.com/typhoon-h-plus) - [Yuneec Mantis Q](https://px4.io/portfolio/yuneec-mantis-q/) - [Yuneec H520](https://px4.io/portfolio/yuneec-h520-hexacopter/) - [Airlango Mystic](http://airlango.com/products/) - [Airdog II](https://px4.io/portfolio/airdog-ii/) - [AeroSense Aerobo (AS-MC02-P)](https://px4.io/portfolio/aerosense-aerobo/) - - Fixed Wing: + - 固定翼: - [Sentera PXH](https://px4.io/portfolio/sentera-phx/) - - VTOL + - 垂直起降 - [WingtraOne Tailsitter VTOL](https://px4.io/portfolio/wingtraone-tailsitter-vtol/) - [Flightwave Edge](https://px4.io/portfolio/flywave-edge/) - Drone Development Kits diff --git a/zh/complete_vehicles/betafpv_beta75x.md b/zh/complete_vehicles/betafpv_beta75x.md index 91b3016a2362..18bfd74e8bde 100644 --- a/zh/complete_vehicles/betafpv_beta75x.md +++ b/zh/complete_vehicles/betafpv_beta75x.md @@ -15,13 +15,13 @@ BetaFPV的这款Beta75X 小型四旋翼穿越机, 可以进行室内或室外的 - 一个遥控器以及接收机。 *Beta75X* 可以多个和多种接收机一起购买。 PX4 能够兼容这些版本的接收机, 但请务必选择与您的遥控器 匹配的版本。 - 锂电池充电器 (飞机发货时包含一块电池, 但你可能想要额外备用的)。 -- 如果你想进行 FPV飞行, 那你则需要一副 FPV眼镜。 There are many compatible options, including these ones from [Fatshark](https://www.fatshark.com/product/dominator-hd-v3-fpv-headset-goggles/). >**注意** FPV支持是完全独立于PX4或者是其它的飞行控制器的。 +- 如果你想进行 FPV飞行, 那你则需要一副 FPV眼镜。 除了[Fatshark](https://www.fatshark.com/product/dominator-hd-v3-fpv-headset-goggles/) 以外，还有许多兼容的备选方案。 >**注意** FPV支持是完全独立于PX4或者是其它的飞行控制器的。 ## 刷写 Bootloader *Beta75X*预装的是Betaflight。 -在刷 PX4 固件之前，您必须先安装 PX4 的bootloader。 Instructions for installing the bootloader can be found in the [Omnibus F4](../flight_controller/omnibus_f4_sd.md#bootloader) topic (this is the flight controller board on the *Beta75X*). +在刷 PX4 固件之前，您必须先安装 PX4 的bootloader。 安装引导程序的说明可以在 [Omnibus F4](../flight_controller/omnibus_f4_sd.md#bootloader)主题中找到 (这是 基于*Beta 75X*的飞行控制)。 > **Tip** You can always [reinstall Betaflight](../advanced_config/bootloader_update_from_betaflight.md#reinstall_betaflight) later if you want! diff --git a/zh/complete_vehicles/crazyflie2.md b/zh/complete_vehicles/crazyflie2.md index 411dc36da62b..e8e725ff8710 100644 --- a/zh/complete_vehicles/crazyflie2.md +++ b/zh/complete_vehicles/crazyflie2.md @@ -1,16 +1,16 @@ # Crazyflie 2.0 -> **Warning** PX4 does not manufacture this (or any) autopilot. Contact the [manufacturer](https://www.bitcraze.io/) for hardware support or compliance issues. +> **Warning** PX4 不生产这款且也不生产任何自动驾驶仪。 若需要硬件支持或咨询合规问题，请联系 [制造商](https://www.bitcraze.io/)。 -> **Warning** PX4 support for this flight controller is [experimental](../flight_controller/autopilot_experimental.md). +> **Warning** PX4 [实验性地](../flight_controller/autopilot_experimental.md) 支持此飞行控制器。 The Crazyflie line of micro quads was created by Bitcraze AB.An overview of the Crazyflie 2.0 can be [found here](https://www.bitcraze.io/crazyflie-2/). ![Crazyflie2 Image](../../assets/flight_controller/crazyflie/crazyflie2_hero.png) -## Quick Summary +## 概览 > **Note** The main hardware documentation is here: https://wiki.bitcraze.io/projects:crazyflie2:index @@ -21,7 +21,7 @@ The Crazyflie line of micro quads was created by Bitcraze AB.An overview of the * MPU9250 Accel / Gyro / Mag * LPS25H barometer -## Where to Buy +## 在哪里买 * [Crazyflie 2.0](https://store.bitcraze.io/collections/kits/products/crazyflie-2-0). * [Crazyradio PA 2.4 GHz USB dongle](https://store.bitcraze.io/collections/kits/products/crazyradio-pa): used for wireless communication between *QGroundControl* and Crazyflie 2.0. @@ -110,7 +110,7 @@ To connect Crazyflie 2.0 with crazyradio, **launch cfbridge** by following these ![](../../assets/hardware/joystick-message-frequency.png) -## Hardware Setup +## 硬件连接 Crazyflie 2.0 is able to fly with precise control in [Stabilized mode](../flight_modes/manual_stabilized_mc.md), [Altitude mode](../flight_modes/altitude_mc.md) and [Position mode](../flight_modes/position_mc.md). @@ -187,6 +187,6 @@ To connect to Crazyflie 2.0 via MAVROS: * Start MAVROS with command: ```roslaunch mavros px4.launch fcu_url:="udp://:14550@127.0.0.1:14551" gcs_url:="udp://@127.0.0.1:14557"``` * Restart QGroundControl if it doesn't connect. -## Flying +## 飞行 {% youtube %}https://www.youtube.com/watch?v=2Bcy3k1h5uc{% endyoutube %} \ No newline at end of file diff --git a/zh/complete_vehicles/holybro_kopis2.md b/zh/complete_vehicles/holybro_kopis2.md index 61d0becad6a3..91f8953a211c 100644 --- a/zh/complete_vehicles/holybro_kopis2.md +++ b/zh/complete_vehicles/holybro_kopis2.md @@ -4,38 +4,38 @@ The [Holybro Kopis 2](http://www.holybro.com/product/kopis-2/) is a ready-to-fly ![Kopis 2](../../assets/hardware/holybro_kopis2.jpg) -## Where to Buy +## 购买渠道 The *Kopis 2* can be bought from a number of vendors, including: - [Holybro](https://shop.holybro.com/kopis-2_p1114.html) - [GetFPV](https://www.getfpv.com/holybro-kopis-2-fpv-racing-drone-pnp.html) -In addition you will need: +另外你还需要一些其它的配件： -- An RC transmitter. The *Kopis 2* can ship with an FrSky receiver or no receiver at all. +- 一个遥控器以及接收机。 The *Kopis 2* can ship with an FrSky receiver or no receiver at all. - LiPo battery and charger. -- FPV goggles if you want to fly FPV. There are many compatible options, including these ones from [Fatshark](https://www.fatshark.com/product/dominator-hd-v3-fpv-headset-goggles/). > **Note** FPV support is completely independent of PX4/flight controller. +- 如果你想进行 FPV飞行, 那你则需要一副 FPV眼镜。 除了[Fatshark](https://www.fatshark.com/product/dominator-hd-v3-fpv-headset-goggles/) 以外，还有许多兼容的备选方案。 >**注意** FPV支持是完全独立于PX4或者是其它的飞行控制器的。 -## Flashing PX4 Bootloader +## 刷写 Bootloader The *Kopis 2* comes preinstalled with Betaflight. -Before loading PX4 firmware you must first install the PX4 bootloader. Instructions for installing the bootloader can be found in the [Kakute F7](../flight_controller/kakutef7.md#bootloader) topic (this is the flight controller board on the *Kopis 2*). +在刷 PX4 固件之前，您必须先安装 PX4 的bootloader。 Instructions for installing the bootloader can be found in the [Kakute F7](../flight_controller/kakutef7.md#bootloader) topic (this is the flight controller board on the *Kopis 2*). > **Tip** You can always [reinstall Betaflight](../advanced_config/bootloader_update_from_betaflight.md#reinstall_betaflight) later if you want! -## Installation/Configuration +## 安装配置 -Once the bootloader is installed, you should be able to connect the vehicle to *QGroundControl* via a USB cable. +一旦安装了bootloader引导程序之后，您就可以通过USB接口连接 *QGroundControl*地面站 > **Note** At time of writing *Kopis 2* is supported on the QGroundControl *Daily Build*, and prebuilt firmware is provided for the master branch only (stable releases are not yet available). -To install and configure PX4: +安装和配置 PX4: -- [Load PX4 Firmware](../config/firmware.md). +- [首先更新PX4 固件目录](../config/firmware.md)。 - [Set the Airframe](../config/airframe.md) to *Holybro Kopis 2*. -- Continue with [basic configuration](../config/README.md), including sensor calibration and radio setup. +- 再继续进行一些[基本配置](../config/README.md)，包括传感器校准和电台设置。 -The hardware and software should be set up as described in the [PX4/avoidance](https://github.com/PX4/avoidance#obstacle-detection-and-avoidance) repo. In order to emit `OBSTACLE_DISTANCE` messages you must use the *rqt_reconfigure* tool and set the parameter `send_obstacles_fcu` to true. +软硬件的配置应遵照 [PX4/avoidance](https://github.com/PX4/avoidance#obstacle-detection-and-avoidance) 代码仓库的说明。 要发出 `OBSTACLE_DISTANCE`消息，必须使用*rqt_reconfigure*工具，并将参数`send_obstacles_fcu`设置为true。 -## Gazebo Setup +## Gazebo设置 -*Collision Prevention* can also be tested using Gazebo. See [PX4/avoidance](https://github.com/PX4/avoidance#obstacle-detection-and-avoidance) for setup instructions. +*防撞*功能支持Gazebo仿真测试。 设置方法请遵照[PX4/avoidance](https://github.com/PX4/avoidance#obstacle-detection-and-avoidance)的说明。 diff --git a/zh/computer_vision/motion_capture.md b/zh/computer_vision/motion_capture.md index 40a16e2f93ef..208c343cbc12 100644 --- a/zh/computer_vision/motion_capture.md +++ b/zh/computer_vision/motion_capture.md @@ -10,7 +10,7 @@ ## MoCap Resources -For information about MoCap see: +有关MoCap的信息，请参阅： - [Using Vision or Motion Capture Systems for Position Estimation](../ros/external_position_estimation.md) (PX4 Developer Guide) - [Flying with Motion Capture (VICON, Optitrack)](../tutorials/motion-capture-vicon-optitrack.md) (PX4 Developer Guide) - [EKF > External Vision System](../advanced_config/tuning_the_ecl_ekf.md#external-vision-system) diff --git a/zh/computer_vision/obstacle_avoidance.md b/zh/computer_vision/obstacle_avoidance.md index f1bfac1265ab..2eb0f3c26463 100644 --- a/zh/computer_vision/obstacle_avoidance.md +++ b/zh/computer_vision/obstacle_avoidance.md @@ -18,49 +18,49 @@ -## Offboard Mode Avoidance +## Offboard模式避障 PX4 supports obstacle avoidance in [Offboard mode](../flight_modes/offboard.md). -The desired route comes from a [ROS](../ros/README.md) node running on a companion computer. This is passed into an obstacle avoidance module (another ROS node). The avoidance software sends the planned path to the flight stack as a stream of `SET_POSITION_TARGET_LOCAL_NED` messages. +期望路径来自在配套计算机上运行的一个 [ROS](../ros/README.md) 节点。 并传递给自主避障模块（另一个ROS节点）。 避障软件将规划路径通过 `SET_POSITION_TARGET_LOCAL_NED` 消息流发送给飞行控制栈。 The only required PX4-side setup is to put PX4 into *Offboard mode*. -Companion-side hardware setup and hardware/software configuration is provided in the [PX4/avoidance](https://github.com/PX4/avoidance#obstacle-detection-and-avoidance) Github repo. +机载计算机端的硬件设置和软硬件配置在 Github 代码仓库 [PX4/avoidance](https://github.com/PX4/avoidance#obstacle-detection-and-avoidance) 中已经提供。 -## Mission Mode Avoidance +## 任务模式避障 -PX4 supports obstacle avoidance in [Mission mode](../flight_modes/mission.md), using avoidance software running on a separate companion computer. +PX4支持 [任务模式](../flight_modes/mission.md) 避障，需要使用一台独立的运行避障软件的机载计算机配合。 ### 任务模式的变化 -Mission behaviour with obstacle avoidance enabled is *slightly different* to the original plan. +开启自主避障功能的任务模式的行为有*些许不同*。 -The difference when avoidance is active are: +激活避障之后的不同之处有： -- A waypoint is "reached" when the vehicle is within the acceptance radius, regardless of its heading. - - This differs from normal missions, in which the vehicle must reach a waypoint with a certain heading (i.e. in a "close to" straight line from the previous waypoint). This constraint cannot be fulfilled when obstacle avoidance is active because the obstacle avoidance algorithm has full control of the vehicle heading, and the vehicle always moves in the current field of view. -- PX4 starts emitting a new current/next waypoint once the previous waypoint is reached (i.e. as soon as vehicle enters its acceptance radius). -- If a waypoint is *inside* an obstacle it may unreachable (and the mission will be stuck). - - If the vehicle projection on the line previous-current waypoint passes the current waypoint, the acceptance radius is enlarged such that the current waypoint is set as reached - - If the vehicle within the x-y acceptance radius, the altitude acceptance is modified such that the mission progresses (even if it is not in the altitude acceptance radius). -- The original mission speed (as set in *QGroundControl*/PX4) is ignored. The speed will be determined by the avoidance software: - - *local planner* mission speed is around 3 m/s. - - *global planner* mission speed is around 1-1.5 m/s. +- 飞机距离目标航点小于阈值半径，即判定为抵达，不考虑航向。 + - 在普通任务模式下，飞机必须沿某一航向抵达目标航点（比如从上一航点沿直线靠近）。 This constraint cannot be fulfilled when obstacle avoidance is active because the obstacle avoidance algorithm has full control of the vehicle heading, and the vehicle always moves in the current field of view. +- 一旦判定为到达某航点（即距离航点小于阈值半径），PX4就开始切换新的当前航点与下一个航点。 +- 如果一个航点在某个障碍物*之内*，有可能无法抵达（任务将被阻塞）。 + - 如果飞机在上一航点与当前航点连线上的投影经过了当前航点，阈值半径将被放大，当前航点将被标记为抵达。 + - 如果载具只能进入x-y方向的阈值半径，高度方向的可接受阈值将被修改，然后任务将继续（即使无法进入高度的可接受半径）。 +- （由 *QGroundControl*或PX4）预设的任务模式速度将被忽略。 速度将由避障软件决定： + - *local planner* 任务速度约 3m/s。 + - *global planner* 任务速度约 1~1.5 m/s。 If PX4 stops receiving setpoint updates for more than half a second it will switch into [Hold mode](../flight_modes/hold.md). -### PX4 Configuration +### PX4 配置 Obstacle avoidance is enabled within PX4 by [setting](../advanced_config/parameters.md) the [COM_OBS_AVOID](../advanced_config/parameter_reference.md#COM_OBS_AVOID) to 1. > **Note** `COM_OBS_AVOID` also enables [Safe Landing](../computer_vision/safe_landing.md) and any other features that use the PX4 [Path Planning Offoard Interface](../computer_vision/path_planning_interface.md) (Trajectory Interface) to integrate external path planning services with PX4. -## Companion Computer Setup +## 机载计算机设置 -Companion-side hardware setup and hardware/software configuration is provided in the [PX4/avoidance](https://github.com/PX4/avoidance#obstacle-detection-and-avoidance) Github repo. +机载计算机端的硬件设置和软硬件配置在 Github 代码仓库 [PX4/avoidance](https://github.com/PX4/avoidance#obstacle-detection-and-avoidance) 中已经提供。 Obstacle avoidance in missions can use either the *local planner* or *global planner* (the local planner is recommended/better performing). diff --git a/zh/computer_vision/path_planning_interface.md b/zh/computer_vision/path_planning_interface.md index 880ce03e7e49..bd4f3a7a5e26 100644 --- a/zh/computer_vision/path_planning_interface.md +++ b/zh/computer_vision/path_planning_interface.md @@ -48,33 +48,33 @@ PX4 sends the desired path in [TRAJECTORY_REPRESENTATION_WAYPOINTS](https://mavl The fields set by PX4 as shown: -- `time_usec`: UNIX Epoch time. +- `time_usec`: UNIX纪元时间戳 - `valid_points`: 3 - Point 0 - Current waypoint *type adapted* by FlightTaskAutoMapper (see [notes below](#type_adapted)): - `pos_x[0]`, `pos_y[0]`, `pos_z[0]`: Type adapted x-y-z NED local position of *current* mission waypoint. - `vel_x[0]`, `vel_y[0]`, `vel_z[0]`: Type adapted x-y-z NED local velocity of *current* mission waypoint. - `acc_x[0]`, `acc_y[0]`, `acc_z[0]`: NaN - - `pos_yaw[0]`: Current yaw angle + - `pos_yaw[0]`: 当前航向角 - `vel_yaw[0]`: NaN - `command[0]`: The [MAVLink Command](https://mavlink.io/en/messages/common.html#mav_commands) for the current waypoint. - Point 1 - Current waypoint (Unmodified/not type adapted)): - - `pos_x[1]`, `pos_y[1]`, `pos_z[1]`: x-y-z NED local position of *current* mission waypoint + - `pos_x[1]`, `pos_y[1]`, `pos_z[1]`: x-y-z NED 坐标系下的 *当前* 任务航点位置坐标 - `vel_x[1]`, `vel_y[1]`, `vel_z[1]`: NaN - `acc_x[1]`, `acc_y[1]`, `acc_z[1]`: NaN - - `pos_yaw[1]`: Yaw setpoint - - `vel_yaw[1]`: Yaw speed setpoint + - `pos_yaw[1]`: 航向设定值 + - `vel_yaw[1]`: 偏航速率设定值 - `command[1]`: The [MAVLink Command](https://mavlink.io/en/messages/common.html#mav_commands) for the current waypoint. - Point 2 - Next waypoint in local coordinates (unmodified/not type adapted): - - `pos_x[2]`, `pos_y[2]`, `pos_z[2]`: x-y-z NED local position of *next* mission waypoint + - `pos_x[2]`, `pos_y[2]`, `pos_z[2]`: x-y-z NED 坐标系 *下一个* 任务航点位置坐标 - `vel_x[2]`, `vel_y[2]`, `vel_z[2]`: NaN - `acc_x[2]`, `acc_y[2]`, `acc_z[2]`: NaN - - `pos_yaw[2]`: Yaw setpoint - - `vel_yaw[2]`: Yaw speed setpoint + - `pos_yaw[2]`: 航向设定值 + - `vel_yaw[2]`: 偏航速率设定值 - `command[2]`: The [MAVLink Command](https://mavlink.io/en/messages/common.html#mav_commands) for the next waypoint. -- All other indices/fields are set as NaN. +- 所有其它字段都是NaN(未定义)。 -Notes: +备注： - Point 0 is the current waypoint/target modified based on the type of target. For example, it makes sense when landing to specify the target x, y coordinates and a descent velocity. To achieve this `FlightTaskAutoMapper` modifies land waypoints in Point 0 to set the z component of position to NAN and the z-velocity to a desired value. - Point 1 and 2 are not used by the safe landing planner. @@ -105,16 +105,16 @@ The path planning software (running on the companion computer) *may* send the pl The fields for the messages from the companion computer are set as shown: -- `time_usec`: UNIX Epoch time. +- `time_usec`: UNIX纪元时间戳 - `valid_points`: 1 -- Current vehicle information: - - `pos_x[0]`, `pos_y[0]`, `pos_z[0]`: x-y-z NED vehicle local position setpoint - - `vel_x[0]`, `vel_y[0]`, `vel_z[0]`: x-y-z NED velocity setpoint +- 当前飞机信息： + - `pos_x[0]`, `pos_y[0]`, `pos_z[0]`: x-y-z NED坐标系下的载具位置设定值 + - `vel_x[0]`, `vel_y[0]`, `vel_z[0]`: x-y-z NED 坐标系下速度设定值 - `acc_x[0]`, `acc_y[0]`, `acc_z[0]`: NaN - - `pos_yaw[0]`: Yaw angle setpoint - - `vel_yaw[0]`: Yaw speed setpoint + - `pos_yaw[0]`: 航向角设定值 + - `vel_yaw[0]`: 偏航速率设定值 - `command[0]`: NaN. -- All other indices/fields are set as NaN. +- 所有其它字段都是NaN(未定义)。 A planner that implements this interface must: diff --git a/zh/computer_vision/safe_landing.md b/zh/computer_vision/safe_landing.md index d0445453e426..053579a80c99 100644 --- a/zh/computer_vision/safe_landing.md +++ b/zh/computer_vision/safe_landing.md @@ -1,4 +1,4 @@ -# Safe Landing +# 安全着陆 The *Safe Landing* feature ensures that vehicles only land on flat terrain. @@ -16,13 +16,13 @@ Safe landing is designed for finding flat areas in rough terrain. - Landing on water may occur if using radar or ultrasound sensors, but should not occur if using stereo cameras or LIDAR. - The system will only land if it is able to detect ground. For stereo cameras, water that is rough enough to have sufficient distinguishing features for analysis will not be flat enough to land on. -## PX4 Configuration +## PX4配置 Safe landing is enabled within PX4 by [setting](../advanced_config/parameters.md) the [COM_OBS_AVOID](../advanced_config/parameter_reference.md#COM_OBS_AVOID) to 1. > **Note** `COM_OBS_AVOID` also enables [Obstacle Avoidance in Missions](../computer_vision/obstacle_avoidance.md#mission_mode) and any other features that use the [Path Planning Offboard Interface](../computer_vision/path_planning_interface.md) (Trajectory Interface) to integrate external path planning services with PX4. -## Companion Computer Setup +## 机载计算机设置 Companion-side setup and configuration is provided in the [PX4/avoidance](https://github.com/PX4/avoidance#obstacle-detection-and-avoidance) Github repo. @@ -45,7 +45,7 @@ The interface (messages sent) between PX4 and the companion are exactly the same Tested companion computers and cameras are listed in [PX4/avoidance](https://github.com/PX4/avoidance#run-on-hardware). -## Further Information +## 更多信息 * [Vision and offboard control interfaces](https://youtu.be/CxIsJWtVaTA?t=963) (PX4 Developer Summit 2019: Martina Rivizzigno, Auterion Computer Vision Engineer) * [PX4/avoidance](https://github.com/PX4/avoidance) diff --git a/zh/computer_vision/visual_inertial_odometry.md b/zh/computer_vision/visual_inertial_odometry.md index 198018c5604e..4e052be048d6 100644 --- a/zh/computer_vision/visual_inertial_odometry.md +++ b/zh/computer_vision/visual_inertial_odometry.md @@ -41,7 +41,7 @@ To setup the Bridge, ROS and PX4: cd ~/catkin_ws/src git clone https://github.com/Auterion/VIO.git ``` - - Build the package: + - 构建软件包: ``` cd ~/catkin_ws/src catkin build px4_realsense_bridge @@ -77,31 +77,31 @@ To setup the Bridge, ROS and PX4: The following parameters must be set to use external position information with EKF2. -| Parameter | Setting for External Position Estimation | -| ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------ | -| [EKF2_AID_MASK](../advanced_config/parameter_reference.md#EKF2_AID_MASK) | Set *vision position fusion*, *vision velocity fusion*, *vision yaw fusion* and *external vision rotation* accoring to your desired fusion model. | -| [EKF2_HGT_MODE](../advanced_config/parameter_reference.md#EKF2_HGT_MODE) | Set to *Vision* to use the vision a primary source for altitude estimation. | -| [EKF2_EV_DELAY](../advanced_config/parameter_reference.md#EKF2_EV_DELAY) | Set to the difference between the timestamp of the measurement and the "actual" capture time. For more information see [below](#tuning-EKF2_EV_DELAY). | -| [EKF2_EV_POS_X](../advanced_config/parameter_reference.md#EKF2_EV_POS_X), [EKF2_EV_POS_Y](../advanced_config/parameter_reference.md#EKF2_EV_POS_Y), [EKF2_EV_POS_Z](../advanced_config/parameter_reference.md#EKF2_EV_POS_Z) | Set the position of the vision sensor with respect to the vehicles body frame. | +| 参数 | 外部位置估计的设置 | +| ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------ | +| [EKF2_AID_MASK](../advanced_config/parameter_reference.md#EKF2_AID_MASK) | 设置 *视觉位置合成* 和 *视觉偏航合成* | +| [EKF2_HGT_MODE](../advanced_config/parameter_reference.md#EKF2_HGT_MODE) | 设置为 *Vision* 使用视觉作为高度估计的主要来源。 | +| [EKF2_EV_DELAY](../advanced_config/parameter_reference.md#EKF2_EV_DELAY) | 设置为测量的时间戳和 "实际" 捕获时间之间的差异。 有关详细信息，请参阅 [below](#tuning-EKF2_EV_DELAY)。 | +| [EKF2_EV_POS_X](../advanced/parameter_reference.md#EKF2_EV_POS_X), [EKF2_EV_POS_Y](../advanced/parameter_reference.md#EKF2_EV_POS_Y), [EKF2_EV_POS_Z](../advanced/parameter_reference.md#EKF2_EV_POS_Z) | Set the position of the vision sensor with respect to the vehicles body frame. | These can be set in *QGroundControl* > **Vehicle Setup > Parameters > EKF2** (remember to reboot the flight controller in order for parameter changes to take effect). For more detailed/additional information, see: [ECL/EKF Overview & Tuning > External Vision System](../advanced_config/tuning_the_ecl_ekf.md#external-vision-system). -#### Tuning EKF2_EV_DELAY +#### 调参 EKF2_EV_DELAY -[EKF2_EV_DELAY](../advanced_config/parameter_reference.md#EKF2_EV_DELAY) is the *Vision Position Estimator delay relative to IMU measurements*. In other words, it is the difference between the vision system timestamp and the "actual" capture time that would have been recorded by the IMU clock (the "base clock" for EKF2). +换句话说，它是视觉系统时间戳和 "实际" 捕获时间之间的差异，将记录的 IMU 时钟（"基本时钟" 为 ekf2）。 In other words, it is the difference between the vision system timestamp and the "actual" capture time that would have been recorded by the IMU clock (the "base clock" for EKF2). -Technically this can be set to 0 if there is correct timestamping (not just arrival time) and timesync (e.g NTP) between MoCap and (for example) ROS computers. In reality, this may need some empirical tuning becuase delays in the communication chain are very setup-specific. It is rare that a system is setup with an entirely synchronised chain! +从技术上讲，如果 MoCap 和（例如）ROS 计算机之间有正确的时间戳（而不仅仅是到达时间）和时间同步（例如 NTP），则可以将其设置为0。 In reality, this may need some empirical tuning becuase delays in the communication chain are very setup-specific. 系统设置完全同步链的情况很少见! -A rough estimate of the delay can be obtained from logs by checking the offset between IMU rates and the EV rates: +通过检查 IMU 速率和 EV 速率之间的偏移量，可以从日志中获得延迟的粗略估计： -![ekf2_ev_delay log](../../assets/ekf2/ekf2_ev_delay_tuning.png) +![ekf2_ev_delay 日志](../../assets/ekf2/ekf2_ev_delay_tuning.png) > **Note** A plot of external data vs. onboard estimate (as above) can be generated using [FlightPlot](../log/flight_log_analysis.md#flightplot) or similar flight analysis tools. -The value can further be tuned by varying the parameter to find the value that yields the lowest EKF innovations during dynamic maneuvers. +该值可以通过不同的参数一起调整，在动态变化中来保证最低 EKF 。 ## Check/Verify VIO Estimate @@ -119,14 +119,14 @@ Perform the following checks to verify that VIO is working properly *before* you If those steps are consistent, you can try your first flight: 1. Put the vehicle on the ground and start streaming `ODOMETRY` feedback (as above). Lower your throttle stick and arm the motors. - At this point, with the left stick at the lowest position, switch to position control. You should have a green light. The green light tells you that position feedback is available and position control is now activated. + 此时，设置为位置控制模式。 如果切换成功，飞控会闪绿灯。 绿灯代表：你的外部位置信息已经注入到飞控中，并且位置控制模式已经切换成功。 1. Put the throttle stick in the middle (the dead zone) so that the vehicle maintains its altitude. Raising the stick will increase the reference altitude while lowering the value will decrease it. Similarly the other stick will change position over ground. 1. Increase the value of the throttle stick and the vehicle will take off, put it back to the middle right after. 1. Confirm that the vehicle can hold its position. -## Troubleshooting +## 故障处理 First make sure MAVROS is able to connect successfully to the flight controller. @@ -142,14 +142,14 @@ If it is connecting properly common problems/solutions are: - This is really difficult, because when they disagree it will confuse the EKF. From testing it is more reliable to just use vision velocity (if you figure out a way to make this configuration reliable, let us know). -## Developer Information +## 开发人员信息 Developers who are interested in extending this implementation (or writing a different one, which might not depend on ROS) should see [Using Vision or Motion Capture Systems for Position Estimation](../ros/external_position_estimation.md) (PX4 Developer Guide). This topic also explains how to configure VIO for use with the LPE Estimator (deprecated). -## Further Information +## 更多信息 - [ECL/EKF Overview & Tuning > External Vision System](../advanced_config/tuning_the_ecl_ekf.md#external-vision-system) - [Snapdragon > Installation > Install Snap VIO](../flight_controller/snapdragon_flight_software_installation.md#install-snap-vio) \ No newline at end of file diff --git a/zh/concept/README.md b/zh/concept/README.md index 655ef0080dd4..c7330533aa84 100644 --- a/zh/concept/README.md +++ b/zh/concept/README.md @@ -1,3 +1,3 @@ -# Concepts +# 概念 -This section contains topics about the [PX4 System Architecture](../concept/architecture.md) and other core concepts. \ No newline at end of file +本节包含有关[PX4系统体系结构](../concept/architecture.md)和其他核心概念的主题。 \ No newline at end of file diff --git a/zh/concept/architecture.md b/zh/concept/architecture.md index 160269deb3bd..0884ec612abc 100644 --- a/zh/concept/architecture.md +++ b/zh/concept/architecture.md @@ -45,7 +45,7 @@ PX4 系统通过一个名为 [uORB](../middleware/uorb.md) 的 发布-订阅 消 飞行控制栈是针对自主无人机设计的导航、制导和控制算法的集合。 它包括了为固定翼、旋翼和 VTOL 无人机设计的控制器，以及相应的姿态、位置估计器。 -The following diagram shows an overview of the building blocks of the flight stack. 下图展示了飞行控制栈的整体架构， 它包含了从传感器数据、 RC 控制量输入 到自主飞行控制（制导控制器，Navigator ），再到电机、舵机控制（执行器，Actuators）的全套通路。 +下图展示了飞行控制栈的整体架构， 下图展示了飞行控制栈的整体架构， 它包含了从传感器数据、 RC 控制量输入 到自主飞行控制（制导控制器，Navigator ），再到电机、舵机控制（执行器，Actuators）的全套通路。 ![PX4 顶层飞行控制栈](../../assets/diagrams/PX4_High-Level_Flight-Stack.svg) **估计器 （estimator）** 取一个或者多个传感器数据作为输入量，并进行数据融合进而计算出无人机的状态（例如：从 IMU 传感器数据计算得到无人机的姿态角）。 -**控制器 （controller）** 组件以一个期望设定值和一个测量值或状态估计量（过程变量）作为输入， 它的目标是将过程变量的实际值调整到与期望设定值相一致， 得到的输出量实现对状态变量的矫正以使其最终抵达期望的设定值。 Its goal is to adjust the value of the process variable such that it matches the setpoint. The output is a correction to eventually reach that setpoint. 以位置控制器为例，该控制器以期望位置作为输入，过程变量是当前位置的估计值，控制器最终输出的是将引导无人机前往期望位置的姿态、油门指令。 +**控制器 （controller）** 组件以一个期望设定值和一个测量值或状态估计量（过程变量）作为输入， 它的目标是将过程变量的实际值调整到与期望设定值相一致， 得到的输出量实现对状态变量的矫正以使其最终抵达期望的设定值。 它的目标是将过程变量的实际值调整到与期望设定值相一致， 得到的输出量实现对状态变量的矫正以使其最终抵达期望的设定值。 以位置控制器为例，该控制器以期望位置作为输入，过程变量是当前位置的估计值，控制器最终输出的是将引导无人机前往期望位置的姿态、油门指令。 **混合器 （mixer）** 响应力的指令（例如右转），并将其转换为单独的电机指令并保证产生的指令不超限。 每一类飞机都有特定的指令转换方式且受许多因素的影响，例如：电机关于重心的安装位置，飞机的惯性矩参数等。 diff --git a/zh/concept/custom_mixer_payload.md b/zh/concept/custom_mixer_payload.md index 0d245e72e796..cda8d0316c51 100644 --- a/zh/concept/custom_mixer_payload.md +++ b/zh/concept/custom_mixer_payload.md @@ -1,58 +1,58 @@ -# Custom Payload Mixers +# 自定义有效载荷混控器 -This topic shows how to add a custom [mixer](../concept/mixing.md) for programmatically controlling a custom payload (e.g., an electromagnetic gripper). +此主题展示了如何添加一个用以可编程控制自定义载荷的自定义的[混控器](../concept/mixing.md)（比如电磁控制的机械手） -The topic is intended for developers who want to support payload types that do not have existing control group definitions (e.g. gimbals have a control group, but grippers do not). You should already have read [Mixing and Actuators](../concept/mixing.md). +此主题是为那些想要支持现在没有现成控制组定义的载荷的开发者（比如说，云台有一个现成的控制组，但是机械手没有） 您应该已经阅读过[混控和执行器](../concept/mixing.md) -## Payload Mixer Example +## 载荷混控器示例 -A payload mixer is just a [summing mixer](../concept/mixing.md#summing_mixer) that maps any of the function values from [Control Group #6 (First Payload)](../concept/mixing.md#control_group_6) to a particular output. You can then publish uORB topics to the selected control group function and their value will be mapped to the specified output. +A payload mixer is just a [summing mixer](../concept/mixing.md#summing_mixer) that maps any of the function values from [Control Group #6 (First Payload)](../concept/mixing.md#control_group_6) to a particular output. 随后您可以将 uORB 主题发布到选定的控制组函数中，其值将被映射到指定的输出。 -For this example, we'll create a custom mixer based on the *RC passthrough mixer* ([pass.aux.mix](https://github.com/PX4/PX4-Autopilot/blob/master/ROMFS/px4fmu_common/mixers/pass.aux.mix)). This mixer is commonly loaded into the AUX PWM ports on large multicopters). It passes through the values of 4 user-defined RC channels (set using the [RC_MAP_AUXx/RC_MAP_FLAPS](../advanced_config/parameter_reference.md#RC_MAP_AUX1) parameters) to the first four outputs on the AUX PWM output. +在这个例子中，我们将创建一个基于*遥控信号直穿的混控器*（[穿过辅助混控器](https://github.com/PX4/PX4-Autopilot/blob/master/ROMFS/px4fmu_common/mixers/pass.aux.mix)） 这个混控器通常被加载到大型多旋翼的 AUX PWM 端口)。 它将4个用户自定义的遥控信号值（使用[RC_MAP_AUXx/RC_MAP_FLAPS](../advanced_config/parameter_reference.md#RC_MAP_AUX1)参数）直传到4个AUX口作为PWM输出 ``` -# Manual pass through mixer for servo outputs 1-4 +# 输出1-4的手动直传混控器 -# AUX1 channel (select RC channel with RC_MAP_AUX1 param) +# AUX1通道 (由 RC_MAP_AUX1 参数选择遥控器的通道) M: 1 S: 3 5 10000 10000 0 -10000 10000 -# AUX2 channel (select RC channel with RC_MAP_AUX2 param) +# AUX2 通道(由 RC_MAP_AUX2 参数选择遥控器的通道) M: 1 S: 3 6 10000 10000 0 -10000 10000 -# AUX3 channel (select RC channel with RC_MAP_AUX3 param) +# AUX3 通道(由 RC_MAP_AUX3 参数选择遥控器的通道) M: 1 S: 3 7 10000 10000 0 -10000 10000 -# FLAPS channel (select RC channel with RC_MAP_FLAPS param) +# 襟翼通道 (由 RC_MAP_FLAPS 参数选择遥控器的通道) M: 1 S: 3 4 10000 10000 0 -10000 10000 ``` -> **Note** The file defines four [summing mixers](../concept/mixing.md#summing_mixer) (for four outputs). - `M: 1` indicates an output that is defined by one control input (the following `S` line). - `S: 3`_`n`_ indicates that the input is the n<>th<> input of [Control Group 3 (Manual Passthrough)](../concept/mixing.md#control-group-3-manual-passthrough). So for `S: 3 5` the input is called "RC aux1" (this maps to the RC channel set in parameter `RC_MAP_AUX1`). - The section declaration order defines the order of the outputs when assigned to a physical bus (e.g. the third section might be assigned to AUX3). +> **Note** The file defines four [summing mixers](../concept/mixing.md#summing_mixer) (for four outputs). - `M：1` 表示由一个控制输入定义的输出(以下的`S` 行内容)。 - `S：3`_`n`_ 表示输入的是<>th<> 输入的[控制组3(手动通过)](../concept/mixing.md#control-group-3-manual-passthrough)。 所以对于r `S: 3 5` 输入被称为"RC aux1" （这表示参数`RC_MAP_AUX1`映射到遥控器通道） - The section declaration order defines the order of the outputs when assigned to a physical bus (e.g. the third section might be assigned to AUX3). Start by copying the mixer file and putting it onto the SD Card at: **/etc/mixers/pass.aux.mix** (see [Mixing and Actuators > Loading a Custom Mixer](../concept/mixing.md#loading_custom_mixer). -Remove the first section with a payload control group function input: -- Change this: +删除带有载荷控制组函数输入的第一个部分： +- 更改此项 ``` - # AUX1 channel (control group 3, RC CH5) (select RC channel with RC_MAP_AUX1 param) + # AUX1 通道(控制组 3, 遥控器5通道) ( RC_MAP_AUX1参数决定使用哪个遥控器通道) M: 1 S: 3 5 10000 10000 0 -10000 10000 ``` -- To: +- 为： ``` - # Payload 1 (control group 6) channel 1 + # 载荷1（控制组6）通道1 M: 1 - S: 6 1 10000 10000 0 -10000 10000 + S: 6 1 100001 0000 -10000 1 0000 ``` -Because this output is in the first position in the file it will map to the first AUX PWM output (unless UAVCAN is enabled). This output will now respect updates to the payload control group (6) output 1. +因为这个输出处于文件中的第一个位置，它将映射到第一个AUX PWM输出(除非启用 UAVCAN)。 此输出将遵从对载荷控制组(6)输出1的更新。 -Control group 6 will need to be defined in the code as well (it is missing!): +控制组6也需要在代码中定义(缺少!): - Add `actuator_controls_6` to the TOPICS definition in [/msg/actuator_controls.msg](https://github.com/PX4/PX4-Autopilot/blob/master/msg/actuator_controls.msg#L17): ``` # TOPICS actuator_controls actuator_controls_0 actuator_controls_1 actuator_controls_2 actuator_controls_3 actuator_controls_6 diff --git a/zh/concept/flight_modes.md b/zh/concept/flight_modes.md index 19bf82d720df..72f201373720 100644 --- a/zh/concept/flight_modes.md +++ b/zh/concept/flight_modes.md @@ -21,11 +21,11 @@ * **ACRO：** 飞行员的输入将作为滚转、俯仰和偏航 *角速率* 指令传递给自动驾驶仪 自动驾驶仪控制的是飞机的角速度, 而不是姿态角。 因此即便 RC 摇杆处于居中位置飞机也不会改平， 这一特性使得多旋翼可以完全翻转过来。 油门将直接传递到输出混控器上。 * **多旋翼：** - * **MANUAL/STABILIZED：** 飞行员的输入将作为滚转、俯仰 *角度* 指令和一个偏航 *角速度* 指令传递给自动驾驶仪， 油门将直接传递到输出混控器上。 Throttle is passed directly to the output mixer. 自动驾驶仪控制着飞机的姿态角，这意味着当 RC 摇杆居中时自驾仪调整飞机的滚转和俯仰角为零，从而实现飞机姿态的改平。 但是。 在此模式下飞机的位置不受自驾仪的控制，因此飞机的位置可能会由于风的存在而发生漂移。 + * **MANUAL/STABILIZED：** 飞行员的输入将作为滚转、俯仰 *角度* 指令和一个偏航 *角速度* 指令传递给自动驾驶仪， 油门将直接传递到输出混控器上。 油门将直接传递到输出混控器上。 自动驾驶仪控制着飞机的姿态角，这意味着当 RC 摇杆居中时自驾仪调整飞机的滚转和俯仰角为零，从而实现飞机姿态的改平。 但是。 在此模式下飞机的位置不受自驾仪的控制，因此飞机的位置可能会由于风的存在而发生漂移。 > **Note** 对于多旋翼而言，Manual 和 Stabilized 模式是等同的。 - * **ACRO：** 飞行员的输入将作为滚转、俯仰和偏航 *角速率* 指令传递给自动驾驶仪 自动驾驶仪控制非机动角速度。 The autopilot controls the angular rates, but not the attitude. Hence, if the RC sticks are centered the vehicle will not level-out. This allows the multirotor to become completely inverted. Throttle is passed directly to the output mixer. + * **ACRO：** 飞行员的输入将作为滚转、俯仰和偏航 *角速率* 指令传递给自动驾驶仪 自动驾驶仪控制非机动角速度。 自动驾驶仪控制的是飞机的角速度, 而不是姿态角。 因此即便 RC 摇杆处于居中位置飞机也不会改平， 这一特性使得多旋翼可以完全翻转过来。 油门将直接传递到输出混控器上。 * **RATTITUDE：** 飞行员的输入如超过了模式设定的阈值则将作为滚转、俯仰和偏航 *角速率* 指令传递自驾仪，例如当 RC 摇杆位置偏离中立位置特定距离后。 反之，输入将作为滚转、俯仰 *角度* 指令和一个偏航 *角速率* 指令传递给自驾仪。 油门将直接传递到输出混控器上。 简单地说，当 RC 摇杆里中立位置较远的时候自驾仪相当于一个角速率控制器（与 ACRO 模式相似），而当 RC 摇杆居中时自驾仪相当于一个姿态角控制器（与 Stabilized 模式相似）。 @@ -35,7 +35,7 @@ * **ALTCTL：** （高度控制） * **固定翼飞机：** 当滚转、俯仰和偏航（PRY）摇杆都处于居中位置（或处于特定死区范围内）时飞机将保持当前高度进行定直平飞。 飞机的 X 和 Y 方向的位置会跟着风发生漂移。 - * **多旋翼：** 滚转、俯仰和偏航输入与 Stabilised 模式相同。 Throttle inputs indicate climb or sink at a predetermined maximum rate. Throttle has large deadzone. Centered Throttle holds altitude steady. 自驾仪仅控制高度，所以飞机的 X、Y 位置会跟着风发生漂移。 + * **多旋翼：** 滚转、俯仰和偏航输入与 Stabilised 模式相同。 油门输入表示以预设的最大速率爬升或下降， 油门有很大的死区。 油门居中表示保持当前高度。 自驾仪仅控制高度，所以飞机的 X、Y 位置会跟着风发生漂移。 * **POSCTL：** （位置控制） * **固定翼飞机：** 中立的输入（RC 摇杆居中）会令飞机保持平飞，且如果需要保持直线飞行的话飞控将会根据情况产生偏航指令以应对风的影响。 * **多旋翼：** 滚转控制左右向速度，俯仰控制飞机相对地面的前后向速度。 偏航与 MANUAL 模式一样，控制的是偏航角速率。 油门与 ALTCTL 模式一样控制飞机的爬升/下降速率。 这意味着当滚动、俯仰和油门杆居中时，自动驾驶仪会在任意风的干扰下稳定地保持飞机的X、Y、Z 位置。 diff --git a/zh/concept/flight_tasks.md b/zh/concept/flight_tasks.md index b5367dde9a71..f34d76692f07 100644 --- a/zh/concept/flight_tasks.md +++ b/zh/concept/flight_tasks.md @@ -1,8 +1,8 @@ -# Flight Tasks +# 飞行任务 -*Flight Tasks* are used within [Flight Modes](../concept/flight_modes.md) to provide specific movement behaviours: e.g. follow me, or flight smoothing. +*飞行任务* 在 [飞行模式](../concept/flight_modes.md) 中用于提供具体的移动行为：例如跟随或飞行平滑。 -At time of writing the best description of how flight modes work (in PX4 v1.9) is provided in the following video: **PX4 Flight Task Architecture Overview** - Dennis Mannhart, Matthias Grob (*PX4 Developer Summit 2019*). +在编写本报告时，飞行模式如何运作的最佳描述（PX4v1）。 以下视频提供了：**PX4 飞行任务结构概述** - Dennis Mannhart, Matthias Grob (*PX4 开发者峰会2019*)。 {% youtube %} https://youtu.be/-dkQG8YLffc diff --git a/zh/concept/mixing.md b/zh/concept/mixing.md index acaec2d797d9..660c99437031 100644 --- a/zh/concept/mixing.md +++ b/zh/concept/mixing.md @@ -42,9 +42,9 @@ PX4 系统中使用控制组（输入）和输出组。 从概念上讲这两个 ### 控制组 #1 (Flight Control VTOL/Alternate) -* 0: roll ALT (-1..1) -* 1: pitch ALT (-1..1) -* 2: yaw ALT (-1..1) +* 0：roll ALT (-1..1) +* 1：pitch ALT (-1..1) +* 2：yaw ALT (-1..1) * 3：throttle ALT （正常范围为 0..1，变距螺旋桨和反推动力情况下范围为 -1..1） * 4：保留 / aux0 * 5：reserved / aux1 @@ -73,7 +73,7 @@ PX4 系统中使用控制组（输入）和输出组。 从概念上讲这两个 * 6: RC aux2 * 7: RC aux3 -> **Note** This group is only used to define mapping of RC inputs to specific outputs during *normal operation* (see [quad_x.main.mix](https://github.com/PX4/PX4-Autopilot/blob/master/ROMFS/px4fmu_common/mixers/quad_x.main.mix#L7) for an example of AUX2 being scaled in a mixer). In the event of manual IO failsafe override (if the PX4FMU stops communicating with the PX4IO board) only the mapping/mixing defined by control group 0 inputs for roll, pitch, yaw and throttle are used (other mappings are ignored). +> **备注** 此组仅用于定义在 *普通操作* 期间的 RC输入的映射到具体输出(见 [quad_x.main.mix](https://github.com/PX4/PX4-Autopilot/blob/master/ROMFS/px4fmu_common/mixers/quad_x.main.mix#L7) 关于AUX2在混合器中缩放的示例) 在手动 IO 故障安全覆盖事件中(如果 PX4FMU 停止与 PX4IO 板通信)， 只有 pitch、yaw和 throttle 这些控制组0定义的映射/混合被使用 (忽略其他映射)。 @@ -96,9 +96,9 @@ PX4 系统中使用控制组（输入）和输出组。 从概念上讲这两个 ### 控制组 #4 (Flight Control MC VIRTUAL) -* 0: roll ALT (-1..1) -* 1: pitch ALT (-1..1) -* 2: yaw ALT (-1..1) +* 0：roll ALT (-1..1) +* 1：pitch ALT (-1..1) +* 2：yaw ALT (-1..1) * 3: throttle ALT （正常范围为 0..1，变距螺旋桨和反推动力情况下范围为 -1..1） * 4：保留 / aux0 * 5：保留 / aux1 @@ -120,11 +120,11 @@ PX4 系统中使用控制组（输入）和输出组。 从概念上讲这两个 由于同时存在多个控制组（比如说飞行控制、载荷等）和多个输出组（最开始 8 个 PWM 端口， UAVCAN 等），一个控制组可以向多个输出组发送指令。 -The mixer file does not explicitly define the actual *output group* (physical bus) where the outputs are applied. Instead, the purpose of the mixer (e.g. to control MAIN or AUX outputs) is inferred from the mixer [filename](#mixer_file_names), and mapped to the appropriate physical bus in the system [startup scripts](../concept/system_startup.md) (and in particular in [rc.interface](https://github.com/PX4/PX4-Autopilot/blob/master/ROMFS/px4fmu_common/init.d/rc.interface)). +混音器文件没有明确定义输出应用的实际 *输出组* (物理总线)。 相反，混合物的目的 (例如控制MAIN或 AUX 输出) 从混音器 [ filename ](#mixer_file_names) 中推断，并映射到系统中适当的物理总线 [startup scripts](../concept/system_startup.md) (尤其是[rc.interface](https://github.com/PX4/PX4-Autopilot/blob/master/ROMFS/px4fmu_common/init.d/rc.interface))。 -> **Note** This approach is needed because the physical bus used for MAIN outputs is not always the same; it depends on whether or not the flight controller has an IO Board (see [PX4 Reference Flight Controller Design > Main/IO Function Breakdown](../hardware/reference_design.md#mainio-function-breakdown)) or uses UAVCAN for motor control. The startup scripts load the mixer files into the appropriate device driver for the board, using the abstraction of a "device". The main mixer is loaded into device `/dev/uavcan/esc` (uavcan) if UAVCAN is enabled, and otherwise `/dev/pwm_output0` (this device is mapped to the IO driver on controllers with an I/O board, and the FMU driver on boards that don't). The aux mixer file is loaded into device `/dev/pwm_output1`, which maps to the FMU driver on Pixhawk controllers that have an I/O board. +> **Note** This approach is needed because the physical bus used for MAIN outputs is not always the same; it depends on whether or not the flight controller has an IO Board (see [PX4 Reference Flight Controller Design > Main/IO Function Breakdown](../hardware/reference_design.md#mainio-function-breakdown)) or uses UAVCAN for motor control. 启动脚本使用"设备"抽象将混音器文件加载到板子适当的设备驱动器。 如果 UAVCAN 已启用，主混音器将被加载到设备`/dev/uavcan/esc` (uavcan) 否则`/dev/pwm_output0` (此设备已映射给具有I/O 板的控制器的 IO 驱动，且 FMU 驱动程序已映射到未映射的板上)。 Aux 混控器 文件被加载到设备 `/dev/pwm_output1`, 它将映射到 Pixhawk 控制器上拥有 I/O 板子的 FMU 驱动程序。 -Since there are multiple control groups (like flight controls, payload, etc.) and multiple output groups (busses), one control group can send commands to multiple output groups. +因为有多个控制组(例如飞行控制、有效载荷等)。 和多个输出组(总线) ，一个控制组可以向多个输出组发送命令。 ![Mixer Input/Output Mapping](../../assets/concepts/mermaid_mixer_inputs_outputs.png) -> **Note** In practice, the startup scripts only load mixers into a single device (output group). This is a configuration rather than technical limitation; you could load the main mixer into multiple drivers and have, for example, the same signal on both UAVCAN and the main pins. +> **Note** 在实践中，启动脚本只会加载混控器到单个设备 (输出组)。 这是一个配置而不是技术限制； 您可以将主混音器加载到多个驱动器中，例如在UAVCAN 和主引脚上都有相同的信号。 ## PX4 混控器定义 @@ -185,7 +185,7 @@ Most commonly you will override/replace the **AUX** mixer file for your current -### Syntax +### 语法 Mixer files are text files that define one or more mixer definitions: mappings between one or more inputs and one or more outputs. @@ -222,7 +222,7 @@ You can specify more than one mixer in each file. The output order (allocation o 该混控器使用如下形式的行进行定义： -一个空的混控器不需要任何控制输入，并始终生成一个值为零的执行器输出。 Inputs are scaled, and the mixing function sums the result before applying an output scaler. +一个空的混控器不需要任何控制输入，并始终生成一个值为零的执行器输出。 控制输入首先会被缩放，然后混合函数在进行输出缩放时会对结果进行求和。 混控器的定义的开头如下： @@ -241,7 +241,7 @@ O: <-ve scale> <+ve scale> S: <-ve scale> <+ve scale> ``` -> **Note** The `S:` lines must be below the `O:` line. +> **Note** `S:` l行必须处于 `O:` 的下面。 `<group>` 参数指定了缩放器从哪个控制组中读取数据，而 `<index>` 参数则是定义了该控制组的偏移值。 这些参数的设定值会随着读取混控器定义文件的设备的不同而发生改变。 @@ -250,7 +250,7 @@ S: <-ve scale> <+ve scale> 剩下的字段则是使用上文提及的缩放参数对控制量的缩放器进行了设定。 同时，结果的计算是以浮点计算的形式进行的，在混控器定义文件中的值都将缩小 10000 倍，比如：实际中 -0.5 的偏移量（offset）在定义文件中保存为 -5000 。 -An example of a typical mixer file is explained [here](../airframes/adding_a_new_frame.md#mixer-file). +[这里](../airframes/adding_a_new_frame.md#mixer-file) 是一个典型混控器的示例文件。 @@ -258,9 +258,9 @@ An example of a typical mixer file is explained [here](../airframes/adding_a_new 后面的各行则是对每个倾斜盘舵机（ 3 个或者 4 个）进行设定，文本行的形式如下： -Typically a null mixer is used as a placeholder in a collection of mixers in order to achieve a specific pattern of actuator outputs. It may also be used to control the value of an output used for a failsafe device (the output is 0 in normal use; during failsafe the mixer is ignored and a failsafe value is used instead). +通常情况下在一个混控器集合中使用空的混控器作为占位符号，以实现某种特定的执行器输出模式。 It may also be used to control the value of an output used for a failsafe device (the output is 0 in normal use; during failsafe the mixer is ignored and a failsafe value is used instead). -The null mixer definition has the form: +空的混控器使用如下形式定义： ``` Z: ``` @@ -271,19 +271,19 @@ Z: 尾桨的控制可以通过额外添加一个 [简单的混控器](#simple-mixer) 来实现： -The mixer definition is a single line of the form: +该混控器使用如下形式的行进行定义： ``` R: ``` -The supported geometries include: +支持的多旋翼类型为： * 6x - X 构型的六旋翼 * 4+ - + 构型的四旋翼 * 8x - X 构型的八旋翼 * 8+ - + 构型的八旋翼 -* 8x - octocopter in X configuration -* 8+ - octocopter in + configuration +* 8x - X 构型的八旋翼 +* 8+ - + 构型的八旋翼 滚转、俯仰和偏航的缩放因子大小都分别表示滚转、俯仰和边行控制相对于推力控制的比例。 同时，结果的计算是以浮点计算的形式进行的，在混控器定义文件中的值都将缩小 10000 倍，比如：实际中 0.5 的偏移量（offset）在定义文件中保存为 5000 。 @@ -291,7 +291,7 @@ The supported geometries include: 怠速（Idlespeed）的设定值应在 0.0 到 1.0 之间。 在这里怠速的值表示的是相对电机最大转速的百分比，当所有控制输入均为 0 的时候电机应在该转速下运行。 -In the case where an actuator saturates, all actuator values are rescaled so that the saturating actuator is limited to 1.0. +当有一个执行器出现饱和后，所有执行器的值都将被重新缩放以使得饱和执行器的输出被限制在 1.0 。 @@ -303,7 +303,7 @@ In the case where an actuator saturates, all actuator values are rescaled so tha > **Note** 油门曲线及总距曲线将 “推力” 摇杆输入位置映射到一个油门值和总距值（单独地）。 这就使得我们可以针对不同类型的飞行对飞机的飞行特性进行调整。 如何调整这些映射曲线可以参考 [这篇指南](https://www.rchelicopterfun.com/rc-helicopter-radios.html) （搜索 *Programmable Throttle Curves* 和 *Programmable Pitch Curves*）。 -The mixer definition begins with: +混控器的定义的开头如下： ``` H: @@ -312,7 +312,7 @@ P: <25%> <50%> <75%> <100%> ``` `T：` 定义了油门曲线的控制点。 `P：` 定义了总距曲线的控制点。 两条去年都包含了 5 个控制点，每个点的取值都在 0 - 10000 这个范围内。 对于简单的线性特性而言，这五个点的取值应该为 `0 2500 5000 7500 10000` 。 -This is followed by lines for each of the swash-plate servos (either 3 or 4) in the following form: +后面的各行则是对每个倾斜盘舵机（ 3 个或者 4 个）进行设定，文本行的形式如下： ``` S: <angle> <arm length> <scale> <offset> <lower limit> <upper limit> ``` @@ -342,16 +342,16 @@ S: 220 13054 10000 0 -8000 8000 M: 1 S: 0 2 10000 10000 0 -10000 10000 ``` -- The throttle-curve starts with a slightly steeper slope to reach 6000 (0.6) at 50% thrust. -- It continues with a less steep slope to reach 10000 (1.0) at 100% thrust. -- The pitch-curve is linear, but does not use the entire range. -- At 0% throttle, the collective pitch setting is already at 500 (0.05). -- At maximum throttle, the collective pitch is only 4500 (0.45). -- Using higher values for this type of helicopter would stall the blades. -- The swash-plate servos for this helicopter are located at angles of 0, 140 and 220 degrees. -- The servo arm-lenghts are not equal. -- The second and third servo have a longer arm, by a ratio of 1.3054 compared to the first servo. -- The servos are limited at -8000 and 8000 because they are mechanically constrained. +- 它的油门曲线刚开始时斜率很陡，在 50% 油门位置便达到了 6000（0.6）。 +- 随后油门曲线会以一个稍平缓的斜率实现在 100% 油门位置时到达 10000（1.0）。 +- 总距曲线是线性的，但没有用到全部的控制指令区间。 +- 0% 油门位置时总距设置就已经是 500（0.05）了。 +- 油门处于最大位置时总距仅仅为 4500（0.45）。 +- 对于该型直升机而言使用更高的值会导致主桨叶失速。 +- 该直升机的倾斜盘舵机分别位于 0°、140°、和 220° 的相位位置上。 +- 舵机摇臂的长度并不相等。 +- 第二个和第三个舵机的摇臂更长，其长度大约为第一个舵机的摇臂长度的 1.3054 倍。 +- 由于机械结构限制，所有舵机均被限制在 -8000 和 8000 之间。 diff --git a/zh/concept/pwm_limit.md b/zh/concept/pwm_limit.md index d6e7410de32d..6e5a3bab8a0b 100644 --- a/zh/concept/pwm_limit.md +++ b/zh/concept/pwm_limit.md @@ -1,6 +1,6 @@ # PWM_limit 状态机 -[PWM_limit 状态机] 以锁定（pre-armed）和解锁（armed）模式作为功能函数的输入量对飞控的 PWM 输出进行控制， 并且会在解锁指令发出后、飞机油门增加之前引入一个延时。 Provides a delay between assertion of "armed" and a ramp-up of throttle on assertion of the armed signal. +[PWM_limit 状态机] 以锁定（pre-armed）和解锁（armed）模式作为功能函数的输入量对飞控的 PWM 输出进行控制， 并且会在解锁指令发出后、飞机油门增加之前引入一个延时。 并且会在解锁指令发出后、飞机油门增加之前引入一个延时。 ## 总览 **输入** diff --git a/zh/concept/sd_card_layout.md b/zh/concept/sd_card_layout.md index 052277627bf2..d1cd1b6a3c08 100644 --- a/zh/concept/sd_card_layout.md +++ b/zh/concept/sd_card_layout.md @@ -6,7 +6,7 @@ The PX4 SD Card is used for storing configuration files, flight logs, mission in The directory structure/layout is shown below. -| Directory/File(s) | Description | +| Directory/File(s) | 描述 | | --------------------- | ---------------------------------------------------------------------------------------------------------------------------------------- | | /etc/ | Extra config (+ mixers). See [System Startup > Replacing the System Startup](../concept/system_startup.md#replacing-the-system-startup). | | /etc/mixers/ | [Mixers](../concept/mixing.md) | diff --git a/zh/concept/system_startup.md b/zh/concept/system_startup.md index 590f6bb3df71..ea23da31b815 100644 --- a/zh/concept/system_startup.md +++ b/zh/concept/system_startup.md @@ -12,11 +12,11 @@ PX4 系统的启动由 shell 脚本文件控制。 在 NuttX 平台上这些脚 ## Posix (Linux/MacOS) 在 Posix 操作系统上，系统的 shell 将会作为脚本文件的解释器（例如， 在 Ubuntu 中 /bin/sh 与 Dash 建立了符号链接）。 为了使 PX4 可以在 Posix 中正常运行，需要做到以下几点： -- PX4 的各个模块需要看起来像系统的单个可执行文件， 这一点可以通过创建符号链接坐到。 This is done via symbolic links. 每一个模块都根据命名规则： `px4- -> px4` 在编译文件夹 `bin` 下创建了相应的符号链接。 在执行命令时，系统将检查命令的二进制路径 (`argv[0]`)，如果系统发现该命令是 PX4 的一个模块（命令名称以 `px4-` 起头），那么系统将会把这个命令发送给 PX4 主实例（见下文）。 +- PX4 的各个模块需要看起来像系统的单个可执行文件， 这一点可以通过创建符号链接坐到。 这一点可以通过创建符号链接坐到。 每一个模块都根据命名规则： `px4- -> px4` 在编译文件夹 `bin` 下创建了相应的符号链接。 在执行命令时，系统将检查命令的二进制路径 (`argv[0]`)，如果系统发现该命令是 PX4 的一个模块（命令名称以 `px4-` 起头），那么系统将会把这个命令发送给 PX4 主实例（见下文）。 > > **Tip** 使用 `px4-` 这个前缀是为了避免 PX4 的命令名称与操作系统的命令名称相冲突（例如，`shutdown` 命令），同时此举也方便了在输入 `px4-` 之后使用 tab 进行命令的自动填充。 - Shell 需要知道在那里可以找到上述符号链接。 为此，在运行启动脚本前会将包含符号链接文件的 `bin` 目录添加至操作系统的 `PATH` 环境变量中。 -- The shell starts each module as a new (client) process. Shell 将每个模块作为一个新的 (客户端) 进程进行启动， 每个客户端进程都需要与 PX4 主实例（服务器）进行通讯，在该实例中实际的模块以线程的形式运行。 该过程通过 [UNIX socket](http://man7.org/linux/man-pages/man7/unix.7.html) 完成实现。 服务器侦听一个 socket，然后客户端将连接该 socket 并通过它发送指令。 服务器收到客户端的指令后将指令运行的输出结果及返回代码重新发送给客户端。 +- Shell 将每个模块作为一个新的 (客户端) 进程进行启动， Shell 将每个模块作为一个新的 (客户端) 进程进行启动， 每个客户端进程都需要与 PX4 主实例（服务器）进行通讯，在该实例中实际的模块以线程的形式运行。 该过程通过 [UNIX socket](http://man7.org/linux/man-pages/man7/unix.7.html) 完成实现。 服务器侦听一个 socket，然后客户端将连接该 socket 并通过它发送指令。 服务器收到客户端的指令后将指令运行的输出结果及返回代码重新发送给客户端。 - 启动脚本直接调用各模块，例如 `commander start`, 而不使用 `px4-` 这个前缀。 这一点可以通过设置别名（aliase）来实现：`bin/px4-alias.sh` 文件会给每一个模块以 `alias =px4-` 的形式设置好模块的别名。 - `rcS` 脚本由 PX4 主实例调用执行。 该脚本并不开启任何模块，它仅仅首先更新 `PATH` 环境变量然后以 `rcS` 文件作为值参数开启操作系统的 shell 。 - 除此之外，在进行多飞行器仿真时还可以启动多个服务器实例。 客户端可通过 `--instance` 选择服务器实例。 该实例可通过 `$px4_instance` 变量在脚本中使用。 @@ -30,7 +30,7 @@ cd /build/px4_sitl_default/bin ### 调试系统的启动过程 -Normally, all modules are compiled into a single PX4 executable. However, on Posix, there's the option of compiling a module into a separate file, which can be loaded into PX4 using the `dyn` command. +通常，所有模块都被编入一个 PX4 可执行程序。 然而，在Posix上，可以将模块编译成单独的文件，可以使用 `dyn` 命令加载到 PX4。 ``` dyn ./test.px4mod ``` @@ -40,7 +40,7 @@ dyn ./test.px4mod ### 替换系统的启动文件 -A failure of a driver of software component will not lead to an aborted boot. This is controlled via `set +e` in the startup script. +软件组件的失效不会中止 PX4 系统的启动， 可以在启动脚本中使用 `set +e` 来控制。 连接至 [系统控制台（system console）](../debug/system_console.md) 后重启飞控板可以进行对系统启动引导序列进行调试。 由此生成的启动引导日志文件中包含了引导序列的详细信息，同时也应包含了解释启动中止的线索。 @@ -53,13 +53,13 @@ A failure of a driver of software component will not lead to an aborted boot. Th 在大多数情况下自定义默认启动项是更好的做法，实现方法见下文。 如果需要替换整个引导文件，请创建文件： `/fs/microsd/etc/rc.txt` ，该文件位于 microSD 卡的根目录下的 `etc` 文件夹下。 如果此文件存在，系统中的任何内容都不会自动启动。 -### Customizing the System Startup +### 自定义系统的启动文件 自定义系统启动的最佳方法是引入 [新的机架配置](../airframes/adding_a_new_frame.md) 。 如果只需要一些小的调整（比如多启动一个应用程序，或只是启用一个不同的混控器)，那么你可以在启动过程中使用特殊的钩子（hook）来达成目的。 > **Caution** 系统的启动文件是 UNIX 系统文件，该文件要求以 UNIX 规范的 LF 作为行结束符。 在 Windows 平台上编辑系统的启动文件应该使用一个合适的文本编辑器。 -There are three main hooks. 主要有三类钩子（hook）， 需要注意的是 microsd 的根目录是挂载在操作系统中的 `/fs/microsd` 目录下的。 +主要有三类钩子。 主要有三类钩子（hook）， 需要注意的是 microsd 的根目录是挂载在操作系统中的 `/fs/microsd` 目录下的。 * /fs/microsd/etc/config.txt * /fs/microsd/etc/extras.txt diff --git a/zh/config/README.md b/zh/config/README.md index 3959600b75b1..406435f4e5a9 100644 --- a/zh/config/README.md +++ b/zh/config/README.md @@ -6,20 +6,20 @@ 本节包含的 *重要* 配置如下： -* [Firmware](../config/firmware.md) -* [Airframe](../config/airframe.md) -* [Sensor Orientation](../config/flight_controller_orientation.md) -* [Compass](../config/compass.md) -* [Gyroscope](../config/gyroscope.md) -* [Accelerometer](../config/accelerometer.md) +* [固件](../config/firmware.md) +* [机架](../config/airframe.md) +* [传感器方向](../config/flight_controller_orientation.md) +* [罗盘](../config/compass.md) +* [陀螺仪](../config/gyroscope.md) +* [加速度计 Accelerometer](../config/accelerometer.md) * [Airspeed](../config/airspeed.md) (fixed-wing/VTOL) -* [Level Horizon Calibration](../config/level_horizon_calibration.md) -* [Radio Setup](../config/radio.md) -* [Joystick Setup](../config/joystick.md) +* [水平平面校准](../config/level_horizon_calibration.md) +* [无线电系统设置](../config/radio.md) +* [操纵杆设置](../config/joystick.md) * [Flight Modes](../config/flight_mode.md) (Optional) * [Battery](../config/battery.md) (optional) * [Safety](../config/safety.md) (optional) -* [Motors/Servos](../config/motors.md) +* [电机/舵机](../config/motors.md) > **Note** 对于 [支持的机架](../config/airframe.md) 只需要这种基本配置。 如果要创建新的机架，还需要执行调整 (请参阅 [高级配置](../advanced_config/README.md) )。 diff --git a/zh/config/accelerometer.md b/zh/config/accelerometer.md index 421c9121f1ea..40dc1d7a7c30 100644 --- a/zh/config/accelerometer.md +++ b/zh/config/accelerometer.md @@ -32,7 +32,7 @@ You will need to calibrate your accelerometer on first use or if the flight cont 6. 在机体的所有方向上重复校准步骤。 -Once you've calibrated the vehicle in all the positions *QGroundControl* will display *Calibration complete* (all orientation images will be displayed in green and the progress bar will fill completely). You can then proceed to the next sensor. +所有位置都标定完成后，*QGroundControl*将显示*标定完成* (所有标定位置都变成绿色，进度条也显示完成)。 然后可以开始标定下一个传感器。 ## 更多信息： diff --git a/zh/config/battery.md b/zh/config/battery.md index 32b89decf12f..89efbe823949 100644 --- a/zh/config/battery.md +++ b/zh/config/battery.md @@ -28,9 +28,9 @@ PX4提供了许多（逐步更有效）的方法，可用于估计容量： -## Basic Battery Settings (default) +## 基本电池设置(默认) -The basic battery settings configure PX4 to use the default method for capacity estimate. This method compares the measured raw battery voltage to the range between cell voltages for "empty" and "full" cells (scaled by the number of cells). +基本电池设置将PX4配置为使用默认方法进行容量估算。 该方法将测量的原始电池电压与“空”和“满”状态电池电压之间的范围进行比较（按电池数量换算）。 > **Note** This approach results in relatively coarse estimations due to fluctuations in the estimated charge as the measured voltage changes under load. @@ -39,227 +39,242 @@ To configure the basic settings for battery 1: 1. 打开 *QGroundControl* 并连接上飞机。 2. 在上面的工具条中选择 **齿轮** 按钮，然后在左面的工具条中选择 **电源** 按钮。 -You are presented with the basic settings that characterize the battery. The sections below explain what values to set for each field. +You are presented with the basic settings that characterize the battery. 以下部分说明了为每个字段设置的值。 -![QGC Power Setup](../../assets/qgc/setup/power/qgc_setup_power_px4.jpg) +![地面站（QGC）电源设置](../../assets/qgc/setup/power/qgc_setup_power_px4.jpg) > **Note** At time of writing *QGroundControl* only allows you to set values for battery 1 in this view. For vehicles with multiple batteries you'll need to directly [set the parameters](../advanced_config/parameters.md) for battery 2 (`BAT2_*`), as described in the following sections. ### 电池芯数（串联） -This sets the number of cells connected in series in the battery. Typically this will be written on the battery as a number followed by "S" (e.g "3S", "5S"). - -> **Note** The voltage across a single galvanic battery cell is dependent on the chemical properties of the battery type. Lithium-Polymer (LiPo) batteries and Lithium-Ion batteries both have the same *nominal* cell voltage of 3.7V. In order to achieve higher voltages (which will more efficiently power a vehicle), multiple cells are connected in *series*. The battery voltage at the terminals is then a multiple of the cell voltage. - -If the number of cells is not supplied you can calculate it by dividing the battery voltage by the nominal voltage for a single cell. The table below shows the voltage-to-cell relationship for these batteries: - -| Cells | LiPo (V) | LiIon (V) | -| ----- | -------- | --------- | -| 1S | 3.7 | 3.7 | -| 2S | 7.4 | 7.4 | -| 3S | 11.1 | 11.1 | -| 4S | 14.8 | 14.8 | -| 5S | 18.5 | 18.5 | -| 6S | 22.2 | 22.2 | - -> **Note** This setting corresponds to [parameters](../advanced_config/parameters.md): [BAT1_N_CELLS](../advanced_config/parameter_reference.md#BAT1_N_CELLS) and [BAT2_N_CELLS](../advanced_config/parameter_reference.md#BAT2_N_CELLS) - -### Full Voltage (per cell) - -This sets the *nominal* maximum voltage of each cell (the lowest voltage at which the cell will be considered "full"). - -The value should be set slightly lower that the nominal maximum cell voltage for the battery, but not so low that the estimated capacity is still 100% after a few minutes of flight. - -Appropriate values to use are: - -- **LiPo:** 4.05V (default in *QGroundControl*) -- **LiIon:** 4.05V - -> **Note** The voltage of a full battery may drop a small amount over time after charging. Setting a slightly-lower than maximum value compensates for this drop. +这设置了电池中串联的电池数量。 Typically this will be written on the battery as a number followed by "S" (e.g "3S", "5S"). + +> **注**单个原电池单元的电压取决于电池类型的化学特性。 Lithium-Polymer (LiPo) batteries and Lithium-Ion batteries both have the same *nominal* cell voltage of 3.7V. 为了实现更高的电压（其将更有效地为飞机提供动力），多个电池以*串联连接。 然后，端子处的电池电压是单个电芯电压的倍数。

                                                              +> +> 如果未提供电池数量，您可以通过将电池电压除以单个电池的标称电压来计算它。 The table below shows the voltage-to-cell relationship for these batteries: +> +> | Cells | LiPo (V) | LiIon (V) | +> | ----- | -------- | --------- | +> | 1S | 3.7 | 3.7 | +> | 2S | 7.4 | 7.4 | +> | 3S | 11.1 | 11.1 | +> | 4S | 14.8 | 14.8 | +> | 5S | 18.5 | 18.5 | +> | 6S | 22.2 | 22.2 | +> +> > **Note** This setting corresponds to [parameters](../advanced_config/parameters.md): [BAT1_N_CELLS](../advanced_config/parameter_reference.md#BAT1_N_CELLS) and [BAT2_N_CELLS](../advanced_config/parameter_reference.md#BAT2_N_CELLS) +> +> ### Full Voltage (per cell) +> +> 这设置每个电池单元的*标称最大电压（电池单元状态是“满”的最低电压）。

                                                              +> +> The value should be set slightly lower that the nominal maximum cell voltage for the battery, but not so low that the estimated capacity is still 100% after a few minutes of flight. +> +> Appropriate values to use are: +> +> - **LiPo:** 4.05V (default in *QGroundControl*) +> - **LiIon:** 4.05V +> +> > **Note** The voltage of a full battery may drop a small amount over time after charging. 设置略低于最大值可以补偿此下降。 +> +> -> **Note** This setting corresponds to [parameters](../advanced_config/parameters.md): [BAT1_V_CHARGED](../advanced_config/parameter_reference.md#BAT1_V_CHARGED) and [BAT2_V_CHARGED](../advanced_config/parameter_reference.md#BAT2_V_CHARGED). - -### 空电电压（每个电芯） - -This sets the nominal minimum safe voltage of each cell (using below this voltage may damage the battery). - -> **Note** There is no single value at which a battery is said to be empty. If you choose a value that is too low the battery may be damaged due to deep discharge (and/or the vehicle may crash). If you choose a value that is too high you may unnecessarily curtail your flight. - -A rule of thumb for minimum per-cell voltages: - -| Level | LiPo (V) | LiIon (V) | -| ----------------------------------------------- | -------- | --------- | -| Conservative (voltage under no-load) | 3.7 | 3 | -| "Real" minimum (voltage under load/while flying | 3.5 | 2.7 | -| Damage battery (voltage under load) | 3.0 | 2.5 | - -> **Tip** Below the conservative range, the sooner you recharge the battery the better - it will last longer and lose capacity slower. +> +> > **Note** This setting corresponds to [parameters](../advanced_config/parameters.md): [BAT1_V_CHARGED](../advanced_config/parameter_reference.md#BAT1_V_CHARGED) and [BAT2_V_CHARGED](../advanced_config/parameter_reference.md#BAT2_V_CHARGED). +> +> ### 空电电压（每个电芯） +> +> This sets the nominal minimum safe voltage of each cell (using below this voltage may damage the battery). +> +> > **注**没有单个值表示电池是空的。 如果选择的值太低，电池可能会因深度放电而损坏（和/或飞机可能会坠毁）。 如果您选择的值太高，可能会不必要地限制您的飞行。 +> +> A rule of thumb for minimum per-cell voltages: +> +> | Level | LiPo (V) | LiIon (V) | +> | ----------------------------------------------- | -------- | --------- | +> | Conservative (voltage under no-load) | 3.7 | 3 | +> | "Real" minimum (voltage under load/while flying | 3.5 | 2.7 | +> | Damage battery (voltage under load) | 3.0 | 2.5 | +> +> > **提示**低于保守范围，越早给电池充电越好 - 它会持续更长时间并且更慢地减少容量。 +> +> -> **Note** This setting corresponds to [parameter](../advanced_config/parameters.md): [BAT1_V_EMPTY](../advanced_config/parameter_reference.md#BAT1_V_EMPTY) and [BAT2_V_EMPTY](../advanced_config/parameter_reference.md#BAT2_V_EMPTY). - -### Voltage Divider - -If you have a vehicle that measures voltage through a power module and the ADC of the flight controller then you should check and calibrate the measurements once per board. To calibrate you'll need a multimeter. - -The easiest way to calibrate the divider is by using *QGroundControl* and following the step-by-step guide on [Setup > Power Setup](https://docs.qgroundcontrol.com/en/SetupView/Power.html) (QGroundControl User Guide). - -> **Note** This setting corresponds to parameters: [BAT1_V_DIV](../advanced_config/parameter_reference.md#BAT1_V_DIV) and [BAT2_V_DIV](../advanced_config/parameter_reference.md#BAT2_V_DIV). +> +> > **Note** This setting corresponds to [parameter](../advanced_config/parameters.md): [BAT1_V_EMPTY](../advanced_config/parameter_reference.md#BAT1_V_EMPTY) and [BAT2_V_EMPTY](../advanced_config/parameter_reference.md#BAT2_V_EMPTY). +> +> ### Voltage Divider +> +> 如果您通过电源模块或飞行控制器的模数转换器测量飞行器的电压，您应该每次检查并校准测量模块。 为了校准您需要一个万用表。 +> +> 校准分压器最简单的方法是使用*QGroundControl* 按照 [Setup > Power Setup](https://docs.qgroundcontrol.com/en/SetupView/Power.html) 一步步完成校准（QGroundControl User Guide）。 +> +> > **Note** This setting corresponds to parameters: [BAT1_V_DIV](../advanced_config/parameter_reference.md#BAT1_V_DIV) and [BAT2_V_DIV](../advanced_config/parameter_reference.md#BAT2_V_DIV). +> +> -### Amps per volt - -> **Tip** This setting is not needed if you are using the basic configuration (without load compensation etc.) - -If you are using [Current-based Load Compensation](#current_based_load_compensation) or [Current Integration](#current_integration) the amps per volt divider must be calibrated. - -The easiest way to calibrate the dividers is by using *QGroundControl* and following the step-by-step guide on [Setup > Power Setup](https://docs.qgroundcontrol.com/en/SetupView/Power.html) (QGroundControl User Guide). - -> **Note** This setting corresponds to parameter(s): [BAT1_A_PER_V](../advanced_config/parameter_reference.md#BAT1_A_PER_V) and [BAT2_A_PER_V](../advanced_config/parameter_reference.md#BAT2_A_PER_V). +> +> ### 安培/伏特 +> +> > **Tip** 如果您使用基本配置，此设置不需要（没有负载补偿等）。 +> +> 如果您使用 [ Current-based Load Compensation ](#current_based_load_compensation) 或 [ Current Integration ](#current_integration) 安培/伏特分压器必须校准。 +> +> 校准分压器最简单的方法是使用*QGroundControl* 按照 [Setup > Power Setup](https://docs.qgroundcontrol.com/en/SetupView/Power.html) 一步步完成校准（QGroundControl User Guide）。 +> +> > **Note** This setting corresponds to parameter(s): [BAT1_A_PER_V](../advanced_config/parameter_reference.md#BAT1_A_PER_V) and [BAT2_A_PER_V](../advanced_config/parameter_reference.md#BAT2_A_PER_V). +> +> -## Voltage-based Estimation with Load Compensation - -> **Note** With well configured load compensation the voltage used for battery capacity estimation is much more stable, varying far less when flying up and down. - -Load compensation attempts to counteract the fluctuation in measured voltage/estimated capacity under load that occur when using the [basic configuration](#basic_settings). This works by estimating what the voltage would be for the *unloaded* battery, and using that voltage (instead of the measured voltage) for estimating the remaining capacity. - -> **Note** To use the load compensation you will still need to set the [basic configuration](#basic_settings). The *Empty Voltage* ([BAT_V_EMPTY](../advanced_config/parameter_reference.md#BAT_V_EMPTY)) should be set higher (than without compensation) because the compensated voltage gets used for the estimation (typically set a bit below the expected rest cell voltage when empty after use). - -PX4 supports two load compensation methods, which are enabled by [setting](../advanced_config/parameters.md) either of the two parameters below: - -- [BAT1_R_INTERNAL](../advanced_config/parameter_reference.md#BAT1_R_INTERNAL) - [Current-based Load Compensation](#current_based_load_compensation) (recommended). -- [BAT1_V_LOAD_DROP](../advanced_config/parameter_reference.md#BAT1_V_LOAD_DROP) - [Thrust-based Load Compensation](#thrust_based_load_compensation). +> +> ## 基于电压估计的负载补偿 +> +> > **Note** 负载参数配置良好时，电池容量估计的电压更加稳定，在上升和下降过程中变化较小。 +> +> 负载补偿尝试抵消，使用 [basic configuration](#basic_settings) 时，负载中测量电压/估计容量的波动。 通过估计 *卸载* 电压，使用这一电压（而不是测量电压）估计剩余电量。 +> +> > **Note** 使用负载补偿，您仍然需要配置 [basic configuration](#basic_settings) 。 *空载电压* （[BAT_V_EMPTY](../advanced_config/parameter_reference.md#BAT_V_EMPTY)） 应该设置更高（高于没有补偿时）因为补偿电压被用来估计（通常低于空载时预期的休眠电池电压）。 +> +> PX4 supports two load compensation methods, which are enabled by [setting](../advanced_config/parameters.md) either of the two parameters below: +> +> - [BAT1_R_INTERNAL](../advanced_config/parameter_reference.md#BAT1_R_INTERNAL) - [Current-based Load Compensation](#current_based_load_compensation) (recommended). +> - [BAT1_V_LOAD_DROP](../advanced_config/parameter_reference.md#BAT1_V_LOAD_DROP) - [Thrust-based Load Compensation](#thrust_based_load_compensation). +> +> -### Current-based Load Compensation (recommended) - -This load compensation method relies on current measurement to determine load. It is far more accurate than [Thrust-based Load Compensation](#thrust_based_load_compensation) but requires that you have a current sensor. - -To enable this feature: - -1. Set the parameter [BAT1_R_INTERNAL](../advanced_config/parameter_reference.md#BAT1_R_INTERNAL) to the internal resistance of battery 1 (and repeat for other batteries). > **提示** 某些锂电池充电器可以测量您电池的内阻。 典型的数值是每个电池单体5毫欧，但这可能随单体的放电速率、使用时间和健康状况而变化。 -2. 您还应该在基本设置屏幕上校准 安培每伏分压 。 - - +> +> ### 基于电流的负载补偿（推荐） +> +> 这种负载补偿方式基于电流测量来确定负载。 It is far more accurate than [Thrust-based Load Compensation](#thrust_based_load_compensation) but requires that you have a current sensor. +> +> 要启用此功能： +> +> 1. Set the parameter [BAT1_R_INTERNAL](../advanced_config/parameter_reference.md#BAT1_R_INTERNAL) to the internal resistance of battery 1 (and repeat for other batteries). > **提示** 某些锂电池充电器可以测量您电池的内阻。 典型的数值是每个电池单体5毫欧，但这可能随单体的放电速率、使用时间和健康状况而变化。 +> 2. 您还应该在基本设置屏幕上校准 安培每伏分压 。 +> +> - - ### Thrust-based Load Compensation - - This load compensation method estimates the load based on the total thrust that gets commanded to the motors. - - > **Caution** This method is not particularly accurate because there's a delay between thrust command and current, and because the thrust in not linearly proportional to the current. Use [Current-based Load Compensation](#current_based_load_compensation) instead if your vehicle has a current sensor. - - To enable this feature: - - 1. Set the parameter [BAT1_V_LOAD_DROP](../advanced_config/parameter_reference.md#BAT1_V_LOAD_DROP) to how much voltage drop a cell shows under the load of full throttle. - - +> +> ### Thrust-based Load Compensation +> +> This load compensation method estimates the load based on the total thrust that gets commanded to the motors. +> +> > **Caution** This method is not particularly accurate because there's a delay between thrust command and current, and because the thrust in not linearly proportional to the current. Use [Current-based Load Compensation](#current_based_load_compensation) instead if your vehicle has a current sensor. +> +> 要启用此功能： +> +> 1. Set the parameter [BAT1_V_LOAD_DROP](../advanced_config/parameter_reference.md#BAT1_V_LOAD_DROP) to how much voltage drop a cell shows under the load of full throttle. +> +> - - ## Voltage-based Estimation Fused with Current Integration - - > **Note** This is the most accurate way to measure relative battery consumption. If set up correctly with a healthy and fresh charged battery on every boot, then the estimation quality will be comparable to that from a smart battery (and theoretically allow for accurate remaining flight time estimation). - - This method evaluates the remaining battery capacity by *fusing* the voltage-based estimate for the available capacity with a current-based estimate of the charge that has been consumed. It requires hardware that can accurately measure current. - - To enable this feature: - - 1. 首先使用 [当前负载补偿](#current_based_load_compensation) 精确校准电压估计。 - - > **Tip** Including calibrating the [Amps per volt divider](#current_divider) setting. - - 2. Set the parameter [BAT1_CAPACITY](../advanced_config/parameter_reference.md#BAT1_CAPACITY) to around 90% of the advertised battery capacity (usually printed on the battery label). - - > **Note** Do not set this value too high as this may result in a poor estimation or sudden drops in estimated capacity. - - * * * - - **Additional information** - - The estimate of the charge that has been consumed over time is produced by mathematically integrating the measured current (this approach provides very accurate energy consumption estimates). - - At system startup PX4 first uses a voltage-based estimate to determine the initial battery charge. This estimate is then fused with the value from current integration to provide a combined better estimate. The relative value placed on each estimate in the fused result depends on the battery state. The emptier the battery gets, the more of the voltage based estimate gets fused in. This prevents deep discharge (e.g. because it was configured with the wrong capacity or the start value was wrong). - - If you always start with a healthy full battery, this approach is similar to that used by a smart battery. - - > **Note** Current integration cannot be used on its own (without voltage-based estimation) because it has no way to determine the *initial* capacity. Voltage-estimation allows you to estimate the initial capacity and provides ongoing feedback of possible errors (e.g. if the battery is faulty, or if there is a mismatch between capacity calculated using different methods). - - ## Parameter Migration Notes - - Multiple battery support was added after PX4 v1.10, resulting in the creation of new parameters with prefix `BAT1_` corresponding to all the old parameters with prefix `BAT_`. Changes to `BAT_` and `BAT1_` are currently synchronised: - - - If either the old or new parameters is changed, the value is copied into the other parameter (they are kept in sync in both directions). - - If the old/new parameters are different at boot, then the value of the old `BAT_` parameter is copied into the new `BAT1_` parameter. - - ## Battery-Type Comparison - - This section provides a comparative overview of several different battery types (in particular LiPo and Li-Ion). - - ### Overview - - - Li-Ion batteries have a higher energy density than Lipo battery packs but that comes at the expense of lower discharge rates and increased battery cost. - - LiPo batteries are readily available and can withstand higher discharge rates that are common in multi-rotor aircraft. - - The choice needs to be made based on the vehicle and the mission being flown. If absolute endurance is the aim then there is more of a benefit to flying to a Li-Ion battery but similarly, more caution needs to be taken. As such, the decision should be made based on the factors surrounding the flight. - - ### Advantages - - LiPo - - - Very common - - Wide range of sizes, capacities and voltages - - Inexpensive - - High discharge rates relative to capacity (high C ratings) - - Higher charge rates - - Li-Ion - - - Much higher energy density (up to 60% higher) - - ### Disadvantages: - - LiPo - - - Low (relative) energy density - - Quality can vary given abundance of suppliers - - Li-Ion - - - Not as common - - Much more expensive - - Not as widely available in large sizes and configurations - - All cells are relatively small so larger packs are made up of many cells tied in series and parallel to create the required voltage and capacity - - Lower discharge rates relative to battery size (C rating) - - More difficult to adapt to vehicles that require high currents - - Lower charging rates (relative to capacity) - - Requires more stringent temperature monitoring during charge and discharge - - Requires settings changes on the ESC to utilize max capacity ("standard" ESC low voltage settings are too high). - - At close-to-empty the voltage of the battery is such that a ~3V difference is possible between a Lipo to Li-ion (while using a 6S battery). This could have implications on thrust expectations. - - ### C Ratings - - - A C rating is simply a multiple of the stated capacity of any battery type. - - A C rating is relevant (and differs) for both charge and discharge rates. - - For example, a 2000 mAh battery (irrespective of voltage) with a 10C discharge rate can safely and continuously discharge 20 amps of current (2000/1000=2Ah x 10C = 20 amps). - - C Ratings are always given by the manufacturer (often on the outside of the battery pack). While they can actually be calculated, you need several pieces of information, and to measure the internal resistance of the cells. - - LiPo batteries will always have a higher C rating than a Li-Ion battery. This is due to chemistry type but also to the internal resistance per cell (which is due to the chemistry type) leading to higher discharge rates for LiPo batteries. - - Following manufacturer guidelines for both charge and discharge C ratings is very important for the health of your battery and to operate your vehicle safely (i.e. reduce fires, “puffing” packs and other suboptimal states during charging and discharging). - - ### Energy Density - - - Energy density is how much energy is able to be stored relative to battery weight. It is generally measured and compared in Watt Hour per Kilogram (Wh/Kg). - - Watt-hours are simply calculated by taking the nominal (i.e. not the fully charged voltage) multiplied by the capacity, e.g. 3.7v X 5 Ah = 18.5Wh. If you had a 3 cell battery pack your pack would be 18.5Wh X 3 = 55 Wh of stored energy. - - When you take battery weight into account you calculate energy density by taking the watt-hours and dividing them by weight. - - E.g. 55 Wh divided by (battery weight in grams divided by 1000). Assuming this battery weighed 300 grams then 55/(300/1000)=185 Wh/Kg. - - This number 185 Wh/Kg would be on the very high-end for a LiPo battery. A Li-Ion battery on the other hand can reach 260 Wh/Kg, meaning per kilogram of battery onboard you can carry 75 more watt-hours. - - If you know how many watts your vehicle takes to fly (which a battery current module can show you), you can equate this increased storage at no additional weight into increased flight time. \ No newline at end of file +> +> ## Voltage-based Estimation Fused with Current Integration +> +> > **Note** This is the most accurate way to measure relative battery consumption. If set up correctly with a healthy and fresh charged battery on every boot, then the estimation quality will be comparable to that from a smart battery (and theoretically allow for accurate remaining flight time estimation). +> +> This method evaluates the remaining battery capacity by *fusing* the voltage-based estimate for the available capacity with a current-based estimate of the charge that has been consumed. It requires hardware that can accurately measure current. +> +> 要启用此功能： +> +> 1. 首先使用 [当前负载补偿](#current_based_load_compensation) 精确校准电压估计。 +> +> > **Tip** Including calibrating the [Amps per volt divider](#current_divider) setting. +> +> 2. Set the parameter [BAT1_CAPACITY](../advanced_config/parameter_reference.md#BAT1_CAPACITY) to around 90% of the advertised battery capacity (usually printed on the battery label). +> +> > **Note** Do not set this value too high as this may result in a poor estimation or sudden drops in estimated capacity. +> +> * * * +> +> **更多信息** +> +> The estimate of the charge that has been consumed over time is produced by mathematically integrating the measured current (this approach provides very accurate energy consumption estimates). +> +> At system startup PX4 first uses a voltage-based estimate to determine the initial battery charge. This estimate is then fused with the value from current integration to provide a combined better estimate. The relative value placed on each estimate in the fused result depends on the battery state. The emptier the battery gets, the more of the voltage based estimate gets fused in. This prevents deep discharge (e.g. because it was configured with the wrong capacity or the start value was wrong). +> +> If you always start with a healthy full battery, this approach is similar to that used by a smart battery. +> +> > **Note** Current integration cannot be used on its own (without voltage-based estimation) because it has no way to determine the *initial* capacity. Voltage-estimation allows you to estimate the initial capacity and provides ongoing feedback of possible errors (e.g. if the battery is faulty, or if there is a mismatch between capacity calculated using different methods). +> +> ## Parameter Migration Notes +> +> Multiple battery support was added after PX4 v1.10, resulting in the creation of new parameters with prefix `BAT1_` corresponding to all the old parameters with prefix `BAT_`. Changes to `BAT_` and `BAT1_` are currently synchronised: +> +> - If either the old or new parameters is changed, the value is copied into the other parameter (they are kept in sync in both directions). +> - If the old/new parameters are different at boot, then the value of the old `BAT_` parameter is copied into the new `BAT1_` parameter. +> +> ## Battery-Type Comparison +> +> This section provides a comparative overview of several different battery types (in particular LiPo and Li-Ion). +> +> ### 综述 +> +> - Li-Ion batteries have a higher energy density than Lipo battery packs but that comes at the expense of lower discharge rates and increased battery cost. +> - LiPo batteries are readily available and can withstand higher discharge rates that are common in multi-rotor aircraft. +> - The choice needs to be made based on the vehicle and the mission being flown. If absolute endurance is the aim then there is more of a benefit to flying to a Li-Ion battery but similarly, more caution needs to be taken. As such, the decision should be made based on the factors surrounding the flight. +> +> ### 优势 +> +> LiPo +> +> - Very common +> - Wide range of sizes, capacities and voltages +> - Inexpensive +> - High discharge rates relative to capacity (high C ratings) +> - Higher charge rates +> +> Li-Ion +> +> - Much higher energy density (up to 60% higher) +> +> ### 缺点: +> +> LiPo +> +> - Low (relative) energy density +> - Quality can vary given abundance of suppliers +> +> Li-Ion +> +> - Not as common +> - Much more expensive +> - Not as widely available in large sizes and configurations +> - All cells are relatively small so larger packs are made up of many cells tied in series and parallel to create the required voltage and capacity +> - Lower discharge rates relative to battery size (C rating) +> - More difficult to adapt to vehicles that require high currents +> - Lower charging rates (relative to capacity) +> - Requires more stringent temperature monitoring during charge and discharge +> - Requires settings changes on the ESC to utilize max capacity ("standard" ESC low voltage settings are too high). +> - At close-to-empty the voltage of the battery is such that a ~3V difference is possible between a Lipo to Li-ion (while using a 6S battery). This could have implications on thrust expectations. +> +> ### C Ratings +> +> - A C rating is simply a multiple of the stated capacity of any battery type. +> - A C rating is relevant (and differs) for both charge and discharge rates. +> - For example, a 2000 mAh battery (irrespective of voltage) with a 10C discharge rate can safely and continuously discharge 20 amps of current (2000/1000=2Ah x 10C = 20 amps). +> - C Ratings are always given by the manufacturer (often on the outside of the battery pack). While they can actually be calculated, you need several pieces of information, and to measure the internal resistance of the cells. +> - LiPo batteries will always have a higher C rating than a Li-Ion battery. This is due to chemistry type but also to the internal resistance per cell (which is due to the chemistry type) leading to higher discharge rates for LiPo batteries. +> - Following manufacturer guidelines for both charge and discharge C ratings is very important for the health of your battery and to operate your vehicle safely (i.e. reduce fires, “puffing” packs and other suboptimal states during charging and discharging). +> +> ### Energy Density +> +> - Energy density is how much energy is able to be stored relative to battery weight. It is generally measured and compared in Watt Hour per Kilogram (Wh/Kg). +> - Watt-hours are simply calculated by taking the nominal (i.e. not the fully charged voltage) multiplied by the capacity, e.g. 3.7v X 5 Ah = 18.5Wh. If you had a 3 cell battery pack your pack would be 18.5Wh X 3 = 55 Wh of stored energy. +> - When you take battery weight into account you calculate energy density by taking the watt-hours and dividing them by weight. +> - E.g. 55 Wh divided by (battery weight in grams divided by 1000). Assuming this battery weighed 300 grams then 55/(300/1000)=185 Wh/Kg. +> - This number 185 Wh/Kg would be on the very high-end for a LiPo battery. A Li-Ion battery on the other hand can reach 260 Wh/Kg, meaning per kilogram of battery onboard you can carry 75 more watt-hours. +> - If you know how many watts your vehicle takes to fly (which a battery current module can show you), you can equate this increased storage at no additional weight into increased flight time. \ No newline at end of file diff --git a/zh/config/compass.md b/zh/config/compass.md index 9120022433e9..58088d738d47 100644 --- a/zh/config/compass.md +++ b/zh/config/compass.md @@ -10,26 +10,26 @@ ## 执行校准 -The calibration steps are: +标定步骤如下： 1. Choose a location away from large metal objects or magnetic fields. > **Tip** Metal is not always obvious! Avoid calibrating on top of an office table (often contain metal bars) or next to a vehicle. Calibration can even be affected if you're standing on a slab of concrete with uneven distribution of re-bar. -2. Start *QGroundControl* and connect the vehicle. -3. Select the **Gear** icon (Vehicle Setup) in the top toolbar and then **Sensors** in the sidebar. -4. Click the **Compass** sensor button. +2. 打开 *QGroundControl* 并连接上飞机。 +3. 在工具栏选择 **齿轮** 图标（机体设置），然后在侧边栏选择 **传感器**。 +4. 点击 **Compass** 传感器按钮。 - ![Select Compass calibration PX4](../../assets/qgc/setup/sensor/sensor_compass_select_px4.jpg) + ![选择 Compass 校准 PX4](../../assets/qgc/setup/sensor/sensor_compass_select_px4.jpg) - > **Note** You should already have set the [Autopilot Orientation](../config/flight_controller_orientation.md). If not, you can also set it here. + > **Note** 你必须首先设置好 [自动驾驶仪方向](../config/flight_controller_orientation.md)。 如果没有，也可以在这里设置。 -5. Click **OK** to start the calibration. +5. 点击**确定**开始校准。 -6. Place the vehicle in any of the orientations shown in red (incomplete) and hold it still. Once prompted (the orientation-image turns yellow) rotate the vehicle around the specified axis in either/both directions. Once the calibration is complete for the current orientation the associated image on the screen will turn green. +6. 把你的飞机放置在下面显示的某一个方向，并保持静止。 随后提示（方向图像变为黄色）在指定方向旋转飞行器。 该位置标定完成后，屏幕上的相应图示将变成绿色。 - ![Compass calibration steps on PX4](../../assets/qgc/setup/sensor/sensor_compass_calibrate_px4.jpg) + ![PX4 上的罗盘校准步骤](../../assets/qgc/setup/sensor/sensor_compass_calibrate_px4.jpg) -7. Repeat the calibration process for all vehicle orientations. +7. 在机体的所有方向上重复校准步骤。 -Once you've calibrated the vehicle in all the positions *QGroundControl* will display *Calibration complete* (all orientation images will be displayed in green and the progress bar will fill completely). You can then proceed to the next sensor. +所有位置都标定完成后，*QGroundControl*将显示*标定完成* (所有标定位置都变成绿色，进度条也显示完成)。 然后可以开始标定下一个传感器。 ## 更多信息： diff --git a/zh/config/firmware.md b/zh/config/firmware.md index 408af3f81319..9bce08baf88c 100644 --- a/zh/config/firmware.md +++ b/zh/config/firmware.md @@ -38,9 +38,9 @@ -## Installing PX4 Master, Beta or Custom Firmware +## 安装PX4 Master, Beta或自定义固件 -To install a different version of PX4: +安装不同版本的PX4： 1. 如上所述连接飞行器，并选择 **PX4 飞行栈 vX.x.x Stagable Release** ![安装 PX4 版本](../../assets/qgc/setup/firmware/qgc_choose_firmware.jpg) 2. 检查 **高级设置** 并从下拉列表中选择版本： @@ -49,17 +49,17 @@ To install a different version of PX4: * **Developer Build (master):** The latest build of PX4/PX4-Autopilot. * **自定义固件文件..:** 自定义固件文件 (例如，您在本地构建)。 如果选择 Custom firmware file ，您需要在下一步中从文件系统中选择自定义固件。 -Firmware update then continues as before. +固件更新和之前一样正常进行。 -## FMUv2 Bootloader Update +## FMUv2 Bootloader 更新 -If *QGroundControl* installs the FMUv2 target (see console during installation), and you have a newer board, you may need to update the bootloader in order to access all the memory on your flight controller. +如果 *QGroundControl* 安装FMUv2 固件（请参阅安装过程中的控制台），并且您有一个更新的飞控板，则可能需要更新bootloader，以访问飞行控制器上的所有内存。 -> **Note** Early FMUv2 [Pixhawk-series](../flight_controller/pixhawk_series.md#fmu_versions) flight controllers had a [hardware issue](../flight_controller/silicon_errata.md#fmuv2--pixhawk-silicon-errata) that restricted them to using 1MB of flash memory. 这一问题已在更新的板上修复，但是您可能需要更新工厂提供的bootloader，以便安装FMUv3 固件，并访问所有 2MB 内存。 +> **Note** 早期FMUv2 [Pixhawk-series](../flight_controller/pixhawk_series.md#fmu_versions) 飞行控制器有一个[硬件问题](../flight_controller/silicon_errata.md#fmuv2--pixhawk-silicon-errata)，这限制它们只能使用 1MB 的闪存空间。 这一问题已在更新的板上修复，但是您可能需要更新工厂提供的bootloader，以便安装FMUv3 固件，并访问所有 2MB 内存。 -To update the bootloader: +要更新bootloader，请执行以下操作： 1. 插入 SD 卡（启用引导日志记录，便于调试任何可能的问题。） 2. [更新固件](../config/firmware.md) 至PX4 *master* 版本（当更新固件时，查看 **高级设置** 并从下拉列表选择**Developer Build (master)** ）。 *QGroundControl* 会自动识别到硬件支持 FMUv2，并安装相应的固件。 @@ -68,7 +68,7 @@ To update the bootloader: 等待飞控重启。 -3. [Find and enable](../advanced_config/parameters.md) the parameter [SYS_BL_UPDATE](../advanced_config/parameter_reference.md#SYS_BL_UPDATE). +3. [找到并启用](../advanced_config/parameters.md) 参数 [SYS_BL_UPDATE](../advanced_config/parameter_reference.md#SYS_BL_UPDATE)。 4. 重新启动（断开/重新连接飞控板）。 Bootloader更新只需要几秒钟即可完成。 5. 然后再重新 [更新固件](../config/firmware.md) 。 这一次 *QGroundControl* 会自动识别到硬件支持 FMUv3，并相应地安装固件。 diff --git a/zh/config/flight_controller_orientation.md b/zh/config/flight_controller_orientation.md index 63d1a12488dd..7fbe8082e043 100644 --- a/zh/config/flight_controller_orientation.md +++ b/zh/config/flight_controller_orientation.md @@ -6,7 +6,7 @@ ROLL, PITCH and/or YAW offsets of the flight controller are calculated relative to the vehicle around the forward (x), right (y), down (z) axes. -![Frame Heading](../../assets/concepts/frame_heading.png) +![机架航向](../../assets/concepts/frame_heading.png) The axes to rotate around stay the same from one rotation step to the next one. So the frame to perform the rotation in stays fixed. This is also known as *extrinsic rotation*. @@ -14,7 +14,7 @@ The axes to rotate around stay the same from one rotation step to the next one. For example, the vehicles shown below have rotations around the z-axis (i.e. yaw only) corresponding to: `ROTATION_NONE`, `ROTATION_YAW_90`,`ROTATION_YAW_180`,`ROTATION_YAW_270`. -![Yaw Rotation](../../assets/qgc/setup/sensor/yaw_rotation.png) +![Yaw 旋转](../../assets/qgc/setup/sensor/yaw_rotation.png) > **Note** For a VTOL Tailsitter airframe set the vehicle orientation according to its multirotor configuration (i.e. relative to the vehicle during, takeoff, hovering, landing) for all sensor calibrations. > @@ -22,7 +22,7 @@ For example, the vehicles shown below have rotations around the z-axis (i.e. yaw ## 设置朝向 -To set the orientations: +设置朝向步骤如下： 1. 打开 *QGroundControl* 并连接上飞机。 2. 在工具栏选择 **齿轮** 图标 (机体设置)，然后在侧边栏选择 **传感器**。 @@ -37,7 +37,7 @@ To set the orientations: ## 优化调整 -You can use [Level Horizon Calibration](../config/level_horizon_calibration.md) to compensate for small miss-alignments in controller orientation and to level the horizon in flight view. +您可以使用 [校准地平（Level Horizon Calibration）](../config/level_horizon_calibration.md) 补偿飞控方向的少量误差，并校平飞行视图中的地平线。 ## 更多信息 diff --git a/zh/config/flight_mode.md b/zh/config/flight_mode.md index 98b138c80951..4ce8247bb86d 100644 --- a/zh/config/flight_mode.md +++ b/zh/config/flight_mode.md @@ -35,13 +35,13 @@ PX4 允许您从地面站（平板电脑或者桌面电脑）或者遥控器来 -## Single-Channel Flight Mode Selection +## 单通道飞行模式选择 -The single-channel selection mode allows you to specify a "mode" channel and select up to 6 flight modes that will be activated based on the PWM value of the channel. You can also separately specify channels for mapping a kill switch, return to launch mode, and offboard mode. +单通道选择模式允许您指定一个 "飞行模式" 通道，最多选择 6 种飞行模式，依赖于该通道的 PWM 值来被激活。 您也可以单独的指定特定的通道来映射 Kill Switch，自动返航和机外控制（offboard）模式。 > **Note** 为了使用单通道飞行模式选择的方式，你首先需要配置你的 *遥控器* 来映射遥控器上开关的物理位置到一个单个通道中去。 [这里](#taranis_setup) 我们提供了一个视频演示 *Taranis* 遥控器通常是如何进行该操作的（如果您使用的是不同品牌的遥控器的话请查阅相应文档）。 -To configure single-channel flight mode selection: +配置单通道飞行模式选择： 1. 打开 *QGroundControl* 并连接上飞机。 2. 打开您的 RC 遥控器发射机。 @@ -61,38 +61,38 @@ To configure single-channel flight mode selection: * 检查 *Channel Monitor* 以确认改变每个开关可以改变预期的通道。 * 拨动你遥控器上刚刚映射的飞行模式有关的开关，并检查对应的飞行模式已被激活（ *QGroundeControl* 上对应的通道的字体在被激活的情况下变为黄色 ） -All values are automatically saved as they are changed. +所有被更改的值都会自动保存。 -### Single-Channel Setup Video Example (including Transmitter Setup) +### 单通道模式配置的视频演示（包括遥控器相关设置） -It is common to use the positions of a 2- and a 3-position switch on the transmitter to represent the 6 flight modes, and encode each combination of switches as a particular PWM value for the mode that will be sent on a single channel. +通常使用遥控器上的 2 级和 3 位开关的位置来表示 6 个飞行模式，并将每一个开关组合作为一个特定的 PWM 值，使用单一通道发送。 -The video below shows how this is done with the *FrSky Taranis* transmitter (a very popular and highly recommended RC transmitter). The process involves assigning a "logical switch" to each combination of positions of the two real switches. Each logical switch is then assigned to a different PWM value on the same channel. +下面视频演示了如何使用 *FrSky Tarais* 遥控器（一款非常受欢迎、高推荐度的 RC 发射器）。 这个过程涉及到为两个真正的开关的每个位置组合分配一个 "逻辑开关"。 然后，每个逻辑开关都被分配给同一频道的不同 PWM 值。 -The video then shows how to use *QGroundControl* to specify the mode channel and map modes to each of the 6 "slots". {% youtube %} http://www.youtube.com/watch?v=scqO7vbH2jo {% endyoutube %} +然后视频显示如何使用 *QGrounderControl* 指定模式通道并且映射到 6 个 “信号槽” 中的每一个。 {% youtube %} http://www.youtube.com/watch?v=scqO7vbH2jo {% endyoutube %} ### 单通道模式设置示例 -This example shows how you can configure a transmitter and PX4 with: +此示例显示您将如何配置发射器和 PX4 ： * 一个在单通道模式下用于选择飞行模式（手动，高度，特技）的三段开关。 * A 2-way switch that invokes some function (arm/disarm) (via a [Radio switch](../advanced_config/parameter_reference.md#radio-switches) parameter). > **Note** 本示例演示如何设置常用的 *FrSky taranis* 遥控器。 对于其他遥控器，配置可能会稍有不同。 -First set up your transmitter. Below we show how to map the Taranis "SD" switch to channel 5. This is done in the Taranis UI 'mixer' page, as shown below: +首先设置您的遥控器发射机。 下面我们将演示如何将 Taranis 的 "SD" 开关映射到通道 5 。 这是在 Taranis 的 'mixer' 的界面中，如下所示： ![Taranis - Map channel to switch](../../assets/qgc/setup/flight_modes/single_channel_mode_selection_1.png) ![Taranis - Configure channel](../../assets/qgc/setup/flight_modes/single_channel_mode_selection_2.png) -You can then select the channel and the flight modes in single channel mode selection option in *QGroundControl*: +然后, 您可以在 *QGroundControl* 选择单通道模式选项中选择通道和飞行模式： ![QGC - Set mode channel](../../assets/qgc/setup/flight_modes/single_channel_mode_selection_3.png) -The [Radio switch](../advanced_config/parameter_reference.md#radio-switches) parameters map a particular function to a channel. Assuming you have already mapped a channel in your transmitter you can assign the channel by [setting the parameter](../advanced_config/parameters.md). +[Radio switch](../advanced_config/parameter_reference.md#radio-switches) 参数将特定功能映射到该通道。 假设你已经在您的发射器中映射了一个通道，您可以通过 [setting the parameter](../advanced_config/parameters.md) 来分配通道。 For example, below we map channel 6 to the [RC_MAP_ARM_SW](../advanced_config/parameter_reference.md#RC_MAP_ARM_SW) parameter in *QGroundControl*. @@ -100,17 +100,17 @@ For example, below we map channel 6 to the [RC_MAP_ARM_SW](../advanced_config/pa -## Multi-Channel Flight Mode Selection +## 多通道飞行模式选择 > **Tip** 我们建议您使用 [单通道飞行模式](#single_channel) 选择，因为多通道飞行模式选择下很可能会造成用户您比较混乱和疑惑。 如果您选择使用此方法，那么最好的办法是开始分配频道时注意到您选择后显示的 *QGroundeControl* 报出的信息。 -The multi-channel selection user interface allows you to map one or more modes to one or more channels. There are some modes (and hence switches) that must always be defined, and the channel to which they must be allocated. +多通道飞行模式选择下，允许用户您将一个或多个飞行模式映射到一个或多个通道。 有一些飞行模式（同对应开关）必须被定义，对应的通道也同样被分配。 -To configure flight modes using the multi-channel UI: +使用多通道分配飞行模式界面来配置飞行模式： 1. 打开您的 RC 遥控器发射机。 2. 打开 *QGroundControl* 并连接上飞机。 -3. Select the **Gear** icon (Vehicle Setup) in the top toolbar and then **Flight Modes** in the sidebar. +3. 点击上方工具栏的 **Gear** 图标（飞行器设置），然后在左侧边栏选择 **Flight Modes** 。 ![Flight modes multi-channel](../../assets/qgc/setup/flight_modes/flight_modes_multi_channel.jpg) diff --git a/zh/config/gyroscope.md b/zh/config/gyroscope.md index 4534bf2ef65d..9a23b34238ae 100644 --- a/zh/config/gyroscope.md +++ b/zh/config/gyroscope.md @@ -2,9 +2,9 @@ *QGroundControl* will guide you to place the vehicle on a flat surface and keep it still. -## Performing the Calibration +## 执行校准 -The calibration steps are: +标定步骤如下： 1. Click the **Gyroscope** sensor button @@ -22,6 +22,6 @@ The calibration steps are: > **Note** If you move the vehicle *QGroundControl* will automatically restart the gyroscope calibration. -## Further Information +## 更多信息： * [QGroundControl User Guide > Gyroscope](https://docs.qgroundcontrol.com/en/SetupView/sensors_px4.html#gyroscope) \ No newline at end of file diff --git a/zh/config/joystick.md b/zh/config/joystick.md index 550efd83911a..3eab3b2558b0 100644 --- a/zh/config/joystick.md +++ b/zh/config/joystick.md @@ -1,4 +1,4 @@ -# Joystick Setup +# 操纵杆设置 A [computer joystick](https://en.wikipedia.org/wiki/Joystick) or gamepad connected through *QGroundControl* can be used to manually control the vehicle (*instead* of using an [RC Transmitter](../config/radio.md)). @@ -17,7 +17,7 @@ This approach may be used by manual control units that have an integrated ground Information about how to set up a joystick is covered in: [QGroundControl > Joystick Setup](https://docs.qgroundcontrol.com/en/SetupView/Joystick.html). In summary: -* Open *QGroundControl* +* 开启 *QGroundControl*。 * Set the parameter [COM_RC_IN_MODE=1](../advanced_config/parameter_reference.md#COM_RC_IN_MODE) - `Joystick/No RC Checks` (see [Parameters](https://docs.qgroundcontrol.com/en/SetupView/Parameters.html) for information about setting parameters) * Connect the joystick * Configure the connected joystick in: **Vehicle Setup > Joystick**. diff --git a/zh/config/level_horizon_calibration.md b/zh/config/level_horizon_calibration.md index 9088fa5d6125..5be56c7715c9 100644 --- a/zh/config/level_horizon_calibration.md +++ b/zh/config/level_horizon_calibration.md @@ -10,7 +10,7 @@ 1. 打开 *QGroundControl* 并连接上飞机。 2. 在工具栏选择 **齿轮** 图标 (机体设置)，然后在侧边栏选择 **传感器**。 -3. 点击 **Level Horizon** 按钮。 ![Level Horizon calibration](../../assets/qgc/setup/sensor/sensor_level_horizon.jpg) > **Note** You should already have set the [Autopilot Orientation](../config/flight_controller_orientation.md). 如果没有，也可以在这里设置。 +3. 点击 **Level Horizon** 按钮。 ![Level Horizon calibration](../../assets/qgc/setup/sensor/sensor_level_horizon.jpg) > **Note** 您应该已经设置好 [Autopilot Orientation](../config/flight_controller_orientation.md)。 如果没有，也可以在这里设置。 4. 将飞行器放置于水平方向： * 这是飞行器在水平飞行时的位置（飞行器通常会向上轻微翘起！） * 对于旋翼机，这是悬停位置。 diff --git a/zh/config/radio.md b/zh/config/radio.md index 84ce422ab782..9187e2da7b76 100644 --- a/zh/config/radio.md +++ b/zh/config/radio.md @@ -10,7 +10,7 @@ -> **Note** If you are using a *FrSky* receiver, you can bind it with its transmitter, by following instructions [here](https://www.youtube.com/watch?v=1IYg5mQdLVI). +> **提醒**：如果您使用的是 *FrSky * 的接收机，您可以在发射机上进行绑定（对频），下面是[介绍](https://www.youtube.com/watch?v=1IYg5mQdLVI)。 @@ -30,11 +30,11 @@ The way to do this is to set the RC controller trim and throttle stick as low as > **Note** Do not use a receiver that cannot support one of the two supported RC loss detection methods! -## Performing the Calibration +## 执行校准 -The calibration process is straightforward - you will be asked to move the sticks in a specific pattern that is shown on the transmitter diagram on the top right of the screen. +校准方法很简单，你只需要按照屏幕右上角的示意图移动遥控器的摇杆即可。 -To calibrate the radio: +遥控器校准 1. 打开您的 RC 发射机。 2. 打开 *QGroundControl* 并连接上飞机。 @@ -53,21 +53,21 @@ To calibrate the radio: 8. 点击 **下一步** 保存设置。 -Radio calibration is demonstrated in the [autopilot setup video here](https://youtu.be/91VGmdSlbo4?t=4m30s) (youtube). +在 [autopilot setup video here](https://youtu.be/91VGmdSlbo4?t=4m30s) (youtube) 中有遥控器校准的视频演示。 -## Additional Radio Setup +## 其他的遥控器设置 -As well as calibrating your control sticks and other transmitter controls, there are a number of additional radio setup options that you may find useful on this screen. +除了校准你的控制杆和其他遥控，在这个界面还有一些其他游泳的遥控器设置选项。 - + ### Spectrum 对频 -Before you can calibrate the radio system the receiver and transmitter must be connected/bound. If you have a *Spektrum* receiver you can put it in *bind mode* using *QGroundControl* as shown below (this can be particularly useful if you don't have easy physical access to the receiver on your vehicle). +在你校准遥控器之前，遥控器的发射机和接收机需要绑定（对频）。 如果你使用的是 *Spektrum* 的接收机，你可以按照下面的提示，使用 *QGroundControl* 将它设置到 *绑定（对频）模式* （如果你没有简便的物理方式用接收机连接飞控，这个会挺好用）。 -To bind a Spektrum transmitter/receiver: +Spektrum遥控器和接收机的对频 1. 选择 **Spektrum 对频** 的按钮。 2. 选择接收机上的 “radio” 按钮。 @@ -79,11 +79,11 @@ To bind a Spektrum transmitter/receiver: ### 复制微调 -This setting is used to copy the manual trim settings from your radio transmitter so that they can be applied automatically within the autopilot. After this is done you will need to remove the manually set trims. +这个设置是从你的遥控器复制手动微调设置，然后自动应用到自驾仪。 这个做完后，你需要手动移除微调设置。 -> **Note** Trim settings are used to adjust the roll, pitch, yaw such that when you center the sticks on your remote control, you get stable or level flight (in Stabilized flight mode). Some RC controllers provide trim knobs that allow you to provide an offset to the value sent by the RC controller for each stick position. The **Copy Trims** setting here moves the offsets into the autopilot. +> **提醒**微调设置是当你进行远程遥控，回中遥感时，适应横滚、俯仰、偏航，是你进行平稳或水平飞行（在自稳模式下）。 一些遥控器有微调旋钮，可以允许你对遥控器发送的每一个摇杆位置的值设置一个偏移量。 这里的**微调设置**将偏移量转移到了自驾仪中。 -To copy the trims: +复制微调 1. 选择 **微调**。 2. 摇杆居中，油门杆最低。 @@ -95,33 +95,33 @@ To copy the trims: ### 辅助通道 -AUX passthrough channels allow you to control arbitrary optional hardware from your transmitter (for example, a gripper). +辅助通道可以让你使用遥控器控制任意可选的硬件（例如，一个抓手或收放装置）。 -To use the AUX passthrough channels: +使用辅助通道 1. 映射2个遥控器控制来隔离通道。 2. 如下所示，依次映射这些通道到端口 AUX1 和 AUX2。 设置后，保存到自驾仪。 ![遥控器的AUX1和AUX2通道](../../assets/qgc/setup/radio/radio_additional_setup_aux_passthrough_channels.jpg) -The flight controller will pass through the unmodified values from the specified channels out of AUX1/AUX2 to the connected servos/relays that drive your hardware. +飞控将这些为指定的值通过指定的通道输出到 AUX1 / AUX2，来驱动连接的舵机/继电器。 ### 参数调试通道 -Tuning channels allow you to map a transmitter tuning knob to a parameter (so that you can dynamically modify a parameter from your transmitter). +调试通道是映射一个遥控器调试旋钮到参数（你可以在你的遥控器上动态调整一个参数）。 -> **Tip** This feature is provided to enable manual in-flight tuning: [Multicopter PID Tuning Guide](../config_mc/pid_tuning_guide_multicopter.md), [Fixedwing PID Tuning Guide](../config_fw/pid_tuning_guide_fixedwing.md). +> **提示**这个功能是启动手动飞行调试：[多旋翼 PID 调试指南](../config_mc/pid_tuning_guide_multicopter.md)，[固定翼 PID 调试指南](../config_fw/pid_tuning_guide_fixedwing.md)。 -The channels used for parameter tuning are assigned in the *Radio* setup (here!), while the mapping from each tuning channel to its associated parameter is defined in the *Parameter editor*. +用来进行参数调试的通道被放置在了*遥控器*设置中，可以在参数编辑器里设置每一个映射的调试通道对应的参数。 -To set up tuning channels: +设置调试通道 1. 映射3个遥控器通道（旋钮或滑块开关）来分离通道。 2. 使用选择列表，选择*参数调试*映射到遥控器通道。 设置后，保存到自驾仪。 ![映射遥控器通道到调试通道](../../assets/qgc/setup/radio/radio_additional_radio_setup_param_tuning.jpg) -To map a PARAM tuning channel to a parameter: +把一个参数调试通道到一个参数。 1. 打开侧栏的**参数**。 2. 选择参数映射到你的遥控器（这个会打开*参数编辑器*）。 @@ -135,10 +135,10 @@ To map a PARAM tuning channel to a parameter: 6. 点击 **OK** 定关闭对话框。 7. 点击 **保存** 保存修改，关闭*参数编辑器*。 -> **Tip** You can clear all parameter/tuning channel mappings by selecting menu **Tools > Clear RC to Param** at the top right of the *Parameters* screen. +> **提示**你可以在右上角的*参数*的在右上角中选择菜单**工具>清除遥控器参数**，清楚所有的参数/调试通道。 -## Further Information +## 更多信息 -* [QGroundControl > Radio Control](https://docs.qgroundcontrol.com/en/SetupView/Radio.html) -* [PX4 Setup Video - @4m30s](https://youtu.be/91VGmdSlbo4?t=4m30s) (Youtube) -* [RC System Selection](../getting_started/rc_transmitter_receiver.md) - Choose a compatible RC system. \ No newline at end of file +* [QGroundControl > 远程控制](https://docs.qgroundcontrol.com/en/SetupView/Radio.html) +* [PX4 设置视频 - @4m30s](https://youtu.be/91VGmdSlbo4?t=4m30s) (Youtube) +* [遥控系统选择](../getting_started/rc_transmitter_receiver.md) - 选择一个兼容的遥控系统。 \ No newline at end of file diff --git a/zh/config/safety.md b/zh/config/safety.md index f59e1e357458..7f5f0cfa1110 100644 --- a/zh/config/safety.md +++ b/zh/config/safety.md @@ -7,9 +7,9 @@ PX4有许多安全功能，可以在发生故障时保护并恢复您的机体 -## Failsafe Actions +## 故障保护动作 -Each failsafe defines its own set of actions. Some of the more common failsafe actions are: +每种故障保护措施都定义有自己的一组动作。 部分较为常见的故障保护措施如下： | 动作 | 描述 | | ------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | @@ -29,23 +29,23 @@ Each failsafe defines its own set of actions. Some of the more common failsafe a -## QGroundControl Safety Setup +## QGroundControl 安全设置 -The *QGroundControl* Safety Setup page is accessed by clicking the *QGroundControl* **Gear** icon (Vehicle Setup - top toolbar) and then **Safety** in the sidebar). This includes the most important failsafe settings (battery, RC loss etc.) and the settings for the return actions *Return* and *Land*. +通过依次单击 *QGroundControl* **Gear** 图标（位于机体设置 - 顶部工具栏），然后单击侧栏中的**安全**来访问 *QGroundControl* 安全设置页面。 其中包括最重要的故障保护设置（电池故障，遥控信号丢失等）和返航动作的设置（*返航*和*降落*）。 -![Safety Setup (QGC)](../../assets/qgc/setup/safety/safety_setup.png) +![安全设置（QGC）](../../assets/qgc/setup/safety/safety_setup.png) ### 低电量故障保护 -The low battery failsafe is triggered when the battery capacity drops below one (or more warning) level values. +当电池电量低于一个（或多个警告）水平值时，会触发低电量故障保护。 -![Safety - Battery (QGC)](../../assets/qgc/setup/safety/safety_battery.png) +![安全 - 电池（QGC）](../../assets/qgc/setup/safety/safety_battery.png) -The most common configuration is to set the values and action as above (with `Warn > Failsafe > Emergency`). With this configuration the failsafe will trigger warning, then return, and finally landing if capacity drops below the respective levels. +最常见的配置是按上述方式设置参数的值和相应故障保护动作（ `警告 > 故障安全 > Emergency`)。 通过如此配置，故障保护将触发警告，随后返航，最后在电池电量过低时降落。 -It is also possible to set the *Failsafe Action* to warn, return, or land when the [Battery Failsafe Level](#BAT_CRIT_THR) failsafe level is reached. +也可以在[电池故障保护等级](#BAT_CRIT_THR)达到指定水平时，将*故障保护动作*设置为警告、返航或降落。 -The settings and underlying parameters are shown below. +设置和基本参数如下所示。 | 设置 | 参数 | 描述 | | ---------------------------------- | ------------------------------------------------------------------------------ | ------------------------------------------------ | @@ -56,11 +56,11 @@ The settings and underlying parameters are shown below. -### RC Loss Failsafe +### 遥控信号丢失故障保护 The RC Loss failsafe is triggered if the RC transmitter link is lost *in manual modes* (RC loss does not trigger the failsafe in automatic modes - e.g. during missions). -![Safety - RC Loss (QGC)](../../assets/qgc/setup/safety/safety_rc_loss.png) +![安全 - 遥控丢失（QGC）](../../assets/qgc/setup/safety/safety_rc_loss.png) > **Note** 为了*检测遥控信号丢失情况*，可能还需要配置 PX4 和接收机：[无线电设置 > 遥控信号丢失检测](../config/radio.md#rc_loss_detection)。 @@ -73,11 +73,11 @@ The RC Loss failsafe is triggered if the RC transmitter link is lost *in manual ### 数据链路丢失故障保护 -The Data Link Loss failsafe is triggered if a telemetry link (connection to ground station) is lost when flying a [mission](../flying/missions.md). +如果在执行任务时数传链路（与地面站的连接）丢失，则会触发数据链路丢失故障保护。 -![Safety - Data Link Loss (QGC)](../../assets/qgc/setup/safety/safety_data_link_loss.png) +![安全 - 数据链路丢失（QGC）](../../assets/qgc/setup/safety/safety_data_link_loss.png) -The settings and underlying parameters are shown below. +设置和基本参数如下所示。 | 设置 | 参数 | 描述 | | -------- | -------------------------------------------------------------------------- | -------------------- | @@ -86,13 +86,13 @@ The settings and underlying parameters are shown below. ### 地理围栏故障保护 -The *Geofence Failsafe* is a "virtual" cylinder centered around the home position. If the vehicle moves outside the radius or above the altitude the specified *Failsafe Action* will trigger. +地理围栏故障保护是一个以初始位置为中心“虚拟”圆柱体。 如果机体在圆柱体的半径以外或在高于圆柱体的高度移动，将触发特定的故障保护动作。 -![Safety - Geofence (QGC)](../../assets/qgc/setup/safety/safety_geofence.png) +![安全 - 地理围栏（QGC）](../../assets/qgc/setup/safety/safety_geofence.png) > **Tip** PX4 单独支持更复杂的地理围栏几何结构，如多个任意多边形和圆形内外的区域，设置操作为：[飞行 > 地理围栏](../flying/geofence.md)。 -The settings and underlying [geofence parameters](../advanced_config/parameter_reference.md#geofence) are shown below. +设置和基本[地理围栏参数](../advanced_config/parameter_reference.md#geofence)如下所示。 | 设置 | 参数 | 描述 | | ---------- | ------------------------------------------------------------------------------ | ------------------------------------------------------- | @@ -102,7 +102,7 @@ The settings and underlying [geofence parameters](../advanced_config/parameter_r > **Note** 通过设置 `GF_ACTION` 来终止飞行将导致机体因违反地理围栏而急停。 由于这种情况具有一定的危险性，可以利用 [CBRK_FLIGHTTERM](#CBRK_FLIGHTTERM) 禁用此功能（需要将其重置为0才能真正关闭系统）。 -The following settings also apply, but are not displayed in the QGC UI. +如下设置也适用，但不显示在 QGC 用户界面中。 | 设置 | 参数 | 描述 | | --------------------------------- | ---------------------------------------------------------------------------- | -------------------------------- | @@ -113,13 +113,13 @@ The following settings also apply, but are not displayed in the QGC UI. -### Return Mode Settings +### 返航设置 -*Return* is a common [failsafe action](#failsafe_actions) that engages [Return mode](../flight_modes/return.md) to return the vehicle to the home position. This section shows how to set the land/loiter behaviour after returning. +*返航*是一种常见的[故障保护动作](#failsafe_actions)，这将启动[返航模式](../flight_modes/return.md)，使机体返回起飞位置。 本节说明如何设置返航后的降落/悬停行为。 -![Safety - Return Home Settings (QGC)](../../assets/qgc/setup/safety/safety_return_home.png) +![安全 - 返航设置（QGC）](../../assets/qgc/setup/safety/safety_return_home.png) -The settings and underlying parameters are shown below: +设置和基本参数如下所示。 | 设置 | 参数 | 描述 | | ---- | ------------------------------------------------------------------------------ | -------------------------------- | @@ -132,11 +132,11 @@ The settings and underlying parameters are shown below: ### 降落模式设置 -*Land at the current position* is a common [failsafe action](#failsafe_actions) that engages [Land Mode](../flight_modes/land.md). This section shows how to control when and if the vehicle automatically disarms after landing. For Multicopters (only) you can additionally set the descent rate. +*在当前位置降落*是一种常见的[故障保护动作](#failsafe_actions)，采用降落模式启动。 本节介绍何时及是否使载具在降落后自动上锁的设置方式。 对于多旋翼飞机（仅限），您可以另外设置降落速度。 -![Safety - Land Mode Settings (QGC)](../../assets/qgc/setup/safety/safety_land_mode.png) +![安全 - 降落模式设置（QGC）](../../assets/qgc/setup/safety/safety_land_mode.png) -The settings and underlying parameters are shown below: +设置和基本参数如下所示。 | 设置 | 参数 | 描述 | | ----- | ------------------------------------------------------------------------------ | --------------------------------------- | @@ -145,22 +145,22 @@ The settings and underlying parameters are shown below: -## Other Failsafe Settings +## 其他故障保护设置 -This section contains information about failsafe settings that cannot be configured through the *QGroundControl* [Safety Setup](#qgc_safety_setup) page. +本节包含无法通过 QGroundControl 安全设置页面配置的故障保护设置的信息。 ### 位置（GPS）丢失故障保护 -The *Position Loss Failsafe* is triggered if the quality of the PX4 position estimate falls below acceptable levels (this might be caused by GPS loss) while in a mode that requires an acceptable position estimate. +如果在对位置估计有要求的模式下，PX 4位置估计的精度低于要求（这可能是由 GPS 丢失引起的），则会触发位置丢失故障保护。 -The failure action is controlled by [COM_POSCTL_NAVL](../advanced_config/parameter_reference.md#COM_POSCTL_NAVL), based on whether RC control is assumed to be available (and altitude information): +故障动作由 [COM_POSCTL_NAVL](../advanced_config/parameter_reference.md#COM_POSCTL_NAVL) 控制, 基于遥控控制（和高度信息）是否可用： * `0`：遥控控制可用。 如果高度估计值可用，则切换到*定高模式*，否则为*自稳模式*。 * `1`：遥控控制*不*可用。 如果高度估计值可用，则切换到*降落模式*，否则进入飞行终止。 -Fixed Wing vehicles additionally have a parameter ([NAV_GPSF_LT](../advanced_config/parameter_reference.md#NAV_GPSF_LT)) for defining how long they will loiter (circle) after losing position before attempting to land. +此外，固定翼机体还有一个参数（[NAV_GPSF_LT](../advanced_config/parameter_reference.md#NAV_GPSF_LT)），用于定义机体在丢失位置到试图降落这段时间内将悬停（盘旋）多长时间。 -The relevant parameters for all vehicles shown below (also see [GPS Failure navigation parameters](../advanced_config/parameter_reference.md#gps-failure-navigation)): +以下为所有机体的相关参数(另见 [GPS 故障导航参数](../advanced_config/parameter_reference.md#gps-failure-navigation))： | 参数 | 描述 | | -------------------------------------------------------------------------------- | ----------------------------------------- | @@ -168,7 +168,7 @@ The relevant parameters for all vehicles shown below (also see [GPS Failure navi | [COM_POSCTL_NAVL](../advanced_config/parameter_reference.md#COM_POSCTL_NAVL) | 执行任务期间的位置控制导航丢失响应。 值：0——假设使用遥控，1——假设没有遥控。 | | [CBRK_VELPOSERR](../advanced_config/parameter_reference.md#CBRK_VELPOSERR) | 用于位置错误检查的断路器（在所有模式下禁用错误检查）。 | -Parameters that only affect Fixed Wing vehicles: +仅影响固定翼机体的参数： | 参数 | 描述 | | ---------------------------------------------------------------------- | ---------------------------------- | @@ -179,9 +179,9 @@ Parameters that only affect Fixed Wing vehicles: ### Offboard 中断故障保护 -The *Offboard Loss Failsafe* is triggered if the offboard link is lost while under Offboard control. Different failsafe behaviour can be specified based on whether or not there is also an RC connection available. +如果在 Offboard 控制模式下发生 Offboard 通信链路中断，则会触发 *Offboard 中断故障保护*。 可以根据是否还有可用的遥控连接来指定不同的故障保护行为。 -The relevant parameters are shown below: +相关参数如下： | 参数 | 描述 | | ---------------------------------------------------------------------------- | --------------------------------------------- | @@ -191,9 +191,9 @@ The relevant parameters are shown below: ### 任务故障保护 -The Mission Failsafe checks prevent a previous mission being started at a new takeoff location or if it is too big (distance between waypoints is too great). The failsafe action is that the mission will not be run. +任务故障保护检查可防止上一个任务在新的位置起飞，也可防止任务规模超标（航点之间的距离太大）。 故障保护措施指的是任务不会运行。 -The relevant parameters are shown below: +相关参数如下： | 参数 | 描述 | | ------------------------------------------------------------------------ | ------------------------------------------- | @@ -202,9 +202,9 @@ The relevant parameters are shown below: ### 交通规避故障保护 -The Traffic Avoidance Failsafe allows PX4 to respond to transponder data (e.g. from [ADSB transponders](../advanced_features/traffic_avoidance_adsb.md)) during missions. +交通规避故障保护使 PX4 在执行任务期间可以响应转发器的数据（例如来自 [ADSB 转发器](../advanced_features/traffic_avoidance_adsb.md)）。 -The relevant parameters are shown below: +相关参数如下： | 参数 | 描述 | | ------------------------------------------------------------------------------ | ------------------------- | @@ -212,11 +212,11 @@ The relevant parameters are shown below: ### 自适应 QuadChute 故障安全 -Failsafe for when a pusher motor fails (or airspeed sensor) and a VTOL vehicle can no longer achieve a desired altitude setpoint in fixed-wing mode. If triggered, the vehicle will transition to multicopter mode and enter failsafe [Return mode](../flight_modes/return.md). +在固定翼模式下，当推力电机（或空速管）故障使垂直起降机体无法再上升到设定高度时的故障保护。 If triggered, the vehicle will transition to multicopter mode and enter failsafe [Return mode](../flight_modes/return.md). > **Note** You can pause *Return mode* and transition back to fixed wing if desired. Note that if the condition that caused the failsafe still exists, it may trigger again! -The relevant parameters are shown below: +相关参数如下： | 参数 | 描述 | | -------------------------------------------------------------------------- | --------------------------------------------------------------- | @@ -224,108 +224,129 @@ The relevant parameters are shown below: -## Failure Detector +## 故障检测器 -The failure detector allows a vehicle to take protective action(s) if it unexpectedly flips, or if it is notified by an external failure detection system. +故障检测器允许机体在意外翻转或收到外部故障检测系统通知时执行保护措施。 During **flight**, the failure detector can be used to trigger [flight termination](../advanced_config/flight_termination.md) if failure conditions are met, which may then launch a [parachute](../peripherals/parachute.md) or perform some other action. -> **Note** Failure detection during flight is deactivated by default (enable by setting the parameter: [CBRK_FLIGHTTERM=0](#CBRK_FLIGHTTERM)). - -During **takeoff** the failure detector [attitude trigger](#attitude_trigger) invokes the [lockdown action](#action_lockdown) if the vehicle flips (lockdown kills the motors but, unlike flight termination, will not launch a parachute or perform other failure actions). Note that this check is *always enabled on takeoff*, irrespective of the `CBRK_FLIGHTTERM` parameter. - -The failure detector is active in all vehicle types and modes, except for those where the vehicle is *expected* to do flips (i.e. [Acro mode (MC)](../flight_modes/altitude_mc.md), [Acro mode (FW)](../flight_modes/altitude_fw.md), [Rattitude](../flight_modes/rattitude_mc.md) and [Manual (FW)](../flight_modes/manual_fw.md)). +> **Note** 飞行期间的故障检测默认被停用（通过设置参数启用：CBRK_FLIGHTTERM=0）。

                                                              +> +> During **takeoff** the failure detector [attitude trigger](#attitude_trigger) invokes the [lockdown action](#action_lockdown) if the vehicle flips (lockdown kills the motors but, unlike flight termination, will not launch a parachute or perform other failure actions). Note that this check is *always enabled on takeoff*, irrespective of the `CBRK_FLIGHTTERM` parameter. +> +> 故障检测器在所有机体类型和飞行模式下均处于激活状态，但*预期*会翻转的机体类型除外（即 [Acro 特技模式（MC）](../flight_modes/altitude_mc.md)，[Acro 特技模式（FW）](../flight_modes/altitude_fw.md)，[Rattitude 半自稳模式](../flight_modes/rattitude_mc.md)和 Manual 手动模式（FW））。

                                                              +> +> -### Attitude Trigger - -The failure detector can be configured to trigger if the vehicle attitude exceeds predefined pitch and roll values for longer than a specified time. - -The relevant parameters are shown below: - -| 参数 | 描述 | -| ------------------------------------------------------------------------------------------------------ | ----------------------------------------------------- | -| [CBRK_FLIGHTTERM](../advanced_config/parameter_reference.md#CBRK_FLIGHTTERM) | 飞行终止断路器。 从 121212（默认）取消设置，以启用由于故障检测器或 FMU 丢失而导致的飞行终止。 | -| [FD_FAIL_P](../advanced_config/parameter_reference.md#FD_FAIL_P) | 最大允许俯仰角（角度制）。 | -| [FD_FAIL_R](../advanced_config/parameter_reference.md#FD_FAIL_R) | 最大允许横滚角（角度制）。 | -| [FD_FAIL_P_TTRI](../advanced_config/parameter_reference.md#FD_FAIL_P_TTRI) | 超过故障检测的 [FD_FAIL_P](#FD_FAIL_P) 时间（默认为 0.3s）。 | -| [FD_FAIL_R_TTRI](../advanced_config/parameter_reference.md#FD_FAIL_R_TTRI) | 超过故障检测的 [FD_FAIL_R](#FD_FAIL_R) 时间（默认为 0.3s）。 | +> +> ### 姿态触发器 +> +> 如果机体姿态在超过规定时间的情况下超过预定的俯仰和横滚值，则故障检测器可以配置为触发器。 +> +> 相关参数如下： +> +> | 参数 | 描述 | +> | ------------------------------------------------------------------------------------------------------ | ----------------------------------------------------- | +> | [CBRK_FLIGHTTERM](../advanced_config/parameter_reference.md#CBRK_FLIGHTTERM) | 飞行终止断路器。 从 121212（默认）取消设置，以启用由于故障检测器或 FMU 丢失而导致的飞行终止。 | +> | [FD_FAIL_P](../advanced_config/parameter_reference.md#FD_FAIL_P) | 最大允许俯仰角（角度制）。 | +> | [FD_FAIL_R](../advanced_config/parameter_reference.md#FD_FAIL_R) | 最大允许横滚角（角度制）。 | +> | [FD_FAIL_P_TTRI](../advanced_config/parameter_reference.md#FD_FAIL_P_TTRI) | 超过故障检测的 [FD_FAIL_P](#FD_FAIL_P) 时间（默认为 0.3s）。 | +> | [FD_FAIL_R_TTRI](../advanced_config/parameter_reference.md#FD_FAIL_R_TTRI) | 超过故障检测的 [FD_FAIL_R](#FD_FAIL_R) 时间（默认为 0.3s）。 | +> +> -### External Automatic Trigger System (ATS) - -The [failure detector](#failure_detector), if [enabled](#CBRK_FLIGHTTERM), can also be triggered by an external ATS system. The external trigger system must be connected to flight controller port AUX5 (or MAIN5 on boards that do not have AUX ports), and is configured using the parameters below. - -> **Note** External ATS is required by [ASTM F3322-18](https://webstore.ansi.org/Standards/ASTM/ASTMF332218). One example of an ATS device is the [FruityChutes Sentinel Automatic Trigger System](https://fruitychutes.com/uav_rpv_drone_recovery_parachutes/sentinel-automatic-trigger-system.htm). - -| 参数 | 描述 | -| -------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------- | -| [FD_EXT_ATS_EN](../advanced_config/parameter_reference.md#FD_EXT_ATS_EN) | 启用 AUX5 或 MAIN5（取决于飞控板）上的 PWM 输入，以便从外部自动触发系统（ATS）启用故障保护。 默认值：禁用。 | -| [FD_EXT_ATS_TRIG](../advanced_config/parameter_reference.md#FD_EXT_ATS_TRIG) | 来自外部自动触发系统的用于接通故障保护的 PWM 阈值。 默认值：1900m/s。 | +> +> ### 外部自动触发系统（ATS） +> +> [故障检测器](#failure_detector)在[启用](#CBRK_FLIGHTTERM)的状态下也可以由外部自动触发系统 ATS 触发。 外部触发系统必须连接到飞行控制器的 AUX5 端口（或者是那些没有 AUX 端口的飞控板上的 MAIN5 端口），并使用以下参数进行配置。 +> +> > **Note** [ASTM F3322-18](https://webstore.ansi.org/Standards/ASTM/ASTMF332218) 标准规范要求启用外部自动触发系统 ATS。 ATS设备的一个例子是 [Fruity Chutes 公司的降落伞自动触发系统](https://fruitychutes.com/uav_rpv_drone_recovery_parachutes/sentinel-automatic-trigger-system.htm)。 +> +> | 参数 | 描述 | +> | -------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------- | +> | [FD_EXT_ATS_EN](../advanced_config/parameter_reference.md#FD_EXT_ATS_EN) | 启用 AUX5 或 MAIN5（取决于飞控板）上的 PWM 输入，以便从外部自动触发系统（ATS）启用故障保护。 默认值：禁用。 | +> | [FD_EXT_ATS_TRIG](../advanced_config/parameter_reference.md#FD_EXT_ATS_TRIG) | 来自外部自动触发系统的用于接通故障保护的 PWM 阈值。 默认值：1900m/s。 | +> +> -## Emergency Switches - -Remote control switches can be configured (as part of *QGroundControl* [Flight Mode Setup](../config/flight_mode.md)) to allow you to take rapid corrective action in the event of a problem or emergency; for example, to stop all motors, or activate [Return mode](#return_switch). - -This section lists the available emergency switches. +> +> ## 应急开关 +> +> 可以配置遥控开关（*QGroundControl* [飞行模式设置](../config/flight_mode.md)的一部分），以便在出现问题或发生紧急情况时及时采取矫正措施；例如，制动所有电机或激活[返航模式](#return_switch)。 +> +> 本节列出了可用的应急开关。 +> +> -### Kill Switch - -A kill switch immediately stops all motor outputs (and if flying, the vehicle will start to fall)! The motors will restart if the switch is reverted within 5 seconds. After 5 seconds the vehicle will automatically disarm; you will need to arm it again in order to start the motors. +> +> ### 急停开关 +> +> 急停开关会立即终止所有电机的输出（如果正处于飞行状态，机体将开始降落）！ 如果开关在 5 秒内复位，电机将重启。 5 秒后，机体将自动上锁；您需要再次解锁才能启动电机。 +> +> -### Arm/Disarm Switch - -The arm/disarm switch is a *direct replacement* for the default stick-based arming/disarming mechanism (and serves the same purpose: making sure there is an intentional step involved before the motors start/stop). It might be used in preference to the default mechanism because: - -* 这种机制偏向于切换动作而不是持续运动。 -* 这种机制可以避免因为某种意外误触而引发的飞行期间解锁/上锁。 -* 这种机制没有延迟（立即作出反应）。 - -The arm/disarm switch immediately disarms (stop) motors for those [flight modes](../getting_started/flight_modes.md) that *support disarming in flight*. This includes: - -* *手动模式* -* *特技模式* -* *自稳模式* -* *半自稳模式* - -For modes that do not support disarming in flight, the switch is ignored during flight, but may be used after landing is detected. This includes *Position mode* and autonomous modes (e.g. *Mission*, *Land* etc.). - -> **Note** [Auto disarm timeouts](#auto-disarming-timeouts) (e.g. via [COM_DISARM_LAND](#COM_DISARM_LAND)) are independent of the arm/disarm switch - ie even if the switch is armed the timeouts will still work. - - +> +> -### Return Switch - -A return switch can be used to immediately engage [Return mode](../flight_modes/return.md). - -## 其他安全设置 +> +> ### 返航开关 +> +> 返航开关可以立即启动[返航模式](../flight_modes/return.md)。 +> +> ## 其他安全设置 +> +> -### Auto-disarming Timeouts - -You can set timeouts to automatically disarm a vehicle if it is too slow to takeoff, and/or after landing (disarming the vehicle removes power to the motors, so the propellers won't spin). - -The [relevant parameters](../advanced_config/parameters.md) are shown below: - -| 参数 | 描述 | -| ---------------------------------------------------------------------------------------------------------- | ----------------- | -| [COM_DISARM_LAND](../advanced_config/parameter_reference.md#COM_DISARM_LAND) | 降落后自动上锁的超时时间。 | -| [COM_DISARM_PRFLT](../advanced_config/parameter_reference.md#COM_DISARM_PRFLT) | 如果起飞速度太慢，将启动自动上锁。 | - -## 更多信息 - -* [QGroundControl 用户手册 > 安全设置](https://docs.qgroundcontrol.com/en/SetupView/Safety.html) \ No newline at end of file +> +> ### 超时自动上锁 +> +> 如果起飞，并且/或者着陆后的响应速度太慢，您可以设置超时自动上锁（上锁会断开电机的电源，导致螺旋桨不会旋转）。 +> +> [相关参数](../advanced_config/parameters.md)显示如下： +> +> | 参数 | 描述 | +> | ---------------------------------------------------------------------------------------------------------- | ----------------- | +> | [COM_DISARM_LAND](../advanced_config/parameter_reference.md#COM_DISARM_LAND) | 降落后自动上锁的超时时间。 | +> | [COM_DISARM_PRFLT](../advanced_config/parameter_reference.md#COM_DISARM_PRFLT) | 如果起飞速度太慢，将启动自动上锁。 | +> +> ## 更多信息 +> +> * [QGroundControl 用户手册 > 安全设置](https://docs.qgroundcontrol.com/en/SetupView/Safety.html) \ No newline at end of file diff --git a/zh/config_fw/pid_tuning_guide_fixedwing.md b/zh/config_fw/pid_tuning_guide_fixedwing.md index 4e3d3ff28cd2..4e211b5e29dc 100644 --- a/zh/config_fw/pid_tuning_guide_fixedwing.md +++ b/zh/config_fw/pid_tuning_guide_fixedwing.md @@ -6,7 +6,7 @@ This guide explains how to tune the fixed_wing PID loop. -> **Note** +> **或者** - Incorrectly set gains during tuning can make attitude control unstable. A pilot tuning gains should therefore be able to fly and land the plane in [manual](../flight_modes/manual_fw.md) (override) control. - Excessive gains (and rapid servo motion) can violate the maximum forces of your airframe - increase gains carefully. diff --git a/zh/config_mc/mc_slew_rate_type_trajectory.md b/zh/config_mc/mc_slew_rate_type_trajectory.md index 66b84d987802..1cd9a3609c3b 100644 --- a/zh/config_mc/mc_slew_rate_type_trajectory.md +++ b/zh/config_mc/mc_slew_rate_type_trajectory.md @@ -28,25 +28,25 @@ -#### MPC_ACC_HOR and MPC_DEC_HOR_SLOW +#### MPC_ACC_HOR 和 MPC_DEC_HOR_SLOW -当由 **速度-控制** 过渡为 **位置-控制**时，将会发生一个从 `MPC_ACC_HOR` 切换到 `MPC_ACC_HOR_MAX` 的强制转变， 并且速度设定值会重置为当前机体速度。 重置和强制转变都可能在机体减速停止的过程中引起飞行抖动。 尽管如此，重置也是必需的，因为平滑参数会导致延迟到达设定值，若不重置则可能导致始料不及的飞行动作。 In addition, `MPC_DEC_HOR_SLOW` also limits the change in velocity setpoint when the user demands a deceleration in the current flight direction. For instance, if the stick input changes from maximum (=`1`) to `0.5`, the velocity setpoint change will be limited by `MPC_DEC_HOR_SLOW`. +当由 **速度-控制** 过渡为 **位置-控制**时，将会发生一个从 `MPC_ACC_HOR` 切换到 `MPC_ACC_HOR_MAX` 的强制转变， 并且速度设定值会重置为当前机体速度。 重置和强制转变都可能在机体减速停止的过程中引起飞行抖动。 尽管如此，重置也是必需的，因为平滑参数会导致延迟到达设定值，若不重置则可能导致始料不及的飞行动作。 此外，当用户需要沿当前飞行方向减速时，`MPC_DEC_HOR_SLOW` 也会限制速度设定的变化。 例如，当摇杆的输入量从最大值 (=`1`) 变化到 `0.5`时，速度设定的变化将由`MPC_DEC_HOR_SLOW`限定。 -During transition from **velocity-control** to **position-control**, there is a hard switch from from `MPC_ACC_HOR` to `MPC_ACC_HOR_MAX` and a reset of the velocity setpoint to the current vehicle velocity. The reset and the hard switch can both introduce a jerky flight performance during stopping. Nonetheless, the reset is required because the smoothing parameters introduce a delay to the setpoint, which can lead to unexpected flight maneuvers. +当由 **速度-控制** 转为 **位置-控制**时，将会发生一个由 `MPC_ACC_HOR` 到 `MPC_ACC_HOR_MAX` 的强制转变， 并且当前飞行器的速度设定将会被重置。 这种重置和强制转变在飞行器试图停止时都可能会引起抖动。 尽管如此，重置也是必需的，因为平滑参数对设定值会引入延迟，这可能导致意外的飞行操纵。 -A simple example explaining why the reset is needed is given below. +下面给出一个简单例子解释为什么需要重置。 -在摇杆满输入期间，速度设定值不会直接从 `0 m/s` 变为 `4 m/s`（即阶跃输入），而是会根据参数 `MPC_ACC_HOR` 的斜率渐变。 然而，机体的实际速度不会完美地跟踪设定值，而是总会稍微滞后。 `MPC_ACC_HOR` 的值越大，滞后越显著。 In addition, let's assume the maximum speed that can be demanded is `4 m/s`. +在摇杆满输入期间，速度设定值不会直接从 `0 m/s` 变为 `4 m/s`（即阶跃输入），而是会根据参数 `MPC_ACC_HOR` 的斜率渐变。 然而，机体的实际速度不会完美地跟踪设定值，而是总会稍微滞后。 `MPC_ACC_HOR` 的值越大，滞后越显著。 此外，我们假设需求的最大速度为`4 m/s`。 -During full stick input, the velocity setpoint will not change directly from `0 m/s` to `4 m/s` (aka step input) - instead the velocity setpoint follows a ramp with slope `MPC_ACC_HOR`. The actual velocity of the vehicle, however, will not track the setpoint perfectly, but rather will lag behind. The lag will be more significant the larger the value of `MPC_ACC_HOR`. +摇杆满输入时，速度设定值不会直接从`0 m/s`变到`4 m/s`(即阶跃输入)，而是根据参数`MPC_ACC_HOR`的斜率渐变。 然而，飞行器的实际速度不会完美地跟上设定值，而是会稍微滞后。 `MPC_ACC_HOR`的值越大，这个滞后就会越明显。 -![Slewrate Reset](../../assets/config/mc/slewrate_reset.svg) +![转向速度重设](../../assets/config/mc/slewrate_reset.svg) -Without the reset (the top graph), at the moment of the stop demand (stick equal 0) the velocity setpoint will ramp down with the maximum rate given by `MPC_ACC_HOR_MAX`. Due to the lag the vehicle will first continue to accelerate in the direction previous to the stop demand followed by slowly decelerating towards zero. With the reset of the velocity setpoint to the current velocity, the delay due to the lag during stop demand can be overcome. +如果没有复位(如顶部图示)，在停止指令的时刻(摇杆输入等于0)，速度设定值将以` MPC_ACC_HOR_MAX `给出的最大速率下降。 由于滞后，飞机将首先在停止指令之前的方向上继续加速，然后缓慢减速至零。 通过将速度设定点重置为当前速度，可以克服在停止指令期间的滞后引起的延迟。 #### MPC_ACC_UP_MAX 和 MPC_ACC_DOWN_MAX -`MPC_ACC_UP_MAX` >= `MPC_ACC_DOWN_MAX`, otherwise the firmware will overwrite the given values. +`MPC_ACC_UP_MAX` >= `MPC_ACC_DOWN_MAX`，否则固件将覆盖给定值。 - **位置-控制：**速度设定值在 z 方向的变化上限由参数 [MPC_ACC_UP_MAX](../advanced_config/parameter_reference.md#MPC_ACC_UP_MAX) 给出。 - **速度-控制：**摇杆输入导致的速度设定值的变化极限由两个参数给出， `MPC_ACC_UP_MAX` 为上限， [MPC_ACC_DOWN_MAX](../advanced_config/parameter_reference.md#MPC_ACC_DOWN_MAX) 为下限。 @@ -55,4 +55,4 @@ Without the reset (the top graph), at the moment of the stop demand (stick equal 加加速度参数通过设置最大加速度 `MPC_ACC_HOR_MAX` 来控制速度上限。 实际的加加速度值和飞行器制动前的速度值呈线性关系， 全速映射到[MPC_JERK_MAX](../advanced_config/parameter_reference.md#MPC_JERK_MAX) 而零速映射到 [MPC_JERK_MIN](../advanced_config/parameter_reference.md#MPC_JERK_MIN)。 -The jerk-parameter controls the rate limit with which the acceleration limit can change to `MPC_ACC_HOR_MAX`. The actual jerk-value is a linear map from velocity speed to jerk where full speed maps to [MPC_JERK_MAX](../advanced_config/parameter_reference.md#MPC_JERK_MAX) and zero speed to [MPC_JERK_MIN](../advanced_config/parameter_reference.md#MPC_JERK_MIN). The smoothing can be turned off by setting `MPC_JERK_MAX` to a value smaller than `MPC_JERK_MIN`. \ No newline at end of file +这一类的加速度参数 通过控制最大加速度`MPC_ACC_HOR_MAX`来控制最大速度。 实际的“刹车加速度”和飞行器刹车前的速度大小呈线性关系。 最大速度映射到[MPC_JERK_MAX](../advanced_config/parameter_reference.md#MPC_JERK_MAX) 而最小速度映射到 [MPC_JERK_MIN](../advanced_config/parameter_reference.md#MPC_JERK_MIN)。 你可以通过把 `MPC_JERK_MAX`设的比`MPC_JERK_MIN`更小来关掉“平滑刹车”。 \ No newline at end of file diff --git a/zh/config_mc/mc_trajectory_tuning.md b/zh/config_mc/mc_trajectory_tuning.md index 991853e9fd39..da7674f8a01d 100644 --- a/zh/config_mc/mc_trajectory_tuning.md +++ b/zh/config_mc/mc_trajectory_tuning.md @@ -27,24 +27,24 @@ P/PID 控制器的输入是机体尝试跟踪的*期望设定值*。 [PID 调参 > -> ## Flight Modes Trajectory Support +> ## 飞行模式轨迹支持 > -> [Mission mode](../flight_modes/mission.md) used the [Jerk-limited](../config_mc/mc_jerk_limited_type_trajectory.md) trajectory all the time. +> [任务模式](../flight_modes/mission.md)始终使用[加加速度限制型](../config_mc/mc_jerk_limited_type_trajectory.md)轨迹。 > -> [Position mode](../flight_modes/position_mc.md) supports all the [trajectory types](#trajectory_implementation) listed below. It uses the [Jerk-limited](../config_mc/mc_jerk_limited_type_trajectory.md) trajectory by default; the other types can be set using [MPC_POS_MODE](../advanced_config/parameter_reference.md#MPC_POS_MODE). +> [位置模式](../flight_modes/position_mc.md)支持下文列出的所有[轨迹类型](#trajectory_implementation)。 默认情况下使用加加速度限制型轨迹；若要使用其他轨迹类型可以利用 [MPC_POS_MOD](../advanced_config/parameter_reference.md#MPC_POS_MODE) 设置。 > -> [Altitude mode](../flight_modes/altitude_mc.md) similarly uses the [trajectory types](#trajectory_implementation) selected by [MPC_POS_MODE](../advanced_config/parameter_reference.md#MPC_POS_MODE), but *only* for smoothing the vertical component (i.e. when controlling the altitude). +> [定高模式](../flight_modes/altitude_mc.md)同样使用 [MPC_POS_MODE](../advanced_config/parameter_reference.md#MPC_POS_MODE) 所指的[轨迹类型](#trajectory_implementation)，但*仅*用于平滑垂直分量（即仅在控制高度时使用）。 > -> No other modes support trajectory tuning. +> 其他模式不支持轨迹调整。 > > > -> ## Trajectory Implementations +> ## 轨迹实现 > -> The following list provides an *overview* of the different trajectory implementations: +> 下表*概述*了不同类型的轨迹实现： > > - [加加速度限制型](../config_mc/mc_jerk_limited_type_trajectory.md) （默认） > - 当需要平滑运动时使用（例如：航拍、测绘、货运）。 diff --git a/zh/config_mc/pid_tuning_guide_multicopter.md b/zh/config_mc/pid_tuning_guide_multicopter.md index 899db693b87d..7f3330b5ea45 100644 --- a/zh/config_mc/pid_tuning_guide_multicopter.md +++ b/zh/config_mc/pid_tuning_guide_multicopter.md @@ -94,36 +94,36 @@ The related parameters for the tuning of the PID rate controllers are: - Pitch rate control ([MC_PITCHRATE_P](../advanced_config/parameter_reference.md#MC_PITCHRATE_P), [MC_PITCHRATE_I](../advanced_config/parameter_reference.md#MC_PITCHRATE_I), [MC_PITCHRATE_D](../advanced_config/parameter_reference.md#MC_PITCHRATE_D), [MC_PITCHRATE_K](../advanced_config/parameter_reference.md#MC_PITCHRATE_K)) - Yaw rate control ([MC_YAWRATE_P](../advanced_config/parameter_reference.md#MC_YAWRATE_P), [MC_YAWRATE_I](../advanced_config/parameter_reference.md#MC_YAWRATE_I), [MC_YAWRATE_D](../advanced_config/parameter_reference.md#MC_YAWRATE_D), [MC_YAWRATE_K](../advanced_config/parameter_reference.md#MC_YAWRATE_K)) -The rate controller can be tuned in [Acro mode](../flight_modes/acro_mc.md) or [Manual/Stabilized mode](../flight_modes/manual_stabilized_mc.md): +角速度控制器可以在[特技模式](../flight_modes/acro_mc.md)或者[手动/自稳模式](../flight_modes/manual_stabilized_mc.md)中调整。 -- *Acro mode* is preferred, but is harder to fly. If you choose this mode, disable all stick expo: +- *我们更推荐特技模式，* 但这种模式比较难飞。 如果你选择特技模式，记得把把特技模式指数因子都禁用了： - `MC_ACRO_EXPO` = 0, `MC_ACRO_EXPO_Y` = 0, `MC_ACRO_SUPEXPO` = 0, `MC_ACRO_SUPEXPOY` = 0 - `MC_ACRO_P_MAX` = 200, `MC_ACRO_R_MAX` = 200 - `MC_ACRO_Y_MAX` = 100 -- *Manual/Stabilized mode* is simpler to fly, but it is also more difficult to see if the attitude or the rate controller needs more tuning. +- *手动/自稳模式*更好飞，但这种模式也比较难观察姿态和角速度控制器到底调好了没。 If the vehicle does not fly at all: - If there are strong oscillations when first trying to takeoff (to the point where it does not fly), decrease all **P** and **D** gains until it takes off. - If the reaction to RC movement is minimal, increase the **P** gains. -The actual tuning is roughly the same in *Manual mode* or *Acro mode*: You iteratively tune the **P** and **D** gains for roll and pitch, and then the **I** gain. Initially you can use the same values for roll and pitch, and once you have good values, you can fine-tune them by looking at roll and pitch response separately (if your vehicle is symmetric, this is not needed). For yaw it is very similar, except that **D** can be left at 0. +在实际中，*手动模式*和*特技模式*的调参套路差不多：一步步地迭代调整滚转和俯仰的**P**和**D**增益，然后再调**I**增益。 Initially you can use the same values for roll and pitch, and once you have good values, you can fine-tune them by looking at roll and pitch response separately (if your vehicle is symmetric, this is not needed). 偏航那就很简单了，四旋翼对偏航角不是很敏感，我们甚至可以直接把偏航的D设为0。 ##### Proportional Gain (P/K) -The proportional gain is used to minimize the tracking error (below we use **P** to refer to both **P** or **K**). It is responsible for a quick response and thus should be set as high as possible, but without introducing oscillations. +The proportional gain is used to minimize the tracking error (below we use **P** to refer to both **P** or **K**). 它可以加快响应速度，因此应该在不引入震荡的前提下设的尽量的高。 -- If the **P** gain is too high: you will see high-frequency oscillations. -- If the **P** gain is too low: - - the vehicle will react slowly to input changes. - - In *Acro mode* the vehicle will drift, and you will constantly need to correct to keep it level. +- 如果**P**增益太高了，会有高频率的振荡。 +- 如果 **P** 增益太低了: + - 飞行器会对遥控器的输入很迟钝。 + - 如果是在*特技模式*下，飞行器会漂移，你会一直要矫正它来让它水平。 ##### Derivative Gain (D) -The **D** (derivative) gain is used for rate damping. It is required but should be set only as high as needed to avoid overshoots. +The **D** (derivative) gain is used for rate damping. 同样地，这个值应该尽量设大一些来避免超调。 -- If the **D** gain is too high: the motors become twitchy (and maybe hot), because the **D** term amplifies noise. -- If the **D** gain is too low: you see overshoots after a step-input. +- **D增益**太大，电机可能会抽搐、发热(也有可能不会) 。这是因为**D**项同时也会放大震动等带来的噪声。 +- **D增益**太低会导致超调，即相比设定的值「冲过头了」。 Typical values are: @@ -132,61 +132,61 @@ Typical values are: ##### Integral Gain (I) -The **I** (integral) gain keeps a memory of the error. The **I** term increases when the desired rate is not reached over some time. It is important (especially when flying *Acro mode*), but it should not be set too high. +**I**（积分）增益可以「记住误差」。 如果你发现过了一段时间了，角速度还是达不到设定值，那就该增加** I **了。 它很重要(尤其在*特技模式*下) ，但我们不应该把它设得太高。 -- If the I gain is too high: you will see slow oscillations. -- If the I gain is too low: this is best tested in *Acro mode*, by tilting the vehicle to one side about 45 degrees, and keeping it like that. It should keep the same angle. If it drifts back, increase the **I** gain. A low **I** gain is also visible in a log, when there is an offset between the desired and the actual rate over a longer time. +- 如果积分增益太高：你会看到缓慢的振荡。 +- If the I gain is too low: this is best tested in *Acro mode*, by tilting the vehicle to one side about 45 degrees, and keeping it like that. 他应该始终保持相同的角度。 如果它往回漂移，增加** I **。 通过观察日志我们也可以发现** I **增益太小的问题，可以看到实际的角速度过很久也达不到期望的角速度。 Typical values are: - standard form (**P** = 1): between 0.5 (VTOL plane), 1 (500 size) and 8 (4" racer), for any value of **K** - parallel form (**K** = 1): between 0.3 and 0.5 if **P** is around 0.15 The pitch gain usually needs to be a bit higher than the roll gain. -#### Testing Procedure +#### 测试步骤 -To test the current gains, provide a fast **step-input** when hovering and observe how the vehicle reacts. It should immediately follow the command, and neither oscillate, nor overshoot (it feels 'locked-in'). +要测试现在的增益，可以给一个在悬停状况下给一个**脉冲输入**（打一下杆再回来）然后观察飞行器的反应。 他应该反应很快，振荡和超调量都不大。(有种「锁定」的感觉)。 You can create a step-input for example for roll, by quickly pushing the roll stick to one side, and then let it go back quickly (be aware that the stick will oscillate too if you just let go of it, because it is spring-loaded — a well-tuned vehicle will follow these oscillations). -> **Note** A well-tuned vehicle in *Acro mode* will not tilt randomly towards one side, but keeps the attitude for tens of seconds even without any corrections. +> **Note** 一个调得很好的旋翼在*特技模式*不会随便超某个方向倾斜，即使不做任何矫正也能保持姿态几十秒。 -#### Logs +#### 日志 -Looking at a log helps to evaluate tracking performance as well. Here is an example for good roll and yaw rate tracking: +看看日志有助于你看看你调的参咋样。 下面是一份调得比较好的滚转和偏航角速度的日志。 -![roll rate tracking](../../assets/mc_pid_tuning/roll_rate_tracking.png) ![yaw rate tracking](../../assets/mc_pid_tuning/yaw_rate_tracking.png) +![滚转角速度跟踪](../../assets/mc_pid_tuning/roll_rate_tracking.png) ![偏航角速度跟踪](../../assets/mc_pid_tuning/yaw_rate_tracking.png) -And here is a good example for the roll rate tracking with several flips, which create an extreme step-input. You can see that the vehicle overshoots only by a very small amount: ![roll rate tracking flips](../../assets/mc_pid_tuning/roll_rate_tracking_flip.png) +下面这份日志显示了滚转角速度对阶跃输入和脉冲输入的一个比较好的反应。 你可以看到飞行器的超调量非常小。 ![roll rate tracking flips](../../assets/mc_pid_tuning/roll_rate_tracking_flip.png) ### 角度控制 -This controls the orientation and outputs desired body rates with the following tuning parameters: +角度控制环控制机体的姿态角，并通过设定的角度和实际角度误差来设定期望角速度，反过来想可能会比较直观，即用角速度来补偿角度。该控制环有以下参数可以调： -- Roll control ([MC_ROLL_P](../advanced_config/parameter_reference.md#MC_ROLL_P)) -- Pitch control ([MC_PITCH_P](../advanced_config/parameter_reference.md#MC_PITCH_P) -- Yaw control ([MC_YAW_P](../advanced_config/parameter_reference.md#MC_YAW_P)) +- 滚转角控制 ([MC_ROLL_P](../advanced_config/parameter_reference.md#MC_ROLL_P)) +- 俯仰角控制 ([MC_PITCH_P](../advanced_config/parameter_reference.md#MC_PITCH_P) +- 偏航角控制([MC_YAW_P](../advanced_config/parameter_reference.md#MC_YAW_P)) -The attitude controller is much easier to tune. In fact, most of the time the defaults do not need to be changed at all. +姿态角控制环调起来就容易多了。 其实大多数时候默认值就够了，完全不用调。 -To tune the attitude controller, fly in *Manual/Stabilized mode* and increase the **P** gains gradually. If you start to see oscillations or overshoots, the gains are too high. +角度控制环可以在*手动/自稳模式*下调，逐渐增大**P**增益。 如果看到有振荡或者超调，就说明调得太高了。 -The following parameters can also be adjusted. These determine the maximum rotation rates around all three axes: +下面这几个参数也可以调整 这些参数决定了绕三个轴的最大角速度： -- Maximum roll rate ([MC_ROLLRATE_MAX](../advanced_config/parameter_reference.md#MC_ROLLRATE_MAX)) -- Maximum pitch rate ([MC_PITCHRATE_MAX](../advanced_config/parameter_reference.md#MC_PITCHRATE_MAX) -- Maximum yaw rate ([MC_YAWRATE_MAX](../advanced_config/parameter_reference.md#MC_YAWRATE_MAX)) +- 最大滚转角速度 ([MC_ROLLRATE_MAX](../advanced_config/parameter_reference.md#MC_ROLLRATE_MAX)) +- 最大俯仰角速度 ([MC_PITCHRATE_MAX](../advanced_config/parameter_reference.md#MC_PITCHRATE_MAX) +- 最大偏航角速度 ([MC_YAWRATE_MAX](../advanced_config/parameter_reference.md#MC_YAWRATE_MAX)) ### Thrust Curve -The tuning above optimises performance around the hover throttle. But you may start to see oscillations when going towards full throttle. +以上的调整都是在悬停油门的基础上的。 But you may start to see oscillations when going towards full throttle. To counteract that, adjust the **thrust curve** with the [THR_MDL_FAC](../advanced_config/parameter_reference.md#THR_MDL_FAC) parameter. > **Note** The rate controller might need to be re-tuned if you change this parameter. -The mapping from motor control signals (e.g. PWM) to expected thrust is linear by default — setting `THR_MDL_FAC` to 1 makes it quadratic. Values in between use a linear interpolation of the two. Typical values are between 0.3 and 0.5. +The mapping from motor control signals (e.g. PWM) to expected thrust is linear by default — setting `THR_MDL_FAC` to 1 makes it quadratic. 0~1之间的值表示线性和二次之间的一个插值。 Typical values are between 0.3 and 0.5. If you have a [thrust stand](https://www.rcbenchmark.com/pages/series-1580-thrust-stand-dynamometer) (or can otherwise *measure* thrust and motor commands simultaneously), you can determine the relationship between the motor control signal and the motor's actual thrust, and fit a function to the data. The motor command in PX4 called `actuator_output` can be PWM, Dshot, UAVCAN commands for the respective ESCs in use. [This Notebook](https://github.com/PX4/px4_user_guide/blob/master/assets/config/mc/ThrustCurve.ipynb) shows one way for how the thrust model factor `THR_MDL_FAC` may be calculated from previously measured thrust and PWM data. The curves shown in this plot are parametrized by both α and k, and also show thrust and PWM in real units (kgf and μs). In order to simplify the curve fit problem, you can normalize the data between 0 and 1 to find `k` without having to estimate α (α = 1, when the data is normalized). @@ -210,7 +210,7 @@ over a linear range of normalized motor command values between 0 and 1. Note tha In this example above, the curve seemed to fit best when `THR_MDL_FAC` was set to 0.7. -If you don't have access to a thrust stand, you can also tune the modeling factor empirically. Start off with 0.3 and increase it by 0.1 at a time. If it is too high, you will start to notice oscillations at lower throttle values. If it is too low you'll notice oscillations at higher throttle values. +If you don't have access to a thrust stand, you can also tune the modeling factor empirically. Start off with 0.3 and increase it by 0.1 at a time. 如果该参数太大，你可以看到低油门下的振荡现象。 If it is too low you'll notice oscillations at higher throttle values. -If mixing becomes saturated towards the upper bound the commanded thrust is reduced to ensure that no motor is commanded to deliver more than 100% thrust. This behaviour is similar to the Airmode logic, and is applied whether Airmode is enabled or disabled. +如果在混控过程中，某个电机的期望拉力超过了100%，飞控就会减小两个电机的期望总拉力，来满足期望力矩。 这点和「Airmode逻辑」是相同的，并且飞控在Airmode打开和关闭的时候都会这么干。 -Once your vehicle flies well you can enable Airmode via the [MC_AIRMODE](../advanced_config/parameter_reference.md#MC_AIRMODE) parameter. \ No newline at end of file +如果你觉得你的旋翼飞行器已经飞的很好了，可以通过参数[MC_AIRMODE](../advanced_config/parameter_reference.md#MC_AIRMODE)来启用Airmode。 \ No newline at end of file diff --git a/zh/config_mc/racer_setup.md b/zh/config_mc/racer_setup.md index ca98241addb0..d302fd4858b0 100644 --- a/zh/config_mc/racer_setup.md +++ b/zh/config_mc/racer_setup.md @@ -51,7 +51,7 @@ Make sure that the center of gravity is as close as possible to the center of th If you plan to use a 4-in-1 ESC, such as the [Hobbywing XRotor Micro 40A 4in1](http://www.hobbywing.com/goods.php?id=588), you will notice that it uses a motor ordering that is different from the one that PX4 uses. PX4 allows you to change the motor ordering in software via [MOT_ORDERING](../advanced_config/parameter_reference.md#MOT_ORDERING) parameter. You can select the Betaflight/Cleanflight motor ordering that is typically used on these 4-in-1 ESCs. -## Software Setup +## 软件设置 After having built the racer, you will need to configure the software. Go through the [Basic Configuration Guide](../config/README.md) and choose the [Generic 250 Racer](../airframes/airframe_reference.md#copter_quadrotor_x_generic_250_racer) airframe, which already sets some racer-specific parameters. @@ -62,7 +62,7 @@ These parameters are important: - The minimum thrust [MPC_MANTHR_MIN](../advanced_config/parameter_reference.md#MPC_MANTHR_MIN) should be set to 0. - Disable RC input filtering by setting [RC_FLT_CUTOFF](../advanced_config/parameter_reference.md#RC_FLT_CUTOFF) to 0. -### Estimator +### 估计器 If you use a GPS you can skip this section and use the default estimator. Otherwise you should switch to the Q attitude estimator, which works without a magnetometer or barometer. diff --git a/zh/config_vtol/vtol_back_transition_tuning.md b/zh/config_vtol/vtol_back_transition_tuning.md index 405a0d01a097..5b1ce9ca2483 100644 --- a/zh/config_vtol/vtol_back_transition_tuning.md +++ b/zh/config_vtol/vtol_back_transition_tuning.md @@ -36,7 +36,7 @@ When flying missions that make use of a [VTOL_LAND](https://mavlink.io/en/messag ### 用一个通道来控制 -ESCs that use a separate control channel to control the motor direction (e.g. [Hobbywing Platinum series](http://a.hobbywing.com/category.php?id=44&filter_attr=6345.6346)) can use the airbrakes channel to apply reverse thrust during back-transition. +用一个单独的控制频道来控制电机转向的电调(例如 [Hobbywing Platinum series](http://a.hobbywing.com/category.php?id=44&filter_attr=6345.6346))可以用在后转换期间用空气刹车频道来进行后转换。 已经配置好支持这种方法的机型(比如DeltaQuad 机型) 可以通过把[VT_B_REV_OUT](../advanced_config/parameter_reference.md#VT_B_REV_OUT) 设置为1，并把[VT_B_TRANS_THR](../advanced_config/parameter_reference.md#VT_B_TRANS_THR)设置到你想要的油门上来激活反向推力功能。 这是一个从0到1的值，0.7代表70%油门 diff --git a/zh/config_vtol/vtol_quad_configuration.md b/zh/config_vtol/vtol_quad_configuration.md index 0a86892ca0db..e365b30e8b4c 100644 --- a/zh/config_vtol/vtol_quad_configuration.md +++ b/zh/config_vtol/vtol_quad_configuration.md @@ -30,7 +30,7 @@ Getting your transition tuning right is important for obtaining a safe entry int -#### Transition Throttle +#### 过渡阶段油门 Parameter: [VT_F_TRANS_THR](../advanced_config/parameter_reference.md#VT_F_TRANS_THR) @@ -52,7 +52,7 @@ Note that once the ramp up period ends throttle will be at its target setting an #### 混合控制空速 -Parameter: [VT_ARSP_BLEND](../advanced_config/parameter_reference.md#VT_ARSP_BLEND) +参数: [VT_ARSP_BLEND](../advanced_config/parameter_reference.md#VT_ARSP_BLEND) By default, as the airspeed gets close to the transition speed, multirotor attitude control will be reduced and fixed wing control will start increasing continuously until the transition occurs. @@ -60,13 +60,13 @@ Disable blending by setting this parameter to 0 which will keep full multirotor #### 转换空速 -Parameter: [VT_ARSP_TRANS](../advanced_config/parameter_reference.md#VT_ARSP_TRANS) +参数: [VT_ARSP_TRANS](../advanced_config/parameter_reference.md#VT_ARSP_TRANS) This is the airspeed which, when reached, will trigger the transition out of multirotor mode into fixed wing mode. It is critical that you have properly calibrated your airspeed sensor. It is also important that you pick an airspeed that is comfortably above your airframes stall speed (check `FW_AIRSPD_MIN`) as this is currently not checked. #### 固定翼永久稳定模式 -Parameter: [VT_FW_PERM_STAB](../advanced_config/parameter_reference.md#VT_FW_PERM_STAB) +参数: [VT_FW_PERM_STAB](../advanced_config/parameter_reference.md#VT_FW_PERM_STAB) Activating permanent stabilisation will result in fixed wing flight being stabilised by the autopilot at all times. As soon as a transition to fixed wing occurs it will be stabilised. @@ -74,13 +74,13 @@ Note that if you have not yet tuned your fixed wing mode you should leave this o -### Transitioning Tips +### 过渡模式小提示 -As already mentioned make sure you have a well tuned multirotor mode. If during a transition something goes wrong you will switch back to this mode and it should be quite smooth. +正如之前已经说过的，确保你的多旋翼模式已经调好了。 If during a transition something goes wrong you will switch back to this mode and it should be quite smooth. Before you fly have a plan for what you will do in each of the three phases (multirotor, transition, fixed wing) when you are in any of them and something goes wrong. -Battery levels: leave enough margin for a multirotor transition for landing at the end of your flight. Don’t run your batteries too low as you will need more power in multirotor mode to land. Be conservative. +Battery levels: leave enough margin for a multirotor transition for landing at the end of your flight. Don’t run your batteries too low as you will need more power in multirotor mode to land. 稳住，不要浪。 #### 过渡模式： @@ -88,11 +88,11 @@ Make sure you are at least 20 meters above ground and have enough room to comple Transition into the wind, whenever possible otherwise it will travel further from you before it transitions. -Make sure the VTOL is in a stable hover before you start the transition. +确保你的垂起固定翼在开始转换之前悬停得很稳。 #### 过渡：从多旋翼过渡到固定翼模式（前过渡） -Start your transition. It should transition within 50 – 100 meters. If it doesn’t or it isn’t flying in a stable fashion abort the transition (see below) and land or hover back to the start position and land. Try increasing the [transition throttle](#transition_throttle) (`VT_F_TRANS_THR`) value. Also consider reducing the transition duration (`VT_F_TRANS_DUR`) if you are not using an airspeed sensor. If you are using an airspeed sensor consider lowering the transition airspeed but stay well above the stall speed. +开始你的过渡。 飞机应该在50~100m之间进行过渡。 If it doesn’t or it isn’t flying in a stable fashion abort the transition (see below) and land or hover back to the start position and land. Try increasing the [transition throttle](#transition_throttle) (`VT_F_TRANS_THR`) value. Also consider reducing the transition duration (`VT_F_TRANS_DUR`) if you are not using an airspeed sensor. If you are using an airspeed sensor consider lowering the transition airspeed but stay well above the stall speed. As soon as you notice the transition happen be ready to handle height loss which may include throttling up quickly. @@ -104,11 +104,11 @@ When you transition back to multirotor mode bring your aircraft in on a straight Consider that the throttle value you have when you transition will command the amount of thrust your multirotor has at the moment of the switch. Because the wing will still be flying you’ll find you have plenty of time to adjust your throttle to achieve/hold a hover. -For advanced tuning of the back-transition please refer to the [Back-transition Tuning Guide](vtol_back_transition_tuning.md) +对于更多得后转换配置，请看 [后转换调参指南](vtol_back_transition_tuning.md) -#### Aborting a Transition +#### 紧急切出过渡模式 It’s important to know what to expect when you revert a transition command *during* a transition. diff --git a/zh/config_vtol/vtol_weathervane.md b/zh/config_vtol/vtol_weathervane.md index d575f86a38e5..5869124d338d 100644 --- a/zh/config_vtol/vtol_weathervane.md +++ b/zh/config_vtol/vtol_weathervane.md @@ -18,7 +18,7 @@ In [Mission mode](../flight_modes/mission.md) the weather vane feature will alwa -## Configuration +## 配置 This functionality is configured using the [WV_* parameters](../advanced_config/parameter_reference.md#WV_EN). diff --git a/zh/contribute/README.md b/zh/contribute/README.md index 707c29792e2a..ccdb6f533585 100644 --- a/zh/contribute/README.md +++ b/zh/contribute/README.md @@ -1,19 +1,19 @@ -# Contributing +# 贡献

                                                              TIP

                                                              This page may be out of date. The latest version can be found here.

                                                              -> **Tip** We pledge to adhere to the [PX4 code of conduct](https://github.com/PX4/PX4-Autopilot/blob/master/CODE_OF_CONDUCT.md). This code aims to foster an open and welcoming environment. +> **Tip** We pledge to adhere to the [PX4 code of conduct](https://github.com/PX4/PX4-Autopilot/blob/master/CODE_OF_CONDUCT.md). 该守则旨在营造一个开放和热情的环境。 This section contains information about contributing to PX4, including the source code, documentation, and translations, and their relevant licenses. * [Dev Call](../contribute/dev_call.md) - Discuss architecture, pull requests, impacting issues with the dev team * [Codeline Management](../contribute/code.md) - Work with PX4 code * [Documentation](../contribute/docs.md) - Improve the docs * [Translation](../contribute/translation.md) - Translate using Crowdin -* [Terminology/Notation](../contribute/notation.md) -* [Licenses](../contribute/licenses.md) +* [术语/符号](../contribute/notation.md) +* [许可证](../contribute/licenses.md) Contributors will also find these sections/topics useful: * [Support](../contribute/support.md) - Get help and raise issues diff --git a/zh/contribute/code.md b/zh/contribute/code.md index f9b123b3ca96..febca225603f 100644 --- a/zh/contribute/code.md +++ b/zh/contribute/code.md @@ -1,74 +1,68 @@ -# Source Code Management +# 源代码管理 -## Branching Model +## 分支模型 -The PX4 project uses a three-branch Git branching model: +PX4 项目使用三分支 Git 模型： -* [master](https://github.com/PX4/PX4-Autopilot/tree/master) is by default unstable and sees rapid development. -* [beta](https://github.com/PX4/PX4-Autopilot/tree/beta) has been thoroughly tested. It's intended for flight testers. -* [stable](https://github.com/PX4/PX4-Autopilot/tree/stable) points to the last release. +* [master](https://github.com/PX4/PX4-Autopilot/tree/master) 默认是不稳定版本， 用于快速开发。 +* [beta](https://github.com/PX4/PX4-Autopilot/tree/beta) 经过全面测试。 它是供飞行测试人员使用的。 +* [stable](https://github.com/PX4/PX4-Autopilot/tree/stable) 是最新发行版本。 -We try to retain a [linear history through rebases](https://www.atlassian.com/git/tutorials/rewriting-history) and avoid the [Github flow](https://guides.github.com/introduction/flow/). However, due to the global team and fast moving development we might resort to merges at times. +我们试着 [通过重置保留线性历史](https://www.atlassian.com/git/tutorials/rewriting-history)，并且避免 [Github flow](https://guides.github.com/introduction/flow/)。 然而，由于全球团队和快速的发展，我们可能有时会进行合并。 -To contribute new functionality, [sign up for Github](https://help.github.com/articles/signing-up-for-a-new-github-account/), then [fork](https://help.github.com/articles/fork-a-repo/) the repository, [create a new branch](https://help.github.com/articles/creating-and-deleting-branches-within-your-repository/), add your changes, and finally [send a pull request](https://help.github.com/articles/using-pull-requests/). Changes will be merged when they pass our [continuous integration](https://en.wikipedia.org/wiki/Continuous_integration) tests. +要贡献新功能，[注册Github](https://help.github.com/articles/signing-up-for-a-new-github-account/)，然后 [fork](https://help.github.com/articles/fork-a-repo/) 仓库，[创建一个新分支](https://help.github.com/articles/creating-and-deleting-branches-within-your-repository/)，添加您的更改，最后 [发送拉取请求](https://help.github.com/articles/using-pull-requests/)。 更改将在通过我们的 [持续整合](https://en.wikipedia.org/wiki/Continuous_integration) 测试时合并。 -All code contributions have to be under the permissive [BSD 3-clause license](https://opensource.org/licenses/BSD-3-Clause) and all code must not impose any further constraints on the use. +所有代码贡献都必须在许可的 [BSD 3 条款的许可证 ](https://opensource.org/licenses/BSD-3-Clause) 下进行，不得对其使用施加任何进一步的限制。 -## Code Style Formatting +## 代码样式格式 -PX4 uses [astyle](http://astyle.sourceforge.net/) for code formatting. Valid versions are -* [astyle 2.06](https://sourceforge.net/projects/astyle/files/astyle/astyle%202.06/) (recommended) +PX4 使用 [asty](http://astyle.sourceforge.net/) 进行代码格式化。 有效版本是 +* [astyle 2.06](https://sourceforge.net/projects/astyle/files/astyle/astyle%202.06/)（推荐） * [astyle 3.0](https://sourceforge.net/projects/astyle/files/astyle/astyle%203.0/) * [astyle 3.01](https://sourceforge.net/projects/astyle/files/) -Once installed, formatting can be checked with `./Tools/astyle/check_code_style_all.sh`. The output should be `Format checks passed` on a clean master. If that worked, `make format` can be used in the future to check and format all files automatically. +一旦安装完毕，格式化可以使用 `.工具/astyle/check_code_style_all.sh`。 一个干净的 master 分支的输出应该是 `格式检查通过`。 如果做到这一点，`制作格式`将来可以自动检查和格式化所有文件。 -## In-Source Documentation +## 源文件 -PX4 developers are encouraged to create appropriate in-source documentation. +鼓励PX4开发者创建适当的源文档。 -> **Note** Source-code documentation standards are not enforced, and the code is currently inconsistently documented. We'd like to do better! +> **Note** 源代码文件标准没有得到执行，目前该代码的文件记录不一致。 我们想做得更好！ -Currently we have two types of source-based documentation: +目前，我们有两种基于来源的文件： - `PRINT_MODULE_*` methods are used for both module run time usage instructions and for the [Modules & Commands Reference](../middleware/modules_main.md) in this guide. - - The API is documented [in the source code here](https://github.com/PX4/PX4-Autopilot/blob/v1.8.0/src/platforms/px4_module.h#L381). - - Good examples of usage include the [Application/Module Template](../apps/module_template.md) and the files linked from the modules reference. -* We encourage other in-source documentation *where it adds value/is not redundant*. + - API 记录在 [源代码](https://github.com/PX4/PX4-Autopilot/blob/v1.8.0/src/platforms/px4_module.h#L381)。 + - 使用的良好例子包括在 [应用程序/模块模板](../apps/module_template.md) 以及从模块引用链接的文件。 +* 我们鼓励其它源文档 *添加必要的值*。 - > **Tip** Developers should name C++ entities (classes, functions, variables etc.) such that their purpose can be inferred - reducing the need for explicit documentation. + > **Tip** 开发者应命名C++ 实体 (类、函数、变量等)，从而可以推断其目的――减少对明确文档的需求。 - - Do not add documentation that can trivially be assumed from C++ entity names. - - Commonly you may want to add information about corner cases and error handling. - - [Doxgyen](http://www.doxygen.nl/) tags should be used if documentation is needed: `@class`, `@file`, `@param`, `@return`, `@brief`, `@var`, `@see`, `@note`. A good example of usage is [src/modules/events/send_event.h](https://github.com/PX4/PX4-Autopilot/blob/master/src/modules/events/send_event.h). + - 不要添加可以从 C++ 实体名称零碎地推断出的文档。 + - 通常您可能想要添加关于 corner cases 和错误处理的信息。 + - [Doxgyen](http://www.doxygen.nl/)如果需要文件，应使用标签：`@class`，`@file`，`@param`，`@return`，`@var`，`@see`，`@note`，`@note`。 一个很好的用法例子是 [src/modules/events/send_event.h](https://github.com/PX4/PX4-Autopilot/blob/master/src/modules/events/send_event.h)。 -## Commits and Commit Messages +## 提交和提交消息 -Please use descriptive, multi-paragraph commit messages for all non-trivial changes. Structure them well so they make sense in the one-line summary but also provide full detail. +请对所有详细的更改使用描述、多段提交消息。 即使结构安排得很好，从一行摘要中看得出，但也提供了详尽的细节。 ``` -Component: Explain the change in one sentence. Fixes #1234 +组成部分：在一个句子中解释这一更改。 修复 #1234 -Prepend the software component to the start of the summary -line, either by the module name or a description of it. -(e.g. "mc_att_ctrl" or "multicopter attitude controller"). +将软件组件添加到摘要行的开头，或者通过模块名称或它的描述。 +(例如，"mc_att_ctrl" 或 "multicopter 姿态控制器")。 -If the issue number is appended as , Github -will automatically close the issue when the commit is -merged to the master branch. +如果问题编号作为添加，Github 将在提交合并到主分支时自动关闭问题。 -The body of the message can contain several paragraphs. -Describe in detail what you changed. Link issues and flight -logs either related to this fix or to the testing results -of this commit. +电文正文可以包含几个段落。 +详细描述您的变更。 链接问题和飞行日志或与此项提交的测试结果有关联。 -Describe the change and why you changed it, avoid to -paraphrase the code change (Good: "Adds an additional -safety check for vehicles with low quality GPS reception". -Bad: "Add gps_reception_check() function"). +描述这个变化以及你为什么做了修改，而不是只有代码更改内容 (很好: "为低质量GPS 接收的车辆添加额外 +安全检查"。 +坏: "添加 gps_reception_check() 函数"). -Reported-by: Name +已上报：名字 ``` -**Use **`git commit -s`** to sign off on all of your commits.** This will add `signed-off-by:` with your name and email as the last line. +**使用** `git commit -s` ** 来登录您的所有提交。** 这将添加 `签名-退出：`，您的姓名和电子邮件作为最后一行。 -This commit guide is based on best practices for the Linux Kernel and other [projects maintained](https://github.com/torvalds/subsurface/blob/a48494d2fbed58c751e9b7e8fbff88582f9b2d02/README#L88-L115) by Linus Torvalds. +本提交指南基于 Linux Kernel 和 Linus Torvald 维护的 [项目的最佳做法](https://github.com/torvalds/subsurface/blob/a48494d2fbed58c751e9b7e8fbff88582f9b2d02/README#L88-L115)。 diff --git a/zh/contribute/dev_call.md b/zh/contribute/dev_call.md index c34e3e0eba8f..7625f26d105e 100644 --- a/zh/contribute/dev_call.md +++ b/zh/contribute/dev_call.md @@ -1,39 +1,39 @@ -# Weekly Dev Call +# 每周开发通讯

                                                              TIP

                                                              This page may be out of date. The latest version can be found here.

                                                              -The PX4 dev team syncs up on platform technical details and in-depth analysis. There is also space in the agenda to discuss pull requests, major impacting issues and Q&A. +PX4开发团队会深入分析技术细节并同步到平台上。 在议程中，为重大影响的回拉请求，给与回答。 -## Who should attend: +## 谁应该注意以下几点： -* Core project maintainers -* Component maintainers -* Test team lead -* Dronecode members -* Community members +* 核心项目维护者 +* 组件维护者 +* 测试团队负责人 +* 无人机编码成员 +* 社区成员 -> **Tip** The dev call is open to all interested developers (not just the core dev team). This is a great opportunity to meet the team and contribute to the ongoing development of the platform. +> **提示** 开发调用对所有感兴趣的开发人员进行开放（不仅仅是核心开发团队）。 这是为持续可开发的平台做出贡献并与团队交流的绝佳机会。 -## What gets discussed? +## 讨论什么内容? -The first/main part of the meeting runs for 45 minutes and provides a high-level forum to discuss where the project is going. +会议的第一部分也是重要的部分将持续45分钟，为项目的发展方向提供一个高质量的讨论论坛。 -This is where we discuss *contributions*, including issues/PRs that have the [dev call](https://github.com/PX4/PX4-Autopilot/labels/devcall5) label. We expect the proposer and the assigned reviewer to be on the call! +This is where we discuss *contributions*, including issues/PRs that have the [dev call](https://github.com/PX4/PX4-Autopilot/labels/devcall5) label. 我们希望提议者和指定的审阅者都可以参加回访。 -> **Note** The main call is designed to support rapid/focused decision making. We don't expect deep technical discussions and we will not spend extended amounts of time on feature requests. Proposals are welcome, but they need a sponsor (someone willing to *implement* the work)! +> **注意** 主要的调用被设计用来做出集中快速的决策。 我们希望不要过深的探究技术，同样也不会花费太多的时间用在功能请求上。 Proposals are welcome, but they need a sponsor (someone willing to *implement* the work)! -The second part of the meeting is for in-depth technical discussions and open ended questions. The core team/subsystem maintainers will be available for up to 45 additional minutes. +会议的第二部分是对开发性问题和有深度的技术做些探究。 核心团队或者子系统维护者将会有额外的45分钟用来探究 -## Schedule -* TIME: Wednesday 17h00 CET, 12h00 EST, 09h00 PST \([subscribe to calendar](https://www.dronecode.org/calendar/)\) -* **Join the call**: https://meet.jit.si/PX4DeveloperCallWeekly +## 日程 +* 时间: 欧洲中部时间周二17：00, 东部标准时间12：00, 太平洋标准时间9：00 \([订阅日历](https://www.dronecode.org/calendar/)\) +* **加入通讯**：https://meet.jit.si/PX4DeveloperCallWeekly -* Agenda is published before the call on [PX4 Discuss - weekly-dev-call](http://discuss.px4.io/c/weekly-dev-call) -* To nominate Issues and PRs for the call you can use the [devcall](https://github.com/PX4/PX4-Autopilot/labels/devcall) label to flag them for discussion. +* 议程在[PX4 Discuss - weekly-dev-call](http://discuss.px4.io/c/weekly-dev-call)之前发布 +* 为了讨论指定的问题和回拉请求，你可以使用[devcall](https://github.com/PX4/PX4-Autopilot/labels/devcall)标签来标记 diff --git a/zh/contribute/docs.md b/zh/contribute/docs.md index 981e11e02421..7150732f7245 100644 --- a/zh/contribute/docs.md +++ b/zh/contribute/docs.md @@ -1,18 +1,18 @@ -# Contributing to Documentation +# 投稿指南 -Contributions to the guides for all parts of the Dronecode project are very welcome. Contributions to the guides for all parts of the Dronecode project are very welcome. This includes the PX4 and QGroundControl developer and user guides, and the MAVLink guide. This article explains how you can make changes, add content, and create translations. This article explains how you can make changes, add content, and create translations. +非常欢迎大家给Dronecode项目的相关指南积极投稿。 Contributions to the guides for all parts of the Dronecode project are very welcome. This includes the PX4 and QGroundControl developer and user guides, and the MAVLink guide. This article explains how you can make changes, add content, and create translations. 本篇章用来向投稿者们解释如何对项目指南进行更改、添加内容和创建翻译。 > **Note** You will need a (free) [Github](http://github.com) account to contribute to the guide. -## Quick Changes +## 快速更改 Fixing typos or editing an *existing page* is easy: -1. Click the **Edit** toolbar icon at the top of the relevant page in the guide. +1. 点击指南相关页面顶部的工具栏图标**Edit**。 - ![Gitbook: Edit Page button](../../assets/gitbook/gitbook_toolbar_icon_edit.png) + ![Gitbook: 编辑页面按钮](../../assets/gitbook/gitbook_toolbar_icon_edit.png) - This will open the page for editing (in Github). -1. Make the desired change. + 打开编辑页面(Github)。 +1. 进行修改。 1. At the bottom of the page you'll be prompted to create a separate branch and then guided to submit a *pull request*. The documentation team reviews submitted pull requests and will either merge it or work with you to update it. @@ -27,21 +27,21 @@ If you want to add new pages or images that can't easily be done through the Git 1. Test that it renders properly using the Gitbook client 1. In order to contribute many changes to the documentation, it is recommended that you follow these steps to add the changes locally and then create a pull request: -Change requests can be either done on the Gitbook website using the [Gitbook editor](https://gitbookio.gitbooks.io/documentation/content/editor/index.html) or locally (more flexible, but less user-friendly). Most of these instructions cover the local setup. +更改请求可以使用 [Gitbook 编辑器](https://gitbookio.gitbooks.io/documentation/content/editor/index.html) 在 Gitbook 网站上完成，也可以在本地完成(更灵活，但用户友好度欠佳)。 Most of these instructions cover the local setup. ### What Goes Where? The guide uses the [Gitbook](https://www.gitbook.com/about) toolchain. Change requests can be either done on the Gitbook website using the [Gitbook editor](https://gitbookio.gitbooks.io/documentation/content/editor/index.html) or locally (more flexible, but less user-friendly). -The *Developer Guide* is for documentation that is relevant to *software developers*. This includes users who need to: -* Add or modify platform features - modules, flight modes, etc. -* Add support/integrate with new hardware - flight controllers, peripherals, airframes, etc. -* Communicate with the platform from an external source - e.g. a companion computer. -* Understand the architecture +*开发者指南*是与*软件开发者相关的文档*。 使用者的需求为： +* 添加或修改软件平台功能，如模块、飞行模式等。 +* 添加新硬件支持/集成，如飞行控制器、外围、机型等。 +* 从外部源与平台通信，例如一个配套的计算机。 +* 了解软件架构 The *User Guide*, by contrast, is *primarily* for users who want to: -* Fly a vehicle using PX4 -* Build, modify, or configure a vehicle using PX4 on a supported/existing airframe. +* 使用 PX4 控制飞行器 +* 使用 PX4，基于已支持/现存的机型，构建、修改或配置类似载具。 > **Note** Everything you need to install and build Gitbook locally is also explained in the [toolchain documentation](https://toolchain.gitbook.com/setup.html). @@ -50,16 +50,16 @@ The *User Guide*, by contrast, is *primarily* for users who want to: To get the library(s) sources onto your local computer you will need to use the git toolchain. The instructions below explain how to get git and use it on your local computer. 1. git add <file name> git commit -m "<your commit message>" -1. [Sign up](https://github.com/join) for github if you haven't already +1. 如果您还没有注册Github，请先[注册](https://github.com/join) Github 账户 1. Create a copy (Fork) of the desired library on Github ([instructions here](https://help.github.com/articles/fork-a-repo/#fork-an-example-repository)). The library repo URLs are: - cd ~/wherever/px4_user_guide git remote add upstream https://github.com/PX4/px4_user_guide.git - Fork the PX4 user guide from [here](https://github.com/PX4/px4_user_guide) or Dev guide from [here](https://github.com/PX4/Devguide). For instructions to fork a git repository, see [here](https://help.github.com/articles/fork-a-repo/#fork-an-example-repository). - Clone your forked repository to your local computer - MAVLink Developer Guide: https://github.com/mavlink/mavlink-devguide -1. Clone (copy) your forked repository to your local computer: +1. Navigate to your local repository and add original upstream: ```sh cd ~/wherever/ - git clone https://github.com//.git +git clone https://github.com//px4_user_guide.git ``` For example, to clone the PX4 userguide fork for a user with github account "john_citizen_smith": ```sh @@ -90,54 +90,54 @@ To get the library(s) sources onto your local computer you will need to use the git add git commit -m "" ``` - For a good commit message, please refer to [Contributing](../contribute/README.md) section. + 需进一步了解提交信息, 请参阅 [Contributing](../contribute/README.md) 部分。 1. Now you can push your local commits to your forked repository ```sh git push origin your_feature_branch_name ``` -1. Go to your forked repository on Github in a web browser, e.g.: `https://github.com//px4_user_guide.git`. There you should see the message that a new branch has been pushed to your forked repository. +1. Go to your forked repository on Github in a web browser, e.g.: `https://github.com//px4_user_guide.git`. 您应该会看到一条告知消息：一个新分支已被推送到您的分支版本库。 1. Create a pull request (PR): - Now it's time to create a pull request (PR). On the right hand side of the "new branch message" (see one step before), you should see a green button saying "Compare & Create Pull Request". Then it should list your changes and you can (must) add a meaningful title (in case of a one commit PR, it's usually the commit message) and message (explain what you did for what reason. Check [other pull requests](https://github.com/PX4/px4_user_guide/pulls) for comparison) Press it. - - A pull request template will be created. It will list your commits and you can (must) add a meaningful title (in case of a one commit PR, it's usually the commit message) and message (explain what you did for what reason. Check [other pull requests](https://github.com/PX4/px4_user_guide/pulls) for comparison) -1. You're done! You're done! Responsible members of PX4 guides will now have a look at your contribution and decide if they want to integrate it. Check if they have questions on your changes every once in a while. Check if they have questions on your changes every once in a while. + - A pull request template will be created. It will list your commits and you can (must) add a meaningful title (in case of a one commit PR, it's usually the commit message) and message (explain what you did for what reason. 检查 [其他拉取请求 ](https://github.com/PX4/px4_user_guide/pulls) 进行比较)。 +1. 搞定！ You're done! Responsible members of PX4 guides will now have a look at your contribution and decide if they want to integrate it. Check if they have questions on your changes every once in a while. 每过一段时间，他们会检查你的更改，以确保没有疑义。 ### Source Code Structure -The guide uses the [Legacy Gitbook Toolchain](https://legacy.gitbook.com/) toolchain. Instructions for how this toolchain is setup and used can be found in the [toolchain documentation](https://github.com/GitbookIO/gitbook/blob/master/docs/setup.md). +指南使用 [旧版Gitbook 工具链](https://legacy.gitbook.com/) Instructions for how this toolchain is setup and used can be found in the [toolchain documentation](https://github.com/GitbookIO/gitbook/blob/master/docs/setup.md). -In overview: +概述： -* Pages are written in separate files using markdown \(almost the same syntax used by Github wiki\). +* 用多个单独文件编写的页面，使用 markdown \(与Github wiki中的语法几乎一致\)。 * The *structure* of the book is defined in a file named **SUMMARY.md**. If you add a new page to the library you must add an entry to this file. * This is a [multilingual](https://toolchain.gitbook.com/languages.html) book, so there is a **LANGS.md** file in the root directory defining what languages are supported. Pages for each language are stored in the folder named for the associated language code \(e.g. "zh" for Chinese, "en" for English\). - - Pages for each language are stored in the folder named for the associated language code \(e.g. "zh" for Chinese, "en" for English\). + - 每种语言的页面都存储在用相关语言代码命名的文件夹\(例如，中文的“zh”、 英文的“en”\)。 - You should only ever edit the ENGLISH version of files. We use translation software to manage the other trees. * Images must be stored in a sub folder of **/assets**. This is two folders down from content folders, so if you add an image you will reference it like: ``` ![Image Description](../../assets/path_to_file/filename.jpg) ``` -* A file named **book.json** defines any dependencies of the build. -* A web hook is used to track whenever files are merged into the master branch on this repository, causing the book to rebuild. +* 一个名为**book.json**的文件定义了此构建的所有依赖关系。 +* 网络钩子会被用来跟踪是否有文件合并到此版本库上的主分支，如果有，卷册将重新构建。 -### Style guide +### 文档规范指南 -1. Files/file names +1. 文件/文件名 - * Put new files in an appropriate sub-folder - * Use descriptive names. Use descriptive names. In particular, image filename should describe what they contain. - * Use lower case and separate words using underscores "\_" + * 将新文件放入相应的子文件夹 + * 使用描述性名称。 Use descriptive names. In particular, image filename should describe what they contain. + * 命名中使用小写，并用下划线"\_"分割单词 -2. Images +2. 图片 - * Use the smallest size and lowest resolution that makes the image still useful. + * 使用能保证图像使用价值的最小尺寸和最小分辨率。 * New images should be created in a sub-folder of **/assets/** by default (so they can be shared between translations). -3. Content: +3. 内容: - * Use "style" \(bold, emphasis, etc\) consistently. Use "style" \(bold, emphasis, etc\) consistently. **Bold** for button presses and menu definitions. *Emphasis* for tool names. Otherwise use as little as possible. _Emphasis_ for tool names. Otherwise use as little as possible. - * Headings and page titles should use "First Letter Capitalisation" - * The page title should be a first level heading \(\#\). The page title should be a first level heading \(\#\). All other headings should be h2 \(\#\#\) or lower. - * Don't add any style to headings. + * 始终如一地使用 "样式" (如bold, emphasis等) Use "style" \(bold, emphasis, etc\) consistently. **Bold** for button presses and menu definitions. *Emphasis* for tool names. Otherwise use as little as possible. 工具名称，请使用样式_Emphasis_。 其他情况，尽量少用样式。 + * 标题和页面标题应该遵从"第一字母大写" + * 页面标题应该是一级标题 。 The page title should be a first level heading \(\#\). All other headings should be h2 \(\#\#\) or lower. + * 不要在标题中添加任何样式。 * Don't translate the *first part* of a note, tip or warning declaration (e.g. `> **Note**`) as this precise text is required to render the note properly. ### Building the Gitbook Locally @@ -145,7 +145,7 @@ In overview: Install gitbook via NPM. At the terminal prompt, simply run the following command to install GitBook: 1. Install nodejs on your computer (version 4-6 recommended). -1. Install gitbook via NPM. At the terminal prompt, simply run the following command to install GitBook: +1. 通过 NPM 安装 gitbook。 在终端提示下，只需运行以下命令即可安装 GitBook： ```sh npm install gitbook-cli -g ``` @@ -158,23 +158,23 @@ Install gitbook via NPM. At the terminal prompt, simply run the following comman gitbook install ``` - > **Note** If you run into an error: `/usr/bin/env: node: No such file or directory`, run `ln -s /usr/bin/nodejs /usr/bin/node` + > **Note** 如果遇到报错: `/usr/bin/env: node：No such file or directory`, 请运行 `ln -s /usr/bin/nodejs /usr/bin/node` 1. Build your book: ```sh gitbook build ``` -1. To preview and serve your book, run: +1. 要预览并服务您的卷册，请运行： ```sh gitbook serve ``` - * Now you can browse your local book on http://localhost:4000/ - * Exit serving using `CTRL+c` in the terminal prompt. -1. You can also serve on a different port instead of 4000: + * 现在您可以在 http://localhost:4000/ 上浏览您的本地卷册 + * 在终端提示中使用`CTRL+c`退出。 +1. 除了端口4000，您也可以在另一个端口上作业： ```sh gitbook serve --port 4003 ``` -1. You can also output as html, pdf, epub or mobi: +1. 您也可以以 html 、pdf、epub 或 mobi 格式输出： ```sh gitbook help ``` @@ -183,7 +183,7 @@ Install gitbook via NPM. At the terminal prompt, simply run the following comman ## 翻译 -We'd love your help to translate *QGroundControl* and our guides for PX4, *QGroundControl* and MAVLink. For more information see: [Translation](../contribute/translation.md). For more information see: [Translation](../contribute/translation.md). +We'd love your help to translate *QGroundControl* and our guides for PX4, *QGroundControl* and MAVLink. For more information see: [Translation](../contribute/translation.md). 更多信息请参见：[Translation](../contribute/translation.md)。 ## 许可证 diff --git a/zh/contribute/git_examples.md b/zh/contribute/git_examples.md index 6022d92dc204..dfe3dae855f5 100644 --- a/zh/contribute/git_examples.md +++ b/zh/contribute/git_examples.md @@ -4,11 +4,11 @@ ## 为 PX4 贡献代码 -Adding a feature to PX4 follows a defined workflow. In order to share your contributions on PX4, you can follow this example. In order to share your contributions on PX4, you can follow this example. +Adding a feature to PX4 follows a defined workflow. In order to share your contributions on PX4, you can follow this example. 为了在 px4 上分享您的贡献, 您可以遵循此示例。 -* [Sign up](https://github.com/join) for github if you haven't already +* 如果您还没有注册，请先[Sign up](https://github.com/join) Github 账户 * Fork the Firmware (see [here](https://help.github.com/articles/fork-a-repo/#fork-an-example-repository)) -* Clone your forked repository to your local computer
                                                              +* 将分支克隆到本地计算机
                                                              ```sh cd ~/wherever/ git clone https://github.com//Firmware.git @@ -20,50 +20,50 @@ git submodule update --init --recursive git remote add upstream https://github.com/PX4/Firmware.git ``` * You should have now two remote repositories: One repository is called upstream that points to the PX4 Firmware, and one repository that points to your forked repository of the PX4 repository. -* This can be checked with the following command: +* 这可以通过以下命令进行检查: ```sh git remote -v ``` -* Make the changes that you want to add to the current master. -* Create a new branch with a meaningful name that represents your feature
                                                              +* 进行要添加到当前 master 的更改。 +* 使用代表您的功能的有意义的名称创建一个新分支
                                                              ```sh git checkout -b ``` You can verify that the push was successful by going to your forked repository in your browser: `https://github.com//Firmware.git` There you should see the message that a new branch has been pushed to your forked repository. -* Add your changes that you want to be part of the commit by adding the respective files
                                                              +* 通过添加相应的文件添加您希望成为提交的一部分的更改
                                                              ```sh 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`](http://nuclearsquid.com/writings/git-add/). -* Commit the added files with a meaningful message explaining your changes
                                                              +* 提交添加的文件, 并顺便记录一条有意义的消息, 解释您的更改
                                                              ```sh git commit -m "" ``` you can use the command `git branch` to make sure you're on the right branch. * Add your changes that you want to be part of the commit by adding the respective files -* Some time might have passed and the [upstream master](https://github.com/PX4/PX4-Autopilot.git) has changed. PX4 prefers a linear commit history and uses [git rebase](https://git-scm.com/book/de/v1/Git-Branching-Rebasing). To include the newest changes from upstream in your local branch, switch to your master branch
                                                              +* Some time might have passed and the [upstream master](https://github.com/PX4/PX4-Autopilot.git) has changed. PX4 更喜欢线性提交历史记录, 并使用 [git rebase](https://git-scm.com/book/de/v1/Git-Branching-Rebasing)。 要在本地分支中包含上游的最新更改, 请切换到主分支
                                                              ```sh git checkout master ``` - Then pull the newest commits from upstream master
                                                              + 然后从上游 master 中提取最新的提交
                                                              ```sh git pull upstream master ``` - Now your local master is up to date. Switch back to your feature branch Switch back to your feature branch
                                                              + Now your local master is up to date. Switch back to your feature branch 切换回您的功能分支
                                                              ```sh git checkout ``` - and rebase on your updated master
                                                              + 并根据您更新的母版重新定位
                                                              ```sh git rebase master ``` -* Now you can push your local commits to your forked repository
                                                              +* 现在, 您可以将本地提交推送到分支版本库
                                                              ```sh git push origin ``` * For a good commit message, please refer to [Contributing](../contribute/README.md) section. * Some time might have passed and the [upstream master](https://github.com/PX4/Firmware.git) has changed. PX4 prefers a linear commit history and uses [git rebase](https://git-scm.com/book/de/v1/Git-Branching-Rebasing). To include the newest changes from upstream in your local branch, switch to your master branch -* Now it's time to create a pull request (PR). Now it's time to create a pull request (PR). On the right hand side of the "new branch message" (see one step before), you should see a green button saying "Compare & Create Pull Request". Then it should list your changes and you can (must) add a meaningful title (in case of a one commit PR, it's usually the commit message) and message (explain what you did for what reason. Check [other pull requests](https://github.com/PX4/Firmware/pulls) for comparison) Then it should list your changes and you can (must) add a meaningful title (in case of a one commit PR, it's usually the commit message) and message (explain what you did for what reason. Check [other pull requests](https://github.com/PX4/PX4-Autopilot/pulls) for comparison) -* You're done! You're done! Responsible members of PX4 will now have a look at your contribution and decide if they want to integrate it. Check if they have questions on your changes every once in a while. Check if they have questions on your changes every once in a while. +* 现在是时候创建一个拉取请求 (PR) 了。 Now it's time to create a pull request (PR). On the right hand side of the "new branch message" (see one step before), you should see a green button saying "Compare & Create Pull Request". Then it should list your changes and you can (must) add a meaningful title (in case of a one commit PR, it's usually the commit message) and message (explain what you did for what reason. Check [other pull requests](https://github.com/PX4/Firmware/pulls) for comparison) 然后, 它应该列出你的更改，你必须添加一个有意义的标题 (在提交 PR 的情况下, 它通常是提交消息) 和消息 (解释你做了这些更改的原因 ， 检查 [其他拉取请求 ](https://github.com/PX4/PX4-Autopilot/pulls) 进行比较)。 +* 搞定！ You're done! Responsible members of PX4 will now have a look at your contribution and decide if they want to integrate it. Check if they have questions on your changes every once in a while. 每过一段时间，他们会检查你的更改，以确保没有疑义。 ## 更新子模块 @@ -73,42 +73,42 @@ If you prefer having a GUI to add your files see [Gitk](https://git-scm.com/book git clone https://github.com/PX4/PX4-Autopilot.git cd PX4-Autopilot ``` -* List all releases (tags) +* 列出所有发行版本（标签） ```sh git checkout master git pull upstream master ``` -* Checkout code for particular tag (e.g. for tag 1.7.4beta) +* 迁出特定tag的代码（比如 tag为 1.7.4的beta版本） ```sh git checkout v1.7.4beta ``` -## Update Submodule +## 更新子模块 -There are several ways to update a submodule. There are several ways to update a submodule. Either you clone the repository or you go in the submodule directory and follow the same procedure as in [Contributing code to PX4](#Contributing-code-to-PX4). +有几种方法可以更新子模块。 There are several ways to update a submodule. Either you clone the repository or you go in the submodule directory and follow the same procedure as in [Contributing code to PX4](#Contributing-code-to-PX4). -## Do a PR for a submodule update -This is required after you have done a PR for a submodule X repository and the bug-fix / feature-add is in the current master of submodule X. Since the Firmware still points to a commit before your update, a submodule pull request is required such that the submodule used by the Firmware points to the newest commit. +## 为子模块更新执行 PR +这是在您为子模块 x 存储库做了 PR 之后所必需的, 并且错误修复/功能添加在子模块 x 的当前主控件中。由于固件仍指向更新之前的提交, 因此需要一个子模块拉取请求, 以便固件使用的子模块指向最新提交。 ```sh cd Firmware ``` -* Make a new branch that describes the fix / feature for the submodule update: +* 创建一个分支，描述子模块更新的 bug 修复/功能： ```sh git checkout -b pr-some-fix ``` -* Go to submodule subdirectory +* 进入子模块的子目录 ```sh cd ``` -* PX4 submodule might not necessarily point to the newest commit. Therefore, first checkout master and pull the newest upstream code. Therefore, first checkout master and pull the newest upstream code. +* PX4 submodule might not necessarily point to the newest commit. Therefore, first checkout master and pull the newest upstream code. 因此，先 checkout master 并且拉取最新的上游代码。 ```sh cd - git add git commit -m "Update submodule to include ..." git push upstream pr-some-fix ``` -* Go back to Firmware directory, and as usual add, commit and push the changes. +* 回到 Firmware 目录，如往常一样添加、提交和上推更改。 ```sh cd - git add @@ -116,35 +116,35 @@ git push upstream pr-some-fix git push upstream pr-some-fix ``` -## Checkout pull requests +## 查看拉取请求 -You can test someone's pull request (changes are not yet merged) even if the branch to merge only exists on the fork from that person. Do the following Do the following: +You can test someone's pull request (changes are not yet merged) even if the branch to merge only exists on the fork from that person. Do the following 执行以下指令：: ```sh git fetch upstream pull//head: ``` -PR ID is the number right next to the PR's title (without the #) and the ```<branch name>``` can also be found right below the ```PR ID```, e.g. ```<the other persons git name>:<branch name>```. After that you can see the newly created branch locally with After that you can see the newly created branch locally with +PR ID is the number right next to the PR's title (without the #) and the ```<branch name>``` can also be found right below the ```PR ID```, e.g. ```<the other persons git name>:<branch name>```. After that you can see the newly created branch locally with 之后, 您可以看到新创建的分支在本地 ```sh git branch ``` -Then switch to that branch +然后切换到那个分支 ```sh git checkout ``` -## Common pitfalls +## 常见错误 -### Force push to forked repository +### 强制推送到分叉存储库 -After having done the first PR, people from the PX4 community will review your changes. In most cases this means that you have to fix your local branch according to the review. After changing the files locally, the feature branch needs to be rebased again with the most recent upstream/master. However, after the rebase, it is no longer possible to push the feature branch to your forked repository directly, but instead you need to use a force push: +做完第一个 PR 后, 来自 PX4 社区的人将回顾你的更改。 在大多数情况下, 这意味着您必须根据评审来修复本地分支。 在本地更改文件后, 需要使用最新的 uperecle1 主服务器重新定位功能分支。 但是, 在重新建立基础后, 不再可能将特征分支直接推送到分叉存储库, 而是需要使用强制推送: ```sh git push --force-with-lease origin ``` -### Rebase merge conflicts +### 重新建立合并冲突 If a conflict occurs during a `git rebase`, please refer to [this guide](https://help.github.com/articles/resolving-merge-conflicts-after-a-git-rebase/). -### Pull merge conflicts +### 拉取合并冲突 If a conflict occurs during a `git pull`, please refer to [this guide](https://help.github.com/articles/resolving-a-merge-conflict-using-the-command-line/#competing-line-change-merge-conflicts). diff --git a/zh/contribute/licenses.md b/zh/contribute/licenses.md index 366c72dfd00f..1af6a40ad655 100644 --- a/zh/contribute/licenses.md +++ b/zh/contribute/licenses.md @@ -1,12 +1,12 @@ # 许可证 -> **Note** All code contributions must be made under the permissive [BSD 3-clause license](https://opensource.org/licenses/BSD-3-Clause) and must not impose any further constraints on its use. +> **Note** 所有代码贡献都必须在许可的 [BSD 3 条款的许可证 ](https://opensource.org/licenses/BSD-3-Clause) 下进行，不得对其使用施加任何进一步的限制。 -This page documents the licenses of various components in the system. +此页记录系统中各种组件的许可证。 * [PX4 飞行栈](https://github.com/PX4/Firmware) — BSD * [PX4 中间件](https://github.com/PX4/Firmware) — BSD * [Pixhawk 硬件](https://github.com/PX4/Hardware) — CC-BY-SA 3.0 -* Snapdragon Hardware — Qualcomm Proprietary +* 骁龙硬件 — 高通专有 * [PX4 User Guide](https://github.com/PX4/px4_user_guide) (Documentation) — [CC BY 4.0](https://creativecommons.org/licenses/by/4.0/). \ No newline at end of file diff --git a/zh/contribute/notation.md b/zh/contribute/notation.md index 5080787027f9..a59769cf8ea2 100644 --- a/zh/contribute/notation.md +++ b/zh/contribute/notation.md @@ -1,8 +1,8 @@ # 术语 -The following terms, symbols, and decorators are used in text and diagrams throughout this guide. +本指南中的文本和图表中使用了以下术语、符号和装饰器。 -## Notation +## 符号 - Bold face variables indicate vectors or matrices and non-bold face variables represent scalars. - The default frame for each variable is the local frame: $\ell{}$. Right [superscripts](#superscripts) represent the coordinate frame. If no right superscript is present, then the default frame $\ell{}$ is assumed. An exception is given by Rotation Matrices, where the lower right subscripts indicates the current frame and the right superscripts the target frame. @@ -10,16 +10,16 @@ The following terms, symbols, and decorators are used in text and diagrams throu ## Acronyms -| Acronym | Expansion | -| ----------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | -| AOA | Angle Of Attack. Angle Of Attack. Also named *alpha*. | -| AOS | Angle Of Sideslip. Angle Of Sideslip. Also named *beta*. | -| FRD | Coordinate system where the X-axis is pointing towards the Front of the vehicle, the Y-axis is pointing Right and the Z-axis is pointing Down, completing the right-hand rule. | -| FW | Fixed-Wing. | -| MC | MultiCopter. | -| MPC or MCPC | MultiCopter Position Controller. MultiCopter Position Controller. MPC is also used for Model Predictive Control. | -| NED | Coordinate system where the X-axis is pointing towards the true North, the Y-axis is pointing East and the Z-axis is pointing Down, completing the right-hand rule. | -| PID | Controller with Proportional, Integral and Derivative actions. | +| Acronym | Expansion | +| ---------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | +| AOA | Angle Of Attack. Angle Of Attack. Also named *alpha*. | +| AOS | Angle Of Sideslip. Angle Of Sideslip. Also named *beta*. | +| FRD | Coordinate system where the X-axis is pointing towards the Front of the vehicle, the Y-axis is pointing Right and the Z-axis is pointing Down, completing the right-hand rule. | +| FW | 固定翼. | +| MC | MultiCopter. | +| MPC 或 MCPC | MultiCopter Position Controller. MultiCopter Position Controller. MPC is also used for Model Predictive Control. | +| NED | Coordinate system where the X-axis is pointing towards the true North, the Y-axis is pointing East and the Z-axis is pointing Down, completing the right-hand rule. | +| PID | Controller with Proportional, Integral and Derivative actions. | ## Symbols diff --git a/zh/contribute/support.md b/zh/contribute/support.md index 6fbfba852528..629953811448 100644 --- a/zh/contribute/support.md +++ b/zh/contribute/support.md @@ -1,4 +1,4 @@ -# Support +# 技术支持 This section shows how you can get help from the core dev team and the wider community. @@ -6,12 +6,12 @@ This section shows how you can get help from the core dev team and the wider com -## Forums and Chat +## 论坛和聊天 -The core development team and community are active on the following forums and chat channels. +核心开发团队和社区活跃于以下论坛和聊天频道。 -* [PX4 Discuss](http://discuss.px4.io/) (*recommended*) -* [Slack](http://slack.px4.io) (sign up) +* [PX4 Discuss](http://discuss.px4.io/)（*推荐*） +* [Slack](http://slack.px4.io) （注册链接，注册时加载验证码可能需要翻墙） ## Diagnosing Problems @@ -28,24 +28,24 @@ If you are unsure what the problem is and you need help diagnosing -## Weekly Dev Call +## 每周开发通讯 The [Dev Call](../contribute/dev_call.md) is a weekly meeting attended by the PX4 dev team to discuss platform technical details, coordinate activities and perform in-depth analysis. -There is also space in the agenda to discuss pull requests, major impacting issues and Q&A. +在议程中，为重大影响的回拉请求，给与回答。 > **Tip** For other developer events see: [Contribution > Calendar & Events](../README.md#calendar). -## Tests Flights +## 测试飞行 -The Dronecode test team can help review (test flight) your pull requests and provide feedback and logs. +Dronecode 测试团队可以帮助您检查（测试飞行）您的拉取请求并提供反馈和日志。 See [Test Flights](../test_and_ci/test_flights.md) for information about available test vehicles/autopilots, how to request flights, and response times. ## General Support -* [Join our Slack community](http://slack.px4.io/) -* [Open a discussion](http://discuss.px4.io) -* [Open Github Issue](https://github.com/PX4/Devguide/issues) +* [加入我们的 Slack 社区](http://slack.px4.io/) +* [发布一条讨论](http://discuss.px4.io) +* [开启 Github Issue](https://github.com/PX4/Devguide/issues) diff --git a/zh/data_links/sik_radio.md b/zh/data_links/sik_radio.md index d6877f6170ae..29de64556fff 100644 --- a/zh/data_links/sik_radio.md +++ b/zh/data_links/sik_radio.md @@ -51,7 +51,7 @@ Upload it to the radio \(**change the serial port name**\): tools/uploader.py --port /dev/tty.usbserial-CHANGETHIS dst/radio~hm_trp.ihx ``` -## Configuration Instructions +## 配置说明 The radio supports AT commands for configuration. diff --git a/zh/data_links/telemetry.md b/zh/data_links/telemetry.md index f98ca30ccfa5..ba84aaa6471b 100644 --- a/zh/data_links/telemetry.md +++ b/zh/data_links/telemetry.md @@ -2,10 +2,10 @@ 无线数传 (选配) 可以用于建立 *QGroundControl* 地面站与PX4飞控之间的无线MAVLink连接。 本节包含两个主题：已经支持的无线数传 和 在PX4系统中集成新的数传。 -> **Tip** [Peripheral Hardware > Telemetry Radios](../telemetry/README.md) contains information about telemetry radio systems already supported by PX4. This includes radios that use the *SiK Radio* firmware and *3DR WiFi Telemetry Radios*. +> **Tip** [Peripheral Hardware > Telemetry Radios](../telemetry/README.md) contains information about telemetry radio systems already supported by PX4. 包括使用 *SiK Radio*固件的数传 和 *3DR WiFi 无线数传*。 ## 已支持的无线数传 [PX4 用户手册 > 数传](http://docs.px4.io/en/telemetry/) 列举了PX4已支持的无线数传系统。 包括使用 *SiK Radio*固件的数传 和 *3DR WiFi 无线数传*。 -PX4支持通过数传端口将一个基于 MAVLink 的数传连接到Pixhawk飞控。 只需要一个支持MAVLink的数传和一个兼容UART电平/连接器的端口，无需更多。 We recommend you start by [discussing with the development team](../contribute/support.md). +PX4支持通过数传端口将一个基于 MAVLink 的数传连接到Pixhawk飞控。 只需要一个支持MAVLink的数传和一个兼容UART电平/连接器的端口，无需更多。 遇到此类问题，我们推荐你[与开发团队进行沟通](../contribute/support.md)。 diff --git a/zh/debug/README.md b/zh/debug/README.md index bc708b887ac7..0d0bf3773085 100644 --- a/zh/debug/README.md +++ b/zh/debug/README.md @@ -1 +1 @@ -# Debugging Topics \ No newline at end of file +# 调试主题 \ No newline at end of file diff --git a/zh/debug/consoles.md b/zh/debug/consoles.md index f583313961f8..2d67496a7348 100644 --- a/zh/debug/consoles.md +++ b/zh/debug/consoles.md @@ -1,38 +1,38 @@ -# PX4 Consoles/Shells +# PX4 控制台/Shell -PX4 enables terminal access to the system through the [MAVLink Shell](../debug/mavlink_shell.md) and the [System Console](../debug/system_console.md). +用户可以通过 [MAVLink Shell](../debug/mavlink_shell.md) 和 [系统控制台](../debug/system_console.md) 访问 PX4 终端。 -This page explains the main differences and how the console/shell are used. +这里将说明它们的主要区别，以及如何使用。 ## System Console vs. Shells -The PX4 *System Console* provides low-level access to the system, debug output and analysis of the system boot process. +PX4 系统控制台*（System Console）*提供对系统的底层访问能力，获得调试信息，也可用于分析PX4的启动过程。 -There is just one *System Console*, which runs on one specific UART (the debug port, as configured in NuttX), and is commonly attached to a computer via an FTDI cable (or some other debug adapter like a [Dronecode probe](https://kb.zubax.com/display/MAINKB/Dronecode+Probe+documentation)). -- Used for *low-level debugging/development*: bootup, NuttX, startup scripts, board bringup, development on central parts of PX4 (e.g. uORB). -- In particular, is the only place where all boot output (including information about applications auto-started on boot) is printed. +PX4 只有一个 *系统控制台* 。它运行在特定的串口上（由Nuttx配置为调试口），通常可以通过FTDI线或其他调试适配器连接至电脑，比如 [Dronecode probe](https://kb.zubax.com/display/MAINKB/Dronecode+Probe+documentation)。 +- 用于 *底层开发调试*，例如：系统启动过程、Nuttx、启动脚本、飞控板启动，以及 PX4 中一些特定组件的开发，比如uORB。 +- 更具体一点，这里是包括自启动的用户应用在内的整个PX4系统下所有启动过程唯一的输出位置。 -Shells provide higher-level access to the system: -- Used for basic module testing/running commands. -- Only *directly* display the output of modules you start. -- Cannot *directly* display the output of tasks running on the work queue. -- Can't debug problems when the system doesn't start (as it isn't running yet). +Shell 提供对系统的上层访问能力： +- 用于执行基础的模块调试运行命令。 +- 只会*直接*得到你启动的模块的输出信息。 +- 不能*直接*得到运行在任务队列上的其它输出信息。 +- 在 PX4 系统无法启动时无助于调试（它并没有运行）。 -> **Note** The `dmesg` command is now available through the shell on some boards, enabling much lower level debugging than previously possible. For example, with `dmesg -f &` you also see the output of background tasks. +> **Note** `dmesg` 命令现在在某些飞控板上被支持，可以使 MAVLink Shell 能够进行更底层的调试。 例如，执行 `dmesg -f &` 命令将会得到其它后台任务的输出信息。 -There can be several shells, either running on a dedicated UART, or via MAVLink. Since MAVLink provides more flexibility, currently only the [MAVLink Shell](../debug/mavlink_shell.md) is used. +支持来自串口或 MAVLink 的多个shell同时运行。 由于 MAVLink 能提供更加灵活的使用方式，所以目前只使用了 [MAVLink Shell](../debug/mavlink_shell.md) 。 -The [System Console](../debug/system_console.md) is essential when the system does not boot (it displays the system boot log when power-cycling the board). The [MAVLink Shell](../debug/mavlink_shell.md) is much easier to setup, and so is more generally recommended for most debugging. +[系统控制台（System Console）](../debug/system_console.md)在调试系统无法启动时十分必要，它会在飞控板上电后输出启动日志。 但是 [MAVLink Shell](../debug/mavlink_shell.md) 则更加易于配置使用，因此通常都推荐用它调试。 -## Using Consoles/Shells +## 使用控制台/Shell -The MAVLink shell/console and the [System Console](../debug/system_console.md) are used in much the same way. +MAVLink shell/控制台和[系统控制台](../debug/system_console.md)使用方法基本一致。 -For example, type `ls` to view the local file system, `free` to see the remaining free RAM, `dmesg` to look at boot output. +举例来说，可以输入 `ls` 查看本地文件系统；输入 `free` 查看剩余可用RAM；输入 `dmesg` 查看启动日志。 ```bash nsh> ls @@ -40,6 +40,6 @@ nsh> free nsh> dmesg ``` -Many other system commands and modules are listed in the [Modules and Command Reference](../middleware/modules_main.md) (e.g. `top`, `listener`, etc.). +其它更多的系统命令与模块被列举在 [模块和命令参考](../middleware/modules_main.md) 中。（比如 `top`、`listener` 等） -> **Tip** Some commands may be disabled on some boards (i.e. the some modules are not included in firmware for boards with RAM or FLASH constraints). In this case you will see the response: `command not found` +> **Tip** 部分飞控板禁用了一些命令。（RAM或FLASH受限的飞控板不含某些模块） 这时你将会得到 `command not found` 提示。 diff --git a/zh/debug/eclipse_jlink.md b/zh/debug/eclipse_jlink.md index 2affcbc6ca4d..3f8e5ebbc6a6 100644 --- a/zh/debug/eclipse_jlink.md +++ b/zh/debug/eclipse_jlink.md @@ -10,7 +10,7 @@ This topic explains how to setup and use [MCU Eclipse](https://gnu-mcu-eclipse.g - USB micro cable - Suitable cables to connect your target. -## Installation +## 安装 ### PX4 @@ -67,7 +67,7 @@ For more information, see: https://gnu-mcu-eclipse.github.io/debug/jlink/install ![Eclipse: GDB Segger Debug config: debugger tab](../../assets/debug/eclipse_settings_debug_config_gdb_segger_build_config_debugger_tab.png) ![Eclipse: GDB Segger Debug config: startup tab](../../assets/debug/eclipse_settings_debug_config_gdb_segger_build_config_startup_tab.png) -## Troubleshooting +## 故障处理 ### Target CPU not in Package Manager diff --git a/zh/debug/gdb_debugging.md b/zh/debug/gdb_debugging.md index 4737114494b1..6014aff19a29 100644 --- a/zh/debug/gdb_debugging.md +++ b/zh/debug/gdb_debugging.md @@ -73,7 +73,7 @@ google-pprof --pdf ../src/firmware/posix/px4 /tmp/heapprofile.hprof.0001.heap > A hard fault is a state when a CPU executes an invalid instruction or accesses an invalid memory address. 这是一个内存关键区域被损坏而导致错误的典型案例。 -### Video +### 视频 The following video demonstrates hardfault debugging on PX4 using Eclipse and a JTAG debugger. It was presented at the PX4 Developer Conference 2019. @@ -81,7 +81,7 @@ The following video demonstrates hardfault debugging on PX4 using Eclipse and a https://www.youtube.com/watch?v=KZkAM_PVOi0 {% endyoutube %} -### Debugging Hard Faults in NuttX +### 调试 Nuttx 的硬件故障 A typical scenario that can cause a hard fault is when the processor overwrites the stack and then the processor returns to an invalid address from the stack. This may be caused by a bug in code were a wild pointer corrupts the stack, or another task overwrites this task's stack. diff --git a/zh/debug/mavlink_shell.md b/zh/debug/mavlink_shell.md index 2d57fb6ee98b..4f36485a31ae 100644 --- a/zh/debug/mavlink_shell.md +++ b/zh/debug/mavlink_shell.md @@ -1,39 +1,39 @@ # MAVLink Shell -The MAVLink Shell is an *NSH console* that can be accessed via MAVLink over serial (USB/Telemetry) or WiFi (UDP/TCP) links (in particular, on NuttX-based systems like: Pixhawk, Pixracer, etc.). +MAVLink Shell 是一个可以通过串口（USB、数传或基于WIFI的UDP/TCP链路）使用MAVLink协议访问的 *NSH 控制台* 。只适用于基于NuttX的系统，如：Pixhawk、Pixracer等。 -The shell can be used for running commands and modules, and displaying their output. While the shell cannot *directly* display the output of modules that it does not start, it can do so indirectly using the `dmesg` command (`dmesg -f &` can be used to display the output of other modules and tasks running on the work queue). +它可用于启动系统指令与模块，并得到输出信息。 尽管它不能*直接*显示那些不是由它启动的模块的输出，但是可以间接的使用 `dmesg` 命令来查询。执行 `dmesg -f &` 可以打印出工作队列中其它模块和任务的输出信息。 -> **Tip** The [QGroundControl MAVLink Console](#qgroundcontrol) is the easiest way to access the console. If the system does not start properly you should instead use the [System Console](../debug/system_console.md). +> **Tip** [QGC地面站 MAVLink 控制台](#qgroundcontrol) 是访问控制台最方便的方法。 如果系统未能正常启动，则应使用[System Console](../debug/system_console.md)。 -## Opening the Shell +## 启用 Shell ### QGroundControl MAVLink Console -The easiest way to access shell is to use the [QGroundControl MAVLink Console](https://docs.qgroundcontrol.com/en/analyze_view/mavlink_console.html) (see **Analyze View > Mavlink Console**). +访问 shell 的最简单方式是使用 [QGC地面站 MAVLink 控制台](https://docs.qgroundcontrol.com/en/analyze_view/mavlink_console.html) (见**Analyze View > Mavlink Console**)。 ### mavlink_shell.py -You can also access the shell in a terminal using the **mavlink_shell.py** script: -1. Shut down *QGroundControl*. -1. Install dependencies: +您也可以使用 **mavlink_shell.py** 脚本从终端访问shell： +1. 关闭 *QGroundControl*. +1. 安装依赖项 ```sh sudo pip3 install pymavlink pyserial ``` 1. Open terminal (in PX4-Autopilot directory) and start the shell: ```sh - # For serial port + # 通过串口 ./Tools/mavlink_shell.py /dev/ttyACM0 ``` ```sh - # For Wifi connection + # 通过 WiFi 连接 ./Tools/mavlink_shell.py 0.0.0.0:14550 ``` -Use `mavlink_shell.py -h` to get a description of all available arguments. +执行 `mavlink_shell.py -h` 获取所有可用参数的描述。 -## Using the MAVLink Shell +## 使用 MAVLink Shell -For information see: [PX4 Consoles/Shells > Using Consoles/Shells](../debug/consoles.md#using_the_console). +详情见：[PX4 控制台/Shells > 使用控制台/Shells](../debug/consoles.md#using_the_console)。 diff --git a/zh/debug/simulation_debugging.md b/zh/debug/simulation_debugging.md index a41bc03f5809..41733a8d4c13 100644 --- a/zh/debug/simulation_debugging.md +++ b/zh/debug/simulation_debugging.md @@ -1,10 +1,10 @@ # 仿真调试 -As the simulation is running on the host machine, all the desktop development tools are available. +当模拟在主机上运行时，所有桌面开发工具都可用。 ## CLANG Address Sanitizer (Mac OS, Linux) -The Clang address sanitizer can help to find alignment (bus) errors and other memory faults like segmentation faults. The command below sets the right compile options. The command below sets the right compile options. +The Clang address sanitizer can help to find alignment (bus) errors and other memory faults like segmentation faults. The command below sets the right compile options. 下面的命令设置了正确的编译选项。 ```sh make clean # 仅需在常规编译后，第一次运行 address sanitizer 时使用 @@ -30,9 +30,9 @@ make px4_sitl_default # 通过 cmake 配置 make -C build/px4_sitl_default jmavsim___gdb ``` -## Start combinations +## 开始组合 -SITL can be launched with and without debugger attached and with either jMAVSim or Gazebo as simulation backend. This results in the start options below: +SITL 可以在附加调试器的情况下启动，也可以不附加调试器，并将 jMAVSim 或 Gazebo 作为模拟后端。 这将生成以下开始选项： ```sh make px4_sitl_default jmavsim @@ -44,7 +44,7 @@ make px4_sitl_default gazebo___gdb make px4_sitl_default gazebo___lldb ``` -where the last parameter is the <viewer\_model\_debugger> triplet (using three underscores implies the default 'iris' model). This will start the debugger and launch the SITL application. In order to break into the debugger shell and halt the execution, hit `CTRL-C`: This will start the debugger and launch the SITL application. In order to break into the debugger shell and halt the execution, hit `CTRL-C`: +where the last parameter is the <viewer\_model\_debugger> triplet (using three underscores implies the default 'iris' model). This will start the debugger and launch the SITL application. In order to break into the debugger shell and halt the execution, hit `CTRL-C`: 这将启动调试器并启动 SITL 应用程序。 In order to break into the debugger shell and halt the execution, hit `CTRL-C`: ```sh Process 16529 stopped @@ -64,24 +64,24 @@ In order to not have the DriverFrameworks scheduling interfere with the debuggin (lldb) process handle SIGCONT -n false -p false -s false ``` -Or in the case of GDB: +或者在 GDB 下： ``` (gdb) handle SIGCONT noprint nostop ``` -After that the The lldb or gdb shells behave like normal sessions, please refer to the LLDB / GDB documentation. +之后，lldb 或 gdb 脚本的行为类似于正常会话，请参阅 ldb/gdbb 文档。 -The last parameter, the <viewer\_model\_debugger> triplet, is actually passed to make in the build directory, so +最后一个参数, 三元组，实际上是传递到生成目录中，因此 ```sh make px4_sitl_default jmavsim___gdb ``` -is equivalent with +等价于 ```sh -make px4_sitl_default # Configure with cmake +make px4_sitl_default # 通过 cmake 配置 make -C build/px4_sitl_default jmavsim___gdb ``` @@ -97,11 +97,11 @@ It is possible to suppress compiler optimization for given executables and/or mo make list_vmd_make_targets ``` -## Compiler optimization +## 编译器优化 -It is possible to suppress compiler optimization for given executables and/or modules (as added by cmake with `add_executable` or `add_library`) when configuring for `posix_sitl_*`. This can be handy when it is necessary to step through code with a debugger or print variables that would otherwise be optimized out. +配置 `posix_sitl_*`时，对可执行文件和/或模块进行优化编译器选项（比如用 cmake 添加`add_executable` 或 `add_library` ），是种可以采取的手段。 当需要使用调试器或打印变量逐步执行代码时，这将非常方便，否则这些变量将被优化。 -To do so, set the environment variable `PX4_NO_OPTIMIZATION` to be a semi-colon separated list of regular expressions that match the targets that need to be compiled without optimization. This environment variable is ignored when the configuration isn't `posix_sitl_*`. This environment variable is ignored when the configuration isn't `posix_sitl_*`. +To do so, set the environment variable `PX4_NO_OPTIMIZATION` to be a semi-colon separated list of regular expressions that match the targets that need to be compiled without optimization. This environment variable is ignored when the configuration isn't `posix_sitl_*`. 当配置为't `posix_sitl_*` 时，将忽略此环境变量。 would suppress optimization of the targets: platforms*\_posix**px4\_layer, modules**systemlib, modules**uORB, examples**px4\_simple\_app, modules**uORB*\_uORB\_tests and px4. @@ -111,7 +111,7 @@ export PX4_NO_OPTIMIZATION='px4;^modules__uORB;^modules__systemlib$' The targets that can be matched with these regular expressions can be printed with the command: -The targets that can be matched with these regular expressions can be printed with the command: +可以与这些正则表达式匹配的目标可以用命令打印想出来： ```sh make -C build/posix_sitl_* list_cmake_targets diff --git a/zh/debug/swd_debug.md b/zh/debug/swd_debug.md index 7d61070343d7..377ec3659ac5 100644 --- a/zh/debug/swd_debug.md +++ b/zh/debug/swd_debug.md @@ -12,19 +12,19 @@ This topic explains how to connect the SWD interface on different boards (actual The SWD interface consists of the following pins. -| Pin | Signal Type | Description | +| 针脚 | Signal Type | 参数描述 | | ------- | ----------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -| `Vref` | Output | Target reference voltage.
                                                              Some JTAG adapters require the `Vref` voltage to set the voltage on the SWD lines. For example, [SEGGER J-Link Debug Probes](#segger_jlink_edu_mini) require `Vref`. | +| `参考压` | 输出 | Target reference voltage.
                                                              Some JTAG adapters require the `Vref` voltage to set the voltage on the SWD lines. For example, [SEGGER J-Link Debug Probes](#segger_jlink_edu_mini) require `Vref`. | | `SWDIO` | I/O | Single bi-directional data pin. | -| `SWCLK` | Output | Clock signal. | +| `SWCLK` | 输出 | Clock signal. | | `GND` | - | Ground pin. | While not "part" of SWD, an autopilot may also have an *Serial Wire Output (SWO)* trace output pin. If present this should also be connected. -| Pin | Signal Type | Description | +| 针脚 | Signal Type | 参数描述 | | ----- | ----------- | -------------------------------------------------------------------------------------------------------------- | -| `SWO` | Output | Serial Wire Output trace output pin. This may be used in combination with *SWD* to emit real-time trace data. | +| `SWO` | 输出 | Serial Wire Output trace output pin. This may be used in combination with *SWD* to emit real-time trace data. | ## Connecting SWD Debuggers to PX4 Hardware @@ -55,7 +55,7 @@ The debug port location and pinouts for a small subset of autopilots are linked -| Autopilot | Connector | +| 飞控 | Connector | | -------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | [3DR Pixhawk](../flight_controller/pixhawk.md#swd-port) | ARM 10-pin JTAG Connector (also used for FMUv2 boards including: *mRo Pixhawk*, *HobbyKing HKPilot32*). | | [CUAV V5nano](../flight_controller/cuav_v5_nano.md#debug_port) | 6-pin JST GH
                                                              Digikey: [BM06B-GHS-TBT(LF)(SN)(N)](https://www.digikey.com/products/en?keywords=455-1582-1-ND) (vertical mount), [SM06B-GHS-TBT(LF)(SN)(N)](https://www.digikey.com/products/en?keywords=455-1568-1-ND) (side mount) | @@ -80,7 +80,7 @@ The Pixhawk project has defines a standard pinout and connector type for differe | ----------- | --------------------------------------------------------------- | ------------------------------------------------ | | FMUv2 | [Pixhawk / Pixhawk 1](../flight_controller/pixhawk.md#swd-port) | 10 pin ARM Debug | | FMUv3 | Pixhawk 2 | 6 pin SUR Debug | -| FMUv4 | Pixhawk 3 | [6 pin SH Debug](#pixhawk_debug_port_6_pin_sh) | +| FMUv4 | Pixhawk 1/2 | [6 pin SH Debug](#pixhawk_debug_port_6_pin_sh) | | FMUv5 | Pixhawk 4 FMUv5 | [6 pin SH Debug](#pixhawk_debug_port_6_pin_sh) | | FMUv5X | Pixhawk 5X | [10 pin SH Debug](#pixhawk_debug_port_10_pin_sh) | | FMUv6 | Pixhawk 6 | [10 pin SH Debug](#pixhawk_debug_port_10_pin_sh) | @@ -98,23 +98,23 @@ The [Pixhawk Connector Standard](https://github.com/pixhawk/Pixhawk-Standards/bl The pinout is as shown below (SWD pins highlighted): -| Debug Port | Pin | -| ---------- | ---------- | -| 1 | `Vtref` | -| 2 | Console TX | -| 3 | Console RX | -| 4 | `SWDIO` | -| 5 | `SWDCLK` | -| 6 | `GND` | +| Debug调试端口 | 针脚 | +| --------- | ---------- | +| 1 | `Vtref` | +| 2 | Console TX | +| 3 | Console RX | +| 4 | `SWDIO` | +| 5 | `SWDCLK` | +| 6 | `GND` | The debug port definition includes the following solder pads (on board next to connector): -| Debug Port | Pin | Voltage | -| ---------- | ----------------- | ------- | -| Pad | Signal | Volt | -| 1 | NRST (reset) | +3.3V | -| 2 | GPIO1 (free GPIO) | +3.3V | -| 3 | GPIO2 (free GPIO) | +3.3V | +| Debug调试端口 | 针脚 | Voltage | +| --------- | ----------------- | ------- | +| Pad | 信号 | 电压 | +| 1 | NRST (reset) | +3.3V | +| 2 | GPIO1 (free GPIO) | +3.3V | +| 3 | GPIO2 (free GPIO) | +3.3V | The socket is a *6-pin JST SH* - Digikey number: [BM06B-SRSS-TBT(LF)(SN)](https://www.digikey.com/products/en?keywords=455-2875-1-ND) (vertical mount), [SM06B-SRSS-TBT(LF)(SN)](https://www.digikey.com/products/en?keywords=455-1806-1-ND)(side mount). @@ -132,18 +132,18 @@ The [Pixhawk Connector Standard](https://github.com/pixhawk/Pixhawk-Standards/bl The pinout is as shown below (SWD pins highlighted): -| Debug Port | Pin | -| ---------- | ---------- | -| 1 | `Vtref` | -| 2 | Console TX | -| 3 | Console RX | -| 4 | `SWDIO` | -| 5 | `SWDCLK` | -| 6 | *SWO* | -| 7 | NFC GPIO | -| 8 | PH11 | -| 9 | nRST | -| 10 | `GND` | +| Debug调试端口 | 针脚 | +| --------- | ---------- | +| 1 | `Vtref` | +| 2 | Console TX | +| 3 | Console RX | +| 4 | `SWDIO` | +| 5 | `SWDCLK` | +| 6 | *SWO* | +| 7 | NFC GPIO | +| 8 | PH11 | +| 9 | nRST | +| 10 | `GND` | The socket is a *10-pin JST SH* - Digikey number: [BM10B-SRSS-TB(LF)(SN)](https://www.digikey.com/products/en?keywords=455-1796-2-ND) (vertical mount) or [SM10B-SRSS-TB(LF)(SN)](https://www.digikey.com/products/en?keywords=455-1810-2-ND) (side mount). @@ -168,7 +168,7 @@ The [Segger JLink EDU Mini](https://www.segger.com/products/debug-probes/j-link/ The pin mapping to connect the J-Link Edu Mini to [Pixhawk 6-Pin SH Debug Port](#pixhawk_debug_port_6_pin_sh) is shown below (note, the `-` indicates a pin that is not required for SWD). -| Debug Port | J-Link Mini | +| Debug调试端口 | J-Link Mini | | -------------- | ----------- | | 1 (Vtref) | 1 | | 2 (Console TX) | - | @@ -208,7 +208,7 @@ Adapters can be purchased separately: -## Next Steps +## 后续步骤 You've now connected the flight controller to an SWD debug probe! diff --git a/zh/debug/system_console.md b/zh/debug/system_console.md index b7a7fedec6b5..e817197cccb5 100644 --- a/zh/debug/system_console.md +++ b/zh/debug/system_console.md @@ -1,4 +1,4 @@ -# PX4 System Console +# PX4 系统控制台 The system console allows low-level access to the system, debug output and analysis of the system boot process. The most convenient way to connect it is by using a [Dronecode probe](https://shop.titaneliteinc.com/index.php?route=product/product&product_id=1294), but a plain FTDI cable can be used as well. @@ -35,31 +35,31 @@ Connect the 6-pos JST SH 1:1 cable to the Dronecode probe or connect the individ The system console can be accessed through the Dronecode probe or an FTDI cable. Both options are explained in the section below. -| Pixracer / Pixhawk v3 | - | FTDI | - | -| --------------------- | --------- | ---- | ---------------- | -| 2 | + 5v (红色) | | N/C | -| 2 | UART7 Tx | 5 | FTDI RX (yellow) | -| 3 | UART7 Rx | 4 | FTDI TX (orange) | -| 4 (blk) | SWDIO | | N/C | -| 6 | SWCLK | | N/C | -| 6 | GND | 1 | FTDI GND (黑色) | +| Pixracer / Pixhawk v3 | - | FTDI | - | +| --------------------- | --------- | ---- | ------------- | +| 2 | + 5v (红色) | | N/C | +| 2 | UART7 Tx | 5 | FTDI RX （黄色） | +| 3 | UART7 Rx | 4 | FTDI TX （橙色） | +| 4（黑） | SWDIO | | N/C | +| 6 | SWCLK | | N/C | +| 6 | GND | 1 | FTDI GND (黑色) | -## Opening the Console +## 打开控制台 -After the console connection is wired up, use the default serial port tool of your choice or the defaults described below: +连接控制台连接后，请使用您选择的默认串口工具或下面描述的默认工具： ### Linux / Mac OS: Screen -Install screen on Ubuntu (Mac OS already has it installed): +在 Ubuntu 上安装 screen （mac os 已经安装了它）： ```bash sudo apt-get install screen ``` -* Serial: Pixhawk v1 / Pixracer use 57600 baud -* Serial: Snapdragon Flight uses 115200 baud +* 串口：pixhawk v1/pixracer 使用 57600 波特率 +* 串口：骁龙飞控使用115200波特率 -Connect screen at BAUDRATE baud, 8 data bits, 1 stop bit to the right serial port (use `ls /dev/tty*` and watch what changes when unplugging / replugging the USB device). Connect screen at BAUDRATE baud, 8 data bits, 1 stop bit to the right serial port (use `ls /dev/tty*` and watch what changes when unplugging / replugging the USB device). Common names are `/dev/ttyUSB0` and `/dev/ttyACM0` for Linux and `/dev/tty.usbserial-ABCBD` for Mac OS. +将 Screen 的波特率、8个数据位、1个停止位设置好，连接到正确的串行端口（使用 `ls/dev/tty*`，并观察拔下/复制 usb 设备时发生的变化）。 Connect screen at BAUDRATE baud, 8 data bits, 1 stop bit to the right serial port (use `ls /dev/tty*` and watch what changes when unplugging / replugging the USB device). Common names are `/dev/ttyUSB0` and `/dev/ttyACM0` for Linux and `/dev/tty.usbserial-ABCBD` for Mac OS. ```bash screen /dev/ttyXXX BAUDRATE 8N1 @@ -67,10 +67,10 @@ screen /dev/ttyXXX BAUDRATE 8N1 ### Windows: PuTTY -Download [PuTTY](http://www.chiark.greenend.org.uk/~sgtatham/putty/download.html) and start it. +下载 [PuTTY](http://www.chiark.greenend.org.uk/~sgtatham/putty/download.html) 并启动它。 -Then select 'serial connection' and set the port parameters to: +然后选择 "串行连接", 并将端口参数设置为: -* 57600 baud -* 8 data bits -* 1 stop bit +* 57600 波特率 +* 8 数据位 +* 1 个停止位 diff --git a/zh/debug/system_wide_replay.md b/zh/debug/system_wide_replay.md index ded54be3582e..05e0e6d31887 100644 --- a/zh/debug/system_wide_replay.md +++ b/zh/debug/system_wide_replay.md @@ -1,4 +1,4 @@ -# System-wide Replay +# 全系统回放 Based on ORB messages, it's possible to record and replay arbitrary parts of the system. Replay is useful to test the effect of different parameter values based on real data, compare different estimators, etc. @@ -8,7 +8,7 @@ The first thing that needs to be done is to identify the module or modules that All identified topics need to be logged at full rate (see [logging](../log/logging.md)). For `ekf2` this is already the case with the default set of logged topics. For `ekf2` this is already the case with the default set of logged topics. -It is important that all replayed topics contain only a single absolute timestamp, which is the automatically generated field `timestamp`. Should there be more timestamps, then they must be relative with respect to the main timestamp. For an example, see [sensor_combined.msg](https://github.com/PX4/Firmware/blob/master/msg/sensor_combined.msg). Reasons for this are given below. Should there be more timestamps, then they must be relative with respect to the main timestamp. For an example, see [sensor_combined.msg](https://github.com/PX4/PX4-Autopilot/blob/master/msg/sensor_combined.msg). Reasons for this are given below. +It is important that all replayed topics contain only a single absolute timestamp, which is the automatically generated field `timestamp`. Should there be more timestamps, then they must be relative with respect to the main timestamp. For an example, see [sensor_combined.msg](https://github.com/PX4/Firmware/blob/master/msg/sensor_combined.msg). Reasons for this are given below. Should there be more timestamps, then they must be relative with respect to the main timestamp. For an example, see [sensor_combined.msg](https://github.com/PX4/PX4-Autopilot/blob/master/msg/sensor_combined.msg). 造成这种情况的原因如下。 ## 用法 @@ -20,7 +20,7 @@ It is important that all replayed topics contain only a single absolute timestam make px4_sitl none ``` This will create the output in a separate build directory `build/px4_sitl_default_replay` (so that the parameters don't interfere with normal builds). `build/px4_sitl_default_replay` (so that the parameters don't interfere with normal builds). It's possible to choose any posix SITL build target for replay, the build system knows through the `replay` environment variable that it's in replay mode. -- Add ORB publisher rules file in `build/px4_sitl_default_replay/tmp/rootfs/orb_publisher.rules`. This file defines which module is allowed to publish which messages. It has the following format: This file defines which module is allowed to publish which messages. It has the following format: +- Add ORB publisher rules file in `build/px4_sitl_default_replay/tmp/rootfs/orb_publisher.rules`. This file defines which module is allowed to publish which messages. It has the following format: 此文件定义允许了发布消息的模块。 It has the following format: ``` It means that the given list of topics should only be published by (which is the command name). Publications to any of these topics from another module are silently ignored. If ignore_others is true, then publications to other topics from are ignored. ``` @@ -36,17 +36,17 @@ ignore_others: true ``` This allows that the modules, which usually publish these topics, don't need to be disabled for replay. -- Optional: setup parameter overrides in the file `build/px4_sitl_default_replay/tmp/rootfs/replay_params.txt`. This file should contain a list of ` `, like: +- Optional: setup parameter overrides in the file `build/px4_sitl_default_replay/tmp/rootfs/replay_params.txt`. 此文件应包含 ` <param_name> <value> ` 的列表，例如： ``` EKF2_GB_NOISE 0.001 ``` - By default, all parameters from the log file are applied. When a parameter changed during recording, it will be changed as well at the right time during replay. A parameter in the `replay_params.txt` will override the value and changes to it from the log file will not be applied. -- Optional: copy `dataman` missions file from the SD card to the build directory. Only necessary if a mission should be replayed. + 默认日志文件的所有参数将被使用。 When a parameter changed during recording, it will be changed as well at the right time during replay. A parameter in the `replay_params.txt` will override the value and changes to it from the log file will not be applied. +- Optional: copy `dataman` missions file from the SD card to the build directory. 一个任务的回放只有在必要的时候才进行。 - Start the replay: ```sh make px4_sitl_default jmavsim ``` - This will automatically open the log file, apply the parameters and start to replay. Once done, it will be reported and the process can be exited. This will automatically open the log file, apply the parameters and start to replay. Once done, it will be reported and the process can be exited. Then the newly generated log file can be analyzed, it has `_replayed` appended to its file name. + This will automatically open the log file, apply the parameters and start to replay. 一旦完成，将自动报告，进程也会退出。 This will automatically open the log file, apply the parameters and start to replay. Once done, it will be reported and the process can be exited. Then the newly generated log file can be analyzed, it has `_replayed` appended to its file name. Note that the above command will show the simulator as well, but depending on what is being replayed, it will not show what's actually going on. It's possible to connect via QGC and e.g. view the changing attitude during replay. It's possible to connect via QGC and e.g. view the changing attitude during replay. @@ -55,56 +55,56 @@ ignore_others: true unset replay ``` -### Important Notes +### 重要提示 -- During replay, all dropouts in the log file are reported. During replay, all dropouts in the log file are reported. These have a negative effect on replay and thus it should be taken care that dropouts are avoided during recording. -- It is currently only possible to replay in 'real-time', meaning as fast as the recording was done. This is planned to be extended in the future. This is planned to be extended in the future. +- 在重播过程中，将报告日志文件中的所有退出。 During replay, all dropouts in the log file are reported. These have a negative effect on replay and thus it should be taken care that dropouts are avoided during recording. +- It is currently only possible to replay in 'real-time', meaning as fast as the recording was done. This is planned to be extended in the future. 这项工作计划今后延长。 - A message that has a timestamp of 0 will be considered invalid and not be replayed. -## EKF2 Replay +## EKF2 回放 This is a specialization of the system-wide replay for fast EKF2 replay. It will automatically create the ORB publisher rules and works as following: It will automatically create the ORB publisher rules and works as following: -* Optionally set `SDLOG_MODE` to 1 to start logging from boot -* Record the log -* To replay: +* （可选）将 `SDLOG_MODE` 设置为 1，从启动开始日志记录 +* 记录日志 +* 回放： ``` ulog_params -i $replay -d ' ' | grep -e '^EKF2' > build/px4_sitl_default_replay/tmp/rootfs/replay_params.txt ``` -You can stop it after there's an output like: +您可以在有如下所示的输出后停止它： ``` INFO [replay] Replay done (published 9917 msgs, 2.136 s) ``` -The parameters can be adjusted as well. The parameters can be adjusted as well. They can be extracted from the log with \(install pyulog with `sudo pip install pyulog` first\): +参数也可以调整。 The parameters can be adjusted as well. They can be extracted from the log with \(install pyulog with `sudo pip install pyulog` first\): ``` Optional: setup parameter overrides in the file build/px4_sitl_default_replay/tmp/rootfs/replay_params.txt. This file should contain a list of , like: ``` . This file should contain a list of , like:                                                               -Then edit the parameters in the file as needed and restart the replay process with `make px4_sitl none`. This will create a new log file. This will create a new log file. +Then edit the parameters in the file as needed and restart the replay process with `make px4_sitl none`. This will create a new log file. 这将创建一个新的日志文件。 -The location of the generated log is printed with a message like this: +生成的日志的位置打印为如下消息： ``` INFO [logger] Opened log file: rootfs/fs/microsd/log/2017-03-01/13_30_51_replayed.ulg ``` -When finished, use `unset replay; unset replay_mode` to exit the replay mode. +完成后，使用 `unset replay; unset replay_mode` 退出回放模式。 -## Behind the Scenes +## 后台 -Replay is split into 3 components: -- a replay module -- ORB publisher rules -- time handling +回放分为3个组件: +- 回放模块 +- ORB 发布者规则 +- 时间处理 -The replay module reads the log and publishes the messages with the same speed as they were recorded. A constant offset is added to the timestamp of each message to match the current system time (this is the reason why all other timestamps need to be relative). The command `replay tryapplyparams` is executed before all other modules are loaded and applies the parameters from the log and user-set parameters. Then as the last command, `replay trystart` will again apply the parameters and start the actual replay. Both commands do nothing if the environment variable `replay` is not set. A constant offset is added to the timestamp of each message to match the current system time (this is the reason why all other timestamps need to be relative). The command `replay tryapplyparams` is executed before all other modules are loaded and applies the parameters from the log and user-set parameters. Then as the last command, `replay trystart` will again apply the parameters and start the actual replay. Both commands do nothing if the environment variable `replay` is not set. +The replay module reads the log and publishes the messages with the same speed as they were recorded. A constant offset is added to the timestamp of each message to match the current system time (this is the reason why all other timestamps need to be relative). The command `replay tryapplyparams` is executed before all other modules are loaded and applies the parameters from the log and user-set parameters. Then as the last command, `replay trystart` will again apply the parameters and start the actual replay. Both commands do nothing if the environment variable `replay` is not set. 将常量偏移量添加到每条消息的时间戳中，以匹配当前系统时间（这就是为什么所有其他时间戳都需要是相对的原因）。 命令 `replay tryapplyparms` 在加载所有其他模块之前执行，并应用日志和用户设置参数中的参数。 然后，作为最后一个命令，`replay trystart` 将再次应用参数并开始实际回放。 如果未设置环境变量 `replay`，则这两个命令不执行任何操作。 -The ORB publisher rules allow to select which part of the system is replayed, as described above. They are only compiled for the posix SITL targets. They are only compiled for the posix SITL targets. +The ORB publisher rules allow to select which part of the system is replayed, as described above. They are only compiled for the posix SITL targets. 只编译 posix SITL 目标。 -The **time handling** is still an **open point**, and needs to be implemented. +**time handling** 依然是个 **open point**， 尚未实现。 diff --git a/zh/dev_airframes/README.md b/zh/dev_airframes/README.md index bd41c6cd4db5..aa70a788a7ef 100644 --- a/zh/dev_airframes/README.md +++ b/zh/dev_airframes/README.md @@ -1,17 +1,17 @@ -# Airframes +# 机架 -PX4 has a flexible [mixing system](../concept/mixing.md) that allows it to support almost any imaginable vehicle type/frame through a single codebase: +PX4有一个灵活的[混合系统](../concept/mixing.md), 它允许通过单个代码库支持任何可以想象到的飞行器类型/帧: -* **Planes:** Normal planes, flying wings, inverted V-tail planes, etc. -* **Multicopters:** Helicopters, tricopters, quadcopters, hexarotors, dodecarotors in many different geometries. -* **VTOL Airframes:** VTOL configurations including: Tailsitters, Tiltrotors, and QuadPlanes (plane + quad). -* **UGVs/Rovers:** Basic support has been added for Unmanned Ground Vehicles, enabling both manual and mission-based control. +* **固定翼飞机:**普通飞机, 飞翼, 倒V尾飞机等。 +* **多旋翼:**直升机,三轴,四轴,六轴,dodecarotors等许多不同的几何图形。 +* **VTOL机体:**VTOL配置包括:Tailsitters、Tiltrotors和QuadPlanes(平面+四)。 +* **UGVs/Rovers:**为无人驾驶地面车辆提供了基本支助, 既能实现手动操作, 也能进行基于任务的控制。 -You can find a list of all supported frame types and motor outputs in the [Airframes Reference](../airframes/airframe_reference.md). +您可以在[机体参考](../airframes/airframe_reference.md)中找到所有受支持的框架类型和马达输出的列表。 -This section provides information that is relevant to developers who want to add support for new vehicles or vehicle types to PX4, including build logs for vehicles that are still being developed. +本节提供给希望向PX4添加对新车辆或车辆类型的支持的开发人员相关的信息, 包括仍在开发中的车辆的生成日志。 -> **Tip** PX4 is also well-suited for use in other vehicle types and general robots, ranging from submarine, boats, or amphibious vehicles, through to experimental aircraft and rockets. *Let us know* if you have a new vehicle or frame-type you want to help support in PX4. +> **Tip**PX4也非常适合用于其他车辆类型和普通机器人,从潜艇,船只,或两栖车辆,到实验用的飞机和火箭。 如果您有需要在PX4中帮助支持的新车辆或框架类型, 请*让我们知道*。 > **Note** Build logs for some of the supported airframes can be found in [Airframe/Vehicle Builds](../airframes/README.md). diff --git a/zh/dev_airframes/adding_a_new_frame.md b/zh/dev_airframes/adding_a_new_frame.md index 9ad41dc857e8..827ae17eb55f 100644 --- a/zh/dev_airframes/adding_a_new_frame.md +++ b/zh/dev_airframes/adding_a_new_frame.md @@ -17,17 +17,17 @@ PX4使用存储的配置作为机型的起始点>。 机体的配置在[ROMFS/px * 应该启动的应用，例如多旋翼或者固定翼的控制器，着陆检测等等。 * 系统（固定翼，飞翼或者多旋翼）的物理配置。 这叫[混控器](../concept/mixing.md)。 -These aspects are mostly independent, which means that many configurations share the same physical layout of the airframe, start the same applications and differ most in their tuning gains. +上述几个模块在很大程度上都是相互独立的，这就意味着很多配置共用同一套机架的物理结构、启动同样的应用，仅在参数整定增益上有较大区别。 -> **Note** New airframe files are only automatically added to the build system after a clean build (run `make clean`). +> **Note** 新的机型配置文件仅在执行干净的构建后（运行命令 `make clean`）才会被自动添加到构建系统中。 -### Config File +### 配置文件 A typical configuration file is shown below ([original file here](https://github.com/PX4/Firmware/blob/master/ROMFS/px4fmu_common/init.d/airframes/3033_wingwing)) . -第一部分是关于机身框架的文档说明。 This is used in the [Airframes Reference](../airframes/airframe_reference.md) and *QGroundControl*. +第一部分是关于机身框架的文档说明。 [Airframes Reference](../airframes/airframe_reference.md) 和 *QGroundControl* 会用到该部分内容。 ```bash #!nsh # @@ -90,28 +90,28 @@ set MIXER wingwing 配置PWM输出(指定驱动/激活的输出和级别)。 ```bash -# Provide ESC a constant 1000 us pulse +# 向 ESC 提供一个常值 1000 us 脉冲 set PWM_OUT 4 set PWM_DISARMED 1000 ``` -> **Warning** If you want to reverse a channel, never do this on your RC transmitter or with e.g `RC1_REV`. The channels are only reversed when flying in manual mode, when you switch in an autopilot flight mode, the channels output will still be wrong (it only inverts your RC signal). Thus for a correct channel assignment change either your PWM signals with `PWM_MAIN_REV1` (e.g. for channel one) or change the signs of the output scaling in the corresponding mixer (see below). +> **Warning**：如果你想将某一个通道反相, 千万不要在你的遥控器上这样做或者改变例如 `RC1_REV` 这样的参数. 这些参数只会在你使用手动模式飞行的时候才会反相, 当你切换到飞控控制的飞行模式时, 这些通道输出依然是错误的(它只会改变你的遥控器的信号) 因此，对于一个正确的通道分配，要么改变PWM信号与`PWM_MAIN_REV1`（例如，对于通道1），要么改变相应混控器的输出缩放系数（见下文）。 ### 混控器文件 -> **Note** First read [Concepts > Mixing](../concept/mixing.md). This provides background information required to interpret this mixer file. This provides background information required to interpret this mixer file. +> **Note** First read [Concepts > Mixing](../concept/mixing.md). This provides background information required to interpret this mixer file. 该页面中的内容提供了理解如下混控器文件所需的背景知识。 -A typical mixer file is shown below ([original file here](https://github.com/PX4/Firmware/blob/master/ROMFS/px4fmu_common/mixers/wingwing.main.mix)). A mixer filename, in this case `wingwing.main.mix`, gives important information about the type of airframe (`wingwing`), the type of output (`.main` or `.aux`) and lastly that it is a mixer file (`.mix`). A mixer filename, in this case `wingwing.main.mix`, gives important information about the type of airframe (`wingwing`), the type of output (`.main` or `.aux`) and lastly that it is a mixer file (`.mix`). +A typical mixer file is shown below ([original file here](https://github.com/PX4/Firmware/blob/master/ROMFS/px4fmu_common/mixers/wingwing.main.mix)). A mixer filename, in this case `wingwing.main.mix`, gives important information about the type of airframe (`wingwing`), the type of output (`.main` or `.aux`) and lastly that it is a mixer file (`.mix`). 混控器文件的文件名，在这里的案例中也就是 `wingwing.main.mix`，向我们提供了包括机型类型（`wingwing`），输出类型（`.main` 或者 `.aux`）和它是一个混控器定义文件（`.mix`）这三个重要信息。 -The mixer file contains several blocks of code, each of which refers to one actuator or ESC. The mixer file contains several blocks of code, each of which refers to one actuator or ESC. So if you have e.g. two servos and one ESC, the mixer file will contain three blocks of code. +混频器文件包含多个代码块，每个代码块都针对一个执行器或电调。 The mixer file contains several blocks of code, each of which refers to one actuator or ESC. So if you have e.g. two servos and one ESC, the mixer file will contain three blocks of code. -> **Note** The plugs of the servos / motors go in the order of the mixers in this file. +> **Note** 舵机 / 电机应按照混控器文件中的定义顺序对应地接入飞控。 -So MAIN1 would be the left aileron, MAIN2 the right aileron, MAIN3 is empty (note the Z: zero mixer) and MAIN4 is throttle (to keep throttle on output 4 for common fixed wing configurations). +所以 MAIN1 应为左副翼，MAIN2 应为为右副翼 ，MAIN3 为空 （这里需要注意的是 Z: 表示混控器为空），MAIN4 为油门（在常规固定翼机型配置中应保持油门在 4 号输出位置上）。 -A mixer is encoded in normalized units from -10000 to 10000, corresponding to -1..+1. +混控器以 -10000 到 10000 这一范围进行单位化编码，其分别对应于 -1.. + 1。 ``` M: 2 @@ -120,9 +120,9 @@ S: 0 0 -6000 -6000 0 -10000 10000 S: 0 1 6500 6500 0 -10000 10000 ``` -Where each number from left to right means: +上述定义中从左到右每一个数字所代表的意思是： -* M: Indicates two scalers for two control inputs. It indicates the number of control inputs the mixer will receive. It indicates the number of control inputs the mixer will receive. +* M: Indicates two scalers for two control inputs. It indicates the number of control inputs the mixer will receive. 该参数表示混控器将接受到的控制输入的数量。 * O: Indicates the output scaling (*1 in negative, *1 in positive), offset (zero here), and output range (-1..+1 here). * If you want to invert your PWM signal, the signs of the output scalings have to be changed. (`O: -10000 -10000 0 -10000 10000`) ``` @@ -132,14 +132,14 @@ Where each number from left to right means: ``` O: 10000 10000 0 -10000 10000 ``` -* S: Indicates the first input scaler: It takes input from control group #0 (Flight Control) and the first input (roll). It scales the roll control input * 0.6 and reverts the sign (-0.6 becomes -6000 in scaled units). It applies no offset (0) and outputs to the full range (-1..+1) It scales the roll control input * 0.6 and reverts the sign (-0.6 becomes -6000 in scaled units). It applies no offset (0) and outputs to the full range (-1..+1) -* S: Indicates the second input scaler: It takes input from control group #0 (Flight Control) and the second input (pitch). It scales the pitch control input * 0.65. It applies no offset (0) and outputs to the full range (-1..+1) \ It scales the pitch control input * 0.65. It applies no offset (0) and outputs to the full range (-1..+1) +* S: Indicates the first input scaler: It takes input from control group #0 (Flight Control) and the first input (roll). It scales the roll control input * 0.6 and reverts the sign (-0.6 becomes -6000 in scaled units). It applies no offset (0) and outputs to the full range (-1..+1) 它将滚转控制输入 * 0.6 进行缩放并反转输入量的正负号（-0.6 在缩放后的单位中变成了 -6000）。 该混控器不施加任何偏移量（0）且输出量幅值在 （-1.. +1）这个范围内。 +* S: Indicates the second input scaler: It takes input from control group #0 (Flight Control) and the second input (pitch). It scales the pitch control input * 0.65. It applies no offset (0) and outputs to the full range (-1..+1) \ It scales the pitch control input * 0.65. 该混控器不施加任何偏移量（0）且输出量幅值在 （-1.. +1）这个范围内。 > **Note** In short, the output of this mixer would be SERVO = ( (roll input * -0.6 + 0) + (pitch input * 0.65 + 0) ) * 1 + 0 -Behind the scenes, both scalers are added, which for a flying wing means the control surface takes maximum 60% deflection from roll and 65% deflection from pitch. +程序后台会对两个缩放器的值进行求和，这就意味着对于这个飞翼来说该控制舵面最大从滚转信号中取 60% 的舵面偏转、从俯仰信号中最大取 65% 的舵面偏转。 -The complete mixer looks like this: +完整的混控器如下所示: ```bash @@ -248,15 +248,15 @@ S: 0 3 0 20000 -10000 -10000 10000 ``` -## Adding a New Airframe Group +## 增加一个新的机型组（Airframe Group） -Airframe "groups" are used to group similar airframes for selection in [QGroundControl](https://docs.qgroundcontrol.com/en/SetupView/Airframe.html) and in the *Airframe Reference* documentation ([PX4 DevGuide](../airframes/airframe_reference.md) and [PX4 UserGuide](https://docs.px4.io/en/airframes/airframe_reference.html)). Every group has a name, and an associated svg image which shows the common geometry, number of motors, and direction of motor rotation for the grouped airframes. Every group has a name, and an associated svg image which shows the common geometry, number of motors, and direction of motor rotation for the grouped airframes. +Airframe "groups" are used to group similar airframes for selection in [QGroundControl](https://docs.qgroundcontrol.com/en/SetupView/Airframe.html) and in the *Airframe Reference* documentation ([PX4 DevGuide](../airframes/airframe_reference.md) and [PX4 UserGuide](https://docs.px4.io/en/airframes/airframe_reference.html)). Every group has a name, and an associated svg image which shows the common geometry, number of motors, and direction of motor rotation for the grouped airframes. 每个组都有一个名称和与之相关联的 svg 图像，该图像展示了该分组内的机型的通用几何形状、电机数量和电机旋转方向。 -The airframe metadata files used by *QGroundControl* and the documentation source code are generated from the airframe description, via a script, using the build command: `make airframe_metadata` +使用编译指令 `make airframe_metadata` 可以运行脚本自动根据机型描述语句生成需要在 *QGroundControl* 中使用的机型元数据文件和文档源代码。 For a new airframe belonging to an existing group, you don't need to do anything more than provide documentation in the airframe description located at [ROMFS/px4fmu_common/init.d](https://github.com/PX4/Firmware/tree/master/ROMFS/px4fmu_common/init.d). -If the airframe is for a **new group** you additionally need to: +如果机型属于一个 **新的组** 那么你还需要进行如下操作： 1. Add the svg image for the group into user guide documentation (if no image is provided a placeholder image is displayed): [assets/airframes/types](https://github.com/PX4/px4_user_guide/tree/master/assets/airframes/types) 1. Add a mapping between the new group name and image filename in the [srcparser.py](https://github.com/PX4/Firmware/blob/master/Tools/px4airframes/srcparser.py) method `GetImageName()` (follow the pattern below): def GetImageName(self): """ Get parameter group image base name (w/o extension) """ if (self.name == "Standard Plane"): return "Plane" elif (self.name == "Flying Wing"): return "FlyingWing" ... ... return "AirframeUnknown" ``` @@ -272,9 +272,9 @@ If the airframe is for a **new group** you additionally need to: ... return "AirframeUnknown" ``` -1. 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: +1. 更新 *QGroundControl*： + * 将该机型组的 svg 图像文件添加至： [src/AutopilotPlugins/Common/images](https://github.com/mavlink/qgroundcontrol/tree/master/src/AutoPilotPlugins/Common/Images) + * Add reference to the svg image into [qgcresources.qrc](https://github.com/mavlink/qgroundcontrol/blob/master/qgcresources.qrc), following the pattern below: ``` ... @@ -288,27 +288,27 @@ If the airframe is for a **new group** you additionally need to: > **Note** The remaining airframe metadata should be automatically included in the firmware (once **srcparser.py** is updated). -## Tuning Gains +## 调参 The following topics explain how to tune the parameters that will be specified in the config file: -* [Multicopter PID Tuning Guide](../config_mc/pid_tuning_guide_multicopter.md) -* [Fixed Wing PID Tuning Guide](../config_fw/pid_tuning_guide_fixedwing.md) +* [多轴飞行器 PID 调参指南](../config_mc/pid_tuning_guide_multicopter.md) +* [固定翼 PID 调参指南](../config_fw/pid_tuning_guide_fixedwing.md) * [垂直起降（VTOL）配置](../config_vtol/README.md) -## Add New Airframe to QGroundControl +## 将新的机型加入到 QGroundControl To make a new airframe available for section in the *QGroundControl* [airframe configuration](https://docs.px4.io/en/config/airframe.html): -1. Make a clean build (e.g. by running `make clean` and then `make px4_fmu-v5_default`) -1. Open QGC and select **Custom firmware file...** as shown below: +1. 创建一个干净的生成（例如，先运行 `make clean` 指令，然后再运行 `make px4_fmu-v5_default`） +1. 打开 QGC 然后如下图所示单击 **Custom firmware file...**： - ![QGC flash custom firmware](../../assets/gcs/qgc_flash_custom_firmware.png) + ![QGC 载入自定义固件](../../assets/gcs/qgc_flash_custom_firmware.png) - You will be asked to choose the **.px4** firmware file to flash (this file is a zipped JSON file and contains the airframe metadata). + 随后你将会被要求选择需要被载入的 **.px4** 固件文件（该文件是一个被压缩的 JSON 文件，文件内包含了机型的元数据）。 1. Navigate to the build folder and select the firmware file (e.g. **Firmware/build/px4_fmu-v5_default/px4_fmu-v5_default.px4**). -1. Press **OK** to start flashing the firmware. -1. Restart *QGroundControl*. +1. 单击 **OK** 开始载入固件。 +1. 重启 *QGroundControl*。 -The new airframe will then be available for selection in *QGroundControl*. +新的机型现在应可以在 *QGroundControl* 中进行选择了。 diff --git a/zh/dev_log/logging.md b/zh/dev_log/logging.md index afed63078485..654d0f0dad8d 100644 --- a/zh/dev_log/logging.md +++ b/zh/dev_log/logging.md @@ -1,22 +1,22 @@ # 日志记录 -The logger is able to log any ORB topic with all included fields. Everything necessary is generated from the `.msg` file, so that only the topic name needs to be specified. An optional interval parameter specifies the maximum logging rate of a certain topic. All existing instances of a topic are logged. Everything necessary is generated from the `.msg` file, so that only the topic name needs to be specified. An optional interval parameter specifies the maximum logging rate of a certain topic. All existing instances of a topic are logged. +The logger is able to log any ORB topic with all included fields. Everything necessary is generated from the `.msg` file, so that only the topic name needs to be specified. An optional interval parameter specifies the maximum logging rate of a certain topic. All existing instances of a topic are logged. Everything necessary is generated from the `.msg` file, so that only the topic name needs to be specified. An optional interval parameter specifies the maximum logging rate of a certain topic. 所有主题的实例将会被记录。 -The output log format is [ULog](../log/ulog_file_format.md). +输出的日志格式是 [Ulog](../log/ulog_file_format.md)。 ## 用法 -By default, logging is automatically started when arming, and stopped when disarming. A new log file is created for each arming session on the SD card. To display the current state, use `logger status` on the console. If you want to start logging immediately, use `logger on`. This overrides the arming state, as if the system was armed. `logger off` undoes this. +By default, logging is automatically started when arming, and stopped when disarming. 每次解锁后的飞行对话将会在 SD 卡上生成一个新的日志文件。 To display the current state, use `logger status` on the console. If you want to start logging immediately, use `logger on`. This overrides the arming state, as if the system was armed. `log off` 取消日志记录。 -Use +使用 ``` logger help ``` -for a list of all supported logger commands and parameters. +列举所有支持的日志命令和参数。 ## 配置 -The list of logged topics can be customized with a file on the SD card. The list of logged topics can be customized with a file on the SD card. Create a file `etc/logging/logger_topics.txt` on the card with a list of topics (For SITL, it's `build/px4_sitl_default/tmp/rootfs/fs/microsd/etc/logging/logger_topics.txt`): +日志主题列表可以以 SD 卡文件的形式定制。 The list of logged topics can be customized with a file on the SD card. Create a file `etc/logging/logger_topics.txt` on the card with a list of topics (For SITL, it's `build/px4_sitl_default/tmp/rootfs/fs/microsd/etc/logging/logger_topics.txt`): ``` , ``` @@ -24,7 +24,7 @@ The `` is optional, and if specified, defines the minimum interval in The `` is optional, and if specified, defines the instance to log. If not specified, all instances of the topic are logged. To specify ``, `` must be specified. It can be set to 0 to log at full rate -The topics in this file replace all of the default logged topics. +文件中的主题名将替换所有默认记录的主题。 Logging dropouts are undesired and there are a few factors that influence the amount of dropouts: ``` @@ -39,43 +39,43 @@ The following provides performance results for different SD cards. Tests were do There are several scripts to analyze and convert logging files in the [pyulog](https://github.com/PX4/pyulog) repository. -## Dropouts +## 丢帧 By far the best card we know so far is the **SanDisk Extreme U3 32GB**. This card is recommended, because it does not exhibit write time spikes (and thus virtually no dropouts). Different card sizes might work equally well, but the performance is usually different. - Most SD cards we tested exhibit multiple pauses per minute. This shows itself as a several 100 ms delay during a write command. It causes a dropout if the write buffer fills up during this time. This effect depends on the SD card (see below). This shows itself as a several 100 ms delay during a write command. It causes a dropout if the write buffer fills up during this time. This effect depends on the SD card (see below). -- Formatting an SD card can help to prevent dropouts. -- Increasing the log buffer helps. +- 格式化 SD 卡有助于避免丢帧。 +- 增大日志缓存也有效。 - Decrease the logging rate of selected topics or remove unneeded topics from being logged (`info.py ` is useful for this). ## SD 卡 -The following provides performance results for different SD cards. Tests were done on a Pixracer; the results are applicable to Pixhawk as well. +下面提供了不同 SD 卡的性能。 测试是在 Pixracer上进行的，这个结果也适用于 Pixhawk。 -> **Tip** The maximum supported SD card size for NuttX is 32GB (SD Memory Card Specifications Version 2.0). +> **提示：**Nuttx 支持的最大 SD 卡大小为 32GB（SD卡 2.0 存储规范） -| SD 卡 | Mean Seq. Mean Seq. 写入速度 [KB/s] | 最大写入时间 / 块（平均） [ms] | -| ------------------------------------------------------------- | ------------------------------- | ------------------- | -| SanDisk Extreme U3 32GB | 461 | **15** | -| Sandisk Ultra Class 10 8GB | 348 | 40 | -| Sandisk Class 4 8GB | 212 | 60 | -| SanDisk Class 10 32 GB (High Endurance Video Monitoring Card) | 331 | 220 | -| Lexar U1 (Class 10), 16GB High-Performance | 209 | 150 | -| Sandisk Ultra PLUS Class 10 16GB | 196 | 500 | -| Sandisk Pixtor Class 10 16GB | 334 | 250 | -| Sandisk Extreme PLUS Class 10 32GB | 332 | 150 | +| SD 卡 | 平均 Seq Mean Seq. 写入速度 [KB/s] | 最大写入时间 / 块（平均） [ms] | +| ------------------------------------------------------------- | ---------------------------- | ------------------- | +| SanDisk Extreme U3 32GB | 461 | **15** | +| Sandisk Ultra Class 10 8GB | 348 | 40 | +| Sandisk Class 4 8GB | 212 | 60 | +| SanDisk Class 10 32 GB (High Endurance Video Monitoring Card) | 331 | 220 | +| Lexar U1 (Class 10), 16GB High-Performance | 209 | 150 | +| Sandisk Ultra PLUS Class 10 16GB | 196 | 500 | +| Sandisk Pixtor Class 10 16GB | 334 | 250 | +| Sandisk Extreme PLUS Class 10 32GB | 332 | 150 | -More important than the mean write speed is the maximum write time per block (of 4 KB). This defines the minimum buffer size: the larger this maximum, the larger the log buffer needs to be to avoid dropouts. Logging bandwidth with the default topics is around 50 KB/s, which all of the SD cards satisfy. This defines the minimum buffer size: the larger this maximum, the larger the log buffer needs to be to avoid dropouts. Logging bandwidth with the default topics is around 50 KB/s, which all of the SD cards satisfy. +More important than the mean write speed is the maximum write time per block (of 4 KB). This defines the minimum buffer size: the larger this maximum, the larger the log buffer needs to be to avoid dropouts. Logging bandwidth with the default topics is around 50 KB/s, which all of the SD cards satisfy. 这决定了最小缓冲区大小：这个值越大，日志缓冲区就要越大，以避免丢帧。 默认主题的日志记录带宽约为 50 KB/s，所有 SD 卡都满足这一点。 -By far the best card we know so far is the **SanDisk Extreme U3 32GB**. This card is recommended, because it does not exhibit write time spikes (and thus virtually no dropouts). Different card sizes might work equally well, but the performance is usually different. +到目前为止，我们知道的性能最好的卡是 **SanDisk Extreme U3 32GB**。 This card is recommended, because it does not exhibit write time spikes (and thus virtually no dropouts). Different card sizes might work equally well, but the performance is usually different. You can test your own SD card with `sd_bench -r 50`, and report the results to https://github.com/PX4/Firmware/issues/4634. -## Log Streaming +## 日志流 The traditional and still fully supported way to do logging is using an SD card on the FMU. However there is an alternative, log streaming, which sends the same logging data via MAVLink. This method can be used for example in cases where the FMU does not have an SD card slot (e.g. Intel® Aero Ready to Fly Drone) or simply to avoid having to deal with SD cards. Both methods can be used independently and at the same time. However there is an alternative, log streaming, which sends the same logging data via MAVLink. This method can be used for example in cases where the FMU does not have an SD card slot (e.g. Intel® Aero Ready to Fly Drone) or simply to avoid having to deal with SD cards. Both methods can be used independently and at the same time. -The requirement is that the link provides at least ~50KB/s, so for example a WiFi link. And only one client can request log streaming at the same time. The connection does not need to be reliable, the protocol is designed to handle drops. And only one client can request log streaming at the same time. The connection does not need to be reliable, the protocol is designed to handle drops. +The requirement is that the link provides at least ~50KB/s, so for example a WiFi link. And only one client can request log streaming at the same time. The connection does not need to be reliable, the protocol is designed to handle drops. 并且同一时刻只能有一个客户机可以请求日志流。 The connection does not need to be reliable, the protocol is designed to handle drops. -There are different clients that support ulog streaming: +这是几种不同的支持日志流的客户机： - `mavlink_ulog_streaming.py` script in Firmware/Tools. - QGroundControl： ![QGC Log Streaming](../../assets/gcs/qgc-log-streaming.png) - [MAVGCL](https://github.com/ecmnet/MAVGCL) @@ -83,7 +83,7 @@ There are different clients that support ulog streaming: ### 诊断 - If log streaming does not start, make sure the `logger` is running (see above), and inspect the console output while starting. - If it still does not work, make sure that Mavlink 2 is used. Enforce it by setting `MAV_PROTO_VER` to 2. Enforce it by setting `MAV_PROTO_VER` to 2. -- Log streaming uses a maximum of 70% of the configured mavlink rate (`-r` parameter). If more is needed, messages are dropped. The currently used percentage can be inspected with `mavlink status` (1.8% is used in this example): If more is needed, messages are dropped. The currently used percentage can be inspected with `mavlink status` (1.8% is used in this example): +- Log streaming uses a maximum of 70% of the configured mavlink rate (`-r` parameter). If more is needed, messages are dropped. The currently used percentage can be inspected with `mavlink status` (1.8% is used in this example): 如果需要更大的速率，数据会丢失。 The currently used percentage can be inspected with `mavlink status` (1.8% is used in this example): ``` instance #0: GCS heartbeat: 160955 us ago @@ -100,4 +100,4 @@ There are different clients that support ulog streaming: MAVLink version: 2 transport protocol: UDP (14556) ``` - Also make sure `txerr` stays at 0. Also make sure `txerr` stays at 0. If this goes up, either the NuttX sending buffer is too small, the physical link is saturated or the hardware is too slow to handle the data. + 同时确保 `txerr` 一直是 0。 Also make sure `txerr` stays at 0. If this goes up, either the NuttX sending buffer is too small, the physical link is saturated or the hardware is too slow to handle the data. diff --git a/zh/dev_log/ulog_file_format.md b/zh/dev_log/ulog_file_format.md index 63528b71719b..9e1aee7baca9 100644 --- a/zh/dev_log/ulog_file_format.md +++ b/zh/dev_log/ulog_file_format.md @@ -6,11 +6,11 @@ It can be used for logging device inputs (sensors, etc.), internal states (cpu l It can be used for logging device inputs (sensors, etc.), internal states (cpu load, attitude, etc.) and `printf` log messages. -The format uses Little Endian for all binary types. +这种格式对所有的二进制类型采用小端模式。 ## 数据类型 -The following binary types are used. The following binary types are used. They all correspond to the types in C: +使用以下二进制类型。 The following binary types are used. They all correspond to the types in C: | 类型 | 大小（以字节为单位） | | ------------------- | ---------- | @@ -22,40 +22,40 @@ The following binary types are used. The following binary types are used. They a | double | 8 | | bool, char | 1 | -Additionally all can be used as an array, eg. `float[5]`. Additionally all can be used as an array, eg. `float[5]`. In general all strings (`char[length]`) do not contain a `'\0'` at the end. String comparisons are case sensitive. String comparisons are case sensitive. +此外，所有的类型还可以作为数组使用，比如 `float[5]`。 Additionally all can be used as an array, eg. `float[5]`. In general all strings (`char[length]`) do not contain a `'\0'` at the end. String comparisons are case sensitive. 字符串比较区分大小写。 -## File structure +## 文件结构 -The file consists of three sections: +该文件由三个部分组成： ``` ---------------------- -| Header | +| 头 | ---------------------- -| Definitions | +| 定义 | ---------------------- -| Data | +| 数据 | ---------------------- ``` -### Header Section +### 头部分 -The header is a fixed-size section and has the following format (16 bytes): +头是一个固定大小的部分，具有以下格式（16个字节）： ``` ---------------------------------------------------------------------- | 0x55 0x4c 0x6f 0x67 0x01 0x12 0x35 | 0x01 | uint64_t | -| File magic (7B) | Version (1B) | Timestamp (8B) | +| File magic(7B) | Version (1B) | Timestamp (8B) | ---------------------------------------------------------------------- ``` -Version is the file format version, currently 1. Version is the file format version, currently 1. Timestamp is a `uint64_t` integer, denotes the start of the logging in microseconds. +Version 是文件的格式的版本，目前是 1。 Version is the file format version, currently 1. Timestamp is a `uint64_t` integer, denotes the start of the logging in microseconds. -### Definitions Section +### 定义部分 -Variable length section, contains version information, format definitions, and (initial) parameter values. +可变长度部分，包含版本信息、格式定义和 (初始) 参数值。 -The Definitions and Data sections consist of a stream of messages. Each starts with this header: Each starts with this header: +The Definitions and Data sections consist of a stream of messages. Each starts with this header: 每个数据流包含此标头： ```c struct message_header_s { uint16_t msg_size; @@ -63,9 +63,9 @@ struct message_header_s { }; ``` -`msg_size` is the size of the message in bytes without the header (`hdr_size`= 3 bytes). `msg_type` defines the content and is one of the following: `msg_type` defines the content and is one of the following: +`msg_size` is the size of the message in bytes without the header (`hdr_size`= 3 bytes). `msg_type` defines the content and is one of the following: `msg_type` 定义内容类型，是以下的一种： -- 'B': Flag bitset message. +- 'B' ：标记 bitset 报文。 ``` struct ulog_message_flag_bits_s { uint8_t compat_flags[8]; @@ -73,36 +73,36 @@ struct message_header_s { uint64_t appended_offsets[3]; ///< file offset(s) for appended data if appending bit is set }; ``` - This message **must** be the first message, right after the header section, so that it has a fixed constant offset. + 这条消息**必须**是头后面的第一条消息，这样才有固定的常数偏移量。 - - `compat_flags`: compatible flag bits. None of them is currently defined and all must be set to 0. `compat_flags`: compatible flag bits. None of them is currently defined and all must be set to 0. These bits can be used for future ULog changes that are compatible with existing parsers. It means parsers can just ignore the bits if one of the unknown bits is set. It means parsers can just ignore the bits if one of the unknown bits is set. - - `incompat_flags`: incompatible flag bits. `incompat_flags`: incompatible flag bits. The LSB bit of index 0 is set to one if the log contains appended data and at lease one of the `appended_offsets` is non-zero. All other bits are undefined und must be set to 0. If a parser finds one of these bits set, it must refuse to parse the log. This can be used to introduce breaking changes that existing parsers cannot handle. All other bits are undefined and must be set to 0. If a parser finds one of these bits set, it must refuse to parse the log. This can be used to introduce breaking changes that existing parsers cannot handle. - - `appended_offsets`: File offsets (0-based) for appended data. If no data is appended, all offsets must be zero. This can be used to reliably append data for logs that may stop in the middle of a message. A process appending data should do: If no data is appended, all offsets must be zero. This can be used to reliably append data for logs that may stop in the middle of a message. + - `compat_flags`: 兼容的标志位。 它们目前都没有定义，都必须设置为 0。 `compat_flags`: compatible flag bits. None of them is currently defined and all must be set to 0. These bits can be used for future ULog changes that are compatible with existing parsers. It means parsers can just ignore the bits if one of the unknown bits is set. 这意味着, 如果设置了一个未知位，解析器就可以忽略。 + - `incompat_flags`: 不兼容的标志位。 `incompat_flags`: incompatible flag bits. The LSB bit of index 0 is set to one if the log contains appended data and at lease one of the `appended_offsets` is non-zero. All other bits are undefined und must be set to 0. If a parser finds one of these bits set, it must refuse to parse the log. This can be used to introduce breaking changes that existing parsers cannot handle. 其他位都是未定义的，必须将设置为 0。 如果解析器发现这些位置 1，它必须拒绝解析日志。 这可用于引入现有解析器无法处理的重大更改。 + - `appended_offsets`: File offsets (0-based) for appended data. If no data is appended, all offsets must be zero. This can be used to reliably append data for logs that may stop in the middle of a message. A process appending data should do: 如果没有附加数据，则所有偏移量必须为零。 这可以用于消息中途暂停的情况下可靠的添加数据。 - A process appending data should do: - - set the relevant `incompat_flags` bit, - - set the first `appended_offsets` that is 0 to the length of the log file, - - then append any type of messages that are valid for the Data section. + 附加数据的过程应该做到： + - 置位相关的 `incompat_flags` 位， + - 设置 `append_offsets` 的第一个元素为日志文件相对于 0 的长度， + - 然后为数据部分添加有效的任何类型的消息。 - It is possible that there are more fields appended at the end of this message in future ULog specifications. This means a parser must not assume a fixed length of this message. If the message is longer than expected (currently 40 bytes), the exceeding bytes must just be ignored. This means a parser must not assume a fixed length of this message. If the message is longer than expected (currently 40 bytes), the exceeding bytes must just be ignored. + It is possible that there are more fields appended at the end of this message in future ULog specifications. This means a parser must not assume a fixed length of this message. If the message is longer than expected (currently 40 bytes), the exceeding bytes must just be ignored. 这意味着解析器必须不能假定此消息的长度是固定的。 如果消息比预期的长（当前为 40 字节），则必须忽略超过的字节。 -- 'F': format definition for a single (composite) type that can be logged or used in another definition as a nested type. +- 'F': 可以在另一个定义中作为嵌套类型记录或使用的单个 (组合) 类型的格式定义。 ``` struct message_format_s { struct message_header_s header; char format[header.msg_size-hdr_size]; }; ``` - `format`: plain-text string with the following format: `message_name:field0;field1;` There can be an arbitrary amount of fields (at least 1), separated by `;`. A field has the format: `type field_name` or `type[array_length] field_name` for arrays (only fixed size arrays are supported). `type` is one of the basic binary types or a `message_name` of another format definition (nested usage). A type can be used before it's defined. There can be arbitrary nesting but no circular dependencies. A field has the format: `type field_name` or `type[array_length] field_name` for arrays (only fixed size arrays are supported). `type` is one of the basic binary types or a `message_name` of another format definition (nested usage). A type can be used before it's defined. There can be arbitrary nesting but no circular dependencies. + `format`: plain-text string with the following format: `message_name:field0;field1;` There can be an arbitrary amount of fields (at least 1), separated by `;`. A field has the format: `type field_name` or `type[array_length] field_name` for arrays (only fixed size arrays are supported). `type` is one of the basic binary types or a `message_name` of another format definition (nested usage). A type can be used before it's defined. There can be arbitrary nesting but no circular dependencies. 字段的格式为：`type field_name` 或者 `type[array_length] field_name` 数组（只支持固定大小的数组）。 `type` 是一种基本的二进制类型或者是 `message_name` 的其他类型定义（嵌套使用）。 一个类型可以在定义之前使用。 可以任意嵌套，但没有循环依赖。 - Some field names are special: - - `timestamp`: every logged message (`message_add_logged_s`) must include a timestamp field (does not need to be the first field). Its type can be: `uint64_t` (currently the only one used), `uint32_t`, `uint16_t` or `uint8_t`. The unit is always microseconds, except for in `uint8_t` it's milliseconds. A log writer must make sure to log messages often enough to be able to detect wrap-arounds and a log reader must handle wrap-arounds (and take into account dropouts). The timestamp must always be monotonic increasing for a message series with the same `msg_id`. - - Padding: field names that start with `_padding` should not be displayed and their data must be ignored by a reader. These fields can be inserted by a writer to ensure correct alignment. These fields can be inserted by a writer to ensure correct alignment. + 有些字段名是特殊的： + - `timestamp`：每个消息报文 (`message_add_logged_s`) 必须包含时间戳字段 (不必是第一个字段)。 它的类型可以是：`uint64_t` (目前唯一使用的)，`uint32_t`, `uint16_t` 或者是 `uint8_t` 。 它的单位一直是微秒，除了 `uint8_t`，它的单位是毫秒。 日志写入器必须确保足够频繁的写入报文使其能够检测到绕回，并且日志的读取器必须能够处理绕回 (还要把丢帧考虑在内)。 对于具有相同 `msg_id` 报文的时间戳必须是单调递增的。 + - Padding: field names that start with `_padding` should not be displayed and their data must be ignored by a reader. These fields can be inserted by a writer to ensure correct alignment. 写入器可以通过插入这个字段确保正确对齐。 - If the padding field is the last field, then this field will not be logged, to avoid writing unnecessary data. This means the `message_data_s.data` will be shorter by the size of the padding. However the padding is still needed when the message is used in a nested definition. This means the `message_data_s.data` will be shorter by the size of the padding. However the padding is still needed when the message is used in a nested definition. + If the padding field is the last field, then this field will not be logged, to avoid writing unnecessary data. This means the `message_data_s.data` will be shorter by the size of the padding. However the padding is still needed when the message is used in a nested definition. 这意味着 `message_data_s.data` 会因为填充大小而更短。 但是当报文在嵌套定义中使用时任然需要填充。 -- 'I': information message. +- 'I'：信息报文。 ```c struct message_info_s { struct message_header_s header; @@ -111,37 +111,37 @@ struct message_header_s { char value[header.msg_size-hdr_size-1-key_len] }; ``` - `key` is a plain string, as in the format message (can also be a custom type), but consists of only a single field without ending `;`, eg. `float[3] myvalues`. `value` contains the data as described by `key`. `float[3] myvalues`. `value` contains the data as described by `key`. + `key` is a plain string, as in the format message (can also be a custom type), but consists of only a single field without ending `;`, eg. `float[3] myvalues`. `value` contains the data as described by `key`. `float[3] myvalues`. `value` 包含 `key` 所描述的字段 - Note that an information message with a certain key must occur at most once in the entire log. Parsers can store information messages as a dictionary. Parsers can store information messages as a dictionary. + Note that an information message with a certain key must occur at most once in the entire log. Parsers can store information messages as a dictionary. 解析器可以将报文信息存储为字典。 - Predefined information messages are: + 预定义的信息报文有： -| 键 | 描述 | Example for value | +| 键 | 描述 | 示例值 | | ----------------------------------- | ------------------------------------------- | ------------------ | -| char[value_len] sys_name | Name of the system | "PX4" | -| char[value_len] ver_hw | Hardware version (board) | "PX4FMU_V4" | -| char[value_len] ver_hw_subtype | Board subversion (variation) | "V2" | -| char[value_len] ver_sw | Software version (git tag) | "7f65e01" | +| char[value_len] sys_name | 系统名称 | "PX4" | +| char[value_len] ver_hw | 硬件版本 (主板) | "PX4FMU_V4" | +| char[value_len] ver_hw_subtype | 主办子版本 (变化的) | "V2" | +| char[value_len] ver_sw | 软件版本 (git 标签) | "7f65e01" | | char[value_len] ver_sw_branch | git branch | "master" | -| uint32_t ver_sw_release | Software version (see below) | 0x010401ff | -| char[value_len] sys_os_name | Operating System Name | "Linux" | -| char[value_len] sys_os_ver | OS version (git tag) | "9f82919" | -| uint32_t ver_os_release | OS version (see below) | 0x010401ff | -| char[value_len] sys_toolchain | Toolchain Name | "GNU GCC" | -| char[value_len] sys_toolchain_ver | Toolchain Version | "6.2.1" | -| char[value_len] sys_mcu | Chip name and revision | "STM32F42x, rev A" | +| uint32_t ver_sw_release | 软件版本 (见下文) | 0x010401ff | +| char[value_len] sys_os_name | 操作系统名称 | "Linux" | +| char[value_len] sys_os_ver | 操作系统版本 (git 标签) | "9f82919" | +| uint32_t ver_os_release | 操作系统版本 (见下文) | 0x010401ff | +| char[value_len] sys_toolchain | 工具链名称 | "GNU GCC" | +| char[value_len] sys_toolchain_ver | 工具链版本 | "6.2.1" | +| char[value_len] sys_mcu | 芯片名称和修订 | "STM32F42x, rev A" | | char[value_len] sys_uuid | Unique identifier for vehicle (eg. MCU ID) | "392a93e32fa3"... | | char[value_len] log_type | Type of the log (full log if not specified) | "mission" | -| char[value_len] replay | File name of replayed log if in replay mode | "log001.ulg" | -| int32_t time_ref_utc | UTC Time offset in seconds | -3600 | +| char[value_len] replay | 重播日志的文件名如果处于重播模式 | "log001.ulg" | +| int32_t time_ref_utc | UTC 时间的秒偏移量 | -3600 | - The format of `ver_sw_release` and `ver_os_release` is: 0xAABBCCTT, where AA is major, BB is minor, CC is patch and TT is the type. Type is defined as following: `>= 0`: development, `>= 64`: alpha version, `>= 128`: beta version, `>= 192`: RC version, `== 255`: release version. So for example 0x010402ff translates into the release version v1.4.2. Type is defined as following: `>= 0`: development, `>= 64`: alpha version, `>= 128`: beta version, `>= 192`: RC version, `== 255`: release version. So for example 0x010402ff translates into the release version v1.4.2. + The format of `ver_sw_release` and `ver_os_release` is: 0xAABBCCTT, where AA is major, BB is minor, CC is patch and TT is the type. Type is defined as following: `>= 0`: development, `>= 64`: alpha version, `>= 128`: beta version, `>= 192`: RC version, `== 255`: release version. So for example 0x010402ff translates into the release version v1.4.2. Type is defined as following: `>= 0`: development, `>= 64`: alpha version, `>= 128`: beta version, `>= 192`: RC version, `== 255`: release version. 所以例如 0x010402ff 转换过来是 v1.4.2 的 release 版本。 This message can also be used in the Data section (this is however the preferred section). -- 'M': information message multi. +- 'M'：多报文信息。 ```c struct ulog_message_info_multiple_header_s { uint8_t is_continued; ///< can be used for arrays @@ -150,17 +150,17 @@ struct message_header_s { char value[header.msg_size-hdr_size-2-key_len] }; ``` - The same as the information message, except that there can be multiple messages with the same key (parsers store them as a list). The `is_continued` can be used for split-up messages: if set to 1, it is part of the previous message with the same key. Parsers can store all information multi messages as a 2D list, using the same order as the messages occur in the log. The `is_continued` can be used for split-up messages: if set to 1, it is part of the previous message with the same key. Parsers can store all information multi messages as a 2D list, using the same order as the messages occur in the log. + The same as the information message, except that there can be multiple messages with the same key (parsers store them as a list). The `is_continued` can be used for split-up messages: if set to 1, it is part of the previous message with the same key. Parsers can store all information multi messages as a 2D list, using the same order as the messages occur in the log. `is_continued` 可以用于分割报文：如果置 1，则它是具有相同键的前一条报文的一部分。 解析器可以将所有多报文信息存储为一个 2D 列表，使用与日志中报文相同的顺序。 -- 'P': parameter message. Same format as `message_info_s`. 'P': parameter message. Same format as `message_info_s`. If a parameter dynamically changes during runtime, this message can also be used in the Data section. The data type is restricted to: `int32_t`, `float`. The data type is restricted to: `int32_t`, `float`. +- 'P'：报文参数。 格式与 `message_info_s` 相同。 'P': parameter message. Same format as `message_info_s`. If a parameter dynamically changes during runtime, this message can also be used in the Data section. The data type is restricted to: `int32_t`, `float`. 数据类型限制为：`int32_t`，`float` 。 -This section ends before the start of the first `message_add_logged_s` or `message_logging_s` message, whichever comes first. +这部分在第一个 `message_add_logged_s` 或者 `message_logging_s` 开始之前结束 (以先出现的消息为准) 。 -### Data Section +### 数据部分 -The following messages belong to this section: -- 'A': subscribe a message by name and give it an id that is used in `message_data_s`. This must come before the first corresponding `message_data_s`. This must come before the first corresponding `message_data_s`. +以下消息属于本部分： +- 'A': subscribe a message by name and give it an id that is used in `message_data_s`. This must come before the first corresponding `message_data_s`. 这必须在第一个对应的 `message_data_s` 之前。 ```c struct message_add_logged_s { struct message_header_s header; @@ -169,9 +169,9 @@ The following messages belong to this section: char message_name[header.msg_size-hdr_size-3]; }; ``` - `multi_id`: the same message format can have multiple instances, for example if the system has two sensors of the same type. The default and first instance must be 0. `msg_id`: unique id to match `message_data_s` data. The first use must set this to 0, then increase it. The same `msg_id` must not be used twice for different subscriptions, not even after unsubscribing. `message_name`: message name to subscribe to. Must match one of the `message_format_s` definitions. The default and first instance must be 0. `msg_id`: unique id to match `message_data_s` data. The first use must set this to 0, then increase it. The same `msg_id` must not be used twice for different subscriptions, not even after unsubscribing. `message_name`: message name to subscribe to. Must match one of the `message_format_s` definitions. + `multi_id`: the same message format can have multiple instances, for example if the system has two sensors of the same type. The default and first instance must be 0. `msg_id`: unique id to match `message_data_s` data. The first use must set this to 0, then increase it. The same `msg_id` must not be used twice for different subscriptions, not even after unsubscribing. `message_name`: message name to subscribe to. Must match one of the `message_format_s` definitions. 默认值以及第一个实例一定是0. `msg_id`：匹配 `message_data_s` 数据的惟一 id。 第一次使用一定要设置为 0，然后递增。 相同的 `msg_id` 不能用于两次不同的订阅，甚至在取消订阅后也不行。 `msg_name`：订阅的消息名称。 必须匹配其中一个 `message_format_s` 的定义。 -- 'R': unsubscribe a message, to mark that it will not be logged anymore (not used currently). +- 'R'：取消订阅一条消息，以标记它将不再被记录 (当前未使用)。 ```c struct message_remove_logged_s { struct message_header_s header; @@ -179,7 +179,7 @@ The following messages belong to this section: }; ``` -- 'D': contains logged data. +- 'D'：包含日志数据。 ``` struct message_data_s { struct message_header_s header; @@ -187,9 +187,9 @@ The following messages belong to this section: uint8_t data[header.msg_size-hdr_size]; }; ``` - `msg_id`: as defined by a `message_add_logged_s` message. `msg_id`: as defined by a `message_add_logged_s` message. `data` contains the logged binary message as defined by `message_format_s`. See above for special treatment of padding fields. See above for special treatment of padding fields. + `msg_id`：由 `message_add_logged_s` 报文定义。 `msg_id`: as defined by a `message_add_logged_s` message. `data` contains the logged binary message as defined by `message_format_s`. See above for special treatment of padding fields. 有关填充字段的特殊处理，请参见上文。 -- 'L': Logged string message, i.e. printf output. +- 'L'：字符串日志报文，比如打印输出。 ``` struct message_logging_s { struct message_header_s header; @@ -198,18 +198,18 @@ The following messages belong to this section: char message[header.msg_size-hdr_size-9] }; ``` - `timestamp`: in microseconds, `log_level`: same as in the Linux kernel: - -| 名称 | Level value | Meaning | -| ------- | ----------- | -------------------------------- | -| EMERG | '0' | System is unusable | -| ALERT | '1' | Action must be taken immediately | -| CRIT | '2' | Critical conditions | -| ERR | '3' | Error conditions | -| WARNING | '4' | Warning conditions | -| NOTICE | '5' | Normal but significant condition | -| INFO | '6' | Informational | -| DEBUG | '7' | Debug-level messages | + `timestamp`: 以微秒为单位，`log_level`: 和 Linux 内核一样。 + +| 名称 | 对应值 | 含义 | +| ------- | --- | -------- | +| EMERG | '0' | 系统无法使用 | +| ALERT | '1' | 操作必须立即执行 | +| CRIT | '2' | 紧急情况 | +| ERR | '3' | 错误情况 | +| WARNING | '4' | 警告情况 | +| NOTICE | '5' | 正常但重要的情况 | +| INFO | '6' | 信息 | +| DEBUG | '7' | 调试级别的消息 | - 'C': Tagged Logged string message ``` @@ -237,16 +237,16 @@ enum class ulog_tag : uint16_t { `timestamp`: every logged message (`message_add_logged_s`) must include a timestamp field (does not need to be the first field). Its type can be: `uint64_t` (currently the only one used), `uint32_t`, `uint16_t` or `uint8_t`. The unit is always microseconds, except for `uint8_t` it's milliseconds. A log writer must make sure to log messages often enough to be able to detect wrap-arounds and a log reader must handle wrap-arounds (and take into account dropouts). The timestamp must always be monotonic increasing for a message serie with the same `msg_id`. -| Name | Level value | Meaning | -| ------- | ----------- | -------------------------------- | -| EMERG | '0' | System is unusable | -| ALERT | '1' | Action must be taken immediately | -| CRIT | '2' | Critical conditions | -| ERR | '3' | Error conditions | -| WARNING | '4' | Warning conditions | -| NOTICE | '5' | Normal but significant condition | -| INFO | '6' | Informational | -| DEBUG | '7' | Debug-level messages | +| 参数名 | 对应值 | 含义 | +| ------- | --- | -------- | +| EMERG | '0' | 系统无法使用 | +| ALERT | '1' | 操作必须立即执行 | +| CRIT | '2' | 紧急情况 | +| ERR | '3' | 错误情况 | +| WARNING | '4' | 警告情况 | +| NOTICE | '5' | 正常但重要的情况 | +| INFO | '6' | 信息 | +| DEBUG | '7' | 调试级别的消息 | - 'S': synchronization message so that a reader can recover from a corrupt message by searching for the next sync message (not used currently). ``` @@ -257,7 +257,7 @@ enum class ulog_tag : uint16_t { ``` `sync_magic`: to be defined. -- 'O': mark a dropout (lost logging messages) of a given duration in ms. Dropouts can occur e.g. if the device is not fast enough. Dropouts can occur e.g. if the device is not fast enough. +- 'O': mark a dropout (lost logging messages) of a given duration in ms. Dropouts can occur e.g. if the device is not fast enough. 例如当设备不够快的情况下会出现丢包。 ``` struct message_dropout_s { struct message_header_s header; @@ -265,44 +265,44 @@ enum class ulog_tag : uint16_t { }; ``` -- 'I': information message. See above. See above. +- 'I': information message. See above. 见上文。 -- 'M': information message multi. See above. See above. +- 'M': information message multi. See above. 见上文。 -- 'P': parameter message. See above. See above. +- 'P': parameter message. See above. 见上文。 -## Requirements for Parsers +## 解析器的要求 -A valid ULog parser must fulfill the following requirements: -- Must ignore unknown messages (but it can print a warning). -- Parse future/unknown file format versions as well (but it can print a warning). -- Must refuse to parse a log which contains unknown incompatibility bits set (`incompat_flags` of `ulog_message_flag_bits_s` message), meaning the log contains breaking changes that the parser cannot handle. -- A parser must be able to correctly handle logs that end abruptly, in the middle of a message. The unfinished message should just be discarged. The unfinished message should just be discarded. -- For appended data: a parser can assume the Data section exists, i.e. the offset points to a place after the Definitions section. +一个有效的 ULog 解析器必须满足以下要求: +- 必须忽略未知消息 (但可以打印警告) 。 +- 解析未来/未知的文件格式版本 (但可以打印警告) 。 +- 必须拒绝解析包含未知不兼容位集 (`ulog_message_flag_bits_s` 报文中的 `incompat_flags`) 的日志，这意味着日志包含解析器无法处理的突发改变。 +- A parser must be able to correctly handle logs that end abruptly, in the middle of a message. The unfinished message should just be discarged. 未完成的报文应该丢弃。 +- 对于附加数据:解析器可以假设数据部分存在，即在定义部分之后的位置有一个偏移点。 - Appended data must be treated as if it was part of the regular Data section. + 必须将附加数据视为常规数据部分的一部分。 -## Known Implementations +## 已知的实现 - PX4 Firmware: C++ - - [logger module](https://github.com/PX4/PX4-Autopilot/tree/master/src/modules/logger) - - [replay module](https://github.com/PX4/PX4-Autopilot/tree/master/src/modules/replay) + - [日志模块](https://github.com/PX4/PX4-Autopilot/tree/master/src/modules/logger) + - [回放模块](https://github.com/PX4/PX4-Autopilot/tree/master/src/modules/replay) - [hardfault_log module](https://github.com/PX4/Firmware/tree/master/src/systemcmds/hardfault_log): append hardfault crash data. -- [pyulog](https://github.com/PX4/pyulog): python, ULog parser library with CLI scripts. -- [FlightPlot](https://github.com/PX4/FlightPlot): Java, log plotter. -- [pyFlightAnalysis](https://github.com/Marxlp/pyFlightAnalysis): Python, log plotter and 3D visualization tool based on pyulog. -- [MAVLink](https://github.com/mavlink/mavlink): Messages for ULog streaming via MAVLink (note that appending data is not supported, at least not for cut off messages). -- [QGroundControl](https://github.com/mavlink/qgroundcontrol): C++, ULog streaming via MAVLink and minimal parsing for GeoTagging. -- [mavlink-router](https://github.com/01org/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. Supports ULog since version 2.1.3. +- [pyulog](https://github.com/PX4/pyulog)：Python，使用 CLI 脚本的 Ulog 解析库。 +- [FlightPlot](https://github.com/PX4/FlightPlot): Java，日志绘图仪。 +- [pyFlightAnalysis](https://github.com/Marxlp/pyFlightAnalysis)：Python，日志绘图仪和基于 pyulog 的三维可视化工具。 +- [MAVLink](https://github.com/mavlink/mavlink)：通过 MAVLink 进行 ULog 流的消息 (注意，不支持追加数据，至少不支持截断消息)。 +- [QGroundControl](https://github.com/mavlink/qgroundcontrol)：C++，通过 MAVLink 的 Ulog 流和最小的 GeoTagging。 +- [mavlink-router](https://github.com/01org/mavlink-router)：C++，通过 MAVLink 的 ULog 流。 +- [MAVGAnalysis](https://github.com/ecmnet/MAVGCL)：Java，通过 MAVLink 的数据流和日志的绘制、分析。 +- [PlotJuggler](https://github.com/facontidavide/PlotJuggler): 绘制日志和时间序列的 C++/Qt 应用。 自版本2.1.3支持 ULog。 - [ulogreader](https://github.com/maxsun/ulogreader): Javascript, ULog reader and parser outputs log in JSON object format. -## File Format Version History +## 文件格式版本历史 -### Changes in version 2 +### 版本 2 中的改变 -Addition of `ulog_message_info_multiple_header_s` and `ulog_message_flag_bits_s` messages and the ability to append data to a log. This is used to add crash data to an existing log. If data is appended to a log that is cut in the middle of a message, it cannot be parsed with version 1 parsers. Other than that forward and backward compatibility is given if parsers ignore unknown messages. This is used to add crash data to an existing log. If data is appended to a log that is cut in the middle of a message, it cannot be parsed with version 1 parsers. Other than that forward and backward compatibility is given if parsers ignore unknown messages. +Addition of `ulog_message_info_multiple_header_s` and `ulog_message_flag_bits_s` messages and the ability to append data to a log. This is used to add crash data to an existing log. If data is appended to a log that is cut in the middle of a message, it cannot be parsed with version 1 parsers. Other than that forward and backward compatibility is given if parsers ignore unknown messages. 这被用来给现有的日志添加损坏的数据。 如果从中间切开的报文数据被附加到日志中，这不能被版本 1 解析器解析。 除此之外，如果解析器忽略未知消息，则提供向前和向后的兼容性。 diff --git a/zh/dev_setup/_ninja_build_system.md b/zh/dev_setup/_ninja_build_system.md index e7ca64728300..0db904a0300c 100644 --- a/zh/dev_setup/_ninja_build_system.md +++ b/zh/dev_setup/_ninja_build_system.md @@ -2,13 +2,13 @@ [Ninja](https://ninja-build.org/) is a faster build system than *Make* and the PX4 *CMake* generators support it. -On Ubuntu Linux you can install this automatically from normal repos. +在 Ubuntu Linux 上你从软件仓库中自动安装该构建系统。 ```sh sudo apt-get install ninja-build -y ``` -Other systems may not include Ninja in the package manager. In this case an alternative is to download the binary and add it to your path: In this case an alternative is to download the binary and add it to your path: +Other systems may not include Ninja in the package manager. In this case an alternative is to download the binary and add it to your path: 这种情况下你可以下载二进制文件然后将其加入操作系统的环境变量中： ```sh mkdir -p $HOME/ninja diff --git a/zh/dev_setup/building_px4.md b/zh/dev_setup/building_px4.md index 0f7196f8f7fc..c671eabc8eff 100644 --- a/zh/dev_setup/building_px4.md +++ b/zh/dev_setup/building_px4.md @@ -11,7 +11,7 @@ ## 下载 PX4 源代码 -PX4 源代码存储在 [PX4/Firmware](https://github.com/PX4/Firmware) 存储库中的 GitHub 上。 To get the *very latest* version onto your computer, enter the following command into a terminal: +PX4 源代码存储在 [PX4/Firmware](https://github.com/PX4/Firmware) 存储库中的 GitHub 上。 若要在您的计算机上获得*最新的*版本，请在终端中输入以下命令： ```sh git clone --recursive https://github.com/google/bloaty.git /tmp/bloaty \ @@ -41,9 +41,9 @@ make px4_sitl jmavsim pxh> commander takeoff ``` -![jMAVSim UI](../../assets/toolchain/jmavsim_first_takeoff.png) +![jMAVSim 界面](../../assets/toolchain/jmavsim_first_takeoff.png) -The drone can be landed by typing `commander land` and the whole simulation can be stopped by doing **CTRL+C** (or by entering `shutdown`). +无人机可以通过输入 `commander land` 着陆, 整个模拟可以通过 **CTRL+C**（或输入 `shutdown`）来停止。 与地面控制站一起飞行模拟更接近飞机的实际运行。 在飞机飞行时，单击地图上的某个位置（起飞飞行模式）并启用滑块。 这将重新定位飞机。 @@ -79,7 +79,7 @@ The drone can be landed by typing `commander land` and the whole simulation can make px4_fmu-v4_default ``` -A successful run will end with similar output to: +运行成功后将输出类似结束： ```sh /data/ftp/internal_000/px4 -s /home/root/px4.config ``` @@ -112,7 +112,7 @@ A successful run will end with similar output to: > **Tip** 如果您只是在尝试（并且不想进行任何永久性更改），则只需克隆主固件存储库，如下所示： `git clone https://github.com/PX4/Firmware.git` -### Uploading Firmware (Flashing the board) +### 将固件烧录到飞控板 附加 `upload` 到 make 命令，通过 USB 将编译的二进制文件烧录到自动驾驶仪硬件。 例如 @@ -139,7 +139,7 @@ Rebooting. ### 将固件烧录到飞控板 -The command below builds the target for [Raspberry Pi 2/3 Navio2](../flight_controller/raspberry_pi_navio2.md). +以下是 [Raspberry Pi 2/3 Navio2](../flight_controller/raspberry_pi_navio2.md) 构建目标的命令。 #### 跨编译器生成 @@ -254,7 +254,7 @@ telnet 192.168.42.1 adb shell ``` -Go back to previous terminal and upload: +到上一个终端并上传： ```sh make atlflight_eagle_default upload @@ -270,13 +270,13 @@ adb push ROMFS/px4fmu_common/mixers/quad_x.main.mix /usr/share/data/adsp #### 运行 -Run the DSP debug monitor: +运行 DSP 调试监控器： ```sh ${HEXAGON_SDK_ROOT}/tools/debug/mini-dm/Linux_Debug/mini-dm ``` -Note: alternatively, especially on Mac, you can also use [nano-dm](https://github.com/kevinmehall/nano-dm). +注意：在 Mac 上可以使用 [nano-dm](https://github.com/kevinmehall/nano-dm)。 替换为： @@ -354,7 +354,7 @@ PX4 支持 Qt Creator，Eclipse 和 Sublime Text。 Qt Creator 是最用户友 ### 基于 QuRT / Snapdragon 的飞控板 -> **Note** Windows has not been tested for PX4 development with Qt Creator. +> **Note** Windows 平台下尚未测试。 ### 在 Linux 上使用 Qt creator @@ -425,7 +425,7 @@ make [VENDOR_][MODEL][_VARIANT] [VIEWER_MODEL_DEBUGGER] `bloaty_compare_master` 构建目标使您能够更好地了解更改对代码大小的影响。 当使用时，工具链会下载特定固件的最新的 master 版本并将其与本地生成进行比较（使用二进制文件的 [bloaty](https://github.com/google/bloaty) 大小探查器）。 -> **Tip** This can help analyse changes that (may) cause `px4_fmu-v2_default` to hit the 1MB flash limit. +> **Tip** 这有助于分析（可能）导致 `px4_fmu-v2_default` 达到1MB 闪存限制的更改。 *Bloaty* 必须在您的路径中，并且在 *cmake* 配置时找到。 PX4 [docker 文件 ](https://github.com/PX4/containers/blob/master/docker/px4-dev/Dockerfile_nuttx) 安装 *bloaty* 如下所示： ``` @@ -494,7 +494,7 @@ These are extracted at build time from the active *git tag* for your repo tree. -## Troubleshooting +## 常见问题处理 ### 在 Mac OS 上使用 Qt creator diff --git a/zh/dev_setup/dev_env_linux.md b/zh/dev_setup/dev_env_linux.md index ce54f920f339..e5386020dca8 100644 --- a/zh/dev_setup/dev_env_linux.md +++ b/zh/dev_setup/dev_env_linux.md @@ -9,7 +9,7 @@ The following instructions explain how to set up a development environment on va * **Tip** 我们已经使用Debian/[Ubuntu](https://wiki.ubuntu.com/LTS) (16.04) 作为标准linux开发系统， 也为[CentOS](../setup/dev_env_linux_centos.md)和[Arch Linux](../setup/dev_env_linux_arch.md)提供了说明。 * [软件安装](../dev_setup/dev_env_linux_centos.md) * [配置](../dev_setup/dev_env_linux_arch.md) -* [Advanced Linux](../dev_setup/dev_env_advanced_linux.md) +* [高级 Linux](../dev_setup/dev_env_advanced_linux.md) 安装开发工具链: diff --git a/zh/dev_setup/dev_env_linux_arch.md b/zh/dev_setup/dev_env_linux_arch.md index fad6d0817da2..19e91fcfb10f 100644 --- a/zh/dev_setup/dev_env_linux_arch.md +++ b/zh/dev_setup/dev_env_linux_arch.md @@ -2,9 +2,9 @@ 将当前用户加入用户组 “uucp” ： -The script installs (by default) all tools to build PX4 (without RTPS) for NuttX targets and run simulation with *jMAVsim*. You can additionally install the *Gazebo* simulator by specifying the command line argument: `--gazebo`. +该脚本默认安装所有必需的工具，用于编译基于NuttX的PX4源码（不带RTPS），以及运行基于 *jMAVsim* 的仿真器。 你也可以安装额外的*Gazebo*仿真器通过在命令行中指定一个参数： `--gazebo`。 -![Gazebo on Arch](../../assets/simulation/gazebo/arch-gazebo.png) +![Arch上使用Gazebo](../../assets/simulation/gazebo/arch-gazebo.png) > **Note** *genromfs* is also available in the [Archlinux User Repository](https://aur.archlinux.org/packages/genromfs/) (AUR). To use this package, install [yaourt](https://archlinux.fr/yaourt-en) (Yet AnOther User Repository Tool) and then use it to download, compile and install *genromfs* as shown: @@ -15,12 +15,12 @@ To install using this script, enter the following in a terminal: sudo -s source ./archlinux_install_script.sh ``` -* Download just the needed scripts and then run them: +* 只下载你所需的脚本并运行他们： ```sh Once ArchLinux is installed you can use the docker script archlinux_install_script.sh to install all dependencies required for building PX4 firmware. ``` -The script takes the following optional parameters: -- `--gazebo`: Add this parameter parameter to install Gazebo from the [AUR](https://aur.archlinux.org/packages/gazebo/). > **Note** Gazebo gets compiled from source. It takes some time to install and requires entering the `sudo` password multiple times (for dependencies). -- `--no-nuttx`: Do not install the NuttX/Pixhawk toolchain (i.e. if only using simulation). -- `--no-sim-tools`: Do not install jMAVSim/Gazebo (i.e. if only targeting Pixhawk/NuttX targets) +该脚本可以加入这些可选的参数： +- `--gazebo`：添加此参数从 [AUR](https://aur.archlinux.org/packages/gazebo/) 安装 Gazebo 仿真器。 > **Note** Gazebo gets compiled from source. 这个过程需要花费一些时间并且需要添加 `sudo` 并多次输入密码（对于依赖项）。 +- `--no-nuttx`: 不要安装 NuttX/Pixhawk 的工具链 (比如你只想使用仿真器的功能)。 +- `--no-sim-tools`：不要安装 jMAVSim/Gazebo 仿真器（例如你只想使用或者开发调试 Pixhawk/NuttX） diff --git a/zh/dev_setup/dev_env_linux_ubuntu.md b/zh/dev_setup/dev_env_linux_ubuntu.md index c8f46b077666..06cc159db1f2 100644 --- a/zh/dev_setup/dev_env_linux_ubuntu.md +++ b/zh/dev_setup/dev_env_linux_ubuntu.md @@ -3,12 +3,12 @@ [Ubuntu linux lts](https://wiki.ubuntu.com/LTS)（16.04）是标准的/首选的 Linux 开发操作系统。 Linux允许您构建[所有PX4目标](../setup/dev_env.md#supported-targets)（基于NuttX的硬件、高通骁龙飞控硬件、基于Linux的硬件、仿真、ROS）。 以下说明说明了如何 *手动* 设置每个受支持的目标的开发环境。 -- **[ubuntu.sh](https://github.com/PX4/PX4-Autopilot/blob/master/Tools/setup/ubuntu.sh)**: Installs [Gazebo 9](../simulation/gazebo.md) and [jMAVSim](../simulation/jmavsim.md) simulators and/or [NuttX/Pixhawk](../dev_setup/building_px4.md#nuttx) tools. Does not include dependencies for [FastRTPS](#fast_rtps). +- **[ubuntu.sh](https://github.com/PX4/PX4-Autopilot/blob/master/Tools/setup/ubuntu.sh)**: Installs [Gazebo 9](../simulation/gazebo.md) and [jMAVSim](../simulation/jmavsim.md) simulators and/or [NuttX/Pixhawk](../dev_setup/building_px4.md#nuttx) tools. 不包含[FastRTPS](#fast_rtps)所依赖的工具。 - **ubuntu_sim.sh**: **ubuntu_sim_common_deps.sh** + [Gazebo8](#gazebo) 模拟器。 > **Tip** 该脚本已经在全新Ubuntu 16.04安装测试通过。 如果安装在除上述提到的系统或其他Ubuntu版本上，则它们*可能*无法正常工作。 -The instructions below explain how to download and use the scripts. +本说明将在下面解释如何下载并使用这些脚本。 @@ -26,16 +26,16 @@ The instructions below explain how to download and use the scripts. ```bash bash ./Tools/setup/ubuntu.sh ``` - - Acknowledge any prompts as the script progress. - - You can use the `--no-nuttx` and `--no-sim-tools` to omit the nuttx and/or simulation tools. -1. Restart the computer on completion. + - 在安装过程中确认并通过所有的提示。 + - 你可以通过传输参数`--no-nuttx` 和 `--no-sim-tools` 来跳过 nuttx 和/或 仿真器工具的安装。 +1. 完成后重新启动计算机。 > **Tip** 在设置构建/模拟工具链之后，有关其他有用工具的信息，请参阅 [附加工具](../setup/generic_dev_tools.md)。 用户应先加入组 ”dialout“： - ** Note** PX4兼容Gazebo7、8和9。 上面的 [安装说明](http://gazebosim.org/tutorials?tut=install_ubuntu&cat=install) 是关于安装 Gazebo 9 的。 - **Note** 如果您要使用 ros，请按照以下部分中的 [ROS/Gazebo](#rosgazebo) 说明操作（这些操作将自动安装 gazebo，作为 ros 安装的一部分）。 -- You can verify the the NuttX installation by confirming the gcc version as shown: +- 你可以通过确认gcc的版本来验证Nuttx的安装： ```bash $arm-none-eabi-gcc --version @@ -133,16 +133,16 @@ make ## ROS/Gazebo -This section explains how to install [ROS/Gazebo](../ros/README.md) ("Melodic") for use with PX4. +本节解释如何安装 [ROS/Gazebo](../ros/README.md) ("Melodic") 以便与PX4一起使用。 -To install the development toolchain: +安装开发工具链: 1. **ubuntu_sim_ros_gazebo.sh**: **ubuntu_sim_common_deps.sh** + [ROS/Gazebo and MAVROS](#rosgazebo). 1. 下载脚本 ```bash ROS Gazebo: http://wiki.ros.org/kinetic/Installation/Ubuntu ``` - You may need to acknowledge some prompts as the script progresses. + 随着脚本的运行，可能需要确认一些提示。 ```sh * ROS Kinetic 默认与 Gazebo 7 一起安装（为了简化 ROS 的开发，我们使用的默认而不是 Gazebo 8）。 diff --git a/zh/dev_setup/dev_env_mac.md b/zh/dev_setup/dev_env_mac.md index ed9d72447dd0..0f0af233e24b 100644 --- a/zh/dev_setup/dev_env_mac.md +++ b/zh/dev_setup/dev_env_mac.md @@ -51,7 +51,7 @@ python3 -m pip install --user pyserial empy toml numpy pandas jinja2 pyyaml pyro sudo -H python3 -m pip install --user pyserial empy toml numpy pandas jinja2 pyyaml pyros-genmsg packaging ``` -## Gazebo Simulation +## Gazebo 仿真 To install SITL simulation with Gazebo: @@ -60,7 +60,7 @@ brew cask install xquartz brew install px4-sim-gazebo ``` -## jMAVSim Simulation +## jMAVSim 仿真模拟 To use SITL simulation with jMAVSim you need to install a recent version of Java (e.g. Java 14). You can either download [Java 14 from Oracle](https://www.oracle.com/java/technologies/javase-jdk14-downloads.html) or use the AdoptOpenJDK tap: @@ -75,11 +75,11 @@ brew install px4-sim-jmavsim > **Note** jMAVSim for PX4 v1.11 and earlier required Java 8. -## Additional Tools +## 额外工具 See [Additional Tools](../dev_setup/generic_dev_tools.md) for information about other useful development tools that are not part of the build toolchain (for example IDEs and GCSs). -## Next Steps +## 后续步骤 -Once you have finished setting up the environment, continue to the [build instructions](../dev_setup/building_px4.md). +sudo rosdep init rosdep update diff --git a/zh/dev_setup/dev_env_windows.md b/zh/dev_setup/dev_env_windows.md index 8fac98ea5086..f9f656ab4eec 100644 --- a/zh/dev_setup/dev_env_windows.md +++ b/zh/dev_setup/dev_env_windows.md @@ -16,7 +16,7 @@ ## 其他 windows 工具链 -There are a number of other legacy/alternative solutions that may be of interest to some developers. A comparison of the options is provided below. +除 Cygwin 外开发者们还可以使用一些替代解决方案完成开发环境的构建， 下表对这些替代解决方案进行了详细的对比。 > **注意** Windows平台下仅 [Cygwin 工具链](../setup/dev_env_windows_cygwin.md) 获得了PX4开发团队的官方支持。 它作为我们持续集成系统的一部分会被定期测试，在性能方面要比其它替代方案更出色。 diff --git a/zh/dev_setup/dev_env_windows_bash_on_win.md b/zh/dev_setup/dev_env_windows_bash_on_win.md index 028aefa1e3ce..332b49f2a0e8 100644 --- a/zh/dev_setup/dev_env_windows_bash_on_win.md +++ b/zh/dev_setup/dev_env_windows_bash_on_win.md @@ -6,7 +6,7 @@ Windows 用户还可以选择在 [Bash on Windows](https://github.com/Microsoft/ * 编译针对 NuttX/Pixhawk 平台的固件。 * 使用 JMAVSim 进行PX4仿真 (需要搭配一个基于Windows的 X-Windows 应用来显示仿真UI界面)。 -> **注意：** 本特性仅可在Windows 10上实现， 它本质上仍是在虚拟机中运行工具链, 与其他解决方案相比运行相对缓慢。 It essentially runs the toolchain in a virtual machine, and is relatively slow compared to other solutions. +> **注意：** 本特性仅可在Windows 10上实现， 它本质上仍是在虚拟机中运行工具链, 与其他解决方案相比运行相对缓慢。 它本质上仍是在虚拟机中运行工具链, 与其他解决方案相比运行相对缓慢。 ### 设置开发环境 @@ -78,13 +78,13 @@ Bash on Windows开发环境的 [windows_bash_nuttx.sh](https://raw.githubusercon 手动将此编译器添加到您的环境中请执行以下操作: -1. Download the compiler: +1. 下载编译器: ```sh 下载编译器: sh wget https://github.com/SolinGuo/arm-none-eabi-bash-on-win10-/raw/master/gcc-arm-none-eabi-5_4-2017q2-20170512-linux.tar.bz2 ``` -1. Unpack it using this command line in the Bash On Windows console: +1. Bash On Windows 控制台中使用命令行进行解压： ```sh Bash On Windows 控制台中使用命令行进行解压： sh @@ -92,7 +92,7 @@ Bash on Windows开发环境的 [windows_bash_nuttx.sh](https://raw.githubusercon ``` - This will unpack the arm gcc cross-compiler to: + 该命令会将 arm gcc cross-compiler 解压至： ``` gcc-arm-none-eabi-5_4-2017q2/bin ``` diff --git a/zh/dev_setup/dev_env_windows_cygwin.md b/zh/dev_setup/dev_env_windows_cygwin.md index 14035b21202a..cce99ee3faa7 100644 --- a/zh/dev_setup/dev_env_windows_cygwin.md +++ b/zh/dev_setup/dev_env_windows_cygwin.md @@ -31,7 +31,7 @@ 1. 运行**run-console.bat**(双击)启动Cygwin bash控制台 1. 在控制台中运行克隆PX4 Firmware仓库命令 - > **Note** Cloning only needs to be done once! Skip this step if you ticked the installer option to *clone the PX4 repository, build and run simulation with jMAVSim*. + > **注意**只需要克隆一次 如果你在安装程序最后选择了*clone the PX4 repository, build and run simulation with jMAVSim*，则可以跳过这一步。 > > ```bash > # 克隆 PX4 Firmware 仓库到 home 目录 & 同时并行加载子模块 @@ -69,7 +69,7 @@ You may wish to halt them temporarily during builds (at your own risk). -### Windows & Git Special Cases +### Windows & Git 特殊情况 #### Windows CR+LF 对比 Unix LF 行结尾 @@ -83,7 +83,7 @@ git config core.eol lf ``` git config --global ... ``` -This is not recommended because it may affect any other (unrelated) git use on your Windows machine. +建议不要这样做, 因为它可能会影响 Windows 计算机上的任何其他 (无关) git 使用。 #### Unix 执行权限 @@ -132,7 +132,7 @@ git submodule foreach --recursive git config --unset core.filemode # 移除所 ### Shell 脚本安装 -You can also install the environment using shell scripts in the Github project. +你还可以使用 Github 项目中的 shell 脚本进行开发环境的安装。 1. 请确保安装了 [ Windows Git ](https://git-scm.com/download/win)。 1. 将代码仓库 https://github.com/PX4/windows-toolchain 克隆到要安装工具链的位置。 打开 `Git Bash` 并执行以下操作，打开后会自动进入默认的安装目录: @@ -165,7 +165,7 @@ You can also install the environment using shell scripts in the Github project. * Devel:ninja * Devel:patch * Editors:xxd - * Editors:nano (unless you're the vim pro) + * Editors:nano (除非你精通vim) * Python:python2 * Python:python2-pip * Python:python2-numpy @@ -216,7 +216,7 @@ You can also install the environment using shell scripts in the Github project. - > **Note** This is what the toolchain does in: [apache-ant/install-apache-ant.bat](https://github.com/MaEtUgR/PX4Toolchain/blob/master/toolchain/apache-ant/install-apache-ant.bat). + > ** 注意 **这就是工具链在 [ gcc-arm/install-apache-ant.bat ](https://github.com/MaEtUgR/PX4Toolchain/blob/master/toolchain/apache-ant/install-apache-ant.bat) 脚本中所做的工作。 1. 下载、编译并将 * genromfs *添加到环境变量: * 将源代码克隆到文件夹 ** C:\PX4\toolchain\genromfs\genromfs-src ** 中, cd /c/toolchain/genromfs git clone https://github.com/chexum/genromfs.git genromfs-src @@ -233,6 +233,6 @@ You can also install the environment using shell scripts in the Github project. * 将包含有生成的二进制 ** genromfs.exe ** 的文件夹复制到: ** C:\PX4\toolchain\genromfs ** - > **Note** This is what the toolchain does in: [genromfs/install-genromfs.bat](https://github.com/MaEtUgR/PX4Toolchain/blob/master/toolchain/genromfs/install-genromfs.bat). + > ** 注意 **这就是工具链在 [ gcc-arm/install-genromfs.bat ](https://github.com/MaEtUgR/PX4Toolchain/blob/master/toolchain/genromfs/install-genromfs.bat) 脚本中所做的工作。 1. 确保所有已安装组件的二进制文件夹都正确配置在 [** setup-environment-variables.bat **](https://github.com/MaEtUgR/PX4Toolchain/blob/master/toolchain/setup-environment-variables.bat) 配置的 `环境变量` 中。 diff --git a/zh/dev_setup/fast-rtps-installation.md b/zh/dev_setup/fast-rtps-installation.md index f6bc0712836d..efc716e6bcb7 100644 --- a/zh/dev_setup/fast-rtps-installation.md +++ b/zh/dev_setup/fast-rtps-installation.md @@ -48,7 +48,7 @@ $ mkdir Fast-RTPS/build && cd Fast-RTPS/build > **Note** 您可能需要 [install Gradle](https://gradle.org/install/) 来构建源代码（例如，在vanilla Fedora Linux 上确实如此）。 如果是这种情况，将显示生成警告。 -If you are on Linux, execute: +如果您在 Linux 上，请执行： ```sh $ cmake -DTHIRDPARTY=ON -DSECURITY=ON .. @@ -94,11 +94,11 @@ git clone --recursive https://github.com/eProsima/Fast-RTPS-Gen.git -b v1.0.4 ~/ 操作文档请参见： [二进制安装](http://eprosima-fast-rtps.readthedocs.io/en/latest/binaries.html#installation-from-binaries)（*eProsima Fast RTPS* 官方文档） -### Windows 7 32-bit and 64-bit +### Windows 7 32位和64位 执行说明的 installer，收到提示后选择 *Visual Studio*版本。 -#### Environmental Variables +#### 环境变量 *eProsima Fast RTPS* 功能配置完善，需要如下的环境变量配置生效。 @@ -131,6 +131,6 @@ $ ./configure CXXFLAGS="-g -D__DEBUG" --libdir=/usr/lib $ sudo make install ``` -#### Environmental Variables +#### 环境变量 * `FASTRTPSGEN_DIR`: Root folder where *eProsima FastRTPSGen* is installed, usually set to `/usr/local`, which is the default installation directory. If the user sets a different install directory in the `gradle install` step, it must set it here as well. diff --git a/zh/dev_setup/vscode.md b/zh/dev_setup/vscode.md index 572c2f3ab36c..939b8b6f2106 100644 --- a/zh/dev_setup/vscode.md +++ b/zh/dev_setup/vscode.md @@ -11,7 +11,7 @@ This topic explains how to setup the IDE and start developing. > **Note** There are other powerful IDEs, but they typically take more effort to integrate with PX4. With *VScode*, configuration is stored in the PX4/PX4-Autopilot tree ([PX4-Autopilot/.vscode](https://github.com/PX4/PX4-Autopilot/tree/master/.vscode)) so the setup process is as simple as adding the project folder. -## Preconditions +## 前置条件 You must already have installed the command line [PX4 developer environment](../dev_setup/dev_env.md) for your platform and downloaded the *Firmware* source code repo. @@ -54,7 +54,7 @@ To build: After building at least once you can now use \[code completion\](#code completion) and other *VSCode* features. -## Debugging +## 调试 diff --git a/zh/development/development.md b/zh/development/development.md index ea4f0b4cd675..92583af353f2 100644 --- a/zh/development/development.md +++ b/zh/development/development.md @@ -1,25 +1,23 @@ -# PX4 Development +# PX4 开发 This section explains how to support new vehicle types and variants, modify flight algorithms, add new modes, integrate new hardware, and communicate with PX4 from outside the flight controller. ::: tip - This section is for software developers and (new) hardware integrators. It is not needed if you're building an existing airframe or flying using a PX4 vehicle. - ::: It explains how to: -* Get a [minimum developer setup](../dev_setup/config_initial.md), [build PX4 from source](../dev_setup/building_px4.md) and deploy on [numerous supported autopilots](../flight_controller/README.md). -* Understand the [PX4 System Architecture](../concept/architecture.md) and other core concepts. -* Learn how to modify the flight stack and middleware: - - Modify flight algorithms and add new [flight modes](../concept/flight_modes.md). - - Support new [airframes](airframes/README.md). -* Learn how to integrate PX4 with new hardware: - - Support new sensors and actuators, including cameras, rangefinders, etc. - - Modify PX4 to run on new autopilot hardware. -* [Simulate](simulation/README.md), [test](../test_and_ci/README.md) and [debug/log](../debug/README.md) PX4. -* Communicate/integrate with external robotics APIs. +* 了解到 [配置最小开发环境](../dev_setup/config_initial.md)，[用源码编译PX4](../dev_setup/building_px4.md) 以及部署到 [众多支持的自动驾驶仪](../flight_controller/README.md)。 +* 理解 [PX4 系统架构](../concept/architecture.md) 以及核心概念。 +* 学习如何更改飞行栈及中间层： + - 更改飞行算法和添加新的 [飞行模式](../concept/flight_modes.md)。 + - 支持新的 [机型](airframes/README.md)。 +* 学习如何将PX4集成到新的硬件上： + - 支持新的传感器和执行器, 包括摄像头、测距仪等。 + - 修改PX4使之能够在新的自驾仪硬件上运行。 +* 对 PX4 进行 [仿真](simulation/README.md)、[测试](../test_and_ci/README.md) 和 [调试/查看日志](../debug/README.md)。 +* 与外部机器人的 API 进行联调通信/集成。 ## Key Developer Links diff --git a/zh/flight_controller/README.md b/zh/flight_controller/README.md index 5ad546ac1d96..b4647d44ea42 100644 --- a/zh/flight_controller/README.md +++ b/zh/flight_controller/README.md @@ -4,8 +4,8 @@ This section lists the autopilot hardware documented in this library (that can b > **Tip** You can also try PX4 on a [Complete Vehicle](../complete_vehicles/README.md) (consumer drones and reference platforms that can run PX4). -- [Pixhawk Series](../flight_controller/pixhawk_series.md) - - [Silicon Errata](../flight_controller/silicon_errata.md) +- [Pixhawk 系列](../flight_controller/pixhawk_series.md) + - [芯片勘误表](../flight_controller/silicon_errata.md) - [Pixhawk Standard/Supported Autopilots](../flight_controller/autopilot_pixhawk_standard.md) - [CUAV Pixhack v3 (FMUv3)](../flight_controller/pixhack_v3.md) - [Drotek Pixhawk 3 Pro (FMUv4pro)](../flight_controller/pixhawk3_pro.md) @@ -16,7 +16,7 @@ This section lists the autopilot hardware documented in this library (that can b - [Holybro pix32 (FMUv2)](../flight_controller/holybro_pix32.md) - [mRo Pixracer (FMUv4)](../flight_controller/pixracer.md) - [mRo Pixhawk (FMUv2)](../flight_controller/mro_pixhawk.md) -- [Manufacturer-Supported Autopilots](../flight_controller/autopilot_manufacturer_supported.md) +- [由制造商支持的自动驾驶仪](../flight_controller/autopilot_manufacturer_supported.md) - [AirMind MindPX](../flight_controller/mindpx.md) - [AirMind MindRacer](../flight_controller/mindracer.md) - [CUAV X7](../flight_controller/cuav_x7.md) @@ -42,7 +42,7 @@ This section lists the autopilot hardware documented in this library (that can b - [Bitcraze Crazyflie 2.0](../complete_vehicles/crazyflie2.md) - [CUAV v5 (FMUv5) (Discontinued)](../flight_controller/cuav_v5.md) - [Holybro Pixfalcon (FMUv2) (Discontinued)](../flight_controller/pixfalcon.md) - - [Intel® Aero RTF Drone (Discontinued)](../complete_vehicles/intel_aero.md) + - [Intel® Aero RTF Drone（已停产）](../complete_vehicles/intel_aero.md) - [mRo AUAV-X2 (Discontinued)](../flight_controller/auav_x2.md) - [Qualcomm Snapdragon Flight (Discontinued)](../flight_controller/snapdragon_flight.md) - [Raspberry Pi 2/3 Navio2](../flight_controller/raspberry_pi_navio2.md) diff --git a/zh/flight_controller/auav_x2.md b/zh/flight_controller/auav_x2.md index 1f9746d5fc70..f3fc3bde4c67 100644 --- a/zh/flight_controller/auav_x2.md +++ b/zh/flight_controller/auav_x2.md @@ -1,12 +1,12 @@ # AUAV-X2 自动驾驶仪 (停产) -> **Warning** PX4 does not manufacture this (or any) autopilot. Contact the [manufacturer](https://store.mrobotics.io/) for hardware support or compliance issues. +> **Warning** PX4 不生产这款且也不生产任何自动驾驶仪。 若需要硬件支持或咨询合规问题，请联系 [制造商](https://store.mrobotics.io/)。 > **Warning** This flight controller has been [discontinued](../flight_controller/autopilot_experimental.md) and is no longer commercially available. -The [AUAV®](http://www.auav.com/) *AUAV-X2 autopilot* is based on the [Pixhawk®-project](https://pixhawk.org/) **FMUv2** open hardware design. It runs PX4 on the [NuttX](http://nuttx.org) OS. +[AUAV® ](http://www.auav.com/) *AUAV-X2 autopilot* 基于[Pixhawk®-项目](https://pixhawk.org/) ** FMUv2** 开放硬件设计。 它在 [NuttX](http://nuttx.org) 操作系统上运行 PX4。 ![AUAVX2_case2](../../assets/flight_controller/auav_x2/auavx2_case2.jpg) @@ -46,7 +46,7 @@ The [AUAV®](http://www.auav.com/) *AUAV-X2 autopilot* is based on ## 访问链接 -No longer in production. This has been superceded by the [mRo X2.1](mro_x2.1.md). mRobotics is the distributor for the AUAV Products from August 2017. +已停产。 这已被 [mRo X2.1](mro_x2.1.md) 替代。 mRobotics is the distributor for the AUAV Products from August 2017. ## 主链接 @@ -65,15 +65,15 @@ No longer in production. This has been superceded by the [mRo X2.1](mro_x2.1.md) ## 原理图 -The board is based on the [Pixhawk project](https://pixhawk.org/) **FMUv2** open hardware design. +该板基于 [Pixhawk project](https://pixhawk.org/) **FMUv2** 开放式硬件设计。 * [FMUv2 + IOv2 schematic](https://raw.githubusercontent.com/PX4/Hardware/master/FMUv2/PX4FMUv2.4.5.pdf) - 原理图和布局 -> **Note** As a CC-BY-SA 3.0 licensed Open Hardware design, all schematics and design files are [available](https://github.com/PX4/Hardware). +> **Note**作为 CC-BY-SA 3.0 许可的开放硬件设计，所有原理图和设计文件都是 [available](https://github.com/PX4/Hardware)。 ## Serial Port Mapping -| UART | Device | Port | +| UART | 设备 | Port | | ------ | ---------- | --------------------- | | UART1 | /dev/ttyS0 | IO debug | | USART2 | /dev/ttyS1 | TELEM1 (flow control) | diff --git a/zh/flight_controller/autopilot_manufacturer_supported.md b/zh/flight_controller/autopilot_manufacturer_supported.md index c1c3937e4d65..3265da5830ff 100644 --- a/zh/flight_controller/autopilot_manufacturer_supported.md +++ b/zh/flight_controller/autopilot_manufacturer_supported.md @@ -1,4 +1,4 @@ -# Manufacturer-Supported Autopilots +# 由制造商支持的自动驾驶仪 Manufacturer-supported autopilots are maintained and supported by a board manufacturer (manufacturers commit to delivering compatibility with the current stable PX4 release within 4 months of the official release announcement). diff --git a/zh/flight_controller/autopilot_pixhawk_standard.md b/zh/flight_controller/autopilot_pixhawk_standard.md index 15dbd6a1eaa4..86e91f7abf88 100644 --- a/zh/flight_controller/autopilot_pixhawk_standard.md +++ b/zh/flight_controller/autopilot_pixhawk_standard.md @@ -1,4 +1,4 @@ -# Pixhawk Standard Autopilots +# Pixhawk 标准自动驾驶仪 [Pixhawk series](../flight_controller/pixhawk_series.md) boards that fully comply with the [Pixhawk Standard](https://pixhawk.org/) (including use of the Pixhawk trademark), and that are still being manufactured, are supported by the PX4 project. diff --git a/zh/flight_controller/beaglebone_blue.md b/zh/flight_controller/beaglebone_blue.md index d174cf9e13ef..0bce428a21f5 100644 --- a/zh/flight_controller/beaglebone_blue.md +++ b/zh/flight_controller/beaglebone_blue.md @@ -1,33 +1,33 @@ # BeagleBone Blue -> **Warning** PX4 does not manufacture this (or any) autopilot. Contact the [manufacturer](https://beagleboard.org/blue) for hardware support or compliance issues. +> **Warning** PX4 不生产这款且也不生产任何自动驾驶仪。 若需要硬件支持或咨询合规问题，请联系 [制造商](https://beagleboard.org/blue)。 -> **Warning** PX4 support for this flight controller is [experimental](../flight_controller/autopilot_experimental.md). +> **Warning** PX4 [实验性地](../flight_controller/autopilot_experimental.md) 支持此飞行控制器。 -[BeagleBone Blue](https://beagleboard.org/blue) is an all-in-one Linux-based computer. Although it is optimized for robotics, this compact and inexpensive board has all necessary sensors and peripherals needed by a flight controller. This topic shows how to set up the board to run PX4 with [librobotcontrol](https://github.com/StrawsonDesign/librobotcontrol) robotics package. +[BeagleBone Blue](https://beagleboard.org/blue) 是一台基于 Linux 的一体机。 它针对机器人技术进行了优化，这种紧凑且便宜的电路板具有飞行控制器所需的所有必要传感器和外围设备。 本主题说明如何设置电路板以使用 [librobotcontrol](https://github.com/StrawsonDesign/librobotcontrol) 机器人软件包运行 PX4。 -![BeagleBone - labelled diagram](../../assets/hardware/BeagleBone_Blue_balloons.jpg) +![BeagleBone - 标记图](../../assets/hardware/BeagleBone_Blue_balloons.jpg) ## 操作系统映像 -*BeagleBone Blue* images can be found here: +可以在这里找到 *BeagleBone Blue* 图像： - [最新的稳定 OS 映像](https://beagleboard.org/latest-images)。 - [测试 OS 映像](https://rcn-ee.net/rootfs/bb.org/testing/)（经常更新）。 -Information about flashing OS images can be found on [this page](https://github.com/beagleboard/beaglebone-blue/wiki/Flashing-firmware). Other useful information can be found in the [FAQ](https://github.com/beagleboard/beaglebone-blue/wiki/Frequently-Asked-Questions-(FAQ)). +有关闪存操作系统映像的信息可以在 [this page](https://github.com/beagleboard/beaglebone-blue/wiki/Flashing-firmware) 上找到。 其他有用的信息可以在 [FAQ](https://github.com/beagleboard/beaglebone-blue/wiki/Frequently-Asked-Questions-(FAQ)) 中找到。 -> **Tip** Optionally you can update to a realtime kernel, and if you do, re-check if *librobotcontrol* works properly with the realtime kernel. +> **Tip**您可以选择更新到实时内核，如果这样做，请重新检查 *librobotcontrol* 是否与实时内核一起正常工作。 The latest OS images at time of updating this document is [bone-debian-9.9-iot-armhf-2019-08-03-4gb.img.xz](https://debian.beagleboard.org/images/bone-debian-9.9-iot-armhf-2019-08-03-4gb.img.xz). ## Cross Compiler Build (Recommend) -The recommended way to build PX4 for *BeagleBone Blue* is to compile on a development computer and upload the PX4 executable binary directly to the BeagleBone Blue. +为 *BeagleBone Blue* 构建 PX4 的推荐方法是在开发计算机上进行编译，并将PX4可执行二进制文件直接上载到 BeagleBone Blue。 -> **Tip** This approach is recommended over [native build](#native_builds) due to speed of deployment and ease of use. +> 由于构建速度快和使用方便，建议在 [native build](#native_builds) 上使用此方法。 @@ -59,9 +59,9 @@ sudo su echo "PermitRootLogin yes" >> /etc/ssh/sshd_config && systemctl restart sshd ``` -### Cross Compiler Setup +### 交叉编译器设置 -1. First set up *rsync* (this is is used to transfer files from the development computer to the target board over a network - WiFi or Ethernet). For *rsync* over SSH with key authentication, follow the steps here (on the development machine): +1. 首先设置 *rsync*（这用于通过网络将文件从开发计算机传输到目标板 - WiFi 或以太网）。 For *rsync* over SSH with key authentication, follow the steps here (on the development machine): 1. Generate an SSH key if you have not previously done so: @@ -85,15 +85,15 @@ echo "PermitRootLogin yes" >> /etc/ssh/sshd_config && systemctl restart sshd 1. Toolchain download - 1. First install the toolchain into */opt/bbblue_toolchain/gcc-arm-linux-gnueabihf*. Here is an example of using soft link to select which version of the toolchain you want to use: + 1. 首先将工具链安装到 */opt/bbblue_toolchain/gcc-arm-linux-gnueabihf* 中。 下面是一个使用软链接选择工具链的版本的例子： mkdir -p /opt/bbblue_toolchain/gcc-arm-linux-gnueabihf chmod -R 777 /opt/bbblue_toolchain - ARM Cross Compiler for *BeagleBone Blue* can be found at [Linaro Toolchain Binaries site](http://www.linaro.org/downloads/). + 可以在 [Linaro Toolchain Binaries site](http://www.linaro.org/downloads/) 中可以找到 *BeagleBone Blue* 的 ARM 交叉编译器。 - > **Tip** GCC in the toolchain should be compatible with kernel in *BeagleBone Blue*. General rule of thumb is to choose a toolchain where version of GCC is not higher than version of GCC which comes with the OS image on *BeagleBone Blue*. + > 工具链中的 GCC 应与 *BeagleBone Blue* 中的内核兼容。 General rule of thumb is to choose a toolchain where version of GCC is not higher than version of GCC which comes with the OS image on *BeagleBone Blue*. Download and unpack [gcc-linaro-7.5.0-2019.12-x86_64_arm-linux-gnueabihf](https://releases.linaro.org/components/toolchain/binaries/latest-7/arm-linux-gnueabihf/gcc-linaro-7.5.0-2019.12-x86_64_arm-linux-gnueabihf.tar.xz) to the bbblue_toolchain folder. @@ -103,7 +103,7 @@ echo "PermitRootLogin yes" >> /etc/ssh/sshd_config && systemctl restart sshd General rule of thumb is to choose a toolchain where the version of GCC is not higher than the version of GCC which comes with the OS image on *BeagleBone Blue*. - 2. Add it to the PATH in ~/.profile as shown below + 2. 将它添加到 〜/.profile 中的 PATH，如下所示 ```sh export PATH=$PATH:/opt/bbblue_toolchain/gcc-arm-linux-gnueabihf/gcc-linaro-6.3.1-2017.05-x86_64_arm-linux-gnueabihf/bin @@ -120,7 +120,7 @@ echo "PermitRootLogin yes" >> /etc/ssh/sshd_config && systemctl restart sshd #in row 37 change debian@beaglebone.lan --> root@beaglebone (or root@) -### Cross Compile and Upload +### 交叉编译和上传 Compile and Upload @@ -129,36 +129,36 @@ Compile and Upload > **Note** Without upload, files stored local in build folder. -To test the uploaded files, run the following commands on the *BeagleBone Blue* board: +要测试上载的文件，请在 *BeagleBone Blue* 板上运行以下命令： ```sh cd /home/debian/px4 sudo ./bin/px4 -s px4.config ``` -> **Note** Currently *librobotcontrol* requires root access. +> 目前，*librobotcontrol* 需要 root 访问权限。 -## Native Builds (optional) +## 本机构建（可选） -You can also natively build PX4 builds directly on the BeagleBone Blue. +您也可以直接在 BeagleBone Blue 上本地构建 PX4 版本。 -After acquiring the pre-built library, +获得预建的库之后， -1. Select the *librobotcontrol* installation directory, and set it in the `LIBROBOTCONTROL_INSTALL_DIR` environment variable so that other unwanted headers will not be included -2. Install **robotcontrol.h** and **rc/\*** into `$LIBROBOTCONTROL_INSTALL_DIR/include` -3. Install pre-built native (ARM) version of librobotcontrol.\* into `$LIBROBOTCONTROL_INSTALL_DIR/lib` +1. 选择 *librobotcontrol* 安装目录，并将其设置在 `LIBROBOTCONTROL_INSTALL_DIR` 环境变量中，以便不包含其他不需要的标头 +2. 将 **robotcontrol.h** 和 **rc/\*** 安装到 `$LIBROBOTCONTROL_INSTALL_DIR/include` +3. 将预先构建的本机（ARM）版本的 librobotcontrol.\* 安装到 `$LIBROBOTCONTROL_INSTALL_DIR/lib` 中 -Run the following commands on the BeagleBone Blue (i.e. via SSH): +在 BeagleBone Blue 上运行以下命令（即通过 SSH）： -1. Install dependencies: +1. 安装依赖项 sh sudo apt-get update sudo apt-get install cmake python-empy -2. Clone the PX4 Firmware directly onto the BeagleBone Blue. -3. Continue with the [standard build system installation](../dev_setup/dev_env_linux.md). +2. 将 PX4 固件直接克隆到 BeagleBone Blue 上。 +3. 继续 [标准构建系统安装](../dev_setup/dev_env_linux.md)。 ## Chnages in config @@ -168,7 +168,7 @@ All changes can be made in de px4.config file directly on beaglebone. For exampl ## 引导期间自动启动 -Here is an example [/etc/rc.local]: +这是一个例子 [/etc/rc.local]： ```sh #!/bin/sh -e @@ -194,7 +194,7 @@ cd /home/debian/px4 exit 0 ``` -Below is a *systemd* service example [/lib/systemd/system/px4-quad-copter.service]: +下面是一个 *systemd* 服务示例 [/lib/systemd/system/px4-quad-copter.service]： ```sh [Unit] @@ -215,26 +215,26 @@ RestartSec=1 WantedBy=multi-user.target ``` -### Miscellaneous +### 其它选项 #### 动力伺服导轨 -When PX4 starts, it automatically applies power to servos. +PX4 启动时，会自动为伺服电源供电。 #### 特殊功能 -BeagleBone Blue has some unique features such as multiple choices of WiFi interfaces and power sources. Refer to comments in **/home/debian/px4/px4.config** for usage of these features. +BeagleBone Blue has some unique features such as multiple choices of WiFi interfaces and power sources. 请参阅 **/home/debian/px4/px4.config** 中的注释以供使用这些功能。 #### SBUS 信号转换器 -SBUS signal from receiver (e.g., FrSky X8R) is an inverted signal. UARTs on BeagleBone Blue can only work with non-inverted 3.3V level signal. [This tutorial](../tutorials/linux_sbus.md) contains a SBUS signal inverter circuit. +来自接收器（例如，FrSky X8R）的 SBUS 信号是反相信号。 BeagleBone Blue 上的 UART 只能使用非反相 3.3V 电平信号。 [This tutorial](../tutorials/linux_sbus.md) 包含一个SBUS 信号逆变电路。 #### 典型连接 -For a quadcopter with GPS and an SBUS receiver, here are typical connections: +对于带 GPS 和 SBUS 接收器的四轴飞行器，以下是典型连接： -1. Connect the ESC of motor 1, 2, 3 and 4 to channel 1, 2, 3 and 4 of servo outputs on BeagleBone Blue, respectively. If your ESC connector contains a power output pin, remove it and do not connect it to the power output pin of the servo channel on the BeagleBone Blue. +1. 将电机 1,2,3 和 4 的电调连接到伺服输出的通道 1,2,3和4 分别在 BeagleBone Blue 上。 如果您的电调连接器包含电源输出引脚，将其移除，不要将其连接到伺服通道的电源输出引脚在 BeagleBone Blue 上。 2. Connect the above mentioned converted SBUS signal to the dsm2 port if you have the matching connector for dsm2, otherwise connect it to any other available UART port and change the corresponding port in **/home/debian/px4/px4.config** accordingly. -3. Connect the signals of GPS module to GPS port on the BeagleBone Blue. Note that the signal pins of the GPS port on the BeagleBone Blue are only 3.3V tolerant, so choose your GPS module accordingly. \ No newline at end of file +3. 将 GPS 模块的信号连接到 BeagleBone Blue 上的 GPS 端口。 Note that the signal pins of the GPS port on the BeagleBone Blue are only 3.3V tolerant, so choose your GPS module accordingly. \ No newline at end of file diff --git a/zh/flight_controller/cuav_nora.md b/zh/flight_controller/cuav_nora.md index 53c6560a0f52..398ed9b4d4cf 100644 --- a/zh/flight_controller/cuav_nora.md +++ b/zh/flight_controller/cuav_nora.md @@ -1,6 +1,6 @@ # CUAV Nora Flight Controller -> **Warning** PX4 does not manufacture this (or any) autopilot. Contact the [manufacturer](https://www.cuav.net) for hardware support or compliance issues. +> **Warning** PX4 不生产这款且也不生产任何自动驾驶仪。 若需要硬件支持或咨询合规问题，请联系 [制造商](https://www.cuav.net)。 The [Nora](http://doc.cuav.net/flight-controller/x7/en/nora.html)® flight controller is a high-performance autopilot. It is an ideal choice for industrial drones and large-scale heavy-duty drones. It is mainly supplied to commercial manufacturers. @@ -11,7 +11,7 @@ Nora is a variant of the CUAV X7. It adopts an integrated motherboard (soft and > **Note** This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md). -## Features +## 特性 * Internal shock absorption * The integrated integrated process reduces the failure caused by interface damage. @@ -30,14 +30,14 @@ Nora is a variant of the CUAV X7. It adopts an integrated motherboard (soft and ## Quick Summary{#quick-Summary} * Main FMU Processor: STM32H743 -* On-board sensors: - * Accelerometer/Gyroscope: ICM-20689 - * Accelerometer/Gyroscope: ICM-20649 +* 内置传感器： + * 加速度计/陀螺仪：ICM-20689 + * 加速度计/陀螺仪：ICM-20649 * Accelerometer/Gyroscope: BMI088 * Magnetometer: RM3100 * Barometer: MS5611*2 -* Interfaces: +* 接口： * 14 PWM outputs （12 supports Dshot） * Support multiple RC inputs (SBUs / CPPM / DSM) * Analogue / PWM RSSI input @@ -47,13 +47,13 @@ Nora is a variant of the CUAV X7. It adopts an integrated motherboard (soft and * 2 Power ports(Power A is common adc interface, Power C is uavcan battery interface) * 2 ADC intput * 1 USB ports -* Power System: - * Power: 4.3~5.4V - * USB Input: 4.75~5.25V - * Servo Rail Input: 0~36V -* Weight and Dimensions: +* 电源系统 + * 输入电压：4.3~5.4V + * USB输入电压: 4.75~5.25V + * 伺服导轨输入电压：0~36V +* 重量和尺寸: * Weight: 101 g -* Other Characteristics: +* 其它特性: * Operating temperature: -20 ~ 80°c（Measured value） * Three imus * Supports temperature compensation @@ -61,7 +61,7 @@ Nora is a variant of the CUAV X7. It adopts an integrated motherboard (soft and > **Note** When it runs PX4 firmware, only 8 PWM outputs work. The remaining 6 PWM ports are still being adapted (so it is not compatible with VOLT at time of writing). -## Purchase +## 采购 - [CUAV Store](https://store.cuav.net)<\br> - [CUAV Aliexpress](https://www.aliexpress.com/item/4001042501927.html?gps-id=8041884&scm=1007.14677.110221.0&scm_id=1007.14677.110221.0&scm-url=1007.14677.110221.0&pvid=3dc0a3ba-fa82-43d2-b0b3-6280e4329cef&spm=a2g0o.store_home.promoteRecommendProducts_7913969.58) @@ -79,23 +79,23 @@ Nora is a variant of the CUAV X7. It adopts an integrated motherboard (soft and > **Warning** The RCIN port is limited to powering the rc receiver and cannot be connected to any power/load. -## Voltage Ratings +## 额定电压 Nora AutoPilot* can be triple-redundant on the power supply if three power sources are supplied. The two power rails are: **POWERA**, **POWERC** and **USB**. > **Note** The output power rails **PWM OUT** (0V to 36V) do not power the flight controller board (and are not powered by it). You must supply power to one of **POWERA**, **POWERC** or **USB** or the board will be unpowered. -**Normal Operation Maximum Ratings** +**正常运行最大额定值** -Under these conditions all power sources will be used in this order to power the system: +在这些条件下，所有电源将按此顺序用于为系统供电： 1. **POWERA** and **POWERC** inputs (4.3V to 5.4V) -2. **USB** input (4.75V to 5.25V) +2. **USB** 输入电压（4.75 v 至 5.25 v） -## Building Firmware +## 编译固件 -> **Tip** Most users will not need to build this firmware! It is pre-built and automatically installed by *QGroundControl* when appropriate hardware is connected. +> **Tip** 大多数用户不需要构建此固件！ 它是预构建的，并在连接适当的硬件时由 *QGroundControl* 自动安装。 -To [build PX4](../dev_setup/building_px4.md) for this target: +为此目标 [编译 PX4](../dev_setup/building_px4.md)： ``` make cuav_nora_default ``` @@ -106,7 +106,7 @@ The *Nora* has over-current protection on the 5 Volt Peripheral and 5 Volt high > **Warning** Up to 2.5 A can be delivered to the connectors listed as pin 1 (although these are only rated at 1 A). -## Debug Port +## 调试接口 The system's serial console and SWD interface operate on the **DSU7** port. Simply connect the FTDI cable to the DSU7 connector (the product list contains the CUAV FTDI cable). @@ -114,14 +114,14 @@ The [PX4 System Console](../debug/system_console.md) and [SWD interface](../debu The debug port (`DSU7`) uses a [JST BM06B](https://www.digikey.com.au/product-detail/en/jst-sales-america-inc/BM06B-GHS-TBT-LF-SN-N/455-1582-1-ND/807850) connector and has the following pinout: -| Pin | Signal | Volt | -| ------- | -------------- | ----- | -| 1 (red) | 5V+ | +5V | -| 2 (blk) | DEBUG TX (OUT) | +3.3V | -| 3 (blk) | DEBUG RX (IN) | +3.3V | -| 4 (blk) | FMU_SWDIO | +3.3V | -| 5 (blk) | FMU_SWCLK | +3.3V | -| 6 (blk) | GND | GND | +| 针脚 | 信号 | 电压 | +| ---- | -------------- | ----- | +| 2 | 5V+ | +5V | +| 2 | DEBUG TX (OUT) | +3.3V | +| 3 | DEBUG RX (IN) | +3.3V | +| 4（黑） | FMU_SWDIO | +3.3V | +| 6 | FMU_SWCLK | +3.3V | +| 6 | GND | GND | CUAV provides a dedicated debugging cable, which can be connected to the `DSU7` port. This splits out an FTDI cable for connecting the [PX4 System Console](../debug/system_console.md) to a computer USB port, and SWD pins used for SWD/JTAG debugging. The provided debug cable does not connect to the SWD port `Vref` pin (1). @@ -133,11 +133,11 @@ CUAV provides a dedicated debugging cable, which can be connected to the `DSU7` > > For more information see [Using JTAG for hardware debugging](#compatibility_jtag). -## Supported Platforms / Airframes +## 支持的平台/机身 -Any multicopter / airplane / rover or boat that can be controlled with normal RC servos or Futaba S-Bus servos. The complete set of supported configurations can be seen in the [Airframes Reference](../airframes/airframe_reference.md). +任何可用普通RC伺服系统或Futaba S-Bus伺服系统控制的多旋翼、固定翼、无人机、无人船。 全部可支持的机型可见 [机型参考](../airframes/airframe_reference.md)。 -## Further info +## 更多信息 * [Quick start](http://doc.cuav.net/flight-controller/x7/en/quick-start/quick-start-nora.html) * [CUAV docs](http://doc.cuav.net) diff --git a/zh/flight_controller/cuav_v5.md b/zh/flight_controller/cuav_v5.md index 476a86be45bb..6f25ef1c95a7 100644 --- a/zh/flight_controller/cuav_v5.md +++ b/zh/flight_controller/cuav_v5.md @@ -1,12 +1,12 @@ # CUAV v5 (Discontinued) -> **Warning** PX4 does not manufacture this (or any) autopilot. Contact the [manufacturer](https://store.cuav.net/) for hardware support or compliance issues. +> **Warning** PX4 不生产这款且也不生产任何自动驾驶仪。 若需要硬件支持或咨询合规问题，请联系 [制造商](https://store.cuav.net/)。 > **Warning** This flight controller has been [discontinued](../flight_controller/autopilot_experimental.md) and is no longer commercially available. -*CUAV v5*® (previously "Pixhack v5") is an advanced autopilot designed and made by CUAV®. The board is based on the [Pixhawk-project](https://pixhawk.org/) **FMUv5** open hardware design. It runs PX4 on the [NuttX](http://nuttx.org) OS, and is fully compatible with PX4 firmware. It is intended primarily for academic and commercial developers. +*CUAV v5*® (previously "Pixhack v5") is an advanced autopilot designed and made by CUAV®. 该控制器基于[Pixhawk项目](https://pixhawk.org/)的**FMUv5** 开源硬件设计。 它在[NuttX](http://nuttx.org) OS操作系统上运行PX4，并与PX4固件完全兼容。 它主要面向学术和商业开发者。 ![CUAV v5](../../assets/flight_controller/cuav_v5/pixhack_v5.jpg) @@ -49,43 +49,43 @@ ## 采购 -Order from [CUAV](https://cuav.taobao.com/index.htm?spm=2013.1.w5002-16371268426.2.411f26d9E18eAz). +从 [CUAV](https://cuav.taobao.com/index.htm?spm=2013.1.w5002-16371268426.2.411f26d9E18eAz) 官方淘宝店采购。 -## Connection +## 接口定义 ![CUAV v5](../../assets/flight_controller/cuav_v5/pixhack_v5_connector.jpg) -> **Warning**The RCIN interface is limited to powering the rc receiver and cannot be connected to any power/load. +> **Warning** RCIN接口仅限于为遥控接收机供电，不能连接任何电源/负载。 ## 额定电压 -*CUAV v5* can be triple-redundant on the power supply if three power sources are supplied. The three power rails are: **POWER1**, **POWER2** and **USB**. +*CUAV v5* can be triple-redundant on the power supply if three power sources are supplied. 三个电源口：**POWER1**, **POWER2** and **USB**。 -> **Note** The output power rails **FMU PWM OUT** and **I/O PWM OUT** (0V to 36V) do not power the flight controller board (and are not powered by it). You must supply power to one of **POWER1**, **POWER2** or **USB** or the board will be unpowered. +> **Note** 输出电源轨 **FMU PWM OUT** 和 **IO PWM OUT**（0V至36V）不为飞控板供电（并且不由其供电）。 您必须在 **POWER1**、**POWER2** 或 **USB** 任一接口中接入电源，否则飞控板将会断电。 -**Normal Operation Maximum Ratings** +**正常运行最大额定值** -Under these conditions all power sources will be used in this order to power the system: +在这些条件下，所有电源将按此顺序用于为系统供电： 1. **POWER1** 和 **POWER2** 输入电压 (4.3 v 至 5.4 v) 2. **USB** 输入电压 (4.75 v 至 5.25 v) ## 编译固件 -> **Tip** Most users will not need to build this firmware! It is pre-built and automatically installed by *QGroundControl* when appropriate hardware is connected. +> **Tip** 大多数用户不需要构建此固件！ 它是预构建的，并在连接适当的硬件时由 *QGroundControl* 自动安装。 -To [build PX4](../dev_setup/building_px4.md) for this target: +为此目标 [编译 PX4](../dev_setup/building_px4.md)： make px4_fmu-v5_default ## Debug调试端口 -The [PX4 System Console](../debug/system_console.md) and [SWD interface](../debug/swd_debug.md) operate on the **FMU Debug** port. Simply connect the FTDI cable to the Debug & F7 SWD connector. To access the I/O Debug port, the user must remove the CUAV v5 shell. Both ports have standard serial pins and can be connected to a standard FTDI cable (3.3V, but 5V tolerant). +The [PX4 System Console](../debug/system_console.md) and [SWD interface](../debug/swd_debug.md) operate on the **FMU Debug** port. 只需将FTDI电缆连接到Debug & F7 SWD连接器。 To access the I/O Debug port, the user must remove the CUAV v5 shell. 这两个端口都有标准串行引脚, 可以连接到标准的FTDI电缆(3.3 v,但耐压5v )。 -The pinout is as shown. +引脚排列如图所示 ![CUAV v5 debug](../../assets/flight_controller/cuav_v5/pixhack_v5_debug.jpg) @@ -100,7 +100,7 @@ The pinout is as shown. ## Serial Port Mapping -| UART | Device | Port | +| UART | 设备 | Port | | ------ | ---------- | ------------------------------------- | | UART1 | /dev/ttyS0 | GPS | | USART2 | /dev/ttyS1 | TELEM1 (flow control) | @@ -110,17 +110,17 @@ The pinout is as shown. | UART7 | /dev/ttyS5 | Debug Console | | UART8 | /dev/ttyS6 | PX4IO | -## Peripherals +## 外部设备 * [数字空速传感器](https://item.taobao.com/item.htm?spm=a1z10.3-c-s.w4002-16371268452.37.6d9f48afsFgGZI&id=9512463037) * [遥测无线电模块](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) * [距离传感器](../sensor/rangefinders.md) -## Supported Platforms / Airframes +## 支持的平台/机身 -Any multicopter / airplane / rover or boat that can be controlled with normal RC servos or Futaba S-Bus servos. The complete set of supported configurations can be seen in the [Airframes Reference](../airframes/airframe_reference.md). +任何可用普通RC伺服系统或Futaba S-Bus伺服系统控制的多旋翼、固定翼、无人机、无人船。 全部可支持的机型可见 [机型参考](../airframes/airframe_reference.md)。 -## Further info +## 更多信息 * FMUv5参考设计。 diff --git a/zh/flight_controller/cuav_v5_nano.md b/zh/flight_controller/cuav_v5_nano.md index 8ee01b38b453..61732054a603 100644 --- a/zh/flight_controller/cuav_v5_nano.md +++ b/zh/flight_controller/cuav_v5_nano.md @@ -1,6 +1,6 @@ # CUAV V5 nano Autopilot -> **Warning** PX4 does not manufacture this (or any) autopilot. Contact the [manufacturer](https://store.cuav.net/) for hardware support or compliance issues. +> **Warning** PX4 不生产这款且也不生产任何自动驾驶仪。 若需要硬件支持或咨询合规问题，请联系 [制造商](https://store.cuav.net/)。 **V5 nano**® is an autopilot for space-constrained applications, designed by CUAV® in collaboration with the PX4 team. @@ -19,41 +19,41 @@ Some of its main features include: > **Note** This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md). -### Quick Summary +### 概览 Main FMU Processor: STM32F765◦32 Bit Arm® Cortex®-M7, 216MHz, 2MB memory, 512KB RAM -* On-board sensors: +* 内置传感器： - * Accel/Gyro: ICM-20689 - * Accel/Gyro: ICM-20602 - * Accel/Gyro: BMI055 - * Magnetometer: IST8310 - * Barometer: MS5611 + * 加速度计 / 陀螺仪：ICM-20689 + * 加速度计 / 陀螺仪：ICM-20602 + * 加速度计 / 陀螺仪：BMI055 + * 磁力计：IST8310 + * 气压计：MS5611 * Interfaces: 8 PWM outputs - * 3 dedicated PWM/Capture inputs on FMU - * Dedicated R/C input for CPPM + * FMU上有3个专用PWM/Capture输入 + * 用于 CPPM 的专用遥控输入 * Dedicated R/C input for Spektrum / DSM and S.Bus - * Analog / PWM RSSI input - * 4 general purpose serial ports - * 3 I2C ports - * 4 SPI buses + * 电平/PWM RSSI输入 + * 4个通用串行口 + * 3 个 I2C 接口 + * 4路SPI总线 * 2 CAN Buses - * Analog inputs for voltage / current of battery + * 电池电压 / 电流模拟输入口 * 2 additional analog inputs * Supports nARMED * Power System: Power Brick Input: 4.75~5.5V -* USB Power Input: 4.75~5.25V +* USB 电源输入：4.75~5.25V -* Weight and Dimensions: +* 重量和尺寸: * Dimensions: 60*40*14mm -* Other Characteristics: - * Operating temperature: -20 ~ 85°C （Measured value） +* 其它特性: + * 工作温度：-20 ~ 85°C （实测值） -## Purchase +## 购买 @@ -69,22 +69,22 @@ Main FMU Processor: STM32F765◦32 Bit Arm® Cortex®-M7, 216MHz, 2MB memory, 51 [V5 nano Wiring Quickstart](../assembly/quick_start_cuav_v5_nano.md) -## Pinouts +## 针脚定义 Download **V5 nano** pinouts from [here](http://manual.cuav.net/V5-Plus.pdf). -## Building Firmware +## 编译固件 -> **Tip** Most users will not need to build this firmware! It is pre-built and automatically installed by *QGroundControl* when appropriate hardware is connected. +> **Tip** 大多数用户不需要构建此固件！ 它是预构建的，并在连接适当的硬件时由 *QGroundControl* 自动安装。 -To [build PX4](../dev_setup/building_px4.md) for this target: +为此目标 [编译 PX4](../dev_setup/building_px4.md)： make px4_fmu-v5_default -## Debug Port +## Debug调试端口 The [PX4 System Console](../debug/system_console.md) and [SWD interface](../debug/swd_debug.md) operate on the **FMU Debug** port (`DSU7`). The board does not have an I/O debug interface. @@ -92,14 +92,14 @@ The [PX4 System Console](../debug/system_console.md) and [SWD interface](../debu The debug port (`DSU7`) uses a [JST BM06B](https://www.digikey.com.au/product-detail/en/jst-sales-america-inc/BM06B-GHS-TBT-LF-SN-N/455-1582-1-ND/807850) connector and has the following pinout: -| Pin | Signal | Volt | -| ------- | -------------- | ----- | -| 1 (red) | 5V+ | +5V | -| 2 (blk) | DEBUG TX (OUT) | +3.3V | -| 3 (blk) | DEBUG RX (IN) | +3.3V | -| 4 (blk) | FMU_SWDIO | +3.3V | -| 5 (blk) | FMU_SWCLK | +3.3V | -| 6 (blk) | GND | GND | +| 针脚 | 信号 | 电压 | +| ---- | -------------- | ----- | +| 2 | 5V+ | +5V | +| 2 | DEBUG TX (OUT) | +3.3V | +| 3 | DEBUG RX (IN) | +3.3V | +| 4（黑） | FMU_SWDIO | +3.3V | +| 6 | FMU_SWCLK | +3.3V | +| 6 | GND | GND | The product package includes a convenient debug cable that can be connected to the `DSU7` port. This splits out an FTDI cable for connecting the [PX4 System Console](../debug/system_console.md) to a computer USB port, and SWD pins used for SWD/JTAG debugging. The provided debug cable does not connect to the SWD port `Vref` pin (1). @@ -114,7 +114,7 @@ The product package includes a convenient debug cable that can be connected to t ## Serial Port Mapping -| UART | Device | Port | +| UART | 设备 | Port | | ------ | ---------- | ------------------------------------- | | UART1 | /dev/ttyS0 | GPS | | USART2 | /dev/ttyS1 | TELEM1 (flow control) | @@ -125,7 +125,7 @@ The product package includes a convenient debug cable that can be connected to t | UART8 | /dev/ttyS6 | Not connected (no PX4IO) | -## Voltage Ratings +## 额定电压 *V5 nano* must be powered from the `Power` connector during flight, and may also/alternatively be powered from `USB` for bench testing. @@ -141,15 +141,15 @@ The *V5 nano* has no over current protection. -## Peripherals +## 外部设备 -* [Digital Airspeed Sensor](https://item.taobao.com/item.htm?spm=a1z10.3-c-s.w4002-16371268452.37.6d9f48afsFgGZI&id=9512463037) -* [Telemetry Radio Modules](https://cuav.taobao.com/category-158480951.htm?spm=2013.1.w5002-16371268426.4.410b7a821qYbBq&search=y&catName=%CA%FD%B4%AB%B5%E7%CC%A8) -* [Rangefinders/Distance sensors](../sensor/rangefinders.md) +* [数字空速传感器](https://item.taobao.com/item.htm?spm=a1z10.3-c-s.w4002-16371268452.37.6d9f48afsFgGZI&id=9512463037) +* [数传电台模块](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) +* [测距仪/距离传感器](../sensor/rangefinders.md) -## Supported Platforms / Airframes +## 支持的平台/机身 -Any multicopter / airplane / rover or boat that can be controlled with normal RC servos or Futaba S-Bus servos. The complete set of supported configurations can be seen in the [Airframes Reference](../airframes/airframe_reference.md). +任何可用普通RC伺服系统或Futaba S-Bus伺服系统控制的多旋翼、固定翼、无人机、无人船。 全部可支持的机型可见 [机型参考](../airframes/airframe_reference.md)。 ## Compatibility @@ -181,7 +181,7 @@ For direct connection to *Segger Jlink* we recommended you use the 3.3 Volts of > **Warning** PX4 does not support this interface. -## Known Issues +## 已知的问题 The issues below refer to the *batch number* in which they first appear. The batch number is the four-digit production date behind V01 and is displayed on a sticker on the side of the flight controller. For example, the serial number Batch V011904((V01 is the number of V5, 1904 is the production date, that is, the batch number). @@ -196,7 +196,7 @@ Please do not connect other equipment (except RC receiver) on SBUS / DSM / RSSI - *Found:* Batches V01190904xxxx - *Fixed:* Batches later than V01190904xxxx -## Further Information +## 更多信息 * [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) diff --git a/zh/flight_controller/cuav_v5_plus.md b/zh/flight_controller/cuav_v5_plus.md index b23e2d340886..78e9f3a79cb0 100644 --- a/zh/flight_controller/cuav_v5_plus.md +++ b/zh/flight_controller/cuav_v5_plus.md @@ -1,6 +1,6 @@ # CUAV V5+ Autopilot -> **Warning** PX4 does not manufacture this (or any) autopilot. Contact the [manufacturer](https://store.cuav.net/) for hardware support or compliance issues. +> **Warning** PX4 不生产这款且也不生产任何自动驾驶仪。 若需要硬件支持或咨询合规问题，请联系 [制造商](https://store.cuav.net/)。 *V5+*® is an advanced autopilot manufactured by CUAV®. It was designed by CUAV® in collaboration with the PX4 team. @@ -19,41 +19,41 @@ Some of its main features include: > **Note** This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md). -## Quick Summary +## 概览 -* Main FMU Processor: STM32F765 - * 32 Bit Arm® Cortex®-M7, 216MHz, 2MB memory, 512KB RAM -* IO Processor: STM32F100 - * 32 Bit Arm® Cortex®-M3, 24MHz, 8KB SRAM -* On-board sensors: +* 主 FMU 处理器：STM32F765 + * 32 位 Arm® Cortex®-M7，216MHz，2MB 储存，512KB RAM +* IO 处理器：STM32F100 + * 32 位 Arm® Cortex®-M3，24MHz，8KB SRAM +* 内置传感器： - * Accelerometer/Gyroscope: ICM-20689 - * Accelerometer/Gyroscope: BMI055 - * Magnetometer: IST8310 - * Barometer: MS5611 -* Interfaces: + * 加速度计/陀螺仪：ICM-20689 + * 加速度计/陀螺仪：BMI055 + * 磁力计：IST8310 + * 气压计：MS5611 +* 接口： - * 8-14 PWM outputs (6 from IO, 8 from FMU) - * 3 dedicated PWM/Capture inputs on FMU - * Dedicated R/C input for CPPM - * Dedicated R/C input for Spektrum / DSM and S.Bus with analog / PWM RSSI input - * analog / PWM RSSI input - * S.Bus servo output - * 5 general purpose serial ports - * 4 I2C ports - * 4 SPI buses - * 2 CANBuses with serial ESC - * Analog inputs for voltage / current of 2 batteries -* Power System: - * Power: 4.3~5.4V - * USB Input: 4.75~5.25V -* Weight and Dimensions: - * Weight: 90g + * 14路PWM输出 (6路来自FMU, 8路来自 IO) + * FMU上有3个专用PWM/Capture输入 + * 用于 CPPM 的专用遥控输入 + * 用于 Spektrum / DSM 与 有模拟 / PWM RSSI 的 S.Bus 的专用遥控输入 + * 电平/PWM RSSI输入 + * S.BUS伺服输出 + * 5个通用串行口 + * 4路I2C总线 + * 4路SPI总线 + * 2路CAN总线 + * 2个电池电流/电压模拟输入口 +* 电源系统 + * 输入电压：4.3~5.4V + * USB输入电压: 4.75~5.25V +* 重量和尺寸: + * 重量：99g * Dimensions: 85.5*42*33mm -* Other Characteristics: +* 其它特性: * Operating temperature: -20 ~ 80°c（Measured value） -## Purchase +## 采购 @@ -67,24 +67,24 @@ Some of its main features include: ## Connections (Wiring) -[CUAV V5+ Wiring Quickstart](../assembly/quick_start_cuav_v5_plus.md) +[雷迅 V5+飞控快速接线指南](../assembly/quick_start_cuav_v5_plus.md) -## Pinouts +## 针脚定义 Download **V5+** pinouts from [here](http://manual.cuav.net/V5-Plus.pdf). -## Voltage Ratings +## 额定电压 *V5+ AutoPilot* supports redundant power supplies - up to three sources may be used: `Power1`, `Power2` and `USB`. You must supply power to at least one of these sources, or the flight controller will be unpowered. > **Note** On FMUv5 based FMUs with PX4IO module (as is the case for the *V5+*), the Servo Power Rail is only monitored by the FMU. It 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. -**Normal Operation Maximum Ratings** +**正常运行最大额定值** -Under these conditions all power sources will be used in this order to power the system: +在这些条件下，所有电源将按此顺序用于为系统供电： 1. `Power1` and `Power2` inputs (4.3V to 5.4V) -2. `USB` input (4.75V to 5.25V) +2. `USB` 输入电压（4.75 v 至 5.25 v） ## Over Current Protection @@ -92,16 +92,16 @@ The *V5+* has over current protection on the 5 Volt Peripheral and 5 Volt high p > **Warning** Up to 2.5 A can be delivered to the connectors listed as pin 1 (although these are only rated at 1 A). -## Building Firmware +## 编译固件 -> **Tip** Most users will not need to build this firmware! It is pre-built and automatically installed by *QGroundControl* when appropriate hardware is connected. +> **Tip** 大多数用户不需要构建此固件！ 它是预构建的，并在连接适当的硬件时由 *QGroundControl* 自动安装。 -To [build PX4](../dev_setup/building_px4.md) for this target: +为此目标 [编译 PX4](../dev_setup/building_px4.md)： make px4_fmu-v5_default -## Debug Port +## Debug调试端口 The [PX4 System Console](../debug/system_console.md) and [SWD interface](../debug/swd_debug.md) operate on the **FMU Debug** port (`DSU7`). The board does not have an I/O debug interface. @@ -109,14 +109,14 @@ The [PX4 System Console](../debug/system_console.md) and [SWD interface](../debu The debug port (`DSU7`) uses a [JST BM06B](https://www.digikey.com.au/product-detail/en/jst-sales-america-inc/BM06B-GHS-TBT-LF-SN-N/455-1582-1-ND/807850) connector and has the following pinout: -| Pin | Signal | Volt | -| ------- | -------------- | ----- | -| 1 (red) | 5V+ | +5V | -| 2 (blk) | DEBUG TX (OUT) | +3.3V | -| 3 (blk) | DEBUG RX (IN) | +3.3V | -| 4 (blk) | FMU_SWDIO | +3.3V | -| 5 (blk) | FMU_SWCLK | +3.3V | -| 6 (blk) | GND | GND | +| 针脚 | 信号 | 电压 | +| ---- | -------------- | ----- | +| 2 | 5V+ | +5V | +| 2 | DEBUG TX (OUT) | +3.3V | +| 3 | DEBUG RX (IN) | +3.3V | +| 4（黑） | FMU_SWDIO | +3.3V | +| 6 | FMU_SWCLK | +3.3V | +| 6 | GND | GND | The product package includes a convenient debug cable that can be connected to the `DSU7` port. This splits out an FTDI cable for connecting the [PX4 System Console](../debug/system_console.md) to a computer USB port, and SWD pins used for SWD/JTAG debugging. The provided debug cable does not connect to the SWD port `Vref` pin (1). @@ -131,7 +131,7 @@ The product package includes a convenient debug cable that can be connected to t ## Serial Port Mapping -| UART | Device | Port | +| UART | 设备 | Port | | ------ | ---------- | ------------------------------------- | | UART1 | /dev/ttyS0 | GPS | | USART2 | /dev/ttyS1 | TELEM1 (flow control) | @@ -143,17 +143,17 @@ The product package includes a convenient debug cable that can be connected to t -## Peripherals +## 外部设备 -* [Digital Airspeed Sensor](https://item.taobao.com/item.htm?spm=a1z10.3-c-s.w4002-16371268452.37.6d9f48afsFgGZI&id=9512463037) -* [Telemetry Radio Modules](https://cuav.taobao.com/category-158480951.htm?spm=2013.1.w5002-16371268426.4.410b7a821qYbBq&search=y&catName=%CA%FD%B4%AB%B5%E7%CC%A8) -* [Rangefinders/Distance sensors](../sensor/rangefinders.md) +* [数字空速传感器](https://item.taobao.com/item.htm?spm=a1z10.3-c-s.w4002-16371268452.37.6d9f48afsFgGZI&id=9512463037) +* [数传电台模块](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) +* [测距仪/距离传感器](../sensor/rangefinders.md) -## Supported Platforms / Airframes +## 支持的平台 / 机身 -Any multicopter / airplane / rover or boat that can be controlled with normal RC servos or Futaba S-Bus servos. The complete set of supported configurations can be seen in the [Airframes Reference](../airframes/airframe_reference.md). +任何可用普通RC伺服系统或Futaba S-Bus伺服系统控制的多旋翼、固定翼、无人机、无人船。 全部可支持的机型可见 [机型参考](../airframes/airframe_reference.md)。 -## Notes +## 备注 #### Do not plug Digital or Analog PM onto connectors configured for other type of PM @@ -183,7 +183,7 @@ Some JTAG 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`). -## Known Issues +## 已知的问题 The issues below refer to the *batch number* in which they first appear. The batch number is the four-digit production date behind V01 and is displayed on a sticker on the side of the flight controller. For example, the serial number Batch V011904((V01 is the number of V5, 1904 is the production date, that is, the batch number). @@ -198,12 +198,12 @@ Please do not connect other equipment (except RC receiver) on SBUS / DSM / RSSI - *Found:* Batches V01190904xxxx - *Fixed:* Batches later than V01190904xxxx -## Further Information +## 更多信息 - [CUAV V5+ Manual](http://manual.cuav.net/V5-Plus.pdf) - [CUAV V5+ docs](http://doc.cuav.net/flight-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) +- [CUAV Github库](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) +- [雷迅 V5+飞控快速接线指南](../assembly/quick_start_cuav_v5_plus.md) - [Airframe build-log using CUAV v5+ on a DJI FlameWheel450](../frames_multicopter/dji_f450_cuav_5plus.md) \ No newline at end of file diff --git a/zh/flight_controller/cuav_x7.md b/zh/flight_controller/cuav_x7.md index 0738a94f411c..85f4e1f22b49 100644 --- a/zh/flight_controller/cuav_x7.md +++ b/zh/flight_controller/cuav_x7.md @@ -1,6 +1,6 @@ # CUAV X7 Flight Controller -> **Warning** PX4 does not manufacture this (or any) autopilot. Contact the [manufacturer](https://www.cuav.net) for hardware support or compliance issues. +> **Warning** PX4 不生产这款且也不生产任何自动驾驶仪。 若需要硬件支持或咨询合规问题，请联系 [制造商](https://www.cuav.net)。 The [X7](http://doc.cuav.net/flight-controller/x7/en/x7.html)® flight controller is a high-performance autopilot. It is an ideal choice for industrial drones and large-scale heavy-duty drones. It is mainly supplied to commercial manufacturers. @@ -8,7 +8,7 @@ The [X7](http://doc.cuav.net/flight-controller/x7/en/x7.html)® fl The flight controller adopts a modular design and can be matched with different base plates. You can design a dedicated carrier board for your UAV to improve the integration of commercial systems, reduce wiring, improve system reliability, and enhance your UAV competitiveness (for example, integrating airspeed sensors, telemetry or even a companion computer, in the carrier board). CUAV has also provided a variety of carrier boards for you to choose from. -## Features +## 特性 * Internal shock absorption * Modular design, can be DIY carrier board @@ -28,14 +28,14 @@ The flight controller adopts a modular design and can be matched with different ## Quick Summary{#quick-Summary} * Main FMU Processor: STM32H743 -* On-board sensors: - * Accelerometer/Gyroscope: ICM-20689 - * Accelerometer/Gyroscope: ICM-20649 +* 内置传感器： + * 加速度计/陀螺仪：ICM-20689 + * 加速度计/陀螺仪：ICM-20649 * Accelerometer/Gyroscope: BMI088 * Magnetometer: RM3100 * Barometer: MS5611*2 -* Interfaces: +* 接口： * 14 PWM outputs （12 supports Dshot） * Support multiple RC inputs (SBUs / CPPM / DSM) * Analogue / PWM RSSI input @@ -45,13 +45,13 @@ The flight controller adopts a modular design and can be matched with different * 2 Power ports(Power A is common adc interface, Power C is uavcan battery interface) * 2 ADC intput * 1 USB ports -* Power System: - * Power: 4.3~5.4V - * USB Input: 4.75~5.25V - * Servo Rail Input: 0~36V -* Weight and Dimensions: +* 电源系统 + * 输入电压：4.3~5.4V + * USB输入电压: 4.75~5.25V + * 伺服导轨输入电压：0~36V +* 重量和尺寸: * Weight: 101 g -* Other Characteristics: +* 其它特性: * Operating temperature: -20 ~ 80°c（Measured value） * Three imus * Supports temperature compensation @@ -59,7 +59,7 @@ The flight controller adopts a modular design and can be matched with different > ** NOTE** When it runs PX4 firmware, only 8 pwm works, the remaining 6 pwm are still being adapted, so it is not compatible with VOLT now. -## Purchase +## 采购 [CUAV Store](https://store.cuav.net)<\br> [CUAV aliexpress](https://www.aliexpress.com/item/4001042683738.html?spm=a2g0o.detail.1000060.2.1ebb2a9d3WDryi&gps-id=pcDetailBottomMoreThisSeller&scm=1007.13339.169870.0&scm_id=1007.13339.169870.0&scm-url=1007.13339.169870.0&pvid=f0df2481-1c0a-44eb-92a4-9c11c6cb3d06&_t=gps-id:pcDetailBottomMoreThisSeller,scm-url:1007.13339.169870.0,pvid:f0df2481-1c0a-44eb-92a4-9c11c6cb3d06,tpp_buckets:668%230%23131923%2320_668%23808%234094%23518_668%23888%233325%2319_668%234328%2319934%23630_668%232846%238115%23807_668%232717%237566%23827_668%231000022185%231000066058%230_668%233468%2315607%2376) @@ -75,19 +75,19 @@ The flight controller adopts a modular design and can be matched with different > **Warning** The RCIN port is limited to powering the rc receiver and cannot be connected to any power/load. -## Voltage Ratings +## 额定电压 The *X7 AutoPilot* can be triple-redundant on the power supply if three power sources are supplied. The power rails are: **POWERA**, **POWERC** and **USB**. > **Note** The output power rails **PWM OUT** (0V to 36V) do not power the flight controller board (and are not powered by it). You must supply power to one of **POWERA**, **POWERC** or **USB** or the board will be unpowered. -**Normal Operation Maximum Ratings** +**正常运行最大额定值** -Under these conditions all power sources will be used in this order to power the system: +在以下条件下，所有电源将按此顺序用于为系统供电： 1. **POWERA** and **POWERC** inputs (4.3V to 5.4V) 2. **USB** input (4.75V to 5.25V) -## Building Firmware +## 编译固件 > **Tip** Most users will not need to build this firmware! It is pre-built and automatically installed by *QGroundControl* when appropriate hardware is connected. @@ -102,7 +102,7 @@ The *X7* has over-current protection on the 5 Volt Peripheral and 5 Volt high po > **Warning** Up to 2.5 A can be delivered to the connectors listed as pin 1 (although these are only rated at 1 A). -## Debug Port +## 调试接口 The system's serial console and SWD interface operate on the **DSU7** port. Simply connect the FTDI cable to the DSU7 connector (the product list contains the CUAV FTDI cable). @@ -113,14 +113,14 @@ The [PX4 System Console](../debug/system_console.md) and [SWD interface](../debu The debug port (`DSU7`) uses a [JST BM06B](https://www.digikey.com.au/product-detail/en/jst-sales-america-inc/BM06B-GHS-TBT-LF-SN-N/455-1582-1-ND/807850) connector and has the following pinout: -| Pin | Signal | Volt | -| ------- | -------------- | ----- | -| 1 (red) | 5V+ | +5V | -| 2 (blk) | DEBUG TX (OUT) | +3.3V | -| 3 (blk) | DEBUG RX (IN) | +3.3V | -| 4 (blk) | FMU_SWDIO | +3.3V | -| 5 (blk) | FMU_SWCLK | +3.3V | -| 6 (blk) | GND | GND | +| 针脚 | 信号 | 电压 | +| ---- | -------------- | ----- | +| 2 | 5V+ | +5V | +| 2 | DEBUG TX (OUT) | +3.3V | +| 3 | DEBUG RX (IN) | +3.3V | +| 4（黑） | FMU_SWDIO | +3.3V | +| 6 | FMU_SWCLK | +3.3V | +| 6 | GND | GND | CUAV provides a dedicated debugging cable, which can be connected to the `DSU7` port. This splits out an FTDI cable for connecting the [PX4 System Console](../debug/system_console.md) to a computer USB port, and SWD pins used for SWD/JTAG debugging. The provided debug cable does not connect to the SWD port `Vref` pin (1). @@ -132,11 +132,11 @@ CUAV provides a dedicated debugging cable, which can be connected to the `DSU7` > > For more information see [Using JTAG for hardware debugging](#compatibility_jtag). -## Supported Platforms / Airframes +## 支持的平台/机身 -Any multicopter / airplane / rover or boat that can be controlled with normal RC servos or Futaba S-Bus servos. The complete set of supported configurations can be seen in the [Airframes Reference](../airframes/airframe_reference.md). +任何可用普通RC伺服系统或Futaba S-Bus伺服系统控制的多旋翼、固定翼、无人机、无人船。 全部可支持的机型可见 [机型参考](../airframes/airframe_reference.md)。 -## Further info +## 更多信息 * [Quick start](http://doc.cuav.net/flight-controller/x7/en/quick-start/quick-start-x7.html) * [CUAV docs](http://doc.cuav.net) diff --git a/zh/flight_controller/cubepilot_cube_orange.md b/zh/flight_controller/cubepilot_cube_orange.md index d11e083bcb99..1c8538225d42 100644 --- a/zh/flight_controller/cubepilot_cube_orange.md +++ b/zh/flight_controller/cubepilot_cube_orange.md @@ -1,6 +1,6 @@ # Cube Orange Flight Controller -> **Warning** PX4 does not manufacture this (or any) autopilot. Contact the [manufacturer](https://cubepilot.org/#/home) for hardware support or compliance issues. +> **Warning** PX4 不生产这款且也不生产任何自动驾驶仪。 若需要硬件支持或咨询合规问题，请联系 [制造商](https://cubepilot.org/#/home)。 The [Cube Orange](http://www.proficnc.com/61-system-kits2) flight controller is a flexible autopilot intended primarily for manufacturers of commercial systems. @@ -15,7 +15,7 @@ Cube includes vibration isolation on two of the IMU's, with a third fixed IMU as > **Note** This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md). -## Key Features +## 主要特性 * 32bit STM32H743ZI (32bit [ARM Cortex M7](https://en.wikipedia.org/wiki/ARM_Cortex-M#Cortex-M7), 400 MHz, Flash 2MB, RAM 1MB). * 32 bit STM32F103 failsafe co-processor @@ -30,17 +30,17 @@ Cube includes vibration isolation on two of the IMU's, with a third fixed IMU as * microSD card for high-rate logging over extended periods of time -## Where to Buy +## 在哪里买 * [The Cube](http://www.proficnc.com/61-system-kits) (ProfiCNC) -## Assembly +## 组装 -[Cube Wiring Quickstart](../assembly/quick_start_cube.md) +[Cube 快速接线指南](../assembly/quick_start_cube.md) -## Specifications +## 产品规格 -* **Processor:** +* **处理器:** * STM32H743ZI (32bit [ARM Cortex M7](https://en.wikipedia.org/wiki/ARM_Cortex-M#Cortex-M7)) * 400 MHz * 1 MB RAM @@ -65,10 +65,10 @@ Cube includes vibration isolation on two of the IMU's, with a third fixed IMU as * Input voltage: 4.1V - 5.7V * Rated input current: 2.5A * Rated input/output power: 14W -* **Dimensions:** +* **尺寸:** - **Cube:** 38.25mm x 38.25mm x 22.3mm - **Carrier:** 94.5mm x 44.3mm x 17.3mm -* **Interfaces** +* **接口** * IO Ports: 14 PWM servo outputs (8 from IO, 6 from FMU) * 5x UART (serial ports), one high-power capable, 2x with HW flow control * 2x CAN (one with internal 3.3V transceiver, one on expansion connector) @@ -82,7 +82,7 @@ Cube includes vibration isolation on two of the IMU's, with a third fixed IMU as * 3.3v ADC input * Internal microUSB port and external microUSB port extension -## Pinouts and Schematics +## 引脚和原理图 Board schematics and other documentation can be found here: [The Cube Project](https://github.com/proficnc/The-Cube). @@ -96,7 +96,7 @@ Board schematics and other documentation can be found here: [The Cube Project](h ## Serial Port Mapping -| UART | Device | Port | +| UART | 设备 | Port | | ------ | ---------- | ---------------------------------------- | | USART1 | /dev/ttyS0 | | @@ -121,11 +121,11 @@ Board schematics and other documentation can be found here: [The Cube Project](h ![Cube USB/SDCard Ports](../../assets/flight_controller/cube/cube_ports_usb_sdcard.jpg) -## Building Firmware +## 编译固件 -> **Tip** Most users will not need to build this firmware! It is pre-built and automatically installed by *QGroundControl* when appropriate hardware is connected. +> **Tip** 大多数用户不需要构建此固件！ 它是预构建的，并在连接适当的硬件时由 *QGroundControl* 自动安装。 -To [build PX4](../dev_setup/building_px4.md) for this target: +为此目标 [编译 PX4](../dev_setup/building_px4.md)： ``` make cubepilot_cubeorange ``` @@ -133,7 +133,7 @@ make cubepilot_cubeorange ## Further Information/Documentation -- [Cube Wiring Quickstart](../assembly/quick_start_cube.md) +- [Cube 快速接线指南](../assembly/quick_start_cube.md) - Cube Docs (Manufacturer): - [Cube Module Overview](https://docs.cubepilot.org/user-guides/autopilot/the-cube-module-overview) - [Cube User Manual](https://docs.cubepilot.org/user-guides/autopilot/the-cube-user-manual) diff --git a/zh/flight_controller/cubepilot_cube_yellow.md b/zh/flight_controller/cubepilot_cube_yellow.md index 04effd620987..82c5632f6bc4 100644 --- a/zh/flight_controller/cubepilot_cube_yellow.md +++ b/zh/flight_controller/cubepilot_cube_yellow.md @@ -1,6 +1,6 @@ # Cube Yellow Flight Controller -> **Warning** PX4 does not manufacture this (or any) autopilot. Contact the [manufacturer](https://cubepilot.org/#/home) for hardware support or compliance issues. +> **Warning** PX4 不生产这款且也不生产任何自动驾驶仪。 若需要硬件支持或咨询合规问题，请联系 [制造商](https://cubepilot.org/#/home)。 The [Cube Yellow](http://www.proficnc.com/61-system-kits2) flight controller is a flexible autopilot intended primarily for manufacturers of commercial systems. @@ -15,7 +15,7 @@ Cube includes vibration isolation on two of the IMU's, with a third fixed IMU as > **Note** This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md). -## Key Features +## 主要特性 * 32bit STM32F777VI (32bit [ARM Cortex M7](https://en.wikipedia.org/wiki/ARM_Cortex-M#Cortex-M7), 400 MHz, Flash 2MB, RAM 512 KB). * 32 bit STM32F103 failsafe co-processor @@ -30,17 +30,17 @@ Cube includes vibration isolation on two of the IMU's, with a third fixed IMU as * microSD card for high-rate logging over extended periods of time -## Where to Buy +## 在哪里买 * [The Cube](http://www.proficnc.com/61-system-kits) (ProfiCNC) -## Assembly +## 组装 -[Cube Wiring Quickstart](../assembly/quick_start_cube.md) +[Cube 快速接线指南](../assembly/quick_start_cube.md) -## Specifications +## 产品规格 -* **Processor:** +* **处理器:** * STM32F777VI (32bit [ARM Cortex M7](https://en.wikipedia.org/wiki/ARM_Cortex-M#Cortex-M7)) * 400 MHz * 512 KB MB RAM @@ -65,10 +65,10 @@ Cube includes vibration isolation on two of the IMU's, with a third fixed IMU as * Input voltage: 4.1V - 5.7V * Rated input current: 2.5A * Rated input/output power: 14W -* **Dimensions:** +* **尺寸:** - **Cube:** 38.25mm x 38.25mm x 22.3mm - **Carrier:** 94.5mm x 44.3mm x 17.3mm -* **Interfaces** +* **接口** * IO Ports: 14 PWM servo outputs (8 from IO, 6 from FMU) * 5x UART (serial ports), one high-power capable, 2x with HW flow control * 2x CAN (one with internal 3.3V transceiver, one on expansion connector) @@ -82,7 +82,7 @@ Cube includes vibration isolation on two of the IMU's, with a third fixed IMU as * 3.3v ADC input * Internal microUSB port and external microUSB port extension -## Pinouts and Schematics +## 引脚和原理图 Board schematics and other documentation can be found here: [The Cube Project](https://github.com/proficnc/The-Cube). @@ -96,7 +96,7 @@ Board schematics and other documentation can be found here: [The Cube Project](h ## Serial Port Mapping -| UART | Device | Port | +| UART | 设备 | Port | | ------ | ---------- | ---------------------------------------- | | USART1 | /dev/ttyS0 | | @@ -121,11 +121,11 @@ Board schematics and other documentation can be found here: [The Cube Project](h ![Cube USB/SDCard Ports](../../assets/flight_controller/cube/cube_ports_usb_sdcard.jpg) -## Building Firmware +## 编译固件 -> **Tip** Most users will not need to build this firmware! It is pre-built and automatically installed by *QGroundControl* when appropriate hardware is connected. +> **Tip** 大多数用户不需要构建此固件！ 它是预构建的，并在连接适当的硬件时由 *QGroundControl* 自动安装。 -To [build PX4](../dev_setup/building_px4.md) for this target: +为此目标 [编译 PX4](../dev_setup/building_px4.md)： ``` make cubepilot_cubeyellow ``` @@ -136,7 +136,7 @@ CAN1 and CAN2 silk screen on the Cube are flipped (CAN1 is CAN2 and vice versa). ## Further Information/Documentation -- [Cube Wiring Quickstart](../assembly/quick_start_cube.md) +- [Cube 快速接线指南](../assembly/quick_start_cube.md) - Cube Docs (Manufacturer): - [Cube Module Overview](https://docs.cubepilot.org/user-guides/autopilot/the-cube-module-overview) - [Cube User Manual](https://docs.cubepilot.org/user-guides/autopilot/the-cube-user-manual) diff --git a/zh/flight_controller/dropix.md b/zh/flight_controller/dropix.md index 0c3649ddf3f1..6677716642da 100644 --- a/zh/flight_controller/dropix.md +++ b/zh/flight_controller/dropix.md @@ -1,6 +1,6 @@ # DroPix Flight Controller -> **Warning** PX4 does not manufacture this (or any) autopilot. Contact the [manufacturer](https://store.drotek.com/) for hardware support or compliance issues. +> **Warning** PX4 不生产这款且也不生产任何自动驾驶仪。 若需要硬件支持或咨询合规问题，请联系 [制造商](https://store.drotek.com/)。 The Drotek® *DroPix autopilot* is based on the [Pixhawk®-project](https://pixhawk.org/) **FMUv2** open hardware design. It runs the PX4 Flight Stack on the [NuttX](http://nuttx.org) OS. @@ -22,11 +22,11 @@ The DroPix system includes integrated multithreading, a Unix/Linux-like programm * Multicolor LED indicator * High-power, multi-tone piezo audio indicator * microSD card for long-time high-rate logging -* Sensors +* 传感器 * ST Micro L3GD20 3-axis 16-bit gyroscope * ST Micro LSM303D 3-axis 14-bit accelerometer / magnetometer * Invensense® MPU 6000 3-axis accelerometer/gyroscope - * MEAS MS5611 barometer + * MEAS MS5611 气压计 * Standard MK style mounting holes 45 mm x 45 mm (M3 holes) * 尺寸 * Size: 67*50*6 mm @@ -36,11 +36,11 @@ The DroPix system includes integrated multithreading, a Unix/Linux-like programm [DroPix Autopilots & Accessories](https://store.drotek.com/dropix-autopilots) -## Documentation +## 文档 [DroPix User's Guide](https://drotek.gitbook.io/dropix-user-guide/) -## Wiring Guides +## 接线指南 The following diagrams show the Dropix connector information (for more information see the [drotek documentation](https://drotek.gitbook.io/dropix-user-guide/)). @@ -50,16 +50,16 @@ The following diagrams show the Dropix connector information (for more informati ## 编译固件 -> **Tip** Most users will not need to build this firmware! It is pre-built and automatically installed by *QGroundControl* when appropriate hardware is connected. +> **Tip** 大多数用户不需要构建此固件！ 它是预构建的，并在连接适当的硬件时由 *QGroundControl* 自动安装。 -To [build PX4](../dev_setup/building_px4.md) for this target: +为此目标 [编译 PX4](../dev_setup/building_px4.md)： make px4_fmu-v2_default ## Serial Port Mapping -| UART | Device | Port | +| UART | 设备 | Port | | ------ | ---------- | --------------------- | | UART1 | /dev/ttyS0 | IO debug | | USART2 | /dev/ttyS1 | TELEM1 (flow control) | diff --git a/zh/flight_controller/durandal.md b/zh/flight_controller/durandal.md index c6680eae2e0b..5ad7d9ee7185 100644 --- a/zh/flight_controller/durandal.md +++ b/zh/flight_controller/durandal.md @@ -1,6 +1,6 @@ # Holybro Durandal -> **Warning** PX4 does not manufacture this (or any) autopilot. Contact the [manufacturer](https://shop.holybro.com/) for hardware support or compliance issues. +> **Warning** PX4 不生产这款且也不生产任何自动驾驶仪。 若需要硬件支持或咨询合规问题，请联系 [制造商](https://shop.holybro.com/)。 *Durandal*® is the latest update to the successful family of Holybro flight controllers. It was designed and developed by Holybro. @@ -18,32 +18,32 @@ A summary of the key features, [assembly](../assembly/quick_start_durandal.md), > **Note** This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md). -## Quick Summary +## 概览 #### Technical Specifications - Main FMU Processor: STM32H743 - 32 Bit Arm ® Cortex® -M7, 480MHz, 2MB memory, 1MB RAM -- IO Processor: STM32F100 +- IO 处理器：STM32F100 - 32 Bit Arm ® Cortex® -M3, 24MHz, 8KB SRAM - On-board sensors - - Accel/Gyro: ICM-20689 + - 加速度计 / 陀螺仪：ICM-20689 - Accel/Gyro: BMI088 - Mag: IST8310 - - Barometer: MS5611 -- GPS: ublox Neo-M8N GPS/GLONASS receiver; integrated magnetometer IST8310 + - 气压计：MS5611 +- GPS：ublox Neo-M8N GPS/GLONASS 接收器；集成磁力计 IST8310 -#### Interfaces +#### 接口 - 8-13 PWM servo outputs (8 from IO, 5 from FMU) -- 6 dedicated PWM/Capture inputs on FMU +- FMU上有6个专用PWM/Capture输入 - Dedicated R/C input for Spektrum / DSM - Dedicated R/C input for CPPM and S.Bus - Dedicated S.Bus servo output and analog / PWM RSSI input -- 5 general purpose serial ports +- 5个通用串行口 - 3 with full flow control - 1 with separate 1.5A current limit -- 3 I2C ports -- 4 SPI buses +- 3 个 I2C 接口 +- 4路SPI总线 - 1 internal high speed SPI sensor bus with 4 chip selects and 6 DRDYs - 1 internal low noise SPI bus dedicated for XXX - Barometer with 2 chip selects, no DRDYs @@ -52,21 +52,21 @@ A summary of the key features, [assembly](../assembly/quick_start_durandal.md), - 1 external SPI buses - Up to 2 CANBuses for dual CAN - Each CANBus has individual silent controls or ESC RX-MUX control -- Analog inputs for voltage / current of 2 batteries +- 2个电池电流/电压模拟输入口 - 2 additional analog inputs #### Electrical Data -- Power module output: 4.9~5.5V +- 电源模块输出：4.9~5.5V - Max input voltage: 6V -- Max current sensing: 120A -- USB Power Input: 4.75~5.25V -- Servo Rail Input: 0~36V +- 最大电流感应：120A +- USB 电源输入：4.75~5.25V +- 伺服导轨输入电压：0~36V #### Mechanical Data - Dimensions: 80x45x20.5mm -- Weight: 68.8g +- 重量：68.8g -#### Other Characteristics +#### 其它特性 - Operating temperature: ~40~85C - Storage temperature: -40~85C - CE @@ -76,9 +76,9 @@ A summary of the key features, [assembly](../assembly/quick_start_durandal.md), For more information see: [Durandal Technical Data Sheet](http://www.holybro.com/manual/Durandal_technical_data_sheet.pdf). -## Purchase +## 采购 -Order from [Holybro](https://shop.holybro.com/durandalbeta_p1189.html). +中国大陆用户请从官方代理商 [思动智能](https://thone.io) 的淘宝店 [地面售货站](https://item.taobao.com/item.htm?id=569286312095) 购买。境外用户从 [Holybro](https://shop.holybro.com/durandalbeta_p1189.html) 购买。 ## Connections @@ -102,7 +102,7 @@ The locations of ports/connections are shown here (and below in the [pinouts sec ![Durandal - Left-side Pinouts (Schematic)](../../assets/flight_controller/durandal/durandal_pinouts_left.jpg) -## Dimensions +## 尺寸 All dimensions are in millimeters. @@ -134,23 +134,23 @@ Under these conditions the system will not draw any power (will not be operation --> -## Assembly/Setup +## 组装 / 设置 The [Durandal Wiring Quick Start](../assembly/quick_start_durandal.md) provides instructions on how to assemble required/important peripherals including GPS, Power Management Board etc. -## Building Firmware +## 编译固件 -> **Tip** Most users will not need to build this firmware! It is pre-built and automatically installed by *QGroundControl* when appropriate hardware is connected. +> **Tip** 大多数用户不需要构建此固件！ 它是预构建的，并在连接适当的硬件时由 *QGroundControl* 自动安装。 -To [build PX4](../dev_setup/building_px4.md) for this target: +为此目标 [编译 PX4](../dev_setup/building_px4.md)： ``` make holybro_durandal-v1_default ``` ## Serial Port Mapping -| UART | Device | Port | +| UART | 设备 | Port | | ------ | ---------- | ------------- | | USART1 | /dev/ttyS0 | GPS1 | | USART2 | /dev/ttyS1 | TELEM1 | @@ -162,30 +162,30 @@ make holybro_durandal-v1_default -## Debug Port +## Debug调试端口 The [PX4 System Console](../debug/system_console.md) and [SWD interface](../debug/swd_debug.md) run on the *Debug Port*. -The port has a standard serial pinout and can be connected to a standard FTDI cable (3.3V, but it's 5V tolerant) or a [Dronecode probe](https://kb.zubax.com/display/MAINKB/Dronecode+Probe+documentation). The pinout uses the standard Dronecode debug connector pinout. Please refer to the [wiring](../debug/system_console.md) page for details of how to wire up this port. +端口使用标准的串口针脚，可以连接到标准的 FTDI 连接线上（3.3V，但它有5V 耐受性），或连接到 [Dronecode probe](https://kb.zubax.com/display/MAINKB/Dronecode+Probe+documentation) 上。 针脚定义使用标准的 Dronecode 调试连接器针脚定义。 有关如何连接此端口的详细信息，请参阅 [接线](../debug/system_console.md) 页面。 > **Note** No Debug port is exposed for the I/O board. -## Peripherals +## 外部设备 -* [Digital Airspeed Sensor](https://drotek.com/shop/en/home/848-sdp3x-airspeed-sensor-kit-sdp33.html) -* [Telemetry Radio Modules](../telemetry/README.md) -* [Rangefinders/Distance sensors](../sensor/rangefinders.md) +* [数字空速传感器](https://drotek.com/shop/en/home/848-sdp3x-airspeed-sensor-kit-sdp33.html) +* [数传电台模块](../telemetry/README.md) +* [测距仪/距离传感器](../sensor/rangefinders.md) -## Supported Platforms / Airframes +## 支持的平台/机身 -Any multicopter / airplane / rover or boat that can be controlled with normal RC servos or Futaba S-Bus servos. +任何可用普通RC伺服系统或Futaba S-Bus伺服系统控制的多旋翼、固定翼、无人机、无人船。 -The complete set of supported configurations can be seen in the [Airframes Reference](../airframes/airframe_reference.md). +全部可支持的机型可见 [机型参考](../airframes/airframe_reference.md)。 -## Pinouts +## 针脚定义 *Durandal* pinouts are listed below. These can also be downloaded from [here](http://www.holybro.com/manual/Durandal-Pinouts.pdf). @@ -200,45 +200,45 @@ The complete set of supported configurations can be seen in the [Airframes Refer #### SUBS Out port -| Pin | Signal | Volt | +| 针脚 | 信号 | 电压 | | ---------- | ------------------ | ----- | -| 1 (red) | - | - | +| 1（红） | - | - | | 2 (yellow) | SBUS_OUT/RSSI_IN | +3.3V | | 3 (black) | GND | GND | #### DSM RC port -| Pin | Signal | Volt | +| 针脚 | 信号 | 电压 | | ---------- | ------- | ----- | -| 1 (red) | VDD_3V3 | +3.3V | +| 2 | VDD_3V3 | +3.3V | | 2 (yellow) | DSM_IN | +3.3V | | 3 (black) | GND | GND | #### I2C A port -| Pin | Signal | Volt | -| --------- | ------ | ----- | -| 1 (red) | VCC | +5V | -| 2 (black) | SCL4 | +3.3V | -| 3 (black) | SDA4 | +3.3V | -| 4 (black) | GND | GND | +| 针脚 | 信号 | 电压 | +| --------- | ---- | ----- | +| 2 | VCC | +5V | +| 2 (black) | SCL4 | +3.3V | +| 3 (black) | SDA4 | +3.3V | +| 4 (black) | GND | GND | #### CAN1 port -| Pin | Signal | Volt | -| --------- | ------ | ----- | -| 1 (red) | VCC | +5V | -| 2 (black) | CAN H | +3.3V | -| 3 (black) | CAN L | +3.3V | -| 4 (black) | GND | GND | +| 针脚 | 信号 | 电压 | +| --------- | ----- | ----- | +| 2 | VCC | +5V | +| 2 (black) | CAN H | +3.3V | +| 3 (black) | CAN L | +3.3V | +| 4 (black) | GND | GND | -#### GPS port +#### GPS 接口 -| Pin | Signal | Volt | +| 针脚 | 信号 | 电压 | | ---------- | ------------------- | ----- | -| 1 (red) | VCC | +5V | +| 2 | VCC | +5V | | 2 (black) | TX (out) | +3.3V | | 3 (black) | RX (in) | +3.3V | | 4 (black) | SCL1 | +3.3V | @@ -253,9 +253,9 @@ The complete set of supported configurations can be seen in the [Airframes Refer #### TELEM4 I2CB ports -| Pin | Signal | Volt | +| 针脚 | 信号 | 电压 | | --------- | -------- | ----- | -| 1 (red) | VCC | +5V | +| 2 | VCC | +5V | | 2 (black) | TX (out) | +3.3V | | 3 (black) | RX (in) | - | | 4 (black) | SCL2 | - | @@ -266,27 +266,27 @@ The complete set of supported configurations can be seen in the [Airframes Refer #### TELEM3, TELEM2, TELEM1 port -| Pin | Signal | Volt | -| --------- | --------- | ----- | -| 1 (red) | VCC | +5V | -| 2 (black) | TX (out) | +3.3V | -| 3 (black) | RX (in) | +3.3V | -| 4 (black) | CTS (in) | +3.3V | -| 5 (black) | RTS (out) | +3.3V | -| 6 (black) | GND | GND | +| 针脚 | 信号 | 电压 | +| --------- | -------- | ----- | +| 2 | VCC | +5V | +| 2 (black) | TX (out) | +3.3V | +| 3 (black) | RX (in) | +3.3V | +| 4 (black) | CTS（输入） | +3.3V | +| 5 (black) | RTS（输出） | +3.3V | +| 6 (black) | GND | GND | #### POWER port -| Pin | Signal | Volt | -| --------- | ------- | ----- | -| 1 (red) | VCC | +5V | -| 2 (black) | VCC | +5V | -| 3 (black) | CURRENT | +3.3V | -| 4 (black) | VOLTAGE | +3.3V | -| 5 (black) | GND | GND | -| 6 (black) | GND | GND | +| 针脚 | 信号 | 电压 | +| --------- | --- | ----- | +| 2 | VCC | +5V | +| 2 (black) | VCC | +5V | +| 3 (black) | 电流 | +3.3V | +| 4 (black) | 电压 | +3.3V | +| 5 (black) | GND | GND | +| 6 (black) | GND | GND | ### Back Pinouts @@ -295,34 +295,34 @@ The complete set of supported configurations can be seen in the [Airframes Refer #### MAIN Out -| Pin | Signal | Volt | + | - | -| --- | ------ | ----- | --------- | --- | -| 1 | IO_CH1 | +3.3V | VDD_SERVO | GND | -| 2 | IO_CH2 | +3.3V | VDD_SERVO | GND | -| 3 | IO_CH3 | +3.3V | VDD_SERVO | GND | -| 4 | IO_CH4 | +3.3V | VDD_SERVO | GND | -| 5 | IO_CH5 | +3.3V | VDD_SERVO | GND | -| 6 | IO_CH6 | +3.3V | VDD_SERVO | GND | -| 7 | IO_CH7 | +3.3V | VDD_SERVO | GND | -| 8 | IO_CH8 | +3.3V | VDD_SERVO | GND | +| 针脚 | 信号 | 电压 | + | - | +| -- | ------ | ----- | --------- | --- | +| 1 | IO_CH1 | +3.3V | VDD_SERVO | GND | +| 2 | IO_CH2 | +3.3V | VDD_SERVO | GND | +| 3 | IO_CH3 | +3.3V | VDD_SERVO | GND | +| 4 | IO_CH4 | +3.3V | VDD_SERVO | GND | +| 5 | IO_CH5 | +3.3V | VDD_SERVO | GND | +| 6 | IO_CH6 | +3.3V | VDD_SERVO | GND | +| 7 | IO_CH7 | +3.3V | VDD_SERVO | GND | +| 8 | IO_CH8 | +3.3V | VDD_SERVO | GND | #### AUX Out -| Pin | Signal | Volt | + | - | -| --- | ------- | ----- | --------- | --- | -| 1 | FMU_CH1 | +3.3V | VDD_SERVO | GND | -| 2 | FMU_CH2 | +3.3V | VDD_SERVO | GND | -| 3 | FMU_CH3 | +3.3V | VDD_SERVO | GND | -| 4 | FMU_CH4 | +3.3V | VDD_SERVO | GND | -| 5 | FMU_CH5 | +3.3V | VDD_SERVO | GND | +| 针脚 | 信号 | 电压 | + | - | +| -- | ------- | ----- | --------- | --- | +| 1 | FMU_CH1 | +3.3V | VDD_SERVO | GND | +| 2 | FMU_CH2 | +3.3V | VDD_SERVO | GND | +| 3 | FMU_CH3 | +3.3V | VDD_SERVO | GND | +| 4 | FMU_CH4 | +3.3V | VDD_SERVO | GND | +| 5 | FMU_CH5 | +3.3V | VDD_SERVO | GND | #### RC IN -| Pin | Signal | Volt | -| --- | ---------------- | ----- | -| S | SBUS_IN/PPM_IN | +3.3V | +| 针脚 | 信号 | 电压 | +| -- | ---------------- | ----- | +| S | SBUS_IN/PPM_IN | +3.3V | + | VCC | +5V - | GND | GND @@ -333,18 +333,18 @@ The complete set of supported configurations can be seen in the [Airframes Refer #### CAN2 port -| Pin | Signal | Volt | -| --------- | ------ | ----- | -| 1 (red) | VCC | +5V | -| 2 (black) | CAN H | +3.3V | -| 3 (black) | CAN L | +3.3V | -| 4 (black) | GND | GND | +| 针脚 | 信号 | 电压 | +| --------- | ----- | ----- | +| 2 | VCC | +5V | +| 2 (black) | CAN H | +3.3V | +| 3 (black) | CAN L | +3.3V | +| 4 (black) | GND | GND | #### CAP & ADC IN port -| Pin | Signal | Volt | +| 针脚 | 信号 | 电压 | | ---------- | -------------- | ------------------------ | -| 1 (red) | VCC | +5V | +| 2 | VCC | +5V | | 2 (black) | FMU_CAP6 | +3.3V | | 3 (black) | FMU_CAP5 | +3.3V | | 4 (black) | FMU_CAP4 | +3.3V | @@ -366,40 +366,40 @@ The complete set of supported configurations can be seen in the [Airframes Refer #### DEBUG port -| Pin | Signal | Volt | -| --------- | ------ | ----- | -| 1 (red) | VT | +3.3V | -| 2 (black) | TX | +3.3V | -| 3 (black) | RX | +3.3V | -| 4 (black) | SWDIO | +3.3V | -| 5 (black) | SWCLK | +3.3V | -| 6 (black) | GND | GND | +| 针脚 | 信号 | 电压 | +| --------- | ----- | ----- | +| 2 | VT | +3.3V | +| 2 (black) | TX | +3.3V | +| 3 (black) | RX | +3.3V | +| 4 (black) | SWDIO | +3.3V | +| 5 (black) | SWCLK | +3.3V | +| 6 (black) | GND | GND | #### SPI port -| Pin | Signal | Volt | -| --------- | ------ | ----- | -| 1 (red) | VCC | +5V | -| 2 (black) | SCK | +3.3V | -| 3 (black) | MISO | +3.3V | -| 4 (black) | MOSI | +3.3V | -| 5 (black) | CS1 | +3.3V | -| 6 (black) | CS2 | +3.3V | -| 7 (black) | GND | GND | +| 针脚 | 信号 | 电压 | +| --------- | ---- | ----- | +| 2 | VCC | +5V | +| 2 (black) | SCK | +3.3V | +| 3 (black) | MISO | +3.3V | +| 4 (black) | MOSI | +3.3V | +| 5 (black) | CS1 | +3.3V | +| 6 (black) | CS2 | +3.3V | +| 7 (black) | GND | GND | #### USB port -| Pin | Signal | Volt | -| --------- | ------ | ----- | -| 1 (red) | VBUS | +5V | -| 2 (black) | DM | +3.3V | -| 3 (black) | DP | +3.3V | -| 4 (black) | GND | GND | +| 针脚 | 信号 | 电压 | +| --------- | ---- | ----- | +| 2 | VBUS | +5V | +| 2 (black) | DM | +3.3V | +| 3 (black) | DP | +3.3V | +| 4 (black) | GND | GND | -## Further info +## 更多信息 - [Durandal Wiring QuickStart](../assembly/quick_start_durandal.md) - [Durandal Technical Data Sheet](http://www.holybro.com/manual/Durandal_technical_data_sheet.pdf) diff --git a/zh/flight_controller/holybro_pix32.md b/zh/flight_controller/holybro_pix32.md index 5a54f5fcfbde..87645f62b303 100644 --- a/zh/flight_controller/holybro_pix32.md +++ b/zh/flight_controller/holybro_pix32.md @@ -1,6 +1,6 @@ # Holybro pix32 Flight Controller -> **Warning** PX4 does not manufacture this (or any) autopilot. Contact the [manufacturer](https://shop.holybro.com/) for hardware support or compliance issues. +> **Warning** PX4 不生产这款且也不生产任何自动驾驶仪。 若需要硬件支持或咨询合规问题，请联系 [制造商](https://shop.holybro.com/)。 The Holybro® [pix32 autopilot](https://shop.holybro.com/c/pixhawk-2_0460) (also known as "Pixhawk 2", and formerly as HKPilot32) is based on the [Pixhawk®-project](https://pixhawk.org/) **FMUv2** open hardware design. This board is based on hardware version Pixhawk 2.4.6. It runs the PX4 flight stack on the [NuttX](http://nuttx.org) OS. @@ -14,25 +14,25 @@ As a CC-BY-SA 3.0 licensed Open Hardware design, schematics and design files sho > **Note** This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md). -## Key Features +## 主要特性 -* Main System-on-Chip: [STM32F427](http://www.st.com/web/en/catalog/mmc/FM141/SC1169/SS1577/LN1789) +* 主片上系统：[STM32F427](http://www.st.com/web/en/catalog/mmc/FM141/SC1169/SS1577/LN1789) * CPU: 32-bit STM32F427 Cortex® M4 core with FPU * RAM: 168 MHz/256 KB * Flash: 2 MB * Failsafe System-on-Chip: STM32F103 -* Sensors: +* 传感器： * ST Micro L3GD20 3-axis 16-bit gyroscope * ST Micro LSM303D 3-axis 14-bit accelerometer / magnetometer * Invensense® MPU 6000 3-axis accelerometer/gyroscope - * MEAS MS5611 barometer -* Dimensions/Weight + * MEAS MS5611 气压计 +* 尺寸/重量 * Size: 81x44x15mm * Weight: 33.1g * GPS: U-blox® super precision Neo-7M with compass * Input Voltage: 2~10s (7.4~37V) -### Connectivity +### 连接性 * 1x I2C * 2x CAN @@ -46,41 +46,41 @@ As a CC-BY-SA 3.0 licensed Open Hardware design, schematics and design files sho * External microUSB port * Molex PicoBlade connectors -## Purchase +## 采购 [shop.holybro.com](https://shop.holybro.com/c/pixhawk-2_0460) -### Accessories +### 配件 -* [Digital airspeed sensor](https://shop.holybro.com/c/digital-air-speed-sensor_0508) +* [数字空速传感器](https://shop.holybro.com/c/digital-air-speed-sensor_0508) * [Hobbyking® Wifi Telemetry](https://hobbyking.com/en_us/apm-pixhawk-wireless-wifi-radio-module.html) * [Telemetry Radio EU (433 MHz)](https://shop.holybro.com/c/433mhz_0470) * [Telemetry Radio USA (915 MHz)](https://shop.holybro.com/c/915mhz_0471) -## Building Firmware +## 编译固件 -> **Tip** Most users will not need to build this firmware! It is pre-built and automatically installed by *QGroundControl* when appropriate hardware is connected. +> **Tip** 多数用户不需要自己构建固件！ 它是预构建的，并在连接适当的硬件时由 *QGroundControl* 自动安装。 -To [build PX4](../dev_setup/building_px4.md) for this target: +为此目标 [编译 PX4](../dev_setup/building_px4.md)： make px4_fmu-v2_default -## Debug Port +## Debug调试端口 See [3DR Pixhawk 1 > Debug Ports](../flight_controller/pixhawk.md#debug-ports). -## Pinouts and Schematics +## 引脚和原理图 -The board is based on the [Pixhawk project](https://pixhawk.org/) **FMUv2** open hardware design. +该板基于 [Pixhawk project](https://pixhawk.org/) **FMUv2** 开放式硬件设计。 -* [FMUv2 + IOv2 schematic](https://raw.githubusercontent.com/PX4/Hardware/master/FMUv2/PX4FMUv2.4.5.pdf) -- Schematic and layout +* [FMUv2 + IOv2 schematic](https://raw.githubusercontent.com/PX4/Hardware/master/FMUv2/PX4FMUv2.4.5.pdf) - 原理图和布局 -> **Note** As a CC-BY-SA 3.0 licensed Open Hardware design, all schematics and design files are [available](https://github.com/PX4/Hardware). +> **Note**作为 CC-BY-SA 3.0 许可的开放硬件设计，所有原理图和设计文件都是 [available](https://github.com/PX4/Hardware)。 ## Serial Port Mapping -| UART | Device | Port | +| UART | 设备 | Port | | ------ | ---------- | --------------------- | | UART1 | /dev/ttyS0 | IO debug | | USART2 | /dev/ttyS1 | TELEM1 (flow control) | diff --git a/zh/flight_controller/holybro_pix32_v5.md b/zh/flight_controller/holybro_pix32_v5.md index 6b4f08c30a12..a164cf3b5865 100644 --- a/zh/flight_controller/holybro_pix32_v5.md +++ b/zh/flight_controller/holybro_pix32_v5.md @@ -1,8 +1,8 @@ # Holybro Pix32 v5 -> **Warning** PX4 does not manufacture this (or any) autopilot. Contact the [manufacturer](https://shop.holybro.com/) for hardware support or compliance issues. +> **Warning** PX4 不生产这款且也不生产任何自动驾驶仪。 若需要硬件支持或咨询合规问题，请联系 [制造商](https://shop.holybro.com/)。 -[Pix32 v5](https://shop.holybro.com/pix32-v5_p1218.html)® is an advanced autopilot flight controller designed and made by Holybro®. It is optimized to run on PX4 firmware, which is intended for both academic and commercial developers. It is based on the [Pixhawk-project](https://pixhawk.org/) **FMUv5** open hardware design and runs PX4 on the [NuttX](http://nuttx.org) OS. It can be regarded as a variant version of Pixhawk4. +[Pix32 v5](https://shop.holybro.com/pix32-v5_p1218.html)® is an advanced autopilot flight controller designed and made by Holybro®. It is optimized to run on PX4 firmware, which is intended for both academic and commercial developers. 它基于 [Pixhawk 项目](https://pixhawk.org/) 的 **FMUv5** 开放硬件设计，在 [NuttX](http://nuttx.org) 操作系统上运行 PX4。 It can be regarded as a variant version of Pixhawk4. The Pix32 v5 is designed for pilots who need a high power, flexible and customisable flight control system. It is comprised of a separate flight controller and carrier (base) board, which are connected by a 100pin connector. This design allows users to either select a base board made by Holybro, or customize their own. @@ -10,50 +10,50 @@ The Pix32 v5 is designed for pilots who need a high power, flexible and customis > **Note** This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md). -## Quick Summary - -* Main FMU Processor: STM32F765 - * 32 Bit Arm® Cortex®-M7, 216MHz, 2MB memory, 512KB RAM -* IO Processor: STM32F100 - * 32 Bit Arm® Cortex®-M3, 24MHz, 8KB SRAM -* On-board sensors: - * Accel/Gyro: ICM-20689 - * Accel/Gyro: BMI055 - * Magnetometer: IST8310 - * Barometer: MS5611 -* GPS: ublox Neo-M8N GPS/GLONASS receiver; integrated magnetometer IST8310 -* Interfaces: - * 8-16 PWM outputs (8 from IO, 8 from FMU) - * 3 dedicated PWM/Capture inputs on FMU - * Dedicated R/C input for CPPM +## 概览 + +* 主 FMU 处理器：STM32F765 + * 32 位 Arm® Cortex®-M7，216MHz，2MB 储存，512KB RAM +* IO 处理器：STM32F100 + * 32 位 Arm® Cortex®-M3，24MHz，8KB SRAM +* 板载传感器： + * 加速度计 / 陀螺仪：ICM-20689 + * 加速度计 / 陀螺仪：BMI055 + * 磁力计：IST8310 + * 气压计：MS5611 +* GPS：ublox Neo-M8N GPS/GLONASS 接收器；集成磁力计 IST8310 +* 接口： + * 8-16 路PWM输出（8路来自 IO，8路来自 FMU） + * FMU 上有 3 路专用 PWM/Capture 输入 + * 用于 CPPM 的专用遥控输入 * Dedicated R/C input for Spektrum / DSM and S.Bus with analog / PWM RSSI input * Dedicated S.Bus servo output - * 5 general purpose serial ports + * 5个通用串行口 * 2 with full flow control * 1 with separate 1.5A current limit - * 3 I2C ports - * 4 SPI buses + * 3 个 I2C 接口 + * 4路SPI总线 * 1 internal high speed SPI sensor bus with 4 chip selects and 6 DRDYs * 1 internal low noise SPI bus dedicated for * Barometer with 2 chip selects, no DRDYs * 1 internal SPI bus dedicated for FRAM * Supports dedicated SPI calibration EEPROM located on sensor module * 1 external SPI buses - * Up to 2 CANBuses for dual CAN with serial ESC + * 多达 2 路 CAN 总线用于带串口的电调 * Each CANBus has individual silent controls or ESC RX-MUX control - * Analog inputs for voltage / current of 2 batteries + * 2个电池电流/电压模拟输入口 * 2 additional analog inputs * Electrical System: - * Power module output: 4.9~5.5V + * 电源模块输出：4.9~5.5V * Max input voltage: 6V - * Max current sensing: 120A - * USB Power Input: 4.75~5.25V - * Servo Rail Input: 0~36V -* Weight and Dimensions: + * 最大电流感应：120A + * USB 电源输入：4.75~5.25V + * 伺服导轨输入电压：0~36V +* 重量和尺寸： * Dimensions: 45x45x13.5mm * Weight: 33.0g * Environmental Data, Quality & Reliability: - * Operating temperature: -40 ~ 85°c + * 工作温度：-40 ~ 85°C * Storage temp. -40~85℃ * CE * FCC @@ -61,56 +61,56 @@ The Pix32 v5 is designed for pilots who need a high power, flexible and customis Additional information can be found in the [Pix32 V5 Technical Data Sheet](http://www.holybro.com/manual/Holybro_PIX32-V5_technical_data_sheet_v1.1.pdf). -## Purchase +## 采购 Order from [Holybro website](https://shop.holybro.com/pix32-v5_p1218.html). -## Assembly/Setup +## 组装 / 设置 The [Pix32 v5 Wiring Quick Start](../assembly/quick_start_holybro_pix32_v5.md) provides instructions on how to assemble required/important peripherals including GPS, Power Management Board etc. ## Base Board Layouts ![Pix32 v5 Image](../../assets/flight_controller/holybro_pix32_v5/pix32_v5_base_boards_layout.jpg) -## Pinouts +## 针脚定义 Download pinouts here: - [*pix32 v5* baseboard](http://www.holybro.com/manual/Holybro_PIX32-V5_PINOUTS_V1.1.pdf) - [*pix32 v5* mini baseboard](http://www.holybro.com/manual/Holybro_Pix32-V5-Base-Mini-Pinouts.pdf) -## Dimensions +## 尺寸 ![Pix32 v5 Image](../../assets/flight_controller/holybro_pix32_v5/Dimensions_no_border.jpg) -## Voltage Ratings +## 额定电压 -*Pix32 v5* can be triple-redundant on the power supply if three power sources are supplied. The three power rails are: **POWER1**, **POWER2** and **USB**. +*Pix32 v5* can be triple-redundant on the power supply if three power sources are supplied. 三个电源口：**POWER1**, **POWER2** and **USB**。 -> **Note** The output power rails **FMU PWM OUT** and **I/O PWM OUT** (0V to 36V) do not power the flight controller board (and are not powered by it). You must supply power to one of **POWER1**, **POWER2** or **USB** or the board will be unpowered. +> **Note** 输出电源轨 **FMU PWM OUT** 和 **IO PWM OUT**（0V至36V）不为飞控板供电（并且不由其供电）。 您必须在 **POWER1**、**POWER2** 或 **USB** 任一接口中接入电源，否则飞控板将会断电。 -**Normal Operation Maximum Ratings** +**正常运行最大额定值** -Under these conditions all power sources will be used in this order to power the system: -1. **POWER1** and **POWER2** inputs (4.9V to 5.5V) -1. **USB** input (4.75V to 5.25V) +在这些条件下，所有电源将按此顺序用于为系统供电： +1. **POWER1** 和 **POWER2** 输入电压（4.9 v 至 5.5 v） +1. **USB** 输入电压（4.75 v 至 5.25 v） -**Absolute Maximum Ratings** +**绝对最大额定值** -Under these conditions the system will not draw any power (will not be operational), but will remain intact. -1. **POWER1** and **POWER2** inputs (operational range 4.1V to 5.7V, 0V to 10V undamaged) -1. **USB** input (operational range 4.1V to 5.7V, 0V to 6V undamaged) -1. Servo input: VDD_SERVO pin of **FMU PWM OUT** and **I/O PWM OUT** (0V to 42V undamaged) +在以下条件下，系统不会获得任何供电（不可运行），但不会损坏。 +1. **POWER1** 与 **POWER2** 输入（可运行范围 4.1V 至 5.7V，0V 至 10V 不会损坏） +1. **USB** 输入（可运行范围 4.1V 至 5.7V，0V 至 6V 不会损坏） +1. 舵机输入：**FMU PWM OUT** 和 **I/O PWM OUT** 的 VDD_SERVO 针脚 （0V 至 42V 不会损坏） -## Building Firmware +## 编译固件 -> **Tip** Most users will not need to build this firmware! It is pre-built and automatically installed by *QGroundControl* when appropriate hardware is connected. +> **Tip** 大多数用户不需要构建此固件！ 它是预构建的，并在连接适当的硬件时由 *QGroundControl* 自动安装。 -To [build PX4](../dev_setup/building_px4.md) for this target: +为此目标 [编译 PX4](../dev_setup/building_px4.md)： ``` make holybro_pix32v5_default ``` -## Debug Port +## 调试接口 The system's [serial console](../debug/system_console.md) and SWD interface runs on the **FMU Debug** port @@ -122,22 +122,22 @@ The pinout uses the standard [Pixhawk debug connector pinout](https://pixhawk.or - [System Console > Pixhawk Debug Port](../debug/system_console.md#pixhawk_debug_port) (PX4 Developer Guide) -## Peripherals +## 外部设备 -* [Digital Airspeed Sensor](../sensor/airspeed.md) -* [Telemetry Radio Modules](../telemetry/README.md) -* [Rangefinders/Distance sensors](../sensor/rangefinders.md) +* [数字空速传感器](../sensor/airspeed.md) +* [数传电台模块](../telemetry/README.md) +* [测距仪/距离传感器](../sensor/rangefinders.md) -## Supported Platforms / Airframes +## 支持的平台 / 机身 -Any multicopter / airplane / rover or boat that can be controlled with normal RC servos or Futaba S-Bus servos. The complete set of supported configurations can be seen in the [Airframes Reference](../airframes/airframe_reference.md). +任何可用普通RC伺服系统或Futaba S-Bus伺服系统控制的多旋翼、固定翼、无人机、无人船。 全部可支持的机型可见 [机型参考](../airframes/airframe_reference.md)。 -## Additional Information +## 附加信息 - [Pix32 v5 Technical Data Sheet](http://www.holybro.com/manual/Holybro_PIX32-V5_technical_data_sheet_v1.1.pdf) - [Pix32 v5 Pinouts](http://www.holybro.com/manual/Holybro_PIX32-V5_PINOUTS_V1.1.pdf) - [Pix32 v5 Base Board Schematic Diagram](http://www.holybro.com/manual/Holybro_PIX32-V5-BASE-Schematic_diagram.pdf) - [Pix32 v5 Mini Base Board Schematic Diagram](http://www.holybro.com/manual/Holybro_PIX32-V5-Base-Mini-Board_Schematic_diagram.pdf) -- [FMUv5 reference design pinout](https://docs.google.com/spreadsheets/d/1-n0__BYDedQrc_2NHqBenG1DNepAgnHpSGglke-QQwY/edit#gid=912976165). +- FMUv5参考设计。 diff --git a/zh/flight_controller/kakutef7.md b/zh/flight_controller/kakutef7.md index e157bd4b343f..8fbd7175b80e 100644 --- a/zh/flight_controller/kakutef7.md +++ b/zh/flight_controller/kakutef7.md @@ -1,6 +1,6 @@ # Kakute F7 -> **Warning** PX4 does not manufacture this (or any) autopilot. Contact the [manufacturer](https://shop.holybro.com/) for hardware support or compliance issues. +> **Warning** PX4 不生产这款且也不生产任何自动驾驶仪。 若需要硬件支持或咨询合规问题，请联系 [制造商](https://shop.holybro.com/)。 The *Kakute F7* from Holybro is a flight controller board designed for racers. @@ -8,7 +8,7 @@ The *Kakute F7* from Holybro is a flight controller board designed for racers. > **Note** This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md). -## Key Features +## 主要特性 * Main System-on-Chip: [STM32F745VGT6](https://www.st.com/en/microcontrollers-microprocessors/stm32f745vg.html) * CPU: 216 MHz ARM Cortex M7 with single-precision FPU @@ -20,10 +20,10 @@ The *Kakute F7* from Holybro is a flight controller board designed for racers. * microSD (for logging) * 6 UARTs * 1 I2C bus -* 6 PWM outputs +* 6 路 PWM 输出 * Built-in OSD chip (AB7456 via SPI) -## Where to Buy +## 在哪里买 The board can be bought from one of the following shops (for example): @@ -38,7 +38,7 @@ This is the silkscreen for the *Kakute F7*, showing the top of the board: ![Kakute F7 Silkscreen](../../assets/flight_controller/kakutef7/silk.png) -| Pin | Function | PX4 default | +| 针脚 | 功能 | PX4 default | | -------- | -------------------------------------------------------------------- | ------------------- | | B+ | Battery positive voltage (2S-6S) | | | 5V | 5V output (2A max) | | @@ -66,9 +66,9 @@ This is the silkscreen for the *Kakute F7*, showing the top of the board: The board comes pre-installed with [Betaflight](https://github.com/betaflight/betaflight/wiki). Before PX4 firmware can be installed, the *PX4 bootloader* must be flashed. Download the [kakutef7_bl.hex](https://github.com/PX4/px4_user_guide/raw/master/assets/flight_controller/kakutef7/kakutef7_bl_0b3fbe2da0.hex) bootloader binary and read [this page](../advanced_config/bootloader_update_from_betaflight.md) for flashing instructions. -## Building Firmware +## 编译固件 -To [build PX4](../dev_setup/building_px4.md) for this target: +为此目标 [编译 PX4](../dev_setup/building_px4.md)： make holybro_kakutef7_default @@ -80,11 +80,11 @@ The firmware can be installed in any of the normal ways: - Build and upload the source ```make holybro_kakutef7_default upload``` - [Load the firmware](../config/firmware.md) using *QGroundControl*. You can use either pre-built firmware or your own custom firmware. -## Configuration +## 配置 In addition to the [basic configuration](../config/README.md), the following parameters are important: -| Parameter | Setting | +| 参数 | 设置 | | ---------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------- | | [SYS_HAS_MAG](../advanced_config/parameter_reference.md#SYS_HAS_MAG) | This should be disabled since the board does not have an internal mag. You can enable it if you attach an external mag. | | [MOT_ORDERING](../advanced_config/parameter_reference.md#MOT_ORDERING) | If you use a 4-in-1 ESC with Betaflight/Cleanflight motor assignment, this parameter can be set accordingly. | @@ -92,7 +92,7 @@ In addition to the [basic configuration](../config/README.md), the following par ## Serial Port Mapping -| UART | Device | Port | +| UART | 设备 | Port | | ------ | ---------- | --------------------- | | USART1 | /dev/ttyS0 | TELEM1 | | USART2 | /dev/ttyS1 | TELEM2 | @@ -102,9 +102,9 @@ In addition to the [basic configuration](../config/README.md), the following par | UART7 | /dev/ttyS5 | ESC telemetry (DShot) | -## Debug Port +## 调试接口 -### System Console +### 系统控制台 UART3 RX and TX are configured for use as the [System Console](../debug/system_console.md). diff --git a/zh/flight_controller/mindpx.md b/zh/flight_controller/mindpx.md index e778c6300a77..5f90ccb59ceb 100644 --- a/zh/flight_controller/mindpx.md +++ b/zh/flight_controller/mindpx.md @@ -1,6 +1,6 @@ # MindPX Hardware -> **Warning** PX4 does not manufacture this (or any) autopilot. Contact the [manufacturer](http://mindpx.net) for hardware support or compliance issues. +> **Warning** PX4 不生产这款且也不生产任何自动驾驶仪。 若需要硬件支持或咨询合规问题，请联系 [制造商](http://mindpx.net)。 The AirMind® [MindPX](http://mindpx.net) series is a new generation autopilot system branched from Pixhawk®. @@ -24,7 +24,7 @@ MindPX increases total PWM output channels to 16 (8 main outputs + 8 aux outputs * RAM: 256 KB SRAM * 2MB Flash * ST Micro LSM303D 14 bit accelerometer/magnetometer - * MEAS MS5611 barometer + * MEAS MS5611 气压计 * InvenSense® MPU6500 integrated 6-axis sensors * Highlighted features: @@ -71,9 +71,9 @@ For detailed Pin diagram, please refer to the [User Guide](http://mindpx.net/ass ### 编译固件 -> **Tip** Most users will not need to build this firmware! It is pre-built and automatically installed by *QGroundControl* when appropriate hardware is connected. +> **Tip** 多数用户不需要自己构建固件！ 它是预构建的，并在连接适当的硬件时由 *QGroundControl* 自动安装。 -To [build PX4](../dev_setup/building_px4.md) for this target: +为此目标 [编译 PX4](../dev_setup/building_px4.md)： make airmind_mindpx-v2_default @@ -88,13 +88,13 @@ And the max BAUD rate is the same with px4 family, which is up to 921600. > **Note** The user guide is [here](http://mindpx.net/assets/accessories/UserGuide9.18_2_pdf.pdf). -## Where to Buy +## 在哪里买 MindRacer is available at [AirMind Store](http://drupal.xitronet.com/?q=catalog) on internet. You can also find MindRacer at Amazon® or eBay®. ## Serial Port Mapping -| UART | Device | Port | +| UART | 设备 | Port | | ------ | ---------- | ------------- | | USART1 | /dev/ttyS0 | RC | | USART2 | /dev/ttyS1 | TELEM1 | @@ -104,6 +104,6 @@ MindRacer is available at [AirMind Store](http://drupal.xitronet.com/?q=catalog) | UART7 | /dev/ttyS5 | Debug Console | | UART8 | /dev/ttyS6 | ? | -## Support +## 技术支持 Please visit http://www.mindpx.org for more information. Or you can send email to for any inquiries or help. \ No newline at end of file diff --git a/zh/flight_controller/mindracer.md b/zh/flight_controller/mindracer.md index 932bb6d30a3a..42a34b489a8c 100644 --- a/zh/flight_controller/mindracer.md +++ b/zh/flight_controller/mindracer.md @@ -1,6 +1,6 @@ # MindRacer Hardware -> **Warning** PX4 does not manufacture this (or any) autopilot. Contact the [manufacturer](http://mindpx.net) for hardware support or compliance issues. +> **Warning** PX4 不生产这款且也不生产任何自动驾驶仪。 若需要硬件支持或咨询合规问题，请联系 [制造商](http://mindpx.net)。 The AirMind® [MindRacer](http://mindpx.net) series is a fully stackable flight *platform* for miniature UAVs. The platform currently has two RTF vehicles: [MindRacer 210](../complete_vehicles/mindracer210.md) and [NanoMind 110](../complete_vehicles/nanomind110.md). @@ -27,7 +27,7 @@ MindRacer implements the SEP (soldering-elimination-port) and WEP (wiring-elimin | Item | 描述 | |:------------------------------------------:|:-----------------------------------------------------:| | Flight controller/Processor | F427VIT6 | -| Weight | ~6g | +| 重量 | ~6g | | Dimension | 35x35mm | | PWM Outputs | maximum 6 | | IMU | 10DOF | @@ -48,9 +48,9 @@ MindRacer implements the SEP (soldering-elimination-port) and WEP (wiring-elimin ### How to Build -> **Tip** Most users will not need to build this firmware! It is pre-built and automatically installed by *QGroundControl* when appropriate hardware is connected. +> **Tip** 多数用户不需要自己构建固件！ 它是预构建的，并在连接适当的硬件时由 *QGroundControl* 自动安装。 -To [build PX4](../dev_setup/building_px4.md) for this target: +为此目标 [编译 PX4](../dev_setup/building_px4.md)： make airmind_mindpx-v2_default @@ -69,7 +69,7 @@ And the max BAUD rate is the same with px4 family, which is up to 921600. > **Note** The user guide is [here](http://mindpx.net/assets/accessories/mindracer_user_guide_v1.2.pdf) -## Where to Buy +## 在哪里买 MindRacer is available at [AirMind Store](http://drupal.xitronet.com/?q=catalog). You can also find MindRacer at Amazon® or eBay®. diff --git a/zh/flight_controller/modalai_fc_v1.md b/zh/flight_controller/modalai_fc_v1.md index 74fb00774e9e..039bd5c13193 100644 --- a/zh/flight_controller/modalai_fc_v1.md +++ b/zh/flight_controller/modalai_fc_v1.md @@ -1,6 +1,6 @@ # ModalAI Flight Core v1 -> **Warning** PX4 does not manufacture this (or any) autopilot. Contact the [manufacturer](https://forum.modalai.com/) for hardware support or compliance issues. +> **Warning** PX4 不生产这款且也不生产任何自动驾驶仪。 若需要硬件支持或咨询合规问题，请联系 [制造商](https://forum.modalai.com/)。 The ModalAI [Flight Core v1](https://modalai.com/flight-core) ([Datasheet](https://docs.modalai.com/flight-core-datasheet)) is a flight controller for PX4, made in the USA. The Flight Core can be paired with ModalAI [VOXL](https://modalai.com/voxl) ([Datasheet](https://docs.modalai.com/voxl-datasheet/)) for obstacle avoidance and GPS-denied navigation, or used independently as a standalone flight controller. @@ -11,23 +11,23 @@ Flight Core is identical to the PX4 Flight Controller portion of [VOXL Flight](h > **Note** This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md). -## Specification +## 技术规范 -| Feature | Details | +| 特性 | Details | |:---------------- |:--------------------------------------------------------------------------------------------------------------------------------------------------------------- | -| Weight | 6 g | +| 重量 | 6 g | | MCU | 216MHz, 32-bit ARM M7 [STM32F765II](https://www.st.com/en/microcontrollers-microprocessors/stm32f765ii.html) | -| Memory | 256Kb FRAM | +| 内存 | 256Kb FRAM | | | 2Mbit Flash | | | 512Kbit SRAM | -| Firmware | [PX4](https://github.com/PX4/PX4-Autopilot/tree/master/boards/modalai/fc-v1) | +| 固件 | [PX4](https://github.com/PX4/PX4-Autopilot/tree/master/boards/modalai/fc-v1) | | IMUs | [ICM-20602](https://www.invensense.com/products/motion-tracking/6-axis/icm-20602/) (SPI1) | | | ICM-42688 (SPI2) | | | [BMI088](https://www.bosch-sensortec.com/bst/products/all_products/bmi088_1) (SPI6) | | Barometer | [BMP388](https://www.bosch-sensortec.com/bst/products/all_products/bmp388) (I2C4) | | Secure Element | [A71CH](https://www.nxp.com/products/security-and-authentication/authentication/plug-and-trust-the-fast-easy-way-to-deploy-secure-iot-connections:A71CH) (I2C4) | | microSD Card | [Information on supported cards](../dev_log/logging.md#sd-cards) | -| Inputs | GPS/Mag | +| 输入 | GPS/Mag | | | Spektrum | | | Telemetry | | | CAN bus | @@ -40,7 +40,7 @@ Flight Core is identical to the PX4 Flight Controller portion of [VOXL Flight](h > **Note** More detailed hardware documentation can be found [here](https://docs.modalai.com/flight-core-datasheet/). -## Dimensions +## 尺寸 ![FlightCoreV1Dimensions](../../assets/flight_controller/modalai/fc_v1/dimensions.png) @@ -53,11 +53,11 @@ ModalAI maintains a [branched PX4 version](https://github.com/modalai/px4-firmwa More information about the firmware can be found [here](https://docs.modalai.com/flight-core-firmware/). -## QGroundControl Support +## QGroundControl支持 This board supported in QGroundControl 4.0 and later. -## Availability +## 访问链接 - [Flight Core Complete Kit](https://modalai.com/flight-core) - [Flight Core Board](https://shop.modalai.com/products/flight-core-pcb-only) (only) @@ -67,7 +67,7 @@ This board supported in QGroundControl 4.0 and later. ## Quick Start -### Orientation +### 安装方向 The diagram below shows the recommended orientation, which corresponds to `ROTATION_NONE` starting with PX4 v1.11 (and on the [ModalAI-maintained PX4 v1.10 branch](https://github.com/modalai/px4-firmware/tree/modalai-1.10)) @@ -75,13 +75,13 @@ The diagram below shows the recommended orientation, which corresponds to `ROTAT > **Warning** For *PX4 v1.10* stable releases from *QGroundControl* use `ROTATION_YAW_180` for the above orientation. -### Connectors +### 连接器 Detailed information about the pinouts can be found [here](https://docs.modalai.com/flight-core-datasheet-connectors). ![FlightCoreV1Top](../../assets/flight_controller/modalai/fc_v1/top.png) -| Connector | Summary | +| Connector | 概要 | | --------- | ---------------------------------------------------------- | | J1 | VOXL Communications Interface Connector (TELEM2) | | J2 | Programming and Debug Connector | @@ -105,7 +105,7 @@ The full user guide is available [here](https://docs.modalai.com/flight-core-man ### How to Build -To [build PX4](../dev_setup/building_px4.md) for this target: +为此目标 [编译 PX4](../dev_setup/building_px4.md)： ``` make modalai_fc-v1 @@ -113,7 +113,7 @@ make modalai_fc-v1 ## Serial Port Mapping -| UART | Device | Port | +| UART | 设备 | Port | | ------ | ---------- | ---------------------------------------- | | USART1 | /dev/ttyS0 | GPS1 (J10) | | USART2 | /dev/ttyS1 | TELEM3 (J4) | @@ -125,6 +125,6 @@ make modalai_fc-v1 | UART8 | /dev/ttyS7 | N/A | -## Support +## 技术支持 Please visit http://support.modalai.com/ for more information. diff --git a/zh/flight_controller/mro_control_zero_f7.md b/zh/flight_controller/mro_control_zero_f7.md index 3dbe536d1aa1..ea0487e83439 100644 --- a/zh/flight_controller/mro_control_zero_f7.md +++ b/zh/flight_controller/mro_control_zero_f7.md @@ -1,6 +1,6 @@ # mRo Control Zero F7 Flight Controller -> **Warning** PX4 does not manufacture this (or any) autopilot. Contact the [manufacturer](https://store.mrobotics.io/) for hardware support or compliance issues. +> **Warning** PX4 不生产这款且也不生产任何自动驾驶仪。 若需要硬件支持或咨询合规问题，请联系 [制造商](https://store.mrobotics.io/)。 The *mRo Control Zero F7®* is a new flight controller from mRo. @@ -12,19 +12,19 @@ It is a no-compromise triple IMU commercial grade flight controller. It includes > **Note** This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md). -## Key Features +## 主要特性 -- Microprocessor: +- 微处理器： - 32-bit STM32F777 Cortex® M4 core with FPU rev. 3 - 216 MHz/512 KB RAM/2 MB Flash - F-RAM Cypress MF25V02-G 256-Kbit nonvolatile memory (Flash memory that performs as fast as RAM) -- Sensors: +- 传感器： - [Bosch BMI088](https://www.bosch-sensortec.com/bst/products/all_products/bmi088_1) 3-axis accelerometer/gyroscope (internally vibration dampened) - [Invensense ICM-20602](https://www.invensense.com/products/motion-tracking/6-axis/icm-20602/) 3-axis accelerometer/gyroscope - [Invensense ICM-20948](https://www.invensense.com/products/motion-tracking/9-axis/icm-20948/) 3-axis accelerometer/gyroscope/magnetometer - [Infineon DPS310 barometer](https://www.infineon.com/cms/en/product/sensor/barometric-pressure-sensor-for-consumer-applications/dps310/) (So smooth and NO more light sensitivity) -- Interfaces: +- 接口： - 6x UART (serial ports total), 3x with HW flow control, 1x FRSky Telemetry (D or X types), 1x Console and 1x GPS+I2C - 8x PWM outputs (all DShot capable) - 1x CAN @@ -45,22 +45,22 @@ It is a no-compromise triple IMU commercial grade flight controller. It includes - Width: 20mm (0.79") - Length: 32mm (1.26") -- Power System: +- 电源系统 - 3x Ultra low noise LDO voltage regulator -## Purchase +## 采购 * [mRo Control Zero](https://store.mrobotics.io/mRo-Control-Zero-F7-p/mro-ctrl-zero-f7.htm) -## Building Firmware +## 编译固件 -> **Tip** Most users will not need to build this firmware! It is pre-built and automatically installed by *QGroundControl* when appropriate hardware is connected. +> **Tip** 大多数用户不需要构建此固件！ 它是预构建的，并在连接适当的硬件时由 *QGroundControl* 自动安装。 -To [build PX4](../dev_setup/building_px4.md) for this target: +为此目标 [编译 PX4](../dev_setup/building_px4.md)： ``` make mro_ctrl-zero-f7 ``` @@ -91,14 +91,14 @@ You can use the [Tag Connect](https://www.tag-connect.com/) cable [TC2030 IDC NL There is also an [ARM20-CTX 20-Pin to TC2030-IDC adapter](https://www.tag-connect.com/product/arm20-ctx-20-pin-to-tc2030-idc-adapter-for-cortex) that can be used with other debug probes. -## Pinouts +## 针脚定义 ![mRo Control Zero F7](../../assets/flight_controller/mro_control_zero_f7/mro_control_pinouts.jpg) ## Serial Port Mapping -| UART | Device | Port | +| UART | 设备 | Port | | ------ | ---------- | --------------------------------------------------------------- | | USART2 | /dev/ttyS0 | TELEM1 (flow control) | | USART3 | /dev/ttyS1 | TELEM2 (flow control) | @@ -113,7 +113,7 @@ There is also an [ARM20-CTX 20-Pin to TC2030-IDC adapter](https://www.tag-connec -## Further Information +## 更多信息 - [Introducing the new mRo Control Zero Autopilot](https://mrobotics.io/introducing-the-new-mro-control-zero-autopilot/) (blog) - [Quick Start Guide](https://mrobotics.io/mrocontrolzero/) diff --git a/zh/flight_controller/mro_pixhawk.md b/zh/flight_controller/mro_pixhawk.md index 2e99dbdbe128..0d9e9a14a08e 100644 --- a/zh/flight_controller/mro_pixhawk.md +++ b/zh/flight_controller/mro_pixhawk.md @@ -1,8 +1,8 @@ # mRo Pixhawk Flight Controller (Pixhawk 1) -> **Warning** PX4 does not manufacture this (or any) autopilot. Contact the [manufacturer](https://store.mrobotics.io/) for hardware support or compliance issues. +> **Warning** PX4 不生产这款且也不生产任何自动驾驶仪。 若需要硬件支持或咨询合规问题，请联系 [制造商](https://store.mrobotics.io/)。 -The *mRo Pixhawk®* is a hardware compatible version of the original [Pixhawk 1](../flight_controller/pixhawk.md). It runs PX4 on the [NuttX](http://nuttx.org) OS. +The *mRo Pixhawk®* is a hardware compatible version of the original [Pixhawk 1](../flight_controller/pixhawk.md). 它在 [NuttX](http://nuttx.org) 操作系统上运行 PX4。 > **Tip** The controller can be used as a drop-in replacement for the 3DR® [Pixhawk 1](../flight_controller/pixhawk.md). The main difference is that it is based on the [Pixhawk-project](https://pixhawk.org/) **FMUv3** open hardware design, which corrects a bug that limited the original Pixhawk 1 to 1MB of flash. @@ -23,7 +23,7 @@ Assembly/setup instructions for use with PX4 are provided here: [Pixhawk Wiring * ST Micro L3GD20 3-axis 16-bit gyroscope * ST Micro LSM303D 3-axis 14-bit accelerometer / magnetometer * Invensense® MPU 6000 3-axis accelerometer/gyroscope - * MEAS MS5611 barometer + * MEAS MS5611 气压计 * 接口： * 5x UART (serial ports), one high-power capable, 2x with HW flow control * 2x CAN @@ -57,9 +57,9 @@ Assembly/setup instructions for use with PX4 are provided here: [Pixhawk Wiring ## 编译固件 -> **Tip** Most users will not need to build this firmware! It is pre-built and automatically installed by *QGroundControl* when appropriate hardware is connected. +> **Tip** 多数用户不需要自己构建固件！ 它是预构建的，并在连接适当的硬件时由 *QGroundControl* 自动安装。 -To [build PX4](../dev_setup/building_px4.md) for this target: +为此目标 [编译 PX4](../dev_setup/building_px4.md)： make px4_fmu-v3_default @@ -68,13 +68,13 @@ To [build PX4](../dev_setup/building_px4.md) for this target: See [3DR Pixhawk 1 > Debug Ports](../flight_controller/pixhawk.md#debug-ports) -## Pinouts +## 针脚定义 See [3DR Pixhawk 1 > Pinouts](../flight_controller/pixhawk.md#pinouts) ## Serial Port Mapping -| UART | Device | Port | +| UART | 设备 | Port | | ------ | ---------- | --------------------- | | UART1 | /dev/ttyS0 | IO debug | | USART2 | /dev/ttyS1 | TELEM1 (flow control) | @@ -83,10 +83,10 @@ See [3DR Pixhawk 1 > Pinouts](../flight_controller/pixhawk.md#pinouts) | UART7 | CONSOLE | | | UART8 | SERIAL4 | | -## Schematics +## 原理图 The board is based on the [Pixhawk-project](https://pixhawk.org/) **FMUv3** open hardware design. * [FMUv3 schematic](https://github.com/PX4/Hardware/raw/master/FMUv3_REV_D/Schematic%20Print/Schematic%20Prints.PDF) -- Schematic and layout -> **Note** As a CC-BY-SA 3.0 licensed Open Hardware design, all schematics and design files are [available](https://github.com/PX4/Hardware). \ No newline at end of file +> **Note**作为 CC-BY-SA 3.0 许可的开放硬件设计，所有原理图和设计文件都是 [available](https://github.com/PX4/Hardware)。 \ No newline at end of file diff --git a/zh/flight_controller/mro_x2.1.md b/zh/flight_controller/mro_x2.1.md index 53d27eb5d0df..0e207f98fcc8 100644 --- a/zh/flight_controller/mro_x2.1.md +++ b/zh/flight_controller/mro_x2.1.md @@ -1,8 +1,8 @@ # mRo-X2.1 Autopilot -> **Warning** PX4 does not manufacture this (or any) autopilot. Contact the [manufacturer](https://store.mrobotics.io/) for hardware support or compliance issues. +> **Warning** PX4 不生产这款且也不生产任何自动驾驶仪。 若需要硬件支持或咨询合规问题，请联系 [制造商](https://store.mrobotics.io/)。 -The [mRo-X2.1 autopilot](http://www.mRobotics.io/) is based on the [Pixhawk®-project](https://pixhawk.org/) **FMUv2** open hardware design. It runs PX4 on the [NuttX](http://nuttx.org) OS. +The [mRo-X2.1 autopilot](http://www.mRobotics.io/) is based on the [Pixhawk®-project](https://pixhawk.org/) **FMUv2** open hardware design. 它在 [NuttX](http://nuttx.org) 操作系统上运行 PX4。 ![mRo X2.1](../../assets/flight_controller/mro/mro_x2.1.jpg) @@ -10,38 +10,38 @@ The [mRo-X2.1 autopilot](http://www.mRobotics.io/) is based on the [Pixhawk ## 总览 -* Main System-on-Chip: [STM32F427](http://www.st.com/web/en/catalog/mmc/FM141/SC1169/SS1577/LN1789) +* 主片上系统：[STM32F427](http://www.st.com/web/en/catalog/mmc/FM141/SC1169/SS1577/LN1789) * CPU: STM32F427VIT6 ARM® microcontroller - Revision 3 * IO: STM32F100C8T6 ARM® microcontroller * 传感器： * Invensense® MPU9250 9DOF * Invensense ICM-20602 6DOF - * MEAS MS5611 barometer -* Dimensions/Weight + * MEAS MS5611 气压计 +* 尺寸/重量 * Size: 36mm x 50mm (Can be ordered with vertical, horizontal or no headers installed) - * Mounting Points: 30.5mm x 30.5mm 3.2mm diameter + * 安装点：30.5mm x 30.5mm 直径 3.2mm * 重量: 10.9g The diagram below provides a side-by-side comparison with a Pixhawk 1. The mRo features almost identical hardware and connectivity but has a much smaller footprint. Major differences are updated sensors and Rev 3 FMU. ![Mro Pixhawk 1 vs X2.1 comparison](../../assets/flight_controller/mro/px1_x21.jpg) -## Connectivity +## 连接 -* 2.54mm headers: +* 2.54 毫米头： * GPS (UART4) with I2C * CAN Bus -* RC input -* PPM input -* Spektrum input -* RSSI input -* sBus input -* sBus output -* Power input -* Buzzer output -* LED output -* 8 x Servo outputs -* 6 x Aux outputs +* 遥控输入 +* PPM 输入 +* Spektrum 输入 +* RSSI 输入 +* sBus 输入 +* sBus 输出 +* 电源输入 +* 蜂鸣器输出 +* LED 输出 +* 8路伺服输出 +* 6路辅助输出 * Offboard microUSB connector * Kill Pin output *(Currently not supported by firmware)* * AirSpeed Sensor @@ -67,26 +67,26 @@ The update steps are: This product can be ordered at the [mRobotics® Store](https://store.mrobotics.io/mRo-X2-1-Rev-2-p/mro-x2.1rv2-mr.htm). -## Wiring Guide +## 接线指南 ![mRo_X2.1_Wiring](../../assets/flight_controller/mro/mro_x21_wiring.png) ## 编译固件 -> **Tip** Most users will not need to build this firmware! It is pre-built and automatically installed by *QGroundControl* when appropriate hardware is connected. +> **Tip** 大多数用户不需要构建此固件！ 它是预构建的，并在连接适当的硬件时由 *QGroundControl* 自动安装。 -To [build PX4](../dev_setup/building_px4.md) for this target: +为此目标 [编译 PX4](../dev_setup/building_px4.md)： make mro_x21_default -## Schematics +## 原理图 The board is documented on the mRo hardware repo: [x21_V2_schematic.pdf](https://github.com/mRoboticsIO/Hardware/blob/master/X2.1/Docs/x21_V2_schematic.pdf). ## Serial Port Mapping -| UART | Device | Port | +| UART | 设备 | Port | | ------ | ---------- | --------------- | | USART1 | /dev/ttyS0 | IO debug | | USART2 | /dev/ttyS1 | SERIAL1 | diff --git a/zh/flight_controller/nxp_rddrone_fmuk66.md b/zh/flight_controller/nxp_rddrone_fmuk66.md index 0a1d61db024c..b9da4233cfbb 100644 --- a/zh/flight_controller/nxp_rddrone_fmuk66.md +++ b/zh/flight_controller/nxp_rddrone_fmuk66.md @@ -1,6 +1,6 @@ # NXP RDDRONE-FMUK66 FMU -> **Warning** PX4 does not manufacture this (or any) autopilot. Contact the [manufacturer](https://www.nxp.com/) for hardware support or compliance issues. +> **Warning** PX4 不生产这款且也不生产任何自动驾驶仪。 若需要硬件支持或咨询合规问题，请联系 [制造商](https://www.nxp.com/)。 RDDRONE-FMUK66 FMU is a reference design using NXP Semiconductor components that closely follows Pixhawk FMUv4 specifications while adding two wire automotive Ethernet 100BASET1 and secure element A71CH (RevC) or SE050 (RevD). NXP provides the schematics, gerbers, BOM and source files so that anyone can duplicate, change or repurpose this design. @@ -15,11 +15,11 @@ The NXP FMU and included peripherals have been tested to comply with FCC/CE/RoHs > **Note** These flight controllers are [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md). -## Quick Summary +## 概览 - **Main FMU Processor:** - Kinetis K66 MK66FN2MOVLQ18 microcontroller running at 180MHz Cortex-M4F MCU, 2MB Flash, 256KB SRAM, Dual USBs (FS + HS), Ethernet, 144-LQFP. -- **On-board sensors:** +- **内置传感器：** - Accel/Gyro: BMI088/ICM42688 (RevD)... - Accel/Magnetometer: FXOS8700CQ - Gyro: FXAS21002CQ @@ -39,7 +39,7 @@ A "Lite" version RDDRONE-FMUK66L is also available which does not include the po Additional information can be found in the [Technical Data Sheet](https://www.nxp.com/design/designs/px4-robotic-drone-fmu-rddrone-fmuk66:RDDRONE-FMUK66). -## Purchase +## 采购 **RDDRONE-FMUK66** reference design kit may be purchased direct from NXP or from any of NXP's authorised worldwide network of [electronics distributors](https://www.nxp.com/support/sample-and-buy/distributor-network:DISTRIBUTORS). @@ -67,21 +67,21 @@ Additional information can be found in the [Technical Data Sheet](https://www.nx --> -## Assembly/Setup +## 组装 / 设置 https://nxp.gitbook.io/hovergames -## Building Firmware +## 编译固件 -> **Tip** Most users will not need to build this firmware! It is pre-built and automatically installed by *QGroundControl* when appropriate hardware is connected. +> **Tip** 大多数用户不需要构建此固件！ 它是预构建的，并在连接适当的硬件时由 *QGroundControl* 自动安装。 -To [build PX4](../dev_setup/building_px4.md) for this target: +为此目标 [编译 PX4](../dev_setup/building_px4.md)： ``` make nxp_fmuk66-v3_default ``` -## Debug Port +## Debug调试端口 The [PX4 System Console](../debug/system_console.md) and the [SWD interface](../debug/swd_debug.md) run on the [DCD-LZ FMU Debug](https://nxp.gitbook.io/hovergames/rddrone-fmuk66/connectors/debug-interface-dcd-lz) port. @@ -97,15 +97,15 @@ The DCD-LZ breakout adapter permits the use of a standard 10 pin JTAG/SWD interf --> -## Supported Platforms / Airframes +## 支持的平台/机身 -Any multicopter / airplane / rover or boat that can be controlled with normal RC servos or Futaba S-Bus servos. The complete set of supported configurations can be seen in the [Airframes Reference](../airframes/airframe_reference.md). +任何可用普通遥控舵机系统或 Futaba S-Bus 舵机系统控制的多旋翼、固定翼、无人车、无人船。 全部可支持的机型可见 [机型参考](../airframes/airframe_reference.md)。 ![HoverGames Drone Kit](../../assets/flight_controller/nxp_rddrone_fmuk66/HoverGamesDrone_14042019_XL_001.jpg) > **Tip** The NXP [HoverGames Drone Kit](https://www.nxp.com/kit-hgdronek66) (shown above) is a complete drone development kit that includes everything needed to build a quadcopter. You only need to supply the 3S/4S LiPo battery. -## Further info +## 更多信息 - [HoverGames online documentation](https://nxp.gitbook.io/hovergames) PX4 user and programming guide, specific assembly, construction, debugging, programming instructions. diff --git a/zh/flight_controller/ocpoc_zynq.md b/zh/flight_controller/ocpoc_zynq.md index 2612bb008c31..6ead591c5e37 100644 --- a/zh/flight_controller/ocpoc_zynq.md +++ b/zh/flight_controller/ocpoc_zynq.md @@ -1,10 +1,10 @@ # Aerotenna OcPoC-Zynq Mini Flight Controller -> **Warning** PX4 does not manufacture this (or any) autopilot. Contact the [manufacturer](https://ainstein.ai/) for hardware support or compliance issues. +> **Warning** PX4 不生产这款且也不生产任何自动驾驶仪。 若需要硬件支持或咨询合规问题，请联系 [制造商](https://ainstein.ai/)。 -> **Warning** PX4 support for this flight controller is [experimental](../flight_controller/autopilot_experimental.md). +> **Warning** PX4 [实验性地](../flight_controller/autopilot_experimental.md) 支持此飞行控制器。 The [OcPoC-Zynq Mini](https://aerotenna.readme.io/docs/ocpoc-mini-zynq-specifications) is a FPGA+ARM SoC based flight control platform. diff --git a/zh/flight_controller/omnibus_f4_sd.md b/zh/flight_controller/omnibus_f4_sd.md index 6407ef6784d3..47fbc87a416a 100644 --- a/zh/flight_controller/omnibus_f4_sd.md +++ b/zh/flight_controller/omnibus_f4_sd.md @@ -1,6 +1,6 @@ # Omnibus F4 SD -> **Warning** PX4 does not manufacture this (or any) autopilot. Contact the manufacturer for support or compliance issues. +> **Warning** PX4 不生产这款且也不生产任何自动驾驶仪。 Contact the manufacturer for support or compliance issues. The *Omnibus F4 SD* is a controller board designed for racers. In contrast to a typical racer board it has some additional features, such as an SD card and a faster CPU. @@ -36,7 +36,7 @@ These are the main differences compared to a [Pixracer](../flight_controller/pix * Built-in current sensor * Built-in OSD chip (AB7456 via SPI) -## Where to Buy +## 在哪里买 The board is produced by different vendors, with some variations (e.g. with or without a barometer). @@ -85,7 +85,7 @@ Below are silkscreens for the Hobbywing XRotor Flight Controller F4. ## 针脚定义 -### Radio Control +### 遥控器 RC is connected to one of the following ports: @@ -109,7 +109,7 @@ RC is connected to one of the following ports: * TX: MCU pin PA0 * RX: MCU pin PA1 - * 57600 baud + * 57600 波特率 * This can be configured as the `TELEM 2` port. * Airbot Omnibus F4 SD Pinout: * TX: RSSI pin @@ -141,7 +141,7 @@ Here is an example implementation. I used a Spektrum plug to get 3.3v from the D ## Serial Port Mapping -| UART | Device | Port | +| UART | 设备 | Port | | ------ | ---------- | -------- | | USART1 | /dev/ttyS0 | SerialRX | | USART4 | /dev/ttyS1 | TELEM1 | @@ -170,7 +170,7 @@ On the handheld controller (e.g. Taranis) you will also need a [Transmitter Modu > **Note** The referenced links above contains the documentation for the TX/RX modules. -#### Setup +#### 设置 Connect the Nano RX and Omnibus pins as shown: @@ -183,7 +183,7 @@ Nothing else needs to be configured on PX4 flight controller side - the RC proto Next update the TX/RX modules to use the CRSF protocol and set up telemetry. Instructions for this are provided in the [TBS Crossfire Manual](https://www.team-blacksheep.com/tbs-crossfire-manual.pdf) (search for 'Setting up radio for CRSF'). -## Schematics +## 原理图 The schematics are provided by [Airbot](https://myairbot.com/): [OmnibusF4-Pro-Sch.pdf](http://bit.ly/obf4pro). @@ -193,9 +193,9 @@ The schematics are provided by [Airbot](https://myairbot.com/): [OmnibusF4-Pro-S The board comes pre-installed with [Betaflight](https://github.com/betaflight/betaflight/wiki). Before PX4 firmware can be installed, the *PX4 bootloader* must be flashed. Download the [omnibusf4sd_bl.hex](https://github.com/PX4/px4_user_guide/raw/master/assets/flight_controller/omnibus_f4_sd/omnibusf4sd_bl_d52b70cb39.hex) bootloader binary and read [this page](../advanced_config/bootloader_update_from_betaflight.md) for flashing instructions. -## Building Firmware +## 编译固件 -To [build PX4](../dev_setup/building_px4.md) for this target: +为此目标 [编译 PX4](../dev_setup/building_px4.md)： make omnibus_f4sd_default @@ -207,11 +207,11 @@ The firmware can be installed in any of the normal ways: * Build and upload the source ```make omnibus_f4sd_default upload``` * [Load the firmware](../config/firmware.md) using *QGroundControl*. You can use either pre-built firmware or your own custom firmware. -## Configuration +## 配置 In addition to the [basic configuration](../config/README.md), the following parameters are important: -| Parameter | Setting | +| 参数 | 设置 | | ------------------------------------------------------------------------ | ----------------------------------------------------------------------------------------------------------------------- | | [SYS_HAS_MAG](../advanced_config/parameter_reference.md#SYS_HAS_MAG) | This should be disabled since the board does not have an internal mag. You can enable it if you attach an external mag. | | [SYS_HAS_BARO](../advanced_config/parameter_reference.md#SYS_HAS_BARO) | Disable this if your board does not have a barometer. | diff --git a/zh/flight_controller/pixfalcon.md b/zh/flight_controller/pixfalcon.md index 86802318cb1d..7484f19e133c 100644 --- a/zh/flight_controller/pixfalcon.md +++ b/zh/flight_controller/pixfalcon.md @@ -1,6 +1,6 @@ # Pixfalcon Flight Controller (Discontinued) -> **Warning** PX4 does not manufacture this (or any) autopilot. Contact the [manufacturer](https://shop.holybro.com/) for hardware support or compliance issues. +> **Warning** PX4 不生产这款且也不生产任何自动驾驶仪。 若需要硬件支持或咨询合规问题，请联系 [制造商](https://shop.holybro.com/)。 @@ -12,7 +12,7 @@ The Pixfalcon autopilot (designed by [Holybro®](http://www.holybr ## 总览 -* Main System-on-Chip: [STM32F427](http://www.st.com/web/en/catalog/mmc/FM141/SC1169/SS1577/LN1789) +* 主片上系统：[STM32F427](http://www.st.com/web/en/catalog/mmc/FM141/SC1169/SS1577/LN1789) * CPU: 180 MHz ARM® Cortex® M4 with single-precision FPU * RAM: 256 KB SRAM (L1) * Failsafe System-on-Chip: STM32F100 @@ -20,7 +20,7 @@ The Pixfalcon autopilot (designed by [Holybro®](http://www.holybr * RAM: 8 KB SRAM * GPS: U-Blox® M8 (bundled) -### Connectivity +### 连接性 * 1x I2C * 2x UART (one for Telemetry / OSD, no flow control) @@ -44,14 +44,14 @@ Optional hardware: ## 编译固件 -> **Tip** Most users will not need to build this firmware! It is pre-built and automatically installed by *QGroundControl* when appropriate hardware is connected. +> **Tip** 大多数用户不需要构建此固件！ 它是预构建的，并在连接适当的硬件时由 *QGroundControl* 自动安装。 -To [build PX4](../dev_setup/building_px4.md) for this target: +为此目标 [编译 PX4](../dev_setup/building_px4.md)： make px4_fmu-v2_default -## Debug Port +## Debug调试端口 This board does not have a debug port (i.e it does not have a port for accessing the [System Console](../debug/system_console.md) or the [SWD interface](../debug/swd_debug.md) (JTAG). @@ -59,12 +59,12 @@ Developers will need to solder wires to the board test pads for SWD, and to the ## Serial Port Mapping -| UART | Device | Port | +| UART | 设备 | Port | | ------ | ---------- | ------------------------ | | UART1 | /dev/ttyS0 | IO Debug | | USART2 | /dev/ttyS1 | TELEM1 (No flow control) | | UART4 | /dev/ttyS2 | GPS | -## Key Links +## 主链接 -* [User Manual](http://www.holybro.com/manual/pixfalcon11.pdf) \ No newline at end of file +* [用户手册](http://www.holybro.com/manual/pixfalcon11.pdf) \ No newline at end of file diff --git a/zh/flight_controller/pixhack_v3.md b/zh/flight_controller/pixhack_v3.md index 821059f77878..6585ebbae214 100644 --- a/zh/flight_controller/pixhack_v3.md +++ b/zh/flight_controller/pixhack_v3.md @@ -1,6 +1,6 @@ # Pixhack v3 -> **Warning** PX4 does not manufacture this (or any) autopilot. Contact the [manufacturer](https://store.cuav.net/) for hardware support or compliance issues. +> **Warning** PX4 不生产这款且也不生产任何自动驾驶仪。 若需要硬件支持或咨询合规问题，请联系 [制造商](https://store.cuav.net/)。 CUAV *Pixhack v3* 飞行控制器是一款灵活轻便的自动驾驶仪，主要面向于商用无人系统制造商。 @@ -52,9 +52,9 @@ CUAV *Pixhack v3* 飞行控制器是一款灵活轻便的自动驾驶仪，主 ## 编译固件 -> **Tip** Most users will not need to build this firmware! It is pre-built and automatically installed by *QGroundControl* when appropriate hardware is connected. +> **Tip** 大多数用户不需要构建此固件！ 它是预构建的，并在连接适当的硬件时由 *QGroundControl* 自动安装。 -To [build PX4](../dev_setup/building_px4.md) for this target: +为此目标 [编译 PX4](../dev_setup/building_px4.md)： make px4_fmu-v3_default @@ -65,7 +65,7 @@ To [build PX4](../dev_setup/building_px4.md) for this target: ## Serial Port Mapping -| UART | Device | Port | +| UART | 设备 | Port | | ------ | ---------- | --------------------- | | UART1 | /dev/ttyS0 | IO debug | | USART2 | /dev/ttyS1 | TELEM1 (flow control) | diff --git a/zh/flight_controller/pixhawk-2.md b/zh/flight_controller/pixhawk-2.md index 4425344600e5..bdc4941d5a6d 100644 --- a/zh/flight_controller/pixhawk-2.md +++ b/zh/flight_controller/pixhawk-2.md @@ -1,6 +1,6 @@ # Hex Cube Black Flight Controller -> **Warning** PX4 does not manufacture this (or any) autopilot. Contact the [manufacturer](https://cubepilot.org/#/home) for hardware support or compliance issues. +> **Warning** PX4 不生产这款且也不生产任何自动驾驶仪。 若需要硬件支持或咨询合规问题，请联系 [制造商](https://cubepilot.org/#/home)。 The [Hex Cube Black](http://www.proficnc.com/61-system-kits2) flight controller (previously known as Pixhawk 2.1) is a flexible autopilot intended primarily for manufacturers of commercial systems. 它基于 [Pixhawk 项目](https://pixhawk.org/) 的 **FMUv3** 开放硬件设计，在 [NuttX](http://nuttx.org) 操作系统上运行 PX4。 @@ -33,17 +33,17 @@ Cube includes vibration isolation on two of the IMU's, with a third fixed IMU as -## Where to Buy +## 在哪里买 [Cube Black](http://www.proficnc.com/61-system-kits) (ProfiCNC) -## Assembly +## 组装 -[Cube Wiring Quickstart](../assembly/quick_start_cube.md) +[Cube 快速接线指南](../assembly/quick_start_cube.md) -## Specifications +## 产品规格 -### Processor +### 处理器 - 32bit STM32F427 [Cortex M4](http://en.wikipedia.org/wiki/ARM_Cortex-M#Cortex-M4) core with FPU - 168 MHz / 252 MIPS @@ -51,11 +51,11 @@ Cube includes vibration isolation on two of the IMU's, with a third fixed IMU as - 2 MB Flash (fully accessible) - 32 bit STM32F103 failsafe co-processor -### Sensors +### 传感器 - TBA -### Interfaces +### 接口 - 5x UART (serial ports), one high-power capable, 2x with HW flow control - 2x CAN (one with internal 3.3V transceiver, one on expansion connector) @@ -88,13 +88,13 @@ Under these conditions all power sources will be used in this order to power the #### 绝对最大额定值 -Under these conditions the system will not draw any power (will not be operational), but will remain intact. +在以下条件下，系统不会获得任何供电（不可运行），但不会损坏。 - Power module input (4.1V to 5.7V, 0V to 20V undamaged) - Servo rail input (4.1V to 5.7V, 0V to 20V) - USB power input (4.1V to 5.7V, 0V to 6V) -## Pinouts and Schematics +## 引脚和原理图 Board schematics and other documentation can be found here: [The Cube Project](https://github.com/proficnc/The-Cube). @@ -110,7 +110,7 @@ Board schematics and other documentation can be found here: [The Cube Project](h -| UART | Device | Port | +| UART | 设备 | Port | | ------ | ---------- | --------------------- | | USART1 | /dev/ttyS0 | | | USART2 | /dev/ttyS1 | TELEM1 (flow control) | @@ -132,11 +132,11 @@ Board schematics and other documentation can be found here: [The Cube Project](h ![Cube USB/SDCard Ports](../../assets/flight_controller/cube/cube_ports_usb_sdcard.jpg) -## Building Firmware +## 编译固件 -> **Tip** Most users will not need to build this firmware! It is pre-built and automatically installed by *QGroundControl* when appropriate hardware is connected. +> **Tip** 大多数用户不需要构建此固件！ 它是预构建的，并在连接适当的硬件时由 *QGroundControl* 自动安装。 -To [build PX4](../dev_setup/building_px4.md) for this target: +为此目标 [编译 PX4](../dev_setup/building_px4.md)： make px4_fmu-v3_default @@ -147,7 +147,7 @@ CAN1 and CAN2 silk screen on the Cube Black are flipped (CAN1 is CAN2 and vice v ## Further Information/Documentation -- [Cube Wiring Quickstart](../assembly/quick_start_cube.md) +- [Cube 快速接线指南](../assembly/quick_start_cube.md) - Cube Docs (Manufacturer): - [Cube Module Overview](https://docs.cubepilot.org/user-guides/autopilot/the-cube-module-overview) - [Cube User Manual](https://docs.cubepilot.org/user-guides/autopilot/the-cube-user-manual) diff --git a/zh/flight_controller/pixhawk.md b/zh/flight_controller/pixhawk.md index 7b1e1d05c2d6..1922f6328cb7 100644 --- a/zh/flight_controller/pixhawk.md +++ b/zh/flight_controller/pixhawk.md @@ -1,10 +1,10 @@ # 3DR Pixhawk 1 Flight Controller (Discontinued) -> **Warning** PX4 does not manufacture this (or any) autopilot. Contact the manufacturer for support or compliance issues. +> **Warning** PX4 不生产这款且也不生产任何自动驾驶仪。 Contact the manufacturer for support or compliance issues. > > **Warning** This flight controller has been [discontinued](../flight_controller/autopilot_experimental.md) and is no longer commercially available. You can use the [mRo Pixhawk](../flight_controller/mro_pixhawk.md) as a drop-in replacement. -The *3DR Pixhawk® 1* autopilot is a popular general purpose flight controller based on the [Pixhawk-project](https://pixhawk.org/) **FMUv2** open hardware design (it combines the functionality of the PX4FMU + PX4IO). It runs PX4 on the [NuttX](http://nuttx.org) OS. +The *3DR Pixhawk® 1* autopilot is a popular general purpose flight controller based on the [Pixhawk-project](https://pixhawk.org/) **FMUv2** open hardware design (it combines the functionality of the PX4FMU + PX4IO). 它在 [NuttX](http://nuttx.org) 操作系统上运行 PX4。 ![Pixhawk 图像](../../assets/hardware/hardware-pixhawk.png) @@ -12,7 +12,7 @@ Assembly/setup instructions for use with PX4 are provided here: [Pixhawk Wiring ## 主要特性 -* Main System-on-Chip: [STM32F427](http://www.st.com/web/en/catalog/mmc/FM141/SC1169/SS1577/LN1789) +* 主片上系统：[STM32F427](http://www.st.com/web/en/catalog/mmc/FM141/SC1169/SS1577/LN1789) * CPU: 180 MHz ARM® Cortex® M4 with single-precision FPU * RAM: 256 KB SRAM (L1) * Failsafe System-on-Chip: STM32F100 @@ -64,7 +64,7 @@ Order mRo Pixhawk from: * ST Micro L3GD20H 16 bit gyroscope * ST Micro LSM303D 14 bit accelerometer / magnetometer * Invensense MPU 6000 3-axis accelerometer/gyroscope -* MEAS MS5611 barometer +* MEAS MS5611 气压计 ### 接口 @@ -101,7 +101,7 @@ Under these conditions all power sources will be used in this order to power the ### 绝对最大额定值 -Under these conditions the system will not draw any power (will not be operational), but will remain intact. +在以下条件下，系统不会获得任何供电（不可运行），但不会损坏。 * Power module input (4.1V to 5.7V, 0V to 20V undamaged) * Servo rail input (4.1V to 5.7V, 0V to 20V) @@ -109,19 +109,19 @@ Under these conditions the system will not draw any power (will not be operation ## 原理图 -[FMUv2 + IOv2 schematic](https://raw.githubusercontent.com/PX4/Hardware/master/FMUv2/PX4FMUv2.4.5.pdf) -- Schematic and layout +[FMUv2 + IOv2 schematic](https://raw.githubusercontent.com/PX4/Hardware/master/FMUv2/PX4FMUv2.4.5.pdf) - 原理图和布局 -> **Note** As a CC-BY-SA 3.0 licensed Open Hardware design, all schematics and design files are [available](https://github.com/PX4/Hardware). +> **Note**作为 CC-BY-SA 3.0 许可的开放硬件设计，所有原理图和设计文件都是 [available](https://github.com/PX4/Hardware)。 ## 连接器 > **Tip** The RC IN port is for RC receivers only and provides power. **NEVER** connect any servos, power supplies or batteries to it or to the receiver connected to it. -![Pixhawk Connectors](../../assets/flight_controller/pixhawk1/pixhawk_connectors.png) +![Pixhawk 连接器](../../assets/flight_controller/pixhawk1/pixhawk_connectors.png) ## 针脚定义 -#### TELEM1, TELEM2 ports +#### TELEM1，TELEM2 接口 | 针脚 | 信号 | 电压 | | ---- | --------- | ----- | @@ -132,100 +132,100 @@ Under these conditions the system will not draw any power (will not be operation | 5（黑） | RTS (OUT) | +3.3V | | 6（黑） | GND | GND | -#### GPS port +#### GPS 接口 -| 针脚 | 信号 | 电压 | -| ------- | -------- | ----- | -| 1（红） | VCC | +5V | -| 2（黑） | TX (OUT) | +3.3V | -| 3 (blk) | RX (IN) | +3.3V | -| 4 (blk) | CAN2 TX | +3.3V | -| 5 (blk) | CAN2 RX | +3.3V | -| 6 (blk) | GND | GND | +| 针脚 | 信号 | 电压 | +| ---- | -------- | ----- | +| 1（红） | VCC | +5V | +| 2（黑） | TX (OUT) | +3.3V | +| 3 | RX (IN) | +3.3V | +| 4（黑） | CAN2 TX | +3.3V | +| 6 | CAN2 RX | +3.3V | +| 6 | GND | GND | #### SERIAL 4/5 port Due to space constraints two ports are on one connector. -| 针脚 | 信号 | 电压 | -| ------- | ------- | ----- | -| 1 (red) | VCC | +5V | -| 2 (blk) | TX (#4) | +3.3V | -| 3 (blk) | RX (#4) | +3.3V | -| 4 (blk) | TX (#5) | +3.3V | -| 5 (blk) | RX (#5) | +3.3V | -| 6 (blk) | GND | GND | +| 针脚 | 信号 | 电压 | +| ---- | ------- | ----- | +| 2 | VCC | +5V | +| 2 | TX (#4) | +3.3V | +| 3 | RX (#4) | +3.3V | +| 4（黑） | TX (#5) | +3.3V | +| 6 | RX (#5) | +3.3V | +| 6 | GND | GND | #### ADC 6.6V -| 针脚 | 信号 | 电压 | -| ------- | ------ | ----------- | -| 1 (red) | VCC | +5V | -| 2 (blk) | ADC IN | up to +6.6V | -| 3 (blk) | GND | GND | +| 针脚 | 信号 | 电压 | +| -- | ------ | ----------- | +| 2 | VCC | +5V | +| 2 | ADC IN | up to +6.6V | +| 3 | GND | GND | #### ADC 3.3V -| 针脚 | 信号 | 电压 | -| ------- | ------ | ----------- | -| 1 (red) | VCC | +5V | -| 2 (blk) | ADC IN | up to +3.3V | -| 3 (blk) | GND | GND | -| 4 (blk) | ADC IN | up to +3.3V | -| 5 (blk) | GND | GND | +| 针脚 | 信号 | 电压 | +| ---- | ------ | ----------- | +| 2 | VCC | +5V | +| 2 | ADC IN | up to +3.3V | +| 3 | GND | GND | +| 4（黑） | ADC IN | up to +3.3V | +| 6 | GND | GND | #### I2C -| 针脚 | 信号 | 电压 | -| ------- | --- | -------------- | -| 1 (red) | VCC | +5V | -| 2 (blk) | SCL | +3.3 (pullups) | -| 3 (blk) | SDA | +3.3 (pullups) | -| 4 (blk) | GND | GND | +| 针脚 | 信号 | 电压 | +| ---- | --- | -------------- | +| 2 | VCC | +5V | +| 2 | SCL | +3.3 (pullups) | +| 3 | SDA | +3.3 (pullups) | +| 4（黑） | GND | GND | #### CAN -| 针脚 | 信号 | 电压 | -| ------- | ----- | ---- | -| 1 (red) | VCC | +5V | -| 2 (blk) | CAN_H | +12V | -| 3 (blk) | CAN_L | +12V | -| 4 (blk) | GND | GND | +| 针脚 | 信号 | 电压 | +| ---- | ----- | ---- | +| 2 | VCC | +5V | +| 2 | CAN_H | +12V | +| 3 | CAN_L | +12V | +| 4（黑） | GND | GND | #### SPI -| 针脚 | 信号 | 电压 | -| ------- | -------------- | ---- | -| 1 (red) | VCC | +5V | -| 2 (blk) | SPI_EXT_SCK | +3.3 | -| 3 (blk) | SPI_EXT_MISO | +3.3 | -| 4 (blk) | SPI_EXT_MOSI | +3.3 | -| 5 (blk) | !SPI_EXT_NSS | +3.3 | -| 6 (blk) | !GPIO_EXT | +3.3 | -| 7 (blk) | GND | GND | +| 针脚 | 信号 | 电压 | +| ---- | -------------- | ---- | +| 2 | VCC | +5V | +| 2 | SPI_EXT_SCK | +3.3 | +| 3 | SPI_EXT_MISO | +3.3 | +| 4（黑） | SPI_EXT_MOSI | +3.3 | +| 6 | !SPI_EXT_NSS | +3.3 | +| 6 | !GPIO_EXT | +3.3 | +| 7 | GND | GND | #### POWER -| 针脚 | 信号 | 电压 | -| ------- | ------- | ----- | -| 1 (red) | VCC | +5V | -| 2 (blk) | VCC | +5V | -| 3 (blk) | CURRENT | +3.3V | -| 4 (blk) | VOLTAGE | +3.3V | -| 5 (blk) | GND | GND | -| 6 (blk) | GND | GND | +| 针脚 | 信号 | 电压 | +| ---- | --- | ----- | +| 2 | VCC | +5V | +| 2 | VCC | +5V | +| 3 | 电流 | +3.3V | +| 4（黑） | 电压 | +3.3V | +| 6 | GND | GND | +| 6 | GND | GND | #### SWITCH -| 针脚 | 信号 | 电压 | -| ------- | ---------------- | ----- | -| 1 (red) | VCC | +3.3V | -| 2 (blk) | !IO_LED_SAFETY | GND | -| 3 (blk) | SAFETY | GND | +| 针脚 | 信号 | 电压 | +| -- | ---------------- | ----- | +| 2 | VCC | +3.3V | +| 2 | !IO_LED_SAFETY | GND | +| 3 | SAFETY | GND | ## Serial Port Mapping -| UART | Device | Port | +| UART | 设备 | Port | | ------ | ---------- | --------------------- | | UART1 | /dev/ttyS0 | IO debug | | USART2 | /dev/ttyS1 | TELEM1 (flow control) | @@ -248,7 +248,7 @@ The pinout is standard serial pinout, designed to connect to a [3.3V FTDI](https | 3DR Pixhawk 1 | | FTDI | | ------------- | --------- | -------------------- | -| 1 | +5V (red) | | N/C | +| 1 | + 5v (红色) | | N/C | | 2 | S4 Tx | | N/C | | 3 | S4 Rx | | N/C | | 4 | S5 Tx | 5 | FTDI RX (yellow) | @@ -257,11 +257,11 @@ The pinout is standard serial pinout, designed to connect to a [3.3V FTDI](https The wiring for an FTDI cable to a 6-pos DF13 1:1 connector is shown in the figure below. -![Console Connector](../../assets/flight_controller/pixhawk1/console_connector.jpg) +![控制台连接器](../../assets/flight_controller/pixhawk1/console_connector.jpg) -The complete wiring is shown below. +完整的布线如下所示。 -![Console Debug](../../assets/flight_controller/pixhawk1/console_debug.jpg) +![控制台调试](../../assets/flight_controller/pixhawk1/console_debug.jpg) > > **Note** For information on how to *use* the console see: [System Console](../debug/system_console.md) (PX4 Developer Guide) @@ -279,11 +279,11 @@ The ports are ARM 10-pin JTAG connectors, which you will probably have to solder > **Note** All Pixhawk FMUv2 boards have a similar SWD port. -## Building Firmware +## 编译固件 -> **Tip** Most users will not need to build this firmware! It is pre-built and automatically installed by *QGroundControl* when appropriate hardware is connected. +> **Tip**大多数用户将不需要建立此固件! 它是预构建的, 并在连接适当的硬件时由 *QGroundControl* 自动安装。 -To [build PX4](../dev_setup/building_px4.md) for this target: +为此目标 [编译 PX4](../dev_setup/building_px4.md)： make px4_fmu-v2_default @@ -298,6 +298,6 @@ To [build PX4](../dev_setup/building_px4.md) for this target: * Mates: Hirose DF13 6 pos housing ([Digi-Key Link: Hirose DF13-6S-1.25C](https://www.digikey.com/products/en?keywords=H2182-ND)) * **I2C and CAN**: Hirose DF13 4 pos ([Digi-Key Link: DF13A-4P-1.25H(20)](https://www.digikey.com/products/en?keywords=H3369-ND)) -## Supported Platforms / Airframes +## 支持的平台 / 机身 -Any multicopter / airplane / rover or boat that can be controlled with normal RC servos or Futaba S-Bus servos. \ No newline at end of file +任何可用普通RC伺服系统或Futaba S-Bus伺服系统控制的多旋翼、固定翼、无人机、无人船。 \ No newline at end of file diff --git a/zh/flight_controller/pixhawk3_pro.md b/zh/flight_controller/pixhawk3_pro.md index dc882e76e80e..816b1a40c6f2 100644 --- a/zh/flight_controller/pixhawk3_pro.md +++ b/zh/flight_controller/pixhawk3_pro.md @@ -1,6 +1,6 @@ # Pixhawk 3 Pro -> **Warning** PX4 does not manufacture this (or any) autopilot. Contact the [manufacturer](https://store-drotek.com/) for hardware support or compliance issues. +> **Warning** PX4 不生产这款且也不生产任何自动驾驶仪。 若需要硬件支持或咨询合规问题，请联系 [制造商](https://store-drotek.com/)。 The Pixhawk® 3 Pro is based on the FMUv4 hardware design (Pixracer) with some upgrades and additional features. The board was designed by [Drotek®](https://drotek.com) and PX4. @@ -39,16 +39,16 @@ From [readymaderc](https://www.readymaderc.com) (USA) : - [Pixhawk 3 Pro](https://www.readymaderc.com/products/details/pixhawk-3-pro-flight-controller) -## Building Firmware +## 编译固件 -> **Tip** Most users will not need to build this firmware! It is pre-built and automatically installed by *QGroundControl* when appropriate hardware is connected. +> **Tip** 多数用户不需要自己构建固件！ 它是预构建的，并在连接适当的硬件时由 *QGroundControl* 自动安装。 -To [build PX4](../dev_setup/building_px4.md) for this target: +为此目标 [编译 PX4](../dev_setup/building_px4.md)： make px4_fmu-v4pro_default -## Debug Port +## Debug调试端口 The board has FMU and IO debug ports as shown below. @@ -56,14 +56,14 @@ The board has FMU and IO debug ports as shown below. The pinouts and connector comply with the [Pixhawk Standard Debug Port](https://pixhawk.org/pixhawk-connector-standard/#dronecode_debug) (JST SM06B connector). -| Pin | Signal | Volt | -| ------- | ---------------- | ----- | -| 1 (red) | VCC TARGET SHIFT | +3.3V | -| 2 (blk) | CONSOLE TX (OUT) | +3.3V | -| 3 (blk) | CONSOLE RX (IN) | +3.3V | -| 4 (blk) | SWDIO | +3.3V | -| 5 (blk) | SWCLK | +3.3V | -| 6 (blk) | GND | GND | +| 针脚 | 信号 | 电压 | +| ---- | ---------------- | ----- | +| 2 | VCC TARGET SHIFT | +3.3V | +| 2 | UART7 Tx | +3.3V | +| 3 | UART7 Rx | +3.3V | +| 4（黑） | SWDIO | +3.3V | +| 6 | SWCLK | +3.3V | +| 6 | GND | GND | For information about wiring and using this port see: @@ -72,7 +72,7 @@ For information about wiring and using this port see: ## Serial Port Mapping -| UART | Device | Port | +| UART | 设备 | Port | | ------ | ---------- | --------------------- | | UART1 | /dev/ttyS0 | WiFi | | USART2 | /dev/ttyS1 | TELEM1 (flow control) | diff --git a/zh/flight_controller/pixhawk4.md b/zh/flight_controller/pixhawk4.md index 2f3922ce0d42..74d09496a43d 100644 --- a/zh/flight_controller/pixhawk4.md +++ b/zh/flight_controller/pixhawk4.md @@ -1,6 +1,6 @@ # Pixhawk 4 -> **Warning** PX4 does not manufacture this (or any) autopilot. Contact the [manufacturer](https://shop.holybro.com/) for hardware support or compliance issues. +> **Warning** PX4 不生产这款且也不生产任何自动驾驶仪。 若需要硬件支持或咨询合规问题，请联系 [制造商](https://shop.holybro.com/)。 *Pixhawk 4*® 是一款高端自驾仪，由 Holybro® 与 PX4 团队联合设计打造。 It is optimized to run PX4 v1.7 and later, and is suitable for academic and commercial developers. @@ -53,7 +53,7 @@ ![Pixhawk 4 连接器](../../assets/flight_controller/pixhawk4/pixhawk4-connectors.jpg) -> **Warning** The **DSM/SBUS RC** and **PPM RC** ports are for RC receivers only. These are powered! NEVER connect any servos, power supplies or batteries (or to any connected receiver). +> **Warning** **DSM/SBUS RC** 与 **PPM RC** 接口仅可用于遥控接收机。 这两个接口已经供电！ 不要把舵机、电源、电池（或是连接了这些设备的接收机）连接到上面。 ## 针脚定义 @@ -63,7 +63,7 @@ ## Serial Port Mapping -| UART | Device | Port | +| UART | 设备 | Port | | ------ | ---------- | --------------------- | | UART1 | /dev/ttyS0 | GPS | | USART2 | /dev/ttyS1 | TELEM1 (flow control) | @@ -73,15 +73,15 @@ | UART7 | /dev/ttyS5 | Debug Console | | UART8 | /dev/ttyS6 | PX4IO | -## Dimensions +## 尺寸 ![Pixhawk 4 尺寸](../../assets/flight_controller/pixhawk4/pixhawk4_dimensions.jpg) -## Voltage Ratings +## 额定电压 *Pixhawk 4* 可以实现电源三度冗余。 三个供电轨道为：**POWER1**，**POWER2** 和 **USB**。 -> **Note** The output power rails **FMU PWM OUT** and **I/O PWM OUT** (0V to 36V) do not power the flight controller board (and are not powered by it). You must supply power to one of **POWER1**, **POWER2** or **USB** or the board will be unpowered. +> **Note** 输出电源轨 **FMU PWM OUT** 和 **IO PWM OUT**（0V至36V）不为飞控板供电（并且不由其供电）。 您必须在 **POWER1**、**POWER2** 或 **USB** 任一接口中接入电源，否则飞控板将会断电。 **正常运行最大额定值** @@ -98,24 +98,24 @@ 2. **USB** 输入（可运行范围 4.1V 至 5.7V，0V 至 6V 不会损坏） 3. 舵机输入：**FMU PWM OUT** 和 **I/O PWM OUT** 的 VDD_SERVO 针脚 （0V 至 42V 不会损坏） -## Assembly/Setup +## 组装 / 设置 [Pixhawk 4 快速接线指南](../assembly/quick_start_pixhawk4.md) 提供如何组装所需的/重要的外设包含 GPS，电源管理板等的说明。 -## Building Firmware +## 编译固件 -> **Tip** Most users will not need to build this firmware! It is pre-built and automatically installed by *QGroundControl* when appropriate hardware is connected. +> **Tip** 大多数用户不需要构建此固件！ 它是预构建的，并在连接适当的硬件时由 *QGroundControl* 自动安装。 -To [build PX4](../dev_setup/building_px4.md) for this target: +为此目标 [编译 PX4](../dev_setup/building_px4.md)： make px4_fmu-v5_default -## Debug Port +## Debug调试端口 -The [PX4 System Console](../debug/system_console.md) and [SWD interface](../debug/swd_debug.md) run on the **FMU Debug** port, while the I/O console and SWD interface can be accessed via **I/O Debug** port. In order to access these ports, the user must remove the *Pixhawk 4* casing. +The [PX4 System Console](../debug/system_console.md) and [SWD interface](../debug/swd_debug.md) run on the **FMU Debug** port, while the I/O console and SWD interface can be accessed via **I/O Debug** port. 为了能访问这些接口，用户需要移除 *Pixhawk 4* 的外壳。 ![Pixhawk 4 Debug Ports](../../assets/flight_controller/pixhawk4/pixhawk4_debug_port.jpg) @@ -123,20 +123,21 @@ The pinout uses the standard [Pixhawk debug connector pinout](https://pixhawk.or * [System Console > Pixhawk Debug Port](../debug/system_console.md#pixhawk_debug_port) (PX4 Developer Guide) -## Peripherals +## 外部设备 * [数字空速传感器](https://drotek.com/shop/en/home/848-sdp3x-airspeed-sensor-kit-sdp33.html) * [数传电台模块](../telemetry/README.md) * [测距仪/距离传感器](../sensor/rangefinders.md) -## Supported Platforms / Airframes +## 支持的平台/机身 -Any multicopter / airplane / rover or boat that can be controlled with normal RC servos or Futaba S-Bus servos. The complete set of supported configurations can be seen in the [Airframes Reference](../airframes/airframe_reference.md). +任何可用普通RC伺服系统或Futaba S-Bus伺服系统控制的多旋翼、固定翼、无人机、无人船。 全部可支持的机型可见 [机型参考](../airframes/airframe_reference.md)。 -## Further info +## 更多信息 -* [Pixhawk 4 Technical Data Sheet](https://github.com/PX4/px4_user_guide/raw/master/assets/flight_controller/pixhawk4/pixhawk4_technical_data_sheet.pdf) -* [FMUv5 reference design pinout](https://docs.google.com/spreadsheets/d/1-n0__BYDedQrc_2NHqBenG1DNepAgnHpSGglke-QQwY/edit#gid=912976165). -* [Pixhawk 4 Wiring QuickStart](../assembly/quick_start_pixhawk4.md) -* [Pixhawk 4 Pinouts](http://www.holybro.com/manual/Pixhawk4-Pinouts.pdf) (Holybro) -* [Pixhawk 4 Quick Start Guide (Holybro)](http://www.holybro.com/manual/Pixhawk4-quickstartguide.pdf) \ No newline at end of file +* [Pixhawk 4 技术数据表](https://github.com/PX4/px4_user_guide/raw/master/assets/flight_controller/pixhawk4/pixhawk4_technical_data_sheet.pdf) +* FMUv5参考设计。 + + * [Pixhawk 4 Wiring QuickStart](../assembly/quick_start_pixhawk4.md) + * [Pixhawk 4 针脚定义](http://www.holybro.com/manual/Pixhawk4-Pinouts.pdf)（PDF） + * [Pixhawk 4 快速入门指南（PDF）](http://www.holybro.com/manual/Pixhawk4-quickstartguide.pdf) \ No newline at end of file diff --git a/zh/flight_controller/pixhawk4_mini.md b/zh/flight_controller/pixhawk4_mini.md index 3c5df7c934d0..942fabfd3d5e 100644 --- a/zh/flight_controller/pixhawk4_mini.md +++ b/zh/flight_controller/pixhawk4_mini.md @@ -1,112 +1,112 @@ # Pixhawk 4 Mini -> **Warning** PX4 does not manufacture this (or any) autopilot. Contact the [manufacturer](https://shop.holybro.com/) for hardware support or compliance issues. +> **Warning** PX4 不生产这款且也不生产任何自动驾驶仪。 若需要硬件支持或咨询合规问题，请联系 [制造商](https://shop.holybro.com/)。 -The *Pixhawk® 4 Mini* autopilot is designed for engineers and hobbyists who are looking to tap into the power of *Pixhawk 4* but are working with smaller drones. *Pixhawk 4 Mini* takes the FMU processor and memory resources from the *Pixhawk 4* while eliminating interfaces that are normally unused. This allows the *Pixhawk 4 Mini* to be small enough to fit in a 250mm racer drone. +*Pixhawk® 4 Mini* 自动驾驶仪是为想办法利用 *Pixhawk 4* 的力量，但是使用的是较小的无人机的工程师和爱好者而设计的。 *Pixhawk 4 Mini* 使用 *Pixhawk 4* 相同的 FMU 处理器与储存资源，同时砍掉了通常不会使用的接口。 这使得 *Pixhawk 4 Mini* 足够小，可以装到 250mm 的穿越机上。 -*Pixhawk 4 Mini* was designed and developed in collaboration with Holybro® and Auterion®. It is based on the [Pixhawk](https://pixhawk.org/) **FMUv5** design standard and is optimized to run PX4 flight control software. +*Pixhawk 4 Mini* 由 Holybro® 和 Auterion® 合作设计开发。 它基于 [Pixhawk](https://pixhawk.org/) **FMUv5** 设计标准，并为 PX4 飞行控制软件优化。 ![Pixhawk4 mini](../../assets/flight_controller/pixhawk4mini/pixhawk4mini_iso_1.png) > **Tip** This autopilot is [supported](../flight_controller/autopilot_pixhawk_standard.md) by the PX4 maintenance and test teams. -## Quick Summary - -* Main FMU Processor: STM32F765 - * 32 Bit Arm® Cortex®-M7, 216MHz, 2MB memory, 512KB RAM -* On-board sensors: - * Accel/Gyro: ICM-20689 - * Accel/Gyro: BMI055 - * Magnetometer: IST8310 - * Barometer: MS5611 -* GPS: ublox Neo-M8N GPS/GLONASS receiver; integrated magnetometer IST8310 -* Interfaces: - * 8 PWM outputs - * 4 dedicated PWM/Capture inputs on FMU - * Dedicated R/C input for CPPM - * Dedicated R/C input for Spektrum / DSM and S.Bus with analog / PWM RSSI input - * 3 general purpose serial ports - * 2 I2C ports - * 3 SPI buses - * 1 CANBuses for CAN ESC - * Analog inputs for voltage / current of battery - * 2 additional analog input -* Power System: - * Power Brick Input: 4.75~5.5V - * USB Power Input: 4.75~5.25V - * Servo Rail Input: 0~24V - * Max current sensing: 120A -* Weight and Dimensions: +## 概览 + +* 主 FMU 处理器：STM32F765 + * 32 位 Arm® Cortex®-M7，216MHz，2MB 储存，512KB RAM +* 内置传感器： + * 加速度计 / 陀螺仪：ICM-20689 + * 加速度计 / 陀螺仪：BMI055 + * 磁力计：IST8310 + * 气压计：MS5611 +* GPS：ublox Neo-M8N GPS/GLONASS 接收器；集成磁力计 IST8310 +* 接口： + * 8 路 PWM 输出 + * FMU 上有 4 路专用 PWM/Capture 输入 + * 用于 CPPM 的专用遥控输入 + * 用于 Spektrum / DSM 与 有模拟 / PWM RSSI 的 S.Bus 的专用遥控输入 + * 3个通用串行口 + * 2 路 I2C 总线 + * 3 路 SPI 总线 + * 1 路 CAN 总线用于 CAN 电调 + * 电池电压 / 电流模拟输入口 + * 2 个模拟输入接口 +* 电源系统： + * Power 接口输入：4.75~5.5V + * USB 电源输入：4.75~5.25V + * 舵机轨道输入：0~24V + * 最大电流感应：120A +* 重量和尺寸: * Weight: 37.2g * Dimensions: 38x55x15.5mm -* Other Characteristics: - * Operating temperature: -40 ~ 85°c +* 其它特性: + * 工作温度：-40 ~ 85°C -Additional information can be found in the [*Pixhawk 4 Mini* Technical Data Sheet](https://github.com/PX4/px4_user_guide/raw/master/assets/flight_controller/pixhawk4mini/pixhawk4mini_technical_data_sheet.pdf). +更多信息可以在 [*Pixhawk 4 Mini* 技术数据表](https://github.com/PX4/px4_user_guide/raw/master/assets/flight_controller/pixhawk4mini/pixhawk4mini_technical_data_sheet.pdf)中找到。 -## Purchase +## 采购 -Order from [Holybro](https://shop.holybro.com/pixhawk4-mini_p1120.html). +中国大陆用户请从官方代理商“思动智能”的淘宝店“地面售货站”购买。境外用户从 [Holybro](https://shop.holybro.com/pixhawk4-mini_p1120.html) 购买。 -## Interfaces +## 接口 -![Pixhawk 4 Mini interfaces](../../assets/flight_controller/pixhawk4mini/pixhawk4mini_interfaces.png) +![Pixhawk 4 Mini 接口](../../assets/flight_controller/pixhawk4mini/pixhawk4mini_interfaces.png) -> **Warning** The **RC IN** and **PPM** ports are for RC receivers only. These are powered! NEVER connect any servos, power supplies or batteries (or to any connected receiver). +> **Warning** **RC IN** 与 **PPM** 接口仅可用于遥控接收机。 这两个接口已经供电！ 不要把舵机、电源、电池（或是连接了这些设备的接收机）连接到上面。 -## Pinouts +## 针脚定义 -Download *Pixhawk 4 Mini* pinouts from [here](https://github.com/PX4/px4_user_guide/raw/master/assets/flight_controller/pixhawk4mini/pixhawk4mini_pinouts.pdf). +[在此下载](https://github.com/PX4/px4_user_guide/raw/master/assets/flight_controller/pixhawk4mini/pixhawk4mini_pinouts.pdf) *Pixhawk 4 Mini* 的 pinout。 -## Dimensions +## 尺寸 -![Pixhawk 4 Mini Dimensions](../../assets/flight_controller/pixhawk4mini/pixhawk4mini_dimensions.png) +![Pixhawk 4 Mini 尺寸](../../assets/flight_controller/pixhawk4mini/pixhawk4mini_dimensions.png) -## Voltage Ratings +## 额定电压 -*Pixhawk 4 Mini* can have power supply redundancy — if two power sources are supplied. The power rails are: **POWER** and **USB**. +*Pixhawk 4 Mini* 可以有电源冗余 — 如果提供了两个电源。 供电轨道为：**POWER** 和 **USB**。 -> **Note** The output power rail of **MAIN OUT** does not power the flight controller board (and is not powered by it). You must [supply power](../assembly/quick_start_pixhawk4_mini.md#power) to one of **POWER** or **USB** or the board will be unpowered. +> **Note** **MAIN OUT** 电源输出轨并不会为飞控板供电（而且不由其供电）。 你必须在 **POWER** 或 **USB** 之一 [提供电源](../assembly/quick_start_pixhawk4_mini.md#power)，否则飞控板将不会供电。 -**Normal Operation Maximum Ratings** +**正常运行最大额定值** -Under these conditions all power sources will be used in this order to power the system: +在以下条件下，所有电源将按此顺序用于为系统供电： -1. **POWER** (4.75V to 5.5V) -2. **USB** input (4.75V to 5.25V) +1. **POWER**（4.75V 至 5.5V） +2. **USB** 输入电压（4.75 v 至 5.25 v） -**Absolute Maximum Ratings** +**绝对最大额定值** -Under these conditions the system will remain intact. +在这些情况下，系统将保持完整。 -1. **POWER** input (0V to 6V undamaged) -2. **USB** input (0V to 6V undamaged) -3. Servo input: VDD_SERVO pin of **MAIN OUT** (0V to 24V undamaged) +1. **POWER** 输入（0V 至 6V 不会损坏） +2. **USB** 输入（0V 至 6V 不会损坏） +3. 舵机输入：**MAIN OUT** 的 VDD_SERVO 针脚 （0V 至 24V 不会损坏） -## Assembly/Setup +## 组装 / 设置 -The [*Pixhawk 4 Mini* Wiring Quick Start](../assembly/quick_start_pixhawk4_mini.md) provides instructions on how to assemble required/important peripherals including GPS, Power Management Board, etc. +[*Pixhawk 4 Mini* 快速接线指南](../assembly/quick_start_pixhawk4_mini.md) 提供如何组装所需的/重要的外设包含 GPS，电源管理板等的说明。 -## Building Firmware +## 编译固件 -> **Tip** Most users will not need to build this firmware! It is pre-built and automatically installed by *QGroundControl* when appropriate hardware is connected. +> **Tip** 大多数用户不需要构建此固件！ 它是预构建的，并在连接适当的硬件时由 *QGroundControl* 自动安装。 -To [build PX4](../dev_setup/building_px4.md) for this target: +为此目标 [编译 PX4](../dev_setup/building_px4.md)： make px4_fmu-v5_default -## Debug Port +## 调试接口 -The [PX4 System Console](../debug/system_console.md) and [SWD interface](../debug/swd_debug.md) run on the **FMU Debug** port. In order to access these ports, the user must remove the *Pixhawk 4 Mini* casing. +The [PX4 System Console](../debug/system_console.md) and [SWD interface](../debug/swd_debug.md) run on the **FMU Debug** port. 为了能访问这些接口，用户需要移除 *Pixhawk 4 Mini* 的外壳。 -![Pixhawk 4 Mini FMU Debug](../../assets/flight_controller/pixhawk4mini/pixhawk4mini_fmu_debug.png) +![Pixhawk 4 Mini FMU 调试](../../assets/flight_controller/pixhawk4mini/pixhawk4mini_fmu_debug.png) -The port has a standard serial pinout and can be connected to a standard FTDI cable (3.3V, but it's 5V tolerant) or a [Dronecode probe](https://kb.zubax.com/display/MAINKB/Dronecode+Probe+documentation). The pinout uses the standard [Pixhawk debug connector](https://pixhawk.org/pixhawk-connector-standard/#dronecode_debug) pinout. Please refer to the [wiring](../debug/system_console.md) page for details of how to wire up this port. +端口使用标准的串口针脚，可以连接到标准的 FTDI 连接线上（3.3V，但它有5V 耐受性），或连接到 [Dronecode probe](https://kb.zubax.com/display/MAINKB/Dronecode+Probe+documentation) 上。 The pinout uses the standard [Pixhawk debug connector](https://pixhawk.org/pixhawk-connector-standard/#dronecode_debug) pinout. 有关如何连接此端口的详细信息，请参阅 [接线](../debug/system_console.md) 页面。 ## Serial Port Mapping -| UART | Device | Port | +| UART | 设备 | Port | | ------ | ---------- | ------------------------------------- | | UART1 | /dev/ttyS0 | GPS | | USART2 | /dev/ttyS1 | TELEM1 (flow control) | @@ -117,19 +117,19 @@ The port has a standard serial pinout and can be connected to a standard FTDI ca | UART8 | /dev/ttyS6 | Not connected (no PX4IO) | -## Peripherals +## 外部设备 -* [Digital Airspeed Sensor](https://drotek.com/shop/en/home/848-sdp3x-airspeed-sensor-kit-sdp33.html) -* [Telemetry Radio Modules](../telemetry/README.md) -* [Rangefinders/Distance sensors](../sensor/rangefinders.md) +* [数字空速传感器](https://drotek.com/shop/en/home/848-sdp3x-airspeed-sensor-kit-sdp33.html) +* [数传电台模块](../telemetry/README.md) +* [测距仪/距离传感器](../sensor/rangefinders.md) -## Supported Platforms +## 支持的平台 -Motors and servos are connected to the **MAIN OUT** ports in the order specified for your vehicle in the [Airframe Reference](../airframes/airframe_reference.md). This reference lists the output port to motor/servo mapping for all supported air and ground frames (if your frame is not listed in the reference then use a "generic" airframe of the correct type). +电机和舵机按照 [机架参考](../airframes/airframe_reference.md) 中为您的飞机指定的顺序连接至 **MAIN OUT** 端口。 本参考列出了所有支持的空中和地面机架的接口和电机/舵机的映射关系（如果你的机架没有在参考列表里，你可以使用对应类型的“通用（generic）”机架）。 -> **Warning** *Pixhawk 4 Mini* does not have AUX ports. The board cannot be used with frames that require more than 8 ports or which use AUX ports for motors or control surfaces. It can be used for airframes that use AUX for non-essential peripherals (e.g. "feed-through of RC AUX1 channel"). +> **Warning** *Pixhawk 4 Mini* 没有 AUX 接口。 该飞控不能用于接口多余 8 个或使用 AUX 接口的电机或舵面的机架。 它可用于 AUX 分配给了非必要外设的机架（如遥控AUX1直通）。 -## Further info +## 更多信息 -- [*Pixhawk 4 Mini* Technical Data Sheet](https://github.com/PX4/px4_user_guide/raw/master/assets/flight_controller/pixhawk4mini/pixhawk4mini_technical_data_sheet.pdf) -- [FMUv5 reference design pinout](https://docs.google.com/spreadsheets/d/1-n0__BYDedQrc_2NHqBenG1DNepAgnHpSGglke-QQwY/edit#gid=912976165). \ No newline at end of file +- [*Pixhawk 4 Mini* 技术数据表](https://github.com/PX4/px4_user_guide/raw/master/assets/flight_controller/pixhawk4mini/pixhawk4mini_technical_data_sheet.pdf) +- [FMUv5 参考设计 pinout](https://docs.google.com/spreadsheets/d/1-n0__BYDedQrc_2NHqBenG1DNepAgnHpSGglke-QQwY/edit#gid=912976165) \ No newline at end of file diff --git a/zh/flight_controller/pixhawk_mini.md b/zh/flight_controller/pixhawk_mini.md index 5e41792c3feb..0ff0f359ce8f 100644 --- a/zh/flight_controller/pixhawk_mini.md +++ b/zh/flight_controller/pixhawk_mini.md @@ -1,6 +1,6 @@ # Holybro Pixhawk Mini -> **Warning** PX4 does not manufacture this (or any) autopilot. Contact the [manufacturer](https://shop.holybro.com/) for hardware support or compliance issues. +> **Warning** PX4 不生产这款且也不生产任何自动驾驶仪。 若需要硬件支持或咨询合规问题，请联系 [制造商](https://shop.holybro.com/)。 The Holybro *Pixhawk® Mini* autopilot is a next-generation evolution of the Pixhawk. It is about 1/3rd the size of the original Pixhawk and has more powerful processors and sensors. @@ -16,14 +16,14 @@ Wiring information is available [below](#wiring). > **Tip** This autopilot is [supported](../flight_controller/autopilot_pixhawk_standard.md) by the PX4 maintenance and test teams. -## Specifications +## 产品规格 **Processors:** - **Main Processor:** STM32F427 Rev 3 - **IO Processor:** STM32F103 -**Sensors:** +**传感器：** - **Accel/Gyro/Mag:** MPU9250 - [deprecated](https://github.com/PX4/PX4-Autopilot/pull/7618) by the PX4 firmware @@ -38,7 +38,7 @@ Wiring information is available [below](#wiring). - **USB Power Input:** 4.1\`5.5V - **Servo Rail Input:** 0\~10V -**Interfaces:** +**接口：** - 1 x UART Serial Port (for GPS) - Spektrum DSM/DSM2/DSM-X® Satellite Compatible RC input @@ -60,7 +60,7 @@ Wiring information is available [below](#wiring). - **Weight:** 22.4g - **Dimensions:** 37x37x12mm -## Purchase +## 采购 [shop.holybro.com](https://shop.holybro.com/c/pixhawk-mini_0461) @@ -68,7 +68,7 @@ Wiring information is available [below](#wiring). `` -## Features +## 特性 Key features of the Pixhawk Mini are: @@ -121,8 +121,8 @@ The *Pixhawk Mini* is shipped with the following contents: - 3DR 10S Power Module -- WiFi Telemetry Radio -- Digital Airspeed Sensor +- WiFi 数传电台 +- 数字空速传感器 ## Compatibility @@ -181,21 +181,21 @@ This quick start guide shows how power the [Pixhawk Mini](../flight_controller/p ### Standard Wiring Chart -The image below shows standard *quadcopter* wiring using the *Pixhawk Mini Kit* and 3DR Telemetry Radios (along with ESC, motor, battery and a ground control station running on a phone). We'll go through each main part in the following sections. +The image below shows standard *quadcopter* wiring using the *Pixhawk Mini Kit* and 3DR Telemetry Radios (along with ESC, motor, battery and a ground control station running on a phone). 我们将在下面各节中介绍每个主要部分。 ![Pixhawk Mini Electronics Wiring for QAV250 (off frame)](../../assets/airframes/multicopter/lumenier_qav250_pixhawk_mini/qav250_wiring_image_pixhawk_mini.jpg)   > **Note** The output wiring/powering is slightly different for other types of vehicles. This is covered in more detail below for VTOL, Plane, Copter. -### Mount and Orient Controller +### 飞控的安装和方向 -The *Pixhawk Mini* should be mounted on the frame using vibration-damping foam pads (included in the kit). It should be positioned as close to your vehicle’s center of gravity as possible, oriented top-side up with the arrow points towards the front of the vehicle. +The *Pixhawk Mini* should be mounted on the frame using vibration-damping foam pads (included in the kit). 应该尽可能接近飞机的重心位置，正面朝上，方向箭头与飞机机头一致朝前 ![Pixhawk Mini recommended orientation](../../assets/flight_controller/pixhawk_mini/pixhawk_mini_mounting_arrow.jpg) ![Mounting foam](../../assets/hardware/mounting/3dr_anti_vibration_mounting_foam.png) -> **Note** If the controller cannot be mounted in the recommended/default orientation (e.g. due to space constraints) you will need to configure the autopilot software with the orientation that you actually used: [Flight Controller Orientation](../config/flight_controller_orientation.md). +> **Note** 如果飞行控制器无法安装在推荐的默认方向 (例如, 由于空间限制), 则需要根据实际安装的方向来配置自动驾驶仪软件: [飞行控制器方向 ](../config/flight_controller_orientation.md)参数。 ### GPS + Compass @@ -207,7 +207,7 @@ NOTE - INSERT IMAGE SHOWING BOTH PORTS? OR FRONT-FACING image of GPS&I2C The compass must be calibrated before it is first used: [Compass Calibration](../config/compass.md) -### Power +### 电源 The image below shows typical power-supply wiring when using *Pixhawk Mini* in a Quadcopter. This uses the *Quad Power Distribution Board* that comes in the kit to supply both the Pixhawk Mini and the ESC/Motor from the battery (and can also power other accessories). @@ -223,21 +223,21 @@ The control signals come from MAIN OUT. In this case there is only one control c The Pixhawk Mini output rail (MAIN OUT) cannot power attached devices (and does not need to in the circuit as shown). For vehicles where MAIN OUT is attached to devices that draw power (e.g. a servo used in a plane) then you will need to power the rail using a BEC (battery elimination circuit). The included breakout board allows one channel to provide power on the other outputs. -### Radio Control +### 无线电遥控 Pixhawk Mini supports many different radio receiver models: -- Spektrum and DSM receivers connect to the **SPKT/DSM** input. +- Spektrum and DSM 接收机连接到 **SPKT/DSM** 输入端口。 -- PPM-SUM and S.BUS receivers connect to the **RCIN** port. +- PPM-SUM 和 S.BUS 接收机连接到 **RCIN** 端口。 -- PPM and PWM receivers that have an *individual wire for each channel* must connect to the **RCIN** port *via a PPM encoder* [like this one](http://www.getfpv.com/radios/radio-accessories/holybro-ppm-encoder-module.html) (PPM-Sum receivers use a single signal wire for all channels). +- PPM 接收机通过一个 *PPM 编码器*将*每一个通道通过一根线*连接到** RCIN** 通道上[如这个所示](http://www.getfpv.com/radios/radio-accessories/holybro-ppm-encoder-module.html)（PPM-Sum 接收机所有通道可以只需要一根信号线）。 -For more information about selecting a radio system, receiver compatibility, and binding your transmitter/receiver pair, see: [Remote Control Transmitters & Receivers](../getting_started/rc_transmitter_receiver.md). +更多有关遥控器系统选择、接收机兼容性和遥控器接收机对频绑定的详细信息，请参阅：[遥控器发射机&接收器](../getting_started/rc_transmitter_receiver.md)。 ### Safety switch (optional) @@ -247,43 +247,43 @@ The controller has an integrated safety switch that you can use for motor activa ### Telemetry Radios -### Motors +### 电机 -The mappings between MAIN/AUX output ports and motor/servos for all supported air and ground frames are listed in the [Airframe Reference](../airframes/airframe_reference.md). +在[Airframe Reference](../airframes/airframe_reference.md)中列出了支持所有飞行或地面机型的MAIN/AUX 输出端口映射和电机/伺服电机。 -> **Caution** The mapping is not consistent across frames (e.g. you can't rely on the throttle being on the same output for all plane frames). Make sure to use the correct mapping for your vehicle. +> **Caution** 该参考列表并不是与机架类型完全匹配的（例如，您不能将油门应用在其他所有机型的输出端口上）。 请确保为您的飞行器使用正确的映射。 -> **Tip** If your frame is not listed in the reference then use a "generic" airframe of the correct type. +> **Tip** 如果您的机型没有列入参考机型中那么使用正确类型中的"generic"一般机型. -Notes: +备注： * The output rail must be separately powered, as discussed in the [Power](#power) section above. * Pixhawk Mini cannot be used for QuadPlane VTOL airframes. This is because QuadPlane requires 9 outputs (4 Main, 5 AUX) and the Pixhawk Mini only has 8 outputs (8 Main). -### Other Peripherals +### 其它外设 -The wiring and configuration of other components is covered within the topics for individual [peripherals](../peripherals/README.md). +针对可选/非通用组件的接线与配置，在 [外围设备](../peripherals/README.md) 主题中有详细的内容介绍。 -### Configuration +### 配置 -General configuration information is covered in: [Autopilot Configuration](../config/README.md). +一般配置信息在以下内容中介绍: Autopilot 配置 。

                                                              -QuadPlane specific configuration is covered here: [QuadPlane VTOL Configuration](../config_vtol/vtol_quad_configuration.md) +QuadPlane的特定配置在以下内容中介绍：[QuadPlane VTOL Configuration](../config_vtol/vtol_quad_configuration.md)。 -## Building Firmware +## 编译固件 -> **Tip** Most users will not need to build this firmware! It is pre-built and automatically installed by *QGroundControl* when appropriate hardware is connected. +> **Tip** 大多数用户不需要构建此固件！ 它是预构建的，并在连接适当的硬件时由 *QGroundControl* 自动安装。 -To [build PX4](../dev_setup/building_px4.md) for this target: +为此目标 [编译 PX4](../dev_setup/building_px4.md)： make px4_fmu-v2_default -## Debug Port +## Debug调试端口 This board does not have a debug port (i.e it does not have a port for accessing the [System Console](../debug/system_console.md) or [SWD (JTAG) Hardware Debugging Interface](../debug/swd_debug.md). diff --git a/zh/flight_controller/pixhawk_series.md b/zh/flight_controller/pixhawk_series.md index 7eb63430ccd0..a6a941bd0e30 100644 --- a/zh/flight_controller/pixhawk_series.md +++ b/zh/flight_controller/pixhawk_series.md @@ -21,7 +21,7 @@ Key benefits of using a *Pixhawk series* controller include: -## Supported Boards +## 支持的飞控板 The PX4 Project uses [Pixhawk Standard Autopilots](../flight_controller/autopilot_pixhawk_standard.md) as reference hardware. These are the controllers that are fully compatible with the Pixhawk standard (including use of trademarks) and that are still being manufactured. diff --git a/zh/flight_controller/pixracer.md b/zh/flight_controller/pixracer.md index 3147854c6b6f..f92a708422ef 100644 --- a/zh/flight_controller/pixracer.md +++ b/zh/flight_controller/pixracer.md @@ -1,6 +1,6 @@ # mRo Pixracer -> **Warning** PX4 does not manufacture this (or any) autopilot. Contact the [manufacturer](https://store.mrobotics.io/) for hardware support or compliance issues. +> **Warning** PX4 不生产这款且也不生产任何自动驾驶仪。 若需要硬件支持或咨询合规问题，请联系 [制造商](https://store.mrobotics.io/)。 The Pixhawk® XRacer board family is optimized for small racing quads and planes. In contrast to [Pixfalcon](../flight_controller/pixfalcon.md) and [Pixhawk](../flight_controller/pixhawk.md) it has in-built Wifi, new sensors, convenient full servo headers, CAN and supports 2M flash. @@ -24,13 +24,13 @@ The Pixhawk® XRacer board family is optimized for small racing qu * OneShot PWM out (configurable) * Optional: Safety switch and buzzer -## Where to Buy +## 在哪里买 Pixracer is available from the [mRobotics.io](https://store.mrobotics.io/mRo-PixRacer-R15-Official-p/auav-pxrcr-r15-mr.htm). Accessories include: -* [Digital airspeed sensor](https://hobbyking.com/en_us/hkpilot-32-digital-air-speed-sensor-and-pitot-tube-set.html) +* [数字空速传感器](https://hobbyking.com/en_us/hkpilot-32-digital-air-speed-sensor-and-pitot-tube-set.html) * [HKPilot Transceiver Telemetry Radio Set V2 (915Mhz - US Telemetry)](https://hobbyking.com/en_us/hkpilot-transceiver-telemetry-radio-set-v2-915mhz.html) * [Hobbyking® OSD + EU Telemetry (433 MHz)](https://hobbyking.com/en_us/micro-hkpilot-telemetry-radio-module-with-on-screen-display-osd-unit-433mhz.html) @@ -59,7 +59,7 @@ One of the main features of the board is its ability to use Wifi for flashing ne ![setup pixracer GPS](../../assets/flight_controller/pixracer/grau_setup_pixracer_gps.jpg) -![Grau b Pixracer FrSkyS.Port Connection](../../assets/flight_controller/pixracer/grau_b_pixracer_frskys.port_connection.jpg) +![Grau b Pixracer FrSkyS接口连接](../../assets/flight_controller/pixracer/grau_b_pixracer_frskys.port_connection.jpg) ![Grau ACSP4 2 roh](../../assets/flight_controller/pixracer/grau_acsp4_2_roh.jpg) @@ -79,87 +79,87 @@ All connectors follow the [Pixhawk connector standard](https://pixhawk.org/pixha #### TELEM1, TELEM2+OSD ports -| 针脚 | 信号 | 电压 | -| ------- | --------- | ----- | -| 1 (red) | VCC | +5V | -| 2 (blk) | TX (OUT) | +3.3V | -| 3 (blk) | RX (IN) | +3.3V | -| 4 (blk) | CTS (IN) | +3.3V | -| 5 (blk) | RTS (OUT) | +3.3V | -| 6 (blk) | GND | GND | - -#### GPS port - -| 针脚 | 信号 | 电压 | -| ------- | -------- | ----- | -| 1 (red) | VCC | +5V | -| 2 (blk) | TX (OUT) | +3.3V | -| 3 (blk) | RX (IN) | +3.3V | -| 4 (blk) | I2C1 SCL | +3.3V | -| 5 (blk) | I2C1 SDA | +3.3V | -| 6 (blk) | GND | GND | +| 针脚 | 信号 | 电压 | +| ---- | --------- | ----- | +| 2 | VCC | +5V | +| 2 | TX (OUT) | +3.3V | +| 3 | RX (IN) | +3.3V | +| 4（黑） | CTS (IN) | +3.3V | +| 6 | RTS (OUT) | +3.3V | +| 6 | GND | GND | + +#### GPS 接口 + +| 针脚 | 信号 | 电压 | +| ---- | -------- | ----- | +| 1（红） | VCC | +5V | +| 2（黑） | TX (OUT) | +3.3V | +| 3 | RX (IN) | +3.3V | +| 4（黑） | I2C1 SCL | +3.3V | +| 6 | I2C1 SDA | +3.3V | +| 6 | GND | GND | #### FrSky Telemetry / SERIAL4 -| 针脚 | 信号 | 电压 | -| ------- | -------- | ----- | -| 1 (red) | VCC | +5V | -| 2 (blk) | TX (OUT) | +3.3V | -| 3 (blk) | RX (IN) | +3.3V | -| 4 (blk) | GND | GND | +| 针脚 | 信号 | 电压 | +| ---- | -------- | ----- | +| 2 | VCC | +5V | +| 2 | TX (OUT) | +3.3V | +| 3 | RX (IN) | +3.3V | +| 4（黑） | GND | GND | #### RC Input (accepts PPM / S.BUS / Spektrum / SUMD / ST24) -| 针脚 | 信号 | 电压 | -| ------- | ------- | ----- | -| 1 (red) | VCC | +5V | -| 2 (blk) | RC IN | +3.3V | -| 3 (blk) | RSSI IN | +3.3V | -| 4 (blk) | VDD 3V3 | +3.3V | -| 5 (blk) | GND | GND | +| 针脚 | 信号 | 电压 | +| ---- | ------- | ----- | +| 2 | VCC | +5V | +| 2 | RC IN | +3.3V | +| 3 | RSSI IN | +3.3V | +| 4（黑） | VDD 3V3 | +3.3V | +| 6 | GND | GND | #### CAN -| 针脚 | 信号 | 电压 | -| ------- | ----- | ---- | -| 1 (red) | VCC | +5V | -| 2 (blk) | CAN_H | +12V | -| 3 (blk) | CAN_L | +12V | -| 4 (blk) | GND | GND | +| 针脚 | 信号 | 电压 | +| ---- | ----- | ---- | +| 2 | VCC | +5V | +| 2 | CAN_H | +12V | +| 3 | CAN_L | +12V | +| 4（黑） | GND | GND | #### POWER -| 针脚 | 信号 | 电压 | -| ------- | ------- | ----- | -| 1 (red) | VCC | +5V | -| 2 (blk) | VCC | +5V | -| 3 (blk) | CURRENT | +3.3V | -| 4 (blk) | VOLTAGE | +3.3V | -| 5 (blk) | GND | GND | -| 6 (blk) | GND | GND | +| 针脚 | 信号 | 电压 | +| ---- | --- | ----- | +| 2 | VCC | +5V | +| 2 | VCC | +5V | +| 3 | 电流 | +3.3V | +| 4（黑） | 电压 | +3.3V | +| 6 | GND | GND | +| 6 | GND | GND | #### SWITCH -| 针脚 | 信号 | 电压 | -| ------- | ---------------- | ----- | -| 1 (red) | SAFETY | GND | -| 2 (blk) | !IO_LED_SAFETY | GND | -| 3 (blk) | VCC | +3.3V | -| 4 (blk) | BUZZER- | - | -| 5 (blk) | BUZZER+ | - | +| 针脚 | 信号 | 电压 | +| ---- | ---------------- | ----- | +| 2 | SAFETY | GND | +| 2 | !IO_LED_SAFETY | GND | +| 3 | VCC | +3.3V | +| 4（黑） | BUZZER- | - | +| 6 | BUZZER+ | - | -#### Debug Port +#### Debug调试端口 This is a [Pixhawk Debug Port](https://pixhawk.org/pixhawk-connector-standard/#dronecode_debug) (JST SM06B connector). -| 针脚 | 信号 | 电压 | -| ------- | ---------------- | ----- | -| 1 (red) | VCC TARGET SHIFT | +3.3V | -| 2 (blk) | CONSOLE TX (OUT) | +3.3V | -| 3 (blk) | CONSOLE RX (IN) | +3.3V | -| 4 (blk) | SWDIO | +3.3V | -| 5 (blk) | SWCLK | +3.3V | -| 6 (blk) | GND | GND | +| 针脚 | 信号 | 电压 | +| ---- | ---------------- | ----- | +| 2 | VCC TARGET SHIFT | +3.3V | +| 2 | UART7 Tx | +3.3V | +| 3 | UART7 Rx | +3.3V | +| 4（黑） | SWDIO | +3.3V | +| 6 | SWCLK | +3.3V | +| 6 | GND | GND | For information about wiring and using this port see: @@ -168,7 +168,7 @@ For information about wiring and using this port see: ## Serial Port Mapping -| UART | Device | Port | +| UART | 设备 | Port | | ------ | ---------- | --------------------- | | UART1 | /dev/ttyS0 | WiFi (ESP8266) | | USART2 | /dev/ttyS1 | TELEM1 (flow control) | @@ -177,7 +177,7 @@ For information about wiring and using this port see: | UART7 | CONSOLE | | | UART8 | SERIAL4 | | -## Schematics +## 原理图 The reference is provided as: [Altium Design Files](https://github.com/AUAV-OpenSource/FMUv4-PixRacer) @@ -186,15 +186,15 @@ The following PDF files are provided for *convenience only*: * [pixracer-rc12-12-06-2015-1330.pdf](https://github.com/PX4/px4_user_guide/raw/master/assets/flight_controller/pixracer/pixracer-rc12-12-06-2015-1330.pdf) * [pixracer-r14.pdf](https://github.com/PX4/px4_user_guide/raw/master/assets/flight_controller/pixracer/pixracer-r14.pdf) - R14 or RC14 is printed next to the SDCard socket -## Building Firmware +## 编译固件 -> **Tip** Most users will not need to build this firmware! It is pre-built and automatically installed by *QGroundControl* when appropriate hardware is connected. +> **Tip** 多数用户不需要自己构建固件！ 它是预构建的，并在连接适当的硬件时由 *QGroundControl* 自动安装。 -To [build PX4](../dev_setup/building_px4.md) for this target: +为此目标 [编译 PX4](../dev_setup/building_px4.md)： make px4_fmu-v4_default -## Credits +## 鸣谢 This design was created by Nick Arsov and Phillip Kocmoud and architected by Lorenz Meier, David Sidrane and Leonard Hall. \ No newline at end of file diff --git a/zh/flight_controller/raspberry_pi_navio2.md b/zh/flight_controller/raspberry_pi_navio2.md index 8bd3cf64c1fe..042388bde12d 100644 --- a/zh/flight_controller/raspberry_pi_navio2.md +++ b/zh/flight_controller/raspberry_pi_navio2.md @@ -8,9 +8,9 @@ ![Ra Pi Image](../../assets/hardware/hardware-rpi2.jpg) -## Developer Quick Start +## 开发者快速指南 -### OS Image +### 操作系统镜像 Use the [Emlid RT Raspbian image for Navio 2](https://docs.emlid.com/navio2/Navio-APM/configuring-raspberry-pi/). The default image will have most of the setup procedures shown below already done. @@ -161,7 +161,7 @@ rm hello.txt This should copy over a "hello.txt" file into the home folder of your RPi. Validate that the file was indeed copied, and you can proceed to the next step. -### Native Builds (optional) +### 本机构建（可选） You can run PX4 builds directly on the Pi if you desire. This is the *native* build. The other option is to run builds on a development computer which cross-compiles for the Pi, and pushes the PX4 executable binary directly to the Pi. This is the *cross-compiler* build, and the recommended one for developers due to speed of deployment and ease of use. @@ -176,6 +176,6 @@ sudo apt-get install cmake python-empy Then clone the Firmware directly onto the Pi. -### Building the Code +### 构建代码 Continue with our [standard build system installation](../dev_setup/dev_env_linux.md). \ No newline at end of file diff --git a/zh/flight_controller/snapdragon_flight.md b/zh/flight_controller/snapdragon_flight.md index 766279205f8c..5800bfb6e240 100644 --- a/zh/flight_controller/snapdragon_flight.md +++ b/zh/flight_controller/snapdragon_flight.md @@ -1,6 +1,6 @@ # Snapdragon Flight Autopilot (Discontinued) -> **Warning** PX4 does not manufacture this (or any) autopilot. Contact the [manufacturer](https://www.intrinsyc.com/) for hardware support or compliance issues. +> **Warning** PX4 不生产这款且也不生产任何自动驾驶仪。 若需要硬件支持或咨询合规问题，请联系 [制造商](https://www.intrinsyc.com/)。 @@ -35,7 +35,7 @@ More information about the Snapdragon Flight platform is in the official [Qualco * Power: 5VDC via external 2S-6S battery regulated down to 5V via APM adapter * Availability: *No longer available* -## Connectivity +## 连接 * One USB 3.0 OTG port (micro-A/B) * Micro SD card slot @@ -46,7 +46,7 @@ More information about the Snapdragon Flight platform is in the official [Qualco * 2x BLSP ([BAM Low Speed Peripheral](http://www.inforcecomputing.com/public_docs/BLSPs_on_Inforce_6540_6501_Snapdragon_805.pdf)) * USB -## Recommended Wiring +## 推荐接线 ![Snapdragon wiring](../../assets/hardware/snapdragon/snapdragon_wiring.jpg) @@ -67,7 +67,7 @@ The default mapping of the serial ports is as follows:
                                                              - Device + 设备 @@ -162,19 +162,19 @@ This will cause a problem for any other type of I/O on the same connector, since #### J14 / Power -| 针脚 | 信号 | Comment | -| -- | -------- | ----------- | -| 1 | 5V DC | Power input | -| 2 | GND | | -| 3 | I2C3_SCL | (5V) | -| 4 | I2C3_SDA | (5V) | +| 针脚 | 信号 | Comment | +| -- | -------- | ------- | +| 1 | 5V DC | 电源输入 | +| 2 | GND | | +| 3 | I2C3_SCL | (5V) | +| 4 | I2C3_SDA | (5V) | #### J15 / Radio Receiver / Sensors | 针脚 | 2-wire UART + I2C | 4-wire UART | SPI | Comment | | -- | ----------------- | ----------- | --------- | ------- | | 1 | 3.3V | 3.3V | 3.3V | | -| 2 | UART9_TX | UART9_TX | SPI9_MOSI | Output | +| 2 | UART9_TX | UART9_TX | SPI9_MOSI | 输出 | | 3 | UART9_RX | UART9_RX | SPI9_MISO | Input | | 4 | I2C9_SDA | UART9_RTS | SPI9_CS | | | 5 | GND | GND | GND | | diff --git a/zh/flight_controller/snapdragon_flight_advanced.md b/zh/flight_controller/snapdragon_flight_advanced.md index 3f5d42c7918b..afaaaa4f602c 100644 --- a/zh/flight_controller/snapdragon_flight_advanced.md +++ b/zh/flight_controller/snapdragon_flight_advanced.md @@ -33,37 +33,37 @@ To get a shell, do: adb shell -### DSP Debug Monitor/Console +### Console Debug -When you are connected to your Snapdragon board via USB you have access to the PX4 shell on the DSP (POSIX). The interaction with the DSP side (QuRT) is enabled with the `qshell` posix app and its QuRT companion. +When you are connected to your Snapdragon board via USB you have access to the PX4 shell on the DSP (POSIX). DSP 一侧 (QuRT) 的相互作用可以通过 `qshell` 开启POSIX 应用和自身模块。 -With the Snapdragon connected via USB, open the mini-dm to see the output of the DSP: +使用 USB 连接骁龙， 打开 mini-dm 查看 DSP 输出： ${HEXAGON_SDK_ROOT}/tools/debug/mini-dm/Linux_Debug/mini-dm > **Note** Alternatively, especially on Mac, you can also use [nano-dm](https://github.com/kevinmehall/nano-dm). -Run the main app on the linaro side: +在 Linaro 运行主程序： ```sh cd /home/linaro ./px4 -s px4.config ``` -You can now use all apps loaded on the DSP from the linaro shell with the following syntax: +用以下语法，可以通过 Linaro shell 使用已经加载到 DSP 上的所有 Apps： ```sh pxh> qshell command [args ...] ``` -For example, to see the available QuRT apps: +比如，查看可用的 QuRT Apps： ```sh pxh> qshell list_tasks ``` -The output of the executed command is displayed on the minidm. +执行命令输出的结果显示在 minidm。 ## Serial ports diff --git a/zh/flight_controller/snapdragon_flight_hardware_example_setup.md b/zh/flight_controller/snapdragon_flight_hardware_example_setup.md index bd9fca82b461..7072baba30b9 100644 --- a/zh/flight_controller/snapdragon_flight_hardware_example_setup.md +++ b/zh/flight_controller/snapdragon_flight_hardware_example_setup.md @@ -50,7 +50,7 @@ After the Snapdragon is mounted on the new housing, screw on the two custom prin Finally, attach the brackets to the frame using double-sided tape. We achieved best performance when using two strips of vibration-dampening foam in between the carbon frame and the custom mounting brackets for the stereo-vision part. Cutting two strips out of the piece provided with the QAV-R frame works well. -![Vibration damping](../../assets/hardware/snapdragon/snapdragon_vibration_dampening.jpg) +![减振](../../assets/hardware/snapdragon/snapdragon_vibration_dampening.jpg) You can additionally mount the GPS module and TeraRanger module, but they are not required for normal VIO-based flight. More information about range finders can be found [here](../sensor/rangefinders.md#teraranger-rangefinders). You can now attach the Snapdragon module to the QAV frame and connect the ESC and receiver. diff --git a/zh/flight_controller/spracingh7extreme.md b/zh/flight_controller/spracingh7extreme.md index 698c8a41ea86..d6f087a4ea90 100644 --- a/zh/flight_controller/spracingh7extreme.md +++ b/zh/flight_controller/spracingh7extreme.md @@ -1,6 +1,6 @@ # SPRacingH7EXTREME (PX4 Edition) -> **Warning** PX4 does not manufacture this (or any) autopilot. Contact the [manufacturer](https://shop.seriouslypro.com) for hardware support or compliance issues. +> **Warning** PX4 不生产这款且也不生产任何自动驾驶仪。 若需要硬件支持或咨询合规问题，请联系 [制造商](https://shop.seriouslypro.com)。 The [SPRacingH7EXTREME](https://shop.seriouslypro.com/sp-racing-h7-extreme) is a feature packed FC/PDB with DUAL ICM20602 gyros, H7 400/480Mhz(+) CPU, high-precision BMP388 barometer, SD Card socket, current sensor, 8 easily accessible motor outputs, OSD, Microphone, Audio output, and more. @@ -14,13 +14,13 @@ There is also a 12 pin stacking connector which provides 4 more motor outputs, S > **Note** This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md). -## Key Features +## 主要特性 * Main System-on-Chip: [STM32H750VBT6 rev.y/v](https://www.st.com/en/microcontrollers-microprocessors/stm32h750vb.html) * CPU: 400/480Mhz(+) ARM Cortex M7 with single-precision FPU. (+ 480Mhz with Rev V CPUs) * RAM: 1MB * 16MB External Flash 4-bit QuadSPI in Memory Mapped mode for code *and* config. -* On-board sensors: +* 内置传感器： * Dual Gyros (1xSPI each, with separate interrupt signals, 32khz capable, fsync capable) * High-precision BMP388 Baro (I2C + interrupt) * 110A Current Sensor @@ -30,7 +30,7 @@ There is also a 12 pin stacking connector which provides 4 more motor outputs, S * Microphone sensor * Audio output from CPU DAC. * Audio mixer for microphone/DAC outputs. -* Interfaces +* 接口 * SD Card (4-bit SDIO not 1-bit SPI) * IR transponder (iLAP compatible) * Buzzer circuitry @@ -61,11 +61,11 @@ There is also a 12 pin stacking connector which provides 4 more motor outputs, S * No Compass, use an external GPS with a magnometer/compass sensor connected to the GPS IO port. * Also runs Betaflight 4.x+, Cleanflight 4.x+. * Designed by Dominic Clifton, the guy that created Cleanflight -* Dimensions +* 尺寸 * 36x36mm with 30.5*30.5 mouting pattern, M4 holes. * Soft-mount M4 to M3 grommets supplied. -## Where to Buy +## 在哪里买 The SPRacingH7EXTREME is available from the [Seriously Pro shop](https://shop.seriouslypro.com/sp-racing-h7-extreme). @@ -75,6 +75,6 @@ The SPRacingH7EXTREME is available from the [Seriously Pro shop](https://shop.se The manual with pinouts can be downloaded from [here](http://seriouslypro.com/files/SPRacingH7EXTREME-Manual-latest.pdf). See the [SPRacingH7EXTREME website](http://seriouslypro.com/spracingh7extreme) for other diagrams. -## Credits +## 鸣谢 This design was created by [Dominic Clifton](https://github.com/hydra) Initial PX4 support by [Igor-Misic](https://github.com/Igor-Misic) diff --git a/zh/flight_modes/altitude_fw.md b/zh/flight_modes/altitude_fw.md index 6100e523c973..428fb522743b 100644 --- a/zh/flight_modes/altitude_fw.md +++ b/zh/flight_modes/altitude_fw.md @@ -10,7 +10,7 @@ 当所有遥控输入都居中时（无滚动、俯仰、偏航，油门约50％），飞机将恢复直线水平飞行（受风影响）并保持其当前高度。 -The diagram below shows the mode behaviour visually (for a [mode 2 transmitter](../getting_started/rc_transmitter_receiver.md#transmitter_modes)). +下图以可视方式显示模式行为（对于[模式2发送器](../getting_started/rc_transmitter_receiver.md#transmitter_modes)）。 ![固定翼高度控制](../../assets/flight_modes/altitude_control_mode_fw.png) @@ -24,8 +24,8 @@ The diagram below shows the mode behaviour visually (for a [mode 2 transmitter]( * 外部中心： * 俯仰摇杆控制高度。 * Throttle stick controls the airspeed of the aircraft (as for centered Roll/Pitch/Yaw inputs). - * 翻滚摇杆控制滚动角度。 自动驾驶仪将保持 [协调飞行](https://en.wikipedia.org/wiki/Coordinated_flight)。 This is same as in [Stabilized mode](../flight_modes/stabilized_fw.md). - * Yaw stick actuates the rudder (signal will be added to the one calculated by the autopilot to maintain [coordinated flight](https://en.wikipedia.org/wiki/Coordinated_flight)). This is same as in [Stabilized mode](../flight_modes/stabilized_fw.md). + * 翻滚摇杆控制滚动角度。 自动驾驶仪将保持 [协调飞行](https://en.wikipedia.org/wiki/Coordinated_flight)。 这和[稳定模式](../flight_modes/stabilized_fw.md)一样。 + * 偏航摇杆操纵会驱动方向舵（指令将被加到自动驾驶仪计算的指令中以维持 [协调飞行](https://en.wikipedia.org/wiki/Coordinated_flight)）。 这和[稳定模式](../flight_modes/stabilized_fw.md)一样。 > **注** *可能需要手动输入（遥控器，或通过MAVLink连接的游戏手柄/拇指杆）。 *海拔高度通常使用气压计测量，在极端天气条件下可能会变得不准确。 带有激光雷达/距离传感器的飞机将能够以更高的可靠性和准确性控制高度。 diff --git a/zh/flight_modes/altitude_mc.md b/zh/flight_modes/altitude_mc.md index 7d5c93fcec84..f3a7c64afe6f 100644 --- a/zh/flight_modes/altitude_mc.md +++ b/zh/flight_modes/altitude_mc.md @@ -8,7 +8,7 @@ > **注意***高度模式*是对于新手而言最安全的非GPS手动模式。 它就像[手动/稳定](../flight_modes/manual_stabilized_mc.md)模式，但额外地在操纵杆回中时锁定飞机高度。 -The diagram below shows the mode behaviour visually (for a [mode 2 transmitter](../getting_started/rc_transmitter_receiver.md#transmitter_modes)). +下图以可视方式显示模式行为（对于[模式2发送器](../getting_started/rc_transmitter_receiver.md#transmitter_modes)）。 ![高度控制MC - Mode2 RC控制器](../../assets/flight_modes/altitude_control_mode_copter.png) @@ -23,7 +23,7 @@ The diagram below shows the mode behaviour visually (for a [mode 2 transmitter]( * 翻滚/俯仰摇杆控制各自方向的倾斜角，导致左右和前后的移动。 * 油门摇杆以预定的最大速率（和其他轴上的移动速度）控制上升速度。 * 偏航摇杆控制水平面上方的角度旋转速率。 -* Takeoff: +* 起飞 Takeoff: * When landed, the vehicle will take off if the throttle stick is raised above 62.5% percent (of the full range from bottom). > **注** *可能需要手动输入（遥控器，或通过MAVLink连接的游戏手柄/拇指杆）。 *海拔高度通常使用气压计测量，在极端天气条件下可能会变得不准确。 带有激光雷达/距离传感器的飞机将能够以更高的可靠性和准确性控制高度。 diff --git a/zh/flight_modes/follow_me.md b/zh/flight_modes/follow_me.md index 59d2624b4872..3ebc15a9532b 100644 --- a/zh/flight_modes/follow_me.md +++ b/zh/flight_modes/follow_me.md @@ -14,7 +14,7 @@ The vehicle will automatically yaw to face and follow the target from a specifie The mode is supported by *QGroundControl* on Android tablets that have a GPS module, and by the [MAVSDK](https://mavsdk.mavlink.io/develop/en/api_reference/classmavsdk_1_1_follow_me.html). -> **Note** * This mode requires GPS. * This mode is currently only supported on multicopter. * The follow target must also be able to supply position information. * *QGroundControl* only supports this mode on Android devices that have GPS. +> **注** 该模式需要GPS。 * This mode is currently only supported on multicopter. * The follow target must also be able to supply position information. * *QGroundControl* only supports this mode on Android devices that have GPS. {% youtube %} https://www.youtube.com/watch?v=RxDL4CtkzAQ {% endyoutube %} @@ -22,7 +22,7 @@ The mode is supported by *QGroundControl* on Android tablets that have a GPS mod > **Warning** **Follow-me mode** does not implement any type of obstacle avoidance. Special care must be taken when this mode is used. -The following flight precautions should be observed: - Follow me mode should only be used in wide open areas that are unobstructed by trees, power lines, houses, etc. - Set the [follow-me height](#NAV_MIN_FT_HT) to a value that is well above any surrounding obstructions. By *default* this is 8 metres/26 feet above the home (arming) position. - It is *safer* to manually fly to a safe height before engaging follow-me mode than to engage follow-me mode when landed (even though the mode implements auto take off). - Give your vehicle sufficient room to stop, especially when it is moving fast. Many Android devices do not update their position very frequently, and autopilot estimations of the speed and direction can be inaccurate. - Be ready to take manual RC control if something goes wrong when using follow me mode for the first time. The accuracy of positioning is dependent on the quality of the GPS used by target system. If the GPS is not accurate, this will be reflected in follow me. +The following flight precautions should be observed: - Follow me mode should only be used in wide open areas that are unobstructed by trees, power lines, houses, etc. - Set the [follow-me height](#NAV_MIN_FT_HT) to a value that is well above any surrounding obstructions. By *default* this is 8 metres/26 feet above the home (arming) position. - It is *safer* to manually fly to a safe height before engaging follow-me mode than to engage follow-me mode when landed (even though the mode implements auto take off). - Give your vehicle sufficient room to stop, especially when it is moving fast. Many Android devices do not update their position very frequently, and autopilot estimations of the speed and direction can be inaccurate. - Be ready to take manual RC control if something goes wrong when using follow me mode for the first time. The accuracy of positioning is dependent on the quality of the GPS used by target system. 如果GPS不准确，这将反映在跟随模式中。 ## Using Follow Me with QGroundControl @@ -30,15 +30,15 @@ The following flight precautions should be observed: - Follow me mode should onl To setup *Follow Me* mode: - Connect a telemetry radio to your Android device and another to the vehicle (this allows positioning information to be relayed between the two radios). - Disable sleep-mode on your Android device: - This setting can usually be found under: **Settings \> Display**. - It is important that you set your Android device to not go to sleep as this could cause the GPS signal to cease being emitted at regular intervals. - Takeoff to a height of at least 2-3 metres (recommended even though auto-takeoff is supported). - Set the vehicle on the ground, press the safety switch and step back at least 10 meters. - Arm the vehicle and takeoff. - Switch into follow me mode. - The copter will ascend to the specified [minimum height](#NAV_MIN_FT_HT) and then pause for a moment to assess the radio link. If the link update rate is OK the multicopter will then yaw to face the target. -At this point you should be able to start moving and the copter should follow your movements. +此时你应该能够开始移动并且多旋翼应该跟随你的动作。 The mode has been tested on the following Android devices: - Nexus 5 - Nexus 7 Tablet ## 配置 -The follow-me behaviour can be configured using the following parameters: +可以使用以下参数配置跟随的行为： -| Parameter | Description | +| 参数 | 描述 | | --------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | [NAV_FT_DST](../advanced_config/parameter_reference.md#NAV_FT_DST) | Vehicle/ground station separation in the *horizontal* (x,y) plane. Minimum allowed separation is 1 meter. Default distance is 8 meters (about 26 ft). | | [NAV_MIN_FT_HT](../advanced_config/parameter_reference.md#NAV_MIN_FT_HT) | Vehicle follow-me height. Note that this height is fixed *relative to the home/arming position* (not the target vehicle). Default and minimum height is 8 meters (about 26 ft). | diff --git a/zh/flight_modes/hold.md b/zh/flight_modes/hold.md index ddde86965293..a2bad96c5775 100644 --- a/zh/flight_modes/hold.md +++ b/zh/flight_modes/hold.md @@ -18,7 +18,7 @@ RC stick movement will [by default](#COM_RC_OVERRIDE) change the vehicle to [Position mode](../flight_modes/position_mc.md) unless handling a critical battery failsafe. -The behaviour can be configured using the parameters below. +可以使用以下参数配置此行为。 | 参数 | 描述 | | ------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | @@ -29,11 +29,11 @@ The behaviour can be configured using the parameters below. ## 固定翼飞行器（FW） -The aircraft circles around the GPS hold position at the current altitude. The vehicle will first ascend to `MIS_LTRMIN_ALT` if the mode is engaged below this altitude. +飞机在当前高度的GPS保持位置周围旋转。 如果模式低于该高度，则飞机将首先上升到`MIS_LTRMIN_ALT`。 RC stick movement is ignored. -The behaviour can be configured using the parameters below. +可以使用以下参数配置此行为。 | 参数 | 描述 | | ---------------------------------------------------------------------------- | ----------------------------------- | @@ -42,6 +42,4 @@ The behaviour can be configured using the parameters below. ## 垂直起降（VTOL） -A VTOL follows the HOLD behavior and parameters of [Fixed Wing](#fixed-wing-fw) when in FW mode, and of [Multicopter](#multi-copter-mc) when in MC mode. - - \ No newline at end of file +当处于FW模式时，VTOL遵循HOLD行为和固定翼的参数，而当处于MC模式时，VTOL遵循多旋翼的参数。

                                                              \ No newline at end of file diff --git a/zh/flight_modes/land.md b/zh/flight_modes/land.md index 32f1f764f533..78d7cced1b0a 100644 --- a/zh/flight_modes/land.md +++ b/zh/flight_modes/land.md @@ -2,7 +2,7 @@ [](../getting_started/flight_modes.md#key_position_fixed) -The *Land* flight mode causes the vehicle to land at the position where the mode was engaged. After landing, vehicles will disarm after a short timeout (by default). +*着陆*飞行模式使飞机降落在指定点。 After landing, vehicles will disarm after a short timeout (by default). > **注** 该模式需要有效的位置估计，除非由于故障保护而进入该模式，在这种情况下仅需要高度（通常在飞行控制器中内置气压计）。 * This mode is automatic - no user intervention is *required* to control the vehicle. * RC control switches can be used to change flight modes on any vehicle. * 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/position_mc.md) unless handling a critical battery failsafe. @@ -14,7 +14,7 @@ The *Land* flight mode causes the vehicle to land at the position where the mode RC stick movement will [by default](#COM_RC_OVERRIDE) change the vehicle to [Position mode](../flight_modes/position_mc.md) unless handling a critical battery failsafe. -Landing is affected by the following parameters: +着陆受以下参数影响： | 参数 | 描述 | | ------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | @@ -26,11 +26,11 @@ Landing is affected by the following parameters: The vehicle will turn and land at the location at which the mode was engaged. RC stick movement is ignored. -Fixed wing landing logic and parameters are explained in the topic: [Landing (Fixed Wing)](../flying/fixed_wing_landing.md). +固定机翼着陆逻辑和参数在主题：[着陆（固定翼）](../flying/fixed_wing_landing.md)中解释。 > **注**通常，固定翼飞机将遵循固定的着陆轨迹到地面（它不会尝试拉平着陆）。 这是因为在着陆模式下，飞机可能不知道地面高度并且将假设它处于海平面。 由于地面高度可能会高得多，因此飞机通常会在高于拉平辑逻辑的高度处到达地面。 -Landing is affected by the following parameters (also see [Landing (Fixed Wing)](../flying/fixed_wing_landing.md)): +着陆受以下参数影响（另见[着陆（固定翼）](../flying/fixed_wing_landing.md)）： | 参数 | 描述 | | ------------------------------------------------------------------------------ | -------------------------------------------------------------------------------------------------------- | @@ -38,4 +38,4 @@ Landing is affected by the following parameters (also see [Landing (Fixed Wing)] ## 垂直起降（VTOL） -A VTOL follows the LAND behavior and parameters of [Fixed Wing](#fixed-wing-fw) when in FW mode, and of [Multicopter](#multi-copter-mc) when in MC mode. When [NAV_FORCE_VT](../advanced_config/parameter_reference.md#NAV_FORCE_VT) is set (default: on) a VTOL in FW mode will transition back to MC just before landing. \ No newline at end of file +当处于FW模式时，VTOL遵循LAND行为和固定翼的参数，而当处于MC模式时，VTOL遵循多旋翼的参数。 When [NAV_FORCE_VT](../advanced_config/parameter_reference.md#NAV_FORCE_VT) is set (default: on) a VTOL in FW mode will transition back to MC just before landing.

                                                              \ No newline at end of file diff --git a/zh/flight_modes/manual_stabilized_mc.md b/zh/flight_modes/manual_stabilized_mc.md index 1d15c8a67251..77eb3e732d28 100644 --- a/zh/flight_modes/manual_stabilized_mc.md +++ b/zh/flight_modes/manual_stabilized_mc.md @@ -20,7 +20,7 @@ -## Parameters +## 参数 | 参数 | 描述 | | --------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | diff --git a/zh/flight_modes/mission.md b/zh/flight_modes/mission.md index d93e5b65ef55..84271552ebea 100644 --- a/zh/flight_modes/mission.md +++ b/zh/flight_modes/mission.md @@ -6,7 +6,7 @@ -> **Note** * This mode requires 3d position information (e.g. GPS). * The vehicle must be armed before this mode can be engaged. * This mode is automatic - no user intervention is *required* to control the vehicle. * RC control switches can be used to change flight modes on any vehicle. * 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/position_mc.md) unless handling a critical battery failsafe. +> **Note** * This mode requires 3d position information (e.g. GPS). * 使用此模式前飞机必须先被激活。 * This mode is automatic - no user intervention is *required* to control the vehicle. * RC control switches can be used to change flight modes on any vehicle. * 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/position_mc.md) unless handling a critical battery failsafe. ## 参数描述 @@ -49,7 +49,7 @@ Mission behaviour is affected by a number of parameters, most of which are documented in [Parameter Reference > Mission](../advanced_config/parameter_reference.md#mission). A very small subset are listed below. - | Parameter | Description | + | 参数 | 描述 | | ------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | [NAV_RCL_ACT](../advanced_config/parameter_reference.md#NAV_RCL_ACT) | RC loss failsafe mode (what the vehicle will do if it looses RC connection) - e.g. enter hold mode, return mode, terminate etc. | | [NAV_LOITER_RAD](../advanced_config/parameter_reference.md#NAV_RCL_ACT) | Fixed-wing loiter radius. | @@ -60,9 +60,9 @@ - ## Supported Mission Commands + ## 支持的任务命令 - PX4 "accepts" the following MAVLink mission commands in Mission mode (note: caveats below list). Unless otherwise noted, the implementation is as defined in the MAVLink specification. + PX4在任务模式下“接受”以下MAVLink任务命令（注意：下面列出的警告）。 Unless otherwise noted, the implementation is as defined in the MAVLink specification. * [MAV_CMD_NAV_WAYPOINT](https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_WAYPOINT) * *参数3*（飞越）被忽略。 如果*参数1*（time_inside）> 0，则始终启用飞越。 @@ -110,13 +110,13 @@ * [MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET) * [MAV_CMD_DO_SET_ROI_NONE](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_SET_ROI_NONE) - Note: + 注： * PX4解析上述消息，但它们不是必须*操作。 例如，某些消息是特定于飞机类型的。 * PX4 generally does not support local frames for mission commands (e.g. [MAV_FRAME_LOCAL_NED](https://mavlink.io/en/messages/common.html#MAV_FRAME_LOCAL_NED) ). * 并非所有消息/命令都通过*QGroundControl*公开。 - * The list may become out of date as messages are added. 您可以通过检查代码来检查当前设置。 Support is `MavlinkMissionManager::parse_mavlink_mission_item` in [/src/modules/mavlink/mavlink_mission.cpp](https://github.com/PX4/PX4-Autopilot/blob/master/src/modules/mavlink/mavlink_mission.cpp) (list generated in [this git changelist](https://github.com/PX4/PX4-Autopilot/commit/ca1f7a4a194c23303c23ca79b5905ff8bfb94c22)). + * The list may become out of date as messages are added. 您可以通过检查代码来检查当前设置。 在[/src/modules/mavlink/mavlink_mission.cpp](https://github.com/PX4/PX4-Autopilot/blob/master/src/modules/mavlink/mavlink_mission.cpp)中支持`MavlinkMissionManager:: parse_mavlink_mission_item` （在[此git变更列表](https://github.com/PX4/PX4-Autopilot/commit/ca1f7a4a194c23303c23ca79b5905ff8bfb94c22)中生成的列表）。 > 如果您发现丢失/不正确的消息，请添加错误修复或PR。 diff --git a/zh/flight_modes/offboard.md b/zh/flight_modes/offboard.md index a344c7d468ac..a4a2bcb3794f 100644 --- a/zh/flight_modes/offboard.md +++ b/zh/flight_modes/offboard.md @@ -6,17 +6,17 @@ > **Tip** Not all co-ordinate frames and field values allowed by MAVLink are supported for all setpoint messages and vehicles. Read the sections below *carefully* to ensure only supported values are used. Note also that setpoints must be streamed at > 2Hz before entering the mode and while the mode is operational. > -> **Note** * This mode requires position or pose/attitude information - e.g. GPS, optical flow, visual-inertial odometry, mocap, etc. * RC control is disabled except to change modes. * The vehicle must be armed before this mode can be engaged. * The vehicle must be already be receiving a **stream of target setpoints (>2Hz)** before this mode can be engaged. * The vehicle will exit the mode if target setpoints are not received at a rate of > 2Hz. * Not all co-ordinate frames and field values allowed by MAVLink are supported. +> **Note** * This mode requires position or pose/attitude information - e.g. GPS, optical flow, visual-inertial odometry, mocap, etc. * RC control is disabled except to change modes. * 使用此模式前飞机必须先被激活。 * The vehicle must be already be receiving a **stream of target setpoints (>2Hz)** before this mode can be engaged. * 如果没能以 > 2Hz 的速率接收目标设定值飞机将退出该模式。 * Not all co-ordinate frames and field values allowed by MAVLink are supported. ## 描述 Offboard mode is primarily used for controlling vehicle movement and attitude, and supports only a very limited set of MAVLink messages (more may be supported in future). -Other operations, like taking off, landing, return to launch, are best handled using the appropriate modes. Operations like uploading, downloading missions can be performed in any mode. +其他操作, 如起飞、降落、返回起飞点，最好使用其它适当的模式来处理。 上传、下载任务等操作可以在任何模式下执行。 -A stream of setpoint commands must be received by the vehicle prior to engaging the mode, and in order to remain in the mode (if the message rate falls below 2Hz the vehicle will stop). In order to hold position while in this mode, the vehicle must receive a stream of setpoints for the current position. +要启用或保持该模式, 飞机必须先接收到一个提供设定值的消息流 (如果消息速率低于 2Hz 飞机将退出该模式)。 如果要在此模式下做位置保持，必须向飞机提供一个包含当前位置设定值的消息流。 -Offboard mode requires an active connection to a remote MAVLink system (e.g. companion computer or GCS). If the connection is lost, after a timeout ([COM_OF_LOSS_T](#COM_OF_LOSS_T)) the vehicle will attempt to land or perform some other failsafe action. The action is defined in the parameters [COM_OBL_ACT](#COM_OBL_ACT) and [COM_OBL_RC_ACT](#COM_OBL_RC_ACT). +Offboard模式需要主动连接到远程 MAVLink 系统 (例如配套计算机或GCS)。 如果连接丢失, 在超时 ([COM_OF_LOSS_T](#COM_OF_LOSS_T)) 后, 飞机将尝试降落或执行其他故障保护操作。 故障保护操作在参数 [COM_OBL_ACT](#COM_OBL_ACT) 和 [COM_OBL_RC_ACT](#COM_OBL_RC_ACT) 中定义。 ## Supported Messages @@ -48,7 +48,7 @@ Offboard mode requires an active connection to a remote MAVLink system (e.g. com * Attitude/orientation (`SET_ATTITUDE_TARGET.q`) with thrust setpoint (`SET_ATTITUDE_TARGET.thrust`). * Body rate (`SET_ATTITUDE_TARGET` `.body_roll_rate` ,`.body_pitch_rate`, `.body_yaw_rate`) with thrust setpoint (`SET_ATTITUDE_TARGET.thrust`). -### Fixed Wing +### 固定翼 * [SET_POSITION_TARGET_LOCAL_NED](https://mavlink.io/en/messages/common.html#SET_POSITION_TARGET_LOCAL_NED) @@ -67,7 +67,7 @@ Offboard mode requires an active connection to a remote MAVLink system (e.g. com * 8192: Land setpoint. * 12288: Loiter setpoint (fly a circle centred on setpoint). * 16384: Idle setpoint (zero throttle, zero roll / pitch). - * PX4 supports the coordinate frames (`coordinate_frame` field): [MAV_FRAME_LOCAL_NED](https://mavlink.io/en/messages/common.html#MAV_FRAME_LOCAL_NED) and [MAV_FRAME_BODY_NED](https://mavlink.io/en/messages/common.html#MAV_FRAME_BODY_NED). + * PX4 支持坐标系指定 (`coordinate_frame` 字段): [MAV_FRAME_LOCAL_NED](https://mavlink.io/en/messages/common.html#MAV_FRAME_LOCAL_NED) 和 [MAV_FRAME_BODY_NED](https://mavlink.io/en/messages/common.html#MAV_FRAME_BODY_NED)。 * [SET_POSITION_TARGET_GLOBAL_INT](https://mavlink.io/en/messages/common.html#SET_POSITION_TARGET_GLOBAL_INT) @@ -112,7 +112,7 @@ See https://github.com/PX4/PX4-Autopilot/pull/12149 and https://github.com/PX4/P * 12288: Loiter setpoint (vehicle stops when close enough to setpoint). * Velocity setpoint (only `vx`, `yy`, `vz`) - * PX4 supports the coordinate frames (`coordinate_frame` field): [MAV_FRAME_LOCAL_NED](https://mavlink.io/en/messages/common.html#MAV_FRAME_LOCAL_NED) and [MAV_FRAME_BODY_NED](https://mavlink.io/en/messages/common.html#MAV_FRAME_BODY_NED). + * PX4 支持坐标系指定 (`coordinate_frame` 字段): [MAV_FRAME_LOCAL_NED](https://mavlink.io/en/messages/common.html#MAV_FRAME_LOCAL_NED) 和 [MAV_FRAME_BODY_NED](https://mavlink.io/en/messages/common.html#MAV_FRAME_BODY_NED)。 * [SET_POSITION_TARGET_GLOBAL_INT](https://mavlink.io/en/messages/common.html#SET_POSITION_TARGET_GLOBAL_INT) @@ -129,9 +129,9 @@ See https://github.com/PX4/PX4-Autopilot/pull/12149 and https://github.com/PX4/P * The following input combinations are supported: * Attitude/orientation (`SET_ATTITUDE_TARGET.q`) with thrust setpoint (`SET_ATTITUDE_TARGET.thrust`). > **Note** Only the yaw setting is actually used/extracted. -## Offboard Parameters +## Offboard参数 -*Offboard mode* is affected by the following parameters: +*Offboard模式*受以下参数影响： | 参数 | 描述 | | ------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | @@ -140,11 +140,11 @@ See https://github.com/PX4/PX4-Autopilot/pull/12149 and https://github.com/PX4/P | [COM_OBL_RC_ACT](../advanced_config/parameter_reference.md#COM_OBL_RC_ACT) | 连接到遥控器的情况下，丢失offboard连接后切换到的模式 (取值为 - 0: *Position*, 1: [Altitude](../flight_modes/altitude_mc.md), 2: *Manual*, 3: [Return ](../flight_modes/return.md), 4: [Land](../flight_modes/land.md))。 | | [COM_RC_OVERRIDE](../advanced_config/parameter_reference.md#COM_RC_OVERRIDE) | If enabled, stick movement on a multicopter (or VTOL in multicopter mode) gives control back to the pilot in [Position mode](../flight_modes/position_mc.md) (except when vehicle is handling a critical battery failsafe). This can be separately enabled for auto modes and for offboard mode, and is enabled in auto modes by default. | -## Developer Resources +## 开发者资源 Typically developers do not directly work at the MAVLink layer, but instead use a robotics API like [MAVSDK](https://mavsdk.mavlink.io/) or [ROS](http://www.ros.org/) (these provide a developer friendly API, and take care of managing and maintaining connections, sending messages and monitoring responses - the minutiae of working with *Offboard mode* and MAVLink). -The following resources may be useful for a developer audience: +以下资源可能对开发者有用: -* [Offboard Control from Linux](../ros/offboard_control.md) (PX4 Devguide) -* [MAVROS Offboard control example](../ros/mavros_offboard.md) (PX4 Devguide) \ No newline at end of file +* [基于Linux的Offboard控制](../ros/offboard_control.md) (PX4 Devguide) +* [MAVROS Offboard控制示例](../ros/mavros_offboard.md) (PX4 Devguide) \ No newline at end of file diff --git a/zh/flight_modes/orbit.md b/zh/flight_modes/orbit.md index 68f20c293d03..ab61d6e78114 100644 --- a/zh/flight_modes/orbit.md +++ b/zh/flight_modes/orbit.md @@ -1,6 +1,6 @@ # Orbit (MC) -[](../getting_started/flight_modes.md#key_difficulty) [](../getting_started/flight_modes.md#key_position_fixed) +[](../getting_started/flight_modes.md#key_difficulty) [](../getting_started/flight_modes.md#key_position_fixed) The *Orbit* guided flight mode allows you to command a multicopter (or VTOL in multicopter mode) to fly in a circle, by [default](https://mavlink.io/en/messages/common.html#ORBIT_YAW_BEHAVIOUR) yawing so that it always faces towards the center. @@ -23,7 +23,7 @@ RC control can be used to change the orbit altitude, radius, speed, and orbit di - *up/down:* controls orbit radius (smaller/bigger). When centered the current radius is locked. - Minimum radius is 1m. Maximum radius is 100m. -The diagram below shows the mode behaviour visually (for a [mode 2 transmitter](../getting_started/rc_transmitter_receiver.md#transmitter_modes)). +下图以可视方式显示模式行为（对于[模式2发送器](../getting_started/rc_transmitter_receiver.md#transmitter_modes)）。 ![Orbit Mode - MC](../../assets/flight_modes/orbit_MC.png) diff --git a/zh/flight_modes/position_fw.md b/zh/flight_modes/position_fw.md index 36fe790538b6..14ae7874ff09 100644 --- a/zh/flight_modes/position_fw.md +++ b/zh/flight_modes/position_fw.md @@ -8,7 +8,7 @@ > 位置模式是对于新手而言最安全的固定翼手动模式。 -The diagram below shows the mode behaviour visually (for a [mode 2 transmitter](../getting_started/rc_transmitter_receiver.md#transmitter_modes)). +下图以可视方式显示模式行为（对于[模式2发送器](../getting_started/rc_transmitter_receiver.md#transmitter_modes)）。 ![固定翼位置模式](../../assets/flight_modes/position_FW.png) diff --git a/zh/flight_modes/position_mc.md b/zh/flight_modes/position_mc.md index b9dccd1fdb39..1cd8dfefaa70 100644 --- a/zh/flight_modes/position_mc.md +++ b/zh/flight_modes/position_mc.md @@ -21,9 +21,9 @@ * 滚转/俯仰摇杆控制相对于飞机”前部“的左右前后方向的速度。 * 油门摇杆控制上升-下降的速度。 * 偏航摇杆控制水平面上方的角度旋转速率。 -* Takeoff: +* 起飞 Takeoff: * When landed, the vehicle will take off if the throttle stick is raised above 62.5% percent (of the full range from bottom). -* Landing: +* 着陆: * When close to the ground ([MPC_LAND_ALT2](#MPC_LAND_ALT2)), horizontal velocity is limited ([MPC_LAND_VEL_XY](#MPC_LAND_VEL_XY)). > **注** *可能需要手动输入（遥控器，或通过MAVLink连接的游戏手柄/拇指杆）。 注 该模式需要GPS。 @@ -32,13 +32,13 @@ [ Multicopter Position Control ](../advanced_config/parameter_reference.md#multicopter-position-control)组中的所有参数都是相关的。 下面列出了一些特别注意的参数。 -| 参数 | 描述 | -| ----------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -| [MPC_HOLD_DZ](../advanced_config/parameter_reference.md#MPC_HOLD_DZ) | 启用位置保持的摇杆的死区。 默认值：0.1（摇杆行程的10％）。 | -| [MPC_Z_VEL_MAX_UP](../advanced_config/parameter_reference.md#MPC_Z_VEL_MAX_UP) | 最大垂直上升速度。 默认：3m/s。 | -| [MPC_Z_VEL_MAX_DN](../advanced_config/parameter_reference.md#MPC_Z_VEL_MAX_DN) | 最大垂直下降速度。 默认：1m/s。 | -| [MPC_LAND_VEL_XY](../advanced_config/parameter_reference.md#MPC_LAND_VEL_XY) | Horizontal velocity limit when close to ground ([MPC_LAND_ALT2](#MPC_LAND_ALT2) meters above ground, or above home if distance-to-ground is unknown). Default: 10 m/s. | -| [MPC_LAND_ALT1](../advanced_config/parameter_reference.md#MPC_LAND_ALT1) | Altitude for triggering first phase of slow landing. Affects maximum allowed horizontal velocity setpoint. Default 5m. | -| [MPC_LAND_ALT2](../advanced_config/parameter_reference.md#MPC_LAND_ALT2) | Altitude for second phase of slow landing. In this phase maximum horizontal velocity is limited to [MPC_LAND_VEL_XY](#MPC_LAND_VEL_XY). Default 5m. | -| `RCX_DZ` | RC dead zone for channel X. The value of X for throttle will depend on the value of [RC_MAP_THROTTLE](../advanced_config/parameter_reference.md#RC_MAP_THROTTLE). For example, if the throttle is channel 4 then [RC4_DZ](../advanced_config/parameter_reference.md#RC4_DZ) specifies the deadzone. | -| `MPC_XXXX` | Most of the MPC_xxx parameters affect flight behaviour in this mode (at least to some extent). For example, [MPC_THR_HOVER](../advanced_config/parameter_reference.md#MPC_THR_HOVER) defines the thrust at which a vehicle will hover. | \ No newline at end of file +| 参数 | 描述 | +| ----------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| [MPC_HOLD_DZ](../advanced_config/parameter_reference.md#MPC_HOLD_DZ) | 启用位置保持的摇杆的死区。 默认值：0.1（摇杆行程的10％）。 | +| [MPC_Z_VEL_MAX_UP](../advanced_config/parameter_reference.md#MPC_Z_VEL_MAX_UP) | 最大垂直上升速度。 默认：3m/s。 | +| [MPC_Z_VEL_MAX_DN](../advanced_config/parameter_reference.md#MPC_Z_VEL_MAX_DN) | 最大垂直下降速度。 默认：1m/s。 | +| [MPC_LAND_VEL_XY](../advanced_config/parameter_reference.md#MPC_LAND_VEL_XY) | Horizontal velocity limit when close to ground ([MPC_LAND_ALT2](#MPC_LAND_ALT2) meters above ground, or above home if distance-to-ground is unknown). 默认：10m/s | +| [MPC_LAND_ALT1](../advanced_config/parameter_reference.md#MPC_LAND_ALT1) | Altitude for triggering first phase of slow landing. Affects maximum allowed horizontal velocity setpoint. Default 5m. | +| [MPC_LAND_ALT2](../advanced_config/parameter_reference.md#MPC_LAND_ALT2) | Altitude for second phase of slow landing. In this phase maximum horizontal velocity is limited to [MPC_LAND_VEL_XY](#MPC_LAND_VEL_XY). Default 5m. | +| `RCX_DZ` | 通道X的遥控死区。油门的X值取决于[ RC_MAP_THROTTLE ](../advanced_config/parameter_reference.md#RC_MAP_THROTTLE)的值。 例如，如果油门是通道4，则[RC4_DZ ](../advanced_config/parameter_reference.md#RC4_DZ)指定死区。 | +| `MPC_XXXX` | 大多数MPC_xxx参数会影响此模式下的飞行行为（至少在某种程度上）。 例如，[MPC_THR_HOVER](../advanced_config/parameter_reference.md#MPC_THR_HOVER)定义飞机悬停时的推力。 | \ No newline at end of file diff --git a/zh/flight_modes/return.md b/zh/flight_modes/return.md index 34a1a2702c8a..dc8f52407010 100644 --- a/zh/flight_modes/return.md +++ b/zh/flight_modes/return.md @@ -8,7 +8,7 @@ PX4 provides several mechanisms for choosing a safe return path, destination and The following sections explain how to configure the [return type](#return_types), [return altitude](#return_altitude) and [landing/arrival behaviour](#arrival). At the end there are sections explaining the *default* (preconfigured) behaviour for each [vehicle type](#default_configuration). -> **Note** * This mode requires GPS. * This mode is automatic - no user intervention is *required* to control the vehicle. * RC control switches can be used to change flight modes on any vehicle. * 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/position_mc.md) unless handling a critical battery failsafe. +> **注** 该模式需要GPS。 * This mode is automatic - no user intervention is *required* to control the vehicle. * RC control switches can be used to change flight modes on any vehicle. * 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/position_mc.md) unless handling a critical battery failsafe. @@ -124,7 +124,7 @@ If the vehicle is: - Above [RTL_DESCEND_ALT](#RTL_DESCEND_ALT) (4) it will return at its current altitude. - Below [RTL_DESCEND_ALT](#RTL_DESCEND_ALT) (5) it will first ascend to `RTL_DESCEND_ALT`. -Note: +注： - If [RTL_CONE_ANG](#RTL_CONE_ANG) is 0 degrees there is no "cone": - the vehicle returns at `RTL_RETURN_ALT` (or above). @@ -147,7 +147,7 @@ The mode is *implemented* in almost exactly the same way in all vehicle types (t However the *default configuration* is tailored to suit the vehicle type, as described below. -### Multi-Copter (MC) +### 多旋翼（MC） Multicopters use a [home location return](#home_return) by default (and the following configuration): @@ -156,7 +156,7 @@ Multicopters use a [home location return](#home_return) by default (and the foll - Rapidly descend to the [RTL_DESCEND_ALT](#RTL_DESCEND_ALT) altitude. - Land more or less immediately (small [RTL_LAND_DELAY](#RTL_LAND_DELAY)). -### Fixed Wing (FW) +### 固定翼（FW） Fixed-wing aircraft use a [mission landing return type](#mission_landing_return) by default: @@ -169,14 +169,14 @@ The fixed wing [safe return altitude](#return_altitude) depends only on [RTL_RET RC stick movement is ignored. -### VTOL +### 垂直起降 VTOL aircraft use a [mission landing return type](#mission_landing_return) by default: - If a mission landing is defined, fly direct to the mission landing start point and then land. - Otherwise fly directly to the home position, transition to multicopter mode, and land as a multicopter. > **Note** If not in a mission landing, a VTOL in FW mode will *always* transition back to MC just before landing (ignoring [NAV_FORCE_VT](../advanced_config/parameter_reference.md#NAV_FORCE_VT)). -## Parameters +## 参数 The RTL parameters are listed in [Parameter Reference > Return Mode](../advanced_config/parameter_reference.md#return-mode) (and summarised below). @@ -187,9 +187,9 @@ The RTL parameters are listed in [Parameter Reference > Return Mode](../advanced `1`: Return to a rally point or the mission landing pattern start point (whichever is closest), via direct path. If neither mission landing or rally points are defined return home via a direct path. If the destination is a mission landing pattern, follow the pattern to land. `2`: Use mission path fast-forward to landing if a landing pattern is defined, otherwise fast-reverse to home. Ignore rally points. Fly direct to home if no mission plan is defined. `3`: Return via direct path to closest destination: home, start of mission landing pattern or safe point. If the destination is a mission landing pattern, follow the pattern to land. | -| [RTL_RETURN_ALT](../advanced_config/parameter_reference.md#RTL_RETURN_ALT) | Return altitude in meters (default: 60m) when [RTL_CONE_ANG](../advanced_config/parameter_reference.md#RTL_CONE_ANG) is 0. If already above this value the vehicle will return at its current altitude. | +| [RTL_RETURN_ALT](../advanced_config/parameter_reference.md#RTL_RETURN_ALT) | Return altitude in meters (default: 60m) when [RTL_CONE_ANG](../advanced_config/parameter_reference.md#RTL_CONE_ANG) is 0. 如果已经超过这个值, 飞机将返回当前的高度。 | | [RTL_DESCEND_ALT](../advanced_config/parameter_reference.md#RTL_DESCEND_ALT) | Minimum return altitude and altitude at which the vehicle will slow or stop its initial descent from a higher return altitude (default: 30m) | -| [RTL_LAND_DELAY](../advanced_config/parameter_reference.md#RTL_LAND_DELAY) | Time to hover at `RTL_DESCEND_ALT` before landing (default: 0.5s) -by default this period is short so that the vehicle will simply slow and then land immediately. If set to -1 the system will loiter at `RTL_DESCEND_ALT` rather than landing. The delay is provided to allow you to configure time for landing gear to be deployed (triggered automatically). | +| [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. 如果设置为-1, 系统将在 `RTL_DESCEND_ALT` 徘徊, 而不是降落。 The delay is provided to allow you to configure time for landing gear to be deployed (triggered automatically). | | [RTL_MIN_DIST](../advanced_config/parameter_reference.md#RTL_MIN_DIST) | Minimum horizontal distance from home position to trigger ascent to the return altitude specified by the "cone". If the vehicle is horizontally closer than this distance to home, it will return at its current altitude or `RTL_DESCEND_ALT` (whichever is higher) instead of first ascending to RTL_RETURN_ALT). | | [RTL_CONE_ANG](../advanced_config/parameter_reference.md#RTL_CONE_ANG) | Half-angle of the cone that defines the vehicle RTL return altitude. 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 that the vehicle must return at the current altitude or `RTL_DESCEND_ALT` (whichever is higher). | | [COM_RC_OVERRIDE](../advanced_config/parameter_reference.md#COM_RC_OVERRIDE) | If enabled, stick movement on a multicopter (or VTOL in multicopter mode) gives control back to the pilot in [Position mode](../flight_modes/position_mc.md) (except when vehicle is handling a critical battery failsafe). This can be separately enabled for auto modes and for offboard mode, and is enabled in auto modes by default. | diff --git a/zh/flight_modes/stabilized_fw.md b/zh/flight_modes/stabilized_fw.md index 880c9de1cb10..88f1ae0cfdf9 100644 --- a/zh/flight_modes/stabilized_fw.md +++ b/zh/flight_modes/stabilized_fw.md @@ -6,11 +6,11 @@ 飞机基于俯仰输入爬升/下降，如果滚转/俯仰杆输入非零，则执行协调转弯。 滚转和俯仰是角度控制的（您不能倒滚或循环）。 -> **Tip** *Stabilized mode* is much easier to fly than [Manual mode](../flight_modes/manual_fw.md) because you can't roll or flip it, and it is easy to level the vehicle by centering the control sticks. +> *稳定模式*比[手动模式](../flight_modes/manual_fw.md)更容易飞行，因为你不能滚动或翻转飞机，并且通过控制杆回中很容易使飞机保持水平。 如果油门降至0％（电机停止），飞机将滑行。 为了执行转弯，必须在整个操纵过程中保持命令，因为如果滚动杆被释放，则飞机将停止转动并自行改平（对于俯仰和偏航命令也是如此）。 -The diagram below shows the mode behaviour visually (for a [mode 2 transmitter](../getting_started/rc_transmitter_receiver.md#transmitter_modes)). +下图以可视方式显示模式行为（对于[模式2发送器](../getting_started/rc_transmitter_receiver.md#transmitter_modes)）。 ![固定翼手动飞行](../../assets/flight_modes/manual_stabilized_FW.png) diff --git a/zh/flight_modes/takeoff.md b/zh/flight_modes/takeoff.md index 9b9c5d34c8ff..c3519cd8e16a 100644 --- a/zh/flight_modes/takeoff.md +++ b/zh/flight_modes/takeoff.md @@ -4,7 +4,7 @@ *起飞*飞行模式使飞机起飞到指定高度并等待进一步指令。 -> **Note** * This mode requires GPS. * The vehicle must be armed before this mode can be engaged. * This mode is automatic - no user intervention is *required* to control the vehicle. * RC control switches can be used to change flight modes on any vehicle. * 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/position_mc.md) unless handling a critical battery failsafe. * The [Failure Detector](../config/safety.md#failure_detector) will automatically stop the engines if there is a problem on takeoff. +> **Note** * This mode requires GPS. * 使用此模式前飞机必须先被激活。 * This mode is automatic - no user intervention is *required* to control the vehicle. * RC control switches can be used to change flight modes on any vehicle. * 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/position_mc.md) unless handling a critical battery failsafe. * The [Failure Detector](../config/safety.md#failure_detector) will automatically stop the engines if there is a problem on takeoff. 下面描述每种类型飞机的具体行为。 @@ -14,7 +14,7 @@ RC stick movement will [by default](#COM_RC_OVERRIDE) change the vehicle to [Position mode](../flight_modes/position_mc.md) unless handling a critical battery failsafe. -Takeoff is affected by the following parameters: +起飞受以下参数影响： | 参数 | 描述 | | ------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | @@ -24,9 +24,9 @@ Takeoff is affected by the following parameters: -## Fixed Wing (FW) +## 固定翼（FW） -The aircraft takes off in the current direction using either *catapult/hand-launch mode* or *runway takeoff mode*. The mode defaults to catapult/hand launch, but can be set to runway takeoff using [RWTO_TKOFF](#RWTO_TKOFF). RC stick movement is ignored in both cases. +飞机使用*弹射器/手动启动模式*或*跑道起飞模式*在当前方向上起飞。 模式默认为弹射/手动发射，但可以使用[ RWTO_TKOFF ](#RWTO_TKOFF)设置为跑道起飞。 RC stick movement is ignored in both cases. @@ -40,7 +40,7 @@ In *catapult/hand launch mode* the vehicle waits to detect launch (based on acce ### Runway Takeoff -The *runway takeoff mode* has the following phases: +*跑道起飞模式*具有以下阶段： 1. **Throttle ramp**: Clamped to the runway (pitch fixed, no roll, and heading hold) until reach the minimum airspeed for takeoff ([FW_AIRSPD_MIN](#FW_AIRSPD_MIN) x [RWTO_AIRSPD_SCL](#RWTO_AIRSPD_SCL)). 2. **起飞**：增加俯仰直到飞机高度>导航高度（[ RWTO_NAV_ALT ](#RWTO_NAV_ALT)）。 @@ -48,7 +48,7 @@ The *runway takeoff mode* has the following phases: ### Fixed Wing Takeoff Parameters -Takeoff is affected by the following parameters:高于地平面（AGL）的高度，留有足够的离地间隙以允许一些滚转。 在达到` RWTO_NAV_ALT `之前，飞机保持水平，并且仅使用方向舵来保持航向（参见 RWTO_HDG ）。 如果 FW_CLMBOUT_DIFF > 0，则应低于 FW_CLMBOUT_DIFF 。
                                                              +起飞受以下参数影响：高于地平面（AGL）的高度，留有足够的离地间隙以允许一些滚转。 在达到` RWTO_NAV_ALT `之前，飞机保持水平，并且仅使用方向舵来保持航向（参见 RWTO_HDG ）。 如果 FW_CLMBOUT_DIFF > 0，则应低于 FW_CLMBOUT_DIFF 。

                                                              diff --git a/zh/flight_stack/controller_diagrams.md b/zh/flight_stack/controller_diagrams.md index eb2eb220942b..ef9d88c351e9 100644 --- a/zh/flight_stack/controller_diagrams.md +++ b/zh/flight_stack/controller_diagrams.md @@ -16,7 +16,7 @@ * 状态估计来自[EKF2](../tutorials/tuning_the_ecl_ekf.md)模块。 * 这是一个标准的位置-速度级联控制回路。 -* Estimates come from [EKF2](../advanced_config/tuning_the_ecl_ekf.md). +* 状态估计来自[EKF2](../advanced_config/tuning_the_ecl_ekf.md)模块。 * 在某些模式，外环(位置回路) 可能会被绕过 (图中在外环之后增加一个多路开关来表示)。 只有在位置保持模式或某轴无速度请求时，位置回路才会发挥作用。 ### 空速缩放补偿 @@ -45,7 +45,7 @@ * The integrator includes an anti-reset windup (ARW) using a clamping method. * The commanded acceleration is saturated. -### Multicopter Position Controller +### 多旋翼位置控制器 ![MC Position Control Diagram](../../assets/diagrams/mc_position_diagram.jpg) @@ -54,7 +54,7 @@ #### 静态力矩 (PI) 缩放补偿 -![MC Position Controller Diagram](../../assets/diagrams/px4_mc_position_controller_diagram.png) +![多旋翼位置控制器图解](../../assets/diagrams/px4_mc_position_controller_diagram.png) ## 固定翼姿态控制器 -### Total Energy Control System (TECS) -The PX4 implementation of the Total Energy Control System (TECS) enables simultaneous control of true airspeed and altitude of a fixed wing aircraft. The code is implemented as a library which is used in the fixed wing position control module. +### 总能量控制系统 +通过总能量控制系统(TECS)，PX4可以持续得对固定翼飞行器的真空速和高度进行控制。 这其中的代码通过一个用库（这个库是用于固定翼位置控制模块）作为接口。 -![TECS](../../assets/diagrams/tecs_in_context.svg) +![总能量控制系统](../../assets/diagrams/tecs_in_context.svg) -As seen in the diagram above, TECS receives as inputs airspeed and altitude setpoints and outputs a throttle and pitch angle setpoint. These two outputs are sent to the fixed wing attitude controller which implements the attitude control solution. It's therefore important to understand that the performance of TECS is directly affected by the performance of the pitch control loop. A poor tracking of airspeed and altitude is often caused by a poor tracking of the aircraft pitch angle. +从上面的图表可以看出，总能量控制系统接受空速和高度需求量，然后输出油门和俯仰角控制量。 这两个输出控制量输入到固定翼的姿态控制器（姿态控制器实施姿态控制） 因此，总能量控制系统是直接受到俯仰控制逻辑环的性能影响 对飞行器俯仰角度的预测不准往往会导致对空速和高度的预测不准。 > **Note** 如果没有安装空速传感器，固定翼姿态控制的增益调整将被禁用 (它是开环的)；您将无法在 TECS (全能量控制系统) 中使用空速反馈。 -Simultaneous control of true airspeed and height is not a trivial task. Increasing aircraft pitch angle will cause an increase in height but also a decrease in airspeed. Increasing the throttle will increase airspeed but also height will increase due to the increase in lift. Therefore, we have two inputs (pitch angle and throttle) which both affect the two outputs (airspeed and altitude) which makes the control problem challenging. +对真空速和高度的持续跟踪控制不是一个简单的事情。 增加飞行器的俯仰角度不仅会导致高度上升还会导致空速下降。 增加油门会使空速增加但是也会使升力变大从而使高度也增加。 因此，俯仰角和油门两个输入量都会对空速和高度产生影响，从而使控制问题变得难了。 -TECS offers a solution by respresenting the problem in terms of energies rather than the original setpoints. The total energy of an aircraft is the sum of kinetic and potential energy. Thrust (via throttle control) increases the total energy state of the aircraft. A given total energy state can be achieved by arbitrary combinations of potential and kinetic energies. In other words, flying at a high altitude but at a slow speed can be equivalent to flying at a low altitude but at a faster airspeed in a total energy sense. We refer to this as the specific energy balance and it is calculated from the current altitude and true airspeed setpoint. The specific energy balance is controlled via the aircraft pitch angle. An increase in pitch angle transfers kinetic to potential energy and a negative pitch angle vice versa. The control problem was therefore decoupled by transforming the initial setpoints into energy quantities which can be controlled independently. We use thrust to regulate the specific total energy of the vehicle and pitch maintain a specific balance between potential (height) and kinetic (speed) energy. +总能量控制系统通过能量法来解决这个问题，而不是通过之前的那种设定点进行控制。 一架飞行器的总能量包括动能和势能。 推力（通过油门控制）增加整个飞机的总能量。 势能和动能的任意组合可以组成总能量 换句话说，飞行器在高海拔以低空速飞行和在低海拔以高空速飞行时的总能量是等价的 我们称这种情况叫做特殊能量平衡，通过当前高度海拔和真空速设定值来计算 特定能量平衡通过飞行器的俯仰角来控制 俯仰角增加将动能转变为势能，减少则情况相反。 这样就把控制问题解耦成最初的空速设定点转化了多少势能能量，而转化多少能量可以独立控制。 我们利用推力调节飞行器的特定总能量，俯仰角来维持势能（高度）和动能（真空速）的特定平衡点。 #### 角速率回路 (FF) 缩放补偿 -![Energy loop](../../assets/diagrams/TECS_throttle.jpg) +![能量回路](../../assets/diagrams/TECS_throttle.jpg) #### 总结 -![Energy balance loop](../../assets/diagrams/TECS_pitch.jpg) +![能量平衡回路](../../assets/diagrams/TECS_pitch.jpg) $$\ell = \frac{1}{2}\rho V_T^2 S b C_\ell = \bar{q} S b C_\ell$$, @@ -115,9 +115,9 @@ Elevator control on the other hand is energy conservative, and is thus used for $$\bar{q} = \frac{1}{2} \rho V_T^2$$, -## Fixed-Wing Attitude Controller +## 固定翼姿态控制器 -![FW Attitude Controller Diagram](../../assets/diagrams/px4_fw_attitude_controller_diagram.png) +![固定翼姿态控制器图解](../../assets/diagrams/px4_fw_attitude_controller_diagram.png) 然后可以根据期望的角加速度和系统先验信息，通过控制分配 (又叫混控)，计算出执行机构 (副翼，水平尾翼，垂直尾翼，等) 的角偏移量。 另外，由于气动控制面的效率与速度正相关，因此控制率 - 一般在巡航速度下调参 - 按照空速测量值缩放刻度因子 (如果使用了空速传感器的话)。 -> **Note** If no airspeed sensor is used then gain scheduling for the FW attitude controller is disabled (it's open loop); no correction is/can be made in TECS using airspeed feedback. +> **Note** 如果没有安装空速传感器，固定翼姿态控制的增益调整将被禁用 (它是开环的)；您将无法在 TECS (全能量控制系统) 中使用空速反馈。 前馈增益用于补偿空气动力阻尼。 基本上，绕机体轴的两个主要力矩分量分别来自：控制翼面 (副翼，水平尾翼，垂直尾翼 - 驱动机体转动) 和 空气动力阻尼 (与机体角速率成正比 - 阻止机体转动) 。 为了保持恒定的角速率, 可以在速率回路中使用前馈来补偿这种气动阻尼。 滚转和俯仰控制器具有相同的结构，并且假定纵向和侧向气动力相互独立，没有耦合。 但是，为了将飞机侧滑产生的侧向加速度最小化，偏航控制器利用转向协调约束产生偏航速率设定值。 偏航速率控制器同样有助于抵消偏航效应带来的负面影响 (https://youtu.be/sNV_SDDxuWk) 并且可以提供额外的方向阻尼以减小 [荷兰滚效应 (十年没见过这个词了，好激动)](https://en.wikipedia.org/wiki/Dutch_roll)。 -## VTOL Flight Controller +## VTOL 飞行控制器 -![VTOL Attitude Controller Diagram](../../assets/diagrams/VTOL_controller_diagram.png) +![VTOL 姿态控制器图解](../../assets/diagrams/VTOL_controller_diagram.png) -This section gives a short overview on the control structure of Vertical Take-off and Landing (VTOL) aircraft. The VTOL flight controller consists of both the multicopter and fixed-wing controllers, either running separately in the corresponding VTOL modes, or together during transitions. The diagram above presents a simplified control diagram. Note the VTOL attitude controller block, which mainly facilitates the necessary switching and blending logic for the different VTOL modes, as well as VTOL-type-specific control actions during transitions (e.g. ramping up the pusher motor of a standard VTOL during forward transition). The inputs into this block are called "virtual" as, depending on the current VTOL mode, some are ignored by the controller. +本节简要介绍垂直起降（VTOL）无人机的控制结构。 垂直起降飞行控制器由多旋翼控制器和固定翼控制器组成，多旋翼控制器在垂直起降模式下运行，固定翼控制器在平飞模式下运行，二者在过渡模式下同时运行。 上图是一个简化的控制流程图。 注意到 VTOL 姿态控制器模块，它主要对不同 VTOL 模式间的必要切换和混控逻辑，以及过渡模式下 VTOL 机型的特定控制动作（例如，在前向过渡期间加速标准 VTOL 的推进马达）起到促进作用。 此模块的输入称为“虚拟输入”，因为控制器会根据当前的 VTOL 模式而忽略一些输入。 -For a standard and tilt-rotor VTOL, during transition the fixed-wing attitude controller produces the rate setpoints, which are then fed into the separate rate controllers, resulting in torque commands for the multicopter and fixed-wing actuators. For tailsitters, during transition the multicopter attitude controller is running. +对于标准和倾转旋翼 VTOL，在过渡期间，固定翼姿态控制器产生角速率设定值，然后将其输入到单独的角速率控制器中，从而产生多旋翼和固定翼执行器的扭矩指令。 而对尾座式 VTOL，在过渡期间，多旋翼姿态控制器独立运行。 -The outputs of the VTOL attitude block are separate torque and force commands for the multicopter (typically `actuator_controls_0`) and fixed-wing (typically `actuator_controls_1`) actuators. These are handled in an airframe-specific mixer file (see [Mixing](../concept/mixing.md)). +VTOL姿态模块的输出是多旋翼执行器（典型的 `actuator_controls_0`）和固定翼（典型的 `actuator_controls_1`）执行器的独立的扭矩和力指令。 这些是在一个特定机型的混控器文件中处理的（参见[ Mixing](../concept/mixing.md)）。 -For more information on the tuning of the transition logic inside the VTOL block, see [VTOL Configuration](../config_vtol/README.md). +有关调整 VTOL 模块内部过渡逻辑的更多信息，请参阅 [VTOL 配置](../config_vtol/README.md)。 -### Airspeed Scaling +### 空速缩放补偿 本节的目的是：通过公式来解释怎样根据空速调整角速率回路 (PI) 和前馈控制器 (FF) 的输出，以及为何如此。 我们首先给出简化的滚转轴线性力矩方程，然后说明空速对力矩产生的直接影响，最后是空速对匀速滚转运动的影响。 @@ -181,9 +181,9 @@ Assuming a symmetric ($C_{\ell_0} = 0{}$) and coordinated ($\beta = 0{}$) aircra $$- C_{\ell_{\delta_a}} \:\delta_a = C_{\ell_p} \frac{b}{2 V_T} \: p$$. -This final equation is then taken as a baseline for the two next subsections to determine the airspeed scaling expression required for the PI and the FF controllers. +刚才推导出的这个最终方程，将会作为后面两个小节的基线。 -#### Static torque (PI) scaling +#### 静态力矩 (PI) 缩放补偿 At a zero rates condition ($p = 0{}$), the damping term vanishes and a constant - instantaneous - torque can be generated using: @@ -193,7 +193,7 @@ $$\delta_a = \frac{2bS}{C_{\ell_{\delta_a}}\rho_0} \frac{1}{V_I^2} \ell$$. $$\delta_{a} = \frac{V_{I_0}^2}{V_I^2} \delta_{a_{PI}} + \frac{V_{T_0}}{V_T} \delta_{a_{FF}}$$, -where the first fraction is constant and the second one depends on the air density and the true airspeed squared. +观察上面的公式可以知道，第一项是个常值，第二项则取决于空气密度和真实空速的平方。 更进一步，先不用空气密度和TAS做刻度化，可以发现指示空速 (IAS, $$V_I$$) 在本质上是受空气密度影响的，在低空低速情况下，IAS可以乘以一个简单的密度误差因子转换成TAS @@ -213,7 +213,7 @@ $$\bar{q} \propto V_I^2$$ $$\delta_a = \frac{2bS}{C_{\ell_{\delta_a}}\rho_0} \frac{1}{V_I^2} \ell$$ -#### Rate (FF) scaling +#### 角速率回路 (FF) 缩放补偿 角速率控制器前馈通道的主要作用是补偿转动阻尼。 回到我们的基线方程，这次在匀速滚转的条件下做简化，副翼产生的力矩必须恰好可以补偿阻尼项 @@ -225,7 +225,7 @@ $$\delta_a = -\frac{b \: C_{\ell_p}}{2 \: C_{\ell_{\delta_a}}} \frac{1}{V_T} \: 第一项给出了理想的前馈值，我们可以看到刻度因数相对TAS是线性的。 请注意那个负号，之后会与滚转阻尼系数的负号相互抵消。 -#### Conclusion +#### 总结 角速率回路PI控制器的输出必须由指示空速 (IAS) 的平方刻度化，角速率回路前馈通道 (FF) 必须由真实空速 (TAS) 刻度化。 @@ -233,7 +233,7 @@ $$\delta_{a} = \frac{V_{I_0}^2}{V_I^2} \delta_{a_{PI}} + \frac{V_{T_0}}{V_T} \de where $V_{I_0}{}$ and $V_{T_0}{}$ are the IAS and TAS at trim conditions. -Finally, since the actuator outputs are normalized and that the mixer and the servo blocks are assumed to be linear, we can rewrite this last equation as follows: +最终，由于执行器的输出是归一化的，并且假定混控和伺服模块是线性的，我们可以将上述方程重写如下: $$\dot{\mathbf{\omega}}*{sp}^b = \frac{V*{I_0}^2}{V_I^2} \dot{\mathbf{\omega}}*{sp*{PI}}^b + \frac{V_{T_0}}{V_T} \dot{\mathbf{\omega}}*{sp*{FF}}^b$$, @@ -243,6 +243,6 @@ $$\dot{\mathbf{\omega}}*{sp}^b = \frac{V*{I_0}^2}{V_I^2} \dot{\mathbf{\omega}}*{ 这套空速刻度化算法的巧妙之处就是它不需要特别的调参 但是对空速传感器的输出质量将直接影响它的性能 -进一步讲，如果要将稳定飞行包线最大化，你应该在最小飞行速度和最大飞行速度的中点进行调参 (例如： 一架飞机的飞行速度在15 ~ 25m/s 之间，则应在20m/s调参)。 However, the quality of the airspeed measurements directly influences its performance. +进一步讲，如果要将稳定飞行包线最大化，你应该在最小飞行速度和最大飞行速度的中点进行调参 (例如： 一架飞机的飞行速度在15 ~ 25m/s 之间，则应在20m/s调参)。 但是对空速传感器的输出质量将直接影响它的性能 -Furthermore, to get the largest stable flight envelope, one should tune the attitude controllers at an airspeed value centered between the stall speed and the maximum airspeed of the vehicle (e.g.: an airplane that can fly between 15 and 25m/s should be tuned at 20m/s). [FW_AIRSPD_TRIM](../advanced/parameter_reference.md#FW_AIRSPD_TRIM) 参数. 必须被置为这个 "调参" 空速。 +进一步讲，如果要将稳定飞行包线最大化，你应该在最小飞行速度和最大飞行速度的中点进行调参 (例如： 一架飞机的飞行速度在15 ~ 25m/s 之间，则应在20m/s调参)。 [FW_AIRSPD_TRIM](../advanced/parameter_reference.md#FW_AIRSPD_TRIM) 参数. 必须被置为这个 "调参" 空速。 diff --git a/zh/flying/README.md b/zh/flying/README.md index 488ca6b0c61a..78a85d18898c 100644 --- a/zh/flying/README.md +++ b/zh/flying/README.md @@ -4,15 +4,15 @@ [首航指南](../flying/first_flight_guidelines.md) - 确保您的第一次飞行愉快、有教育意义和安全的指南。 -[Flying 101](../flying/basic_flying.md) — How to fly a vehicle manually, using an RC Transmitter. +[Flying 101](../flying/basic_flying.md) - 如何使用远程遥控器手动驾驶飞机。 -[Missions](../flying/missions.md) — How to fly an autonomous mission. +[任务](../flying/missions.md) - 如何执行自主任务。 [GeoFence](../flying/geofence.md) — How to set a geofence. [Rally Points](../flying/plan_safety_points.md) — How to plan safe-return landing points (rally points). -[Flight Modes](../flight_modes/README.md) — Summary table + detailed information about flight modes. +[飞行模式](../flight_modes/README.md) - 摘要表 + 有关飞行模式的详细信息。 [Terrain Follow/Hold & Range Assistance](../flying/terrain_following_holding.md) — How to enable terrain following. diff --git a/zh/flying/basic_flying.md b/zh/flying/basic_flying.md index 9665b87e3307..964547943ae2 100644 --- a/zh/flying/basic_flying.md +++ b/zh/flying/basic_flying.md @@ -29,11 +29,11 @@ To arm the drone: -## Takeoff +## 起飞 Takeoff The easiest way to takeoff (after [arming the vehicle](#arm)) is to use the automatic [Takeoff mode](../flight_modes/takeoff.md). Usually this is triggered from an [RC switch](../config/flight_mode.md) or ground station. -Multicopter (and VTOL in multicopter mode) pilots can take off *manually* by enabling [position mode](../flight_modes/README.md#position_mc), arming the vehicle, and then raising the throttle stick above 62.5%. Above this value all controllers are enabled and the vehicle goes to the throttle level required for hovering ([MPC_THR_HOVER](../advanced_config/parameter_reference.md#MPC_THR_HOVER)). +Multicopter (and VTOL in multicopter mode) pilots can take off *manually* by enabling [position mode](../flight_modes/README.md#position_mc), arming the vehicle, and then raising the throttle stick above 62.5%. 高于此值，所有控制器都可以启用，飞行器进入悬停所需的油门量（[MPC_THR_HOVER](../advanced_config/parameter_reference.md#MPC_THR_HOVER)）. > **Tip** The automatic takeoff mode is highly recommended, in particular for Fixed Wing vehicles! @@ -45,7 +45,7 @@ Multicopter (and VTOL in multicopter mode) pilots can take off *manually* by ena > **Note** The [Failure Detector](../config/safety.md#failure_detector) will automatically stop the engines if there is a problem on takeoff. -## Landing +## 着陆 The easiest way to land is to use the automatic [Land](../flight_modes/land.md) or [Return](../flight_modes/return.md) modes. @@ -56,52 +56,52 @@ Note that vehicles automatically disarm on landing by default: - Use [COM_DISARM_LAND](../advanced_config/parameter_reference.md#COM_DISARM_LAND) to set the time to auto-disarm after landing (or disable it altogether). - Manually disarm by putting the throttle stick in the bottom left corner. -> **Note** If you see the vehicle "twitch" during landing (turn down the motors, and then immediately turn them back up) this is probably caused by a poor [Land Detector Configuration](../advanced_config/land_detector.md) (specifically, a poorly set [MPC_THR_HOVER](../advanced_config/parameter_reference.md#MPC_THR_HOVER)). +> **Note**如果你看见飞行器在降落时“抖动”（关闭电机之后，立即向上翻），这可能是由于[着陆检测器](../advanced_config/land_detector.md)配置不佳（特别是[MPC_THR_HOVER](../advanced_config/parameter_reference.md#MPC_THR_HOVER)参数设置不当）造成的。 > **Tip** Automatic landing is highly recommended, in particular for Fixed Wing vehicles. -## Flight Controls/Commands +## 飞行控制/命令 -All flying, including takeoff and landing, is controlled using the 4 basic commands: roll, yaw, pitch and throttle. +所有的飞行，包括起飞和降落，都是由 4 个基本命令进行控制：横滚，偏航，俯仰和油门。 -![RC Basic Commands](../../assets/flying/rc_basic_commands.png) +![遥控基本命令](../../assets/flying/rc_basic_commands.png) -In order to control your aircraft you need to understand how the basic Roll, Pitch, Yaw and Throttle commands affect movement in 3D space. This differs depending on whether you're controlling a forward-flying aircraft like a plane, or a "hover aircraft" like a multicopter. +为了控制你的飞行器，你就需要知道基本的横滚，偏航，俯仰和油门等命令是如何在三维空间里影响飞行运动的。 这取决于你是控制的是 plane 那样的前飞飞机，还是旋翼机那样的 “悬停飞机”。 ### 悬停飞机 -Hover aircraft (Copter, VTOL in hover mode) respond to the movement commands as shown below: +悬停飞机（旋翼机，垂起机的悬停模式）响应移动命令，如下所示： -![Basic Movements Multicopter](../../assets/flying/basic_movements_multicopter.png) +![多轴飞行器的基本运动](../../assets/flying/basic_movements_multicopter.png) - Pitch => Forward/back. -- Roll => Left/right. -- Yaw => Left/right rotation around the centre of the frame. -- Throttle => Changed altitude/speed. +- 横滚 => 往左 / 往右。 +- 偏航 => 围绕机身中心左 / 右旋转。 +- 油门 => 改变高度 / 速度。 ### 前飞飞机 -Forward-flying aircraft (planes, VTOL in forward flight) respond to the movement commands as shown below: +前飞飞机（plane，垂起的前飞模式）响应移动命令，如下所示： -![Basic Movements Forward](../../assets/flying/basic_movements_forward.png) +![向前的基本运动](../../assets/flying/basic_movements_forward.png) -- Pitch => Up/down. -- Roll => Left/right and a turn. -- Yaw => Left/right tail rotation and turn. -- Throttle => Changed forward speed. +- 俯仰 => 上 / 下升降舵。 +- 横滚 => 左 / 右副翼。 +- 偏航 => 左 / 右方向舵。 +- 油门 => 改变前飞速度。 -> **Note** The best turn for airplanes is called a coordinated turn, and is performed using roll and little yaw at the same time. This maneuver requires experience! +> **Note** The best turn for airplanes is called a coordinated turn, and is performed using roll and little yaw at the same time. 这种策略需要经验！ -## Assisted Flight +## 辅助飞行 -Even with an understanding of how the vehicle is controlled, flight in fully manual mode can be quite unforgiving. New users should [configure their transmitter](../config/flight_mode.md) to use flight modes where the autopilot automatically compensates for erratic user input or environmental factors. +即是了解了飞行器是如何控制的，全手动模式的飞行也是不行的。 New users should [configure their transmitter](../config/flight_mode.md) to use flight modes where the autopilot automatically compensates for erratic user input or environmental factors. -The following three modes are highly recommended for new users: +强烈建议新手使用以下三种模式： -- Stabilized - Vehicle hard to flip, and will level-out if the sticks are released (but not hold position) -- Altitude - Climb and drop are controlled to have a maximum rate. -- Position - When sticks are released the vehicle will stop (and hold position against wind drift) +- 自稳模式-飞行器很难侧翻，并且如果摇杆被释放飞行器将趋于平稳（但不是位置定点）。 +- 高度模式 - 爬升和降落由最大速率控制。 +- 位置模式 - 当摇杆被释放飞行器将保持飞行（位置定点，不会随风漂移）。 -> **Tip** You can also access automatic modes through the buttons on the bottom of the *QGroundControl* main flight screen. \ No newline at end of file +> **Tip**你也可以通过*QGroundControl*主飞行界面底部的按钮访问自动模式。 \ No newline at end of file diff --git a/zh/flying/fixed_wing_landing.md b/zh/flying/fixed_wing_landing.md index 53db35f305eb..e0198cfc618a 100644 --- a/zh/flying/fixed_wing_landing.md +++ b/zh/flying/fixed_wing_landing.md @@ -12,14 +12,14 @@ Flare 着陆高度是相对于固定翼“认为”的地平面高度而言的 着陆进一步受到下列参数的影响： -| 参数 | 描述 | -| --------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -| [FW_LND_ANG](../advanced_config/parameter_reference.md#FW_LND_ANG) | flaring 前降落坡度角 | -| [FW_LND_HVIRT](../advanced_config/parameter_reference.md#FW_LND_HVIRT) | 用于计算 flare 轨迹的虚拟水平线/高度。这代表了 flare 路径曲线渐近接近的地下高度。 | -| [FW_LND_FLALT](../advanced_config/parameter_reference.md#FW_LND_FLALT) | 着陆 flare 高度 (相对于着陆高度) | -| [FW_LND_TLALT](../advanced_config/parameter_reference.md#FW_LND_TLALT) | 着陆油门限制高度(相对着陆高度)。 默认值 -1.0 允许系统默认在 2/3 flare 高度施加油门限制。 | -| [FW_LND_HHDIST](../advanced_config/parameter_reference.md#FW_LND_HHDIST) | 着陆航向保持水平距离 | -| [FW_LND_USETER](../advanced_config/parameter_reference.md#FW_LND_USETER) | 在着陆时使用地形估计(从 GPS 获得地面高度)。 默认情况下，这是关闭的，通常使用一个航点或返航高度(或海平面用于任意的着陆位置)。 | -| [FW_LND_FL_PMIN](../advanced_config/parameter_reference.md#FW_LND_FL_PMIN) | Minimum pitch during flare. A positive sign means nose up Applied once `FW_LND_TLALT` is reached | -| [FW_LND_FL_PMAX](../advanced_config/parameter_reference.md#FW_LND_FL_PMAX) | Maximum pitch during flare. A positive sign means nose up Applied once `FW_LND_TLALT` is reached | -| [FW_LND_AIRSPD_SC](../advanced_config/parameter_reference.md#FW_LND_AIRSPD_SC) | Min. airspeed scaling factor for landing. Comment: Multiplying this factor with the minimum airspeed of the plane gives the target airspeed the landing approach. `FW_AIRSPD_MIN x FW_LND_AIRSPD_SC` | \ No newline at end of file +| 参数 | 描述 | +| --------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| [FW_LND_ANG](../advanced_config/parameter_reference.md#FW_LND_ANG) | flaring 前降落坡度角 | +| [FW_LND_HVIRT](../advanced_config/parameter_reference.md#FW_LND_HVIRT) | 用于计算 flare 轨迹的虚拟水平线/高度。这代表了 flare 路径曲线渐近接近的地下高度。 | +| [FW_LND_FLALT](../advanced_config/parameter_reference.md#FW_LND_FLALT) | 着陆 flare 高度 (相对于着陆高度) | +| [FW_LND_TLALT](../advanced_config/parameter_reference.md#FW_LND_TLALT) | 着陆油门限制高度(相对着陆高度)。 默认值 -1.0 允许系统默认在 2/3 flare 高度施加油门限制。 | +| [FW_LND_HHDIST](../advanced_config/parameter_reference.md#FW_LND_HHDIST) | 着陆航向保持水平距离 | +| [FW_LND_USETER](../advanced_config/parameter_reference.md#FW_LND_USETER) | 在着陆时使用地形估计(从 GPS 获得地面高度)。 默认情况下，这是关闭的，通常使用一个航点或返航高度(或海平面用于任意的着陆位置)。 | +| [FW_LND_FL_PMIN](../advanced_config/parameter_reference.md#FW_LND_FL_PMIN) | Minimum pitch during flare. A positive sign means nose up Applied once `FW_LND_TLALT` is reached | +| [FW_LND_FL_PMAX](../advanced_config/parameter_reference.md#FW_LND_FL_PMAX) | Maximum pitch during flare. A positive sign means nose up Applied once `FW_LND_TLALT` is reached | +| [FW_LND_AIRSPD_SC](../advanced_config/parameter_reference.md#FW_LND_AIRSPD_SC) | 起飞时最小 airspeed scaling factor for landing. Comment: Multiplying this factor with the minimum airspeed of the plane gives the target airspeed the landing approach. `FW_AIRSPD_MIN x FW_LND_AIRSPD_SC` | \ No newline at end of file diff --git a/zh/flying/fixed_wing_takeoff.md b/zh/flying/fixed_wing_takeoff.md index 432549b77dda..8807c7ac8e67 100644 --- a/zh/flying/fixed_wing_takeoff.md +++ b/zh/flying/fixed_wing_takeoff.md @@ -5,7 +5,8 @@ In all cases the vehicle takes off at a predefined pitch in its current directio The sections below explain the main methods. -## Position Flight Mode {#position} + +## Position Flight Mode The vehicle will takeoff in [Position mode](../flight_modes/position_fw.md) if it detects sufficient launch acceleration when launched at an altitude below [FW_CLMBOUT_DIFF](../advanced_config/parameter_reference.md#FW_CLMBOUT_DIFF). @@ -16,7 +17,8 @@ To launch in this mode: The vehicle will ascend to `FW_CLMBOUT_DIFF` using the same climbout behaviour as for [Takeoff mode](#takeoff). It will then continue in *Postion mode*. -## Takeoff Flight Mode {#takeoff} + +## Takeoff Flight Mode [Takeoff Mode](../flight_modes/takeoff.md#fixed_wing) enables takeoff using either *catapult/hand-launch* (default) or *runway takeoff*. @@ -44,8 +46,8 @@ Runway takeoff mode is enabled using [RWTO_TKOFF](../advanced_config/parameter_r The mode is documented in [Takeoff Mode > Fixed Wing > Runway Takeoff](../flight_modes/takeoff.md#runway_launch). - -## Mission Takeoff {#mission} + +## Mission Takeoff You can also hand/catapult launch a fixed wing vehicle in a mission. diff --git a/zh/flying/geofence.md b/zh/flying/geofence.md index 02f2ef4a8cd4..c302196588b3 100644 --- a/zh/flying/geofence.md +++ b/zh/flying/geofence.md @@ -1,4 +1,4 @@ -# GeoFence +# GeoFence (地理围栏) A GeoFence is a virtual boundary that defines where a vehicle can travel. GeoFences can be used to prevent a vehicle flying out of range of the RC controller, or into unsafe or restricted airspace. diff --git a/zh/flying/missions.md b/zh/flying/missions.md index 9ae3a4e45a6c..2f1d762cdacf 100644 --- a/zh/flying/missions.md +++ b/zh/flying/missions.md @@ -26,6 +26,6 @@ Vehicle types that cannot independently control yaw and direction of travel will ## 执行飞行任务 -Once the mission is uploaded, switch to the flight view. The mission is displayed in a way that makes it easy to track progress (it cannot be modified in this view). +一旦任务上传, 切换到飞行视图。 该任务以便于跟踪进度的方式显示 (在此视图中无法修改航点)。 ![flying-mission](../../assets/flying/flying_mission.jpg) \ No newline at end of file diff --git a/zh/flying/pre_flight_checks.md b/zh/flying/pre_flight_checks.md index 2ab96a6bbe60..8bd4f0cff0e6 100644 --- a/zh/flying/pre_flight_checks.md +++ b/zh/flying/pre_flight_checks.md @@ -8,7 +8,7 @@ PX4 执行很多飞行前传感器质量和估算器检查，以确定是否有 ## EKF 飞行前检查 / 错误 -The following errors (with associated checks and parameters) are reported by the [EKF](../tutorials/tuning_the_ecl_ekf.md) (and propagate to *QGroundControl*): +[EKF](../tutorials/tuning_the_ecl_ekf.md)报告以下错误（带有相关的检查和参数）（并传播到*QGroundControl*）： `PREFLIGHT FAIL: EKF HGT ERROR`： @@ -34,7 +34,7 @@ The following errors (with associated checks and parameters) are reported by the - 检查 IMU 数据是否存在较大的偏航率漂洗，并检查磁力计的对准和校准。 - The check is controlled by the [COM_ARM_EKF_YAW](../advanced_config/parameter_reference.md#COM_ARM_EKF_YAW) parameter - The default value of 0.5 allows the differences between the navigation yaw angle and magnetic yaw angle (magnetometer or external vision) to be no more than 50% of the maximum tolerated by the EKF and provides some margin for error increase when flight commences. -- It can fail if the yaw gyro has a large offset or if the vehicle is moved or rotated in the presence of a bad magnetic interference or magnetometer calibration. +- 如果偏航陀螺仪有较大的偏移量，或者飞行器在存在磁干扰或者磁力计校准的情况下移动或者旋转，则可能会校准失败。 `PREFLIGHT FAIL: EKF HIGH IMU ACCEL BIAS`: @@ -67,20 +67,20 @@ The following errors (with associated checks and parameters) are reported by the `PREFLIGHT FAIL: EKF INTERNAL CHECKS`: -- This error message is generated if the innovation magnitudes of either the horizontal GPS velocity, magnetic yaw, vertical GPS velocity or vertical position sensor (Baro by default but could be range finder or GPS if non-standard parameters are being used) are excessive. Innovations are the difference between the value predicted by the inertial navigation calculation and measured by the sensor. -- Users should check the innovation levels in the log file to determine the cause. These can be found under the `ekf2_innovations` message. Common problems/solutions include: - - IMU drift on warmup. May be resolved by restarting the autopilot. May require an IMU accel and gyro calibration. - - Adjacent magnetic interference combined with vehicle movement. Resolve my moving vehicle and waiting or re-powering. - - Bad magnetometer calibration combined with vehicle movement. Resolve by recalibrating. - - Initial shock or rapid movement on startup that caused a bad inertial nav solution. Resolve by restarting the vehicle and minimising movement for the first 5 seconds. +- 如果水平 GPS 速度、偏航角、垂直 GPS 速度或者垂直位置传感器（气压计默认情况下可以使测距仪或 GPS ，如果使用非标准参数）其中之一新息过多，会产生此错误消息。 新息指的是惯性导航计算预测值与传感器测量值之间的差异。 +- 用户应检查日志文件中新息级别以确定原因。 这些可以在`ekf2_innovations`消息下找到。 常见问题 / 解决方案包括： + - IMU 启动时漂移。 可以通过重启自驾仪来解决。 可能需要 IMU 加速度计和陀螺仪校准。 + - 相邻磁干扰在飞行器运动中。 通过等待或者重新上电解决。 + - 磁力计校准不良在飞行器运动中。。 通过重新校准解决。 + - 启动时的初始冲击或快速移动导致惯性导航失败。 通过重新启动飞行器并在前 5 秒内最大限度地减少移动来解决此问题。 ## 其他参数 -The following parameters also affect preflight checks. +一下参数也会影响飞行前检查。 ### COM_ARM_WO_GPS -The [COM_ARM_WO_GPS](../advanced_config/parameter_reference.md#COM_ARM_WO_GPS) parameter controls whether or not arming is allowed without a global position estimate. +[COM_ARM_WO_GPS](../advanced_config/parameter_reference.md#COM_ARM_WO_GPS)参数控制是否允许在没有全球位置估计的情况下进行解锁。 -- `1` (default): Arming *is* allowed without a position estimate for flight modes that do not require position information (only). -- `0`: Arming is allowed only if EKF is providing a global position estimate and EFK GPS quality checks are passing \ No newline at end of file +- `1`( 默认)：*仅*对处于不需要获取位置信息的飞行模式时，即便没有位置估计也可以解锁。 +- 0：只有当 EKF 提供全球位置估计并且 EKF GPS 质量检查正在通过时，才允许解锁。 \ No newline at end of file diff --git a/zh/frames_autogyro/thunderfly_auto_g2.md b/zh/frames_autogyro/thunderfly_auto_g2.md index 0c6be9440ece..c40bc794f484 100644 --- a/zh/frames_autogyro/thunderfly_auto_g2.md +++ b/zh/frames_autogyro/thunderfly_auto_g2.md @@ -19,7 +19,7 @@ Modification of the Durafly model are as follows: * Two blade rotor with safely breakable rotor plate * Larger landing gears -### Autopilot +### 飞控 The aircraft with all of the modifications is already quite heavy. 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)). @@ -71,7 +71,7 @@ The whole part is glued, using a hot-melt adhesive, under the engine on the bott ![Release device](../../assets/airframes/autogyro/auto-g2/modif_release.png) -## Parts List +## 配件列表 ### Electronic @@ -114,7 +114,7 @@ The whole part is glued, using a hot-melt adhesive, under the engine on the bott * Rotor centre plate with deformation zones (3D printed) * Rotor blades ([HobbyKing](https://hobbyking.com/en_us/duraflytm-auto-g-gyrocopter-821mm-replacement-main-blade-1pcs-bag.html) or 3D printed) -## Video: +## 视频: {% youtube %} https://youtu.be/YhXXSWz5wWs diff --git a/zh/frames_multicopter/dji_f450_cuav_5nano.md b/zh/frames_multicopter/dji_f450_cuav_5nano.md index 150e736bf1c9..d7e5153fba45 100644 --- a/zh/frames_multicopter/dji_f450_cuav_5nano.md +++ b/zh/frames_multicopter/dji_f450_cuav_5nano.md @@ -31,13 +31,13 @@ The image below shows both frame and electronic components. ![All components used in this build](../../assets/airframes/multicopter/dji_f450_cuav_5nano/all_components.jpg) -## Hardware +## 硬件 -### Frame +### 框架 This section lists all hardware for the frame. -| Description | Quantity | +| 参数描述 | Quantity | | ------------------------------------------------- | -------- | | DJI F450 Bottom plate | 1 | | DJI F450 Top plate | 1 | @@ -54,7 +54,7 @@ This section lists all hardware for the frame. This section lists the components in the CUAV v5 nano package. -| Description | Quantity (Default Package) | Quantity (+GPS Package) | +| 参数描述 | Quantity (Default Package) | Quantity (+GPS Package) | | ------------------------- | -------------------------- | ----------------------- | | V5 nano flight controller | 1 | 1 | | DuPont Cable | 2 | 2 | @@ -78,7 +78,7 @@ This section lists the components in the CUAV v5 nano package. ### Electronics -| Description | Quantity | +| 参数描述 | Quantity | | ----------------------------------------------------- | -------- | | CUAV V5 nano | 1 | | CUAV NEO V2 GPS | 1 | @@ -102,7 +102,7 @@ The following tools are used in this assembly: ![Required tools](../../assets/airframes/multicopter/dji_f450_cuav_5nano/required_tools.jpg) -## Assembly +## 组装 Estimated time to assemble is approximately 90 minutes (about 45 minutes for the frame and 45 minutes installing the autopilot and configuring the airframe. @@ -150,7 +150,7 @@ Estimated time to assemble is approximately 90 minutes (about 45 minutes for the > **Note** The motor order is defined in the [Airframe Reference > Quadrotor x](../airframes/airframe_reference.md#quadrotor-x) -That's it! The final build is shown below: +设置完成！ The final build is shown below: ![Finished Setup](../../assets/airframes/multicopter/dji_f450_cuav_5nano/f450_cuav5_nano_complete.jpg) @@ -164,8 +164,8 @@ That's it! The final build is shown below: First update the firmware and airframe: -* [Firmware](../config/firmware.md) -* [Airframe](../config/airframe.md) +* [固件](../config/firmware.md) +* [机架](../config/airframe.md) > **Note** You will need to select the *Generic Quadrotor X* airframe (**Quadrotor x > Generic Quadrotor X**). @@ -173,20 +173,20 @@ First update the firmware and airframe: Then perform the mandatory setup/calibration: -* [Sensor Orientation](../config/flight_controller_orientation.md) -* [Compass](../config/compass.md) -* [Accelerometer](../config/accelerometer.md) -* [Level Horizon Calibration](../config/level_horizon_calibration.md) -* [Radio Setup](../config/radio.md) +* [传感器方向](../config/flight_controller_orientation.md) +* [罗盘](../config/compass.md) +* [加速度计 Accelerometer](../config/accelerometer.md) +* [水平平面校准](../config/level_horizon_calibration.md) +* [无线电系统设置](../config/radio.md) * [Flight Modes](../config/flight_mode.md) > **Note** For this build we set up modes *Stabilized*, *Altitude* and *Position* on a three-way switch on the receiver (mapped to a single channel - 5). This is the recommended minimal set of modes for beginners. Ideally you should also do: -* [ESC Calibration](../advanced_config/esc_calibration.md) -* [Battery](../config/battery.md) -* [Safety](../config/safety.md) +* [电调（ESC）校准](../advanced_config/esc_calibration.md) +* [电池](../config/battery.md) +* [安全](../config/safety.md) -## Tuning +## 调试 Firmware installation sets *default* autopilot parameters that have been configured for the selected frame. These are good enough to fly with, but it is a good idea to tune the parameters for a specific frame build. @@ -197,7 +197,7 @@ These were generated by flight testing. --> -## Video +## 视频 {% youtube %} https://youtu.be/b0bKNdDqVHw {% endyoutube %} diff --git a/zh/frames_multicopter/dji_f450_cuav_5plus.md b/zh/frames_multicopter/dji_f450_cuav_5plus.md index d963d4503b03..bed8a525df60 100644 --- a/zh/frames_multicopter/dji_f450_cuav_5plus.md +++ b/zh/frames_multicopter/dji_f450_cuav_5plus.md @@ -31,13 +31,13 @@ The image below shows both frame and electronic components. ![All components used in this build](../../assets/airframes/multicopter/dji_f450_cuav_5plus/all_components.jpg) -## Hardware +## 硬件 -### Frame +### 框架 This section lists all hardware for the frame. -| Description | Quantity | +| 参数描述 | Quantity | | ------------------------------------------------- | -------- | | DJI F450 Bottom plate | 1 | | DJI F450 Top plate | 1 | @@ -54,7 +54,7 @@ This section lists all hardware for the frame. This section lists the components in the CUAV v5+ package. -| Description | Quantity (Default Package) | Quantity (+GPS Package) | +| 参数描述 | Quantity (Default Package) | Quantity (+GPS Package) | | ------------------------ | -------------------------- | ----------------------- | | V5+ Autopilot | 1 | 1 | | DuPont Cable | 2 | 2 | @@ -80,7 +80,7 @@ This section lists the components in the CUAV v5+ package. ### Electronics -| Description | Quantity | +| 参数描述 | Quantity | | ----------------------------------------------------- | -------- | | CUAV V5+ | 1 | | CUAV NEO V2 GPS | 1 | @@ -104,7 +104,7 @@ The following tools are used in this assembly: ![Required tools](../../assets/airframes/multicopter/dji_f450_cuav_5plus/required_tools.jpg) -## Assembly +## 组装 Estimated time to assemble is approximately 90 minutes (about 45 minutes for the frame and 45 minutes installing the autopilot and configuring the airframe. @@ -152,7 +152,7 @@ Estimated time to assemble is approximately 90 minutes (about 45 minutes for the > **Note** The motor order is defined in the [Airframe Reference > Quadrotor x](../airframes/airframe_reference.md#quadrotor-x) -That's it! The final build is shown below: +设置完成！ The final build is shown below: ![Finished Setup](../../assets/airframes/multicopter/dji_f450_cuav_5plus/f450_cuav5_plus_complete_2.jpg) @@ -166,8 +166,8 @@ That's it! The final build is shown below: First update the firmware and airframe: -* [Firmware](../config/firmware.md) -* [Airframe](../config/airframe.md) +* [固件](../config/firmware.md) +* [机架](../config/airframe.md) > **Note** You will need to select the *Generic Quadrotor X* airframe (**Quadrotor x > Generic Quadrotor X**). @@ -175,20 +175,20 @@ First update the firmware and airframe: Then perform the mandatory setup/calibration: -* [Sensor Orientation](../config/flight_controller_orientation.md) -* [Compass](../config/compass.md) -* [Accelerometer](../config/accelerometer.md) -* [Level Horizon Calibration](../config/level_horizon_calibration.md) -* [Radio Setup](../config/radio.md) +* [传感器方向](../config/flight_controller_orientation.md) +* [罗盘](../config/compass.md) +* [加速度计 Accelerometer](../config/accelerometer.md) +* [水平平面校准](../config/level_horizon_calibration.md) +* [无线电系统设置](../config/radio.md) * [Flight Modes](../config/flight_mode.md) > **Note** For this build we set up modes *Stabilized*, *Altitude* and *Position* on a three-way switch on the receiver (mapped to a single channel - 5). This is the recommended minimal set of modes for beginners. Ideally you should also do: -* [ESC Calibration](../advanced_config/esc_calibration.md) -* [Battery](../config/battery.md) -* [Safety](../config/safety.md) +* [电调（ESC）校准](../advanced_config/esc_calibration.md) +* [电池](../config/battery.md) +* [安全](../config/safety.md) -## Tuning +## 调试 Firmware installation sets *default* autopilot parameters that have been configured for the selected frame. These are good enough to fly with, but it is a good idea to tune the parameters for a specific frame build. @@ -199,7 +199,7 @@ These were generated by flight testing. --> -## Video +## 视频 {% youtube %} https://youtu.be/r-IkaVpN1Ko {% endyoutube %} diff --git a/zh/frames_multicopter/dji_flamewheel_450.md b/zh/frames_multicopter/dji_flamewheel_450.md index a35ebc625f51..91910d14f8b6 100644 --- a/zh/frames_multicopter/dji_flamewheel_450.md +++ b/zh/frames_multicopter/dji_flamewheel_450.md @@ -12,7 +12,7 @@ Key information: ![](../../assets/airframes/multicopter/Flamewheel_450/f450_setup_back.jpg) -## Parts List +## 配件列表 - Autopilot: [Pixhawk 3 Pro](../flight_controller/pixhawk3_pro.md) - Frame: [DJI Flamewheel 450](http://www.dji.com/flame-wheel-arf) @@ -48,7 +48,7 @@ The 3DR Telemetry does not come with a JST GH connector which the *Pixhawk 3 Pro | 2 | TX | RX | | 3 | RX | TX | | 4 | CTS | CTS | -| 5 | RTS | RTS | +| 5 | RTS: | RTS: | | 6 | GND | GND | ### Lidar-Lite V3 @@ -114,6 +114,6 @@ Set the following parameters as well: - `CBRK_IO_SAFETY=22027`: disable the safety button - `EKF2_GPS_POS_X`, `EKF2_GPS_POS_Y`, `EKF2_GPS_POS_Z`: set the GPS device offset with respect to the board (NED coordinates). -## Video +## 视频 {% youtube %}https://www.youtube.com/watch?v=JovSwzoTepU{% endyoutube %} \ No newline at end of file diff --git a/zh/frames_multicopter/holybro_qav250_pixhawk4_mini.md b/zh/frames_multicopter/holybro_qav250_pixhawk4_mini.md index 0bbe92a884b0..3aafb699e8c6 100644 --- a/zh/frames_multicopter/holybro_qav250_pixhawk4_mini.md +++ b/zh/frames_multicopter/holybro_qav250_pixhawk4_mini.md @@ -35,13 +35,13 @@ Additionally you will need a battery and receiver (+compatible transmitter). Thi * Receiver: [FR SKY D4R-II](http://www.getfpv.com/radios/receivers/frsky-d4r-ii-4ch-2-4ghz-accst-receiver-w-telemetry.html) * Battery: [4S 1300 mAh](http://www.getfpv.com/lumenier-1300mah-4s-60c-lipo-battery-xt60.html) -## Hardware +## 硬件 This section lists all hardware for the frame and the autopilot installation. ### Frame QAV250 -| Description | Quantity | +| 参数描述 | Quantity | | ----------------------------- | -------- | | Unibody frame plate | 1 | | Flight controller cover plate | 1 | @@ -60,7 +60,7 @@ This section lists all hardware for the frame and the autopilot installation. ### Electronics -| Description | Quantity | +| 参数描述 | Quantity | | -------------------------------------------------------------------------------------------------------------- | -------- | | Motors - DR2205 KV2300 | 4 | | Fully assembled Power Management Board with ESCs | 4 | @@ -77,7 +77,7 @@ The image below shows both frame and electronic components. ![QAV250 Frame/Pixhawk 4 Mini Electronics before assembly](../../assets/airframes/multicopter/qav250_holybro_pixhawk4_mini/frame_and_electronics_components.jpg) -## Assembly +## 组装 Estimated time to assemble frame is 2 hours and 1.5 hours installing the autopilot and configuring the airframe in *QGroundControl*. @@ -162,7 +162,7 @@ The "Complete" version of the kit additionally comes with an FPV system, which i The steps to install the kit are: -1. Install the camera bracket on the frame ![Camera Connection](../../assets/airframes/multicopter/qav250_holybro_pixhawk4_mini/fpv_camera_bracket.jpg) +1. Install the camera bracket on the frame ![相机连接](../../assets/airframes/multicopter/qav250_holybro_pixhawk4_mini/fpv_camera_bracket.jpg) 2. Install the camera on the bracket ![Camera on Bracket](../../assets/airframes/multicopter/qav250_holybro_pixhawk4_mini/fpv_camera_on_bracket.jpg) 3. The power module on the complete kit comes with wiring ready to connect the Video Transmitter and Camera: ![Connecting FPV](../../assets/airframes/multicopter/qav250_holybro_pixhawk4_mini/fpv_connection_board.jpg) * Attach the camera connector ![Camera Connection](../../assets/airframes/multicopter/qav250_holybro_pixhawk4_mini/fpv_camera_connection.jpg) The wires are: blue=voltage sensor, yellow=video out, black=ground, red=+voltage. @@ -181,8 +181,8 @@ The steps to install the kit are: First update the firmware and airframe: -* [Firmware](../config/firmware.md) -* [Airframe](../config/airframe.md) +* [固件](../config/firmware.md) +* [机架](../config/airframe.md) > **Note** You will need to select the *HolyBro QAV250* airframe (**Quadrotor x > HolyBro QAV250**). @@ -190,20 +190,20 @@ First update the firmware and airframe: Then perform the mandatory setup/calibration: -* [Sensor Orientation](../config/flight_controller_orientation.md) -* [Compass](../config/compass.md) -* [Accelerometer](../config/accelerometer.md) -* [Level Horizon Calibration](../config/level_horizon_calibration.md) -* [Radio Setup](../config/radio.md) -* [Flight Modes](../config/flight_mode.md) +* [传感器方向](../config/flight_controller_orientation.md) +* [罗盘](../config/compass.md) +* [加速度计 Accelerometer](../config/accelerometer.md) +* [水平平面校准](../config/level_horizon_calibration.md) +* [无线电系统设置](../config/radio.md) +* [飞行模式](../config/flight_mode.md) Ideally you should also do: -* [ESC Calibration](../advanced_config/esc_calibration.md) -* [Battery](../config/battery.md) -* [Safety](../config/safety.md) +* [电调（ESC）校准](../advanced_config/esc_calibration.md) +* [电池](../config/battery.md) +* [安全](../config/safety.md) -## Tuning +## 调试 Airframe selection sets *default* autopilot parameters for the frame. These are good enough to fly with, but it is a good idea to tune the parameters for a specific frame build. diff --git a/zh/frames_multicopter/holybro_s500_v2_pixhawk4.md b/zh/frames_multicopter/holybro_s500_v2_pixhawk4.md index e897d78e7102..e07a6e3e2a57 100644 --- a/zh/frames_multicopter/holybro_s500_v2_pixhawk4.md +++ b/zh/frames_multicopter/holybro_s500_v2_pixhawk4.md @@ -31,7 +31,7 @@ The Holybro [S500 V2 Kit](https://shop.holybro.com/s500-v2-kitmotor2216-880kv-pr > **Note** No LiPo battery is included. In addition, we use a FrSky Taranis controller. -## Hardware +## 硬件 | Item Description | Quantity | | -------------------------- | -------- | @@ -101,7 +101,7 @@ The following tools are used in this assembly: ![S500 Tools](../../assets/airframes/multicopter/s500_holybro_pixhawk4/s500_tools.jpg) -## Assembly +## 组装 Estimate time to assemble is 90 minutes, about 45 minutes for frame assembly and 45 minutes installing and configuring the autopilot in QGroundControl. @@ -251,8 +251,8 @@ Fully assembled, the kit looks as shown below: First update the firmware and airframe: -* [Firmware](../config/firmware.md) -* [Airframe](../config/airframe.md) +* [固件](../config/firmware.md) +* [机架](../config/airframe.md) > **Note** You will need to select the *Holybro S500* airframe (**Quadrotor x > Holybro S500**). @@ -260,20 +260,20 @@ First update the firmware and airframe: Then perform the mandatory setup/calibration: -* [Sensor Orientation](../config/flight_controller_orientation.md) -* [Compass](../config/compass.md) -* [Accelerometer](../config/accelerometer.md) -* [Level Horizon Calibration](../config/level_horizon_calibration.md) -* [Radio Setup](../config/radio.md) -* [Flight Modes](../config/flight_mode.md) +* [传感器方向](../config/flight_controller_orientation.md) +* [罗盘](../config/compass.md) +* [加速度计 Accelerometer](../config/accelerometer.md) +* [水平平面校准](../config/level_horizon_calibration.md) +* [无线电系统设置](../config/radio.md) +* [飞行模式](../config/flight_mode.md) Ideally you should also do: -* [ESC Calibration](../advanced_config/esc_calibration.md) -* [Battery](../config/battery.md) -* [Safety](../config/safety.md) +* [电调（ESC）校准](../advanced_config/esc_calibration.md) +* [电池](../config/battery.md) +* [安全](../config/safety.md) -## Tuning +## 调试 Airframe selection sets *default* autopilot parameters for the frame. These are good enough to fly with, but it is a good idea to tune the parameters for a specific frame build. diff --git a/zh/frames_multicopter/holybro_x500_pixhawk4.md b/zh/frames_multicopter/holybro_x500_pixhawk4.md index b85beec7f60b..32f6189290ba 100644 --- a/zh/frames_multicopter/holybro_x500_pixhawk4.md +++ b/zh/frames_multicopter/holybro_x500_pixhawk4.md @@ -30,11 +30,11 @@ Additionally you will need a battery and receiver ([compatible radio system](../ * Receiver: FR SKY Taranis * Battery: [4S 1300 mAh](http://www.getfpv.com/lumenier-1300mah-4s-60c-lipo-battery-xt60.html) -## Hardware +## 硬件 This section lists all hardware for the frame and the autopilot installation. -| Item | Description | Quantity | +| Item | 描述 | Quantity | | ---------------------------- | ------------------------------------------------- | -------- | | Socket cap scre | Used for motor fixing, stainless steel screw M3*5 | 16 | | Carbon fiber tube - Arm | Diameter: 16mm length: 200mm | 4 | @@ -119,7 +119,7 @@ The following tools are used in this assembly: ![X500 Full Package Contents](../../assets/airframes/multicopter/x500_holybro_pixhawk4/x500_tools.png) -## Assembly +## 组装 Estimate time to assemble is 120 minutes, about 75 minutes for frame assembly and 45 minutes installing and configuring the autopilot in QGroundControl. @@ -263,27 +263,27 @@ Plugin Telemetry and GPS module to the flight controller as seen in Figure 20; p > **Tip** Full instructions for installing and configuring PX4 can be found in [Basic Configuration](../config/README.md). First update the firmware and airframe: -* [Firmware](../config/firmware.md) -* [Airframe](../config/airframe.md) +* [固件](../config/firmware.md) +* [机架](../config/airframe.md) > **Note** You will need to select the *Holybro S500* airframe (**Quadrotor x > Holybro S500**). ![QGroundControl - Select HolyBro S500 airframe](../../assets/airframes/multicopter/x500_holybro_pixhawk4/S500_airframe_use_for_X500.jpg) Then perform the mandatory setup/calibration: -* [Sensor Orientation](../config/flight_controller_orientation.md) -* [Compass](../config/compass.md) -* [Accelerometer](../config/accelerometer.md) -* [Level Horizon Calibration](../config/level_horizon_calibration.md) -* [Radio Setup](../config/radio.md) -* [Flight Modes](../config/flight_mode.md) +* [传感器方向](../config/flight_controller_orientation.md) +* [罗盘](../config/compass.md) +* [加速度计 Accelerometer](../config/accelerometer.md) +* [水平平面校准](../config/level_horizon_calibration.md) +* [无线电系统设置](../config/radio.md) +* [飞行模式](../config/flight_mode.md) Ideally you should also do: -* [ESC Calibration](../advanced_config/esc_calibration.md) -* [Battery](../config/battery.md) -* [Safety](../config/safety.md) +* [电调（ESC）校准](../advanced_config/esc_calibration.md) +* [电池](../config/battery.md) +* [安全](../config/safety.md) -## Tuning +## 调试 Airframe selection sets *default* autopilot parameters for the frame. These are good enough to fly with, but it is a good idea to tune the parameters for a specific frame build. diff --git a/zh/frames_multicopter/lumenier_qav250_pixhawk_mini.md b/zh/frames_multicopter/lumenier_qav250_pixhawk_mini.md index 7af68e7bc443..7d2cc404fa7f 100644 --- a/zh/frames_multicopter/lumenier_qav250_pixhawk_mini.md +++ b/zh/frames_multicopter/lumenier_qav250_pixhawk_mini.md @@ -25,7 +25,7 @@ The components used in this build are listed below (along with links to where th - **Receiver:** FR SKY D4R-II ([getfpv.com](http://www.getfpv.com/radios/receivers/frsky-d4r-ii-4ch-2-4ghz-accst-receiver-w-telemetry.html)) - **Battery:** Lumenier 4S 1300 mAh ([getfpv.com](http://www.getfpv.com/lumenier-1300mah-4s-60c-lipo-battery-xt60.html)) -Notes: +用户应先加入组 ”dialout“： - The 4S Power Module that comes with the *Pixhawk Mini* can be used for the battery size above (instead of the 10S Power Module). Assembly is the same with either power module. - We also recommend these ESC: Lumenier 12 amp ESC w/ SimonK AutoShot (2-4s N-FET) ([getfpv.com](http://www.getfpv.com/lumenier-12a-esc-w-simonk-autoshot-2-4s-n-fet.html)). @@ -316,7 +316,7 @@ Vehicle calibration/setup is typically similar for all vehicles. You can follow [Flight Modes](../flight_modes/README.md) provide autopilot assisted or fully controlled flight. New users should configure their receiver to support the following three modes (these make the vehicle much easier to fly): - *Stabilized* - Vehicle hard to flip, and will level-out if the sticks are released (but not hold position) -- *Altitude* - Climb and drop are controlled to have a maximum rate. +- *定高模式* - 飞行器的爬升和降落被限制了一个最大的速率。飞机会保持高度稳定（但仍无法保持位置定点）。 - *Position* - When sticks are released the vehicle will stop (and hold position against wind drift) There are a number of ways to [configure flight modes](../config/flight_mode.md). In this case we have a three-way switch on the receiver that we map to a single channel (5). @@ -325,7 +325,7 @@ There are a number of ways to [configure flight modes](../config/flight_mode.md) For more information see: -- [Flight Mode Configuration](../config/flight_mode.md) +- [飞行模式有关配置](../config/flight_mode.md) - [飞行模式](../flight_modes/README.md) - [Flight Modes](https://docs.qgroundcontrol.com/master/en/SetupView/FlightModes.html) (QGroundControl) @@ -343,7 +343,7 @@ For more information see: ![QGroundControl - Calibrate ESCs](../../assets/qgc/setup/esc/qgc_esc_calibration_power.png) -### Tuning +### 调试 Firmware installation sets *default* autopilot parameters that have been configured for the selected frame (in this case for the *Lumenier QAV250*). As builds may use different components and place them differently, it is a good idea to tune the parameters for a specific frame build. @@ -353,7 +353,7 @@ The parameters below are recommended for this build (the yellow parameters are t For general information on tuning see: [Multicopter PID Tuning Guide](../config_mc/pid_tuning_guide_multicopter.md). -## Video +## 视频 The video below shows this QAV250 on a test flight. diff --git a/zh/frames_multicopter/matrice100.md b/zh/frames_multicopter/matrice100.md index 5d8f79fe5098..43f4264a359a 100644 --- a/zh/frames_multicopter/matrice100.md +++ b/zh/frames_multicopter/matrice100.md @@ -9,7 +9,7 @@ Key information: ![DJI Matrice 100](../../assets/airframes/multicopter/matrice100/Matrice100.jpg) -## Parts List +## 配件列表 * [DJI Matrice 100](http://store.dji.com/product/matrice-100) Just ESCs motors, and frame. @@ -46,15 +46,15 @@ See the [Pixhawk Wiring Quickstart](../assembly/quick_start_pixhawk.md) for auto The autopilot outputs are specified in [Airframe Reference > DJI Matrice 100](../airframes/airframe_reference.md#copter_quadrotor_x_dji_matrice_100)) (or more specifically, in the [quadrotor-x configuration section](../airframes/airframe_reference.md#quadrotor-x). --> -| Output | Rate | Actuator | -| ------ | ------ | ---------------- | -| MAIN1 | 400 Hz | Front right, CCW | -| MAIN2 | 400 Hz | Back left, CCW | -| MAIN3 | 400 Hz | Front left, CW | -| MAIN4 | 400 Hz | Back right, CW | -| AUX1 | 50 Hz | RC AUX1 | -| AUX2 | 50 Hz | RC AUX2 | -| AUX3 | 50 Hz | RC AUX3 | +| 输出 | 频率 | 执行器 | +| ----- | ------ | ---------------- | +| MAIN1 | 400 Hz | Front right, CCW | +| MAIN2 | 400 Hz | Back left, CCW | +| MAIN3 | 400 Hz | Front left, CW | +| MAIN4 | 400 Hz | Back right, CW | +| AUX1 | 50 Hz | RC AUX1 | +| AUX2 | 50 Hz | RC AUX2 | +| AUX3 | 50 Hz | RC AUX3 | ## 参数 @@ -64,6 +64,6 @@ The autopilot outputs are specified in [Airframe Reference > DJI Matrice 100](.. * The battery has 6 cells instead of the default 3 * BAT_N_CELLS: 6 -## Video +## 视频 {% youtube %}https://www.youtube.com/watch?v=3OGs0ONemGc{% endyoutube %} \ No newline at end of file diff --git a/zh/frames_multicopter/qav_r_5_kiss_esc_racer.md b/zh/frames_multicopter/qav_r_5_kiss_esc_racer.md index e5c3cafdb6b7..6107d0c1ae92 100644 --- a/zh/frames_multicopter/qav_r_5_kiss_esc_racer.md +++ b/zh/frames_multicopter/qav_r_5_kiss_esc_racer.md @@ -11,7 +11,7 @@ Key information: ![QAV Racer complete](../../assets/airframes/multicopter/qav_r_5_kiss_esc_racer/preview.jpg) ![QAV Racer complete 2](../../assets/airframes/multicopter/qav_r_5_kiss_esc_racer/preview2.jpg) -## Parts List +## 配件列表 ### Vehicle (needed for flying) @@ -152,14 +152,14 @@ I took the GPS cable which fits the connector of the used GPS and came with the #### M8N 3DR Pixhawk mini GPS Connector -| 针脚 | Assignment | Connect to Pixracer Pin | -| ------- | ---------- | ----------------------- | -| 1 (red) | SCL | 3 | -| 2 | SDA | 2 | -| 3 | VCC 5V | 6 | -| 4 | RX | 5 | -| 5 | TX | 4 | -| 6 | GND | 1 | +| 针脚 | Assignment | Connect to Pixracer Pin | +| ---- | ---------- | ----------------------- | +| 1（红） | SCL | 3 | +| 2 | SDA | 2 | +| 3 | VCC 5V | 6 | +| 4 | RX | 5 | +| 5 | TX | 4 | +| 6 | GND | 1 | I mounted the GPS module using the listed generic multicopter GPS mast because mounting it any closer to the main body made the magnetometer readings totally unusable. An experiment mounting the module directly to the far back of the top of the frame showed 6 times magnetometer magnitude noise most likely caused by the magnetic field of the ESC currents. Note that I shortened the mast by ~2cm to make it better fit the cable length and the frame dimensions. The GPS module is sticked with double sided tape to top plate of the mast. @@ -177,9 +177,9 @@ Like you can see I mounted the transmitter from the inside to the "roof" of the The magnificent FPV camera set in the part list comes not only with the best FPV lens I've seen so far but also includes multiple camera mounts one of which is very flexible for adjusting the camera angle and nicely fits into the QAV-R frame. I mounted it like you can see in the next picture. The two screws and nuts to lock the camera mount to the frame were taken from the spare ones remaining from the frame set. -![Camera](../../assets/airframes/multicopter/qav_r_5_kiss_esc_racer/fpv-cam.jpg) +![相机](../../assets/airframes/multicopter/qav_r_5_kiss_esc_racer/fpv-cam.jpg) -## Software Configuration +## 软件配置 > **Warning** Always make sure to have either battery or propellers physically removed from your vehicle during any initial configuration. Better safe than sorry! @@ -194,7 +194,7 @@ For this build I pulled the latest PX4 master because it supports the "FMU as ta - Calibrate the RC cannels with the Taranis already configured for two additional switch inputs. One switch in the top right corner of the Taranis front plate for the mode switch and the other switch in the top left corner of the front plate as arm switch. - You can also set up an arming switch. -### Tuning +### 调试 Here's the general [Tuning Guide](../config_mc/pid_tuning_guide_multicopter.md) with instructions on all the basics. diff --git a/zh/frames_plane/wing_wing_z84.md b/zh/frames_plane/wing_wing_z84.md index 2166b99309d0..bbb513900dd5 100644 --- a/zh/frames_plane/wing_wing_z84.md +++ b/zh/frames_plane/wing_wing_z84.md @@ -9,7 +9,7 @@ Key information: ![Wing Wing Z-84 build](../../assets/airframes/fw/wing_wing/wing_wing_build11.jpg) -## Parts List +## 配件列表 ### Z-84 Plug n' Fly (PNF/PNP) or Kit @@ -49,8 +49,8 @@ The wiring below is valid for Pixhawk and Pixracer. Use the main outputs, not th | RC IN | PPM or S.BUS / S.BUS2 input | | MAIN 1 | Left Aileron | | MAIN 2 | Right Aileron | -| MAIN 3 | Empty | -| MAIN 4 | Throttle | +| MAIN 3 | 空白 | +| MAIN 4 | 油门 | ## Build Log diff --git a/zh/frames_rover/traxxas_stampede.md b/zh/frames_rover/traxxas_stampede.md index 98a8afa1259f..bd4eb9d22144 100644 --- a/zh/frames_rover/traxxas_stampede.md +++ b/zh/frames_rover/traxxas_stampede.md @@ -6,7 +6,7 @@ This vehicle was chosen to understand how a Pixhawk could be used for wheeled pl ![Traxxas Stampede VXL](../../assets/airframes/rover/traxxas_stampede_vxl/stampede.jpg) -## Parts List +## 配件列表 - [Traxxas Stampede](https://traxxas.com/products/models/electric/stampede-vxl-tsm) All of this is used except for the top plastic cover. - [Pixhawk Mini （停产）](../flight_controller/pixhawk_mini.md) @@ -16,7 +16,7 @@ This vehicle was chosen to understand how a Pixhawk could be used for wheeled pl - [Spektrum Quad Race Serial Receiver w/Diversity](http://www.spektrumrc.com/Products/Default.aspx?ProdID=SPM4648) - [PX4Flow](../sensor/px4flow.md) -## Assembly +## 组装 The assembly consists of a wooden frame on which all the autopilot parts were attached. Tests showed that a better vibration insulation should be used, especially for the Pixhawk and the Flow module. @@ -38,7 +38,7 @@ For this particular mounting we chose to use the clip supplied with the rover to ## Output Connections -| PWM Output | Actuator | +| PWM Output | 执行器 | | ---------- | -------------- | | MAIN2 | Steering servo | | MAIN4 | ESC input | diff --git a/zh/frames_vtol/vtol_quadplane_falcon_vertigo_hybrid_rtf_dropix.md b/zh/frames_vtol/vtol_quadplane_falcon_vertigo_hybrid_rtf_dropix.md index ae612ff162eb..b882ae1d1fe5 100644 --- a/zh/frames_vtol/vtol_quadplane_falcon_vertigo_hybrid_rtf_dropix.md +++ b/zh/frames_vtol/vtol_quadplane_falcon_vertigo_hybrid_rtf_dropix.md @@ -132,7 +132,7 @@ The outputs of Dropix should be wired using the standard QuadPlane configuration | AUX 2 | Right aileron | | AUX 3 | Elevator | | AUX 4 | Rudder | -| AUX 5 | Throttle | +| AUX 5 | 油门 | @@ -210,7 +210,7 @@ The pitot tube is installed on the front of the plane and connected to the airsp The GPS/Compass module is already mounted on the wing, in the default orientation. You don't need to have to do anything extra for this! - + @@ -260,7 +260,7 @@ Perform the normal [Basic Configuration](../config/README.md). After you finish calibration the VTOL is ready to fly. -## Video +## 视频 {% youtube %} http://www.youtube.com/watch?v=h7OHTigtU0s {% endyoutube %} diff --git a/zh/frames_vtol/vtol_quadplane_fun_cub_vtol_pixhawk.md b/zh/frames_vtol/vtol_quadplane_fun_cub_vtol_pixhawk.md index 90c87993697c..d886604f9156 100644 --- a/zh/frames_vtol/vtol_quadplane_fun_cub_vtol_pixhawk.md +++ b/zh/frames_vtol/vtol_quadplane_fun_cub_vtol_pixhawk.md @@ -17,7 +17,7 @@ The actual plane looks roughly like as shown in the image above (other similar m - Multiplex FunCub (or similar) - Pixhawk or compatible -- Digital airspeed sensor +- 数字空速传感器 - 900 kV motors (e.g. Iris propulsion set - motors and ESC) - 10" props for quad motors (10x45 or 10x47) - 10" prop for fixed-wing motor (10×7) @@ -48,7 +48,7 @@ The outputs of Pixhawk should be wired like this (orientation as seen like "sitt | AUX 2 | Right aileron | | AUX 3 | Elevator | | AUX 4 | Rudder | -| AUX 5 | Throttle | +| AUX 5 | 油门 | For further instructions on wiring and configurations please see: [Standard VTOL Wiring and Configuration](../config_vtol/vtol_quad_configuration.md). @@ -58,7 +58,7 @@ Configure the frame as shown in QGroundControl below (do not forget to click **A ![QCG - Select Fun Cub Quad firmware](../../assets/airframes/vtol/funcub_pixhawk/qgc_firmware_standard_vtol_fun_cub_quad.png) -## Video +## 视频 {% youtube %} http://www.youtube.com/watch?v=4K8yaa6A0ks {% endyoutube %} diff --git a/zh/frames_vtol/vtol_quadplane_volantex_ranger_ex_pixhawk.md b/zh/frames_vtol/vtol_quadplane_volantex_ranger_ex_pixhawk.md index 2e22d602c77d..099e1c95db4d 100644 --- a/zh/frames_vtol/vtol_quadplane_volantex_ranger_ex_pixhawk.md +++ b/zh/frames_vtol/vtol_quadplane_volantex_ranger_ex_pixhawk.md @@ -25,7 +25,7 @@ The conversion is designed to minimize impact on the aerodynamics and provide ad - The basic parts required are; - Pixhawk or compatible -- Digital airspeed sensor +- 数字空速传感器 - 3DR Power module or compatible - GPS @@ -84,7 +84,7 @@ The outputs of Pixhawk should be wired like this (orientation as seen like "sitt | AUX 2 | Right aileron | | AUX 3 | Elevator | | AUX 4 | Rudder | -| AUX 5 | Throttle | +| AUX 5 | 油门 | > **Success** The servo direction can be reversed using the PWM\_REV parameters in the PWM\_OUTPUT group of QGroundControl (cogwheel tab, last item in the left menu) diff --git a/zh/frames_vtol/vtol_tailsitter_caipiroshka_pixracer.md b/zh/frames_vtol/vtol_tailsitter_caipiroshka_pixracer.md index c481190ecb0a..d65ced13694d 100644 --- a/zh/frames_vtol/vtol_tailsitter_caipiroshka_pixracer.md +++ b/zh/frames_vtol/vtol_tailsitter_caipiroshka_pixracer.md @@ -12,12 +12,12 @@ The Caipiroshka VTOL is a slightly modified *TBS Caipirinha*. * 3D 打印的左右电机安装架（设计文件 ） * 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)) -* 2x 1800 kV 120-180W motors +* 2 x 1800kv 120-180W电机 * [ePower 2208](https://www.galaxus.ch/en/s5/product/epower-22081400-fuer-2-3-lipo-imax-rc-electric-motors-8355913) * [Armattan 2208 1800kV Multirotor Motor](https://www.amazon.com/Armattan-2208-1800kV-Multirotor-Motor/dp/B00UWLW0C8) -* 2x 20-30S ESC +* 2 x 20-30S 电调 * [GetFPV](https://www.getfpv.com/lumenier-30a-blheli-s-esc-opto-2-4s.html) * BEC（3A，5-5.3V）（如果你的电调不能提供5V的输出，可以用这个） diff --git a/zh/getting_started/flight_controller_selection.md b/zh/getting_started/flight_controller_selection.md index 8401cf54c59d..cc1c1d5cb0de 100644 --- a/zh/getting_started/flight_controller_selection.md +++ b/zh/getting_started/flight_controller_selection.md @@ -2,7 +2,7 @@ 在选择飞控板时你应当考虑飞机的物理尺寸限制、想要进行的活动以及必不可少的成本。 -PX4 can run on many flight controller boards (see [Autopilot Hardware](../flight_controller/README.md), or the list of supported boards [here on Github](https://github.com/PX4/PX4-Autopilot/#supported-hardware)). 下文列出了一部分可供选择的飞控。 +PX4 能够在很多飞控板上运行（见 [自驾仪硬件](../flight_controller/README.md)，或 [Github](https://github.com/PX4/PX4-Autopilot/#supported-hardware) 上的受支持的飞控板列表）。 下文列出了一部分可供选择的飞控。 ## Pixhawk 系列 diff --git a/zh/getting_started/flight_modes.md b/zh/getting_started/flight_modes.md index 5fc4ee8f32f3..f44b0d8fe5b6 100644 --- a/zh/getting_started/flight_modes.md +++ b/zh/getting_started/flight_modes.md @@ -6,7 +6,7 @@ 这一主题概述了可用的飞行模式，以及多旋翼飞行器（MC）、固定翼（FW）和 VTOL 默认行为中的（大部分情况下很小）差异。 -> **Tip** More detailed information about specific flight modes can be found in [Flying > Flight Modes](../flight_modes/README.md). +> **Tip** 关于特定飞行模式的详细信息，请参考 [飞行 > 飞行模式](../flight_modes/README.md)。 ## 飞行模式切换 @@ -20,21 +20,21 @@ Last of all, in [autonomous modes](#categories) RC stick movement will [by defau -## Autonomous and Manual Modes +## 自主和手动模式 Flight Modes are, generally speaking, either *manual* or *autonomous*. Manual modes are those where the user has control over vehicle movement via the RC control sticks (or joystick), while *autonomous* modes are fully controlled by the autopilot, and *require* no pilot/remote control input. -> **Tip** Some manual modes may have autopilot-assisted mechanisms to make it easier to gain or restore controlled flight. For example, most modes will level out the vehicle when the RC sticks are centered. +> **Tip** 某些手动模式可能具有自驾辅助机制，以便更容易获得或恢复受控飞行。 如当遥控摇杆居中时，大部分飞行模式将使飞行器水平。 -Manual modes may further be divided into "easy" and "acrobatic" modes. In the easy modes, roll and pitch sticks set the vehicle angle, resulting in left-right and forward-back movement *in the horizontal plane* (respectively). Not only does this make movement predictable, but because angles are controlled, the vehicle is impossible to flip. In acrobatic modes RC sticks control the rate of angular rotation (around the respective axis). Vehicles can flip, and while more maneuverable, are harder to fly. +手动模式可以进一步分为 “简单” 和 ”特技“ 模式。 在简单模式中，滚转和俯仰摇杆设定飞行器角度，这将会分别导致*水平面上*的左右和前后运动。 这将不仅可以使运动变得可预测，而且因为角度受控，飞行器无法翻转。 在特技模式中，RC 摇杆控制角度旋转的速率（绕相应轴）。 飞行器可以翻转，虽然机动性更强，但更难飞行。 -Fixed Wing: +固定翼: * 手动－简单： [位置](#position_fw), [高度](#altitude_fw), [自稳](#stabilized_fw), [手动](#manual_fw) * 手动－特技：[特技](#acro_fw) * Autonomous: [Hold](#hold_fw), [Return](#return_fw), [Mission](#mission_fw), [Takeoff](#takeoff_fw), [Land](#land_fw), [Offboard](#offboard_fw) -Multicopter: +多旋翼: * Manual-Easy: [Position](#position_mc), [Altitude](#altitude_mc), [Manual/Stabilized](#manual_stabilized_mc), [Orbit](#orbit_mc) * 手动-特技： [半自动](#rattitude_mc), [特技](#acro_mc) @@ -42,7 +42,7 @@ Multicopter: ## 键 -The icons below are used within the document:

                                                            		 手动模式 需要遥控 @@ -90,7 +90,7 @@ The icons below are used within the document:   +   

                                                            - Position mode is an easy-to-fly RC mode in which roll and pitch sticks control speed over ground in the left-right and forward-back directions (relative to the "front" of the vehicle), and throttle controls speed of ascent-descent. When the sticks are released/centered the vehicle will actively brake, level, and be locked to a position in 3D space — compensating for wind and other forces. + 位置模式 是一种容易飞行的 RC 模式，其中滚转和俯仰摇杆在左右和前后方向控制相对地面的速度。 当杆被释放/居中时，飞机将主动制动、改平并锁定到3D空间中的位置——补偿风和其他力。

                                                            - Tip Position mode is the safest manual mode for new fliers. Unlike Altitude and Manual/Stabilized modes the vehicle will stop when the sticks are centered rather than continuing until slowed by wind resistance. + 位置模式是对于新手而言最安全的手动模式。 与 高度 和 手动/自稳 模式不同，当摇杆居中时，飞行器将会制动，而不是继续运动直到风阻使其减速。

                                                            - MC Position Mode + 多旋翼位置模式

                                                            @@ -130,29 +130,29 @@ The icons below are used within the document:   +   

                                                            - Altitude mode is a relatively easy-to-fly RC mode in which roll and pitch sticks control vehicle movement in the left-right and forward-back directions (relative to the "front" of the vehicle), yaw stick controls rate of rotation over the horizontal plane, and throttle controls speed of ascent-descent. + 高度模式是一个 相对 容易飞行的 RC 模式，其中滚转和俯仰摇杆控制飞行器在左右和前后方向（相对飞行器的”前面“）的运动，偏航摇杆控制水平面的旋转速率，油门摇杆控制升降的速度。

                                                            - When the sticks are released/centered the vehicle will level and maintain the current altitude. If moving in the horizontal plane the vehicle will continue until any momentum is dissipated by wind resistance. If the wind blows the aircraft will drift in the direction of the wind. + 当杆被释放/回中时，飞机将恢复水平并保持当前的高度。 如果在水平面上运动，飞机将继持续运动直到任何动量被风阻力消散。 如果刮风，飞机会向风的方向漂移。

                                                            - Tip Attitude mode is the safest non-GPS manual mode for new fliers. It is just like Manual/Stabilized mode but additionally stabilizes the vehicle altitude when the sticks are released. + Tip高度模式 是新飞手在没有 GPS 的手动模式中最安全的模式。 它就像 手动/自稳 模式，但在释放摇杆时还额外可以稳定飞行器高度。

                                                            - MC Altitude Mode + 多旋翼高度模式

                                                            @@ -163,11 +163,11 @@ The icons below are used within the document:   +   

                                                            @@ -176,20 +176,20 @@ The icons below are used within the document: + 多旋翼手动飞行

                                                            @@ -200,19 +200,19 @@ The icons below are used within the document:   +   

                                                            - Rattitude mode allows pilots to fly using Manual/Stabilized flight most of the time, but still perform Acro mode-style flips and tricks when desired. + 半自稳模式 允许飞行员在大多数时间使用手动/自稳飞行，但在需要时仍然可以执行 特技模式式的翻转和其它技巧。

                                                            - The vehicle behaves as in Manual/Stabilized mode when the Roll/Pitch stick is moved within the central area and like Acro mode when the stick is moved in the outer circumference (by default Manual/Stabilized mode occupies about 80% of the range). When the sticks are centered the multicopter will level out (but will still drift in the direction of any wind and with any pre-existing momentum). + 当滚转/俯仰操纵杆在中心区域内移动时，飞机表现为手动/稳定模式，当杆在外圆周移动时，车辆表现为 Acro模式 （默认情况下，手动/稳定模式占据杆行程的约80％） 。 当操纵杆回中时，多旋翼飞行器将会改平（但仍然会在任何风的方向上漂移并且具有任何预先存在的动量）。

                                                            @@ -225,23 +225,23 @@ The icons below are used within the document:   +   

                                                            - Acro mode is the RC mode for performing acrobatic maneuvers e.g. rolls and loops. + 特技模式是用于执行特技动作的 RC 模式，如滚转和环绕。

                                                            - The roll, pitch and yaw sticks control the rate of angular rotation around the respective axes and throttle is passed directly to the output mixer. When sticks are centered the vehicle will stop rotating, but remain in its current orientation (on its side, inverted, or whatever) and moving according to its current momentum. + 滚动、俯仰和偏航杆控制围绕相应轴的旋转角速率，并且油门直接传递到输出混合器。 当操纵杆居中时，飞机将停止旋转，但保持其当前朝向（在其侧面，倒置或任何其他方向）并根据当前动量移动。

                                                            - MC Manual Acrobatic Flight + 手动特技飞行

                                                            @@ -258,7 +258,7 @@ The icons below are used within the document:  +  

                                                            @@ -281,15 +281,15 @@ The icons below are used within the document:  +  

                                                            - Hold mode causes the multicopter to stop and hover at its current position and altitude (maintaining position against wind and other forces). The mode can be used to pause a mission or to help regain control of a vehicle in an emergency. It can be activated with a pre-programmed RC switch or the QGroundControl Pause button. + 保持模式使多旋翼飞行器制动并悬停在其当前位置和高度（保持位置并抵抗风和其它力）。 该模式可用于暂停任务或帮助在紧急情况下重新获得飞行器的控制。 它可以通过预编程的 RC 开关或QGroundControl Pause 按钮激活。

                                                            @@ -300,11 +300,11 @@ The icons below are used within the document:  +  

                                                            @@ -323,20 +323,20 @@ The icons below are used within the document:  +  

                                                            - Mission mode causes the vehicle to execute a predefined autonomous mission (flight plan) that has been uploaded to the flight controller. The mission is typically created and uploaded with a Ground Control Station (GCS) application. + 任务模式使飞行器执行上传到飞行控制器的预定义自主任务 (飞行规划) 。 通常使用地面站(GCS) 来创建和上传任务。

                                                            - Tip The PX4 GCS is called QGroundControl. QGroundControl is the same application we use for configuring PX4. + Tip PX4 GCS 称为 QGroundControl。 我们同样使用QGroundControl来配置 PX4。

                                                            @@ -348,15 +348,15 @@ The icons below are used within the document:  +  

                                                            - Takeoff mode causes the multicopter to climb vertically to takeoff altitude and hover in position. + 起飞 模式使多旋翼飞行器垂直爬升至起飞高度并悬停在适当位置。

                                                            @@ -367,15 +367,15 @@ The icons below are used within the document:  +  

                                                            - Land mode causes the multicopter to land at the location at which the mode was engaged. + 着陆模式 使多旋翼飞行器降落在模式被启用的位置。

                                                            @@ -386,15 +386,15 @@ The icons below are used within the document:  +  

                                                            - Follow Me mode causes a multicopter to autonomously follow and track a user providing their current position setpoint. Position setpoints might come from an Android phone/tablet running QGroundControl or from a MAVSDK app. + 跟随我模式使多旋翼飞行器自动跟踪提供其当前位置设定点的用户。 Position setpoints might come from an Android phone/tablet running QGroundControl or from a MAVSDK app.

                                                            @@ -405,20 +405,20 @@ The icons below are used within the document:  +  

                                                            - Offboard mode causes the multicopter to obey a position, velocity or attitude setpoint provided over MAVLink. + Offboard 模式使多旋翼飞行器服从 MAVLink 提供的位置，速度或姿态设定值。

                                                            - Note This mode is intended for companion computers and ground stations! + Note 此模式适用于机载计算机和地面站。

                                                            @@ -430,7 +430,7 @@ The icons below are used within the document:   +   

                                                            - Position mode is an easy-to-fly RC mode in which, when the sticks are released/centered, the vehicle will level and fly a straight line ground track in the current direction — compensating for wind and other forces. + 位置模式 是一种易于飞行的 RC 模式，当摇杆被释放/居中时，飞行器将会保持水平，并在当前方向上以直线地面轨迹飞行-补偿风和其它力。

                                                            - The throttle determines airspeed (at 50% throttle the aircraft will hold its current altitude with a preset cruise speed). Pitch is used to ascend/descend. Roll, pitch and yaw are all angle-controlled (so it is impossible to roll over or loop the vehicle). + 油门确定空速（在50％油门时，飞机将以预设的巡航速度保持其当前高度）。 俯仰用于爬升或下降。 滚转、俯仰和偏航是角度控制的（因此不可能实现飞机滚转或环绕）。

                                                            - Tip Position mode is the safest fixed-wing manual mode for new fliers. + 位置模式是对于新手而言最安全的固定翼手动模式。

                                                            - FW Position Mode + 固定翼位置模式

                                                            @@ -474,33 +474,33 @@ The icons below are used within the document:   +   

                                                            - Altitude mode makes it easier for users to control vehicle altitude, and in particular to reach and maintain a fixed altitude. The mode will not attempt to hold the vehicle course against wind. + 高度模式使用户更容易控制飞行器高度，特别是达到并保持固定高度。 该模式不会试图抵抗风扰保持航向。

                                                            - The climb/descent rate is controlled via the pitch/elevator stick. Once centered the autopilot latches onto the current altitude and will maintain it during yaw/roll, and at any airspeed. The throttle input controls airspeed. Roll and pitch are angle-controlled (so it is impossible to roll over or loop the vehicle). + 爬升/下沉率通过俯仰/升降舵杆操纵杆来控制。 操纵杆一旦回中，自动驾驶仪就会锁定当前的高度，并在偏航/滚转和任何空速条件下保持高度。 油门通道输入控制空速。 滚动和俯仰是角度控制的（因此不可能实现飞机滚转或环绕）。

                                                            - When all remote control inputs are centered (no roll, pitch, yaw, and ~50% throttle) the aircraft will return to straight, level flight (subject to wind) and keep its current altitude. + 当所有遥控输入都居中时（无滚动、俯仰、偏航，油门约50％），飞机将恢复直线水平飞行（受风影响）并保持其当前高度。

                                                            - Tip Altitude mode is the safest non GPS guided mode appropriate for beginners learning how to fly. It is just like Manual mode but additionally stabilizes the vehicle altitude when the pitch stick is released. + Tip 高度模式 是最安全的非 GPS 引导模式，适合初学者学习如何飞行。 这就像 手动模式，但当俯仰摇杆被释放，额外稳定飞行器的高度。

                                                            - FW Altitude Mode + 固定翼高度模式

                                                            @@ -511,33 +511,33 @@ The icons below are used within the document:   +   

                                                            - Stabilized mode mode puts the vehicle into straight and level flight when the RC sticks are centered, maintaining the horizontal posture against wind (but not vehicle heading and altitude). + 当 RC 摇杆居中时，自稳模式使飞行器进入直线和水平飞行，抵抗风来保持水平姿态（但不包括飞行器航向和高度）。

                                                            - The vehicle climb/descends based on pitch input and performs a coordinated turn if the roll/pitch sticks are non-zero. Roll and pitch are angle controlled (you can't roll upside down or loop). + 飞机基于俯仰输入爬升/下降，如果滚转/俯仰杆输入非零，则执行协调转弯。 滚转和俯仰是角度控制的（您不能倒滚或循环）。

                                                            - Tip Stabilized mode is much easier to fly than Manual mode because you can't roll or flip it, and it is easy to level the vehicle by centering the control sticks. + 稳定模式比手动模式更容易飞行，因为你不能滚动或翻转飞机，并且通过控制杆回中很容易使飞机保持水平。

                                                            - The vehicle will glide if the throttle is lowered to 0% (motor stops). In order to perform a turn the command must beheld throughout the maneuver because if the roll is released the plane will stop turning and level itself (the same is true for pitch and yaw commands). + 如果油门降至0％（电机停止），飞机将滑行。 为了执行转弯，必须在整个操纵过程中保持命令，因为如果滚动杆被释放，则飞机将停止转动并自行改平（对于俯仰和偏航命令也是如此）。

                                                            - FW Manual Flight + 固定翼手动飞行

                                                            @@ -548,23 +548,23 @@ The icons below are used within the document:   +   

                                                            - Acro mode is the RC mode for performing acrobatic maneuvers e.g. rolls, flips, stalls and acrobatic figures. + 特技模式是用于执行特技动作的 RC 模式，如连续翻滚，筋斗，失速和其它特技动作。

                                                            - The roll, pitch and yaw sticks control the rate of angular rotation around the respective axes and throttle is passed directly to the output mixer. When sticks are centered the vehicle will stop rotating, but remain in its current orientation (on its side, inverted, or whatever) and moving according to its current momentum. + 滚动、俯仰和偏航杆控制围绕相应轴的旋转角速率，并且油门直接传递到输出混合器。 当操纵杆居中时，飞机将停止旋转，但保持其当前朝向（在其侧面，倒置或任何其他方向）并根据当前动量移动。

                                                            - FW Manual Acrobatic Flight + 固定翼手动特技飞行

                                                            @@ -575,20 +575,20 @@ The icons below are used within the document:   +   

                                                            - Manual mode sends RC stick input directly to the output mixer for "fully" manual control. + 手动模式发送 RC 摇杆输入直接发送到输出混控器，以进行 ”完全“ 手动控制。

                                                            - Tip This is the hardest mode to fly, because nothing is stabilised. Unlike Acro Mode if the RP stick is centered the vehicle will not automatically stop rotating around the axis - the pilot actually has to move the stick to apply force in the other direction. + Tip这是最难飞行的模式，因为没有什么是稳定的。 与特技模式不同，如果 RP 摇杆居中，飞行器将不会自动停止绕轴转动-飞行员实际上必须移动摇杆以向另一个方向施加力。

                                                            @@ -601,7 +601,7 @@ The icons below are used within the document:  +  

                                                            - Hold causes a fixed-wing vehicle to start circling around the current position at its current altitude. The mode can be used to pause a mission or to help regain control of a vehicle in an emergency. It can be activated with a pre-programmed RC switch or the QGroundControl Pause button. + 保持 使固定翼飞行器在当前高度围绕当前位置盘旋。 该模式可用于暂停任务或帮助在紧急情况下重新获得飞行器的控制。 它可以通过预编程的 RC 开关或QGroundControl Pause 按钮激活。

                                                            @@ -632,11 +632,11 @@ The icons below are used within the document:  +  

                                                            @@ -655,20 +655,20 @@ The icons below are used within the document:  +  

                                                            - Mission mode causes the vehicle to execute a predefined autonomous mission (flight plan) that has been uploaded to the flight controller. The mission is typically created and uploaded with a Ground Control Station (GCS) application. + 任务模式使飞行器执行上传到飞行控制器的预定义自主任务 (飞行规划) 。 通常使用地面站(GCS) 来创建和上传任务。

                                                            - Tip The PX4 GCS is called QGroundControl. QGroundControl is the same application we use for configuring PX4. + Tip PX4 GCS 称为 QGroundControl。 我们同样使用QGroundControl来配置 PX4。

                                                            @@ -680,15 +680,15 @@ The icons below are used within the document:  +  

                                                            - Takeoff mode initiates the vehicle takeoff sequence. The specific launch behaviour depends on the configured takeoff mode (catapult/hand-launch mode or runway takeoff mode). + 起飞 模式启动飞行器起飞序列。 具体的起飞行为取决于被配置的起飞模式（弹射/手抛模式或跑道起飞模式）。

                                                            @@ -699,15 +699,15 @@ The icons below are used within the document:  +  

                                                            - Land mode causes the vehicle to turn and land at the location at which the mode was engaged. Fixed wing landing logic and parameters are explained in the topic: Landing (Fixed Wing). + 着陆模式 使飞行器转弯并降落在该模式启动的位置。 固定机翼着陆逻辑和参数在主题：着陆（固定翼）中解释。

                                                            @@ -718,11 +718,11 @@ The icons below are used within the document:  +  

                                                            @@ -731,7 +731,7 @@ The icons below are used within the document:multicopter when flying in MC mode and fixed-wing when flying in FW mode. + 通常，VTOL 飞行器的飞行模式，在 MC 模式下飞行时和多旋翼 相同 ，在固定翼模式飞行时和 固定翼 相同。

                                                            - The switch between modes is initiated either by the pilot using an RC switch or automatically by PX4 when needed in the Auto modes. + 模式之间的切换由飞行员使用 RC 开关启动，或自主模式下在需要时自动启动。

                                                            @@ -767,9 +767,9 @@ The icons below are used within the document:Flying > Flight Modes - Detailed technical explanation of all modes + 飞行> 飞行模式 - 所有模式的详细技术说明。

                                                          • - Basic Configuration > Flight Modes - How to map RC control switches to specific flight modes + 基本配置 > 飞行模式 - 如何将 RC 控制开关映射到特定飞行模式。
                                                            • \ No newline at end of file diff --git a/zh/getting_started/flight_reporting.md b/zh/getting_started/flight_reporting.md index 6f16d821b661..9abfac8267f4 100644 --- a/zh/getting_started/flight_reporting.md +++ b/zh/getting_started/flight_reporting.md @@ -12,7 +12,7 @@ Logs can be downloaded using [QGroundControl](http://qgroundcontrol.com/): **[An ## 分析日志 -Upload the log file to the online *Flight Review* tool (http://logs.px4.io). After upload you'll emailed a link to the analysis page for the log. +上传日志到 *Flight Review*（http://logs.px4.io）在线工具。 After upload you'll emailed a link to the analysis page for the log. [Log Analysis using Flight Review](../log/flight_review.md) 解释了怎样分析图形，这可以帮你确认/排除一些常见的问题：过大的震动、很差的PID调优、控制器饱和、车辆不平衡、GPS 噪声、等等。 @@ -28,9 +28,9 @@ The [Flight Review](http://logs.px4.io) log file link can be shared for discussi ## Log Configuration -The logging system is configured by default to collect sensible logs for use with [Flight Review](http://logs.px4.io). +日志系统默认配置为使用 [Flight Review](http://logs.px4.io) 收集日志。 -Logging may further be configured using the [SD Logging](../advanced_config/parameter_reference.md#sd-logging) parameters. The parameters you are most likely to change are listed below. +日志将来可以使用 [SD Logging](../advanced_config/parameter_reference.md#sd-logging) 参数配置。 下面列出了您最可能更改的参数。 | 参数 | 描述 | | ------------------------------------------------------------------------ | --------------------------------------------------------------------------------------- | @@ -42,10 +42,10 @@ Logging may further be configured using the [SD Logging](../advanced_config/para | [SDLOG_MISSION](../advanced_config/parameter_reference.md#SDLOG_MISSION) | 创建非常小的额外“任务日志”。 此日志*不* 能使用 *Flight Review*，但当您需要一个用于地理标记或法规遵从性的小日志时，该日志非常有用。 | -> **Note** *Developers* can further configure what information is logged via the [logger](../modules/modules_system.md#logger) module (you would use this, for example, if you want to log your own topics). For more information see: [Logging](../dev_log/logging.md) (PX4 Developer Guide). +> **Note** *Developers* can further configure what information is logged via the [logger](../modules/modules_system.md#logger) module (you would use this, for example, if you want to log your own topics). 更多信息参考： [Logging](../dev_log/logging.md) (PX4 开发者手册)。 -## Key Links +## 主链接 - [Flight Review](http://logs.px4.io) -- [Log Analysis using Flight Review](../log/flight_review.md) -- [Flight Log Analysis](../log/flight_log_analysis.md) \ No newline at end of file +- [使用 Flight Review 进行日志分析](../log/flight_review.md) +- [飞行日志分析](../log/flight_log_analysis.md) \ No newline at end of file diff --git a/zh/getting_started/led_meanings.md b/zh/getting_started/led_meanings.md index 1f11a624b34e..67d4fad3f300 100644 --- a/zh/getting_started/led_meanings.md +++ b/zh/getting_started/led_meanings.md @@ -7,11 +7,11 @@ -## UI LED +## LED 界面 -The RGB *UI LED* indicates the current *readiness for flight* status of the vehicle. This is typically a superbright I2C peripheral, which may or may not be mounted on the flight controller board (i.e. FMUv4 does not have one on board, and typically uses an LED mounted on the GPS). +RGB *UI LED*显示当前 飞行器*起飞准备* 的状态。 这通常是一个超亮的I2C外设，可能安装在飞控板上（例如，FMUv4飞控板上没有，通常使用安装在GPS上的LED）。 -The image below shows the relationship between LED and vehicle status. +下图显示LED和飞行器状态的关系。 > **警告** 可能有GPS锁 (LED指示灯为绿色) 并且无法解锁飞机，因为PX4还没有 [通过起飞前检测](../flying/pre_flight_checks.md)。 **起飞需要有效的全球位置估计!** @@ -19,7 +19,7 @@ The image below shows the relationship between LED and vehicle status. > **建议** 在遇到错误 (红色LED闪烁), 或者飞行器无法解除GPS锁 (LED从蓝色变为绿色) 时， 查看*QGroundControl*中详细的状态信息包括校准状态，在 [飞行前检查(内部)](../flying/pre_flight_checks.md)时会报告错误信息。 还要检查GPS模块是否正确连接，Pixhawk是否正确读取GPS信息，GPS是否发送正确的GPS位置。 -![LED meanings](../../assets/flight_controller/pixhawk_led_meanings.gif) +![LED灯含义](../../assets/flight_controller/pixhawk_led_meanings.gif) * **[蓝色LED常亮] 解锁， GPS未锁定：** 表上飞行器已经解锁并且GPS模块没有位置锁。 当飞行器已经解锁，PX4会解锁对电机的控制，允许你操纵无人机飞行。 像往常一样，在解锁时要小心，因为大型螺旋桨在高速旋转时可能很危险。 飞行器在这种模式下无法执行引导任务。 @@ -37,13 +37,13 @@ The image below shows the relationship between LED and vehicle status. -## Status LED +## LED状态 -Three *Status LEDs* provide status for the FMU SoC, and three more provide status for the PX4IO (if present). They indicate power, bootloader mode and activity, and errors. +三种*LED状态* 提供FMU SoC的状态，另外三个提供 PX4IO 的状态(如果存在)。 它们表示电量、驱动模式和活动以及错误。 ![Pixhawk 4](../../assets/flight_controller/pixhawk4/pixhawk4_status_leds.jpg) -From power on, the FMU and PX4IO CPUs first run the bootloader (BL) and then the application (APP). The table below shows how the Bootloader and then APP use the LEDs to indicate condition. +从上电开始，FMU和PX4IO的CPU首先运行引导程序(BL) 然后运行程序(APP)。 下表显示引导程序和APP使用如何使用LED来显示状态。 | 颜色 | 标签 | 引导加载程序使用 | APP使用 | | ------ | --------------- | --------------- | ------- | @@ -53,13 +53,13 @@ From power on, the FMU and PX4IO CPUs first run the bootloader (BL) and then the > **注意** 上面所列的LED标签是常用的，但是在一些飞控板上有所不同。 -More detailed information for how to interpret the LEDs is given below (where "x" means "any state") +下面给出了LED更详细的信息(“x”表示任意状态) -| 红色/琥珀色 | 蓝色 | 绿色 | 含义 | -| ------ | --- | ----- | ----------------------------------------------------------- | -| 10Hz | x | x | Overload CPU load > 80%, or RAM usage > 98% | -| OFF | x | x | Overload CPU load <= 80%, or RAM usage <= 98% | -| NA | OFF | 4 Hz | actuator_armed->armed && failsafe | -| NA | ON | 4 Hz | actuator_armed->armed && !failsafe | -| NA | OFF | 1 Hz | !actuator_armed-> armed && actuator_armed->ready_to_arm | -| NA | OFF | 10 Hz | !actuator_armed->armed && !actuator_armed->ready_to_arm | \ No newline at end of file +| 红色/琥珀色 | 蓝色 | 绿色 | 含义 | +| ------ | -- | ----- | ------------------------------------- | +| 10Hz | x | x | 过载 CPU 负载 > 80%，或者内存使用率 > 98% | +| 关闭 | x | x | 过载 CPU 负载 <= 80%, or RAM usage <= 98% | +| 不可用 | 关闭 | 4 赫兹 | 电机解锁并且故障保护 | +| 不可用 | 打开 | 4 赫兹 | 电机解锁并且未故障保护 | +| 不可用 | 关闭 | 1 赫兹 | 电机未解锁并且电机准备解锁 | +| 不可用 | 关闭 | 10 赫兹 | 电机未解锁并且电机未准备解锁 | \ No newline at end of file diff --git a/zh/getting_started/px4_basic_concepts.md b/zh/getting_started/px4_basic_concepts.md index 1a953887198f..a634ee3a4122 100644 --- a/zh/getting_started/px4_basic_concepts.md +++ b/zh/getting_started/px4_basic_concepts.md @@ -16,41 +16,41 @@ -## PX4 Autopilot +## PX4 自动驾驶仪 -[PX4](http://px4.io/) is powerful open source autopilot *flight stack*. +[ PX4 ](http://px4.io/)是强大的开源自动驾驶仪 *飞行堆栈*。 -Some of PX4's key features are: +PX4 的一些主要功能包括： - 可控制[许多不同的设备机架/类型](../airframes/airframe_reference.md)，包括：飞机（多旋翼，固定翼和垂直起降），地面车辆和水下潜航器。 - 适用于[设备控制器](#vehicle_controller)，传感器和其他外围设备的硬件选择。 - 灵活而强大的[飞行模式](#flight_modes)和[安全功能](#safety)。 -PX4 is a core part of a broader drone platform that includes the [QGroundControl](#qgc) ground station, [Pixhawk hardware](https://pixhawk.org/), and [MAVSDK](http://mavsdk.mavlink.io) for integration with companion computers, cameras and other hardware using the MAVLink protocol. PX4 is supported by the [Dronecode Project](https://www.dronecode.org/). +PX4 是一个大型无人机平台的核心部分，它们都包括 [QGC 地面站](#qgc)，[Pixhawk 硬件](https://pixhawk.org/)，还有[MAVSDK](http://mavsdk.mavlink.io) 用于与机载计算机集成，相机还有其他使用 MAVLink 协议的硬件。 PX4 由 [Dronecode 项目](https://www.dronecode.org/) 支持。 ## QGroundControl -The Dronecode ground control station is called [QGroundControl](http://qgroundcontrol.com/). You can use *QGroundControl* to load (flash) PX4 onto the [vehicle control hardware](flight_controller_selection.md), you can setup the vehicle, change different parameters, get real-time flight information and create and execute fully autonomous missions. +Dronecode 地面控制站称为 [QGC 地面站](http://qgroundcontrol.com/)。 您可以使用* QGroundControl *将（闪存）PX4 加载到[飞行器控制硬件上](flight_controller_selection.md)，您可以设置飞行器，更改不同参数，获取实时飞行信息以及创建和执行完全自主的任务。 -*QGroundControl* runs on Windows, Android, MacOS or Linux. Download and install it from [here](http://qgroundcontrol.com/downloads/). +*QGroundControl* 可以在 Windows，Android，MacOS 或 Linux 上运行。 从 [这里](http://qgroundcontrol.com/downloads/) 下载并安装。 -![QGC Main Screen](../../assets/concepts/qgc_main_screen.jpg) +![QGC 主屏幕](../../assets/concepts/qgc_main_screen.jpg) -## Vehicle/Flight Controller Board +## 机体/飞行控制板 -PX4 was initially designed to run on [Pixhawk Series](../flight_controller/pixhawk_series.md) controllers, but can now run on Linux computers and other hardware. You should select a board that suits the physical constraints of your vehicle, the activities you wish to perform, and of course cost. +PX4最初设计为在 [Pixhawk 系列](../flight_controller/pixhawk_series.md) 飞控上运行，但现在可以在 Linux 计算机和其他硬件上运行。 选择飞行控制板时，您应当考虑飞行器的物理尺寸限制，想要执行的活动，还有必不可少的成本。 -For more information see: [Flight Controller Selection](flight_controller_selection.md). +更多信息，请参阅：[飞行控制器选择](flight_controller_selection.md)。 ## 传感器 -PX4 uses sensors to determine vehicle state (needed for stabilization and to enable autonomous control). The system *minimally requires* a gyroscope, accelerometer, magnetometer (compass) and barometer. A GPS or other positioning system is needed to enable all automatic [modes](../getting_started/flight_modes.md#categories), and some assisted modes. Fixed wing and VTOL-vehicles should additionally include an airspeed sensor (very highly recommended). +PX4 使用传感器来确定飞行器状态（稳定和启用自动控制所需）。 系统*最低要求 *陀螺仪，加速度计，磁力计（罗盘）和气压计。 需要 GPS 或其他定位系统来启用所有自动[模式](../getting_started/flight_modes.md#categories)和一些辅助模式。 固定翼和 VTOL 飞行器还应包括空速传感器（强烈推荐）。 -For more information see: +有关详细信息，请参阅︰ - [传感器](../getting_started/sensor_selection.md) - [外设](../peripherals/README.md) @@ -81,152 +81,152 @@ They might also be marked as `FMU PWM OUT` or `IO PWM Out` (or similar). Pixhawk The output ports may also be mapped to UAVCAN nodes (e.g. UAVCAN [motor controllers](../peripherals/uavcan_escs.md)). The (same) airframe mapping of outputs to nodes is used in this case. -**Notes:** +**备注：** - There are only 6-8 outputs in `MAIN` and `AUX` because most flight controllers only have this many PWM/Dshot/Oneshot outputs. In theory there can be many more outputs if the bus supports it (i.e. a UAVCAN bus is not limited to this few nodes). -## ESCs & Motors +## 电调 & 电机 -Many PX4 drones use brushless motors that are driven by the flight controller via an Electronic Speed Controller (ESC) (the ESC converts a signal from the flight controller to an appropriate level of power delivered to the motor). +许多 PX4 无人机使用无刷电机，其由飞行控制器通过电子调速器（ESC）驱动（ESC将来自飞行控制器的信号转换为合适的功率水平，传递给电机）。 -For information about what ESC/Motors are supported by PX4 see: +有关 PX4 支持的电调和电机的信息，请参阅： -- [ESC & Motors](../peripherals/esc_motors.md) -- [ESC Calibration](../advanced_config/esc_calibration.md) -- [ESC Firmware and Protocols Overview](https://oscarliang.com/esc-firmware-protocols/) (oscarliang.com) +- [电调 & 电机](../peripherals/esc_motors.md) +- [电调（ESC）校准](../advanced_config/esc_calibration.md) +- [电调固件和协议概述](https://oscarliang.com/esc-firmware-protocols/)（oscarliang.com） -## Battery/Power +## 电池/电源 -PX4 drones are mostly commonly powered from Lithium-Polymer (LiPo) batteries. The battery is typically connected to the system using a *Power Module* or *Power Management Board*, which provide separate power for the flight controller and to the ESCs (for the motors). +PX4 无人机通常由锂聚合物（LiPo）电池供电。 电池通常使用*电源模块 *或*电源管理板 *连接到系统，它为飞行控制器和 ESC（用于电动机）提供单独的动力。 -Information about batteries and battery configuration can be found in [Battery Configuration](../config/battery.md) and the guides in [Basic Assembly](../assembly/README.md) (e.g. [Pixhawk 4 Wiring Quick Start > Power](../assembly/quick_start_pixhawk4.md#power)). +有关电池和电池配置的信息，请参见[电池配置](../config/battery.md)和[基本组件](../assembly/README.md)（例如[ Pixhawk 4 接线快速入门>电源](../assembly/quick_start_pixhawk4.md#power)）。 -## Radio Control (RC) +## 无线电控制（遥控） -A [Radio Control \(RC\)](../getting_started/rc_transmitter_receiver.md) system is used to *manually* control the vehicle. It consists of a remote control unit that uses a transmitter to communicate stick/control positions with a receiver based on the vehicle. Some RC systems can additionally receive telemetry information back from the autopilot. +[遥控（RC）](../getting_started/rc_transmitter_receiver.md)系统用于 *手动* 控制机体。 它由一个遥控装置组成，使用发射机来与飞行器上的接收机通信。 一些 RC 系统还可以接自动驾驶仪传回的收遥测信息。 -> **Note** PX4 does not require a remote control system for autonomous flight modes. +> **Note** PX4 在自主飞行模式中不需要遥控系统。 -![Taranis X9D Transmitter](../../assets/hardware/transmitters/frsky_taranis_x9d_transmitter.jpg) +![Taranis X9D遥控器。](../../assets/hardware/transmitters/frsky_taranis_x9d_transmitter.jpg) -[RC System Selection](../getting_started/rc_transmitter_receiver.md) explains how to choose an RC system. Other related topics include: +[遥控系统选择](../getting_started/rc_transmitter_receiver.md) 说明如何选择遥控系统。 其他相关主题包括： -- [Radio/Remote Control Setup](../config/radio.md) - Remote control configuration in *QGroundControl*. -- [Flying 101](../flying/basic_flying.md) - Learn how to fly with a remote control. -- [FrSky Telemetry](../peripherals/frsky_telemetry.md) - Set up the RC transmitter to receive telemetry/status updates from PX4. +- [遥控设置](../config/radio.md) - *QGC 地面站* 中的遥控配置。 +- [飞行 101](../flying/basic_flying.md) - 学习如何使用遥控器飞行。 +- [FrSky 数传](../peripherals/frsky_telemetry.md) - 设置遥控发射机以从 PX4 接收数传/状态更新。 -## GCS Joystick Controller +## 地面站游戏手柄控制器 -A [computer joystick](../config/joystick.md) connected through *QGroundControl* can also be used to manually control PX4 (QGC converts joystick movements into MAVLink messages that are sent over the telemetry link). This approach is used by ground control units that have an integrated ground control station, like the *UAVComponents* [MicroNav](https://www.uavcomp.com/command-control/micronav/) shown below. Joysticks are also commonly used to fly the vehicle in simulation. +通过 *QGC 地面站* 连接 [计算机游戏手柄](../config/joystick.md) 也可以用来手动控制 PX4（QGC 将游戏手柄的动作转换为 MAVLink 消息通过数传链接发送）。 这种方法被一些集成了地面站的地面端遥控器所使用的，如下图中的 *UAVComponents* [MicroNav](https://www.uavcomp.com/command-control/micronav/) 所示。 游戏手柄也经常被用于无人机的飞行仿真中。 ![Joystick MicroNav.](../../assets/peripherals/joystick/micronav.jpg) -## Safety Switch +## 安全开关 -It is common for vehicles to have a *safety switch* that must be engaged before the vehicle can be [armed](#arming) (when armed, motors are powered and propellers can turn). Commonly the safety switch is integrated into a GPS unit, but it may also be a separate physical component. +机体通常必须有一个 *安全开关*，然后才能使用 [解锁](#arming)（解锁后，电机会供电，螺旋桨开始旋转）。 通常，安全开关被整合到GPS设备中，但也可能是一个单独的物理组件。 -> **Note** A vehicle that is armed is potentially dangerous. The safety switch is an additional mechanism that prevents arming from happening by accident. +> **Note** 解锁后的机体是有潜在危险的。 安全开关是防止意外解锁发生的一个附加机制。 -## Data/Telemetry Radios +## 数传电台 -[Data/Telemetry Radios](../telemetry/README.md) can provide a wireless MAVLink connection between a ground control station like *QGroundControl* and a vehicle running PX4. This makes it possible to tune parameters while a vehicle is in flight, inspect telemetry in real-time, change a mission on the fly, etc. +[数据/遥测无线电](../telemetry/README.md)可以在诸如* QGroundControl *的地面控制站与运行 PX4 的飞行器之间提供无线 MAVLink 连接。 这使得飞机飞行时调试、检查数传、更改任务等等成为了可能。 -## Offboard/Companion Computer +## 机载计算机 -PX4 can be controlled from a separate on-vehicle companion computer via a serial cable or wifi. The companion computer will usually communicate using a MAVLink API like the MAVSDK or MAVROS. +PX4 可以通过串行电缆或 wifi 由独立的机载计算机进行控制。 机载计算机通常使用 MAVLink API（如 MAVSDK 或 MAVROS）进行通信。 -> **Note** Using a Robotics API requires software development skills, and is outside the scope of this guide. +> **Note**使用 Robotics API 需要软件开发技能，并且超出了本指南的范围。 -- [Off-board Mode](../flight_modes/offboard.md) - Flight mode for offboard control of PX4 from a GCS or companion computer. -- [Robotics APIs](../robotics/README.md) (PX4 Developer Guide) +- [Offboard 模式](../flight_modes/offboard.md) - 用于从地面站或机载计算机对 PX4 进行 Offboard 控制的飞行模式。 +- [Robotics APIs ](../robotics/README.md)（PX4开发人员指南） -## SD Cards (Removable Memory) +## SD卡（可移除储存器） -PX4 uses SD memory cards for storing [flight logs](../getting_started/flight_reporting.md), and they are also required in order to use UAVCAN peripherals and fly [missions](../flying/missions.md). +PX4 使用 SD 储存卡存储 [飞行日志](../getting_started/flight_reporting.md)，而且还需要内存卡才能使用 UAVCAN 外围设备，运行 [飞行任务](../flying/missions.md)。 -By default, if no SD card is present PX4 will play the [format failed (2-beep)](../getting_started/tunes.md#format-failed) tune twice during boot (and none of the above features will be available). +默认情况下，如果没有 SD 卡，PX4 将在启动时播放 [格式化失败（2-声短响）](../getting_started/tunes.md#format-failed) 两次（且上述需要储存卡的功能都不可用）。 -> **Tip** The maximum supported SD card size on Pixhawk boards is 32GB. The *SanDisk Extreme U3 32GB* is [highly recommended](../dev_log/logging.md#sd-cards) (Developer Guide). +> **Tip** Pixhawk 主板支持的最大 SD 卡大小为 32 GB 。 [强烈推荐使用](../dev_log/logging.md#sd-cards) SanDisk Extreme U3 32GB（开发者指南）。 -SD cards are never-the-less optional. Flight controllers that do not include an SD Card slot may: +SD 卡在某些情况下也是可选的。 不包含 SD 卡槽的飞行控制器可以： -- Disable notification beeps are disabled using the parameter [CBRK_BUZZER](../advanced_config/parameter_reference.md#CBRK_BUZZER). -- [Stream logs](../dev_log/logging.md#log-streaming) to another component (companion). -- Store missions in RAM/FLASH. +- 使用参数 [CBRK_BUZZER](../advanced_config/parameter_reference.md#CBRK_BUZZER) 禁用通知蜂鸣器。 +- [推流日志](../dev_log/logging.md#log-streaming) 到另一个组件（机载计算机）。 +- 在 RAM/FLASH 中储存任务。 -## Arming and Disarming +## 解锁和加锁 -Vehicles may have moving parts, some of which are potentially dangerous when powered (in particular motors and propellers)! +机体是有可移动的部件的，其中一些在通电后会有潜在的危险性（特别是电机和螺旋桨）！ -To reduce the chance of accidents: +为了减少事故概率： -- PX4 vehicles are *disarmed* (unpowered) when not in use, and must be explicitly *armed* before taking off. -- Some vehicles additionally require a [safety switch](../getting_started/px4_basic_concepts.md#safety_switch) be disengaged before arming can succeed. -- Arming is prevented if the vehicle is not in a "healthy" state. +- 当不在使用时， PX4 机体是 *加锁状态的*（未供电的），必须在起飞前进行 *解锁*。 +- 一些机体还需要长按 [安全开关](../getting_started/px4_basic_concepts.md#safety_switch) 后才能解锁成功。 +- 机体如果不是在“健康”状态，则会解锁不通过。 - Arming is prevented if a VTOL vehicle is in fixed-wing mode ([by default](../advanced_config/parameter_reference.md#CBRK_VTOLARMING)). -- A vehicle will also usually revert to the disarmed state after landing or if a pilot does not take off quickly enough. +- 机体也会在着陆后或者飞手长时间未执行起飞时，自动切回到加锁状态。 -Arming is triggered by default (Mode 2 transmitters) by holding the RC throttle/yaw stick on the *bottom right* for one second (to disarm, hold stick on bottom left). It is also possible to configure PX4 to arm using an RC button on the RC control (and arming commands can be sent from a ground station). +解锁默认情况下（美国手发射机）可以通过保持遥控油门+ YAW 摇杆到*右下角*一秒钟来解锁，要想加锁，则保持摇杆在左下角。 还可以使用遥控上的按钮来配置 PX4 解锁（也可以从地面站发送解锁命令）。 A detailed overview of arming and disarming configuration can be found here: [Prearm, Arm, Disarm Configuration](../advanced_config/prearm_arm_disarm.md). -## Flight Modes +## 飞行模式 -Flight modes provide different types/levels of vehicle automation and autopilot assistance to the user (pilot). *Autonomous modes* are fully controlled by the autopilot, and require no pilot/remote control input. These are used, for example, to automate common tasks like takeoff, returning to the home position, and landing. Other autonomous modes execute pre-programmed missions, follow a GPS beacon, or accept commands from an offboard computer or ground station. +飞行模式为用户（飞行员）提供不同类型/级别的飞行器自动化和自动驾驶辅助。 自主模式完全由自驾仪控制，无需飞行员/遥控输入。 例如，它们用于自动执行诸如起飞，返回原位和着陆等常见任务。 其他自主模式执行预编程任务，跟随 GPS 信标，或接受来自机载计算机或地面站的命令。 -*Manual modes* are controlled by the user (via the RC control sticks/joystick) with assistance from the autopilot. Different manual modes enable different flight characteristics - for example, some modes enable acrobatic tricks, while others are impossible to flip and will hold position/course against wind. +*手动模式 *由用户（通过 RC 控制杆/操纵杆）在自驾仪的帮助下实现控制。 不同的手动模式可以实现不同的飞行特性- 例如，某些模式可以实现特技动作，然而其他模式则无法翻转或抵抗风以保持位置/航向。 -> **Tip** Not all flight modes are available on all vehicle types, and some modes can only be used when specific conditions have been met (e.g. many modes require a global position estimate). +> **Tip**并非所有的飞行模式都适用于所有飞行器，并且某些模式只能在满足特定条件时使用（例如，许多模式需要全局位置估计）。 -An overview of the available flight modes [can be found here](../getting_started/flight_modes.md). Instructions for how to set up your remote control switches to turn on different flight modes is provided in [Flight Mode Configuration](../config/flight_mode.md). +可用飞行模式的概述可在 [这里](../getting_started/flight_modes.md)找到。 [飞行模式配置 ](../config/flight_mode.md)中提供了有关如何设置遥控开关以打开不同飞行模式的说明。 -## Safety Settings (Failsafe) +## 安全设置（故障保护） -PX4 has configurable failsafe systems to protect and recover your vehicle if something goes wrong! These allow you to specify areas and conditions under which you can safely fly, and the action that will be performed if a failsafe is triggered (for example, landing, holding position, or returning to a specified point). +PX4 具有可配置的故障安全系统，可在出现问题时保护和恢复您的飞行器！ 这些允许您指定可以安全飞行的区域和条件，以及触发故障保护时将执行的操作（例如，着陆，保持位置或返回指定点）。 -> **Note** You can only specify the action for the *first* failsafe event. Once a failsafe occurs the system will enter special handling code, such that subsequent failsafe triggers are managed by separate system level and vehicle specific code. +> **Note**您只能为 *第一个* 故障保护事件指定操作。 一旦发生故障保护，系统将执行特殊处理代码，以便后续故障保护触发器由单独的系统层级和飞行器特定代码管理。 -The main failsafe areas are listed below: +主要的故障保护事件如下： -- Low Battery -- Remote Control (RC) Loss -- Position Loss (global position estimate quality is too low). -- Offboard Loss (e.g. lose connection to companion computer) -- Data Link Loss (e.g. lose telemetry connection to GCS). -- Geofence Breach (restrict vehicle to flight within a virtual cylinder). -- Mission Failsafe (prevent a previous mission being run at a new takeoff location). -- Traffic avoidance (triggered by transponder data from e.g. ADSB transponders). +- 低电量 +- 遥控(RC) 信号丢失 +- 位置信息丢失（全局位置估计质量太低） +- 机载计算机控制指令丢失（如与机载计算机失去连接） +- 数传信号丢失（如失去与 GCS 的遥测连接） +- 超出地理围栏 (限制飞行器在虚拟圆柱体内飞行)。 +- 任务故障保护（防止先前的任务在新的起飞地点运行）。 +- 交通避障（由来自如 ADS-B 转发器的数据触发）。 -For more information see: [Safety](../config/safety.md) (Basic Configuration). +有关详细信息，请参阅：[安全](../config/safety.md)（基本配置）。 -## Heading and Directions +## 航向和运动方向 -All the vehicles, boats and aircraft have a heading direction or an orientation based on their forward motion. +所有车辆，船只和飞机都具有航向（机头朝向）或基于其前进运动的方向。 -![Frame Heading](../../assets/concepts/frame_heading.png) +![机架航向](../../assets/concepts/frame_heading.png) > **Note** For a VTOL Tailsitter the heading is relative to the multirotor configuration (i.e. vehicle pose during, takeoff, hovering, landing). -It is important to know the vehicle heading direction in order to align the autopilot with the vehicle vector of movement. Multicopters have a heading even when they are symmetrical from all sides! Usually manufacturers use a colored props or colored arms to indicate the heading. +知道设备航向，以使自驾仪与设备运动矢量对齐是重要的。 即使多旋翼从各个方向都对称，但其也有航向。 通常制造商使用彩色螺旋桨或带颜色的机臂来表示航向。 -![Frame Heading TOP](../../assets/concepts/frame_heading_top.png) +![机架航向 TOP](../../assets/concepts/frame_heading_top.png) -In our illustrations we will use red coloring for the front propellers of multicopter to show heading. +在我们的插图中，我们将使用红色的前螺旋桨来显示多旋翼的航向。 -You can read in depth about heading in [Flight Controller Orientation](../config/flight_controller_orientation.md) \ No newline at end of file +您可以在 [飞行控制器方向](../config/flight_controller_orientation.md) 中深入了解航向。 \ No newline at end of file diff --git a/zh/getting_started/rc_transmitter_receiver.md b/zh/getting_started/rc_transmitter_receiver.md index 32dd244d49ee..6032efb50541 100644 --- a/zh/getting_started/rc_transmitter_receiver.md +++ b/zh/getting_started/rc_transmitter_receiver.md @@ -24,37 +24,37 @@ -### Remote Control Units for Aircraft +### 飞机的远程控制单元 -The most popular *form* of remote control unit for UAVs is shown below. It has separate control sticks for controlling roll/pitch and for throttle/yaw as shown (i.e. aircraft need at least 4 channels). +无人机最受欢迎的远程控制单元*形式*如下所示。 横滚/俯仰和油门/偏航的控制分别布置在摇杆上（飞行器最少需要4个通道）。 -![RC Basic Commands](../../assets/flying/rc_basic_commands.png) +![遥控基本命令](../../assets/flying/rc_basic_commands.png) -There are numerous possible layouts for the control sticks, switches, etc. The more common layouts have been given specific "Mode" numbers. *Mode 1* and *Mode 2* (shown below) differ only in the placement of the throttle. +摇杆、开关等有许多可能的布局。 最常用的布局被给予了特定的“模式”号。 *日本手*和*美国手*只在油门的位置有差别。 -![Mode1-Mode2](../../assets/concepts/mode1_mode2.png) +![日本手-美国手](../../assets/concepts/mode1_mode2.png) > **Note** 选择什么模式看你的喜好（ 美国手更受欢迎点）。 ## 地面设备的远程控制单元 -An Unmanned Ground Vehicle (UGV)/car minimally requires a 2 channel transmitter in order to send the values for steering and speed. Commonly transmitters set these values using a wheel and trigger, two single-axis control sticks, or a single dual-axis control stick. +一个 UGV/车辆最少需要两个发射机通道来发送转向和速度指令。 常见的发射机使用一个滚轮和扳机、两个单自由度的摇杆、或一个双自由度的摇杆来发射这些指令。 -There is nothing to stop you using more channels/control mechanisms, and these can be very useful for engaging additional actuators and autopilot modes. +当然你也可以使用更多的通道/控制机构，其他有趣的激励器和飞行模式也非常有用。 ## 选择 RC 系统组件 -You will need to select a transmitter/receiver pair that are compatible with each other. In addition, receivers have to be be [compatible with PX4](#compatible_receivers) and the flight controller hardware. +你需要选择互相兼容的成对发射机/接收机。 另外，接收机必须兼容 [PX4](#compatible_receivers)和飞行控制器硬件。 -Compatible radio systems are often sold together. For example, [FrSky Taranis X9D and FrSky X8R](https://hobbyking.com/en_us/frsky-2-4ghz-accst-taranis-x9d-plus-and-x8r-combo-digital-telemetry-radio-system-mode-2.html?___store=en_us) are a popular combination. +兼容的无线系统通常一起销售。 例如，[FrSky Taranis X9D 和 FrSky X8R](https://hobbyking.com/en_us/frsky-2-4ghz-accst-taranis-x9d-plus-and-x8r-combo-digital-telemetry-radio-system-mode-2.html?___store=en_us)是一个受欢迎的选择。 ### 成对的发射机/接收机 -One of the most popular RC units is the *FrSky Taranis X9D*. It has an internal transmitter module can be used with the recommended *FrSky X4R-SB* (S-BUS, low delay) or *X4R* (PPM-Sum, legacy) receivers out of the box. It also has a custom radio transmitter module slot and customizable open source OpenTX Firmware. +*FrSky Taranis X9D*是最受欢迎的 RC 单元之一。 它拥有内置的发射机模块和可以配对的*FrSky X4R-SB*（(S-BUS，低延迟）或*X4R*（PPM-Sum，老式）外置接收机。 它还有一个可以自定义的无线发射机模块接口和自定义的 OpenTX 开源固件。 > **Note** 使用[ FrSky ](../peripherals/frsky_telemetry.md)的无线模块可以开启遥测功能。 -Other popular transmitter/receiver pairs +其他受欢迎的成对发射机/接收机。 * Turnigy，例如，FrSky的发射机/接收机模块。 * Futaba 发射机和兼容 Futaba S-Bus 接收机。 @@ -63,11 +63,11 @@ Other popular transmitter/receiver pairs -### PX4-Compatible Receivers +### PX4 兼容的接收机 -In addition to the transmitter/receiver pairs being compatible, the receiver must also be compatible with PX4 and the flight controller hardware. +另外接收机和发射机需要兼容，接收机也必须和 PX4 和其他控制硬件兼容。 -*PX4* and *Pixhawk* have been validated with: +PX4 和 *Pixhawk*兼容的接收机如下所示： * 所有的 Spektrum 和 DSM 无线接收机。 * 所有的 Futaba S.BUS 和 S.BUS2 接收机。 @@ -77,14 +77,14 @@ In addition to the transmitter/receiver pairs being compatible, the receiver mus ## 连接接收机 -As general guidance, receivers connect to the flight controller using the port appropriate to their supported protocol: +另外，接收机连接到飞控还需要合适的波特率。 * Spektrum 和 DSM 接收机使用** SPKT/DSM ** 接口连接。 * Graupner HoTT receivers: SUMD output must connect to a **SPKT/DSM** input. -* PPM-Sum and S.BUS receivers must connect directly to the **RC** ground, power and signal pins (typically labeled RC or RCIN) -* PPM receivers that have an individual wire for each channel must connect to the RCIN channel *via* a PPM encoder [like this one](http://www.getfpv.com/radios/radio-accessories/holybro-ppm-encoder-module.html) (PPM-Sum receivers use a single signal wire for all channels). +* PPM 和 S.Bus接收机可以直接连接在** RC **的地、正、信号引脚（通常标记为 RC 或 RCIN）。 +* PPM 接收机通过一个 PPM 编码器将每一个通道通过一根线连接到 RCIN 通道上[如这个所示](http://www.getfpv.com/radios/radio-accessories/holybro-ppm-encoder-module.html)（PPM-Sum 接收机所有通道可以只需要一根信号线）。 -Instructions for connecting to specific flight controllers are given in the following quick-start guides: +特定遥控器的连接可以查阅下面提供的快速指南。 * [Pixhawk 1](../assembly/quick_start_pixhawk.md#radio-control) * [Pixracer](../assembly/quick_start_pixracer.md) @@ -94,11 +94,11 @@ Instructions for connecting to specific flight controllers are given in the foll -## Binding Transmitter/Receiver +## 发射机/接收机对频 -Before you can calibrate/use a radio system you must *bind* the receiver and transmitter so that they communicate only with each other. The process for binding a transmitter and receiver pair is hardware specific (see your manual for instructions). +在你校准和/使用无线系统之前，你需要先将接收机和发射机*对频*，好让他们之间进行通信。 各种遥控器的对频方法各不相同（参照遥控器说明书）。 -If you are using a *Spektrum* receiver, you can put it into bind mode using *QGroundControl*: [Radio Setup > Spectrum Bind](../config/radio.md#spektrum_bind). +如果你使用* Spektrum *的接收机，你可以使用 *QGroundControl* 的[遥控器设置 > 对频 ](../config/radio.md#spektrum_bind)进行对频. ## Set Signal-Loss Behaviour @@ -112,7 +112,7 @@ Choose a receiver that can emit nothing (preferred) when RC is lost, or a low th For more information see [Radio Control Setup > RC Loss Detection](../config/radio.md#rc_loss_detection). -## Related Topics +## 相关章节 -* [Radio Control Setup](../config/radio.md) - Configuring your radio with PX4. -* [Flying 101](../flying/basic_flying.md) - Learn how to fly with a remote control. \ No newline at end of file +* [遥控器设置](../config/radio.md) - 使用 PX4设置你的遥控器。 +* [飞行 101](../flying/basic_flying.md) - 学习如何使用遥控器飞行。 \ No newline at end of file diff --git a/zh/getting_started/sensor_selection.md b/zh/getting_started/sensor_selection.md index 2cd50e780543..bba02767d482 100644 --- a/zh/getting_started/sensor_selection.md +++ b/zh/getting_started/sensor_selection.md @@ -10,27 +10,27 @@ -## GPS & Compass +## GPS&罗盘 -PX4 supports a number of global navigation satellite system (GNSS) receivers and compasses (magnetometers). It also supports [Real Time Kinematic (RTK) GPS Receivers](../gps_compass/rtk_gps.md), which extend GPS systems to centimetre-level precision. +PX4 支持许多全球导航卫星系统（GNSS）接收器和罗盘（磁力计）。 它还支持 [实时动态（RTK）GPS接收器](../gps_compass/rtk_gps.md) ，它将 GPS 系统扩展到厘米级精度。 > **Tip** [ Pixhawk 系列](../flight_controller/pixhawk_series.md) 控制器包括 *内置* 罗盘。 这对于大型飞行器（例如 VTOL ） *可能* 是有用的，其中可以通过远离电源线安装Pixhawk 来减少电磁干扰。 在小型飞行器上，几乎总是需要外置罗盘。 -We recommend the use of an external "combined" compass/GPS module mounted as far away from the motor/ESC power supply lines as possible - typically on a pedestal or wing (for fixed-wing). +我们建议使用安装在尽可能远离 电机/电调 电源线的外部“组合” 罗盘 / GPS 模块 - 通常在支座或机翼（固定翼）上。 -Common GPS/compass hardware options are listed in: [GPS/Compass](../gps_compass/README.md). +常见的 GPS/罗盘硬件选项列于：[GPS/罗盘](../gps_compass/README.md)。 ![GPS + Compass](../../assets/hardware/gps/gps_compass.jpg) ## 空速计 -Airspeed sensors are *highly recommended* for fixed-wing and VTOL frames. +对于固定翼和 VTOL 机架，*强烈建议* 使用空速传感器。 -They are so important because the autopilot does not have other means to detect stall. For fixed-wing flight it is the airspeed that guarantees lift not ground speed! +它们非常重要，因为自驾仪没有其他方法来检测失速。 对于固定翼飞行来说，保证升力的是空速而不是地速。 -![Digital airspeed sensor](../../assets/hardware/sensors/airspeed/digital_airspeed_sensor.jpg) +![数字空速传感器](../../assets/hardware/sensors/airspeed/digital_airspeed_sensor.jpg) -For more information and recommended hardware see: [Airspeed Sensors](../sensor/airspeed.md). +有关更多信息和推荐的硬件，请参阅：[空速传感器](../sensor/airspeed.md)。 ## Tachometer @@ -40,32 +40,32 @@ Tachometers ([revolution-counter sensors](https://en.wikipedia.org/wiki/Tachomet For more information and recommended hardware see: [Sensors > Tachometers](../sensor/tachometers.md). -## Distance +## 距离传感器 -Distance sensors are used for precision landing, object avoidance and terrain following. +距离传感器用于精准着陆，避障和地形跟随。 -PX4 supports many affordable distance sensors, using different technologies, and supporting different ranges and features. For more information see: [Distance Sensors](../sensor/rangefinders.md). +PX4 支持许多实惠的距离传感器，使用不同的技术，并支持不同的范围和功能。 有关更多信息，请参阅：[距离传感器](../sensor/rangefinders.md)。 - + -## Optical Flow +## 光流 -[Optical Flow](../sensor/optical_flow.md) sensors use a downward facing camera and a downward facing distance sensor for velocity estimation. PX4 blends the sensor output with information from other position sources (e.g. GPS) to provide a more accurate position lock. This sensor can be used indoors, when no GPS signal is available. +[Optical Flow](../sensor/optical_flow.md) sensors use a downward facing camera and a downward facing distance sensor for velocity estimation. PX4 将光流传感器输出与来自其他定位源（例如 GPS）的信息融合，以提供更准确的位置锁定。 该传感器可以用于没有 GPS 信号的室内。 -![px4flow-bottom](../../assets/hardware/sensors/px4flow/px4flow_bottom.jpg) +![px4flow-底面](../../assets/hardware/sensors/px4flow/px4flow_bottom.jpg) -Some options include: +一些选项包括： * [PX4Flow](../sensor/px4flow.md) based flow sensors, which have an integrated sonar sensor. * [PMW3901](../sensor/pmw3901.md) based flow sensors, which have a sensor much like in an optical mouse trackpad. -## Sensor Wiring +## 传感器接线 -Sensor wiring information is usually provided in manufacturer documentation for flight controllers and the sensors themselves. +传感器接线信息通常在飞控和传感器本身的制造商文档中提供。 -In addition, see: +另外，请参阅： * [基本组件](../assembly/README.md)包含飞控快速入门指南。 其包括核心传感器到特定飞控硬件的接线。 * [飞控](../flight_controller/README.md) 主题通常包含接线信息。 diff --git a/zh/getting_started/tunes.md b/zh/getting_started/tunes.md index fb5471b07a73..4e8811ded072 100644 --- a/zh/getting_started/tunes.md +++ b/zh/getting_started/tunes.md @@ -52,7 +52,7 @@ -#### Error Tune +#### 错误声音 - 遥控丢失 diff --git a/zh/gps_compass/README.md b/zh/gps_compass/README.md index 0dc838916970..bdebeecf87b4 100644 --- a/zh/gps_compass/README.md +++ b/zh/gps_compass/README.md @@ -1,6 +1,6 @@ # GPS&罗盘 -PX4 supports global navigation satellite systems (GNSS) (including GPS, GLONASS, Galileo, BeiDou, QZSS and SBAS) using receivers that communicate via the UBlox, MTK Ashtech or Emlid protocols, or via UAVCAN. It also supports [Real Time Kinematic (RTK) GPS Receivers](../gps_compass/rtk_gps.md), which extend GPS systems to centimetre-level precision. +PX4 supports global navigation satellite systems (GNSS) (including GPS, GLONASS, Galileo, BeiDou, QZSS and SBAS) using receivers that communicate via the UBlox, MTK Ashtech or Emlid protocols, or via UAVCAN. 它还支持 [实时动态（RTK）GPS接收器](../gps_compass/rtk_gps.md) ，它将 GPS 系统扩展到厘米级精度。 PX4可用于以下指南针部件（磁强计）：博世BMM 150 MEMS（通过I2C总线）、HMC5883/HMC5983（I2C或SPI）、IST8310（I2C）和 LIS3MDL（I2C或SPI）。 @@ -10,13 +10,13 @@ PX4可用于以下指南针部件（磁强计）：博世BMM 150 MEMS（通过I2 ![GPS + Compass](../../assets/hardware/gps/gps_compass.jpg) -> **Tip** When using [Pixhawk-series](../flight_controller/pixhawk_series.md) flight controllers, we recommend using a *combined GPS + Compass* mounted as far away from the motor/ESC power supply lines as possible - typically on a pedestal or wing (for fixed-wing). The internal compass *may* be useful on larger vehicles (e.g. VTOL) where it is possible to reduce electromagnetic interference by mounting the Pixhawk a long way from power supply lines. On small vehicles an external compass is almost always required. +> **Tip** 在使用 [Pixhawk-系列](../flight_controller/pixhawk_series.md) 飞行控制器时，我们建议使用安装在远离飞机/esc电源线的地方使用 *整合GPS和罗盘* - 通常安装在基座或机翼上（适用于固定翼飞机）。 内部指南针 *可能* 在较大的机型（如垂直起降机型）上有用，在这些车辆上，通过安装Pixhawk距离电源线很远，可以减少电磁干扰。 在小型飞行器上，几乎总是需要外置罗盘。 -## Combined GPS/Compass Options +## 组合GPS/罗盘选项 一些流行的GSP/指南针选项包括： -- [Ublox Neo-M8N GPS with Compass](https://hobbyking.com/en_us/ublox-neo-m8n-gps-with-compass.html?gclid=Cj0KCQjwqM3VBRCwARIsAKcekb3ojv1ZhLz1-GuvCsUuGT8ZZuw8meMIV_I6pgUCj6DJRzHBY9OApekaAgI5EALw_wcB&gclsrc=aw.ds&___store=en_us) (Hobbyking) +- [带罗盘的Ublox Neo-M8N GPS](https://hobbyking.com/en_us/ublox-neo-m8n-gps-with-compass.html?gclid=Cj0KCQjwqM3VBRCwARIsAKcekb3ojv1ZhLz1-GuvCsUuGT8ZZuw8meMIV_I6pgUCj6DJRzHBY9OApekaAgI5EALw_wcB&gclsrc=aw.ds&___store=en_us)（Hobbyking） - [mRo GPS u-Blox Neo-M8N Dual Compass LIS3MDL+ IST8310](https://store.mrobotics.io/ProductDetails.asp?ProductCode=mro-gps003-mr) (mRo store) - [Drotek uBlox GPS/Compasses](https://drotek.com/shop/en/184-u-blox) (drotek) - [Holybro Pix32 M8N GPS Module](https://shop.holybro.com/pix32-gps-module_p1099.html) ([Holybro Shop](https://shop.holybro.com/pix32-gps-module_p1099.html)) ([getfpv](https://www.getfpv.com/holybro-pix32-neo-m8n-gps.html)) @@ -27,64 +27,70 @@ PX4可用于以下指南针部件（磁强计）：博世BMM 150 MEMS（通过I2 - [Hex Here2 GNSS GPS (M8N)](../gps_compass/gps_hex_here2.md) - [Zubax GNSS 2](https://zubax.com/products/gnss_2) (zubax.com) - [Avionics Anonymous UAVCAN GNSS/Mag](https://www.tindie.com/products/avionicsanonymous/uavcan-gps-magnetometer/) (Tindie) -- [3DR uBlox GPS with Compass kit](https://www.getfpv.com/3dr-ublox-gps-with-compass-kit.html) (getfpv) - *Discontinued* - -GPS与罗盘的连接说明通常由厂家（至少支持更通用的 [自驾仪](../flight_controller/README.md)）提供 - -> **Note** [Pixhawk Series](../flight_controller/pixhawk_series.md) controllers usually have a clearly labeled port for connecting the GPS, and the compass is connected to either the I2C or SPI port/bus (depending on the device). The [Zubax GNSS 2](https://zubax.com/products/gnss_2) and [Avionics Anonymous GNSS/Mag](https://www.tindie.com/products/avionicsanonymous/uavcan-gps-magnetometer/) can also be connected via [UAVCAN](../uavcan/README.md). +- 3DR uBlox GPS与罗盘kit(getfpv)-*停产* + + GPS与罗盘的连接说明通常由厂家（至少支持更通用的 [自驾仪](../flight_controller/README.md)）提供 + + > **Note** [Pixhawk系列](../flight_controller/pixhawk_series.md) 控制器通常有一个标记明确的端口用于连接GPS，指南针连接I2C或SPI总线（取决于设备）。 The [Zubax GNSS 2](https://zubax.com/products/gnss_2) and [Avionics Anonymous GNSS/Mag](https://www.tindie.com/products/avionicsanonymous/uavcan-gps-magnetometer/) can also be connected via [UAVCAN](../uavcan/README.md). + + -> **Tip** Pay attention to pinout when connecting the GPS module. While these are all software-compatible, there are several different pin orderings. - -## GPS (Only) Options - -- [Emlid Reach M+](https://emlid.com/reach/) (emlid.com) > **Note** At time of writing PX4 does not support RTK GPS with this module (only "ordinary" GPS). Support is expected in the near future. - -## Compass (Only) Options - -- [Avionics Anonymous UAVCAN Magnetometer](https://www.tindie.com/products/avionicsanonymous/uavcan-magnetometer/) (Tindie) - -## RTK-GPS Devices - -有关支持的设备和setup/配置的信息，请参阅边栏下的 [RTK GPS](../gps_compass/rtk_gps.md)。 - -## Configuration - -### Primary GPS - -GPS configuration on Pixhawk is handled transparently for the user - simply connect the GPS module to the port labeled **GPS** and everything should work. - -> **Note** The default [Serial Port Configuration](../peripherals/serial_configuration.md#default_port_mapping) works for most devices. If you are using the *Trimble MB-Two* you will need to modify the configuration to explicitly set the rate to 115200 baud. + + > **Tip** 连接GPS模块时，请注意引脚。 虽然这些都是软件兼容，有几个不同的引脚。 + + ## GPS (Only) Options + + - [Emlid Reach M+](https://emlid.com/reach/) (emlid.com) > **Note** At time of writing PX4 does not support RTK GPS with this module (only "ordinary" GPS). Support is expected in the near future. + + ## Compass (Only) Options + + - [Avionics Anonymous UAVCAN Magnetometer](https://www.tindie.com/products/avionicsanonymous/uavcan-magnetometer/) (Tindie) + + ## RTK-GPS设备 + + 有关支持的设备和setup/配置的信息，请参阅边栏下的 [RTK GPS](../gps_compass/rtk_gps.md)。 + + ## 配置 + + ### Primary GPS + + GPS configuration on Pixhawk is handled transparently for the user - simply connect the GPS module to the port labeled **GPS** and everything should work. + + > **Note** The default [Serial Port Configuration](../peripherals/serial_configuration.md#default_port_mapping) works for most devices. If you are using the *Trimble MB-Two* you will need to modify the configuration to explicitly set the rate to 115200 baud. + + -### Secondary GPS (Dual GPS System) - -To use a secondary GPS, attach it to any free port, and then perform a [Serial Port Configuration](../peripherals/serial_configuration.md) to assign [GPS_2_CONFIG](../advanced_config/parameter_reference.md#GPS_2_CONFIG) to the selected port. - -The following steps show how to configure a secondary GPS on the `TELEM 2` port in *QGroundControl*: - -1. [Find and set](../advanced_config/parameters.md) the parameter [GPS_2_CONFIG](../advanced_config/parameter_reference.md#GPS_2_CONFIG) to **TELEM 2**. - - Open *QGroundControl* and navigate to the **Vehicle Setup > Parameters** section. - - Select the **GPS** tab (1), then open the [GPS_2_CONFIG](../advanced_config/parameter_reference.md#GPS_2_CONFIG) parameter (2) and select *TELEM 2* from the dropdown list (3). ![QGC Serial Example](../../assets/peripherals/qgc_serial_config_example.png) -2. Reboot the vehicle in order to make the other parameters visible. -3. Select the **Serial** tab, and open the [SER_TEL2_BAUD](../advanced_config/parameter_reference.md#SER_TEL2_BAUD) parameter (`TELEM 2` port baud rate): set it to *Auto*. ![QGC Serial Baudrate Example](../../assets/peripherals/qgc_serial_baudrate_example.png) - -After setting up the second GPS port: - -1. Configure the ECL/EKF2 estimator to blend data from both GPS systems. For detailed instructions see: [Using the ECL EKF > Dual Receivers](../advanced_config/tuning_the_ecl_ekf.md#dual-receivers). - -### Compass - -Compass calibration is covered in: [Compass Configuration](../config/compass.md). The process is straightforward and will calibrate all connected magnetometers. - -Additional configuration can be [performed](../advanced_config/parameters.md) using the [CAL*MAGx*](../advanced_config/parameter_reference.md#CAL_MAG0_EN) parameters (where `x=0-3`). Generally you will not need to *modify* these as compasses are autodetected, prioritised and are all calibrated at the same time (a possible exception is [CAL\_MAGx\_EN](../advanced_config/parameter_reference.md#CAL_MAG0_EN) which might be used to disable an internal compass). You may however wish to read them, as they will let you know which magnetometers are internal or external ([CAL\_MAGx\_EN](../advanced_config/parameter_reference.md#CAL_MAG0_EN)) and which is being uses as the main heading source ([CAL_MAG_PRIME](../advanced_config/parameter_reference.md#CAL_MAG_PRIME)). - -## Developer Information - -- GPS/RTK-GPS - - [RTK-GPS](../advanced/rtk_gps.md) - - [GPS driver](../modules/modules_driver.md#gps) - - [UAVCAN Example](../uavcan/README.md) -- [Driver source code](https://github.com/PX4/PX4-Autopilot/tree/master/src/drivers/magnetometer) (Compasses) \ No newline at end of file + + ### Secondary GPS (Dual GPS System) + + To use a secondary GPS, attach it to any free port, and then perform a [Serial Port Configuration](../peripherals/serial_configuration.md) to assign [GPS_2_CONFIG](../advanced_config/parameter_reference.md#GPS_2_CONFIG) to the selected port. + + The following steps show how to configure a secondary GPS on the `TELEM 2` port in *QGroundControl*: + + 1. [Find and set](../advanced_config/parameters.md) the parameter [GPS_2_CONFIG](../advanced_config/parameter_reference.md#GPS_2_CONFIG) to **TELEM 2**. + - Open *QGroundControl* and navigate to the **Vehicle Setup > Parameters** section. + - 选择 **GPS** 选项卡(1)，然后打开 [GPS_2_CONFIG](../advanced_config/parameter_reference.md#GPS_2_CONFIG) 参数(2)，并从下拉列表(3) 中选择 *TELEM 2*。 ![QGC 串口实例](../../assets/peripherals/qgc_serial_config_example.png) + 2. Reboot the vehicle in order to make the other parameters visible. + 3. 选择 **串口** 选项卡，并打开 [SER_TEL2_BAUD](../advanced_config/parameter_reference.md#SER_TEL2_BAUD) 参数 (`TELEM 2`端口波特率)：将其设置为 *Auto*。 ![QGC 串口波特率实例](../../assets/peripherals/qgc_serial_baudrate_example.png) + + After setting up the second GPS port: + + 1. Configure the ECL/EKF2 estimator to blend data from both GPS systems. For detailed instructions see: [Using the ECL EKF > Dual Receivers](../advanced_config/tuning_the_ecl_ekf.md#dual-receivers). + + ### 罗盘 + + 指南针校准内容包括在：[罗盘配置](../config/compass.md) 中。 该过程非常简单，将校准所有连接的磁强计。 + + 可以使用 [CAL\ *MAGx*](../advanced_config/parameter_reference.md#CAL_MAG0_EN) parameters（`x=0-3`）[performed](../advanced_config/parameters.md) 其他配置。 通常，您不需要 *修改* 这些，因为罗盘是自动检测的，优先排序，并且都是同时校准的（可能的例外是 [CAL\_MAGx\_EN](../advanced_config/parameter_reference.md#CAL_MAG0_EN) 可能用于禁用内部指南针）。 但是，您可能希望阅读它们，因为它们会让您知道哪些磁强计是内部或外部（[CAL\_MAGx\_EN](../advanced_config/parameter_reference.md#CAL_MAG0_EN)），哪些是用作主要标题源（[CAL_MAG_PRIME](../advanced_config/parameter_reference.md#CAL_MAG_PRIME)）。 + + ## 开发人员信息 + + - GPS/RTK-GPS + - [RTK-GPS](../advanced/rtk_gps.md) + - [GPS驱动程序](../modules/modules_driver.md#gps) + - [UAVCAN示例](../uavcan/README.md) + - [Driver source code](https://github.com/PX4/PX4-Autopilot/tree/master/src/drivers/magnetometer) (Compasses) \ No newline at end of file diff --git a/zh/gps_compass/gps_hex_here2.md b/zh/gps_compass/gps_hex_here2.md index bf1fc3dff9a4..6cb4372e34be 100644 --- a/zh/gps_compass/gps_hex_here2.md +++ b/zh/gps_compass/gps_hex_here2.md @@ -12,18 +12,18 @@ Main features include: ![](../../assets/hardware/gps/here2_gps_module.jpg) -## Purchase +## 购买 - [ProfiCNC](http://www.proficnc.com/all-products/152-gps-module.html) (Australia) - [Other resellers](http://www.proficnc.com/stores) -## Configuration +## 配置 Setup and use on PX4 is largely plug and play. > **Note** If the GPS is *not detected* then [update the Here2 firmware](https://docs.cubepilot.org/user-guides/here-2/updating-here-2-firmware). -## Wiring and Connections +## 接线和连接 The Here2 GPS comes with an 8 pin connector that can be inserted directly into the [Pixhawk 2](http://www.hex.aero/wp-content/uploads/2016/07/DRS_Pixhawk-2-17th-march-2016.pdf) GPS UART port. @@ -33,22 +33,22 @@ The Pixhawk 3 Pro and Pixracer have a 6 pin GPS port connector. For these contro Pin 6 and 7 are for the safety button - these can be attached as well if needed. -### Pinout +### 针脚定义 -The Here2 GPS pinout is provided below. This can be used to help modify the connector for other autopilot boards. +The Here2 GPS pinout is provided below. 这可用于帮助用户修改接口线序以适配其它自动驾驶仪板的连接器。 -| pin | Here2 GPS | pin | Pixhawk 3 Pro GPS | -| --- | ---------- | --- | ----------------- | -| 1 | VCC_5V | 1 | VCC | -| 2 | GPS_RX | 2 | GPS_TX | -| 3 | GPS_TX | 3 | GPS_RX | -| 4 | SCL | 4 | SCL | -| 5 | SDA | 5 | SDA | -| 6 | BUTTON | - | - | -| 7 | BUTTON_LED | - | - | -| 8 | GND | 6 | GND | +| 引脚 | Here2 GPS | 引脚 | Pixhawk 3 Pro GPS | +| -- | ---------- | -- | ----------------- | +| 1 | VCC_5V | 1 | VCC | +| 2 | GPS_RX | 2 | GPS_TX | +| 0 | GPS_TX | 3 | GPS_RX | +| 4 | SCL | 4 | SCL | +| 5 | SDA | 5 | SDA | +| 6 | BUTTON | - | - | +| 7 | BUTTON_LED | - | - | +| 8 | GND | 6 | GND | -## Specification +## 技术规范 - **Processor:** STM32F302 - **Sensor** diff --git a/zh/gps_compass/rtk_gps.md b/zh/gps_compass/rtk_gps.md index dd3e2312469d..35f344c22dbf 100644 --- a/zh/gps_compass/rtk_gps.md +++ b/zh/gps_compass/rtk_gps.md @@ -14,7 +14,7 @@ PX4 supports the [u-blox M8P](https://www.u-blox.com/en/product/neo-m8p), [u-blox F9P](https://www.u-blox.com/en/product/zed-f9p-module) and the [Trimble MB-Two](https://www.trimble.com/Precision-GNSS/MB-Two-Board.aspx) GPS and products that incorporate it. -The following RTK-compatible devices have been tested. +下面的 RTK 设备已经经过测试。 - [CUAV C-RTK GPS](../gps_compass/rtk_gps_cuav_c-rtk.md) - [Drotek XL RTK GPS](../gps_compass/rtk_gps_drotek_xl.md) @@ -33,25 +33,25 @@ The following RTK-compatible devices have been tested. ### RTK 移动站（飞机） -Connect the vehicle-based module to the flight controller's GPS port (in the same way as any other GPS module). +连接飞机上的移动站到飞控的 GPS 端口上（其他的 GPS模块同理）。 -The actual cables/connectors required will depend on the flight controller and selected RTK module (see [documentation for the selected device](#supported-rtk-devices) for more information). +实际的接线可能因飞控和 RTK 而有所差异（详情参看所[选设备的说明书](#supported-rtk-devices)）。 ### RTK 基站（地面端） -Connect the base module to *QGroundControl* via USB. The base module must not be moved while it is being used. +使用 USB 连接基站到*QGroundControl*。 基站在使用中必须保持不动。 > **Tip**选择一个不会移动的地方，上方开阔，最好避开建筑物。 使用三脚架或安装在屋顶，效果更好。 ### 电台/WiFi -The vehicle and ground control laptop must be connected via [wifi or a radio telemetry link](../telemetry/README.md). +飞机和地面站之间必须使用 [wifi 或电台](../telemetry/README.md)连接。 -The link *must* use the MAVLink2 protocol as it makes more efficient use of the channel. This should be set by default, but if not, follow the [MAVLink2 configuration instructions](#mavlink2) below. +链接*必须*使用 MAVLink2 协议，因为 MAVLink2 能更好的利用通道。 这个设置默认即可，如果不是默认数据，可以参考下面的[MAVLink2 设置介绍](#mavlink2)。 ## RTK 连接步骤 -The RTK GPS connection is essentially plug and play: +RTK GPS 是即插即用的。 1. 打开*QGroundControl*，使用 USB 连接基站的 RTK GPS 到地面站。 电脑会自动识别设备。 2. 启动飞机，确保飞机连接上*QGroundControl*地面站。 @@ -78,15 +78,15 @@ The RTK GPS connection is essentially plug and play: ## PX4 可用的设置 -The following settings may need to be changed (using *QGroundControl*). +下面的设置可能需要设置。（使用*QGroundControl*）。 ### RTK GPS 设置 The RTK GPS settings are specified in the *QGroundControl* [General Settings](https://docs.qgroundcontrol.com/en/SettingsView/General.html#rtk_gps) (**SettingsView > General Settings > RTK GPS**). -![RTK GPS Setup](../../assets/qgc/setup/rtk/settings_view_general_rtk_gps.jpg) +![RTK GPS 设置](../../assets/qgc/setup/rtk/settings_view_general_rtk_gps.jpg) -These settings define the minimum duration and minimum accuracy for completing the RTK GPS setup process (known as "Survey-In). +这些设置定义了 RTK GPS 设置过程（称为“测量”）完成的最小持续时间和最小精度。 @@ -94,9 +94,9 @@ These settings define the minimum duration and minimum accuracy for completing t ### MAVLink2 -The MAVLink2 protocol must be used because it makes more efficient use of lower-bandwidth channels. This should be enabled by default on recent builds. +必须使用 maxink2 协议, 因为它可以更有效地使用低带宽通道。 默认情况下, 应在最近的生成中启用此功能。 -To ensure MAVLink2 is used: +为确保使用MAVLink2: - 将遥测模块固件更新到最新版本 (请参阅 QGroundControl> 设置 > 固件 )。 @@ -104,13 +104,13 @@ To ensure MAVLink2 is used: ### 调试 - You may also need to tune some parameters as the default parameters are tuned assuming a GPS accuracy in the order of meters, not centimeters. For example, you can decrease [EKF2_GPS_V_NOISE](../advanced_config/parameter_reference.md#EKF2_GPS_V_NOISE) and [EKF2_GPS_P_NOISE](../advanced_config/parameter_reference.md#EKF2_GPS_P_NOISE) to 0.2. + 您可能还需要调整一些参数, 因为默认参数是在假定 GPS 精度为米 (而不是厘米) 的情况下进行调整的。 例如, 您可以减少 [EKF2_GPS_V_NOISE](../advanced_config/parameter_reference.md#EKF2_GPS_V_NOISE), 并将 [EKF2_GPS_P_NOISE](../advanced_config/parameter_reference.md#EKF2_GPS_P_NOISE) 到0.2。 ### Use RTK GPS for Yaw Some RTK GPS units (i.e. with multiple antennas) can output a yaw angle, which can be used instead of the heading from the magnetic compass. To enable this, set bit position 7 in [EKF2_AID_MASK](../advanced_config/parameter_reference.md#EKF2_AID_MASK) to 1 (add 128 to the parameter value). - ### Dual Receivers + ### 双 GPS 接收器 A second GPS receiver can be used as a backup (either RTK or non RTK). See the [EKF2 GPS Configuration](../advanced_config/tuning_the_ecl_ekf.md#gps) section. diff --git a/zh/gps_compass/rtk_gps_fem_mini2.md b/zh/gps_compass/rtk_gps_fem_mini2.md index ca8a5808a353..afc7e91fe03e 100644 --- a/zh/gps_compass/rtk_gps_fem_mini2.md +++ b/zh/gps_compass/rtk_gps_fem_mini2.md @@ -18,7 +18,7 @@ The following firmware options need to be selected when buying the device: - RTK - BASE -## Purchase +## 采购 Contact [Femtones](http://www.femtomes.com) directly for sales quote: - **Email:** [sales@femtomes.com](mailto:sales@femtomes.com) @@ -28,14 +28,14 @@ Contact [Femtones](http://www.femtomes.com) directly for sales quote: ![MINI II 1](../../assets/hardware/gps/rtk_fem_miniII_1.jpg) -## Wiring and Connections +## 接线和连接 The [MINI2 Receiver](http://www.femtomes.com) is connected to a UART on the flight controller (GPS port) for data. To power the module you will need a separate 12V power supply. The pins on the 12-pin connector are numbered as shown below. ![MINI_II_2](../../assets/hardware/gps/rtk_fem_miniII_2.jpg) -## Configuration +## 配置 For heading estimation the two antennas need to be on the same level and at least 30 cm apart from each other. The direction that they are facing does not matter as it can be configured with the [GPS_YAW_OFFSET](../advanced_config/parameter_reference.md#GPS_YAW_OFFSET) parameter. @@ -44,7 +44,7 @@ Configure the serial port on which the [MINI2 Receiver](http://www.femtomes.com) Once configured the receiver is used in the same way as any other [RTK GPS](../gps_compass/rtk_gps.md) (i.e. with respect to the Survey-in process). -## Additional Information +## 附加信息 The MINI2 incorporates the following components: diff --git a/zh/gps_compass/rtk_gps_freefly.md b/zh/gps_compass/rtk_gps_freefly.md index 9461f14a9e9e..44ce1db90731 100644 --- a/zh/gps_compass/rtk_gps_freefly.md +++ b/zh/gps_compass/rtk_gps_freefly.md @@ -12,7 +12,7 @@ Main features include: ![FreeFly GPS Module](../../assets/hardware/gps/freefly_gps_module.jpg) -## Purchase +## 购买 * [Freefly Store](https://store.freeflysystems.com/products/freefly-rtk-gps) @@ -25,32 +25,32 @@ An RTK GPS kit includes: - Screws to mount onto a Freefly AltaX -## Configuration +## 配置 RTK setup and use on PX4 via *QGroundControl* is largely plug and play (see [RTK GPS](../advanced_features/rtk-gps.md) for more information). For the aircraft, you should set the parameter [SER_GPS1_BAUD](../advanced_config/parameter_reference.md#SER_GPS1_BAUD) to 115200 8N1 to ensure that PX4 configures the correct baudrate. -## Wiring and Connections +## 接线和连接 The Freefly RTK GPS comes with an 8 pin JST-GH connector that can be plugged into a PixHawk autopilot. For use as a base station, the module has a USB-C connector -### Pinout +### 针脚定义 The Freefly GPS pinout is provided below. For some autopilots, like the [Hex Cube](../flight_controller/pixhawk-2.md) and [PixRacer](../flight_controller/pixracer.md), all that is needed is a 1-1 8-pin JST-GH cable. -| Pin | Freefly GPS | -| --- | ----------- | -| 1 | VCC_5V | -| 2 | GPS_RX | -| 3 | GPS_TX | -| 4 | I2C_SCL | -| 5 | I2C_SDA | -| 6 | BUTTON | -| 7 | BUTTON_LED | -| 8 | GND | +| 针脚 | Freefly GPS | +| -- | ----------- | +| 1 | VCC_5V | +| 2 | GPS_RX | +| 0 | GPS_TX | +| 4 | I2C_SCL | +| 5 | I2C_SDA | +| 6 | BUTTON | +| 7 | BUTTON_LED | +| 8 | GND | -## Specification +## 技术规范 - Ublox ZED-F9P GPS Receiver - Ultracap backup power for fast (hot-start) restarts @@ -64,7 +64,7 @@ The Freefly GPS pinout is provided below. For some autopilots, like the [Hex Cub - SMA connector - STM32 MCU for future CAN-based communication - FW updates through USB connector -- Connectivity: +- 连接性: - USB-C - 2-way USB Switch to MCU and F9P - SMA for active antenna (20mA max) diff --git a/zh/gps_compass/rtk_gps_hex_hereplus.md b/zh/gps_compass/rtk_gps_hex_hereplus.md index 5457538ec0c0..59d82210b7a5 100644 --- a/zh/gps_compass/rtk_gps_hex_hereplus.md +++ b/zh/gps_compass/rtk_gps_hex_hereplus.md @@ -14,24 +14,24 @@ The [Here+ RTK GPS receiver](http://www.proficnc.com/content/12-here) is a small RTK setup and use on PX4 via *QGroundControl* is largely plug and play (see [RTK GPS](../advanced_features/rtk-gps.md) for more information). -## Pinout +## 针脚定义 The Here+ GPS comes with an 8 pin connector with the following pinout ![Here+ Pinout (viewed from base)](../../assets/hardware/gps/rtk_here_plus_connectors.jpg) -| Pin | Here+ GPS | +| 针脚 | Here+ GPS | | ---------- | ------------- | | 1 (purple) | VCC_5V | | 2 (blue) | GPS_RX | | 3 (green) | GPS_TX | | 4 (yellow) | I2C SCL | | 5 (orange) | I2C SDA | -| 6 (red) | SAFETY BUTTON | +| 6（红） | SAFETY BUTTON | | 7 (brown) | BUTTON_LED | | 8 (black) | GND | -## Wiring and Connections +## 接线和连接 Connection examples are shown below for a number of boards (these can be used to modify the cable as needed for other boards). @@ -47,16 +47,16 @@ The [Pixhawk 3 Pro](../flight_controller/pixhawk3_pro.md) and [Pixracer](../flig Pin 6 and 7 are for the safety button - these can be attached as well if needed. -| Pin | Here+ GPS | Pin | Pixhawk 3 Pro GPS | -| --- | ---------- | --- | ----------------- | -| 1 | VCC_5V | 1 | VCC | -| 2 | GPS_RX | 2 | GPS_TX | -| 3 | GPS_TX | 3 | GPS_RX | -| 4 | I2C SCL | 4 | SCL | -| 5 | I2C SDA | 5 | SDA | -| 6 | BUTTON | - | - | -| 7 | BUTTON_LED | - | - | -| 8 | GND | 6 | GND | +| 针脚 | Here+ GPS | 针脚 | Pixhawk 3 Pro GPS | +| -- | ---------- | -- | ----------------- | +| 1 | VCC_5V | 1 | VCC | +| 2 | GPS_RX | 2 | GPS_TX | +| 3 | GPS_TX | 3 | GPS_RX | +| 4 | I2C SCL | 4 | SCL | +| 5 | I2C SDA | 5 | SDA | +| 6 | BUTTON | - | - | +| 7 | BUTTON_LED | - | - | +| 8 | GND | 6 | GND | #### Pixhawk 4 @@ -64,15 +64,15 @@ The Here+ to [Pixhawk 4](../flight_controller/pixhawk4.md) GPS port pin mapping > **Note** The Pixhawk 4 GPS port has pin 1 on the left hand side. -| Pin | Here+ GPS | pin | Pixhawk 4 GPS Port | -| --- | ---------- | --- | ------------------- | -| 1 | VCC_5V | 1 | VCC (+5V) | -| 2 | GPS_RX | 2 | GPS_TX | -| 3 | GPS_TX | 3 | GPS_RX | -| 4 | I2C SCL | 4 | SCL1 | -| 5 | I2C SDA | 5 | SDA1 | -| 6 | BUTTON | 6 | SAFETY_SWITCH | -| 7 | BUTTON_LED | 7 | SAFETY_SWITCH_LED | -| / | - | 8 | VDD_3V3 | -| / | - | 9 | BUZZER | -| 8 | GND | 10 | GND | \ No newline at end of file +| 针脚 | Here+ GPS | 引脚 | Pixhawk 4 GPS Port | +| -- | ---------- | -- | ------------------- | +| 1 | VCC_5V | 1 | VCC (+5V) | +| 2 | GPS_RX | 2 | GPS_TX | +| 3 | GPS_TX | 3 | GPS_RX | +| 4 | I2C SCL | 4 | SCL1 | +| 5 | I2C SDA | 5 | SDA1 | +| 6 | BUTTON | 6 | SAFETY_SWITCH | +| 7 | BUTTON_LED | 7 | SAFETY_SWITCH_LED | +| / | - | 8 | VDD_3V3 | +| / | - | 9 | BUZZER | +| 8 | GND | 10 | GND | \ No newline at end of file diff --git a/zh/gps_compass/rtk_gps_holybro_h-rtk-f9p.md b/zh/gps_compass/rtk_gps_holybro_h-rtk-f9p.md index 00d64df4e2a9..16d43a4e3618 100644 --- a/zh/gps_compass/rtk_gps_holybro_h-rtk-f9p.md +++ b/zh/gps_compass/rtk_gps_holybro_h-rtk-f9p.md @@ -8,16 +8,16 @@ Using RTK allows PX4 to get its position with centimeter-level accuracy, which i ![h-rtk](../../assets/hardware/gps/rtk_holybro_h-rtk-f9p_all_label.jpg) -## Purchase +## 购买 * [H-RTK F9P (Holybro Website)](https://shop.holybro.com/h-rtk-f9p_p1226.html?) * [H-RTK Accessories (Holybro Website)](https://shop.holybro.com/c/h-rtk_0512) -## Configuration +## 配置 -RTK setup and use on PX4 via _QGroundControl_ is largely plug and play \(see [RTK GPS](../advanced_features/rtk-gps.md) for more information\). +RTK设置和使用在px4上通过 _QGroundControl_ 很大程度上可以即插即用 \ (请参阅[RTK GPS](../advanced_features/rtk-gps.md) 更多信息)。 -## Wiring and Connections +## 接线和连接 All H-RTK GNSS models come with a GH 10-pin connector/cable that is compatible with [Pixhawk 4](../flight_controller/pixhawk4.md). diff --git a/zh/gps_compass/rtk_gps_holybro_h-rtk-m8p.md b/zh/gps_compass/rtk_gps_holybro_h-rtk-m8p.md index 0e4d43f8fb8d..685431675000 100644 --- a/zh/gps_compass/rtk_gps_holybro_h-rtk-m8p.md +++ b/zh/gps_compass/rtk_gps_holybro_h-rtk-m8p.md @@ -8,16 +8,16 @@ Using RTK allows PX4 to get its position with centimeter-level accuracy, which i ![h-rtk_rover](../../assets/hardware/gps/rtk_holybro_h-rtk-m8p_all_label.jpg) -## Purchase +## 购买 * [H-RTK M8P (Holybro Website)](https://shop.holybro.com/h-rtk-m8p_p1221.html) * [H-RTK Accessories (Holybro Website)](https://shop.holybro.com/c/h-rtk_0512) -## Configuration +## 配置 -RTK setup and use on PX4 via _QGroundControl_ is largely plug and play \(see [RTK GPS](../advanced_features/rtk-gps.md) for more information\). +RTK设置和使用在px4上通过 _QGroundControl_ 很大程度上可以即插即用 \ (请参阅[RTK GPS](../advanced_features/rtk-gps.md) 更多信息)。 -## Wiring and Connections +## 接线和连接 All H-RTK GNSS models come with a GH 10-pin connector/cable that is compatible with [Pixhawk 4](../flight_controller/pixhawk4.md). diff --git a/zh/gps_compass/u-blox_f9p_heading.md b/zh/gps_compass/u-blox_f9p_heading.md index f63ac709826f..db4e22815197 100644 --- a/zh/gps_compass/u-blox_f9p_heading.md +++ b/zh/gps_compass/u-blox_f9p_heading.md @@ -6,7 +6,7 @@ Two u-blox F9P devices mounted on a vehicle can be used to accurately compute a The general setup is described in: [ZED-F9P Moving base applications (Application note)](https://www.u-blox.com/sites/default/files/ZED-F9P-MovingBase_AppNote_%28UBX-19009093%29.pdf). -In overview: +概述： - The UART2 of the GPS devices need to be connected together (TXD2 of the "Moving Base" to RXD2 of the "Rover") - Connect UART1 on each of the GPS to (separate) unused UART's on the autopilot, and configure both of them as GPS with baudrate set to `Auto`. The mapping is as follows: - Main GPS = Rover diff --git a/zh/hardware/board_support_guide.md b/zh/hardware/board_support_guide.md index f2c5b1cc1b73..2aae0227ed0d 100644 --- a/zh/hardware/board_support_guide.md +++ b/zh/hardware/board_support_guide.md @@ -109,7 +109,7 @@ Integrate the board according to the board porting release process described in > **Warning** The board support process may be changed and improved over time. Hardware manufacturers are encouraged to contribute to this process through the regular hardware call, the Discuss forum or Slack. -## Support +## 技术支持 If parts of the board support guide/process are not clear: diff --git a/zh/hardware/porting_guide.md b/zh/hardware/porting_guide.md index ea0d9549f3ca..0abcbcf1059e 100644 --- a/zh/hardware/porting_guide.md +++ b/zh/hardware/porting_guide.md @@ -1,28 +1,28 @@ -# Flight Controller Porting Guide +# 飞行控制器移植指南 -This topic is for developers who want to port PX4 to work with *new* flight controller hardware. +本主题主要针对希望将 PX4 移植到 *新* 飞控硬件平台上的开发人员。 -## PX4 Architecture +## PX4 架构 -PX4 consists of two main layers: The [board support and middleware layer](../middleware/README.md) on top of the host OS (NuttX, Linux or any other POSIX platform like Mac OS), and the applications (Flight Stack in [src/modules](https://github.com/PX4/Firmware/tree/master/src/modules)\). Please reference the [PX4 Architectural Overview](../concept/architecture.md) for more information. Please reference the [PX4 Architectural Overview](../concept/architecture.md) for more information. +PX4 consists of two main layers: The [board support and middleware layer](../middleware/README.md) on top of the host OS (NuttX, Linux or any other POSIX platform like Mac OS), and the applications (Flight Stack in [src/modules](https://github.com/PX4/Firmware/tree/master/src/modules)\). Please reference the [PX4 Architectural Overview](../concept/architecture.md) for more information. 更多有关详细信息请参阅： [PX4 系统架构概述](../concept/architecture.md) 。 -This guide is focused only on the host OS and middleware as the applications/flight stack will run on any board target. +本指南仅关注主机操作系统和中间件，因为 应用层/飞行控制栈 可以在任何目标平台上运行。 -## Flight Controller Configuration File Layout +## 飞行控制器配置文件分布位置 Board startup and configuration files are located under [/boards](https://github.com/PX4/Firmware/tree/master/boards/) in each board's vendor-specific directory (i.e. **boards/*VENDOR*/*MODEL*/**)). -For example, for FMUv5: +例如，对于 FMUv5 飞控硬件平台： * (All) Board-specific files: [/boards/px4/fmu-v5](https://github.com/PX4/Firmware/tree/master/boards/px4/fmu-v5). * Build configuration: [/boards/px4/fmu-v5/default.cmake](https://github.com/PX4/Firmware/blob/master/boards/px4/fmu-v5/default.cmake). * Board-specific initialisation file: [/boards/px4/fmu-v5/init/rc.board](https://github.com/PX4/Firmware/blob/master/boards/px4/fmu-v5/init/rc.board) - - A board-specific initialisation file is automatically included in startup scripts if found under the boards directory at **init/rc.board**. - - The file is used to start sensors (and other things) that only exist on a particular board. The file is used to start sensors (and other things) that only exist on a particular board. It may also be used to set a board's default parameters, UART mappings, and any other special cases. + - 如果在飞控板平台目录下可以找到 **init/rc.board** 文件，则针对该飞控板平台的初始化文件将会自动包含在启动脚本中。 + - 该文件用于启动仅存在于特定主板上的传感器 (和其他东西)。 The file is used to start sensors (and other things) that only exist on a particular board. It may also be used to set a board's default parameters, UART mappings, and any other special cases. - For FMUv5 you can see all the Pixhawk 4 sensors being started, and it also sets a larger LOGGER_BUF, and in AUTOCNF section (fresh setups) it sets the [SYS_FMU_TASK](../advanced/parameter_reference.md#SYS_FMU_TASK) parameter. -## Host Operating System Configuration +## 主机操作系统配置 -This section describes the purpose and location of the configuration files required for each supported host operating system to port them to new flight controller hardware. +本节介绍了移植每个受支持的主机操作系统到新的飞控板硬件平台上需要用到的配置文件的用途和所处位置。 ### NuttX @@ -30,61 +30,61 @@ See [NuttX Board Porting Guide](porting_guide_nuttx.md). ### Linux -Linux boards do not include the OS and kernel configuration. Linux boards do not include the OS and kernel configuration. These are already provided by the Linux image available for the board (which needs to support the inertial sensors out of the box). +基于 Linux 的飞控板不包含任何 操作系统和内核的配置。 Linux boards do not include the OS and kernel configuration. These are already provided by the Linux image available for the board (which needs to support the inertial sensors out of the box). * The boot file system (startup script) is located in: [ROMFS/px4fmu\_common](https://github.com/PX4/Firmware/tree/master/ROMFS/px4fmu_common) -## Middleware Components and Configuration +## 中间件组件和配置 -This section describes the various middleware components, and the configuration file updates needed to port them to new flight controller hardware. +本节介绍各类中间件组件，以及将它们移植到新的飞行控制器硬件所需更新的配置文件。 ### QuRT / Hexagon * The start script is located in [posix-configs/](https://github.com/PX4/Firmware/tree/master/posix-configs). -* The OS configuration is part of the default Linux image (TODO: Provide location of LINUX IMAGE and flash instructions). +* 操作系统配置是默认 Linux 镜像的一部分（TODO: 需要提供 LINUX 镜像文件位置和程序烧写指南）。 * The PX4 middleware configuration is located in [src/drivers/boards](https://github.com/PX4/Firmware/tree/master/src/drivers/boards). TODO: ADD BUS CONFIG TODO: ADD BUS CONFIG -* Reference config: Running `make eagle_default` builds the Snapdragon Flight reference config. +* 参考配置：运行 `make eagle_default` 命令可构建 Snapdragon Flight 的参考配置文件。 -## RC UART Wiring Recommendations +## RC UART 接线建议 -It is generally recommended to connect RC via separate RX and TX pins to the microcontroller. If however RX and TX are connected together, the UART has to be put into singlewire mode to prevent any contention. This is done via board config and manifest files. One example is [px4fmu-v5](https://github.com/PX4/Firmware/blob/master/src/drivers/boards/px4fmu-v5/manifest.c). If however RX and TX are connected together, the UART has to be put into singlewire mode to prevent any contention. This is done via board config and manifest files. One example is [px4fmu-v5](https://github.com/PX4/PX4-Autopilot/blob/master/boards/px4/fmu-v5/src/manifest.c). +It is generally recommended to connect RC via separate RX and TX pins to the microcontroller. If however RX and TX are connected together, the UART has to be put into singlewire mode to prevent any contention. This is done via board config and manifest files. One example is [px4fmu-v5](https://github.com/PX4/Firmware/blob/master/src/drivers/boards/px4fmu-v5/manifest.c). 如果 RX 和 TX 连在了一起，那么 UART 需要设置为单线模式以防止出现争用。 这可以用过对飞控板的配置文件和 manifest 文件进行更改来实现。 示例可见： [px4fmu-v5](https://github.com/PX4/PX4-Autopilot/blob/master/boards/px4/fmu-v5/src/manifest.c)。 -## Officially Supported Hardware +## 官方支持的硬件 -The PX4 project supports and maintains the [FMU standard reference hardware](../hardware/reference_design.md) and any boards that are compatible with the standard. The PX4 project supports and maintains the [FMU standard reference hardware](../debug/reference-design.md) and any boards that are compatible with the standard. This includes the [Pixhawk-series](https://docs.px4.io/en/flight_controller/pixhawk_series.html) (see the user guide for a [full list of officially supported hardware](https://docs.px4.io/en/flight_controller/)). +PX4 项目支持并维护着 [FMU 标准参考硬件](../hardware/reference_design.md) 及任何与标准相兼容的飞控板平台。 The PX4 project supports and maintains the [FMU standard reference hardware](../debug/reference-design.md) and any boards that are compatible with the standard. This includes the [Pixhawk-series](https://docs.px4.io/en/flight_controller/pixhawk_series.html) (see the user guide for a [full list of officially supported hardware](https://docs.px4.io/en/flight_controller/)). -Every officially supported board benefits from: -* PX4 Port available in the PX4 repository -* Automatic firmware builds that are accessible from *QGroundControl* -* Compatibility with the rest of the ecosystem -* Automated checks via CI - safety remains paramount to this community -* [Flight testing](../test_and_ci/test_flights.md) +每个受官方支持的飞控板平台都将受益于： +* PX4 项目仓库中可用的 PX4 移植 +* 可从 *QGroundControl* 中直接访问的自动固件编译 +* 与生态系统其余部分的兼容性 +* 可通过 CI 进行自动检查 — 安全仍是这个社区的重中之重 +* [飞行测试](../test_and_ci/test_flights.md) -We encourage board manufacturers to aim for full compatibility with the [FMU spec](https://pixhawk.org/). We encourage board manufacturers to aim for full compatibility with the [FMU spec](https://pixhawk.org/). With full compatibility you benefit from the ongoing day-to-day development of PX4, but have none of the maintenance costs that come from supporting deviations from the specification. +我们鼓励飞控板制造商以与 [FMU 规格](https://pixhawk.org/) 完全兼容为目标进行生产。 We encourage board manufacturers to aim for full compatibility with the [FMU spec](https://pixhawk.org/). With full compatibility you benefit from the ongoing day-to-day development of PX4, but have none of the maintenance costs that come from supporting deviations from the specification. > **Note** The following steps are not required if using the [px4-dev-nuttx](https://hub.docker.com/r/px4io/px4-dev-nuttx/) docker container or have installed to macOS using our normal instructions (as these include`kconfig-mconf`). For fresh installs of PX4 onto Ubuntu using [ubuntu_sim_nuttx.sh](https://raw.githubusercontent.com/PX4/Devguide/master/build_scripts/ubuntu_sim_nuttx.sh) you will also need to install *kconfig* tools from [NuttX tools](https://bitbucket.org/nuttx/tools/src/master/). -It's also important to note that the PX4 dev team has a responsibility to release safe software, and as such we require any board manufacturer to commit any resources necessary to keep their port up-to-date, and in a working state. +还需要注意的是 PX4 开发团队有责任发布安全的软件，因此我们要求所有飞控板制造商都应投入必要的资源来保证他们的意志平台始终处于最新状态并且可用。 -If you want to have your board officially supported in PX4: -* Your hardware must be available in the market (i.e. it can be purchased by any developer without restriction). +如果你想让你的飞控板被 PX4 项目正式支持： +* 你的硬件必须在市场上可用（例如它可以被任何开发人员不受限制地购买到） 。 * Hardware must be made available to the PX4 Dev Team so that they can validate the port (contact for guidance on where to ship hardware for testing). -* The board must pass full [test suite](../test_and_ci/README.md) and [flight testing](../test_and_ci/test_flights.md). +* 飞控板必须通过完整的 [测试套件（test suite）](../test_and_ci/README.md) 和 [飞行测试](../test_and_ci/test_flights.md)。 -**The PX4 project reserves the right to refuse acceptance of new ports (or remove current ports) for failure to meet the requirements set by the project.** +**PX4 项目团队保留因未能满足项目规定需求而 拒绝接收新的移植平台（或者移除现有移植平台）的权利。** You can reach out to the core developer team and community on the [official support channels](../contribute/support.md). -## Related Information +## 相关信息 -* [Device Drivers](../middleware/drivers.md) - How to support new peripheral hardware (device drivers) +* [Device Drivers](../middleware/drivers.md) - 如何支持新的外围硬件设备（设备驱动） * [Building the Code](../setup/building_px4.md) - How to build source and upload firmware -* Supported Flight Controllers: - * [Autopilot Hardware](../flight_controller/README.md) +* 受支持的飞行控制器： + * [自动驾驶仪硬件](../flight_controller/README.md) * [Supported boards list](https://github.com/PX4/Firmware/#supported-hardware) (Github) * [Supported Peripherals](../peripherals/README.md) diff --git a/zh/hardware/porting_guide_nuttx.md b/zh/hardware/porting_guide_nuttx.md index c75d80b87f97..3b800d0d70ec 100644 --- a/zh/hardware/porting_guide_nuttx.md +++ b/zh/hardware/porting_guide_nuttx.md @@ -1,14 +1,14 @@ -# NuttX Board Porting Guide +# 机架参考 -In order to port PX4 on NuttX to a new hardware target, that hardware target must be supported by NuttX. The NuttX project maintains an excellent [porting guide](https://cwiki.apache.org/confluence/display/NUTTX/Porting+Guide) for porting NuttX to a new computing platform. +为了将基于 Nuttx 的 PX4 移植到新的硬件平台上，Nuttx 必须支持该硬件平台。 NuttX 项目中维护着一个出色的 [移植指南](https://cwiki.apache.org/confluence/display/NUTTX/Porting+Guide) 可以帮助你实现将 Nuttx 移植到一个新的计算平台上。 The following guide assumes you are using an already supported hardware target or have ported NuttX (including the [PX4 base layer](https://github.com/PX4/PX4-Autopilot/tree/master/platforms/nuttx/src/px4)) already. -The configuration files for all boards, including linker scripts and other required settings, are located under [/boards](https://github.com/PX4/PX4-Autopilot/tree/master/boards/) in a vendor- and board-specific directory (i.e. **boards/_VENDOR_/_MODEL_/**)). +所有飞控板的配置文件，包括链接脚本和其它必需的设置都位于 [/boards](https://github.com/PX4/PX4-Autopilot/tree/master/boards/) 文件夹下特定于供应商（vendor- specific）和飞控板种类（ board-specific）的目录下 (例如 **boards/_VENDOR_/_MODEL_/**)。 The following example uses FMUv5 as it is a recent [reference configuration](../hardware/reference_design.md) for NuttX based flight controllers: * Running `make px4_fmu-v5_default` from the **PX4-Autopilot** directory will build the FMUv5 config -* The base FMUv5 configuration files are located in: [/boards/px4/fmu-v5](https://github.com/PX4/PX4-Autopilot/tree/master/boards/px4/fmu-v5). +* 基准的 FMUv5 配置文件位于：[/boards/px4/fmu-v5](https://github.com/PX4/PX4-Autopilot/tree/master/boards/px4/fmu-v5)。 * Board specific header (NuttX pins and clock configuration): [/boards/px4/fmu-v5/nuttx-config/include/board.h](https://github.com/PX4/PX4-Autopilot/blob/master/boards/px4/fmu-v5/nuttx-config/include/board.h). * Board specific header (PX4 configuration): [/boards/px4/fmu-v5/src/board_config.h](https://github.com/PX4/PX4-Autopilot/blob/master/boards/px4/fmu-v5/src/board_config.h). * NuttX OS config (created with NuttX menuconfig): [/boards/px4/fmu-v5/nuttx-config/nsh/defconfig](https://github.com/PX4/PX4-Autopilot/blob/master/boards/px4/fmu-v5/nuttx-config/nsh/defconfig). @@ -24,9 +24,9 @@ make px4_fmu-v5_default qconfig For fresh installs of PX4 onto Ubuntu using [ubuntu.sh](https://github.com/PX4/PX4-Autopilot/blob/master/Tools/setup/ubuntu.sh) you will also need to install *kconfig* tools from [NuttX tools](https://bitbucket.org/nuttx/tools/src/master/). -> **Note** The following steps are not required if using the [px4-dev-nuttx](https://hub.docker.com/r/px4io/px4-dev-nuttx/) docker container or have installed to macOS using our normal instructions (as these include`kconfig-mconf`). +> **Note** 如果使用的是 [px4-dev-nuttx](https://hub.docker.com/r/px4io/px4-dev-nuttx/) docker 容器作为开发环境或者根据我们的标准指南在 macOS 上安装的开发环境（这些情况下已经默认安装了 `kconfig-mconf` ），那么你并不需要执行下述步骤。 -Run the following commands from any directory: +在任意目录运行以下命令： ```sh git clone https://bitbucket.org/nuttx/tools.git cd tools/kconfig-frontends @@ -36,9 +36,9 @@ make sudo make install ``` -The `--prefix=/usr` determines the specific installation location (which must be in the `PATH` environment variable). The `--enable-mconf` and `--enable-qconf` options will enable the `menuconfig` and `qconfig` options respectively. +The `--prefix=/usr` determines the specific installation location (which must be in the `PATH` environment variable). `--enable-mconf` 和 `--enable-qconf` 选项将会分别启用 `menuconfig` 和 `qconfig` 这两个选项。 -To run `qconfig` you may need to install additional Qt dependencies. +想运行 `qconfig` 的话你可能还需要安装额外的 Qt 依赖项。 ### Bootloader diff --git a/zh/hardware/reference_design.md b/zh/hardware/reference_design.md index 861194190e20..7a917498371a 100644 --- a/zh/hardware/reference_design.md +++ b/zh/hardware/reference_design.md @@ -1,24 +1,24 @@ -# PX4 Reference Flight Controller Design +# PX4 参考飞行控制器设计 -The PX4 reference design is the [Pixhawk series](../flight_controller/pixhawk_series.md) of flight controllers. First released in 2011, this design is now in its 5th [generation](#reference_design_generations) (with the 6th generation board design in progress). +PX4 参考设计是飞行控制器的 [Pixhawk 系列 ](../flight_controller/pixhawk_series.md)。 该设计于2011年首次发布，现已进入第5 [代](#reference_design_generations)（第六代电路板设计正在进行中）。 -## Binary Compatibility +## 二进制兼容性 -All boards manufactured to a particular design are expected to be binary compatible (i.e. can run the same firmware). From 2018 we will offer a binary compatibility test suite that will allow us to verify and certify this compatibility. +所有按照特定设计制造的主板预计与二进制兼容（即可以运行相同的固件）。 从2018年起，我们将提供一个二进制兼容性测试套件，使我们能够验证兼容性。 -FMU generations 1-3 were designed as open hardware, while FMU generations 4 and 5 provided only pinout and power supply specifications (schematics were created by individual manufacturers). In order to better ensure compatibility, FMUv6 and onward will return to a complete reference design model. +第1-3代 FMU 设计用于开源硬件，但到了第4-5代只提供 pin 输出引脚和供电规格（原理图由个人开发者生成）。 为了可以更好的确保兼容性，FMUv6 及更新的版本重新提供完整的设计模型。 -## Reference Design Generations +## 参考设计迭代： -* FMUv1: Development board \(STM32F407, 128 KB RAM, 1MB flash, [schematics](https://github.com/PX4/Hardware/tree/master/FMUv1)\) (no longer supported by PX4) -* FMUv2: Pixhawk \(STM32F427, 168 MHz, 192 KB RAM, 1MB flash, [schematics](https://github.com/PX4/Hardware/tree/master/FMUv2)\) -* FMUv3: Pixhawk variants with 2MB flash \(3DR Pixhawk 2 \(Solo\), Hex Pixhawk 2.1, Holybro Pixfalcon, 3DR Pixhawk Mini, STM32F427, 168 MHz, 256 KB RAM, 2 MB flash, [schematics](https://github.com/PX4/Hardware/tree/master/FMUv3_REV_D)\) -* FMUv4: Pixracer \(STM32F427, 168 MHz, 256 KB RAM, 2 MB flash, [pinout](https://docs.google.com/spreadsheets/d/1raRRouNsveQz8cj-EneWG6iW0dqGfRAifI91I2Sr5E0/edit#gid=1585075739)\) -* FMUv4 PRO: Drotek Pixhawk 3 PRO \(STM32F469, 180 MHz, 384 KB RAM, 2 MB flash, [pinout](https://docs.google.com/spreadsheets/d/1raRRouNsveQz8cj-EneWG6iW0dqGfRAifI91I2Sr5E0/edit#gid=1585075739)\) -* FMUv5: Holybro Pixhawk 4 \(STM32F765, 216 MHz, 512 KB RAM, 2 MB flash, [pinout](https://docs.google.com/spreadsheets/d/1-n0__BYDedQrc_2NHqBenG1DNepAgnHpSGglke-QQwY/edit#gid=912976165)\) -* FMUv6: work in progress, final name TBD, variant 6s \(STM32H7, 400 MHz, 2 MB RAM, 2 MB flash\) and variant 6i \(i.MX RT1050, 600 MHz, 512 KB RAM, external flash\) +* FMUv1：开发板 \（STM32F407, 128 KB RAM, 1MB flash, [原理图](https://github.com/PX4/Hardware/tree/master/FMUv1)\）（PX4 不再支持） +* FMUv2：Pixhawk \（STM32F427, 168 MHz, 192 KB RAM, 1MB flash, [原理图](https://github.com/PX4/Hardware/tree/master/FMUv2)\） +* FMUv3：2MB Flash 的 Pixhawk 变种 \（3DR Pixhawk 2 \（Solo\）， Hex Pixhawk 2.1，Holybro Pixfalcon，3DR Pixhawk Mini，STM32F427，168 MHz，256 KB RAM，2 MB flash，[原理图](https://github.com/PX4/Hardware/tree/master/FMUv3_REV_D)\） +* FMUv4：Pixracer \（STM32F427, 168 MHz, 256 KB RAM, 2MB flash, [原理图](https://docs.google.com/spreadsheets/d/1raRRouNsveQz8cj-EneWG6iW0dqGfRAifI91I2Sr5E0/edit#gid=1585075739)\） +* FMUv4 PRO: Drotek Pixhawk 3 PRO \(STM32F469, 180 MHz, 384 KB RAM, 2 MB flash, [输出引脚](https://docs.google.com/spreadsheets/d/1raRRouNsveQz8cj-EneWG6iW0dqGfRAifI91I2Sr5E0/edit#gid=1585075739)\) +* FMUv5: Holybro Pixhawk 4 \(STM32F765, 216 MHz, 512 KB RAM, 2 MB flash, [输出引脚](https://docs.google.com/spreadsheets/d/1-n0__BYDedQrc_2NHqBenG1DNepAgnHpSGglke-QQwY/edit#gid=912976165)\) +* FMUv6：尚未完成，最终命名为 TBD，变种 6s \(STM32H7, 400 MHz, 2 MB RAM, 2 MB flash\) 和变种 6i \(i.MX RT1050, 600 MHz, 512 KB RAM, 外部 flash\) ## Main/IO Function Breakdown diff --git a/zh/log/flight_log_analysis.md b/zh/log/flight_log_analysis.md index a852781253ab..3a2a8bdbb0c7 100644 --- a/zh/log/flight_log_analysis.md +++ b/zh/log/flight_log_analysis.md @@ -13,7 +13,7 @@ * 如果分析是在故障发生之后进行的，那么日志是捕捉到了这次故障还是在半空中停止了记录呢？ * 所有的控制器都跟踪到了它的设定值吗？ 最简单的方法是将的横滚和俯仰的角速度与它们的设定值进行比较。 * 传感器数据看起来有效吗？ 是否有非常强的震动（一个合理的判断强烈震动的阈值是所有的峰峰值是否超过 2-3m/s/s）。 -* If the root cause is not specific to the vehicle make sure to report it with a link to the log file \(and video if one exists\) on the [PX4 issue tracker](https://github.com/PX4/PX4-Autopilot/issues/new). +* 如果根本原因不针对于特定车辆，请确保在 [PX4问题跟踪器](https://github.com/PX4/PX4-Autopilot/issues/new) 的报告中有日志文件的链接（以及视频如果有的话）。 ## 排除电力故障 @@ -25,7 +25,7 @@ ### Flight Review（在线工具） -[Flight Review](http://logs.px4.io) 是 *Log Muncher* 的继承者。 It is used in combination with the new [ULog](../dev_log/ulog_file_format.md) logging format. +[Flight Review](http://logs.px4.io) 是 *Log Muncher* 的继承者。 他能与新的 [ULog](../dev_log/ulog_file_format.md) 日志格式结合使用。 主要特性： @@ -113,9 +113,9 @@ ### FlightPlot -[FlightPlot](https://github.com/PX4/FlightPlot) is a desktop based tool for log analysis. It can be downloaded from [FlightPlot Downloads](https://github.com/PX4/FlightPlot/releases) (Linux, MacOS, Windows). +[FlightPlot](https://github.com/PX4/FlightPlot) 是一个基于桌面的日志分析工具。 可以从 [FlightPlot Downloads](https://github.com/PX4/FlightPlot/releases) (Linux, MacOS, Windows) 下载。 -Key features: +主要特性： * 基于 Java 的，跨平台的 * 直观的图形用户界面，不需要编程知识 @@ -126,9 +126,9 @@ Key features: ### PX4Tools -[PX4Tools](https://github.com/dronecrew/px4tools) is a log analysis toolbox for the PX4 autopilot written in Python. The recommended installation procedure is to use [anaconda3](https://conda.io/docs/index.html). See [px4tools github page](https://github.com/dronecrew/px4tools) for details. +[PX4Tools](https://github.com/dronecrew/px4tools) 是一个用 Python 编写的 PX4 autopilot 的日志分析工具箱。 推荐的安装过程是使用 [anaconda3](https://conda.io/docs/index.html)。 详见 [px4tools github 页面](https://github.com/dronecrew/px4tools)。 -Key features: +主要特性： * 易于分享，用户可以查看笔记本电脑上的 Github (比如：[https://github.com/jgoppert/lpe-analysis/blob/master/15-09-30%20Kabir%20Log.ipynb](https://github.com/jgoppert/lpe-analysis/blob/master/15-09-30 Kabir Log.ipynb)) * 基于Python的，跨平台的，与 anaconda2 和 anaconda3 一起使用。 @@ -139,9 +139,9 @@ Key features: ### MAVGCL -[MAVGCL](https://github.com/ecmnet/MAVGCL) is an in-flight log analyzer for PX4. It can also be used in offline mode with downloaded uLog files. +[ MAVGCL ](https://github.com/ecmnet/MAVGCL)是 PX4 在飞行中的日志分析器。 它还可以与下载的 uLog 文件一起在离线模式下使用。 -Key features: +主要特性： * 基于 MAVLink 消息或 MAVLink 上 ULOG 数据的实时数据采集( 50 ms 采样，100 ms 滚动显示) * 由消息( MAVLink 和 ULog) 和参数更改(仅 MAVLink) 注释的时间图 @@ -156,20 +156,20 @@ Key features: ### PlotJugler -[PlotJuggler](https://github.com/facontidavide/PlotJuggler) is a Qt5 desktop application that allows users to easily visualize and analyze data expressed in the form of time series. +[PlotJugler](https://github.com/facontidavide/PlotJuggler) 是一个 Qt5 桌面应用程序 ，允许用户很容易地显示和分析以时间序列形式表示的数据。 -It supports **ULog files** (.ulg) since version 2.1.4. +它支持 2.1.4 版本以后的 **Ulog 文件** (.ulg)。 -Key features: +主要特性： * 直观的拖放界面。 * 可以将数据安排在多个图表、选项卡或窗口中。 * 整理好数据后，将其保存到“布局”文件中，这样支持多次重新加载。 * 可以在 PlotJuggler 里处理你的数据，使用定制的“数据转换”。 -Source code and downloads are available on [Github](https://github.com/facontidavide/PlotJuggler). +源代码和下载在 [Github](https://github.com/facontidavide/PlotJuggler)上。 -![PlotJuggler](../../assets/flight_log_analysis/plotjuggler.png) +![PlotJugler](../../assets/flight_log_analysis/plotjuggler.png) ### Data Comets diff --git a/zh/log/flight_review.md b/zh/log/flight_review.md index 26266ef75c53..32d722bdce8c 100644 --- a/zh/log/flight_review.md +++ b/zh/log/flight_review.md @@ -16,19 +16,19 @@ -## PID Tracking Performance +## PID 性能跟踪 -Depending on the flight mode, the vehicle controllers may attempt to track position, velocity, altitude or rate setpoints (the tracked setpoints depend on the mode, e.g.: in Stabilized mode there is no velocity setpoint). +根据飞行模式, 车辆控制器可能会尝试跟踪位置、速度、高度或速率设定值 (跟踪的设定值取决于模式, 例如: 在稳定模式下没有速度设定值)。 -The **Estimated** line (red) should closely match with the **Setpoint** (green). If they do not, in most cases the PID gains of that controller need to be tuned. +**估计**线 (红色) 应与 **设定**线 (绿色) 密切匹配。 如果没有，在大多数情况下，需要调整该控制器的 PID 增益。 -The [Multicopter PID Tuning Guide](../config_mc/pid_tuning_guide_multicopter.md) contains example plots and information about analysing tracking performance. +[多轴 PID 调优指南](../config_mc/pid_tuning_guide_multicopter.md)包含示例图和有关分析跟踪性能的信息。 > **Tip** 特别是对于速率控制器, 启用高速日志记录配置文件 ([SDLOG_PROFILE](../advanced_config/parameter_reference.md#SDLOG_PROFILE)) 在缩放时获取更多详细信息是很有用的。 ## 振动 -Vibration is one of the most common problems for multirotor vehicles. High vibration levels can lead to: +振动是多旋翼飞机中最常见的问题之一。 高振动可能导致： - 飞行效率低, 飞行时间缩短 - 电机温度升高 @@ -37,11 +37,11 @@ Vibration is one of the most common problems for multirotor vehicles. High vibra - 传感器接线 - 位置估计失败，可能偏离飞行。 -It is therefore important to keep an eye on the vibration levels and improve the setup if needed. +因此，必须对振动水平保持警惕，并在必要时改进设置。 -There is a point where vibration levels are clearly too high, and generally lower vibration levels are better. However there is a broad range between 'everything is ok' and 'the levels are too high'. This range depends on a number of factors, including vehicle size - as larger vehicles have higher inertia, allowing for more software filtering (at the same time the vibrations on larger vehicles are of lower frequency). +有一个时刻的振动明显过高，但是总体而言震动小更好。 然而在 "一切都好" 和 "水平太高" 之间有很大的差距。 这个范围取决于许多因素, 包括车辆的大小 - 因为较大的车辆有更高的惯性, 允许更多的软件过滤 (同时较大的车辆上的振动是较低的频率)。 -The following paragraphs and sections provide information about what plots to use for checking vibration levels, and how to analyse them. +下面的段落和部分提供了关于使用什么图来检查振动水平以及如何分析它们的信息。 > **Tip** 在分析振动时, 值得查看多个图表 (不同的图表可以更好地突出显示一些问题)。 @@ -49,108 +49,108 @@ The following paragraphs and sections provide information about what plots to us > **Note** 您需要启用高速日志记录配置文件 ([SDLOG_PROFILE](../advanced_config/parameter_reference.md#SDLOG_PROFILE)) 才能看到此图形。 -This graph shows a frequency plot for the roll, pitch and yaw axis based on the actuator controls signal (the PID output from the rate controller). It helps to identify frequency peaks and configuring the software filters. There should only be a single peak at the lowest end (below around 20 Hz), the rest should be low and flat. +此图显示了基于执行器控制信号 (速率控制器的 PID 输出) 的横滚、俯仰和偏航轴的频率图。 它有助于识别频率峰值和配置软件过滤器。 在最低端 (低于20赫兹) 时应该只有一个峰值, 其余的应该是低和平的。 -Note that the y-axis scaling is different for different vehicles, but logs from the same vehicle can be directly compared to each other. +请注意, 不同车辆的 y 轴缩放是不同的, 但同一车辆的日志可以直接相互比较。 #### 例子：良好的振动 -[QAV-R 5" Racer](../frames_multicopter/qav_r_5_kiss_esc_racer.md) frame (excellent vibration). +[QAV-R 5" Racer](../frames_multicopter/qav_r_5_kiss_esc_racer.md) 框架 (极好的振动)。 -![Low vibration QAV-R 5 Racer - FFT plot](../../assets/flight_log_analysis/flight_review/vibrations_good_actuator_controls_fft.png) +![低振动 QAV-R 5 Racer - FFT 绘图](../../assets/flight_log_analysis/flight_review/vibrations_good_actuator_controls_fft.png) > **Note**，上述卓越机型的振动特性意味着我们可以大大提高[软件过滤器](../config_mc/racer_setup.md#filters)的截止频率 (减少控制延迟) 。 -DJI F450 frame (good vibration). +DJI F450 框架 (良好振动)。 -![Low vibration DJI F450 - FFT plot](../../assets/flight_log_analysis/flight_review/vibrations_f450_actuator_controls_fft.png) +![低振动 DJI F450 - FFT 绘图](../../assets/flight_log_analysis/flight_review/vibrations_f450_actuator_controls_fft.png) -S500 frame: +S500 框架： -![Low vibration S500 actuator controls - FFT plot](../../assets/flight_log_analysis/flight_review/vibrations_s500_actuator_controls_fft.png) +![低振动S500启动器控制 - FFFT 绘图](../../assets/flight_log_analysis/flight_review/vibrations_s500_actuator_controls_fft.png) > **Note** 虽然上面的图看起来不错，但[同一次飞行的原始加速度图](#raw_acc_s500)显示，x 和 y 的振动水平有点高。 这是一个很好的例子，说明为什么值得对比几个图！ #### 例子：不好的振动 -This example shows a peak in frequency close to 50 Hz (in this case due to "loose" landing gear). +这个例子显示了频率峰值接近 50 Hz (这是由于“松动”起落架引起的情况)。 -![Vibrations in landing gear - FFT plot](../../assets/flight_log_analysis/flight_review/vibrations_landing_gear_actuator_controls_fft.png) +![在着陆设备中振动 - FFT 绘图](../../assets/flight_log_analysis/flight_review/vibrations_landing_gear_actuator_controls_fft.png) ### 加速度功率谱密度 -This is a 2D frequency plot showing the frequency response of the raw accelerometer data over time (it displays the sum for the x, y and z axis). The more yellow an area is, the higher the frequency response at that time and frequency. +这是一个二的维频率图，显示原始加速度计数据随时间的频率响应 (它显示 x、y 和 z 轴的和) 。 面积越黄，此时的频率响应和频率就越高。 -Ideally only the lowest part up to a few Hz is yellow, and the rest is mostly green or blue. +理想的情况是，只有少数赫兹的最低部分是黄色，其余部分大多为绿色或蓝色。 #### 例子：良好的振动 -[QAV-R 5" Racer](../frames_multicopter/qav_r_5_kiss_esc_racer.md) frame (excellent vibration). +[QAV-R 5" Racer](../frames_multicopter/qav_r_5_kiss_esc_racer.md) 框架 (极好的振动)。 -![Low vibration QAV-R 5 Racer - spectral density plot](../../assets/flight_log_analysis/flight_review/vibrations_good_spectral.png) +![低振动 QAV-R 5 Racer - 光谱密度绘图](../../assets/flight_log_analysis/flight_review/vibrations_good_spectral.png) -DJI F450 frame (good vibration). ![Low vibration DJI F450 - spectral density plot](../../assets/flight_log_analysis/flight_review/vibrations_f450_spectral.png) +DJI F450 框架 (良好振动)。 ![低振动DJI F450 - 光谱密度绘图](../../assets/flight_log_analysis/flight_review/vibrations_f450_spectral.png) > **注意** 您可以在大约 100 Hz 上看到双向旋转频率。 -S500 frame: ![Vibration S500 - spectral density plot](../../assets/flight_log_analysis/flight_review/vibrations_s500_spectral.png) +S500 框架： ![振动 S500 - 光谱密度绘图](../../assets/flight_log_analysis/flight_review/vibrations_s500_spectral.png) #### 例子：不好的振动 -The strong yellow lines at around 100Hz indicate a potential issue that requires further investigation (starting with a review of the other charts). +100Hz 左右的强黄线表明了一个潜在的问题，需要进一步研究 (首先查看其他图表)。 -![High vibration in spectral density plot](../../assets/flight_log_analysis/flight_review/vibrations_too_high_spectral.png) +![光谱密度图中的高振动](../../assets/flight_log_analysis/flight_review/vibrations_too_high_spectral.png) -This plot below shows a peak in frequency close to 50 Hz (in this case due to "loose" landing gear). +这个例子显示了频率峰值接近 50 Hz (这是由于起落架“松动“”引起的情况)。 > **Tip** 这可能是一个问题，因为它是一个与车辆动力学强相关的低频信息。 由于默认过滤器设置，50 到 80 Hz 的振动将不会被过滤。 -![Vibrations in landing gear - spectral density plot](../../assets/flight_log_analysis/flight_review/vibrations_landing_gear_spectral.png) +![在着陆设备中振动 - 光谱密度绘图](../../assets/flight_log_analysis/flight_review/vibrations_landing_gear_spectral.png) -Extremely high (unsafe) vibration! Note that the graph is almost completely yellow. +非常高（不安全）振动！ 注意图表几乎完全黄色。 > **警告** 如此高的振动下不能飞行。 -![Exceedingly high vibration in spectral density plot](../../assets/flight_log_analysis/flight_review/vibrations_exceedingly_high_spectral.png) +![光谱密度图中的高振动](../../assets/flight_log_analysis/flight_review/vibrations_exceedingly_high_spectral.png) ### 原始加速度 -This graph shows the raw accelerometer measurements for the x, y and z axis. Ideally each line is thin and clearly shows the vehicle's accelerations. +此图展示了x、y 和 z 轴的原加速计测量。 理想情况下，每条线都很细，能清楚地显示车辆的加速度。 -As a rule of thumb if the z-axis graph is touching the x/y-axis graph during hover or slow flight, the vibration levels are too high. +根据经验，如果 z 轴图形在悬停或低速飞行时接触 x/y轴 图形，则振动水平太高。 > **Tip** 使用此图的最佳方法是将图像放大一点，使其显示飞行器悬停的部分。 #### 例子：良好的振动 -[QAV-R 5" Racer](../frames_multicopter/qav_r_5_kiss_esc_racer.md) frame (excellent vibration). +[QAV-R 5" Racer](../frames_multicopter/qav_r_5_kiss_esc_racer.md) 框架 (极好的振动)。 -![Low vibration QAV-R 5 Racer - raw accel. plot](../../assets/flight_log_analysis/flight_review/vibrations_good_accel.png) +![低振动 QAV-R 5 Racer - 原始加速。 绘图](../../assets/flight_log_analysis/flight_review/vibrations_good_accel.png) -DJI F450 frame (good vibration). ![Low vibration DJI F450 - raw accel. plot](../../assets/flight_log_analysis/flight_review/vibrations_f450_accel.png) +DJI F450 框架 (良好振动)。 ![低振动 DJI F450 - 原始加速。 绘图](../../assets/flight_log_analysis/flight_review/vibrations_f450_accel.png) #### 例子：不好的振动 -S500 frame. Borderline vibration levels - a bit high for x and y (which is typical for an S500 airframe). This is at the limit where it starts to negatively affect flight performance. +S500 框架： x 和 y 轴的边界振动水平有点高 (这是典型的S500机身)。 这是它开始对飞行性能产生负面影响的极限。 -![Borderline vibration S500 x, y - raw accel. plot](../../assets/flight_log_analysis/flight_review/vibrations_s500_accel.png) +![Borderline 振动 S500 x, y - 原始加速。 绘图](../../assets/flight_log_analysis/flight_review/vibrations_s500_accel.png) -Vibration too high. Note how the graph of the z-axis overlaps with the x/y-axis graph: +振动太高。 注意 z 轴与 x/y 轴重叠的图形： -![Vibrations in landing gear - raw accel. plot](../../assets/flight_log_analysis/flight_review/vibrations_landing_gear_accel.png) +![在着陆设备中振动 - FFT 绘图. 绘图](../../assets/flight_log_analysis/flight_review/vibrations_landing_gear_accel.png) -Vibration levels are too high. Note how the graph of the z-axis overlaps with the x/y-axis graph: +振动太高。 注意 z 轴与 x/y 轴重叠的图形： -![High vibration in raw accel. plot](../../assets/flight_log_analysis/flight_review/vibrations_too_high_accel.png) +![初始加速度震动大 绘图](../../assets/flight_log_analysis/flight_review/vibrations_too_high_accel.png) -Very high (unsafe) vibration levels. +高度（不安全）振动。 > **警告** 如此高的振动下不能飞行。 -![Exceedingly high vibration in raw accel. plot](../../assets/flight_log_analysis/flight_review/vibrations_exceedingly_high_accel.png) +![初始加速度振动极高 绘图](../../assets/flight_log_analysis/flight_review/vibrations_exceedingly_high_accel.png) @@ -191,142 +191,142 @@ In this case the vehicle should be inspected. [Vibration Isolation](../assembly/ ## 制动器输出 -The *Actuator Outputs* graph shows the signals that are sent to the individual actuators (motors/servos). Generally it is in the range between the minimum and maximum configured PWM values (e.g. from 1000 to 2000). +*执行器输出*图显示发送到各个执行器 (电机/伺服) 的信号。 一般来说，它在最小和最大配置 PWM 值之间(例如，从 1000 到 2000)。 -This is an example for a quadrotor where everything is OK (all of the signals are within the range, approximately overlap each other, and are not too noisy): ![Good actuator outputs](../../assets/flight_log_analysis/flight_review/actuator_outputs_good.png) +这是一个四旋翼的例子，一切正常 (所有信号都在范围内，近似重叠，没有太大的噪声): ![好的制动器输出](../../assets/flight_log_analysis/flight_review/actuator_outputs_good.png) -The plot can help to identify different problems: +这个图可以帮助识别不同的问题: -- If one or more of the signals is at the maximum over a longer time, it means the controller runs into **saturation**. It is not necessarily a problem, for example when flying at full throttle this is expected. But if it happens for example during a mission, it's an indication that the vehicle is overweight for the amount of thrust that it can provide. -- For a multicopter the plot can be a good indication if the vehicle is **imbalanced**. It shows in the plot that one or more neighboring motors (two in case of a quadrotor) need to run at higher thrust on average. Note that this can also be the case if some motors provide more thrust than others or the ESCs are not calibrated. An imbalanced vehicle is generally not a big problem as the autopilot will automatically account for it. However it reduces the maximum achievable thrust and puts more strain on some motors, so it is better to balance the vehicle. -- An imbalance can also come from the yaw axis. The plot will look similar as in the previous case, but opposite motors will run higher or lower respectively. The cause is likely that one or more motors are tilted. +- 如果一个或多个信号在较长时间内处于最大值，则意味着控制器运行到**饱和**。 这并不一定是一个问题，例如在全速飞行时，这是意料之中的。 但如果它发生了，例如在一次任务中，这是一个信号，表明飞行器超重，无法提供足够的推力。 +- 对于多机来说，如果飞行器**不平衡**，这张图可以很好地显示。 它在图中显示，一个或多个相邻的电机 (一个四旋翼的情况下是两个) 平均需要以更高的推力运行。 请注意，如果某些电机提供的推力大于其他电机，或者 ESCs 没有经过校准，也可能出现这种情况。 一个不平衡的车辆通常不是一个大问题，因为自动驾驶仪将自动解释它。 然而，它减少了最大的可实现的推力，并会给一些电机带来更大的压力，因此，飞机最好是平衡的。 +- 不平衡也有可能来自偏航的轴心。 这图与前一种情况类似，但是相反的电机将分别运行得更高或更低。 原因可能是一个或多个电机倾斜。 - This is an example from a hexarotor: motors 1, 3 and 6 run at higher thrust: ![Hexrotor imbalanced actuator outputs](../../assets/flight_log_analysis/flight_review/actuator_outputs_hex_imbalanced.png) + 这是一个六轴电机的例子：电机 1、3 和 6 运行的推力更高： ![十六进制致动器输出不平衡](../../assets/flight_log_analysis/flight_review/actuator_outputs_hex_imbalanced.png) -- If the signals look very **noisy** (with high amplitudes), it can have two causes: sensor noise or vibrations passing through the controller (this shows up in other plots as well, see previous section) or too high PID gains. This is an extreme example: ![Noisy actuator outputs - extreme case](../../assets/flight_log_analysis/flight_review/actuator_outputs_noisy.png) +- 如果信号看起来非常**嘈杂** (具有高振幅) ，它可能有两个原因: 传感器噪声或通过控制器的振动 (这在其他图中也显示出来，见上一节) 或 PID 增益过高。 这是一个极端的例子： ![嘈杂的致动器输出 - 极端情况](../../assets/flight_log_analysis/flight_review/actuator_outputs_noisy.png) ## GPS 不确定性 -The *GPS Uncertainty* plot shows information from the GPS device: +*GPS 不确定性* 图显示 GPS 设备信息: -- Number of used satellites (should be around 12 or higher) -- Horizontal position accuracy (should be below 1 meter) -- Vertical position accuracy (should be below 2 meters) +- 使用卫星的数目 (应大约或多余 12 个) +- 水平位置精确度（应小于 1 米） +- 垂直位置精确度 (应小于 2 米) - GPS fix: this is 3 for a 3D GPS fix, 4 for GPS + Dead Reckoning, 5 for RTK float and 6 for RTK fixed type ## GPS 噪声和干扰 -The GPS Noise & Jamming plot is useful to check for GPS signal interferences and jamming. The GPS signal is very weak and thus it can easily be disturbed/jammed by components transmitting (via cable) or radiating in a frequency used by the GPS. +GPS 噪声与放大器干扰图是检测 GPS 信号干扰和干扰的有效手段。 GPS 信号非常弱，因此很容易被 (通过电缆) 发射或以 GPS 使用的频率辐射的组件干扰/拥塞。 -> **Tip** USB 3 is [known to be](https://www.intel.com/content/www/us/en/io/universal-serial-bus/usb3-frequency-interference-paper.html) an effective GPS jamming source. +> **Tip** USB 3 是[已知](https://www.intel.com/content/www/us/en/io/universal-serial-bus/usb3-frequency-interference-paper.html)的 GPS 干扰源。 -The **jamming indicator** should be around or below 40. Values around 80 or higher are too high and the setup must be inspected. Signal interference is also noticeable as reduced accuracy and lower number of satellites up to the point where no GPS fix is possible. +**干扰指标** 应在 40 以下左右。 当约为 80 或者更高的值时，必须检查设置。 信号干扰也很明显，因为精度降低，卫星数量减少，直到无法进行 GPS 定位。 -This is an example without any interference: +这是一个没有任何干扰的例子： -![GPS jamming - good plot](../../assets/flight_log_analysis/flight_review/gps_jamming_good.png) +![GPS 干扰 - 好的绘图](../../assets/flight_log_analysis/flight_review/gps_jamming_good.png) ## 推力和磁场 -The *Thrust and Magnetic Field* plot shows the thrust and the norm of the magnetic sensor measurement vector. +*阈值和磁力字段* 图给出了磁传感器测量矢量的推力和范数。 -The norm should be constant over the whole flight and uncorrelated with the thrust. This is a good example where the norm is very close to constant: ![Thrust and mag close to constant](../../assets/flight_log_analysis/flight_review/thrust_and_mag_good.png) +在整个飞行过程中，标准应该是恒定的，与推力无关。 这是一个很好的例子，范数非常接近于常数： ![红色和磁力接近常量](../../assets/flight_log_analysis/flight_review/thrust_and_mag_good.png) -*If it is correlated*, it means that the current drawn by the motors (or other consumers) is influencing the magnetic field. This must be avoided as it leads to incorrect yaw estimation. The following plot shows a strong correlation between the thrust and the norm of the magnetometer: ![Correlated thrust and mag](../../assets/flight_log_analysis/flight_review/thrust_and_mag_correlated.png) +*如果相关*，这意味着电机(或其他用户) 所吸引的电流正在影响磁场。 必须避免这种情况，因为这会导致不正确的偏航估计。 下图显示了推力与磁强计范数之间的强相关性: ![相关推力和重力](../../assets/flight_log_analysis/flight_review/thrust_and_mag_correlated.png) -Solutions to this are: +解决办法是： -- Use an external magnetometer (avoid using the internal magnetometer) -- If using an external magnetometer, move it further away from strong currents (i.e. by using a (longer) GPS mast). +- 使用外部磁强计 (避免使用内部磁强计) +- 如果使用外部磁强计，将其移到离强电流较远的地方(例如，使用 (较长的) GPS 天线)。 -If the norm is uncorrelated but not constant, most likely it is not properly calibrated. However it could also be due to external disturbances (for example when flying close to metal constructs). +如果标准是不相关的，但不是恒定的，很可能它没有被正确校准。 然而，这也可能是由于外部动乱造成的（例如，在靠近金属结构时)。 -This example shows that the norm is non-constant, but it does not correlate with the thrust: ![Uncorrelated thrust and mag](../../assets/flight_log_analysis/flight_review/thrust_and_mag_uncorrelated_problem.png) +这个例子表明范数不是常量，但它与推力无关: ![不相关推力和重力](../../assets/flight_log_analysis/flight_review/thrust_and_mag_uncorrelated_problem.png) ## 估计器看门狗 -The *Estimator Watchdog* plot shows the health report of the estimator. It should be constant zero. +*估计或观察狗* 绘图显示了估计器的健康报告。 它应该是零常量。 -This is what it should look like if there are no problems: ![Estimator watchdog - good](../../assets/flight_log_analysis/flight_review/estimator_watchdog_good.png) +如果没有问题，它应该是这样的: ![估计或观察员 - 良好](../../assets/flight_log_analysis/flight_review/estimator_watchdog_good.png) -If one of the flags is non-zero, the estimator detected a problem that needs to be further investigated. Most of the time it is an issue with a sensor, for example magnetometer interferences. It usually helps to look at the plots of the corresponding sensor. +如果其中一个标志是非零的，则估计器将检测到需要进一步研究的问题。 其中大多数时间是由传感器引起的问题，例如磁强计干扰。 它通常有助于观察相应传感器的图形。 -Here is an example with magnetometer problems: ![Estimator watchdog with magnetometer problems](../../assets/flight_log_analysis/flight_review/estimator_watchdog_mag_problem.png) +这里是一个包含磁强计问题的例子： ![带有磁强计问题的估计或监视器](../../assets/flight_log_analysis/flight_review/estimator_watchdog_mag_problem.png) ## 传感器数据的采样规律性 -The sampling regularity plot provides insights into problems with the logging system and scheduling. +采样规律性图为测井系统和调度问题提供了深入的见解。 -The amount of **logging dropouts** start to increase if the log buffer is too small, the logging rate is too high or a low-quality SD card is used. +如果日志缓冲区太小，日志速度太高，或者使用低质量的 SD 卡，则**日志丢失**的数量会增加。 -> **Note** Occasional dropouts can be expected on medium quality cards. +> **注意** 在中质量卡上预计会出现偶然丢帧。 -The **delta t** shows the time difference between two logged IMU samples. It should be close to 4 ms because the data publishing rate is 250Hz. If there are spikes that are a multiple of that (and the estimator time slip does not increase), it means the logger skipped some samples. Occasionally this can happen because the logger runs at lower priority. If there are spikes that are not a multiple, it indicates an irregular sensor driver scheduling, which needs to be investigated. +**delta t** 表示两个记录 IMU 样本之间的时间差。 它应该接近 4 毫秒，因为数据发布率为 250Hz。 如果峰值是该值的倍数(并且估计器时间滑移不增加)，则意味着记录器跳过了一些样本。 有时会发生这种情况，因为日志程序以较低的优先级运行。 如果峰值不是多个，则表示传感器驱动程序调度不规律，需要进行研究。 -The **estimator timeslip** shows the difference between the current time and the time of the integrated sensor intervals up to that time. If it changes it means either the estimator missed sensor data or the driver publishes incorrect integration intervals. It should stay at zero, but it can increase slightly for in-flight parameter changes, which is generally not an issue. +由 **估计器时间戳** 可以看出在此时间之前，当前时间与集成传感器间隔时间的差异。 如果它改变了，这意味着要么估计器遗漏了传感器数据，要么驱动程序发布了不正确的集成间隔。 它应该保持在零，但它可以稍微增加飞行参数的变化，这通常不是一个问题。 -This is a good example: ![Sampling regularity good](../../assets/flight_log_analysis/flight_review/sampling_regularity_good.png) +这是一个很好的例子： ![采样规范良好](../../assets/flight_log_analysis/flight_review/sampling_regularity_good.png) -The following example contains too many dropouts, the quality of the used SD card was too low in that case (see [here](../dev_log/logging.md#sd-cards) for good SD cards): +下面的例子中有太多的掉帧，这种情况下使用的 SD 卡质量太低了 (高质量 SD 卡的例子看[这里](../dev_log/logging.md#sd-cards)): -![Many Dropouts](../../assets/flight_log_analysis/flight_review/sampling_regularity_many_drops.png) +![太多丢帧](../../assets/flight_log_analysis/flight_review/sampling_regularity_many_drops.png) ## 日志报文 -This is a table with system error and warning messages. For example they show when a task becomes low on stack size. +这是一个带有系统错误和预警信息的表格。 例如，当一个任务的堆栈大小变小时，它们就会显示出来。 -The messages need to be examined individually, and not all of them indicate a problem. For example the following shows a kill-switch test: ![Logged Messages](../../assets/flight_log_analysis/flight_review/logged_messages.png) +需要单独审查这些信息，而不是所有这些信息都显示了一个问题。 例如，以下显示了安全开关的测试： ![日志和消息](../../assets/flight_log_analysis/flight_review/logged_messages.png) ## 飞行/帧 日志审查实例 -It is often worth looking at multiple charts for a particular flight when analyzing vehicle condition (different charts can better highlight some issues). This is particularly important when reviewing for possible vibration problems. +在分析车辆状况时，通常值得查看多个飞行图表(不同的图表可以更好地突出某些问题)。 在审查可能的振动问题时，这一点尤其重要。 -The section below groups a few (previously presented) charts by flight/vehicle. +下一节按飞行/车辆将一些（以前提出的）图表分组。 ### QAV-R 5" Racer -These charts are all from the same flight of a [QAV-R 5" Racer](../frames_multicopter/qav_r_5_kiss_esc_racer.md). +这些图表都来自同一架 [QAV-R 5"Racer](../frames_multicopter/qav_r_5_kiss_esc_racer.md) 的飞行。 -They show a vehicle that has very low vibration: +它们展示了一种振动很低的飞行器: -- Actuator Controls FFT shows only a single peak at the lowest end, with the rest low and flat. -- Spectral density is mostly green, with only a little yellow at the low frequencies. +- 致动器控制 FFT 显示，只在结束部分有一个最低的峰值，剩下的地方都很低且平坦。 +- 谱密度大多为绿色，低频率只有很小的黄色。 - 原始加速度的 z 轴轨迹与 x/y 轴轨迹很好地分离开了。 -![Low vibration QAV-R 5 Racer - FFT plot](../../assets/flight_log_analysis/flight_review/vibrations_good_actuator_controls_fft.png) +![低振动 QAV-R 5 Racer - FFT 绘图](../../assets/flight_log_analysis/flight_review/vibrations_good_actuator_controls_fft.png) -![Low vibration QAV-R 5 Racer - spectral density plot](../../assets/flight_log_analysis/flight_review/vibrations_good_spectral.png) +![低振动 QAV-R 5 Racer - 光谱密度绘图](../../assets/flight_log_analysis/flight_review/vibrations_good_spectral.png) -![Low vibration QAV-R 5 Racer - raw accel. plot](../../assets/flight_log_analysis/flight_review/vibrations_good_accel.png) +![低振动 QAV-R 5 Racer - 原始加速。 绘图](../../assets/flight_log_analysis/flight_review/vibrations_good_accel.png) ### DJI F450 -These charts are all from the same flight of a *DJI F450*. +这些图表都来自同一架 *DJI F450* 的飞行。 -They show a vehicle that has low vibration (but not as low as the QAV-R above!): +他们展示了一种低振动的车辆（但不像上面的 QAV-R 那么低！） -- 致动器控制FFT在最底层显示峰值。 Most of the rest is flat, except for a bump at around 100Hz (this is the blade passing frequency of the propellers). -- Spectral density is mostly green. The blade passing frequency is again visible. -- Raw Acceleration has z-axis trace well separated from the x/y-axis traces. +- 致动器控制FFT在最底层显示峰值。 其余的大部分是平的，除了在 100Hz 左右有一个凸起 (这是螺旋桨的叶片通过频率) 。 +- 光谱密度大多为绿色。 叶片通过频率再次可见。 +- 原始加速度的 z 轴轨迹与 x/y 轴轨迹很好地分离开了。 -![Low vibration DJI F450 - FFT plot](../../assets/flight_log_analysis/flight_review/vibrations_f450_actuator_controls_fft.png) +![低振动 DJI F450 - FFT 绘图](../../assets/flight_log_analysis/flight_review/vibrations_f450_actuator_controls_fft.png) -![Low vibration DJI F450 - spectral density plot](../../assets/flight_log_analysis/flight_review/vibrations_f450_spectral.png) +![低振动DJI F450 - 光谱密度绘图](../../assets/flight_log_analysis/flight_review/vibrations_f450_spectral.png) -![Low vibration DJI F450 - raw accel. plot](../../assets/flight_log_analysis/flight_review/vibrations_f450_accel.png) +![低振动 DJI F450 - 原始加速。 绘图](../../assets/flight_log_analysis/flight_review/vibrations_f450_accel.png) ### S500 -These charts are all from the same flight of an S500. +这些图表都来自同一架 S500 的飞行。 -They show a vehicle that has borderline-acceptable vibration: +它们显示这些飞机的边界振动可以接受： -- Actuator Controls FFT shows a peak at the lowest end. Most of the rest is flat, except for a bump at around 100Hz. -- Spectral density is mostly green, but more yellow than for the DJI F450 at 100Hz. -- Raw Acceleration has z-axis trace fairly close to the x/y-axis traces. This is at the limit where it starts to negatively affect flight performance. +- 致动器控制FFT在最底层显示峰值。 其余大部分都是平的，除了在 100Hz 左右有一个突起。 +- 光谱密度大多为绿色，但比DJI F450 在 100Hz 时更黄。 +- 原始加速度的 z 轴轨迹与 x/y 轴轨迹非常接近。 这是它开始对飞行性能产生负面影响的极限。 -![Low vibration S500 actuator controls - FFT plot](../../assets/flight_log_analysis/flight_review/vibrations_s500_actuator_controls_fft.png) +![低振动S500启动器控制 - FFFT 绘图](../../assets/flight_log_analysis/flight_review/vibrations_s500_actuator_controls_fft.png) -![Vibration S500 - spectral density plot](../../assets/flight_log_analysis/flight_review/vibrations_s500_spectral.png) +![振动 S500 - 光谱密度绘图](../../assets/flight_log_analysis/flight_review/vibrations_s500_spectral.png) -![Borderline vibration S500 x, y - raw accel. plot](../../assets/flight_log_analysis/flight_review/vibrations_s500_accel.png) \ No newline at end of file +![Borderline 振动 S500 x, y - 原始加速。 绘图](../../assets/flight_log_analysis/flight_review/vibrations_s500_accel.png) \ No newline at end of file diff --git a/zh/middleware/README.md b/zh/middleware/README.md index ebcf4c77390b..497d45b458bd 100644 --- a/zh/middleware/README.md +++ b/zh/middleware/README.md @@ -1,5 +1,5 @@ -# Middleware +# 中间件 -This section contains topics about PX4 middleware, including PX4 internal communication mechanisms ([uORB](../middleware/uorb.md)), and between PX4 and offboard systems like companion computers and GCS (e.g. [MAVLink](../middleware/mavlink.md), [RTPS](../middleware/micrortps.md)). +本节包含有关 PX4 中间件，包括 PX4 内部通信机制（[uORB](../middleware/uorb.md)）、 以及 PX4 与伴随计算机和 QCS（例如 [MAVLink](../middleware/mavlink.md), [RTPS](../middleware/micrortps.md)）的离板系统之间的主题。 -> **Tip** For a detailed overview of the platform architecture see the [Architectural Overview](../concept/architecture.md). +> **Tip** 有关平台体系结构的详细概述，请参阅 [Architectural Overview](../concept/architecture.md)。 diff --git a/zh/middleware/drivers.md b/zh/middleware/drivers.md index a559cf954e59..b0e9795beb09 100644 --- a/zh/middleware/drivers.md +++ b/zh/middleware/drivers.md @@ -1,35 +1,35 @@ -# Driver Development +# 驱动开发 NuttX device drivers are based on the [Device](https://github.com/PX4/Firmware/tree/master/src/lib/drivers/device) framework. -## Creating a Driver +## 创建驱动程序 -PX4 almost exclusively consumes data from [uORB](../middleware/uorb.md). Drivers for common peripheral types must publish the correct uORB messages (for example: gyro, accelerometer, pressure sensors, etc.). +PX4 几乎只消耗来自 [uORB](../middleware/uorb.md) 的数据。 常见外设类型的驱动程序必须发布正确的 uORB 消息（例如: 陀螺仪、加速度计、压力传感器等）。 PX4 almost exclusively consumes data from [uORB](../middleware/uorb.md). Drivers for common peripheral types must publish the correct uORB messages (for example: gyro, accelerometer, pressure sensors, etc.). -> **Tip** More detailed information about working with specific I/O busses and sensors may be available in [Sensor and Actuator Buses](../sensor_bus/README.md) section. +> **Tip** 有关使用特定 ito 总线和传感器的更多详细信息，请参见 [传感器和执行器总线](../sensor_bus/README.md) 部分。 -> **Note** Publishing the correct uORB topics is the only pattern that drivers *must* follow. +> **Note** 发布正确的 uORB 主题是驱动程序 *必须* 遵循的唯一模式。 -## Core Architecture +## 核心架构 -PX4 is a [reactive system](../concept/architecture.md) and uses [uORB](../middleware/uorb.md) publish/subscribe to transport messages. File handles are not required or used for the core operation of the system. Two main APIs are used: File handles are not required or used for the core operation of the system. Two main APIs are used: +PX4 is a [reactive system](../concept/architecture.md) and uses [uORB](../middleware/uorb.md) publish/subscribe to transport messages. File handles are not required or used for the core operation of the system. Two main APIs are used: 文件句柄不是必需或用于系统的核心操作。 使用了两个主要 API： -* The publish / subscribe system which has a file, network or shared memory backend depending on the system PX4 runs on. -* The global device registry, which can be used to enumerate devices and get/set their configuration. This can be as simple as a linked list or map to the file system. This can be as simple as a linked list or map to the file system. +* Publish / subscribe 系统具有文件、网络或共享内存后端，具体取决于系统 PX4 运行。 +* The global device registry, which can be used to enumerate devices and get/set their configuration. This can be as simple as a linked list or map to the file system. 这可以像链接列表或映射到文件系统一样简单。 -## Device IDs +## 设备ID -PX4 uses device IDs to identify individual sensors consistently across the system. PX4 uses device IDs to identify individual sensors consistently across the system. These IDs are stored in the configuration parameters and used to match sensor calibration values, as well as to determine which sensor is logged to which logfile entry. +PX4 使用设备 ID 在整个系统中一致地识别单个传感器。 PX4 uses device IDs to identify individual sensors consistently across the system. These IDs are stored in the configuration parameters and used to match sensor calibration values, as well as to determine which sensor is logged to which logfile entry. -The order of sensors (e.g. if there is a `/dev/mag0` and an alternate `/dev/mag1`) does not determine priority - the priority is instead stored as part of the published uORB topic. +传感器序列（比如，如果有一个 `/dev/mag0` 和一个备用的 `/dev/mag1`）并不决定优先级 — 优先级作为已发布的 uORB 主题的一部分存储。 -### Decoding example +### 解码示例 -For the example of three magnetometers on a system, use the flight log (.px4log) to dump the parameters. The three parameters encode the sensor IDs and `MAG_PRIME` identifies which magnetometer is selected as the primary sensor. Each MAGx_ID is a 24bit number and should be padded left with zeros for manual decoding. The three parameters encode the sensor IDs and `MAG_PRIME` identifies which magnetometer is selected as the primary sensor. Each MAGx_ID is a 24bit number and should be padded left with zeros for manual decoding. +For the example of three magnetometers on a system, use the flight log (.px4log) to dump the parameters. The three parameters encode the sensor IDs and `MAG_PRIME` identifies which magnetometer is selected as the primary sensor. Each MAGx_ID is a 24bit number and should be padded left with zeros for manual decoding. 这三个参数解码传感器的 ID， 并且 `MAG_PRIME` 区分那个磁力计作为主传感器。 每个 MAGx_ID 是 24 bit 的数，手动解码的话高位补 0。 ``` @@ -39,7 +39,7 @@ CAL_MAG2_ID = 263178.0 CAL_MAG_PRIME = 73225.0 ``` -This is the external HMC5983 connected via I2C, bus 1 at address `0x1E`: It will show up in the log file as `IMU.MagX`. +这是通过 I2C 总线1 的外部 HMC5983 连接在地址 `0x1E`：会在日志文件中以 `IMU.MagX` 格式显示出来。 ``` # device ID 73225 in 24-bit binary: @@ -49,7 +49,7 @@ This is the external HMC5983 connected via I2C, bus 1 at address `0x1E`: It will HMC5883 0x1E bus 1 I2C ``` -This is the internal HMC5983 connected via SPI, bus 1, slave select slot 5. It will show up in the log file as `IMU1.MagX`. It will show up in the log file as `IMU1.MagX`. +This is the internal HMC5983 connected via SPI, bus 1, slave select slot 5. It will show up in the log file as `IMU1.MagX`. 它将以 `IMU1.MagX` 显示在日志文件中。 ``` # device ID 66826 in 24-bit binary: @@ -59,7 +59,7 @@ This is the internal HMC5983 connected via SPI, bus 1, slave select slot 5. It w HMC5883 dev 5 bus 1 SPI ``` -And this is the internal MPU9250 magnetometer connected via SPI, bus 1, slave select slot 4. It will show up in the log file as `IMU2.MagX`. It will show up in the log file as `IMU2.MagX`. +And this is the internal MPU9250 magnetometer connected via SPI, bus 1, slave select slot 4. It will show up in the log file as `IMU2.MagX`. 它将以 `IMU2.MagX` 显示在日志文件中。 ``` # device ID 263178 in 24-bit binary: @@ -69,9 +69,9 @@ And this is the internal MPU9250 magnetometer connected via SPI, bus 1, slave se MPU9250 dev 4 bus 1 SPI ``` -### Device ID Encoding +### 设备 ID 编码 -The device ID is a 24bit number according to this format. The device ID is a 24bit number according to this format. Note that the first fields are the least significant bits in the decoding example above. +根据此格式，设备 ID 是一个24bit 数字。 The device ID is a 24bit number according to this format. Note that the first fields are the least significant bits in the decoding example above. ```C struct DeviceStructure { @@ -81,7 +81,7 @@ struct DeviceStructure { uint8_t devtype; // device class specific device type }; ``` -The `bus_type` is decoded according to: +`bus_type` 是根据以下情况解码的： ```C enum DeviceBusType { @@ -92,7 +92,7 @@ enum DeviceBusType { }; ``` -and `devtype` is decoded according to: +`devtype` 是根据以下情况解码的： ```C #define DRV_MAG_DEVTYPE_HMC5883 0x01 @@ -113,11 +113,11 @@ and `devtype` is decoded according to: #define DRV_RNG_DEVTYPE_LL40LS 0x32 ``` -## Debugging +## 调试 For general debugging topics see: [Debugging/Logging](../debug/README.md). -### Verbose Logging +### 使用操纵杆 Drivers (and other modules) output minimally verbose logs strings by default (e.g. for `PX4_DEBUG`, `PX4_WARN`, `PX4_ERR`, etc.). diff --git a/zh/middleware/mavlink.md b/zh/middleware/mavlink.md index 1d49df3fa893..bb397fe319ce 100644 --- a/zh/middleware/mavlink.md +++ b/zh/middleware/mavlink.md @@ -1,23 +1,23 @@ # MAVLink通讯 -[MAVLink](https://mavlink.io/en/) is a very lightweight messaging protocol that has been designed for the drone ecosystem. +[MAVLink](https://mavlink.io/en/) 是一个针对无人机生态系统设计的非常轻量化的消息传递协议。 -PX4 uses *MAVLink* to communicate with *QGroundControl* (and other ground stations), and as the integration mechanism for connecting to drone components outside of the flight controller: companion computers, MAVLink enabled cameras etc. +PX4 使用 *MAVLink* 实现与 *QGroundControl* （或者其它地面站软件）的通讯交流，同时也将其用于整合飞控板与飞控板之外的无人机部件：伴随计算机、支持 MAVLink 的摄像头等。 -The protocol defines a number of standard [messages](https://mavlink.io/en/messages/) and [microservices](https://mavlink.io/en/services/) for exchanging data (many, but not all, messages/services have been implemented in PX4). +该协议定义了许多用于交换数据的标准 [消息](https://mavlink.io/en/messages/) 和 [微型服务（microservices）](https://mavlink.io/en/services/)（PX4 中用到了许多消息/服务，但不是全部）。 -This tutorial explains how you can add PX4 support for your own new "custom" messages. +本教程介绍了如何为你自己新 "自定义" 的报文添加 PX4 支持。 -> **Note** The tutorial assumes you have a [custom uORB](../middleware/uorb.md) `ca_trajectory` message in `msg/ca_trajectory.msg` and a custom MAVLink `ca_trajectory` message in `mavlink/include/mavlink/v2.0/custom_messages/mavlink_msg_ca_trajectory.h`. +> **Note** 本教程假定你在 `msg/ca_trajectory.msg` 文件中定义了一个名为 `ca_trajectory` 的 [自定义 uORB](../middleware/uorb.md) 消息，以及在 `mavlink/include/mavlink/v2.0/custom_messages/mavlink_msg_ca_trajectory.h` 文件中定义了一个名为 `ca_trajectory`的 自定义 MAVLink 消息。 -## Defining Custom MAVLink Messages +## 创建自定义 MAVLink 消息 -The MAVLink developer guide explains how to define new messages and build them into new programming-specific libraries: -- [How to Define MAVLink Messages & Enums](https://mavlink.io/en/guide/define_xml_element.html) -- [Generating MAVLink Libraries](https://mavlink.io/en/getting_started/generate_libraries.html) +MAVlink 开发者指南介绍了如何定义新的消息并将其构建成指定的编程语言的库文件： +- [如何定义 MAVLink 消息（Messages）& 枚举（Enums）](https://mavlink.io/en/guide/define_xml_element.html) +- [生成 MAVLink 库文件](https://mavlink.io/en/getting_started/generate_libraries.html) -Your message needs to be generated as a C-library for MAVLink 2. Your message needs to be generated as a C-library for MAVLink 2. Once you've [installed MAVLink](https://mavlink.io/en/getting_started/installation.html) you can do this on the command line using the command: +你需要为你的消息生成适用于 MAVLink 2 的 C 语言库文件。 Your message needs to be generated as a C-library for MAVLink 2. Once you've [installed MAVLink](https://mavlink.io/en/getting_started/installation.html) you can do this on the command line using the command: ```sh python -m pymavlink.tools.mavgen --lang=C --wire-protocol=2.0 --output=generated/include/mavlink/v2.0 message_definitions/v1.0/custom_messages.xml ``` @@ -122,7 +122,7 @@ Then make sure to enable the stream, for example by adding the following line to mavlink stream -r 50 -s CA_TRAJECTORY -u 14556 ``` -> **Tip** You can use the `uorb top []` command to verify in real-time that your message is published and the rate (see [uORB Messaging](../middleware/uorb.md#uorb-top-command)). This approach can also be used to test incoming messages that publish a uORB topic (for other messages you might use `printf` in your code and test in SITL). This approach can also be used to test incoming messages that publish a uORB topic (for other messages you might use `printf` in your code and test in SITL). +> **Tip** You can use the `uorb top []` command to verify in real-time that your message is published and the rate (see [uORB Messaging](../middleware/uorb.md#uorb-top-command)). This approach can also be used to test incoming messages that publish a uORB topic (for other messages you might use `printf` in your code and test in SITL). 这个方法还可以用来测试发布 uORB 主题的传入消息（对于其它类型的消息你可以在代码中使用 `printf` 然后再 SITL 仿真中进行测试）。 > > To see the message on *QGroundControl* you will need to [build it with your MAVLink library](https://dev.qgroundcontrol.com/en/getting_started/), and then verify that the message is received using [MAVLink Inspector Widget](https://docs.qgroundcontrol.com/en/app_menu/mavlink_inspector.html) (or some other MAVLink tool). @@ -197,23 +197,23 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg) ## 另一种自定义MAVlink消息的办法 -Sometimes there is the need for a custom MAVLink message with content that is not fully defined. +有时候需要创建一个内容尚未完全定义的自定义 MAVlink 消息。 -For example when using MAVLink to interface PX4 with an embedded device, the messages that are exchanged between the autopilot and the device may go through several iterations before they are stabilized. In this case, it can be time-consuming and error-prone to regenerate the MAVLink headers, and make sure both devices use the same version of the protocol. In this case, it can be time-consuming and error-prone to regenerate the MAVLink headers, and make sure both devices use the same version of the protocol. +For example when using MAVLink to interface PX4 with an embedded device, the messages that are exchanged between the autopilot and the device may go through several iterations before they are stabilized. In this case, it can be time-consuming and error-prone to regenerate the MAVLink headers, and make sure both devices use the same version of the protocol. 在这种情况下重新生成 MAVlink 头文件并保证两个设备均使用同版本的协议会非常耗时且容易出错。 -An alternative - and temporary - solution is to re-purpose debug messages. An alternative - and temporary - solution is to re-purpose debug messages. Instead of creating a custom MAVLink message `CA_TRAJECTORY`, you can send a message `DEBUG_VECT` with the string key `CA_TRAJ` and data in the `x`, `y` and `z` fields. See [this tutorial](../debug/debug_values.md). for an example usage of debug messages. See [this tutorial](../debug/debug_values.md). for an example usage of debug messages. +一个备选 - 也是临时的- 解决方案是重新使用（re-purpose）调试消息（debug messages）。 An alternative - and temporary - solution is to re-purpose debug messages. Instead of creating a custom MAVLink message `CA_TRAJECTORY`, you can send a message `DEBUG_VECT` with the string key `CA_TRAJ` and data in the `x`, `y` and `z` fields. See [this tutorial](../debug/debug_values.md). for an example usage of debug messages. 参阅 [这篇教程](../debug/debug_values.md) 以获取调试信息的更详细的使用方法。 -> **Note** This solution is not efficient as it sends character string over the network and involves comparison of strings. It should be used for development only! It should be used for development only! +> **Note** This solution is not efficient as it sends character string over the network and involves comparison of strings. It should be used for development only! 此方法应仅用于开发！ -## General +## 常规信息 -### Set streaming rate +### 设置流速率（streaming rate） -Sometimes it is useful to increase the streaming rate of individual topics (e.g. for inspection in QGC). This can be achieved by typing the following line in the shell: This can be achieved by typing the following line in the shell: +Sometimes it is useful to increase the streaming rate of individual topics (e.g. for inspection in QGC). This can be achieved by typing the following line in the shell: 这可以通过在 shell 中输入如下命令实现： ```sh mavlink stream -u -s -r ``` -You can get the port number with `mavlink status` which will output (amongst others) `transport protocol: UDP ()`. An example would be: An example would be: +You can get the port number with `mavlink status` which will output (amongst others) `transport protocol: UDP ()`. An example would be: 一个例子是： ```sh mavlink stream -u 14556 -s OPTICAL_FLOW_RAD -r 300 ``` diff --git a/zh/middleware/micrortps.md b/zh/middleware/micrortps.md index e5a106bf32ad..74af7053969d 100644 --- a/zh/middleware/micrortps.md +++ b/zh/middleware/micrortps.md @@ -42,7 +42,7 @@ RTPS 桥接在 PX4 和 RTPS 应用程序之间交换消息, 在每个系统使 ### ROS2/ROS 应用处理流程 -The application pipeline for ROS2 is very straightforward! ROS2 的应用程序流程非常简单直接! 由于 ROS2 原生支持 DDS/RTPS 作为其原生通信中间件, 因此您可以直接创建 ROS2 监听或广播节点, 通过 *PX4 Fast RTPS 桥接* 订阅或发布PX4上的 uORB 数据。 正如下图所示。 +ROS2 的应用程序流程非常简单直接! ROS2 的应用程序流程非常简单直接! 由于 ROS2 原生支持 DDS/RTPS 作为其原生通信中间件, 因此您可以直接创建 ROS2 监听或广播节点, 通过 *PX4 Fast RTPS 桥接* 订阅或发布PX4上的 uORB 数据。 正如下图所示。 > **Note** 您需要确保客户端和代理端（以及 ROS 节点上）的消息类型、头文件和源文件是从相同的接口描述语言（IDL）文件生成的。 `px4_ros_com` 包提供了生成 ROS2 所需的消息和头文件所需的必要工具。 @@ -154,11 +154,11 @@ make px4_sitl_rtps -d <device> UART 设备. 缺省为 /dev/ttyACM0 -u <update_time_ms> 订阅的 uORB 消息的刷新时间，单位ms。 缺省为 0 -l <loops> 该程序将循环执行多少次。 Default /dev/ttyACM0 - -l How many iterations will this program have. -1 表示无限循环， 缺省为 -1。 Default -1. - -w <sleep_time_us> 每次循环的休眠时间，单位us。 Default 1ms - -b UART device baudrate. Default 460800 - -p Time in ms to poll over UART. Default 1ms - -r UDP port for receiving. -r <reception port> UDP 接收端口， 缺省为 2019。 -s <sending port> UDP发送端口， 缺省为 2020。 Default 2020 + -l How many iterations will this program have. -1 表示无限循环， 缺省为 -1。 缺省为 -1。 + -w <sleep_time_us> 每次循环的休眠时间，单位us。 缺省为 1ms + -b <baudrate> UART 设备波特率 缺省为 460800 + -p <poll_ms> UART设备轮询时间，单位ms， 缺省为 1ms + -r <reception port> UDP接收端口号， -r <reception port> UDP 接收端口， 缺省为 2019。 -s <sending port> UDP发送端口， 缺省为 2020。 Default 2020 -i Select IP address (remote) values: . Default: 127.0.0.1 ``` @@ -193,12 +193,12 @@ make $ ./micrortps_agent [options] -t <transport> [UART|UDP] 缺省为UART. -d <device> UART设备， 缺省为 /dev/ttyACM0。 - -d UART device. Default /dev/ttyACM0. - -w Time in us for which each iteration sleep. 默认 1ms。 + -d <device> UART设备， 缺省为 /dev/ttyACM0。 + -w <sleep_time_us> 每次循环的休眠时间，单位us。 默认 1ms。 -b <baudrate> UART设备波特率。 默认 460800。 - -p <poll_ms> UART设备轮询时间，单位ms， 缺省为 1ms。 Default 1ms. - -r UDP port for receiving. Default 2019. - -s UDP port for sending. Default 2020. + -p <poll_ms> UART设备轮询时间，单位ms， 缺省为 1ms。 缺省为 1ms。 + -r <reception port> UDP 接收端口， 缺省为 2019。 + -s <sending port> UDP发送端口， 缺省为 2020。 ``` 如果要选择UDP连接，如下启动 *micrortps_agent*: @@ -291,7 +291,7 @@ $ source build_all.bash --ros1_ws_dir - `build_ros2_workspace.bash` (只构建 `px4_ros_com` 的 `ros1` 分支) 可以构建 `px4_ros_com` `ros1` 分支所在的 ROS1 工作空间; - `build_ros2_workspace.bash` 可以构建 `px4_ros_com` `master` 分支所在的工作空间; -The steps below show how to *manually* build the packages (provided for your information/better understanding only): +以下步骤将详述怎样 *手动* 构建这些程序包 (只是为了加深您的理解): 1. `cd` 到 `px4_ros_com_ros2` 目录并 source 一下 ROS2 的环境变量。 不用管是否提示您该工作空间已经设置过： diff --git a/zh/middleware/micrortps_manual_code_generation.md b/zh/middleware/micrortps_manual_code_generation.md index b83422aa96fb..27881bceceaf 100644 --- a/zh/middleware/micrortps_manual_code_generation.md +++ b/zh/middleware/micrortps_manual_code_generation.md @@ -1,21 +1,21 @@ -# Manually Generate Client and Agent Code +# 手动生成客户端和代理端代码 -This topic shows how to manually generate the code for the client and the agent (instead of [automatically generating](../middleware/micrortps.md) it when the PX4 Firmware is compiled). +本主题演示如何手动生成客户端和代理的代码（而不是编译 PX4 时[自动生成](../middleware/micrortps.md)的）。 -The code is generated using the python script: **/Tools/generate_microRTPS_bridge.py**. +代码是使用 python 脚本生成的：**/Tools/generate_microRTPS_bridge.py**。 -## Disable automatic bridge code generation +## 禁用自动桥接代码生成 -First disable automatic generation of bridge code. First disable automatic generation of bridge code. Set the variable `GENERATE_RTPS_BRIDGE` to *off* in the **.cmake** file for the target platform: +首先禁用桥接代码的自动生成。 First disable automatic generation of bridge code. Set the variable `GENERATE_RTPS_BRIDGE` to *off* in the **.cmake** file for the target platform: ```sh set(GENERATE_RTPS_BRIDGE off) ``` -## Using generate_microRTPS_bridge.py +## 使用 generate_microRTPS_bridge. py -The *generate_microRTPS_bridge* tool's command syntax is shown below: +*generate_microRTPS_bridge* 工具的命令语法如下所示: ```sh $ cd /path/to/PX4/Firmware/msg/tools @@ -43,33 +43,32 @@ optional arguments: -r *.msg [*.msg ...], --receive *.msg [*.msg ...] Topics to be received -a, --agent Flag to generate the agent. 默认值为 true。 - -c, --client Flag to generate the client. 默认值为 true。 Default is true. + -c, --client Flag to generate the client. 默认值为 true。 默认值为 true。 -t MSGDIR, --topic-msg-dir MSGDIR - Topics message dir. -t MSGDIR, --topic-msg-dir MSGDIR + 主题消息目录。 -t MSGDIR, --topic-msg-dir MSGDIR Topics message dir. 默认为： msg/ -o AGENTDIR, --agent-outdir AGENTDIR - Agent 输出目录。 Default is: - src/modules/micrortps_bridge/micrortps_agent + Agent 输出目录。 Src/modules/micrortps_bridge/micrortps_agent -u CLIENTDIR, --client-outdir CLIENTDIR - Client output dir. Default is: + 客户端输出目录。 Default is: src/modules/micrortps_bridge/micrortps_agent -u CLIENTDIR, --client-outdir CLIENTDIR Client output dir. Default is: src/modules/micrortps_bridge/micrortps_client -f FASTRTPSGEN, --fastrtpsgen-dir FASTRTPSGEN fastrtpsgen installation dir. Default is: /bin - --delete-tree Delete dir tree output dir(s) Default is: /bin - --delete-tree Delete dir tree output dir(s) + --delete-tree Delete dir tree output dir(s) 默认是： /bin + --delete-tree 删除目录树 ``` -> **Caution** Using with `--delete-tree` option erases the content of the `CLIENTDIR` and the `AGENTDIR` before creating new files and folders. +> **Caution** 在创建新文件和文件夹之前，使用 `--delete-tree` 选项会删除 `CLIENTDIR` 和 `AGENTDIR` 的内容。 -- The arguments `--send/-s` and `--receive/-r` specify the uORB topics that can be sent/received from PX4. Code will only be generated for specified messages. Code will only be generated for specified messages. -- The output appears in `CLIENTDIR` (`-o src/modules/micrortps_bridge/micrortps_client`, by default) and in the `AGENTDIR` (`-u src/modules/micrortps_bridge/micrortps_agent`, by default). -- If no flag `-a` or `-c` is specified, both the client and the agent will be generated and installed. -- The `-f` option may be needed if *Fast RTPS* was not installed in the default location (`-f /path/to/fastrtps/installation/bin`). +- The arguments `--send/-s` and `--receive/-r` specify the uORB topics that can be sent/received from PX4. Code will only be generated for specified messages. 将仅为指定的消息生成代码。 +- 输出显示在 `CLIENTDIR` (默认情况下 ` src/modules/micrortps_bridge/micrortps_client) 和 AGENTDIR` (默认情况下 `-u src/modules/micrortps_bridge/micrortps_agent) 中。 +
                                                          • 如果未指定标志 -a` 或 `-c`，则将生成并安装客户端和代理。 +- 如果未在默认位置（`-f /path/to/fastrtps/installation/bin`）安装 *Fast rtps*，则可能需要 `-f` 选项。 -The example below shows how you can generate bridge code to publish/subscribe just the `sensor_baro` single uORB topic. +下面的示例演示如何生成桥接代码以发布/订阅 `sensor_baro` 单个 uORB 主题。 ```sh $ cd /path/to/PX4/Firmware @@ -78,37 +77,37 @@ $ python Tools/generate_microRTPS_bridge.py -s msg/sensor_baro.msg -r msg/sensor ## 生成代码 -Code is generated for the *Client*, *Agent*, *CDR serialization/deserialization* of uORB messages, and the definition of the associated RTPS messages (IDL files). +为 *Client*、*Agent*、*CDR serialization/deserialization* 的 uORB 消息以及关联的 RTPS 报文 (IDL 文件) 的定义生成代码。 -Manually generated code for the bridge can be found here (by default): +可以在此处找到网桥的手动生成的代码（默认情况下）： -- *Client*: **src/modules/micrortps_bridge/micrortps_client/** -- *Agent*: **src/modules/micrortps_bridge/micrortps_agent/** +- *客户端*: **src/modules/micrortps_bridge/micrortps_client/** +- *代理端*: **src/modules/micrortps_bridge/micrortps_agent/** -### uORB serialization code +### uORB 序列化代码 -Serialization functions are generated for all the uORB topics as part of the normal PX4 compilation process (and also for manual generation). For example, the following functions would be generated for the *sensor_combined.msg*: For example, the following functions would be generated for the *sensor_combined.msg*: +Serialization functions are generated for all the uORB topics as part of the normal PX4 compilation process (and also for manual generation). For example, the following functions would be generated for the *sensor_combined.msg*: 例如，将为 *sensor_combined.msg* 生成以下函数： ```sh void serialize_sensor_combined(const struct sensor_combined_s *input, char *output, uint32_t *length, struct microCDR *microCDRWriter); void deserialize_sensor_combined(struct sensor_combined_s *output, char *input, struct microCDR *microCDRReader); ``` -### RTPS message IDL files +### RTPS 报文 IDL 文件 -IDL files are generated from the uORB **.msg** files ([for selected uORB topics](../middleware/micrortps.md#supported-uorb-messages)) in the generation of the bridge. These can be found in: **src/modules/micrortps_bridge/micrortps_agent/idl/** These can be found in: **src/modules/micrortps_bridge/micrortps_agent/idl/** +IDL files are generated from the uORB **.msg** files ([for selected uORB topics](../middleware/micrortps.md#supported-uorb-messages)) in the generation of the bridge. These can be found in: **src/modules/micrortps_bridge/micrortps_agent/idl/** 这些可以在 **src/modules/micrortps_bridge/micrortps_agent/idl/** 中找到。 -*FastRTSP* uses IDL files to define the structure of RTPS messages (in this case, RTPS messages that map to uORB topics). *FastRTSP* uses IDL files to define the structure of RTPS messages (in this case, RTPS messages that map to uORB topics). They are used to generate code for the *Agent*, and *FastRTSP* applications that need to publish/subscribe to uORB topics. +*FastRTSP* 使用 IDL 文件来定义 RTPS 消息的结构（在本例中，映射到 uORB 主题的 RTPS 消息）。 *FastRTSP* uses IDL files to define the structure of RTPS messages (in this case, RTPS messages that map to uORB topics). They are used to generate code for the *Agent*, and *FastRTSP* applications that need to publish/subscribe to uORB topics. -> **Note** IDL files are compiled to C++ by the *fastrtpsgen* tool. +> **Note** IDL 文件由 *fastrtpsgen* 工具编译到 c++。 ## 代码生成验证 -You can verify successful code generation by checking that the output directories match the listing shown below (On Linux, the `tree` command can be used for listing the file structure). +可以通过检查输出目录是否与下面显示的列表匹配来验证成功的代码生成（在 Linux 上，`tree` 命令可用于列出文件结构）。 -Agent directory: +代理目录: ```sh $ tree src/modules/micrortps_bridge/micrortps_agent src/modules/micrortps_bridge/micrortps_agent @@ -154,7 +153,7 @@ src/modules/micrortps_bridge/micrortps_client The manually generated *Client* code is built and used in *exactly* the same way as [automatically generated Client code](../middleware/micrortps.md#client-px4-firmware). -Specifically, once manually generated, the *Client* source code is compiled and built into the PX4 firmware as part of the normal build process. For example, to compile the code and include it in firmware for NuttX/Pixhawk targets: For example, to compile the code and include it in firmware for NuttX/Pixhawk targets: +Specifically, once manually generated, the *Client* source code is compiled and built into the PX4 firmware as part of the normal build process. For example, to compile the code and include it in firmware for NuttX/Pixhawk targets: 例如，编译代码，将其加入 NuttX/Pixhawk 固件： ```sh make px4_fmu-v4_default upload diff --git a/zh/middleware/micrortps_throughput_test.md b/zh/middleware/micrortps_throughput_test.md index 41d385139afe..ca616a20e4df 100644 --- a/zh/middleware/micrortps_throughput_test.md +++ b/zh/middleware/micrortps_throughput_test.md @@ -1,18 +1,18 @@ -# Micro RTPS Throughput Test +# Micro RTPS 吞吐量测试 -This a simple test to measure the throughput of the [PX4-FastRTPS Bridge](../middleware/micrortps.md). It sends and receives 256-byte messages (simultaneously) at maximum rate, and then outputs the result. It sends and receives 256-byte messages (simultaneously) at maximum rate, and then outputs the result. +This a simple test to measure the throughput of the [PX4-FastRTPS Bridge](../middleware/micrortps.md). It sends and receives 256-byte messages (simultaneously) at maximum rate, and then outputs the result. 最大速率下，同时收发 256 字节的报文，并且输出结果。 -> **Tip** This example requires that you [Manually Generate Client and Agent Code](../middleware/micrortps_manual_code_generation.md). +> **Tip** 该示例需要你 [手动生成客户端和代理代码](../middleware/micrortps_manual_code_generation.md)。 -## Create the uORB message +## 使用 uORB 报文 -First create a new uORB message for this test in the folder **/Firmware/msg/**. The message file will be called **throughput_256.msg** and have the following content: The message file will be called **throughput_256.msg** and have the following content: +First create a new uORB message for this test in the folder **/Firmware/msg/**. The message file will be called **throughput_256.msg** and have the following content: 可以命名为 **throughput_256.msg** 并包含如下内容： ``` uint8[256] data ``` -This can be done with the command line below: +可以使用如下命令： ```sh cd /path/to/PX4/Firmware/msg @@ -41,31 +41,31 @@ Give the message a topic id by adding a line in the **/Firmware/Tools/message_id ... ``` -## Disable automatic bridge code generation +## 禁用自动桥接代码生成 -Disable automatic generation of bridge code (as part of the PX4 build process) by setting the variable `GENERATE_RTPS_BRIDGE` to `off` in the *.cmake* file for the target platform (*cmake/configs/*): +找到对应的目标平台（*cmake/configs/*），通过设置 *.cmake* 文件中的变量 `GENERATE_RTPS_BRIDGE` 来禁用自动桥接代码生成（作为 PX4 构建进程的一部分）： ```sh set(GENERATE_RTPS_BRIDGE off) ``` -## Generate the bridge code +## 生成桥接代码 -Manually generate bridge code using *generate_microRTPS_bridge.py* (the code will send and receive "just" our `throughput_256` uORB topic): +使用 *generate_microRTPS_bridge.py* 手动生成桥接代码（代码会发送和接收我们刚刚加入的 `throughput_256` uORB 话题报文）： ```sh cd /path/to/PX4/Firmware python Tools/generate_microRTPS_bridge.py --send msg/throughput_256.msg --receive msg/throughput_256.msg ``` -The *Client* source code is generated in **src/modules/micrortps_bridge/micrortps_client/** and the *Agent* in **src/modules/micrortps_bridge/micrortps_agent/**. +*Client* 源代码生成在 **src/modules/micrortps_bridge/micrortps_client/**，*Agent* 则在 **src/modules/micrortps_bridge/micrortps_agent/**。 -### Modify the client code +### 更改客户端代码 -Next we modify the *Client* to send a *throughput_256* message on every loop. This is required because the topic is not actually being published by PX4, and because we want to ensure that it is sent at the greatest possible rate. This is required because the topic is not actually being published by PX4, and because we want to ensure that it is sent at the greatest possible rate. +Next we modify the *Client* to send a *throughput_256* message on every loop. This is required because the topic is not actually being published by PX4, and because we want to ensure that it is sent at the greatest possible rate. 这是必需的，因为 PX4 实际上并没有发布该主题，而且我们希望确保以尽可能高的速率发送该主题。 -Open the file **src/modules/micrortps_bridge/micrortps_client/microRTPS_client.cpp**. Update the `while` loop in the `send()` function to look like this: Update the `while` loop in the `send()` function to look like this: +Open the file **src/modules/micrortps_bridge/micrortps_client/microRTPS_client.cpp**. Update the `while` loop in the `send()` function to look like this: 更新 `send()` 函数中的 `while` 循环，使其如下所示: ```cpp ... @@ -95,17 +95,17 @@ while (!_should_exit_task) ``` -> **Note** You may recall this is intended to be a *bidirectional* throughput test, where messages must also be sent from the *Agent* to the *Client*. You do not need to modify the Agent code to make this happen. As the *Agent* is an RTPS publisher and subscriber, it will automatically get notified of the RTPS messages it sends, and will then mirror these back to the client. You do not need to modify the Agent code to make this happen. As the *Agent* is an RTPS publisher and subscriber, it will automatically get notified of the RTPS messages it sends, and will then mirror these back to the client. +> **Note** You may recall this is intended to be a *bidirectional* throughput test, where messages must also be sent from the *Agent* to the *Client*. You do not need to modify the Agent code to make this happen. As the *Agent* is an RTPS publisher and subscriber, it will automatically get notified of the RTPS messages it sends, and will then mirror these back to the client. 你不需要修改代理代码就可以实现这一点。 由于 *Agent* 是 RTPS 发布者和订阅者，它将自动收到有关其发送的 RTPS 消息的通知，然后将这些消息镜像回客户端。 -[Compile and launch](../middleware/micrortps_manual_code_generation.md#build-and-use-the-code) both the *Client* and the *Agent*. +[Compileand launch](../middleware/micrortps_manual_code_generation.md#build-and-use-the-code) ： *Client* 和 *Agent*。 -## Result +## 结果 -The test was executed with PX4 running on Pixracer, connected via a UART to an ordinary PC running Ubuntu 16.04. The default configuration was used for both the Client/Agent. The default configuration was used for both the Client/Agent. +The test was executed with PX4 running on Pixracer, connected via a UART to an ordinary PC running Ubuntu 16.04. The default configuration was used for both the Client/Agent. 默认配置用于两个客户/代理。 -The throughput that was observed in the client shell window on completion is shown below: +吞吐量可以在 shell 窗口中观察到的结果如下： ```sh SENT: 13255 messages in 13255 LOOPS, 3512575 bytes in 30.994 seconds - 113.33KB/s diff --git a/zh/modules/README.md b/zh/modules/README.md index b99b99b16259..0105508ec2a1 100644 --- a/zh/modules/README.md +++ b/zh/modules/README.md @@ -4,6 +4,6 @@ This is a placholder to create the modules. Directory contains: -* [Writing your First Application](hello_sky.md) -* [Application/Module Template](module_template.md) -* [Modules & Commands](modules/modules_main.md) \ No newline at end of file +* [编写您的第一个应用程序](hello_sky.md) +* [应用/模块模板](module_template.md) +* [模块 & 命令](modules/modules_main.md) \ No newline at end of file diff --git a/zh/modules/hello_sky.md b/zh/modules/hello_sky.md index 51eadb152bb5..748b59028809 100644 --- a/zh/modules/hello_sky.md +++ b/zh/modules/hello_sky.md @@ -1,8 +1,8 @@ # 搭建你的第一个应用（Hello Shy） -This topic explains how to create and run your first onboard application. It covers all the basic concepts and APIs required for app development on PX4. +本文主要说明如何创建并运行你的第一个板载应用程序。 它涵盖了 PX4 应用程序开发所需的所有基本概念和 API。 -> **Note** For simplicity, more advanced features like start/stop functionality and command-line arguments are omitted. These are covered in [Application/Module Template](../modules/module_template.md). +> **Note** 简单起见，这里略过了功能的开启/关闭、命令行参数等更高级的特性。 这些内容将会在 [Application/Module Template](../modules/module_template.md) 中进行介绍。 ## 系统必备组件 @@ -17,12 +17,12 @@ This topic explains how to create and run your first onboard application. It cov ## 最小的应用程序 -In this section we create a *minimal application* that just prints out `Hello Sky!`. This consists of a single *C* file and a *cmake* definition (which tells the toolchain how to build the application). +在本节中, 我们将创建一个仅打印出 `Hello Sky!` 的 *最小应用程序* 。 该程序由一个 *C* 和一个 *cmake* 定义文件（该定义文件负责告诉工具链应该如何编译应用程序）组成。 1. 新建如下文件夹： **Firmware/src/examples/px4_simple_app**。 1. 在该目录中新建一个名为 **px4_simple_app.c** 的 C 文件： - * Copy in the default header to the top of the page. This should be present in all contributed files! + * 将下面的默认头部注释复制到文件页面的顶部， 该注释应出现在所有贡献的文件中！ ```c /**************************************************************************** @@ -59,7 +59,7 @@ In this section we create a *minimal application* that just prints out `Hello Sk ****************************************************************************/ ``` - * Copy the following code below the default header. This should be present in all contributed files! + * 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 /** @@ -84,9 +84,9 @@ In this section we create a *minimal application* that just prints out `Hello Sk - > **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](../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**). 有以下不同的日志级别： `PX4_INFO`、`PX4_WARN`、`PX4_ERR`、`PX4_DEBUG`。 其中警告和错误会被额外添加到 [ULog](../log/ulog_file_format.md) 中，且还会在 [Flight Review](https://logs.px4.io/) 中显示。 -1. Create and open a new *cmake* definition file named **CMakeLists.txt**. Copy in the text below: +1. Create and open a new *cmake* definition file named **CMakeLists.txt**. 复制下面的文本： ```cmake ############################################################################ # @@ -129,7 +129,7 @@ In this section we create a *minimal application* that just prints out `Hello Sk DEPENDS ) ``` - The `px4_add_module()` method builds a static library from a module description. + `px4_add_module()` 方法从模块描述生成静态库。 - PX4 SITL (模拟器): [Firmware/boards/px4/sitl/default.cmake](https://github.com/PX4/Firmware/blob/master/boards/px4/sitl/default.cmake) - 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. @@ -141,7 +141,7 @@ In this section we create a *minimal application* that just prints out `Hello Sk ## 编译应用程序/固件 -The application is now complete. In order to run it you first need to make sure that it is built as part of PX4. Applications are added to the build/firmware in the appropriate board-level *cmake* file for your target: +应用程序的编写至此完成。 为了保证改程序可以被运行，你首先需要确保编译器会将它作为 PX4 固件的一部分进行编译。 Applications are added to the build/firmware in the appropriate board-level *cmake* file for your target: * jMAVSim 仿真器：`make px4_sitl_default jmavsim` * Pixhawk v1/2：`make px4_fmu-v2_default`（或只用 `make px4_fmu-v2`） @@ -160,7 +160,7 @@ examples/px4_simple_app * Pixhawk v1/2：`make px4_fmu-v2_default upload` * Pixhawk v3：`make px4_fmu-v4_default upload` -* Pixhawk v3: `make px4_fmu-v4_default` +* Pixhawk v3：`make px4_fmu-v4_default` * Other boards: [Building the Code](../dev_setup/building_px4.md#building_nuttx) @@ -170,8 +170,8 @@ examples/px4_simple_app 启用固件上传程序, 然后重置飞控板： -* Pixhawk v1/2: `make px4_fmu-v2_default upload` -* Pixhawk v3: `make px4_fmu-v4_default upload` +* Pixhawk v1/2：`make px4_fmu-v2_default upload` +* Pixhawk v3：`make px4_fmu-v4_default upload` 在你完成飞控板的重置之前应该会输出一些编译消息，并最终出现： @@ -192,7 +192,7 @@ Rebooting. ### 连接至控制台 -Now connect to the [system console](../debug/system_console.md) either via serial or USB. Hitting **ENTER** will bring up the shell prompt: +现在，通过串口或者 USB 连接至 [PX4 系统控制台](../debug/system_console.md) 。 Hitting **ENTER** will bring up the shell prompt: ```sh nsh> @@ -222,7 +222,7 @@ Builtin Apps: serdis ``` -Note that `px4_simple_app` is now part of the available commands. Start it by typing `px4_simple_app` and ENTER: +请注意，此时 `px4_simple_app` 已经是一个可用的命令了。 键入 `px4_simple_app` 并回车以运行该程序： ```sh nsh> px4_simple_app @@ -249,9 +249,9 @@ INFO [px4_simple_app] Hello Sky! 为了做一些更有用的事情，应用程序需要订阅一些输入量并发布输出指令（比如电机或者舵机指令）。 -> **Tip** The benefits of the PX4 hardware abstraction comes into play here! There is no need to interact in any way with sensor drivers and no need to update your app if the board or sensors are updated. +> **Tip** The benefits of the PX4 hardware abstraction comes into play here! 我们在构建应用程序时无需直接与传感器驱动进行任何的交互，且即便对飞控板或者传感器硬件进行更新后也不需要对你的应用程序进行任何更新。 -Individual message channels between applications are called [topics](../middleware/uorb.md). For this tutorial, we are interested in the [sensor_combined](https://github.com/PX4/PX4-Autopilot/blob/master/msg/sensor_combined.msg) topic, which holds the synchronized sensor data of the complete system. +各应用之间的消息通道被称为 [topics](../middleware/uorb.md) 。 For this tutorial, we are interested in the [sensor_combined](https://github.com/PX4/PX4-Autopilot/blob/master/msg/sensor_combined.msg) topic, which holds the synchronized sensor data of the complete system. 订阅一个 topic 非常简单直接： @@ -261,7 +261,7 @@ Individual message channels between applications are called [topics](../middlewa int sensor_sub_fd = orb_subscribe(ORB_ID(sensor_combined)); ``` -The `sensor_sub_fd` is a topic handle and can be used to very efficiently perform a blocking wait for new data. The current thread goes to sleep and is woken up automatically by the scheduler once new data is available, not consuming any CPU cycles while waiting. To do this, we use the [poll()](http://pubs.opengroup.org/onlinepubs/007908799/xsh/poll.html) POSIX system call. +`sensor_sub_fd` 是一个 topic 句柄（handle），它可以高效地执行阻断以等待新数据。 待新数据抵达后调度程序会自动将当前进程从休眠中唤醒，线程在等待期间不会占用任何 CPU 周期。 为了实现这一功能，我们使用了 POSIX 系统调用函数 [poll()](http://pubs.opengroup.org/onlinepubs/007908799/xsh/poll.html) 。 将 `poll()` 加入消息订阅的实现过程如下 (*伪代码实现，完整的代码实现见下文*) ： @@ -322,7 +322,7 @@ px4_simple_app & ## 发布数据 -To use the calculated outputs, the next step is to *publish* the results. Below we show how to publish the attitude topic. +To use the calculated outputs, the next step is to *publish* the results. 接下来我们展示一下如何发布 attitude （姿态） topic 中的数据。 > **Note** We've chosen `attitude` because we know that the *mavlink* app forwards it to the ground control station - providing an easy way to look at the results. @@ -491,7 +491,7 @@ px4_simple_app ## 总结 -This tutorial covered everything needed to develop a basic PX4 autopilot application. Keep in mind that the full list of uORB messages/topics is [available here](https://github.com/PX4/PX4-Autopilot/tree/master/msg/) and that the headers are well documented and serve as reference. +本教程介绍了开发一个基本的 PX4 自动驾驶仪应用程序需要涉及的一切内容。 Keep in mind that the full list of uORB messages/topics is [available here](https://github.com/PX4/PX4-Autopilot/tree/master/msg/) and that the headers are well documented and serve as reference. 更多信息和故障排除 /常见的陷阱等可以在这里找到： [uORB](../middleware/uorb.md)。 diff --git a/zh/modules/module_template.md b/zh/modules/module_template.md index 6b2755addc71..b183da231480 100644 --- a/zh/modules/module_template.md +++ b/zh/modules/module_template.md @@ -5,7 +5,7 @@ An application can be written to run as either a *task* (a module with its own s > **Note** 所有在 [First Application Tutorial](../apps/hello_sky.md) 一节学到的内容都可用于编写完整的应用程序。 -> **Note** All the things learned in the [First Application Tutorial](../modules/hello_sky.md) are relevant for writing a full application. +> **Note** 所有在 [First Application Tutorial](../modules/hello_sky.md) 一节学到的内容都可用于编写完整的应用程序。 ## Work Queue Task @@ -43,7 +43,7 @@ The example shows how. In summary: PX4 固件中包含了一个模版文件： [src/templates/module](https://github.com/PX4/Firmware/tree/master/src/templates/module) ，基于该模版编写的应用（模块）可以在应用自己的栈上执行 [任务](../concept/architecture.md#runtime-environment) 。 -The template demonstrates the following additional features/aspects that are required or are useful for a full application: +该模板主要展示了开发完整应用程序所需要的或者非常有用的如下附加功能： - 访问参数并对参数更新做出反应。 - 订阅、等待 topic 更新。 diff --git a/zh/modules/modules_command.md b/zh/modules/modules_command.md index be459014540f..b2e3ac56b8f4 100644 --- a/zh/modules/modules_command.md +++ b/zh/modules/modules_command.md @@ -1,7 +1,7 @@ -# Modules Reference: Command +# 模块参考：命令（Command） ## bl_update -Source: [systemcmds/bl_update](https://github.com/PX4/Firmware/tree/master/src/systemcmds/bl_update) +源码： [systemcmds/bl_update](https://github.com/PX4/Firmware/tree/master/src/systemcmds/bl_update) Utility to flash the bootloader from a file @@ -15,9 +15,9 @@ bl_update [arguments...] Bootloader bin file ``` ## dumpfile -Source: [systemcmds/dumpfile](https://github.com/PX4/Firmware/tree/master/src/systemcmds/dumpfile) +源码： [systemcmds/dumpfile](https://github.com/PX4/Firmware/tree/master/src/systemcmds/dumpfile) -Dump file utility. Dump file utility. Prints file size and contents in binary mode (don't replace LF with CR LF) to stdout. +转储文件应用。 Dump file utility. Prints file size and contents in binary mode (don't replace LF with CR LF) to stdout. ### 用法 @@ -27,13 +27,13 @@ dumpfile [arguments...] File to dump ``` ## dyn -Source: [systemcmds/dyn](https://github.com/PX4/Firmware/tree/master/src/systemcmds/dyn) +源码：[systemcmds/dyn](https://github.com/PX4/Firmware/tree/master/src/systemcmds/dyn) ### 描述 -Load and run a dynamic PX4 module, which was not compiled into the PX4 binary. +载入并运行一个未被编译至 PX4 二进制文件内的动态 PX4 模块。 -### Example +### 示例 ``` dyn ./hello.px4mod start ``` @@ -48,15 +48,15 @@ dyn [arguments...] [arguments...] Arguments to the module Arguments to the module ``` ## esc_calib -Source: [systemcmds/esc_calib](https://github.com/PX4/Firmware/tree/master/src/systemcmds/esc_calib) +源码： [systemcmds/esc_calib](https://github.com/PX4/Firmware/tree/master/src/systemcmds/esc_calib) -Tool for ESC calibration +ESC 校准工具。 -Calibration procedure (running the command will guide you through it): -- Remove props, power off the ESC's +校准流程（运行命令将会引导你完成此流程）： +- 移除螺旋桨，将 ESC 断电 - Stop attitude controllers: mc_att_control stop, fw_att_control stop -- Make sure safety is off -- Run this command +- 确保安全设置断开（Make sure safety is off） +- 运行这个命令 @@ -86,7 +86,7 @@ Inject failures into system. ### 用法 This system command sends a vehicle command over uORB to trigger failure. -### Examples +### 示例 Test the GPS failsafe by stopping GPS: failure gps off @@ -125,11 +125,11 @@ gpio [arguments...] [--force] Force (ignore board gpio list) ``` ## hardfault_log -Source: [systemcmds/hardfault_log](https://github.com/PX4/Firmware/tree/master/src/systemcmds/hardfault_log) +源码： [systemcmds/hardfault_log](https://github.com/PX4/Firmware/tree/master/src/systemcmds/hardfault_log) -Hardfault utility +硬错误处理程序。 -Used in startup scripts to handle hardfaults +在启动脚本中用于处理硬错误。 @@ -166,18 +166,18 @@ i2cdetect [arguments...] default: 1 ``` ## led_control -Source: [systemcmds/led_control](https://github.com/PX4/Firmware/tree/master/src/systemcmds/led_control) +源码： [systemcmds/led_control](https://github.com/PX4/Firmware/tree/master/src/systemcmds/led_control) ### 描述 -Command-line tool to control & test the (external) LED's. +用于控制 & 测试 （外部） LED's 的命令行工具。 -To use it make sure there's a driver running, which handles the led_control uorb topic. +要使用该命令请确保有一个负责处理 led_control 的 uorb 主题处于运行状态。 -There are different priorities, such that for example one module can set a color with low priority, and another module can blink N times with high priority, and the LED's automatically return to the lower priority state after the blinking. The `reset` command can also be used to return to a lower priority. The `reset` command can also be used to return to a lower priority. +There are different priorities, such that for example one module can set a color with low priority, and another module can blink N times with high priority, and the LED's automatically return to the lower priority state after the blinking. The `reset` command can also be used to return to a lower priority. 也可使用 `reset` 命令来返回至一个更低的优先级。 -### Examples -Blink the first LED 5 times in blue: +### 示例 +第一个 LED 闪烁蓝光 5 次： ``` led_control blink -c blue -l 0 -n 5 ``` @@ -217,10 +217,10 @@ led_control [arguments...] default: 2 ``` ## listener -Source: [systemcmds/topic_listener](https://github.com/PX4/Firmware/tree/master/src/systemcmds/topic_listener) +源码： [systemcmds/topic_listener](https://github.com/PX4/Firmware/tree/master/src/systemcmds/topic_listener) -Utility to listen on uORB topics and print the data to the console. +用于监听 uORB 主题并将数据输出在控制台上的工具。 Note: this command currently only supports the `/dev/pwm_output0` output. @@ -240,13 +240,13 @@ listener [arguments...] default: 0 ``` ## mixer -Source: [systemcmds/mixer](https://github.com/PX4/Firmware/tree/master/src/systemcmds/mixer) +源码： [systemcmds/mixer](https://github.com/PX4/Firmware/tree/master/src/systemcmds/mixer) ### 描述 -Load or append mixer files to the ESC driver. +将混控器文件加载或者附加到 ESC 驱动中。 -Note that the driver must support the used ioctl's, which is the case on NuttX, but for example not on RPi. +需要注意的是驱动必须支持这个命令使用的 ioctl ，这一点在 Nuttx 上是成立的，但在其它平台上就不一定成立，如 RPI。 @@ -262,13 +262,13 @@ mixer [arguments...] Output device (eg. /dev/pwm_output0) and mixer file ``` ## motor_ramp -Source: [systemcmds/motor_ramp](https://github.com/PX4/Firmware/tree/master/src/systemcmds/motor_ramp) +源码： [systemcmds/motor_ramp](https://github.com/PX4/Firmware/tree/master/src/systemcmds/motor_ramp) -### Description -Application to test motor ramp up. +### 参数描述 +用于测试电机的加速。 -Before starting, make sure to stop any running attitude controller: +在开始之前需要确保停止所有姿态控制器的运行。 ``` motor_ramp [arguments...] ramp|sine|square mode @@ -277,9 +277,9 @@ motor_ramp [arguments...] WARNING: motors will ramp up to full speed! ``` -When starting, a background task is started, runs for several seconds (as specified), then exits. +命令开始后将开启一个后台任务，该任务会持续若干秒（根据设定值）然后退出。 -### Example +### 示例 ``` motor_test [arguments...] Commands: @@ -311,10 +311,10 @@ motor_ramp [arguments...] WARNING: motors will ramp up to full speed! ``` ## motor_test -Source: [systemcmds/motor_test](https://github.com/PX4/Firmware/tree/master/src/systemcmds/motor_test) +源码： [systemcmds/motor_test](https://github.com/PX4/Firmware/tree/master/src/systemcmds/motor_test) -Utility to test motors. +电机测试工具。 WARNING: remove all props before using this command. @@ -338,7 +338,7 @@ motor_test [arguments...] iterate Iterate all motors starting and stopping one after the other ``` ## mtd -Source: [systemcmds/mtd](https://github.com/PX4/Firmware/tree/master/src/systemcmds/mtd) +源码： [systemcmds/mtd](https://github.com/PX4/Firmware/tree/master/src/systemcmds/mtd) Parameters are automatically saved when changed, eg. with `param set`. They are typically stored to FRAM or to the SD card. `param select` can be used to change the storage location for subsequent saves (this will need to be (re-)configured on every boot). @@ -364,11 +364,11 @@ mtd [arguments...] /fs/mtd_params), use system default if not provided ``` ## nshterm -Source: [systemcmds/nshterm](https://github.com/PX4/Firmware/tree/master/src/systemcmds/nshterm) +源码： [systemcmds/nshterm](https://github.com/PX4/Firmware/tree/master/src/systemcmds/nshterm) -Start an NSH shell on a given port. +在指定端口启动一个 NSH shell -This was previously used to start a shell on the USB serial port. This was previously used to start a shell on the USB serial port. Now there runs mavlink, and it is possible to use a shell over mavlink. +该命令此前被用于在 USB 串口端口开启一个 shell， This was previously used to start a shell on the USB serial port. Now there runs mavlink, and it is possible to use a shell over mavlink. @@ -379,22 +379,22 @@ nshterm [arguments...] Device on which to start the shell (eg. /dev/ttyACM0) ``` ## param -Source: [systemcmds/param](https://github.com/PX4/Firmware/tree/master/src/systemcmds/param) +源码： [systemcmds/param](https://github.com/PX4/Firmware/tree/master/src/systemcmds/param) -### Description -Command to access and manipulate parameters via shell or script. +### 参数描述 +在 shell 或者脚本中获取参数并对其进行操作的命令。 -This is used for example in the startup script to set airframe-specific parameters. +例如，在启动脚本中使用此命令来设置特定于机型的参数。 -Parameters are automatically saved when changed, eg. with `param set`. They are typically stored to FRAM or to the SD card. `param select` can be used to change the storage location for subsequent saves (this will need to be (re-)configured on every boot). +Parameters are automatically saved when changed, eg. with `param set`. 这些参数通常被存储在 FRAM 或者 SD 卡中。 `param select` 可用于更改后续参数保存的存储位置（这一选项在每次启动时都需要重新进行配置）。 -If the FLASH-based backend is enabled (which is done at compile time, e.g. for the Intel Aero or Omnibus), `param select` has no effect and the default is always the FLASH backend. However `param save/load ` can still be used to write to/read from files. However `param save/load ` can still be used to write to/read from files. +If the FLASH-based backend is enabled (which is done at compile time, e.g. for the Intel Aero or Omnibus), `param select` has no effect and the default is always the FLASH backend. However `param save/load ` can still be used to write to/read from files. 然而，仍可使用 `param save/load <file>` 从文件中读取/写入参数。 -Each parameter has a 'used' flag, which is set when it's read during boot. It is used to only show relevant parameters to a ground control station. It is used to only show relevant parameters to a ground control station. +Each parameter has a 'used' flag, which is set when it's read during boot. It is used to only show relevant parameters to a ground control station. 它只是用于向地面控制站显示有关联的参数。 -### Examples -Change the airframe and make sure the airframe's default parameters are loaded: +### 示例 +更改机型，并确保机型的默认参数被加载了： ``` param set SYS_AUTOSTART 4001 param set SYS_AUTOCONFIG 1 @@ -485,7 +485,7 @@ param [arguments...] param name ``` ## perf -Source: [systemcmds/perf](https://github.com/PX4/Firmware/tree/master/src/systemcmds/perf) +源码： [systemcmds/perf](https://github.com/PX4/Firmware/tree/master/src/systemcmds/perf) Tool to print performance counters @@ -500,26 +500,26 @@ perf [arguments...] Prints all performance counters if no arguments given ``` ## pwm -Source: [systemcmds/pwm](https://github.com/PX4/Firmware/tree/master/src/systemcmds/pwm) +源码： [systemcmds/pwm](https://github.com/PX4/Firmware/tree/master/src/systemcmds/pwm) -### Description -This command is used to configure PWM outputs for servo and ESC control. +### 描述 +此命令用于配置舵机和 ESC 的 PWM 控制输出。 -The default device `/dev/pwm_output0` are the Main channels, AUX channels are on `/dev/pwm_output1` (`-d` parameter). +默认设备是主通道的 `/dev/pwm_output0` ，AUX 辅助通道位于 `/dev/pwm_output1` (需要搭配 `-d` 参数)。 -It is used in the startup script to make sure the PWM parameters (`PWM_*`) are applied (or the ones provided by the airframe config if specified). `pwm info` shows the current settings (the trim value is an offset and configured with `PWM_MAIN_TRIMx` and `PWM_AUX_TRIMx`). `pwm info` shows the current settings (the trim value is an offset and configured with `PWM_MAIN_TRIMx` and `PWM_AUX_TRIMx`). +It is used in the startup script to make sure the PWM parameters (`PWM_*`) are applied (or the ones provided by the airframe config if specified). `pwm info` shows the current settings (the trim value is an offset and configured with `PWM_MAIN_TRIMx` and `PWM_AUX_TRIMx`). `pwm info` 用于显示当前的设定 (配平值是一个偏移量，可使用 `PWM_MAIN_TRIMx` 和 `PWM_AUX_TRIMx` 进行设置)。 Reboot the system -Channels are assigned to a group. Due to hardware limitations, the update rate can only be set per group. Use `pwm info` to display the groups. Channels are assigned to a group. Due to hardware limitations, the update rate can only be set per group. Use `pwm info` to display the groups. If the `-c` argument is used, all channels of any included group must be included. +通道被分配到一个组。 由于硬件限制, 只能为每个组设置更新速率。 使用 `pwm info` 显示所有的组。 Channels are assigned to a group. Due to hardware limitations, the update rate can only be set per group. Use `pwm info` to display the groups. If the `-c` argument is used, all channels of any included group must be included. -The parameters `-p` and `-r` can be set to a parameter instead of specifying an integer: use -p p:PWM_MIN for example. +参数 `-p` 和 `-r` 可设置为一个参数变量而不是一个指定的证书：例如， -p p:PWM_MIN 。 -Note that in OneShot mode, the PWM range [1000, 2000] is automatically mapped to [125, 250]. +注意，在 OneShot 模式下， PWM 范围 [1000, 2000] 会被自动映射到 [125, 250] 。 -### Examples -Set the PWM rate for all channels to 400 Hz: +### 示例 +将所有通道的 PWM 速率设置为 400 Hz: ``` pwm rate -a -r 400 ``` @@ -542,12 +542,10 @@ pwm [arguments...] info Print current configuration of all channels - forcefail Force Failsafe mode. PWM outputs are set to failsafe values. - on|off Turn on or off + forcefail Force Failsafe mode. PWM 输出将被设置为故障保护值。 + on|off 开启或关闭 - terminatefail Enable Termination Failsafe mode. While this is true, any - failsafe that occurs will be unrecoverable (even if recovery - conditions are met). + terminatefail 启用 Termination Failsafe 模式。 该设定为真时所有故障保护都是不可恢复的（即便满足恢复条件）。 pwm [arguments...] Commands: arm Arm output @@ -613,7 +611,7 @@ pwm [arguments...] [-e] Exit with 1 instead of 0 on error ``` ## reboot -Source: [systemcmds/reboot](https://github.com/PX4/Firmware/tree/master/src/systemcmds/reboot) +源码： [systemcmds/reboot](https://github.com/PX4/Firmware/tree/master/src/systemcmds/reboot) Reboot the system @@ -626,7 +624,7 @@ reboot [arguments...] [lock|unlock] Take/release the shutdown lock (for testing) ``` ## sd_bench -Source: [systemcmds/sd_bench](https://github.com/PX4/Firmware/tree/master/src/systemcmds/sd_bench) +源码： [systemcmds/sd_bench](https://github.com/PX4/Firmware/tree/master/src/systemcmds/sd_bench) Test the speed of an SD Card @@ -646,11 +644,11 @@ sd_bench [arguments...] Source: [systemcmds/system_time](https://github.com/PX4/Firmware/tree/master/src/systemcmds/system_time) -### Description +### 描述 Command-line tool to set and get system time. -### Examples +### 示例 Set the system time and read it back ``` @@ -694,7 +692,7 @@ system_time [arguments...] get Get the system time ``` ## top -Source: [systemcmds/top](https://github.com/PX4/Firmware/tree/master/src/systemcmds/top) +源码：[systemcmds/top](https://github.com/PX4/Firmware/tree/master/src/systemcmds/top) Monitor running processes and their CPU, stack usage, priority and state @@ -705,21 +703,21 @@ top [arguments...] once print load only once ``` ## usb_connected -Source: [systemcmds/usb_connected](https://github.com/PX4/Firmware/tree/master/src/systemcmds/usb_connected) +源码： [systemcmds/usb_connected](https://github.com/PX4/Firmware/tree/master/src/systemcmds/usb_connected) -Utility to check if USB is connected. Was previously used in startup scripts. Utility to check if USB is connected. Was previously used in startup scripts. A return value of 0 means USB is connected, 1 otherwise. +检查 USB 是否已连接的工具。 此前曾在启动脚本中使用过， Utility to check if USB is connected. Was previously used in startup scripts. A return value of 0 means USB is connected, 1 otherwise. -### Usage +### 使用 ``` usb_connected [arguments...] ``` ## ver -Source: [systemcmds/ver](https://github.com/PX4/Firmware/tree/master/src/systemcmds/ver) +源码： [systemcmds/ver](https://github.com/PX4/Firmware/tree/master/src/systemcmds/ver) Tool to print various version information -### Usage +### 使用 ``` ver [arguments...] Commands: @@ -746,6 +744,5 @@ ver [arguments...] is used if multiple are specified hwtypecmp Compare hardware type (returns 0 on match) - [] Hardware type to compare against (eg. V2). An OR - comparison is used if multiple are specified + [] Hardware type to compare against (eg. V2). 如果指定了多种硬件类型将执行或比较（OR comparison） ``` diff --git a/zh/modules/modules_communication.md b/zh/modules/modules_communication.md index 1579b143e8c8..f25c67026e69 100644 --- a/zh/modules/modules_communication.md +++ b/zh/modules/modules_communication.md @@ -1,9 +1,9 @@ -# Modules Reference: Communication +# 模块参考：通信（Communication） ## frsky_telemetry -Source: [drivers/telemetry/frsky_telemetry](https://github.com/PX4/Firmware/tree/master/src/drivers/telemetry/frsky_telemetry) +源码：[drivers/telemetry/frsky_telemetry](https://github.com/PX4/Firmware/tree/master/src/drivers/telemetry/frsky_telemetry) -FrSky Telemetry support. FrSky Telemetry support. Auto-detects D or S.PORT protocol. +FrSky 数传支持， FrSky Telemetry support. Auto-detects D or S.PORT protocol. ### 用法 @@ -24,28 +24,28 @@ frsky_telemetry [arguments...] status ``` ## mavlink -Source: [modules/mavlink](https://github.com/PX4/Firmware/tree/master/src/modules/mavlink) +源码： [modules/mavlink](https://github.com/PX4/Firmware/tree/master/src/modules/mavlink) ### 描述 -This module implements the MAVLink protocol, which can be used on a Serial link or UDP network connection. This module implements the MAVLink protocol, which can be used on a Serial link or UDP network connection. It communicates with the system via uORB: some messages are directly handled in the module (eg. mission protocol), others are published via uORB (eg. vehicle_command). +此模块实现了 MAVLink 协议，该协议可在串口或 UDP 网络上使用。 This module implements the MAVLink protocol, which can be used on a Serial link or UDP network connection. It communicates with the system via uORB: some messages are directly handled in the module (eg. mission protocol), others are published via uORB (eg. vehicle_command). -Streams are used to send periodic messages with a specific rate, such as the vehicle attitude. Streams are used to send periodic messages with a specific rate, such as the vehicle attitude. When starting the mavlink instance, a mode can be specified, which defines the set of enabled streams with their rates. For a running instance, streams can be configured via `mavlink stream` command. For a running instance, streams can be configured via `mavlink stream` command. +流（Stream）被用来以特定速率发送周期性的消息，例如飞机姿态信息。 Streams are used to send periodic messages with a specific rate, such as the vehicle attitude. When starting the mavlink instance, a mode can be specified, which defines the set of enabled streams with their rates. For a running instance, streams can be configured via `mavlink stream` command. 对于一个正在运行的实例而言，可以使用 `mavlink stream` 命令来配置流。 -There can be multiple independent instances of the module, each connected to one serial device or network port. +可以存在多个该模块的实例，每个实例连接到一个串口设备或者网络端口。 -### Implementation -The implementation uses 2 threads, a sending and a receiving thread. The sender runs at a fixed rate and dynamically reduces the rates of the streams if the combined bandwidth is higher than the configured rate (`-r`) or the physical link becomes saturated. This can be checked with `mavlink status`, see if `rate mult` is less than 1. +### 实现 +命令的具体实现使用了两个线程，分别为数据发送线程和接收线程。 发送线程以一个固定的速率运行，并会在组合带宽（combined bandwidth）高于设定速率(`-r`)，或者物理链路出现饱和的情况下动态降低信息流的发送速率。 可使用 `mavlink status` 命令检查是否发生降速，如果 `rate mult` 小于 1 则发生了降速。 **Careful**: some of the data is accessed and modified from both threads, so when changing code or extend the functionality, this needs to be take into account, in order to avoid race conditions and corrupt data. -### Examples -Start mavlink on ttyS1 serial with baudrate 921600 and maximum sending rate of 80kB/s: +### 示例 +在 ttyS1 串口启动 mavlink ，并设定波特率为 921600、最大发送速率为 80kB/s： ``` mavlink start -d /dev/ttyS1 -b 921600 -m onboard -r 80000 ``` -Start mavlink on UDP port 14556 and enable the HIGHRES_IMU message with 50Hz: +在 UDP 端口 14556 启动 mavlink 并启用 50Hz 的 HIGHRES_IMU 消息： ``` mavlink start -u 14556 -r 1000000 mavlink stream -u 14556 -s HIGHRES_IMU -r 50 @@ -100,11 +100,10 @@ mavlink [arguments...] -r Rate in Hz (0 = turn off, -1 = set to default) boot_complete Enable sending of messages. (Must be) called as last step in - startup script. (Must be) called as last step in - startup script. + startup script. (必须) 作为启动脚本的最后一步被调用。 ``` ## micrortps_client -Source: [modules/micrortps_bridge/micrortps_client](https://github.com/PX4/Firmware/tree/master/src/modules/micrortps_bridge/micrortps_client) +源码：[modules/micrortps_bridge/micrortps_client](https://github.com/PX4/Firmware/tree/master/src/modules/micrortps_bridge/micrortps_client) @@ -140,27 +139,27 @@ micrortps_client [arguments...] status ``` ## uorb -Source: [modules/uORB](https://github.com/PX4/Firmware/tree/master/src/modules/uORB) +源码：[modules/uORB](https://github.com/PX4/Firmware/tree/master/src/modules/uORB) ### 描述 -uORB is the internal pub-sub messaging system, used for communication between modules. +uORB 是各模块之间进行通讯的基于 发布-订阅 机制的内部消息传递系统。 -It is typically started as one of the very first modules and most other modules depend on it. +uORB 模块通常作为第一个模块启动，并且绝大多数其它模块均依赖于它， -### Implementation -No thread or work queue is needed, the module start only makes sure to initialize the shared global state. Communication is done via shared memory. The implementation is asynchronous and lock-free, ie. a publisher does not wait for a subscriber and vice versa. This is achieved by having a separate buffer between a publisher and a subscriber. Communication is done via shared memory. The implementation is asynchronous and lock-free, ie. a publisher does not wait for a subscriber and vice versa. This is achieved by having a separate buffer between a publisher and a subscriber. +### 用法 +No thread or work queue is needed, the module start only makes sure to initialize the shared global state. Communication is done via shared memory. The implementation is asynchronous and lock-free, ie. a publisher does not wait for a subscriber and vice versa. This is achieved by having a separate buffer between a publisher and a subscriber. 通信是通过共享内存（shared memory）完成的。 The implementation is asynchronous and lock-free, ie. a publisher does not wait for a subscriber and vice versa. 这一特性是通过在发布者和订阅者之间建立单独的缓冲区来实现的。 -The code is optimized to minimize the memory footprint and the latency to exchange messages. +我们对代码以最大限度地减少内存占用和交换消息的延迟为目标进行了优化。 -The interface is based on file descriptors: internally it uses `read`, `write` and `ioctl`. The interface is based on file descriptors: internally it uses `read`, `write` and `ioctl`. Except for the publications, which use `orb_advert_t` handles, so that they can be used from interrupts as well (on NuttX). +该接口基于文件描述符（file descriptor）实现：它在内部使用 `read`、`write` 和 `ioctl`。 The interface is based on file descriptors: internally it uses `read`, `write` and `ioctl`. Except for the publications, which use `orb_advert_t` handles, so that they can be used from interrupts as well (on NuttX). -Messages are defined in the `/msg` directory. They are converted into C/C++ code at build-time. They are converted into C/C++ code at build-time. +Messages are defined in the `/msg` directory. They are converted into C/C++ code at build-time. 在构建时它们会被转化为 C/C++ 代码。 -If compiled with ORB_USE_PUBLISHER_RULES, a file with uORB publication rules can be used to configure which modules are allowed to publish which topics. This is used for system-wide replay. This is used for system-wide replay. +If compiled with ORB_USE_PUBLISHER_RULES, a file with uORB publication rules can be used to configure which modules are allowed to publish which topics. This is used for system-wide replay. 这可以用于全系统范围的回放。 -### Examples -Monitor topic publication rates. Monitor topic publication rates. Besides `top`, this is an important command for general system inspection: +### 示例 +监控主题发布速率。 Monitor topic publication rates. Besides `top`, this is an important command for general system inspection: ``` uorb top ``` diff --git a/zh/modules/modules_controller.md b/zh/modules/modules_controller.md index 3671411e43d0..ca4452b4d910 100644 --- a/zh/modules/modules_controller.md +++ b/zh/modules/modules_controller.md @@ -9,27 +9,28 @@ This implements the airship attitude and rate controller. Ideally it would take This implements the multicopter attitude and rate controller. It takes attitude setpoints (`vehicle_attitude_setpoint`) or rate setpoints (in acro mode via `manual_control_setpoint` topic) as inputs and outputs actuator control messages. -### Implementation -To reduce control latency, the module directly polls on the gyro topic published by the IMU driver. +### 实现 +为了降低控制延时，该模块会直接轮训 IMU 驱动发布的陀螺仪（gyro）主题消息。 ### 描述 ``` airship_att_control [arguments...] + wind_estimator <command> [arguments...] Commands: start stop - status print status info + status 打印状态信息 ``` ## fw_att_control -Source: [modules/fw_att_control](https://github.com/PX4/Firmware/tree/master/src/modules/fw_att_control) +源码：[modules/fw_att_control](https://github.com/PX4/Firmware/tree/master/src/modules/fw_att_control) -### Description -fw_att_control is the fixed wing attitude controller. +### 参数描述 +fw_att_control 是固定翼姿态控制器。 @@ -45,11 +46,11 @@ fw_att_control [arguments...] status print status info ``` ## fw_pos_control_l1 -Source: [modules/fw_pos_control_l1](https://github.com/PX4/Firmware/tree/master/src/modules/fw_pos_control_l1) +源码：[modules/fw_pos_control_l1](https://github.com/PX4/Firmware/tree/master/src/modules/fw_pos_control_l1) -### Description -fw_pos_control_l1 is the fixed wing position controller. +### 参数描述 +fw_pos_control_l1 是针对固定翼飞机的位置控制器。 @@ -71,7 +72,7 @@ fw_pos_control_l1 [arguments...] status print status info ``` ## mc_att_control -Source: [modules/mc_att_control](https://github.com/PX4/Firmware/tree/master/src/modules/mc_att_control) +源码：[modules/mc_att_control](https://github.com/PX4/Firmware/tree/master/src/modules/mc_att_control) ### 描述 @@ -97,11 +98,11 @@ mc_att_control [arguments...] status print status info ``` ## mc_pos_control -Source: [modules/mc_pos_control](https://github.com/PX4/Firmware/tree/master/src/modules/mc_pos_control) +源码：[modules/mc_pos_control](https://github.com/PX4/Firmware/tree/master/src/modules/mc_pos_control) ### 描述 -The controller has two loops: a P loop for position error and a PID loop for velocity error. Output of the velocity controller is thrust vector that is split to thrust direction (i.e. rotation matrix for multicopter orientation) and thrust scalar (i.e. multicopter thrust itself). +控制器有两个回路：一个针对位置误差的比例（P）控制回路和一个针对速度误差的 PID 控制回路。 速度控制器的输出是一个推力矢量，该矢量可分割成推力的方向（即，多旋翼姿态的旋转矩阵）和推力的大小（即，多旋翼推力本身） The different internal modes are implemented as separate classes that inherit from a common base class `NavigatorMode`. The member `_navigation_mode` contains the current active mode. @@ -128,7 +129,7 @@ mc_pos_control [arguments...] Navigator publishes position setpoint triplets (`position_setpoint_triplet_s`), which are then used by the position controller. -### Description +### 参数描述 This implements the multicopter rate controller. It takes rate setpoints (in acro mode via `manual_control_setpoint` topic) as inputs and outputs actuator control messages. The controller has a PID loop for angular rate error. @@ -147,16 +148,16 @@ mc_rate_control [arguments...] status print status info ``` ## navigator -Source: [modules/navigator](https://github.com/PX4/Firmware/tree/master/src/modules/navigator) +源码：[modules/navigator](https://github.com/PX4/Firmware/tree/master/src/modules/navigator) -### Description -Module that is responsible for autonomous flight modes. This includes missions (read from dataman), takeoff and RTL. It is also responsible for geofence violation checking. This includes missions (read from dataman), takeoff and RTL. It is also responsible for geofence violation checking. +### 参数描述 +Module that is responsible for autonomous flight modes. This includes missions (read from dataman), takeoff and RTL. It is also responsible for geofence violation checking. 这里面包括了飞行任务 (从 dataman 中读取)，起飞和 RTL。 它还负责检查飞机是否跨越了地理围栏。 -### Implementation -The different internal modes are implemented as separate classes that inherit from a common base class `NavigatorMode`. The member `_navigation_mode` contains the current active mode. +### 实现 +不同的内部模式都是以单独的类实现的，这些类都是从公共基类 `NavigatorMode` 的子类。 成员变量 `_navigation_mode` 包含了当前活跃的模式。 -Navigator publishes position setpoint triplets (`position_setpoint_triplet_s`), which are then used by the position controller. +Navigator 发布位置期望值三元组 (`position_setpoint_triplet_s`)，该期望值会被位置控制器使用。 @@ -179,20 +180,20 @@ navigator [arguments...] Source: [modules/rover_pos_control](https://github.com/PX4/Firmware/tree/master/src/modules/rover_pos_control) -### Description +### 参数描述 Controls the position of a ground rover using an L1 controller. Publishes `actuator_controls_0` messages at a constant 250Hz. -### Implementation +### 实现 Currently, this implementation supports only a few modes: * Full manual: Throttle and yaw controls are passed directly through to the actuators * Auto mission: The rover runs missions * Loiter: The rover will navigate to within the loiter radius, then stop the motors -### Examples -CLI usage example: +### 示例 +CLI 命令行用法示例： ``` rover_pos_control start rover_pos_control status @@ -201,33 +202,34 @@ rover_pos_control stop -### Usage +### 用法 ``` rover_pos_control [arguments...] + wind_estimator <command> [arguments...] Commands: start stop - status print status info + status 打印状态信息 ``` ## uuv_att_control Source: [modules/uuv_att_control](https://github.com/PX4/Firmware/tree/master/src/modules/uuv_att_control) -### Description +### 参数描述 Controls the attitude of an unmanned underwater vehicle (UUV). Publishes `actuator_controls_0` messages at a constant 250Hz. -### Implementation +### 实现 Currently, this implementation supports only a few modes: * Full manual: Roll, pitch, yaw, and throttle controls are passed directly through to the actuators * Auto mission: The uuv runs missions -### Examples -CLI usage example: +### 示例 +CLI 命令行用法示例： ``` uuv_att_control start uuv_att_control status @@ -236,7 +238,7 @@ uuv_att_control stop -### Usage +### 用法 ``` uuv_att_control [arguments...] mc_att_control [arguments...] @@ -251,12 +253,12 @@ uuv_att_control [arguments...] Source: [modules/vtol_att_control](https://github.com/PX4/Firmware/tree/master/src/modules/vtol_att_control) -### Description -fw_att_control is the fixed wing attitude controller. +### 参数描述 +fw_att_control 是固定翼姿态控制器。 -### Usage +### 用法 ``` vtol_att_control [arguments...] fw_att_control [arguments...] diff --git a/zh/modules/modules_driver.md b/zh/modules/modules_driver.md index 8f2cfc72cb9c..bb7cd4669c06 100644 --- a/zh/modules/modules_driver.md +++ b/zh/modules/modules_driver.md @@ -1,11 +1,11 @@ # 模块参考：驱动 -Subcategories: +子分类 - [Imu](modules_driver_imu.md) - [Source: [drivers/distance_sensor/pga460](https://github.com/PX4/Firmware/tree/master/src/drivers/distance_sensor/pga460)](modules_driver_distance_sensor.md) - [Airspeed Sensor](modules_driver_airspeed_sensor.md) - [Baro](modules_driver_baro.md) -- [Optical Flow](modules_driver_optical_flow.md) -- [Magnetometer](modules_driver_magnetometer.md) +- [光流](modules_driver_optical_flow.md) +- [磁力计](modules_driver_magnetometer.md) ## adc Source: [drivers/adc/board_adc](https://github.com/PX4/Firmware/tree/master/src/drivers/adc/board_adc) @@ -56,7 +56,7 @@ This module is responsible for driving the output and reading the input pins. Fo ### 描述 -OSD driver for the ATXXXX chip that is mounted on the OmnibusF4SD board for example. +例如，安装在OmnibusF4SD板子上的用于OSD驱动的ATXXXX芯片 The module is configured via mode_* commands. This defines which of the first N pins the driver should occupy. By using mode_pwm4 for example, pins 5 and 6 can be used by the camera trigger driver or by a PWM rangefinder driver. Alternatively, the fmu can be started in one of the capture modes, and then drivers can register a capture callback with ioctl calls. @@ -82,14 +82,14 @@ atxxxx [arguments...] status print status info ``` ## batt_smbus -Source: [drivers/batt_smbus](https://github.com/PX4/Firmware/tree/master/src/drivers/batt_smbus) +源码位置: [drivers/batt_smbus](https://github.com/PX4/Firmware/tree/master/src/drivers/batt_smbus) ### 描述 -Smart battery driver for the BQ40Z50 fuel gauge IC. +用于智能电池的BQ40Z50电量统计芯片 -### Examples -To write to flash to set parameters. address, number_of_bytes, byte0, ... , byteN +### 示例 +通过写入flash来设置它的参数。 address, number_of_bytes, byte0, ... , byteN ``` batt_smbus -X write_flash 19069 2 27 0 ``` @@ -112,24 +112,22 @@ batt_smbus [arguments...] man_info Prints manufacturer info. - unseal Unseals the devices flash memory to enable write_flash - commands. + unseal 解锁设备的flash来使能 write_flash 命令 - seal Seals the devices flash memory to disbale write_flash commands. + seal 锁住设备的flash来失能 write_flash 命令. - suspend Suspends the driver from rescheduling the cycle. + suspend 从调度循环中挂起该设备 - resume Resumes the driver from suspension. + resume 将该设备从挂起状态恢复 - write_flash Writes to flash. The device must first be unsealed with the - unseal command. - [address] The address to start writing. - [number of bytes] Number of bytes to send. - [data[0]...data[n]] One byte of data at a time separated by spaces. + write_flash 写入flash。 必须先通过unseal 命令来解锁flash。 + [address] 写入的起始地址 + [number of bytes] 需要写入的字节数 + [data[0]...data[n]] 具体的字节数据，使用空格隔开 - stop + stop 停止设备 - status print status info + status 打印状态信息 ``` ## blinkm Capture input (rising and falling edges) and print on the console: start the fmu in one of the capture modes: @@ -192,14 +190,14 @@ Use the `pwm` command for further configurations (PWM rate, levels, ...), and th ### 描述 -This is the DShot output driver. It is similar to the fmu driver, and can be used as drop-in replacement to use DShot as ESC communication protocol instead of PWM. +这是DShot输出的驱动。 它跟fmu的驱动很相似，可以简单地替换掉，来实现使用DShot与调速器通讯而不是PWM。 GPS driver module that handles the communication with the device and publishes the position via uORB. It supports multiple protocols (device vendors) and by default automatically selects the correct one. - DShot150, DShot300, DShot600, DShot1200 -- telemetry via separate UART and publishing as esc_status message -- sending DShot commands via CLI +- 通过独立的串口遥控，并且发布esc_status消息 +- 通过命令行接口发送 DShot 命令 -### Examples +### 示例 The module supports a secondary GPS device, specified via `-e` parameter. The position will be published on the second uORB topic instance, but it's currently not used by the rest of the system (however the data will be logged, so that it can be used for comparisons). ``` gps [arguments...] @@ -224,7 +222,7 @@ gps [arguments...] status print status info ``` -After saving, the reversed direction will be regarded as the normal one. So to reverse again repeat the same commands. +保存之后，设置的反向之后的转向将被认为是正常时候的转向， 所以如果需要再次反转方向只需要再次重复相同的命令。 @@ -309,25 +307,26 @@ dshot [arguments...] Source: [examples/fake_gyro](https://github.com/PX4/Firmware/tree/master/src/examples/fake_gyro) -### Description +### 描述 ### 描述 ``` fake_gyro [arguments...] + mc_att_control [arguments...] Commands: start stop - status print status info + status 打印状态信息 ``` ## fake_magnetometer Starting 2 GPS devices (the main GPS on /dev/ttyS3 and the secondary on /dev/ttyS4): gps start -d /dev/ttyS3 -e /dev/ttyS4 -### Description +### 描述 Publish the earth magnetic field as a fake magnetometer (sensor_mag). Requires vehicle_attitude and vehicle_gps_position. @@ -335,27 +334,28 @@ Publish the earth magnetic field as a fake magnetometer (sensor_mag). Requires v ### 描述 ``` fake_magnetometer [arguments...] + mc_att_control [arguments...] Commands: start stop - status print status info + status 打印状态信息 ``` ## gps -Source: [drivers/gps](https://github.com/PX4/Firmware/tree/master/src/drivers/gps) +源码：[drivers/gps](https://github.com/PX4/Firmware/tree/master/src/drivers/gps) -### Description -GPS driver module that handles the communication with the device and publishes the position via uORB. It supports multiple protocols (device vendors) and by default automatically selects the correct one. +### 描述 +GPS 驱动模块负责处理与设备的通信并且将位置信息通过 uORB 发布出去。 它支持多个协议 (设备供应商)，默认情况下会自动选择正确的协议。 -The module supports a secondary GPS device, specified via `-e` parameter. The position will be published on the second uORB topic instance, but it's currently not used by the rest of the system (however the data will be logged, so that it can be used for comparisons). +模块支持一个辅助（secondary） GPS 设备，可使用 `-e` 参数进行指定。 辅助 GPS 的位置信息会在第二个 uORB 主题实例上发布，但目前为止系统的其它部分暂未使用该数据（但该数据会被记录下来，以方便进行对比）。 -### Implementation -There is a thread for each device polling for data. There is a thread for each device polling for data. The GPS protocol classes are implemented with callbacks so that they can be used in other projects as well (eg. QGroundControl uses them too). +### 实现 +每个设备都有一个线程轮询数据。 There is a thread for each device polling for data. The GPS protocol classes are implemented with callbacks so that they can be used in other projects as well (eg. QGroundControl uses them too). -### Examples -For testing it can be useful to fake a GPS signal (it will signal the system that it has a valid position): +### 示例 +进行测试时能提供虚假的 GPS 信号是非常有用的（它可以告知系统当前已经获得了一个有效的位置）。 ``` gps stop gps start -f @@ -421,7 +421,7 @@ gps [arguments...] This module does the RC input parsing and auto-selecting the method. Supported methods are: -### Description +### 描述 By default the module runs on the work queue, to reduce RAM usage. It can also be run in its own thread, specified via start flag -t, to reduce latency. When running on the work queue, it schedules at a fixed frequency. Source: [drivers/distance_sensor/sf1xx](https://github.com/PX4/Firmware/tree/master/src/drivers/distance_sensor/sf1xx) @@ -507,7 +507,7 @@ Source: [drivers/optical_flow/paw3902](https://github.com/PX4/Firmware/tree/mast -### Usage +### 使用 ``` paw3902 [arguments...] Commands: @@ -557,16 +557,16 @@ pca9685 [arguments...] Currently the module is implementd as a threaded version only, meaning that it runs in its own thread instead of on the work queue. -### Description +### 描述 The module is typically started with: tap_esc start -d /dev/ttyS2 -n -It listens on the actuator_controls topics, does the mixing and writes the PWM outputs. +该模块监听 actuator_controls 主题，执行混控并写入 PWM 输出。 -### Implementation +### 实现 This module depends on ModuleBase and OutputModuleInterface. IIC communication is based on CDev::I2C -### Examples -It is typically started with: +### 示例 +通常使用如下命令： ``` sf1xx start -a ``` @@ -575,7 +575,7 @@ Use the `mixer` command to load mixer files. `mixer load /dev/pwm_outputX etc/mi -### Usage +### 使用 ``` pca9685_pwm_out [arguments...] Commands: @@ -594,7 +594,7 @@ Source: [drivers/rpm/pcf8583](https://github.com/PX4/Firmware/tree/master/src/dr -### Usage +### 使用 ``` pcf8583 [arguments...] Commands: @@ -615,7 +615,7 @@ Source: [drivers/optical_flow/pmw3901](https://github.com/PX4/Firmware/tree/mast -### Usage +### 使用 ``` pmw3901 [arguments...] Commands: @@ -640,37 +640,37 @@ pmw3901 [arguments...] Source: [drivers/pwm_out](https://github.com/PX4/Firmware/tree/master/src/drivers/pwm_out) -### Description -This module is responsible for driving the output and reading the input pins. For boards without a separate IO chip (eg. Pixracer), it uses the main channels. On boards with an IO chip (eg. Pixhawk), it uses the AUX channels, and the px4io driver is used for main ones. +### 描述 +该模块负责驱动输出引脚或者读取输入引脚。 For boards without a separate IO chip (eg. Pixracer), it uses the main channels. On boards with an IO chip (eg. Pixhawk), it uses the AUX channels, and the px4io driver is used for main ones. -It listens on the actuator_controls topics, does the mixing and writes the PWM outputs. +该模块监听 actuator_controls 主题，执行混控并写入 PWM 输出。 -The module is configured via mode_* commands. This defines which of the first N pins the driver should occupy. By using mode_pwm4 for example, pins 5 and 6 can be used by the camera trigger driver or by a PWM rangefinder driver. Alternatively, pwm_out can be started in one of the capture modes, and then drivers can register a capture callback with ioctl calls. +该模块使用 mode_* 命令进行配置。 该命令会设定驱动将占用最开始的哪些 N 个针脚。 例如，通过使用 mode_pwm4，引脚 5 和 6 可被分别被相机触发驱动或者 PWM 测距仪驱动使用。 Alternatively, pwm_out can be started in one of the capture modes, and then drivers can register a capture callback with ioctl calls. -### Implementation +### 实现 By default the module runs on the work queue, to reduce RAM usage. It can also be run in its own thread, specified via start flag -t, to reduce latency. When running on the work queue, it schedules at a fixed frequency, and the pwm rate limits the update rate of the actuator_controls topics. In case of running in its own thread, the module polls on the actuator_controls topic. Additionally the pwm rate defines the lower-level IO timer rates. -### Examples -It is typically started with: +### 示例 +通常使用如下命令： ``` pwm_out mode_pwm ``` -To drive all available pins. +来驱动所有可以的引脚。 Capture input (rising and falling edges) and print on the console: start pwm_out in one of the capture modes: ``` pwm_out mode_pwm3cap1 ``` -This will enable capturing on the 4th pin. Then do: +该命令将启用第 4 引脚上的捕获。 然后执行： ``` fmu test ``` -Use the `pwm` command for further configurations (PWM rate, levels, ...), and the `mixer` command to load mixer files. +使用 `pwm` 命令进行进一步的配置 (PWM 速率，级别, ...)，然后使用 `mixer` 命令来加载混控器文件。 -### Usage +### 使用 ``` pwm_out [arguments...] fmu [arguments...] @@ -726,19 +726,19 @@ pwm_out [arguments...] status print status info ``` ## pwm_out_sim -Source: [drivers/pwm_out_sim](https://github.com/PX4/Firmware/tree/master/src/drivers/pwm_out_sim) +源码：[drivers/pwm_out_sim](https://github.com/PX4/Firmware/tree/master/src/drivers/pwm_out_sim) -### Description -Driver for simulated PWM outputs. +### 描述 +针对仿真模拟的 PWM 输出的驱动。 Its only function is to take `actuator_control` uORB messages, mix them with any loaded mixer and output the result to the `actuator_output` uORB topic. -It is used in SITL and HITL. +该模块在 SITL 和 HITL 仿真中使用。 -### Usage +### 使用 ``` pwm_out_sim [arguments...] pwm_out_sim [arguments...] @@ -760,7 +760,7 @@ Source: [drivers/optical_flow/px4flow](https://github.com/PX4/Firmware/tree/mast -### Usage +### 使用 ``` px4flow [arguments...] Commands: @@ -781,11 +781,11 @@ px4flow [arguments...] status print status info ``` ## rc_input -Source: [drivers/rc_input](https://github.com/PX4/Firmware/tree/master/src/drivers/rc_input) +源码：[drivers/rc_input](https://github.com/PX4/Firmware/tree/master/src/drivers/rc_input) -### Description -This module does the RC input parsing and auto-selecting the method. Supported methods are: +### 描述 +本模块自动选择合适的方法对 RC 输入进行解析， 受支持的方法有： - PPM - SBUS - DSM @@ -795,7 +795,7 @@ This module does the RC input parsing and auto-selecting the method. Supported m -### Usage +### 使用 ``` rc_input [arguments...] rc_input [arguments...] @@ -815,7 +815,7 @@ Source: [drivers/lights/rgbled_ncp5623c](https://github.com/PX4/Firmware/tree/ma -### Usage +### 使用 ``` rgbled [arguments...] Commands: @@ -837,7 +837,7 @@ rgbled [arguments...] Source: [drivers/roboclaw](https://github.com/PX4/Firmware/tree/master/src/drivers/roboclaw) -### Description +### 描述 This driver communicates over UART with the [Roboclaw motor driver](http://downloads.basicmicro.com/docs/roboclaw_user_manual.pdf). It performs two tasks: @@ -846,7 +846,7 @@ This driver communicates over UART with the [Roboclaw motor driver](http://downl In order to use this driver, the Roboclaw should be put into Packet Serial mode (see the linked documentation), and your flight controller's UART port should be connected to the Roboclaw as shown in the documentation. For Pixhawk 4, use the `UART & I2C B` port, which corresponds to `/dev/ttyS3`. -### Implementation +### 实现 The main loop of this module (Located in `RoboClaw.cpp::task_main()`) performs 2 tasks: @@ -857,7 +857,7 @@ Because of the latency of UART, this driver does not write every single `actuato On startup, this driver will attempt to read the status of the Roboclaw to verify that it is connected. If this fails, the driver terminates immediately. -### Examples +### 示例 The command to start this driver is: @@ -873,7 +873,7 @@ All available commands are: -### Usage +### 使用 ``` roboclaw [arguments...] Commands: @@ -882,37 +882,38 @@ roboclaw [arguments...] Source: [drivers/safety_button](https://github.com/PX4/Firmware/tree/master/src/drivers/safety_button) -### Description +### 描述 This module is responsible for the safety button. Pressing the safety button 3 times quickly will trigger a GCS pairing request. -### Usage +### 使用 ``` safety_button [arguments...] + mc_att_control [arguments...] Commands: start stop - status print status info + status 打印状态信息 ``` ## tap_esc -Source: [drivers/tap_esc](https://github.com/PX4/Firmware/tree/master/src/drivers/tap_esc) +源码位置: [drivers/tap_esc](https://github.com/PX4/Firmware/tree/master/src/drivers/tap_esc) -### Description -This module controls the TAP_ESC hardware via UART. It listens on the actuator_controls topics, does the mixing and writes the PWM outputs. +### 参数描述 +该模块通过串口来控制TAP_ESC模块。 它负责监听话题actuator_controls，执行混控并输出给调速器设备。 -### Implementation -Currently the module is implementd as a threaded version only, meaning that it runs in its own thread instead of on the work queue. +### 实现 +目前该模块运行在一个独立的线程中，意思就是它不是在一个工作队列中的模块。 -### Example -The module is typically started with: tap_esc start -d /dev/ttyS2 -n <1-8> +### 示例 +这个模块一般使用这个命令来启动: tap_esc start -d /dev/ttyS2 -n <1-8> -### Usage +### 使用 ``` tap_esc [arguments...] tap_esc [arguments...] @@ -927,35 +928,36 @@ tap_esc [arguments...] Source: [drivers/tone_alarm](https://github.com/PX4/Firmware/tree/master/src/drivers/tone_alarm) -### Description +### 参数描述 This module is responsible for the tone alarm. -### Usage +### 使用 ``` tone_alarm [arguments...] + wind_estimator <command> [arguments...] Commands: start stop - status print status info + status 打印状态信息 ``` ## vmount -Source: [modules/vmount](https://github.com/PX4/Firmware/tree/master/src/modules/vmount) +源码位置: [modules/vmount](https://github.com/PX4/Firmware/tree/master/src/modules/vmount) -### Description -Mount (Gimbal) control driver. Mount (Gimbal) control driver. It maps several different input methods (eg. RC or MAVLink) to a configured output (eg. AUX channels or MAVLink). +### 参数描述 +载荷（云台）控制驱动， Mount (Gimbal) control driver. It maps several different input methods (eg. RC or MAVLink) to a configured output (eg. AUX channels or MAVLink). Documentation how to use it is on the [gimbal_control](https://dev.px4.io/en/advanced/gimbal_control.html) page. -### Implementation -Each method is implemented in its own class, and there is a common base class for inputs and outputs. They are connected via an API, defined by the `ControlData` data structure. This makes sure that each input method can be used with each output method and new inputs/outputs can be added with minimal effort. They are connected via an API, defined by the `ControlData` data structure. This makes sure that each input method can be used with each output method and new inputs/outputs can be added with minimal effort. +### 实现 +Each method is implemented in its own class, and there is a common base class for inputs and outputs. They are connected via an API, defined by the `ControlData` data structure. This makes sure that each input method can be used with each output method and new inputs/outputs can be added with minimal effort. 各个类通过一个由 `ControlData` 数据结构定义的 API 实现相互的连接。 此举确保了每一种输入方法都可以在每一个输出方法中使用，且只需要很少的工作量就可以添加一个新的输入/输出。 -### Examples -Test the output by setting a fixed yaw angle (and the other axes to 0): +### 示例 +通过设定一个固定的偏航角来测试输出功能（其它轴的角度设为0）： ``` vmount stop vmount test yaw 30 @@ -963,7 +965,7 @@ vmount test yaw 30 -### Usage +### 使用 ``` vmount [arguments...] vmount [arguments...] @@ -983,7 +985,7 @@ Source: [drivers/power_monitor/voxlpm](https://github.com/PX4/Firmware/tree/mast -### Usage +### 使用 ``` voxlpm [arguments...] start diff --git a/zh/modules/modules_driver_airspeed_sensor.md b/zh/modules/modules_driver_airspeed_sensor.md index b70e8513bfab..2c2aa95da15a 100644 --- a/zh/modules/modules_driver_airspeed_sensor.md +++ b/zh/modules/modules_driver_airspeed_sensor.md @@ -4,7 +4,7 @@ Source: [drivers/differential_pressure/ets](https://github.com/PX4/Firmware/tree -### Usage +### 用法 ``` ets_airspeed [arguments...] Commands: @@ -25,7 +25,7 @@ Source: [drivers/differential_pressure/ms4525](https://github.com/PX4/Firmware/t -### Usage +### 用法 ``` ms4525_airspeed [arguments...] Commands: @@ -48,7 +48,7 @@ Source: [drivers/differential_pressure/ms5525](https://github.com/PX4/Firmware/t -### Usage +### 用法 ``` ms5525_airspeed [arguments...] Commands: @@ -69,7 +69,7 @@ Source: [drivers/differential_pressure/sdp3x](https://github.com/PX4/Firmware/tr -### Usage +### 用法 ``` sdp3x_airspeed [arguments...] Commands: diff --git a/zh/modules/modules_driver_baro.md b/zh/modules/modules_driver_baro.md index f59ef2271ac3..69124b33c7ae 100644 --- a/zh/modules/modules_driver_baro.md +++ b/zh/modules/modules_driver_baro.md @@ -4,7 +4,7 @@ Source: [drivers/barometer/bmp280](https://github.com/PX4/Firmware/tree/master/s -### Usage +### 使用 ``` bmp280 [arguments...] Commands: @@ -32,7 +32,7 @@ Source: [drivers/barometer/bmp388](https://github.com/PX4/Firmware/tree/master/s -### Usage +### 使用 ``` bmp388 [arguments...] Commands: @@ -60,7 +60,7 @@ Source: [drivers/barometer/dps310](https://github.com/PX4/Firmware/tree/master/s -### Usage +### 使用 ``` dps310 [arguments...] Commands: @@ -88,7 +88,7 @@ Source: [drivers/barometer/lps22hb](https://github.com/PX4/Firmware/tree/master/ -### Usage +### 使用 ``` lps22hb [arguments...] Commands: @@ -114,7 +114,7 @@ Source: [drivers/barometer/lps25h](https://github.com/PX4/Firmware/tree/master/s -### Usage +### 使用 ``` lps25h [arguments...] Commands: @@ -140,7 +140,7 @@ Source: [drivers/barometer/lps33hw](https://github.com/PX4/Firmware/tree/master/ -### Usage +### 使用 ``` lps33hw [arguments...] Commands: @@ -169,7 +169,7 @@ Source: [drivers/barometer/mpl3115a2](https://github.com/PX4/Firmware/tree/maste -### Usage +### 使用 ``` mpl3115a2 [arguments...] Commands: @@ -190,7 +190,7 @@ Source: [drivers/barometer/ms5611](https://github.com/PX4/Firmware/tree/master/s -### Usage +### 使用 ``` ms5611 [arguments...] Commands: diff --git a/zh/modules/modules_driver_distance_sensor.md b/zh/modules/modules_driver_distance_sensor.md index d6a75038daf6..567a5b027aa6 100644 --- a/zh/modules/modules_driver_distance_sensor.md +++ b/zh/modules/modules_driver_distance_sensor.md @@ -3,28 +3,28 @@ Source: [drivers/distance_sensor/leddar_one](https://github.com/PX4/Firmware/tree/master/src/drivers/distance_sensor/leddar_one) -### Description +### 说明 Serial bus driver for the LeddarOne LiDAR. Most boards are configured to enable/start the driver on a specified UART using the SENS_LEDDAR1_CFG parameter. -Setup/usage information: https://docs.px4.io/master/en/sensor/leddar_one.html +设置/使用 信息： https://docs.px4.io/master/en/sensor/leddar_one.html -### Examples +### 示例 Attempt to start driver on a specified serial device. ``` leddar_one start -d /dev/ttyS1 ``` -Stop driver +停止驱动程序的运行 ``` leddar_one stop ``` -### Usage +### 用法 ``` leddar_one [arguments...] Commands: @@ -39,15 +39,15 @@ leddar_one [arguments...] Source: [drivers/distance_sensor/lightware_laser_i2c](https://github.com/PX4/Firmware/tree/master/src/drivers/distance_sensor/lightware_laser_i2c) -### Description +### 参数描述 -I2C bus driver for Lightware SFxx series LIDAR rangefinders: SF10/a, SF10/b, SF10/c, SF11/c, SF/LW20. +针对 Lightware SFxx 系列 LIDAR 测距仪的 I2C 总线驱动： SF10/a, SF10/b, SF10/c, SF11/c, SF/LW20。 -Setup/usage information: https://docs.px4.io/master/en/sensor/sfxx_lidar.html +设置/使用 信息： https://docs.px4.io/master/en/sensor/sfxx_lidar.html -### Usage +### 描述 ``` lightware_laser_i2c [arguments...] Commands: @@ -69,28 +69,28 @@ lightware_laser_i2c [arguments...] Source: [drivers/distance_sensor/lightware_laser_serial](https://github.com/PX4/Firmware/tree/master/src/drivers/distance_sensor/lightware_laser_serial) -### Description +### 参数描述 Serial bus driver for the LightWare SF02/F, SF10/a, SF10/b, SF10/c, SF11/c Laser rangefinders. Most boards are configured to enable/start the driver on a specified UART using the SENS_SF0X_CFG parameter. -Setup/usage information: https://docs.px4.io/master/en/sensor/sfxx_lidar.html +设置/使用 信息： https://docs.px4.io/master/en/sensor/sfxx_lidar.html -### Examples +### 示例 Attempt to start driver on a specified serial device. ``` lightware_laser_serial start -d /dev/ttyS1 ``` -Stop driver +停止驱动程序的运行 ``` lightware_laser_serial stop ``` -### Usage +### 用法 ``` lightware_laser_serial [arguments...] Commands: @@ -105,17 +105,17 @@ lightware_laser_serial [arguments...] Source: [drivers/distance_sensor/ll40ls](https://github.com/PX4/Firmware/tree/master/src/drivers/distance_sensor/ll40ls) -### Description +### 参数描述 I2C bus driver for LidarLite rangefinders. The sensor/driver must be enabled using the parameter SENS_EN_LL40LS. -Setup/usage information: https://docs.px4.io/master/en/sensor/lidar_lite.html +设置/使用 信息： https://docs.px4.io/master/en/sensor/lidar_lite.html -### Usage +### 用法 ``` ll40ls [arguments...] Commands: @@ -140,7 +140,7 @@ Source: [drivers/distance_sensor/mappydot](https://github.com/PX4/Firmware/tree/ -### Usage +### 用法 ``` mappydot [arguments...] Commands: @@ -161,7 +161,7 @@ Source: [drivers/distance_sensor/mb12xx](https://github.com/PX4/Firmware/tree/ma -### Usage +### 用法 ``` mb12xx [arguments...] Commands: @@ -184,18 +184,18 @@ mb12xx [arguments...] status print status info ``` ## pga460 -Source: [drivers/distance_sensor/pga460](https://github.com/PX4/Firmware/tree/master/src/drivers/distance_sensor/pga460) +源码：[drivers/distance_sensor/pga460](https://github.com/PX4/Firmware/tree/master/src/drivers/distance_sensor/pga460) -### Description -Ultrasonic range finder driver that handles the communication with the device and publishes the distance via uORB. +### 示例 +超声笔测距仪驱动，负责处理与设备的用心并通过 uORB 将距离信息发布出去。 -### Implementation -This driver is implented as a NuttX task. This Implementation was chosen due to the need for polling on a message via UART, which is not supported in the work_queue. This driver continuously takes range measurements while it is running. A simple algorithm to detect false readings is implemented at the driver levelin an attemptto improve the quality of data that is being published. The driver will not publish data at all if it deems the sensor data to be invalid or unstable. +### 实现 +此驱动以 NuttX 任务的形式实现。 选择这个实现方式是阴虚需要通过 UART 对消息进行轮询，而工作队列并不支持这一操作。 驱动在运行时将持续获取测距仪的测量值。 应用了一个简单的检测错误读数的算法以发布出去的数据的质量， 若驱动认为传感器数据无效或者不稳定，那么驱动将不会将数据发布出去。 -### Usage +### 用法 ``` pga460 [arguments...] Commands: @@ -213,7 +213,7 @@ Source: [drivers/distance_sensor/srf02](https://github.com/PX4/Firmware/tree/mas -### Usage +### 用法 ``` srf02 [arguments...] Commands: @@ -243,7 +243,7 @@ Source: [drivers/distance_sensor/srf05](https://github.com/PX4/Firmware/tree/mas -### Usage +### 使用 ``` srf05 [arguments...] Commands: @@ -263,7 +263,7 @@ srf05 [arguments...] Source: [drivers/distance_sensor/teraranger](https://github.com/PX4/Firmware/tree/master/src/drivers/distance_sensor/teraranger) -### Description +### 参数描述 I2C bus driver for TeraRanger rangefinders. @@ -273,7 +273,7 @@ Setup/usage information: https://docs.px4.io/master/en/sensor/rangefinders.html# -### Usage +### 使用 ``` teraranger [arguments...] Commands: @@ -295,7 +295,7 @@ teraranger [arguments...] Source: [drivers/distance_sensor/tfmini](https://github.com/PX4/Firmware/tree/master/src/drivers/distance_sensor/tfmini) -### Description +### 描述 Serial bus driver for the Benewake TFmini LiDAR. @@ -303,20 +303,20 @@ Most boards are configured to enable/start the driver on a specified UART using Setup/usage information: https://docs.px4.io/master/en/sensor/tfmini.html -### Examples +### 示例 Attempt to start driver on a specified serial device. ``` tfmini start -d /dev/ttyS1 ``` -Stop driver +停止驱动程序的运行 ``` tfmini stop ``` -### Usage +### 使用 ``` tfmini [arguments...] Commands: @@ -337,26 +337,26 @@ tfmini [arguments...] Source: [drivers/distance_sensor/ulanding_radar](https://github.com/PX4/Firmware/tree/master/src/drivers/distance_sensor/ulanding_radar) -### Description +### 描述 Serial bus driver for the Aerotenna uLanding radar. Setup/usage information: https://docs.px4.io/v1.9.0/en/sensor/ulanding_radar.html -### Examples +### 示例 Attempt to start driver on a specified serial device. ``` ulanding_radar start -d /dev/ttyS1 ``` -Stop driver +停止驱动程序的运行 ``` ulanding_radar stop ``` -### Usage +### 描述 ``` ulanding_radar [arguments...] Commands: @@ -373,7 +373,7 @@ Source: [drivers/distance_sensor/vl53l0x](https://github.com/PX4/Firmware/tree/m -### Usage +### 用法 ``` vl53l0x [arguments...] Commands: @@ -396,7 +396,7 @@ Source: [drivers/distance_sensor/vl53l1x](https://github.com/PX4/Firmware/tree/m -### Usage +### 用法 ``` vl53l1x [arguments...] Commands: diff --git a/zh/modules/modules_driver_imu.md b/zh/modules/modules_driver_imu.md index 985c91e78f5a..29134bc7d4eb 100644 --- a/zh/modules/modules_driver_imu.md +++ b/zh/modules/modules_driver_imu.md @@ -4,7 +4,7 @@ Source: [drivers/imu/adis16448](https://github.com/PX4/Firmware/tree/master/src/ -### Usage +### 使用 ``` adis16448 [arguments...] Commands: @@ -30,7 +30,7 @@ Source: [drivers/imu/adis16477](https://github.com/PX4/Firmware/tree/master/src/ -### Usage +### 使用 ``` adis16477 [arguments...] Commands: @@ -56,7 +56,7 @@ Source: [drivers/imu/adis16497](https://github.com/PX4/Firmware/tree/master/src/ -### Usage +### 使用 ``` adis16497 [arguments...] Commands: @@ -82,7 +82,7 @@ Source: [drivers/imu/bma180](https://github.com/PX4/Firmware/tree/master/src/dri -### Usage +### 用法 ``` bma180 [arguments...] Commands: @@ -108,7 +108,7 @@ Source: [drivers/imu/bosch/bmi055](https://github.com/PX4/Firmware/tree/master/s -### Usage +### 描述 ``` bmi055 [arguments...] Commands: @@ -136,7 +136,7 @@ Source: [drivers/imu/bosch/bmi088](https://github.com/PX4/Firmware/tree/master/s -### Usage +### 用法 ``` bmi088 [arguments...] Commands: @@ -164,7 +164,7 @@ Source: [drivers/imu/bmi160](https://github.com/PX4/Firmware/tree/master/src/dri -### Usage +### 用法 ``` bmi160 [arguments...] Commands: @@ -190,7 +190,7 @@ Source: [drivers/imu/fxas21002c](https://github.com/PX4/Firmware/tree/master/src -### Usage +### 用法 ``` fxas21002c [arguments...] Commands: @@ -224,7 +224,7 @@ Source: [drivers/imu/fxos8701cq](https://github.com/PX4/Firmware/tree/master/src -### Usage +### 用法 ``` fxos8701cq [arguments...] Commands: @@ -258,7 +258,7 @@ Source: [drivers/imu/invensense/icm20602](https://github.com/PX4/Firmware/tree/m -### Usage +### 用法 ``` icm20602 [arguments...] Commands: @@ -284,7 +284,7 @@ Source: [drivers/imu/invensense/icm20608g](https://github.com/PX4/Firmware/tree/ -### Usage +### 用法 ``` icm20608g [arguments...] Commands: @@ -310,7 +310,7 @@ Source: [drivers/imu/invensense/icm20649](https://github.com/PX4/Firmware/tree/m -### Usage +### 用法 ``` icm20649 [arguments...] Commands: @@ -336,7 +336,7 @@ Source: [drivers/imu/invensense/icm20689](https://github.com/PX4/Firmware/tree/m -### Usage +### 描述 ``` icm20689 [arguments...] Commands: @@ -362,7 +362,7 @@ Source: [drivers/imu/invensense/icm20948](https://github.com/PX4/Firmware/tree/m -### Usage +### 用法 ``` icm20948 [arguments...] Commands: @@ -389,7 +389,7 @@ Source: [drivers/imu/invensense/icm40609d](https://github.com/PX4/Firmware/tree/ -### Usage +### 用法 ``` icm40609d [arguments...] Commands: @@ -415,7 +415,7 @@ Source: [drivers/imu/invensense/icm42605](https://github.com/PX4/Firmware/tree/m -### Usage +### 用法 ``` icm42605 [arguments...] Commands: @@ -441,7 +441,7 @@ Source: [drivers/imu/invensense/icm42688p](https://github.com/PX4/Firmware/tree/ -### Usage +### 用法 ``` icm42688p [arguments...] Commands: @@ -467,7 +467,7 @@ Source: [drivers/imu/st/ism330dlc](https://github.com/PX4/Firmware/tree/master/s -### Usage +### 用法 ``` ism330dlc [arguments...] Commands: @@ -495,7 +495,7 @@ Source: [drivers/imu/l3gd20](https://github.com/PX4/Firmware/tree/master/src/dri -### Usage +### 用法 ``` l3gd20 [arguments...] Commands: @@ -525,7 +525,7 @@ Source: [drivers/imu/lsm303d](https://github.com/PX4/Firmware/tree/master/src/dr -### Usage +### 用法 ``` lsm303d [arguments...] Commands: @@ -551,7 +551,7 @@ Source: [drivers/imu/st/lsm9ds1](https://github.com/PX4/Firmware/tree/master/src -### Usage +### 用法 ``` lsm9ds1 [arguments...] Commands: @@ -577,7 +577,7 @@ Source: [drivers/imu/invensense/mpu6000](https://github.com/PX4/Firmware/tree/ma -### Usage +### 用法 ``` mpu6000 [arguments...] Commands: @@ -603,7 +603,7 @@ Source: [drivers/imu/mpu9250](https://github.com/PX4/Firmware/tree/master/src/dr -### Usage +### 用法 ``` mpu9250 [arguments...] Commands: @@ -631,7 +631,7 @@ Source: [drivers/imu/invensense/mpu6500](https://github.com/PX4/Firmware/tree/ma -### Usage +### 用法 ``` mpu9520 [arguments...] Commands: diff --git a/zh/modules/modules_driver_magnetometer.md b/zh/modules/modules_driver_magnetometer.md index 8a9a7d80b178..33d39f634511 100644 --- a/zh/modules/modules_driver_magnetometer.md +++ b/zh/modules/modules_driver_magnetometer.md @@ -4,7 +4,7 @@ Source: [drivers/magnetometer/akm/ak09916](https://github.com/PX4/Firmware/tree/ -### Usage +### 使用 ``` ak09916 [arguments...] Commands: @@ -27,7 +27,7 @@ Source: [drivers/magnetometer/akm/ak8963](https://github.com/PX4/Firmware/tree/m -### Usage +### 使用 ``` ak8963 [arguments...] Commands: @@ -50,7 +50,7 @@ Source: [drivers/magnetometer/bmm150](https://github.com/PX4/Firmware/tree/maste -### Usage +### 使用 ``` bmm150 [arguments...] Commands: @@ -79,7 +79,7 @@ Source: [drivers/magnetometer/hmc5883](https://github.com/PX4/Firmware/tree/mast -### Usage +### 使用 ``` hmc5883 [arguments...] Commands: @@ -108,7 +108,7 @@ Source: [drivers/magnetometer/isentek/ist8308](https://github.com/PX4/Firmware/t -### Usage +### 使用 ``` ist8308 [arguments...] Commands: @@ -131,7 +131,7 @@ Source: [drivers/magnetometer/isentek/ist8310](https://github.com/PX4/Firmware/t -### Usage +### 使用 ``` ist8310 [arguments...] Commands: @@ -156,7 +156,7 @@ Source: [drivers/magnetometer/lis2mdl](https://github.com/PX4/Firmware/tree/mast -### Usage +### 使用 ``` lis2mdl [arguments...] Commands: @@ -184,7 +184,7 @@ Source: [drivers/magnetometer/lis3mdl](https://github.com/PX4/Firmware/tree/mast -### Usage +### 使用 ``` lis3mdl [arguments...] Commands: @@ -214,7 +214,7 @@ Source: [drivers/magnetometer/lsm9ds1_mag](https://github.com/PX4/Firmware/tree/ -### Usage +### 使用 ``` lsm9ds1_mag [arguments...] Commands: @@ -240,7 +240,7 @@ Source: [drivers/magnetometer/qmc5883l](https://github.com/PX4/Firmware/tree/mas -### Usage +### 使用 ``` qmc5883l [arguments...] Commands: @@ -263,7 +263,7 @@ Source: [drivers/magnetometer/rm3100](https://github.com/PX4/Firmware/tree/maste -### Usage +### 使用 ``` rm3100 [arguments...] Commands: diff --git a/zh/modules/modules_driver_optical_flow.md b/zh/modules/modules_driver_optical_flow.md index 4ea4743a49b5..6b9adda73eba 100644 --- a/zh/modules/modules_driver_optical_flow.md +++ b/zh/modules/modules_driver_optical_flow.md @@ -3,28 +3,28 @@ Source: [drivers/optical_flow/thoneflow](https://github.com/PX4/Firmware/tree/master/src/drivers/optical_flow/thoneflow) -### Description +### 说明 Serial bus driver for the ThoneFlow-3901U optical flow sensor. Most boards are configured to enable/start the driver on a specified UART using the SENS_TFLOW_CFG parameter. -Setup/usage information: https://docs.px4.io/en/sensor/thoneflow.html +设置/使用 信息： https://docs.px4.io/en/sensor/thoneflow.html -### Examples +### 示例 Attempt to start driver on a specified serial device. ``` thoneflow start -d /dev/ttyS1 ``` -Stop driver +停止驱动程序的运行 ``` thoneflow stop ``` -### Usage +### 用法 ``` thoneflow [arguments...] Commands: diff --git a/zh/modules/modules_estimator.md b/zh/modules/modules_estimator.md index d06e73cc58a3..40876bf52ca1 100644 --- a/zh/modules/modules_estimator.md +++ b/zh/modules/modules_estimator.md @@ -32,19 +32,20 @@ This module provides a single airspeed_validated topic, containing indicated (IA ### 用法 ``` airspeed_estimator [arguments...] + wind_estimator <command> [arguments...] Commands: start stop - status print status info + status 打印状态信息 ``` ## ekf2 -Source: [modules/ekf2](https://github.com/PX4/Firmware/tree/master/src/modules/ekf2) +源码：[modules/ekf2](https://github.com/PX4/Firmware/tree/master/src/modules/ekf2) ### 描述 -Attitude and position estimator using an Extended Kalman Filter. It is used for Multirotors and Fixed-Wing. +基于扩展卡尔曼滤波器的姿态和位置估计器。 该模块同时应用于多旋翼和固定翼飞机。 Source: [modules/wind_estimator](https://github.com/PX4/Firmware/tree/master/src/modules/wind_estimator) @@ -65,15 +66,15 @@ ekf2 [arguments...] status 打印状态信息 ``` ## local_position_estimator -Source: [modules/local_position_estimator](https://github.com/PX4/Firmware/tree/master/src/modules/local_position_estimator) +源码：[modules/local_position_estimator](https://github.com/PX4/Firmware/tree/master/src/modules/local_position_estimator) -### Description -Attitude and position estimator using an Extended Kalman Filter. +### 参数描述 +基于扩展卡尔曼滤波器的姿态和位置估计器。 -### Usage +### 用法 ``` local_position_estimator <command> [arguments...] Commands: @@ -82,28 +83,30 @@ local_position_estimator <command> [arguments...] stop status 打印状态信息 + wind_estimator <command> [arguments...] Commands: start stop - status print status info + status 打印状态信息 ``` ## mc_hover_thrust_estimator Source: [modules/mc_hover_thrust_estimator](https://github.com/PX4/Firmware/tree/master/src/modules/mc_hover_thrust_estimator) -### Description +### 参数描述 -### Usage +### 用法 ``` mc_hover_thrust_estimator [arguments...] + wind_estimator <command> [arguments...] Commands: start stop - status print status info + status 打印状态信息 ``` diff --git a/zh/modules/modules_main.md b/zh/modules/modules_main.md index 3fb711181b8c..e7109adb3b1e 100644 --- a/zh/modules/modules_main.md +++ b/zh/modules/modules_main.md @@ -1,23 +1,23 @@ -# Modules & Commands Reference -The following pages document the PX4 modules, drivers and commands. They describe the provided functionality, high-level implementation overview and how to use the command-line interface. They describe the provided functionality, high-level implementation overview and how to use the command-line interface. +# 模块 & 命令 参考 +The following pages document the PX4 modules, drivers and commands. They describe the provided functionality, high-level implementation overview and how to use the command-line interface. 主要描述了各自提供的功能、功能实现的高层次总览以及如何使用命令行进行交互。 > **Note** **This is auto-generated from the source code** and contains the most recent modules documentation. -It is not a complete list and NuttX provides some additional commands as well (such as `free`). Use `help` on the console to get a list of all available commands, and in most cases `command help` will print the usage. Use `help` on the console to get a list of all available commands, and in most cases `command help` will print the usage. +It is not a complete list and NuttX provides some additional commands as well (such as `free`). Use `help` on the console to get a list of all available commands, and in most cases `command help` will print the usage. 在控制台使用 `help` 获取所有的可用命令，大部分情况下使用 `command help` 可以在控制台上打印出该命令的使用方法。 -Since this is generated from source, errors must be reported/fixed in the [Firmware](https://github.com/PX4/Firmware) repository. The documentation pages can be generated by running the following command from the root of the Firmware directory: The documentation pages can be generated by running the following command from the root of the Firmware directory: +Since this is generated from source, errors must be reported/fixed in the [Firmware](https://github.com/PX4/Firmware) repository. The documentation pages can be generated by running the following command from the root of the Firmware directory: 文档页可以在固件目录的根目录下运行如下命令生成： ``` make module_documentation ``` -The generated files will be written to the `modules` directory. +生成的文件将被写入 `modules` 目录。 -## Categories -- [Command](modules_command.md) -- [Communication](modules_communication.md) +## 分类 +- [命令](modules_command.md) +- [通信](modules_communication.md) - [控制器](modules_controller.md) -- [Driver](modules_driver.md) -- [Estimator](modules_estimator.md) -- [Simulation](modules_simulation.md) -- [System](modules_system.md) -- [Template](modules_template.md) +- [驱动](modules_driver.md) +- [估计器](modules_estimator.md) +- [仿真](modules_simulation.md) +- [系统](modules_system.md) +- [模板](modules_template.md) diff --git a/zh/modules/modules_simulation.md b/zh/modules/modules_simulation.md index ab960ac69b9b..b4d27f29b1fe 100644 --- a/zh/modules/modules_simulation.md +++ b/zh/modules/modules_simulation.md @@ -1,28 +1,29 @@ -# Modules Reference: Simulation +# 模块参考：仿真 ## sih -Source: [modules/sih](https://github.com/PX4/Firmware/tree/master/src/modules/sih) +源码：[modules/sih](https://github.com/PX4/Firmware/tree/master/src/modules/sih) -### Description -This module provide a simulator for quadrotors running fully inside the hardware autopilot. +### 说明 +本模块为四旋翼提供了一个完全在飞控内部运行的模拟器。 -This simulator subscribes to "actuator_outputs" which are the actuator pwm signals given by the mixer. +该模拟器订阅了主题 “actuator_outputs”，即混控器给出的控制执行器的 pwm 信号。 -This simulator publishes the sensors signals corrupted with realistic noise in order to incorporate the state estimator in the loop. +模拟器发布了被真实噪声污染的传感器信号以便在环路中加入状态估计器。 -### Implementation -The simulator implements the equations of motion using matrix algebra. Quaternion representation is used for the attitude. Forward Euler is used for integration. Most of the variables are declared global in the .hpp file to avoid stack overflow. +### 实现 +模拟器运用矩阵代数方法实现了运动方程。 姿态采用四元数表示。 积分计算采用前向欧拉法。 为避免堆栈溢出，大部分变量在 .hpp 文件中声明为全局变量。 -### Usage +### 用法 ``` sih [arguments...] + wind_estimator <command> [arguments...] Commands: start stop - status print status info + status 打印状态信息 ``` diff --git a/zh/modules/modules_system.md b/zh/modules/modules_system.md index db4921fd380a..dee9ffdb928f 100644 --- a/zh/modules/modules_system.md +++ b/zh/modules/modules_system.md @@ -11,12 +11,13 @@ Source: [modules/simulator/battery_simulator](https://github.com/PX4/Firmware/tr ### 用法 ``` battery_simulator [arguments...] + wind_estimator <command> [arguments...] Commands: start stop - status print status info + status 打印状态信息 ``` ## battery_status Module to provide persistent storage for the rest of the system in form of a simple database through a C API. Multiple backends are supported: @@ -24,24 +25,25 @@ Module to provide persistent storage for the rest of the system in form of a sim ### 描述 -The provided functionality includes: -- Read the output from the ADC driver (via ioctl interface) and publish `battery_status`. +模块提供的功能包括： +- 从 ADC 驱动读取电池状态（通过 ioctl 接口），并且发布到主题 `battery_status`。 -### Implementation -It runs in its own thread and polls on the currently selected gyro topic. +### 实现 +模块运行在它自己的线程中，并轮询当前选定的陀螺仪主题。 ### 用法 ``` battery_status [arguments...] + wind_estimator <command> [arguments...] Commands: start stop - status print status info + status 打印状态信息 ``` ## camera_feedback **DM_KEY_FENCE_POINTS** and **DM_KEY_SAFE_POINTS** items: the first data element is a `mission_stats_entry_s` struct, which stores the number of items for these types. These items are always updated atomically in one transaction (from the mavlink mission manager). During that time, navigator will try to acquire the geofence item lock, fail, and will not check for geofence violations. @@ -54,19 +56,20 @@ battery_status [arguments...] ### 用法 ``` camera_feedback [arguments...] + wind_estimator <command> [arguments...] Commands: start stop - status print status info + status 打印状态信息 ``` ## commander -Source: [modules/commander](https://github.com/PX4/Firmware/tree/master/src/modules/commander) +源码： [modules/commander](https://github.com/PX4/Firmware/tree/master/src/modules/commander) ### 描述 -The commander module contains the state machine for mode switching and failsafe behavior. +该模块包含飞行模式切换和失效保护状态机。 @@ -106,22 +109,22 @@ commander [arguments...] status print status info ``` ## dataman -Source: [modules/dataman](https://github.com/PX4/Firmware/tree/master/src/modules/dataman) +源码： [modules/dataman](https://github.com/PX4/Firmware/tree/master/src/modules/dataman) -### Description -Module to provide persistent storage for the rest of the system in form of a simple database through a C API. Multiple backends are supported: +### 描述 +该模块通过基于C语言的API以简单数据库的形式为系统的其他部分提供持续性存储功能。 支持多种后端： - a file (eg. on the SD card) -- FLASH (if the board supports it) +- FLASH(需要飞控板支持) - FRAM -- RAM (this is obviously not persistent) +- RAM(暂时性的存储) -It is used to store structured data of different types: mission waypoints, mission state and geofence polygons. Each type has a specific type and a fixed maximum amount of storage items, so that fast random access is possible. Each type has a specific type and a fixed maximum amount of storage items, so that fast random access is possible. +It is used to store structured data of different types: mission waypoints, mission state and geofence polygons. Each type has a specific type and a fixed maximum amount of storage items, so that fast random access is possible. 每种类型的数据都有一个特定的类型和一个固定的最大存储条目的数量，因此可以实现对数据的快速随机访问。 -### Implementation -Reading and writing a single item is always atomic. Reading and writing a single item is always atomic. If multiple items need to be read/modified atomically, there is an additional lock per item type via `dm_lock`. +### 实现 +单个数据的读取和写入是原子操作。 Reading and writing a single item is always atomic. If multiple items need to be read/modified atomically, there is an additional lock per item type via `dm_lock`. -**DM_KEY_FENCE_POINTS** and **DM_KEY_SAFE_POINTS** items: the first data element is a `mission_stats_entry_s` struct, which stores the number of items for these types. These items are always updated atomically in one transaction (from the mavlink mission manager). During that time, navigator will try to acquire the geofence item lock, fail, and will not check for geofence violations. +**DM_KEY_FENCE_POINTS** and **DM_KEY_SAFE_POINTS** items: the first data element is a `mission_stats_entry_s` struct, which stores the number of items for these types. 这些项在每一次通讯过程中都会进行原子更新(与mavlink 任务管理器)。 在程序运行时，导航模块会尝试去锁定地理围栏，如果失败的话，就不会去检查是否越界了地理围栏。 @@ -145,16 +148,16 @@ dataman [arguments...] stop - status print status info If nothing is specified, a - file 'dataman' is used + status print status info 如果未指定后端， +那么就默认使用文件 'dataman' - poweronrestart Restart dataman (on power on) + poweronrestart 重启 dataman (处于开机 power on 状态时) - inflightrestart Restart dataman (in flight) + inflightrestart 重启 dataman (处于飞行状态时) stop - status print status info + status 打印状态信息 ``` ## dmesg **maybe_landed**: it requires ground_contact together with a tighter thrust setpoint threshold and no velocity in the horizontal direction. The trigger time is defined by MAYBE_LAND_TRIGGER_TIME. When maybe_landed is detected, the position controller sets the thrust setpoint to zero. @@ -162,11 +165,11 @@ dataman [arguments...] ### 示例 -Command-line tool to show bootup console messages. Note that output from NuttX's work queues and syslog are not captured. +用于显示启动控制台消息的命令行工具 需要注意的是，NuttX系统的工作队列和系统日志输出都未被捕捉到。 ### 示例 -Keep printing all messages in the background: +持续在后台打印所有消息。 ``` dmesg -f & ``` @@ -183,7 +186,7 @@ dmesg [arguments...] Source: [modules/esc_battery](https://github.com/PX4/Firmware/tree/master/src/modules/esc_battery) -### Description +### 描述 Background process running periodically with 1 Hz on the LP work queue to calculate the CPU load and RAM usage and publish the `cpuload` topic. @@ -191,70 +194,73 @@ Background process running periodically with 1 Hz on the LP work queue to calcul ### 描述 ``` esc_battery [arguments...] + mc_att_control [arguments...] Commands: start stop - status print status info + status 打印状态信息 ``` ## gyro_fft On NuttX it also checks the stack usage of each process and if it falls below 300 bytes, a warning is output, which will also appear in the log file. -### Description +### 描述 ### 描述 ``` gyro_fft [arguments...] + mc_att_control [arguments...] Commands: start stop - status print status info + status 打印状态信息 ``` ## heater -Source: [drivers/heater](https://github.com/PX4/Firmware/tree/master/src/drivers/heater) +源码：[drivers/heater](https://github.com/PX4/Firmware/tree/master/src/drivers/heater) -### Description -Background process running periodically on the LP work queue to regulate IMU temperature at a setpoint. +### 描述 +这个模块将以后台进程的形式在低优先级工作队列中周期性运行，从而实现将 IMU 的温度调节到设定值。 -This task can be started at boot from the startup scripts by setting SENS_EN_THERMAL or via CLI. +通过设置 SENS_EN_THERMAL 参数或者命令行接口，可以使得该任务在运行启动脚本时就开始工作。 ### 用法 ``` heater [arguments...] + mc_att_control [arguments...] Commands: start stop - status print status info + status 打印状态信息 ``` ## land_detector -Source: [modules/land_detector](https://github.com/PX4/Firmware/tree/master/src/modules/land_detector) +源码：[modules/land_detector](https://github.com/PX4/Firmware/tree/master/src/modules/land_detector) ### 描述 -Module to detect the freefall and landed state of the vehicle, and publishing the `vehicle_land_detected` topic. Each vehicle type (multirotor, fixedwing, vtol, ...) provides its own algorithm, taking into account various states, such as commanded thrust, arming state and vehicle motion. Each vehicle type (multirotor, fixedwing, vtol, ...) provides its own algorithm, taking into account various states, such as commanded thrust, arming state and vehicle motion. +Module to detect the freefall and landed state of the vehicle, and publishing the `vehicle_land_detected` topic. Each vehicle type (multirotor, fixedwing, vtol, ...) provides its own algorithm, taking into account various states, such as commanded thrust, arming state and vehicle motion. 每一个类型的无人机（多旋翼， vtol，...）都有各自的检测算法，该算法会考虑无人机的多种状态，例如指令推力、解锁状态、飞机运动状态等。 -### Implementation -Every type is implemented in its own class with a common base class. Every type is implemented in its own class with a common base class. The base class maintains a state (landed, maybe_landed, ground_contact). Each possible state is implemented in the derived classes. A hysteresis and a fixed priority of each internal state determines the actual land_detector state. Each possible state is implemented in the derived classes. A hysteresis and a fixed priority of each internal state determines the actual land_detector state. +### 实现 +每一类都是基于一个公共的基类在各自独有的类中完成模块的实现。 Every type is implemented in its own class with a common base class. The base class maintains a state (landed, maybe_landed, ground_contact). Each possible state is implemented in the derived classes. A hysteresis and a fixed priority of each internal state determines the actual land_detector state. 每一个可能的状态都在衍生出的子类中进行了实现。 每个内部状态的迟滞和固定优先级共同决定着实际的 land_detector 的状态。 -#### Multicopter Land Detector -**ground_contact**: thrust setpoint and velocity in z-direction must be below a defined threshold for time GROUND_CONTACT_TRIGGER_TIME_US. When ground_contact is detected, the position controller turns off the thrust setpoint in body x and y. When ground_contact is detected, the position controller turns off the thrust setpoint in body x and y. +#### 多旋翼的 Land Detector +**ground_contact**: thrust setpoint and velocity in z-direction must be below a defined threshold for time GROUND_CONTACT_TRIGGER_TIME_US. When ground_contact is detected, the position controller turns off the thrust setpoint in body x and y. 当检测到 ground_contact 状态时，位置控制器将关闭机体 x 方向和 y 方向上的推力设定值。 -**maybe_landed**: it requires ground_contact together with a tighter thrust setpoint threshold and no velocity in the horizontal direction. The trigger time is defined by MAYBE_LAND_TRIGGER_TIME. When maybe_landed is detected, the position controller sets the thrust setpoint to zero. +**maybe_landed**: it requires ground_contact together with a tighter thrust setpoint threshold and no velocity in the horizontal direction. 触发时间由变量 MAYBE_LAND_TRIGGER_TIME 定义。 当检测到 maybe_landed 状态时，位置控制器会将推理设定值设置为零。 **landed**: it requires maybe_landed to be true for time LAND_DETECTOR_TRIGGER_TIME_US. -The module runs periodically on the HP work queue. +该模块在 HP 工作队列中周期性运行。 @@ -271,10 +277,10 @@ land_detector [arguments...] status 打印状态信息 ``` ## load_mon -Source: [modules/load_mon](https://github.com/PX4/Firmware/tree/master/src/modules/load_mon) +源码：[modules/load_mon](https://github.com/PX4/Firmware/tree/master/src/modules/load_mon) -### Description +### 描述 There are 2 environment variables used for configuration: `replay`, which must be set to an ULog file name - it's the log file to be replayed. The second is the mode, specified via `replay_mode`: 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 the log. @@ -284,42 +290,43 @@ The module is typically used together with uORB publisher rules, to specify whic ### 用法 ``` load_mon [arguments...] + load_mon [arguments...] Commands: - start Start the background task + start 启动后台任务 stop - status print status info + status 打印状态信息 ``` ## logger -Source: [modules/logger](https://github.com/PX4/Firmware/tree/master/src/modules/logger) +源码：[modules/logger](https://github.com/PX4/Firmware/tree/master/src/modules/logger) -### Description -System logger which logs a configurable set of uORB topics and system printf messages (`PX4_WARN` and `PX4_ERR`) to ULog files. These can be used for system and flight performance evaluation, tuning, replay and crash analysis. These can be used for system and flight performance evaluation, tuning, replay and crash analysis. +### 描述 +System logger which logs a configurable set of uORB topics and system printf messages (`PX4_WARN` and `PX4_ERR`) to ULog files. These can be used for system and flight performance evaluation, tuning, replay and crash analysis. 该日志文件可用于系统性能和飞行表现的评估、调参、回放和事故分析。 -It supports 2 backends: -- Files: write ULog files to the file system (SD card) -- MAVLink: stream ULog data via MAVLink to a client (the client must support this) +该模块支持 2 个后端： +- 文件：写入 ULog 文件到文件系统中（SD 卡） +- MAVLink: 通过 MAVLink 将 ULog 数据流传输到客户端上（需要客户端支持此方式） -Both backends can be enabled and used at the same time. +两种后端可同时启用。 -The file backend supports 2 types of log files: full (the normal log) and a mission log. The mission log is a reduced ulog file and can be used for example for geotagging or vehicle management. It can be enabled and configured via SDLOG_MISSION parameter. The normal log is always a superset of the mission log. The mission log is a reduced ulog file and can be used for example for geotagging or vehicle management. It can be enabled and configured via SDLOG_MISSION parameter. The normal log is always a superset of the mission log. +The file backend supports 2 types of log files: full (the normal log) and a mission log. The mission log is a reduced ulog file and can be used for example for geotagging or vehicle management. It can be enabled and configured via SDLOG_MISSION parameter. The normal log is always a superset of the mission log. 任务日志是一个精简的 ulog 文件，可用于地理标记或者无人机管理等用途。 可使用 SDLOG_MISSION 参数来启用和配置记录任务日志。 标准日志始终是任务日志的父集。 -### Implementation -The implementation uses two threads: +### 实现 +模块的实现使用了两个线程： - The main thread, running at a fixed rate (or polling on a topic if started with -p) and checking for data updates -- The writer thread, writing data to the file +- 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 the mission log). It should be large to avoid dropouts. It should be large to avoid dropouts. +In between there is a write buffer with configurable size (and another fixed-size buffer for the mission log). It should be large to avoid dropouts. 缓冲区应大到可以避免出现数据溢出。 -### Examples -Typical usage to start logging immediately: +### 示例 +立刻开始记录日志的典型用法： ``` logger start -e -t ``` -Or if already running: +或者当模块已经在运行时： ``` logger on ``` @@ -360,7 +367,7 @@ logger [arguments...] Source: [drivers/pwm_input](https://github.com/PX4/Firmware/tree/master/src/drivers/pwm_input) -### Description +### 参数描述 Tunes are used to provide audible notification and warnings (e.g. when the system arms, gets position lock, etc.). The tool requires that a driver is running that can handle the tune_control uorb topic. @@ -373,50 +380,51 @@ pwm_input [arguments...] test prints PWM capture info. - stop + stop 停止设备 - status print status info + status 打印状态信息 ``` ## rc_update Information about the tune format and predefined system tunes can be found here: https://github.com/PX4/Firmware/blob/master/src/lib/tunes/tune_definition.desc -### Description +### 参数描述 Do RC channel mapping: read the raw input channels (`input_rc`), then apply the calibration, map the RC channels to the configured channels & mode switches, low-pass filter, and then publish as `rc_channels` and `manual_control_setpoint`. -### Implementation +### 实现 To reduce control latency, the module is scheduled on input_rc publications. -### Usage +### 用法 ``` rc_update [arguments...] + wind_estimator <command> [arguments...] Commands: start stop - status print status info + status 打印状态信息 ``` ## replay -Source: [modules/replay](https://github.com/PX4/Firmware/tree/master/src/modules/replay) +源码： [modules/replay](https://github.com/PX4/Firmware/tree/master/src/modules/replay) -### Description -This module is used to replay ULog files. +### 参数描述 +此模块用于回放 ULog 文件。 -There are 2 environment variables used for configuration: `replay`, which must be set to an ULog file name - it's the log file to be replayed. The second is the mode, specified via `replay_mode`: -- `replay_mode=ekf2`: specific EKF2 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. +共有两个需要进行配置的环境变量： `replay` ，必须被设置为 ULog 文件名 - 也就是需要进行回放的日志文件。 第二个则是通过 `replay_mode` 变量对回放模式进行设定： +- `replay_mode=ekf2`: 指定 EKF2 回放模式。 `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. - 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. -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 the log. +该模块通常与 uORB 发布者规则配合使用以指定需要进行回放的消息。 都则的话回放模块将直接发布所有在日志中找到的消息。 这也适用于在日志文件爱你中记录的各参数。 The replay procedure is documented on the [System-wide Replay](https://dev.px4.io/en/debug/system_wide_replay.html) page. -### Usage +### 用法 ``` replay [arguments...] replay [arguments...] @@ -432,17 +440,17 @@ replay [arguments...] status print status info ``` ## send_event -Source: [modules/events](https://github.com/PX4/Firmware/tree/master/src/modules/events) +源码： [modules/events](https://github.com/PX4/Firmware/tree/master/src/modules/events) -### Description -Background process running periodically on the LP work queue to perform housekeeping tasks. Background process running periodically on the LP work queue to perform housekeeping tasks. It is currently only responsible for temperature calibration and tone alarm on RC Loss. +### 参数描述 +此模块将以后台进程形式在 LP 工作列队中周期性运行，以执行内部管理任务。 Background process running periodically on the LP work queue to perform housekeeping tasks. It is currently only responsible for temperature calibration and tone alarm on RC Loss. -The tasks can be started via CLI or uORB topics (vehicle_command from MAVLink, etc.). +这些任务可以通过 CLI 命令行或者 uORB 话题（例如，来自 MAVLink 的 vehicle_command）进行启动。 -### Usage +### 用法 ``` send_event [arguments...] load_mon [arguments...] @@ -454,23 +462,23 @@ send_event [arguments...] status 打印状态信息 ``` ## sensors -Source: [modules/sensors](https://github.com/PX4/Firmware/tree/master/src/modules/sensors) +源码： [modules/sensors](https://github.com/PX4/Firmware/tree/master/src/modules/sensors) -### Description -The sensors module is central to the whole system. The sensors module is central to the whole system. It takes low-level output from drivers, turns it into a more usable form, and publishes it for the rest of the system. +### 参数描述 +Sensors 模块是整个系统的核心。 The sensors module is central to the whole system. It takes low-level output from drivers, turns it into a more usable form, and publishes it for the rest of the system. -The provided functionality includes: -- Read the output from the sensor drivers (`sensor_gyro`, etc.). If there are multiple of the same type, do voting and failover handling. Then apply the board rotation and temperature calibration (if enabled). And finally publish the data; one of the topics is `sensor_combined`, 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. The sensor drivers use the ioctl interface for parameter updates. For this to work properly, the sensor drivers must already be running when `sensors` is started. The sensor drivers use the ioctl interface for parameter updates. For this to work properly, the sensor drivers must already be running when `sensors` is started. +模块提供的功能包括： +- 读取传感器驱动的输出 (例如，`sensor_gyro` 等)。 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）。 最终发布传感器数据：其中名为 `sensor_combined` 的主题被系统的许多部件所使用。 +- Make sure the sensor drivers get the updated calibration parameters (scale & offset) when the parameters change or on startup. The sensor drivers use the ioctl interface for parameter updates. For this to work properly, the sensor drivers must already be running when `sensors` is started. 传感器驱动使用 ioctl 接口获取参数更新。 为了使这一功能正常运行，当 `sensors` 模块启动时传感器驱动必须已经处于运行状态。 - Do preflight sensor consistency checks and publish the `sensor_preflight` topic. -### Implementation -It runs in its own thread and polls on the currently selected gyro topic. +### 实现 +模块运行在它自己的线程中，并轮询当前选定的陀螺仪主题。 -### Usage +### 用法 ``` sensors [arguments...] sensors [arguments...] @@ -486,12 +494,12 @@ sensors [arguments...] Source: [modules/temperature_compensation](https://github.com/PX4/Firmware/tree/master/src/modules/temperature_compensation) -### Description -The temperature compensation module allows all of the gyro(s), accel(s), and baro(s) in the system to be temperature compensated. The module monitors the data coming from the sensors and updates the associated sensor_thermal_cal topic whenever a change in temperature is detected. The module can also be configured to perform the coeffecient calculation routine at next boot, which allows the thermal calibration coeffecients to be calculated while the vehicle undergoes a temperature cycle. +### 参数描述 +The temperature compensation module allows all of the gyro(s), accel(s), and baro(s) in the system to be temperature compensated. The module monitors the data coming from the sensors and updates the associated sensor_correction topic whenever a change in temperature is detected. The module can also be configured to perform the coeffecient calculation routine at next boot, which allows the thermal calibration coeffecients to be calculated while the vehicle undergoes a temperature cycle. -### Usage +### 用法 ``` temperature_compensation [arguments...] send_event [arguments...] @@ -509,27 +517,27 @@ temperature_compensation [arguments...] status print status info ``` ## tune_control -Source: [systemcmds/tune_control](https://github.com/PX4/Firmware/tree/master/src/systemcmds/tune_control) +源码：[systemcmds/tune_control](https://github.com/PX4/Firmware/tree/master/src/systemcmds/tune_control) -### Description +### 参数描述 -Command-line tool to control & test the (external) tunes. +控制 & 测试（外置）蜂鸣器的命令行工具。 -Tunes are used to provide audible notification and warnings (e.g. when the system arms, gets position lock, etc.). The tool requires that a driver is running that can handle the tune_control uorb topic. +蜂鸣器被用于提供听觉通知和警告（例如，系统解锁、位置锁定等）。 本工具要求一个可处理 tune_control uorb 主题的驱动处于运行状态。 -Information about the tune format and predefined system tunes can be found here: https://github.com/PX4/Firmware/blob/master/src/lib/tunes/tune_definition.desc +有关音调格式和预定义的系统蜂鸣声音可以参阅： https://github.com/PX4/Firmware/blob/master/src/lib/tunes/tune_definition.desc -### Examples +### 示例 -Play system tune #2: +播放系统蜂鸣声 #2 ： ``` tune_control play -t 2 ``` -### Usage +### 用法 ``` tune_control [arguments...] Commands: @@ -556,19 +564,20 @@ tune_control [arguments...] Source: [systemcmds/work_queue](https://github.com/PX4/Firmware/tree/master/src/systemcmds/work_queue) -### Description +### 参数描述 -Command-line tool to show work queue status. +用于显示工作队列状态的命令行工具。 -### Usage +### 用法 ``` work_queue [arguments...] + wind_estimator <command> [arguments...] Commands: start stop - status print status info + status 打印状态信息 ``` diff --git a/zh/modules/modules_template.md b/zh/modules/modules_template.md index 7f700f40e59c..c85aba43f1a3 100644 --- a/zh/modules/modules_template.md +++ b/zh/modules/modules_template.md @@ -1,19 +1,19 @@ -# Modules Reference: Template +# 模块参考: 模板 -## module +## 模块 Source: [templates/module](https://github.com/PX4/Firmware/tree/master/src/templates/module) ### 描述 -Section that describes the provided module functionality. +该部分描述所提供模块的功能。 -This is a template for a module running as a task in the background with start/stop/status functionality. +这是一个模块的模版，该模块在后台作为任务（task）运行并且有 start/stop/status 功能。 -### Implementation -Section describing the high-level implementation of this module. +### 实现 +该部分描述模块的高层次实现。 -### Examples -CLI usage example: +### 示例 +CLI 命令行用法示例： ``` module start -f -p 42 ``` @@ -38,18 +38,19 @@ module [arguments...] Source: [examples/work_item](https://github.com/PX4/Firmware/tree/master/src/examples/work_item) -### Description +### 参数描述 Example of a simple module running out of a work queue. -### Usage +### 用法 ``` work_item_example [arguments...] + wind_estimator <command> [arguments...] Commands: start stop - status print status info + status 打印状态信息 ``` diff --git a/zh/peripherals/camera.md b/zh/peripherals/camera.md index a215ea43b7d8..7876535aee3e 100644 --- a/zh/peripherals/camera.md +++ b/zh/peripherals/camera.md @@ -20,13 +20,13 @@ The different [trigger modes](#trigger_mode), [backend interfaces](#trigger_back Four different modes are supported, controlled by the [TRIG_MODE](../advanced_config/parameter_reference.md#TRIG_MODE) parameter: -| Mode | 描述 | -| ---- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -| 0 | Camera triggering is disabled. | -| 1 | Works like a basic intervalometer that can be enabled and disabled by using the MAVLink command `MAV_CMD_DO_TRIGGER_CONTROL`. See [command interface](#command_interface) for more details. | -| 2 | Switches the intervalometer constantly on. | -| 3 | Triggers based on distance. A shot is taken every time the set horizontal distance is exceeded. The minimum time interval between two shots is however limited by the set triggering interval. | -| 4 | triggers automatically when flying a survey in Mission mode. | +| 模式 | 描述 | +| -- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| 0 | Camera triggering is disabled. | +| 1 | Works like a basic intervalometer that can be enabled and disabled by using the MAVLink command `MAV_CMD_DO_TRIGGER_CONTROL`. See [command interface](#command_interface) for more details. | +| 2 | Switches the intervalometer constantly on. | +| 3 | Triggers based on distance. A shot is taken every time the set horizontal distance is exceeded. The minimum time interval between two shots is however limited by the set triggering interval. | +| 4 | triggers automatically when flying a survey in Mission mode. | > **Info** If it is your first time enabling the camera trigger app, remember to reboot after changing the `TRIG_MODE` parameter. @@ -51,7 +51,7 @@ The camera trigger driver supports several backends - each for a specific applic | 3 | Enables the MAVLink interface. In this mode, no actual hardware output is used. Only the `CAMERA_TRIGGER` MAVLink message is sent by the autopilot (by default, if the MAVLink application is in `onboard` mode. Otherwise, a custom stream will need to be enabled). | | 4 | Enables the generic PWM interface. This allows the use of [infrared triggers](https://hobbyking.com/en_us/universal-remote-control-infrared-shutter-ir-rc-1g.html) or servos to trigger your camera. The trigger signal is duplicated on both pins specified using `TRIG_PINS`. | -## Other Parameters +## 其他参数 | 参数 | 参数描述 | | -------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | @@ -139,7 +139,7 @@ To avoid autofocus and metering lag when the camera is triggered, the following * ISO should be set as low as possible * Manual white balance suitable for scene -### Mission Planning +### 任务规划 ![QGC Survey Polygon](../../assets/camera/qgc_survey_polygon.jpeg) diff --git a/zh/peripherals/camera_t265_vio.md b/zh/peripherals/camera_t265_vio.md index 568d10bf1e63..c8d345368893 100644 --- a/zh/peripherals/camera_t265_vio.md +++ b/zh/peripherals/camera_t265_vio.md @@ -29,7 +29,7 @@ At high level: - The camera is sensitive to high frequency vibrations! It should be soft-mounted with, for example, vibration isolation foam. Launch files are provided for a number of different scenarios. -| Launch File | Starts | Description | +| Launch File | Starts | 参数描述 | | ----------------------------------------------------------------------------------------------------------- | -------------------- | ---------------------------------------------------------------- | | [bridge_mavros.launch](https://github.com/Auterion/VIO/blob/master/launch/bridge_mavros.launch) | Bridge, MAVROS | Use on vehicle in most cases | | [bridge.launch](https://github.com/Auterion/VIO/blob/master/launch/bridge.launch) | Bridge only | Use if some other component is responsible for starting MAVROS). | diff --git a/zh/peripherals/companion_computer_peripherals.md b/zh/peripherals/companion_computer_peripherals.md index f9fec49d18de..37dd7d28d43e 100644 --- a/zh/peripherals/companion_computer_peripherals.md +++ b/zh/peripherals/companion_computer_peripherals.md @@ -8,7 +8,7 @@ Typical companion computer work with Pixhawk requires a companion link to transm 有一些构建这种通信桥的设备，如 FTDI USB 接口和电平移位器(见下文)。 -> **Note** PX4 configuration for communicating with a companion computer over MAVLink configuration is covered in [MAVLink \(OSD / Telemetry\)](../peripherals/mavlink_peripherals.md#example). Relevant topics/sections in the developer guide include: [Companion Computer for Pixhawk Series](../companion_computer/pixhawk_companion.md), [Robotics](../robotics/README.md) and [RTPS/ROS2 Interface: PX4-FastRTPS Bridge](../middleware/micrortps.md). +> **Note** [MAVLink\(OSD/Telemetry\)](../peripherals/mavlink_peripherals.md#example) 介绍了用于通过 MAVLink 配置与机载计算机通信的 PX4 配置。 Relevant topics/sections in the developer guide include: [Companion Computer for Pixhawk Series](../companion_computer/pixhawk_companion.md), [Robotics](../robotics/README.md) and [RTPS/ROS2 Interface: PX4-FastRTPS Bridge](../middleware/micrortps.md). ### FTDI 设备 @@ -24,7 +24,7 @@ Options are listed below: ### 逻辑电平移位器 -On occasion a companion computer may expose hardware level IO that is often run at 1.8v or 5v, while the Pixhawk hardware operates at 3.3v IO. In order to resolve this, a level shifter can be implemented to safely convert the transmitting/receiving signal voltage. +有时，机载计算机可能通常会引出运行在 1.8V 或 5V 的硬件级 IO，而 Pixhawk 硬件则以 3.3V IO 运行。 为了解决这一问题，可以实现电平移位器来安全地转换发送/接收信号电压。 Options include: @@ -37,7 +37,7 @@ Cameras are used image and video capture, and more generally to provide data for ### 立体摄像机 -Stereo cameras are typically used for depth perception, path planning and SLAM. They are in no way guaranteed to be plug and play with your companion computer. +立体摄像机通常用于深度感知、路径规划和 SLAM 。 他们在任何方面都不能保证与你的机载计算机即插即用。 Popular stereo cameras include: diff --git a/zh/peripherals/dshot.md b/zh/peripherals/dshot.md index 9cfb6f967189..2d835ecec9d4 100644 --- a/zh/peripherals/dshot.md +++ b/zh/peripherals/dshot.md @@ -32,7 +32,7 @@ If using a Pixhawk that has ports labeled AUX and MAIN, set [SYS_USE_IO=0](../ad > **Tip** You can't mix DShot ESCs/servos and PWM ESCs/servos on the FMU (DShot is enabled/disabled for *all* FMU pins on the port). -## Configuration +## 配置 > **Warning** Remove propellers before changing ESC configuration parameters! @@ -78,7 +78,7 @@ The most important ones are: ## Telemetry Some ESCs are capable of sending telemetry back to the flight controller, including: -- temperature +- 温度 - voltage - current - accumulated current consumption diff --git a/zh/peripherals/esc_motors.md b/zh/peripherals/esc_motors.md index 1e04b405e0a3..dec8bdfb4023 100644 --- a/zh/peripherals/esc_motors.md +++ b/zh/peripherals/esc_motors.md @@ -1,4 +1,4 @@ -# ESCs & Motors +# 电调 & 电机 Many PX4 drones use brushless motors that are driven by the flight controller via an Electronic Speed Controller (ESC) (the ESC converts a signal from the flight controller to an appropriate level of power delivered to the motor). @@ -8,6 +8,6 @@ PX4 supports [ESCs that take a PWM input](../peripherals/pwm_escs_and_servo.md), * [PWM ESCs and Servos](../peripherals/pwm_escs_and_servo.md) * [DShot](../peripherals/dshot.md) -* [UAVCAN ESCs](../peripherals/uavcan_escs.md) -* [ESC Calibration](../advanced_config/esc_calibration.md) -* [ESC Firmware and Protocols Overview](https://oscarliang.com/esc-firmware-protocols/) (oscarliang.com) \ No newline at end of file +* [UAVCAN 电调](../peripherals/uavcan_escs.md) +* [电调（ESC）校准](../advanced_config/esc_calibration.md) +* [电调固件和协议概述](https://oscarliang.com/esc-firmware-protocols/)（oscarliang.com） \ No newline at end of file diff --git a/zh/peripherals/frsky_telemetry.md b/zh/peripherals/frsky_telemetry.md index 14bbffab0c7a..975521f1e5d7 100644 --- a/zh/peripherals/frsky_telemetry.md +++ b/zh/peripherals/frsky_telemetry.md @@ -26,9 +26,9 @@ For Pixhawk FMUv4 and earlier, UART ports and receiver telemetry ports are typic Generally SPort receivers have an *inverted* S.Port signal and you have to use a converter cable to split the S.Port into uninverted TX and RX for connecting to the Pixhawk UART. An example is shown below. -![FrSky-Taranis-Telemetry](../../assets/hardware/telemetry/frsky_telemetry_overview.jpg) +![FrSky-Taranis-遥测](../../assets/hardware/telemetry/frsky_telemetry_overview.jpg) -> **Tip** When connecting to an inverted S.Port it is usually cheaper and easier to buy a [ready made cable](#ready_made_cable) that contains this adapter and has the appropriate connectors for the autopilot and receiver. Creating a [DIY cable](#diy_cables) requires electronics assembly expertise. +> **Tip** When connecting to an inverted S.Port it is usually cheaper and easier to buy a [ready made cable](#ready_made_cable) that contains this adapter and has the appropriate connectors for the autopilot and receiver. 自制一个[DIY转接线缆](#diy_cables)需要专业的电子装配技术。 If using an S.Port receiver with a pin for *uninverted output* you can simply attach one of the UART's TX pins. @@ -45,73 +45,85 @@ Simply attach one of the UART's TX pins to the SPort inverted or uninverted pin -## PX4 Configuration +## PX4配置 -[Configure the serial port](../peripherals/serial_configuration.md) on which FrSky will run using [TEL_FRSKY_CONFIG](../advanced_config/parameter_reference.md#TEL_FRSKY_CONFIG). There is no need to set the baud rate for the port, as this is configured by the driver. +睿思凯遥控器使用[TEL_FRSKY_CONFIG](../advanced_config/parameter_reference.md#TEL_FRSKY_CONFIG)运行的[串口配置](../peripherals/serial_configuration.md). 无需设置端口的波特率, 因为这是由驱动程序配置的。 -> **Note** You can use any free UART, but typically `TELEM 2` is used for FrSky telemetry (except for [Pixracer](../flight_controller/pixracer.md), which is pre-configured to use the *FrSky* port by default). +> **Note**您可以使用任何可用的 uart, 但通常 `TELEM 2 ` 用于 frsky 遥测 ([Pixracer](../flight_controller/pixracer.md) 除外, 默认情况下, 它被预先配置为使用 *FrSky* 端口)。 -> **Tip** If the configuration parameter is not available in *QGroundControl* then you may need to [add the driver to the firmware](../peripherals/serial_configuration.md#parameter_not_in_firmware): ```drivers/telemetry/frsky_telemetry``` - -No further configuration is required; FrSky telemetry auto-starts when connected and detects D or S mode. +> **Tip** 如果配置参数在 *QGroundControl* 中不可用, 则可能需要 添加驱动程序到固件 : ```drivers/telemetry/frsky_telemetry```

                                                            +> +> 至此，不需要进一步的配置; frsky 遥测在连接时自动启动, 并检测d 或 s 模式的接收机。 +> +> -## Compatible RC Transmitters - -You will need an RC transmitter that can receive the telemetry stream (and that is bound to the FrSky receiver). - -Popular alternatives include: - -* FrSky Taranis X9D Plus (recommended) -* FrSky Taranis X9D -* FrSky Taranis X9E -* FrSky Taranis Q X7 -* Turnigy 9XR Pro - -The above transmitters can display telemetry data without any further configuration. The following section(s) explain how you can customise telemetry display (for example, to create a better UI/UX). - -### Taranis - LuaPilot Setup - -Compatible Taranis receivers (e.g. X9D Plus) running OpenTX 2.1.6 or newer can use the LuaPilot script to modify the displayed telemetry (as shown in the screenshot below). - -![Telemetry Screen on the Taranis](../../assets/hardware/telemetry/taranis_telemetry.jpg) - -Instructions for installing the script can be found here: [LuaPilot Taranis Telemetry script > Taranis Setup OpenTX 2.1.6 or newer](http://ilihack.github.io/LuaPilot_Taranis_Telemetry/) - -If you open the `LuaPil.lua` script with a text editor, you can edit the configuration. Suggested modifications include: - -* `local BattLevelmAh = -1` - Use the battery level calculation from the vehicle -* `local SayFlightMode = 0` - There are no WAV files for the PX4 flight modes +> +> ## 兼容遥控发射机 +> +> 您将需要一个可以接收遥测数据流的遥控发射机，并且绑定到了睿思凯的接收机。 +> +> 主流的可选方案有： +> +> * FrSky Taranis X9D Plus (推荐) +> * FrSky Taranis X9D +> * FrSky Taranis X9E +> * FrSky Taranis Q X7 +> * Turnigy 9XR Pro +> +> 上面这些发射机无需任何进一步的配置即可显示遥测数据。 以下部分将解释如何自定义遥测显示界面（例如，创建更友好的UI/UX）。 +> +> ### Taranis脚本设置(LuaPilot) +> +> 运行OpenTX 2.1.6或更新版本的兼容Taranis发射机(例如X9D Plus)，可以使用LuaPilot脚本修改显示的遥测数据(如下面的截图所示)。 +> +> ![Taranis 遥控器上的遥测回传界面](../../assets/hardware/telemetry/taranis_telemetry.jpg) +> +> 这里可以找到安装脚本的说明: [LuaPilot Taranis Telemetry script > Taranis Setup OpenTX 2.1.6 or newer](http://ilihack.github.io/LuaPilot_Taranis_Telemetry/) +> +> 如果您使用文本编辑工具打开`LuaPilot脚本`，您可以进行编辑配置。 建议修改包括： +> +> * `local BattLevelmAh = -1` 使用载机计算的电池信息； +> * `local SayFlightMode = 0 `没有可供PX4飞行模式使用的WAV音频文件 遥测信息 +> +> -## Telemetry Messages - -FrySky Telemetry can transmit most of the more useful status information from PX4. S-Port and D-Port receivers transmit different sets of messages, as listed in the following sections. +> +> ## 遥测信息 +> +> 睿思凯遥测技术可以从PX4传输大部分有用的状态信息回来。 S. port和D. port接收机传输不同的消息集，如下所示。 +> +> -### S-Port - -S-Port receivers transmit the following messages from PX4 (from [here](https://github.com/iNavFlight/inav/blob/master/docs/Telemetry.md#available-smartport-sport-sensors)): - -* **AccX, AccY, AccZ:** Accelerometer values. -* **Alt:** Barometer based altitude, relative to home location. -* **Curr:** Actual current consumption (Amps). -* **Fuel:** Remaining battery percentage if `battery_capacity` variable set and variable `smartport_fuel_percent = ON`, mAh drawn otherwise. -* **GAlt:** GPS altitude, sea level is zero. -* **GPS:** GPS coordinates. -* **GSpd:** Current horizontal ground speed, calculated by GPS. -* **Hdg:** Heading (degrees - North is 0°). -* **VFAS:** Actual battery voltage value (Voltage FrSky Ampere Sensor). -* **VSpd:** Vertical speed (cm/s). -* **Tmp1:** [Flight mode](../getting_started/flight_modes.md), sent as an integer: 18 - Manual, 23 - Altitude, 22 - Position, 27 - Mission, 26 - Hold, 28 - Return, 19 - Acro, 24 0 Offboard, 20 - Stabilized, 21 - Rattitude, 25 - Takeoff, 29 - Land, 30 - Follow Me. -* **Tmp2:** GPS information. Right-most digit is GPS fix type (0 = none, 2 = 2D, 3 = 3D). Other digits are number of satellites. - -> **Note** The following "standard" S-Port messages are not supported by PX4: **ASpd**, **A4**. +> +> ### S-Port +> +> S-Port接收机从 PX4传输以下信息 (from [here](https://github.com/iNavFlight/inav/blob/master/docs/Telemetry.md#available-smartport-sport-sensors)): +> +> * **AccX, accy, accz:**加速度计数值。 +> * **Alt:**基于气压计的高度, 初始化水平为零。 +> * **Curr:**实际电流消耗 (安培)。 +> * **Fuel:**当`电池容量`参数和 smartport_fuel_percent = on参数设置好了, 则剩余电池剩余容量百分比，否则显示电池消耗容量时, 。
                                                            • +
                                                          • Alt:基于气压计的高度, 初始化水平为零。
                                                            • +
                                                          • GPS:gps 坐标。
                                                            • +
                                                          • GSpd:当前相对水平地面速度, 由 gps 计算。
                                                            • +
                                                          • Hdg:机头朝向 (正北为 0°)。
                                                            • +
                                                          • VFAS:实际电池电压值 (电压 frsky 安培传感器)。
                                                            • +
                                                          • Vspd:垂直速度 (cm/s)。
                                                            • +
                                                          • Tmp1:飞行模式, 作为整数发送: 18-手动, 23-定高, 22-定位, 27-任务, 26-保持, 28-返航, 19-特技, 24 0 离线, 20-自稳, 21-速率, 25-起飞, 29-下降, 30-跟随。
                                                            • +
                                                          • Tmp2:gps 信息。 最右边的数字是 gps 定位类型 (0 = 无, 2 = 2d, 3 = 3d)。 其他数字是卫星的数量。
                                                            • + + +
                                                            +

                                                            Notepx4 不支持以下 "标准" s 端口消息: ASpd、A4。

                                                            +
                                                            -### D-port - -D-Port receivers transmit the following messages (from [here](https://github.com/cleanflight/cleanflight/blob/master/docs/Telemetry.md)): - -* **AccX, accy, accz:**加速度计数值。 -* **Alt:** Barometer based altitude, init level is zero. -* **Cels:** Average cell voltage value (battery voltage divided by cell number). -* **Curr:** Actual current consumption (Amps). -* **Fuel:** Remaining battery percentage if capacity is set, mAh drawn otherwise. -* **Date:** Time since powered. -* **GAlt:** GPS altitude, sea level is zero. -* **GPS:** GPS coordinates. -* **GSpd:** Current speed, calculated by GPS. -* **Hdg:** Heading (degrees - North is 0°). -* **RPM:** Throttle value if armed, otherwise battery capacity. Note that blade number needs to be set to 12 in Taranis. -* **Tmp1:** Flight mode (as for S-Port). -* **Tmp2:** GPS information (as for S-Port). -* **VFAS:** Actual battery voltage value (Voltage FrSky Ampere Sensor). -* **Vspd:** Vertical speed (cm/s). +

                                                            D-port

                                                            + +

                                                            D-Port 接收机从PX4传输以下信息(from here):

                                                            + +
                                                              +
                                                            • AccX, accy, accz:加速度计数值。
                                                              • +
                                                            • Alt:基于气压计的高度, 初始化水平为零。
                                                              • +
                                                            • Cels:平均电池电压值 (电池电压除以电池片数)。
                                                              • +
                                                            • Curr:实际电流消耗 (安培)。
                                                              • +
                                                            • Fuel:如果设置了容量, 则剩余电池百分比, 否则显示消耗电量。
                                                              • +
                                                            • Date:通电后运行时间。
                                                              • +
                                                            • Alt:基于气压计的高度, 初始化水平为零。
                                                              • +
                                                            • GPS:gps 坐标。
                                                              • +
                                                            • GSpd:当前速度, 由 gps 计算。
                                                              • +
                                                            • Hdg:机头朝向 (正北为 0°)。
                                                              • +
                                                            • RPM:解锁后为油门数值, 否则为电池容量。 请注意, 在Taranis上，电池片数需要设置为12。
                                                              • +
                                                            • Tmp1:飞行模式 (适用于 s-port)。
                                                              • +
                                                            • Tmp2:gps 信息 (适用于 s-port)。
                                                              • +
                                                            • VFAS:实际电池电压值 (电压 frsky 安培传感器)。
                                                              • +
                                                            • Vspd:垂直速度 (cm/s)。
                                                              • +
                                                            + +

                                                            -## FrSky Telemetry Receivers +

                                                            + +

                                                            睿思凯遥测接收机

                                                            + +

                                                            Pixhawk/PX4支持睿思凯的D. port和S. port遥测功能。 下表是所有通过D.port/S.port支持遥测功能的睿思凯接收机。（理论上，这些都是可以正常工作的。）

                                                            + +
                                                            +

                                                            Tip值得注意的是，下面列出的X系列接收机是推荐可用的，如XSR、X8R。 R系列和G系列还没有经过测试团队的测试，但是应该也是可以工作的。

                                                            +
                                                            + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
                                                            接收机范围集成输出数字遥测输入尺寸重量
                                                            D4R-II1.5kmCPPM (8)D.Port40x22.5x6mm5.8g
                                                            D8R-XP1.5kmCPPM (8)D.Port55x25x14mm12.4g
                                                            D8R-II Plus1.5km否D.Port55x25x14mm12.4g
                                                            X4R1.5kmCPPM (8)Smart Port40x22.5x6mm5.8g
                                                            X4R-SB1.5kmS.Bus (16)Smart Port40x22.5x6mm5.8g
                                                            X6R / S6R1.5kmS.Bus (16)Smart Port47.42×23.84×14.7mm15.4g
                                                            X8R / S8R1.5kmS.Bus (16)Smart Port46.25 x 26.6 x 14.2mm16.6g
                                                            XSR / XSR-M1.5kmS.Bus (16) / CPPM (8)Smart Port26x19.2x5mm3.8g
                                                            RX8R1.5kmS.Bus (16)Smart Port46.25x26.6x14.2mm12.1g
                                                            RX8R PRO1.5kmS.Bus (16)Smart Port46.25x26.6x14.2mm12.1g
                                                            R-XSR1.5kmS.Bus (16) / CPPM (8)Smart Port16x11x5.4mm1.5g
                                                            G-RX81.5kmS.Bus (16)Smart Port + integrated vario55.26178mm5.8g
                                                            R910kmS.Bus (16)Smart Port43.3x26.8x13.9mm15.8g
                                                            R9 slim10kmS.Bus (16)Smart Port43.3x26.8x13.9mm15.8g
                                                            + +
                                                            +

                                                            Note 以上列表信息来源于： http://www.redsilico.com/frsky-receiver-chart and FrSky product documentation.

                                                            +
                                                            + +

                                                            -Pixhawk/PX4 supports D (old) and S (new) FrSky telemetry. The table belows all FrSky receivers that support telemetry via a D/S.PORT (in theory all of these should work). - -> **Tip** Note that the X series receivers listed below are recommended (e.g. XSR, X8R). The R and G series have not been tested/validated by the test team, but should work. + -| 接收机 | 范围 | 集成输出 | 数字遥测输入 | 尺寸 | 重量 | -| ----------- | ----- | --------------------- | ----------------------------- | --------------------- | ----- | -| D4R-II | 1.5km | CPPM (8) | D.Port | 40x22.5x6mm | 5.8g | -| D8R-XP | 1.5km | CPPM (8) | D.Port | 55x25x14mm | 12.4g | -| D8R-II Plus | 1.5km | 否 | D.Port | 55x25x14mm | 12.4g | -| X4R | 1.5km | CPPM (8) | Smart Port | 40x22.5x6mm | 5.8g | -| X4R-SB | 1.5km | S.Bus (16) | Smart Port | 40x22.5x6mm | 5.8g | -| X6R / S6R | 1.5km | S.Bus (16) | Smart Port | 47.42×23.84×14.7mm | 15.4g | -| X8R / S8R | 1.5km | S.Bus (16) | Smart Port | 46.25 x 26.6 x 14.2mm | 16.6g | -| XSR / XSR-M | 1.5km | S.Bus (16) / CPPM (8) | Smart Port | 26x19.2x5mm | 3.8g | -| RX8R | 1.5km | S.Bus (16) | Smart Port | 46.25x26.6x14.2mm | 12.1g | -| RX8R PRO | 1.5km | S.Bus (16) | Smart Port | 46.25x26.6x14.2mm | 12.1g | -| R-XSR | 1.5km | S.Bus (16) / CPPM (8) | Smart Port | 16x11x5.4mm | 1.5g | -| G-RX8 | 1.5km | S.Bus (16) | Smart Port + integrated vario | 55.26*17*8mm | 5.8g | -| R9 | 10km | S.Bus (16) | Smart Port | 43.3x26.8x13.9mm | 15.8g | -| R9 slim | 10km | S.Bus (16) | Smart Port | 43.3x26.8x13.9mm | 15.8g | +

                                                            -> **Note** The above table originates from http://www.redsilico.com/frsky-receiver-chart and FrSky [product documentation](https://www.frsky-rc.com/product-category/receivers/). +

                                                            成品转接线缆

                                                            - +

                                                            Ready-made cables for use with Pixhawk FMUv4 and earlier (except for Pixracer) are available from:

                                                            -## Ready-Made Cables +
                                                              +

                                                            • Craft and Theory. 以下版本是可用的，DF-13 兼容PicoBlade 接头 (for FMUv2/3DR Pixhawk, FMUv2/HKPilot32) 和JST-GH 接头 (for FMUv3/Pixhawk 2 "The Cube" /FMUv4/PixRacer v1).

                                                              -Ready-made cables for use with Pixhawk FMUv4 and earlier (except for Pixracer) are available from: +

                                                              从 Craft and Theory 购买转接线材。

                                                              • +
                                                            -* [Craft and Theory](http://www.craftandtheoryllc.com/telemetry-cable). Versions are available with DF-13 compatible *PicoBlade connectors* (for FMUv2/3DR Pixhawk, FMUv2/HKPilot32) and *JST-GH connectors* (for FMUv3/Pixhawk 2 "The Cube" and FMUv4/PixRacer v1). - - [![Purchase cable here from Craft and Theory](../../assets/hardware/telemetry/craft_and_theory_frsky_telemetry_cables.jpg)](http://www.craftandtheoryllc.com/telemetry-cable) +

                                                            -## DIY Cables +

                                                            -It is possible to create your own adapter cables. You will need connectors that are appropriate for your autopilot (e.g. *JST-GH connectors* for FMUv3/Pixhawk 2 "The Cube" and FMUv4/PixRacer v1, and DF-13 compatible *PicoBlade connectors* for older autopilots). +

                                                            自制转接线缆

                                                            -The Pixracer includes electronics for converting between S.PORT and UART signals, but for other boards you will need a UART to S.PORT adapter. These can be sourced from: +

                                                            It is possible to create your own adapter cables. +您将需要适合你的自驾仪的连接头。比如JST-GH 接头（FMUv3/Pixhawk 2 "The Cube" / FMUv4/PixRacer v1)，以及DF-13兼容PicoBlade接头(FMUv2/3DR Pixhawk, FMUv2/HKPilot32）。

                                                            -* [FrSky FUL-1](https://www.frsky-rc.com/product/ful-1/): [unmannedtech.co.uk](https://www.unmannedtechshop.co.uk/frsky-transmitter-receiver-upgrade-adapter-ful-1/) -* SPC: [getfpv.com](http://www.getfpv.com/frsky-smart-port-converter-cable.html), [unmannedtechshop.co.uk](https://www.unmannedtechshop.co.uk/frsky-smart-port-converter-spc/) +

                                                            The Pixracer includes electronics for converting between S.PORT and UART signals, but for other boards you will need a UART to S.PORT adapter. +他们可以从以下渠道获取：

                                                            -More information about the connections for different boards is given below. + -### Pixracer to S-port Receivers +

                                                            关于不同飞控板连接头的更多信息如下所示。

                                                            -Connect the Pixracer FrSky TX and RX lines together (solder the wires together) to the X series receiver's S.port pin. GND need not be attached as this will have been done when attaching to S.Bus (normal RC connection). +

                                                            Pixracer to S-port 接收机

                                                            -The S-port connection is shown below (using the provided I/O Connector). +

                                                            将Pixracer中的FrSky端口的TX和RX连接到一起，再连接到X系列接收机的S.port端口。 +GND不需要连接，因为这将在连接Subs时完成（常规遥控器连接）。

                                                            -![Grau b Pixracer FrSkyS.Port Connection](../../assets/flight_controller/pixracer/grau_b_pixracer_frskys.port_connection.jpg) +

                                                            S. port的连接方式如下图所示，使用提供的I/O连接头。

                                                            -![Pixracer FrSkyS.Port Connection](../../assets/flight_controller/pixracer/pixracer_FrSkyTelemetry.jpg) +

                                                            Grau b Pixracer FrSkyS接口连接

                                                            -### Pixracer to D-port Receivers +

                                                            Pixracer FrSkyS接口连接

                                                            -> **Tip** The vast majority of users now prefer to use S.PORT. +

                                                            Pixracer to D-port 接收机

                                                            -Connect the Pixracer FrSky TX line (FS out) to the receiver's RX line. Connect the Pixracer FrSky RX line (FS in) to the receivers TX line. GND need not be connected as this will have been done when attaching to RC/SBus (for normal RC). +
                                                            +

                                                            Tip 绝大多数用户现在更倾向于使用S.port。

                                                            +
                                                            - +

                                                            将Pixracer中FrSky端口的TX（FS out）连接到接收机的RX, +将Pixracer中FrSky端口的RX（FS out）连接到接收机的TX。 +GND不需要连接，因为这将在连接RC/Subs时完成。

                                                            -### Pixhawk Pro -[Pixhawk 3 Pro](../flight_controller/pixhawk3_pro.md) can be connected to TELEM4 (no additional software configuration is needed). You will need to connect via a UART to S.PORT adapter board, or a [ready-made cable](#ready_made_cable). +> +> -### Pixhawk FMUv5 and later +

                                                            Pixhawk Pro

                                                            -Simply attach one of the UART's TX pins to the SPort inverted or uninverted pin (PX4 will auto-detect and handle either type). +

                                                            Piahawk 3 Pro可以连接到TELEM4端口，无需额外的软件配置。 +您将需要通过一个UART-S.PORT适配器进行连接，或者一个成品转接线缆。

                                                            + +

                                                            Pixhawk FMUv5 and later

                                                            + +

                                                            Simply attach one of the UART's TX pins to the SPort inverted or uninverted pin (PX4 will auto-detect and handle either type).

                                                            + +

                                                            -### Other Boards +

                                                            + +

                                                            其他飞控板

                                                            + +

                                                            大部分其他型号飞控板是通过TELEM2端口连接到接收机，从而使用睿思凯的遥测功能， +这其中包括了：Pixhawk 1, mRo Pixhawk, Pixhawk2。

                                                            -Most other boards connect to the receiver for FrSky telemetry via the TELEM2 UART. This includes, for example: [Pixhawk 1](../flight_controller/pixhawk.md), [mRo Pixhawk](../flight_controller/mro_pixhawk.md), Pixhawk2. +

                                                            您将需要通过一个UART-S.PORT适配器进行连接，或者一个成品转接线缆。

                                                            -You will need to connect via a UART to S.PORT adapter board, or a [ready-made cable](#ready_made_cable). - +> +> -## Additional Information +

                                                            附加信息

                                                            -For additional information, see the following links: +

                                                            更多其他信息，请访问以下链接

                                                            -* [FrSky Taranis 遥测回传](https://github.com/Clooney82/MavLink_FrSkySPort/wiki/1.2.-FrSky-Taranis-Telemetry) -* [Taranis X9D: 遥测回传设置](https://www.youtube.com/watch?v=x14DyvOU0Vc) (视频教程) -* [使用Pixhawk2 和 X8R 接收机进行Px4 FrSky 遥测回传设置 ](http://discuss.px4.io/t/px4-frsky-telemetry-setup-with-pixhawk2-and-x8r-receiver/6362) (DIY 转接线) \ No newline at end of file + \ No newline at end of file diff --git a/zh/peripherals/mavlink_peripherals.md b/zh/peripherals/mavlink_peripherals.md index f49ea85fd8a8..0dd6514d5915 100644 --- a/zh/peripherals/mavlink_peripherals.md +++ b/zh/peripherals/mavlink_peripherals.md @@ -57,7 +57,7 @@ To support this there is a [default serial port mapping](../peripherals/serial_c - [MAV_0_FORWARD](../advanced_config/parameter_reference.md#MAV_0_FORWARD) = `True` - [SER_TEL1_BAUD](../advanced_config/parameter_reference.md#SER_TEL1_BAUD) = `57600` -## Example +## 示例 For example, to use a companion computer on `TELEM 2` you might set parameters as shown: diff --git a/zh/peripherals/parachute.md b/zh/peripherals/parachute.md index 1135548b5c86..fa288126757b 100644 --- a/zh/peripherals/parachute.md +++ b/zh/peripherals/parachute.md @@ -1,4 +1,4 @@ -# Parachute +# 降落伞 PX4 can be configured to trigger a parachute connected to a free PWM output during [flight termination](../advanced_config/flight_termination.md). @@ -22,7 +22,7 @@ The setup below explains how you might configure a quad multicopter with motors > **Tip** For the first test, try on the bench, without the props and with an unloaded parachute device! -Hardware setup: +硬件设置: - Connect the parachute to the IO port (MAIN), channel 7 (starting from 1). - Power the servo rail - i.e. connect a 5V BEC to the servo rail. diff --git a/zh/peripherals/serial_configuration.md b/zh/peripherals/serial_configuration.md index 4052c2deb60d..1b4de6e0e898 100644 --- a/zh/peripherals/serial_configuration.md +++ b/zh/peripherals/serial_configuration.md @@ -13,22 +13,22 @@ Many serial (UART) ports on a Pixhawk board can be fully configured via paramete -## Pre-configured Ports +## 端口预配置 -The following functions are typically mapped to the same specific serial ports on all boards, and are hence mapped by default: +以下功能通常映射到所有板上的相同的特定串口，默认情况下映射为： * MAVLink 被映射到 `Telem 1` 端口，端口的波特率为 57600 (对于[遥测模块](../telemetry/README.md))。 * GPS 1 ([gps driver](../modules/modules_driver.md#gps)) is mapped to the `GPS 1` port with a baudrate *Auto* (with this setting a GPS will automatically detect the baudrate - except for the Trimble MB-Two, which requires 115200 baudrate). -All other ports have no assigned functions by default (are disabled). +默认情况下，所有其他端口都没有指定的功能(禁用)。 -> **Tip** The ports mappings above can be disabled by setting [MAV_0_CONFIG](../advanced_config/parameter_reference.md#MAV_0_CONFIG) and [GPS_1_CONFIG](../advanced_config/parameter_reference.md#GPS_1_CONFIG) to *Disabled*, respectively. +> **Tip** 通过分别将 [MAV_0_CONFIG](../advanced_config/parameter_reference.md#MAV_0_CONFIG) 和 [GPS_1_CONFIG](../advanced_config/parameter_reference.md#GPS_1_CONFIG) 设置为 *Disabled*，可以禁用上述端口映射。 ## 如何配置端口 -All the serial drivers/ports are configured in the same way: +所有串行驱动程序/端口都以相同的方式配置： -1. Set the configuration parameter for the service/peripheral to the port it will use. > **Note** Configuration parameter names follow the pattern `\*\_CONFIG` or `\*\_CFG` (*QGroundControl* only displays the parameters for services/drivers that are present in firmware). At time of writing the current set is: [GPS_1_CONFIG](../advanced_config/parameter_reference.md#GPS_1_CONFIG), [GPS_2_CONFIG](../advanced_config/parameter_reference.md#GPS_2_CONFIG), [ISBD_CONFIG](../advanced_config/parameter_reference.md#ISBD_CONFIG), [MAV_0_CONFIG](../advanced_config/parameter_reference.md#MAV_0_CONFIG), [MAV_1_CONFIG](../advanced_config/parameter_reference.md#MAV_1_CONFIG), [MAV_2_CONFIG](../advanced_config/parameter_reference.md#MAV_2_CONFIG), [RTPS_CONFIG](../advanced_config/parameter_reference.md#RTPS_CONFIG), [RTPS_MAV_CONFIG](../advanced_config/parameter_reference.md#RTPS_MAV_CONFIG), [TEL_FRSKY_CONFIG](../advanced_config/parameter_reference.md#TEL_FRSKY_CONFIG), [TEL_HOTT_CONFIG](../advanced_config/parameter_reference.md#TEL_HOTT_CONFIG), [SENS_LEDDAR1_CFG](../advanced_config/parameter_reference.md#SENS_LEDDAR1_CFG), [SENS_SF0X_CFG](../advanced_config/parameter_reference.md#SENS_SF0X_CFG), [SENS_TFMINI_CFG](../advanced_config/parameter_reference.md#SENS_TFMINI_CFG), [SENS_ULAND_CFG](../advanced_config/parameter_reference.md#SENS_ULAND_CFG). +1. 将 service/peripheral 的配置参数设置为它将使用的端口 > **Note** Configuration parameter names follow the pattern `\*\_CONFIG` or `\*\_CFG` (*QGroundControl* only displays the parameters for services/drivers that are present in firmware). 在编写本报告时，当前设置为： [GPS_1_CONFIG](../advanced_config/parameter_reference.md#GPS_1_CONFIG), [GPS_2_CONFIG](../advanced_config/parameter_reference.md#GPS_2_CONFIG), [ISBD_CONFIG](../advanced_config/parameter_reference.md#ISBD_CONFIG), [MAV_0_CONFIG](../advanced_config/parameter_reference.md#MAV_0_CONFIG), [MAV_1_CONFIG](../advanced_config/parameter_reference.md#MAV_1_CONFIG), [MAV_2_CONFIG](../advanced_config/parameter_reference.md#MAV_2_CONFIG), [RTPS_CONFIG](../advanced_config/parameter_reference.md#RTPS_CONFIG), [RTPS_MAV_CONFIG](../advanced_config/parameter_reference.md#RTPS_MAV_CONFIG), [TEL_FRSKY_CONFIG](../advanced_config/parameter_reference.md#TEL_FRSKY_CONFIG), [TEL_HOTT_CONFIG](../advanced_config/parameter_reference.md#TEL_HOTT_CONFIG), [SENS_LEDDAR1_CFG](../advanced_config/parameter_reference.md#SENS_LEDDAR1_CFG), [SENS_SF0X_CFG](../advanced_config/parameter_reference.md#SENS_SF0X_CFG), [SENS_TFMINI_CFG](../advanced_config/parameter_reference.md#SENS_TFMINI_CFG), [SENS_ULAND_CFG](../advanced_config/parameter_reference.md#SENS_ULAND_CFG)。 2. Reboot the vehicle in order to make the additional configuration parameters visible. 3. 将所选端口的波特率设置为所需值。 4. 配置特定于模块的参数 (如 MAVLink 流和数据速率配置)。 @@ -37,19 +37,19 @@ The [GPS/Compass > Secondary GPS](../gps_compass/README.md#dual_gps) section pro ## 处理端口冲突 -Port conflicts are handled by system startup, which ensures that at most one service is run on a specific port. +端口冲突由系统启动处理，它确保在特定端口上最多运行一个服务。 -> **Caution** At time of writing there is no user feedback about conflicting ports. +> **Caution** 在编写本报告时，没有关于端口冲突的用户反馈。 ## 故障处理 -### Configuration Parameter Missing from *QGroundControl* +### *QGroundControl* 中缺少的配置参数 -*QGroundControl* only displays the parameters for services/drivers that are present in firmware. If a parameter is missing, then you may need to add it in firmware. +*QGroundControl* 只显示固件中存在的 services/drivers 的参数。 如果缺少参数，则可能需要将其添加到固件中。 -> **Note** PX4 firmware includes most drivers by default on [Pixhawk-series](../flight_controller/pixhawk_series.md) boards. Flash-limited boards may comment out/omit the driver (at time of writing this only affects boards based on FMUv2). +> **Note** PX4 固件在 [Pixhawk系列](../flight_controller/pixhawk_series.md) 板上默认包含大多数驱动程序。 闪存受限的飞控板可以注释掉/省略驱动程序(在文档编写时，这只会影响基于 FMUv2 的飞控板)。 You can include the missing driver in firmware by uncommenting (or adding) the driver in the **default.cmake** config file that corresponds to the [board](https://github.com/PX4/PX4-Autopilot/tree/master/boards/px4) you want to build for. For example, to enable the sf0x driver, you would remove the `#` at the beginning of the line below. diff --git a/zh/peripherals/uavcan_escs.md b/zh/peripherals/uavcan_escs.md index 00ab68ae3219..97ef5caed42a 100644 --- a/zh/peripherals/uavcan_escs.md +++ b/zh/peripherals/uavcan_escs.md @@ -20,7 +20,7 @@ The only difference between UAVCAN ESCs from a setup perspective is that the phy Some popular UAVCAN ESC firmware/products include: - [Sapog](#sapog) firmware; an advanced open source sensorless PMSM/BLDC motor controller firmware designed for use in propulsion systems of electric unmanned vehicles. - - [Zubax Orel 20](https://zubax.com/products/orel_20) + - [Zubax orel 20](https://zubax.com/products/orel_20) - [Holybro Kotleta20](https://shop.holybro.com/kotleta20_p1156.html) - [Mitochondrik](https://zubax.com/products/mitochondrik) - integrated sensorless PMSM/BLDC motor controller chip (used in ESCs and integrated drives) - [Zubax Sadulli Integrated Drive](https://shop.zubax.com/collections/integrated-drives/products/sadulli-integrated-drive-open-hardware-reference-design-for-mitochondrik?variant=27740841181283) @@ -31,11 +31,11 @@ Some popular UAVCAN ESC firmware/products include: > **Note** This list is *not exhaustive/complete*. If you know of another ESC, please add it to the list! -## Purchase +## 采购 Sapog-based ESCs: -- [Zubax Orel 20](https://zubax.com/products/orel_20) +- [Zubax orel 20](https://zubax.com/products/orel_20) ![Orel20 - Top](../../assets/peripherals/esc_uavcan_zubax_orel20/orel20_top.jpg) @@ -61,7 +61,7 @@ Connect all of the on-board UAVCAN devices into a chain and make sure the bus is For more information information about proper bus connections see [UAVCAN Device Interconnection](https://kb.zubax.com/display/MAINKB/UAVCAN+device+interconnection) (Zubax KB). -## PX4 Configuration +## PX4 配置 In order to use a UAVCAN ESC with PX4 you will need to enable the UAVCAN driver: @@ -134,7 +134,7 @@ There is some guidance here: [Quick start guide for Myxa v0.1](https://forum.zub For [VESC ESCs](https://vesc-project.com/) the preferred tool for motor enumeration is the [VESC tool](https://vesc-project.com/vesc_tool). In addition to the normal motor configuration that you will have to setup in the VESC tool, you will also need to properly setup the app configuration. The recommended app setup is as follows: -| Parameter | Option | +| 参数 | 选项 | | ----------------------- | ---------------------- | | App to use | `No App` | | VESC ID | `1,2,...` | @@ -148,7 +148,7 @@ VESC ID should have the same motor numbering as in PX4 convention, starting at ` Finally the `CAN Baud Rate` must match the value set in [UAVCAN_BITRATE](../advanced_config/parameter_reference.md#UAVCAN_BITRATE). -## Further Information +## 更多信息 - [PX4/Sapog](https://github.com/PX4/sapog#px4-sapog) (Github) - [Sapog v2 Reference Manual](https://files.zubax.com/products/io.px4.sapog/Sapog_v2_Reference_Manual.pdf) diff --git a/zh/power_module/README.md b/zh/power_module/README.md index d8fd52b63843..d5ffb45f33ae 100644 --- a/zh/power_module/README.md +++ b/zh/power_module/README.md @@ -1,4 +1,4 @@ -# Power Modules +# 电源模块 Power modules provide a regulated power supply for the flight controller, along with information about battery voltage and current. The voltage/current information is used to determine the consumed power, and to hence to estimate remaining battery capacity. This in turn allows the flight controller to provide failsafe warnings and other actions in the event of low power: [Safety > Low Battery Failsafe](../config/safety.md#low-battery-failsafe). @@ -10,7 +10,7 @@ This section provides links/information about supported power modules and power * Analog voltage and current power modules: * [CUAV HV PM](../power_module/cuav_hv_pm.md) - * [Holybro PM07 (Pixhawk 4 PM)](../power_module/holybro_pm07_pixhawk4_power_module.md) + * [Holybro PM07（Pixhawk 4 电源模块）](../power_module/holybro_pm07_pixhawk4_power_module.md) * [Holybro PM06 (Pixhawk 4 Mini PM)](../power_module/holybro_pm06_pixhawk4mini_power_module.md) * [UAVCAN](https://new.uavcan.org/) power modules * [CUAV CAN PMU](../power_module/cuav_can_pmu.md) diff --git a/zh/power_module/cuav_can_pmu.md b/zh/power_module/cuav_can_pmu.md index ed1fb2336010..07843200243c 100644 --- a/zh/power_module/cuav_can_pmu.md +++ b/zh/power_module/cuav_can_pmu.md @@ -6,7 +6,7 @@ CAN PMU® is a high-precision power module developed by CUAV& It is recommended for use in large commercial vehicles, but might also be used for research vehicles. -## Specifications +## 产品规格 - **Processor:** STM32F412 - **Voltage input**: 6~62V\(2-15S\) @@ -29,18 +29,18 @@ It is recommended for use in large commercial vehicles, but might also be used f - **Size:** 46.5mm \* 38.5mm \* 22.5mm - **Weight:** 76g -## Purchase +## 采购 - [CUAV store](https://store.cuav.net/index.php) - [CUAV aliexpress ](https://www.aliexpress.com/item/4000369700535.html) -## Pinouts +## 针脚定义 ![CAN PMU](../../assets/hardware/power_module/cuav_can/can_pmu_pinouts_en.png) ![CAN PMU](../../assets/hardware/power_module/cuav_can/can_pmu_pinouts_en2.png) -## Connection +## 接口定义 ![CAN PMU](../../assets/hardware/power_module/cuav_can/can_pmu_connection_en.png) @@ -60,7 +60,7 @@ Set the following parameters in the *QGroundControl* [parameter list](../advance ![CAN PMU list](../../assets/hardware/power_module/cuav_can/can_pmu_list.png) -## Further Information +## 更多信息 [CAN PMU Manual](http://manual.cuav.net/power-module/CAN-PMU.pdf) diff --git a/zh/power_module/cuav_hv_pm.md b/zh/power_module/cuav_hv_pm.md index 909073c6e9a6..41b1325d0558 100644 --- a/zh/power_module/cuav_hv_pm.md +++ b/zh/power_module/cuav_hv_pm.md @@ -3,7 +3,7 @@ The CUAV® *HV_PM* power module is a "high voltage" power module independently developed by CUAV. > **Tip** The *HV_PM* is included in the CUAV V5+/V5 nano kit, but is also be sold separately. There are different cables depending on the flight controller (Pixhack v3, V5+/V5 nano, Pixhawk). It can be used with other flight controllers, but you may need to modify the cable pin. -## Specifications +## 产品规格 - **Higher voltage input:** 10V-60V (3s~14s battery) - **Accurate battery monitor:** @@ -13,11 +13,11 @@ The CUAV® *HV_PM* power module is a "high voltage" power module i - **Max (detection) current:** 60A - **Max output current (ESC/MOTOR PORT):** 60A -## Purchase +## 采购 [CUAV aliexpress store](https://www.aliexpress.com/item/32841805115.html?spm=2114.12010615.8148356.1.64165998hPvTKQ) -## Pinouts +## 针脚定义 ![HV PM](../../assets/hardware/power_module/cuav_hv/hv_pm.jpg) diff --git a/zh/power_module/holybro_pm06_pixhawk4mini_power_module.md b/zh/power_module/holybro_pm06_pixhawk4mini_power_module.md index c2cd41b9c3c8..87843ca6ba5a 100644 --- a/zh/power_module/holybro_pm06_pixhawk4mini_power_module.md +++ b/zh/power_module/holybro_pm06_pixhawk4mini_power_module.md @@ -5,7 +5,7 @@ This power module provides regulated power for a flight controller and ESCs, and ![PM06](../../assets/hardware/power_module/holybro_pm06/pm06_hero.jpg) -## Specifications +## 产品规格 - **PCB Current:** 120A continued - **UBEC Current:** 3A Max @@ -23,7 +23,7 @@ This power module provides regulated power for a flight controller and ESCs, and - 6pin JST cable (1) -## Purchase +## 采购 [PM06 V2 Power Management Board](https://shop.holybro.com/micro-power-module-pm06_p1036.html) diff --git a/zh/power_module/holybro_pm07_pixhawk4_power_module.md b/zh/power_module/holybro_pm07_pixhawk4_power_module.md index 2742ad2e6510..122638ea6cdb 100644 --- a/zh/power_module/holybro_pm07_pixhawk4_power_module.md +++ b/zh/power_module/holybro_pm07_pixhawk4_power_module.md @@ -6,7 +6,7 @@ The Power Management Board (PM Board) serves the purpose of a Power Module as we ![PM07](../../assets/hardware/power_module/holybro_pm07/pm07_hero.jpg) -## Specifications +## 产品规格 - **PCB Current:** total 120A outputs (MAX) - **UBEC 5v output current:** 3A @@ -22,7 +22,7 @@ The Power Management Board (PM Board) serves the purpose of a Power Module as we - PM07 board (1) - 80mm XT60 connector wire (1) -## Purchase +## 采购 [Pixhawk 4 Power Module (PM07)](https://shop.holybro.com/pixhawk-4-power-module-pm07_p1095.html) @@ -31,9 +31,9 @@ The Power Management Board (PM Board) serves the purpose of a Power Module as we Wiring and connection information can be found in: [Pixhawk 4 > Power](../assembly/quick_start_pixhawk4.md#power). -![Pixhawk 4 - Power Management Board](../../assets/hardware/power_module/holybro_pm07/pixhawk4_power_management_board.png) +![Pixhawk 4 - 电源管理板](../../assets/hardware/power_module/holybro_pm07/pixhawk4_power_management_board.png) -## Further Information +## 更多信息 [Quick Start Guide](http://www.holybro.com/manual/PM07-Quick-Start-Guide.pdf) (Holybro) diff --git a/zh/power_module/pomegranate_systems_pm.md b/zh/power_module/pomegranate_systems_pm.md index fb28d03e56ab..eff87888b14f 100644 --- a/zh/power_module/pomegranate_systems_pm.md +++ b/zh/power_module/pomegranate_systems_pm.md @@ -6,7 +6,7 @@ Digital Power Module with high resolution current integration, 5V/2A supply with Detailed setup, configuration, and troubleshooting information can be found on the [manufacturer's device home page](https://p-systems.io/product/power_module). -## Specifications +## 产品规格 - **Input Voltage:** 6-26V \(2-6S\) - **Max Continuous Current:** @@ -30,9 +30,9 @@ Detailed setup, configuration, and troubleshooting information can be found on t - **With XT60PW Connectors:** 16g - ![Dimensions](../../assets/hardware/power_module/pomegranate_systems_pm/mechanical.png) + ![尺寸](../../assets/hardware/power_module/pomegranate_systems_pm/mechanical.png) -## Configuration +## 配置 1. Enable UAVCAN by setting the [UAVCAN_ENABLE](../advanced_config/parameter_reference.md#UAVCAN_ENABLE) parameter to `2` (Sensors Automatic Config) or `3`. 2. Set the following module parameters using the [Mavlink console](https://docs.qgroundcontrol.com/en/analyze_view/mavlink_console.html): diff --git a/zh/robotics/README.md b/zh/robotics/README.md index e22c761d22db..5b93f511c482 100644 --- a/zh/robotics/README.md +++ b/zh/robotics/README.md @@ -1,5 +1,5 @@ -# Robotics +# 机器人 -Robotics APIs allow you to control PX4 from outside the flight stack computing environment (flight controller) using a [companion computer](../companion_computer/pixhawk_companion.md) or other computing environment. The APIs communicate with PX4 using [MAVLink](../middleware/mavlink.md) or [RTPS](../middleware/micrortps.md). +机器人系统 API 允许通过飞行栈外的电脑环境，使用 [companion computer](../companion_computer/pixhawk_companion.md) 或其他环境 对 PX4 进行控制。 API 通过 [MAVLink](../middleware/mavlink.md) 或 [RTPS](../middleware/micrortps.md) 实现与 PX4 的通信。 -PX4 can be used with robotics APIs including [MAVSDK](https://www.dronecode.org/sdk/) and [ROS](../ros/README.md). [DroneKit](../robotics/dronekit.md) can also be used, but is not optimised for use with PX4. +PX4 can be used with robotics APIs including [MAVSDK](https://www.dronecode.org/sdk/) and [ROS](../ros/README.md). [DroneKit](../robotics/dronekit.md) 也可以用，但是优化不够好。 diff --git a/zh/robotics/dronekit.md b/zh/robotics/dronekit.md index b3bc7e0ed03b..c2efd4a4063b 100644 --- a/zh/robotics/dronekit.md +++ b/zh/robotics/dronekit.md @@ -1,8 +1,8 @@ # Using DroneKit to communicate with PX4 -[DroneKit](http://dronekit.io) helps you create powerful apps for UAVs. These apps run on a UAV’s Companion Computer, and augment the autopilot by performing tasks that are both computationally intensive and require a low-latency link (e.g. computer vision). +[DroneKit](http://dronekit.io) helps you create powerful apps for UAVs. [DroneKit](http://dronekit.io) helps you create powerful apps for UAVs. These apps run on a UAV’s Companion Computer, and augment the autopilot by performing tasks that are both computationally intensive and require a low-latency link (e.g. computer vision). -DroneKit and PX4 are currently working on getting full compatibility. As of DroneKit-python 2.2.0 there is basic support for mission handling and vehicle monitoring. +DroneKit and PX4 are currently working on getting full compatibility. As of DroneKit-python 2.2.0 there is basic support for mission handling and vehicle monitoring. As of DroneKit-python 2.2.0 there is basic support for mission handling and vehicle monitoring. ## Setting up DroneKit with PX4 @@ -49,7 +49,7 @@ print " Alt: %s" % vehicle.location.global_relative_frame.alt ## Full mission example -The following python script shows a full mission example using DroneKit and PX4. Mode switching is not yet fully supported from DroneKit, we therefor send our own custom mode switching commands. +The following python script shows a full mission example using DroneKit and PX4. The following python script shows a full mission example using DroneKit and PX4. Mode switching is not yet fully supported from DroneKit, we therefor send our own custom mode switching commands. ```C ################################################################################################ @@ -60,6 +60,13 @@ The following python script shows a full mission example using DroneKit and PX4. # # Code partly based on DroneKit (c) Copyright 2015-2016, 3D Robotics. ################################################################################################ +# @File DroneKitPX4.py +# Example usage of DroneKit with PX4 +# +# @author Sander Smeets +# +# Code partly based on DroneKit (c) Copyright 2015-2016, 3D Robotics. +################################################################################################ # Import DroneKit-Python from dronekit import connect, Command, LocationGlobal @@ -73,7 +80,7 @@ import time, sys, argparse, math connection_string = '127.0.0.1:14540' MAV_MODE_AUTO = 4 -# https://github.com/PX4/PX4-Autopilot/blob/master/Tools/mavlink_px4.py +# https://github.com/PX4/Firmware/blob/master/Tools/mavlink_px4.py # Parse connection argument @@ -125,6 +132,124 @@ def get_location_offset_meters(original_location, dNorth, dEast, alt): +################################################################################################ +# Listeners +################################################################################################ + +home_position_set = False + +#Create a message listener for home position fix +@vehicle.on_message('HOME_POSITION') +def listener(self, name, home_position): + global home_position_set + home_position_set = True + + + +################################################################################################ +# Start mission example +################################################################################################ + +# wait for a home position lock +while not home_position_set: + print "Waiting for home position..." + time.sleep(1) + +# Display basic vehicle state +print " Type: %s" % vehicle._vehicle_type +print " Armed: %s" % vehicle.armed +print " System status: %s" % vehicle.system_status.state +print " GPS: %s" % vehicle.gps_0 +print " Alt: %s" % vehicle.location.global_relative_frame.alt + +# Change to AUTO mode +PX4setMode(MAV_MODE_AUTO) +time.sleep(1) + +# Load commands +cmds = vehicle.commands +cmds.clear() + +home = vehicle.location.global_relative_frame + +# takeoff to 10 meters +wp = get_location_offset_meters(home, 0, 0, 10); +cmd = Command(0,0,0, mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT, mavutil.mavlink.MAV_CMD_NAV_TAKEOFF, 0, 1, 0, 0, 0, 0, wp.lat, wp.lon, wp.alt) +cmds.add(cmd) + +# move 10 meters north +wp = get_location_offset_meters(wp, 10, 0, 0); +cmd = Command(0,0,0, mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT, mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 0, 1, 0, 0, 0, 0, wp.lat, wp.lon, wp.alt) +cmds.add(cmd) + +# move 10 meters east +wp = get_location_offset_meters(wp, 0, 10, 0); +cmd = Command(0,0,0, mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT, mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 0, 1, 0, 0, 0, 0, wp.lat, wp.lon, wp.alt) +cmds.add(cmd) + +# move 10 meters south +wp = get_location_offset_meters(wp, -10, 0, 0); +cmd = Command(0,0,0, mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT, mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 0, 1, 0, 0, 0, 0, wp.lat, wp.lon, wp.alt) +cmds.add(cmd) + +# move 10 meters west +wp = get_location_offset_meters(wp, 0, -10, 0); +cmd = Command(0,0,0, mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT, mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 0, 1, 0, 0, 0, 0, wp.lat, wp.lon, wp.alt) +cmds.add(cmd) + +# land +wp = get_location_offset_meters(home, 0, 0, 10); +cmd = Command(0,0,0, mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT, mavutil.mavlink.MAV_CMD_NAV_LAND, 0, 1, 0, 0, 0, 0, wp.lat, wp.lon, wp.alt) +cmds.add(cmd) + +# Upload mission +cmds.upload() +time.sleep(2) + +# Arm vehicle +vehicle.armed = True + +# monitor mission execution +nextwaypoint = vehicle.commands.next +while nextwaypoint < len(vehicle.commands): + if vehicle.commands.next > nextwaypoint: + display_seq = vehicle.commands.next+1 + print "Moving to waypoint %s" % display_seq + nextwaypoint = vehicle.commands.next + time.sleep(1) + +# wait for the vehicle to land +while vehicle.commands.next > 0: + time.sleep(1) + + +# Disarm vehicle +vehicle.armed = False +time.sleep(1) + +# Close vehicle object before exiting script +vehicle.close() +time.sleep(1) The returned Location adds the entered `alt` value to the altitude of the `original_location`. + The function is useful when you want to move the vehicle around specifying locations relative to + the current vehicle position. + The algorithm is relatively accurate over small distances (10m within 1km) except close to the poles. + For more information see: + http://gis.stackexchange.com/questions/2951/algorithm-for-offsetting-a-latitude-longitude-by-some-amount-of-meters + """ + earth_radius=6378137.0 #Radius of "spherical" earth + #Coordinate offsets in radians + dLat = dNorth/earth_radius + dLon = dEast/(earth_radius*math.cos(math.pi*original_location.lat/180)) + + #New position in decimal degrees + newlat = original_location.lat + (dLat * 180/math.pi) + newlon = original_location.lon + (dLon * 180/math.pi) + return LocationGlobal(newlat, newlon,original_location.alt+alt) + + + + + ################################################################################################ # Listeners ################################################################################################ diff --git a/zh/ros/README.md b/zh/ros/README.md index cdc75e69ccb3..96c4d1ab9298 100644 --- a/zh/ros/README.md +++ b/zh/ros/README.md @@ -1,12 +1,12 @@ -# Robotics using ROS +# 使用 ROS -[ROS](http://www.ros.org/) (Robot Operating System) is a general purpose robotics library that can be used with PX4 for [offboard control](../ros/mavros_offboard.md). It uses the [MAVROS](../ros/mavros_installation.md) node to communicate with PX4 running on hardware or using the [Gazebo Simulator](../simulation/ros_interface.md). +[ROS](http://www.ros.org/) （机器人操作系统）是一种通用的机器人库，可与 PX4 一起用于 [离板控制 ](../ros/mavros_offboard.md)。 它使用 [MAVROS](../ros/mavros_installation.md) 节点与在硬件上运行或使用 [Gazebo 模拟器 ](../simulation/ros_interface.md) 的 PX4 进行通信。 -This section contains topics about using ROS for offboard control with PX4. +本节包含有关使用 ROS 在 PX4 的离板控制的主题。 -> **Tip** ROS is only officially supported on Linux platforms. +> **Tip** ROS 仅在 Linux 平台上得到官方支持。 -## Installation +## 安装 The easiest way to setup PX4 simulation with ROS (on Ubuntu Linux) is to use the standard installation script that can be found at [Development Environment on Linux > Gazebo with ROS](../dev_setup/dev_env_linux_ubuntu.md#rosgazebo). The script installs everything you need: PX4, ROS, the Gazebo simulator, and [MAVROS](../ros/mavros_installation.md). diff --git a/zh/ros/external_position_estimation.md b/zh/ros/external_position_estimation.md index d302d0a10f47..3d2aa48f8ba7 100644 --- a/zh/ros/external_position_estimation.md +++ b/zh/ros/external_position_estimation.md @@ -59,7 +59,7 @@ Note: this is a quick overview. For more detailed information, check the [EKF2 t [EKF2_EV_DELAY](../advanced/parameter_reference.md#EKF2_EV_DELAY) 是相对于 IMU 测量的 *Vision 位置估计延迟 *。 -| 参数 | Setting for External Position Estimation | +| 参数 | 外部位置估计的设置 | | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------- | | [EKF2_AID_MASK](../advanced_config/parameter_reference.md#EKF2_AID_MASK) | 设置 *视觉位置合成* 和 *视觉偏航合成* | | [EKF2_HGT_MODE](../advanced_config/parameter_reference.md#EKF2_HGT_MODE) | 设置为 *Vision* 使用视觉作为高度估计的主要来源。 | @@ -74,90 +74,89 @@ Note: this is a quick overview. For more detailed information, check the [EKF2 t 换句话说，它是视觉系统时间戳和 "实际" 捕获时间之间的差异，将记录的 IMU 时钟（"基本时钟" 为 ekf2）。 -Or in other words, it is the difference between the vision system timestamp and the "actual" capture time that would have been recorded by the IMU clock (the "base clock" for EKF2). +换句话说，它是视觉系统时间戳和 "实际" 捕获时间之间的差异，将记录的 IMU 时钟（"基本时钟" 为 ekf2）。 从技术上讲，如果 MoCap 和（例如）ROS 计算机之间有正确的时间戳（而不仅仅是到达时间）和时间同步（例如 NTP），则可以将其设置为0。 在现实中，这需要一些经验调整，因为整个 MoCap->PX4 链中的延迟是非常特定的。 系统设置完全同步链的情况很少见! 通过检查 IMU 速率和 EV 速率之间的偏移量，可以从日志中获得延迟的粗略估计： -![ekf2_ev_delay log](../../assets/ekf2/ekf2_ev_delay_tuning.png) +![ekf2_ev_delay 日志](../../assets/ekf2/ekf2_ev_delay_tuning.png) > **Note** A plot of external data vs. 可使用 [FlightPlot](https://docs.px4.io/en/log/flight_log_analysis.html#flightplot-desktop) 或类似的飞行分析工具生成机载估计（如上）。 -The value can further be tuned by varying the parameter to find the value that yields the lowest EKF innovations during dynamic maneuvers. +该值可以通过不同的参数一起调整，在动态变化中来保证最低 EKF 。 -## LPE Tuning/Configuration +## LPE 调参/配置 You will first need to [switch to the LPE estimator](../advanced/switching_state_estimators.md) by setting the [SYS_MC_EST_GROUP](../advanced/parameter_reference.md#SYS_MC_EST_GROUP) parameter. -> **Note** If targeting `px4_fmu-v2` hardware you will also need to use a firmware version that includes the LPE module (firmware for other FMU-series hardware includes both LPE and and EKF). The LPE version can be found in the zip file for each PX4 release or it can be built from source using the build command `make px4_fmu-v2_lpe`. 有关详细信息, 请参阅 [ Building the code ](../setup/building_px4.md)。 The LPE version can be found in the zip file for each PX4 release or it can be built from source using the build command `make px4_fmu-v2_lpe`. See [Building the Code](../dev_setup/building_px4.md) for more details. +> **Note** If targeting `px4_fmu-v2` hardware you will also need to use a firmware version that includes the LPE module (firmware for other FMU-series hardware includes both LPE and and EKF). The LPE version can be found in the zip file for each PX4 release or it can be built from source using the build command `make px4_fmu-v2_lpe`. 有关详细信息, 请参阅 [ Building the code ](../setup/building_px4.md)。 LPE 版本可以在每个 PX4 版本的 zip 文件中找到，也可以使用生成命令 `make px4_fmu-v2_lpe` 从源生成。 有关详细信息, 请参阅 [ Building the code ](../dev_setup/building_px4.md)。 -### Enabling External Pose Input +### 启用外部位置输入 The following parameters must be set to use external position information with LPE (these can be set in *QGroundControl* > **Vehicle Setup > Parameters > Local Position Estimator**). -| 参数 | Setting for External Position Estimation | -| -------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -| [LPE_FUSION](../advanced_config/parameter_reference.md#LPE_FUSION) | Vision integration is enabled if *fuse vision position* is checked (it is enabled by default). | -| [ATT_EXT_HDG_M](../advanced_config/parameter_reference.md#ATT_EXT_HDG_M) | Set to 1 or 2 to enable external heading integration. Set to 1 or 2 to enable external heading integration. Setting it to 1 will cause vision to be used, while 2 enables MoCap heading use. | +| 参数 | 外部位置估计的设置 | +| -------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------- | +| [LPE_FUSION](../advanced_config/parameter_reference.md#LPE_FUSION) | 如果选中了 *fuse 视觉位置 *（默认情况下启用），则启用视觉集成。 | +| [ATT_EXT_HDG_M](../advanced_config/parameter_reference.md#ATT_EXT_HDG_M) | 设置为1或 2，以启用外部标题集成。 Set to 1 or 2 to enable external heading integration. Setting it to 1 will cause vision to be used, while 2 enables MoCap heading use. | -### Disabling Barometer Fusion +### 禁用气压计融合 -If a highly accurate altitude is already available from VIO or MoCap information, it may be useful to disable the baro correction in LPE to reduce drift on the Z axis. +如果从 VIO 或 MoCap 信息中已经提供了高度精确的高度，则禁用 LPE 中的巴洛校正以减少 z 轴上的漂移可能会很有用。 This can be done by in *QGroundControl* by unchecking the *fuse baro* option in the [LPE_FUSION](../advanced/parameter_reference.md#LPE_FUSION) parameter. ### 滤波噪声参数调参 -If your vision or MoCap data is highly accurate, and you just want the estimator to track it tightly, you should reduce the standard deviation parameters: [LPE_VIS_XY](../advanced/parameter_reference.md#LPE_VIS_XY) and [LPE_VIS_Z](../advanced/parameter_reference.md#LPE_VIS_Z) (for VIO) or [LPE_VIC_P](../advanced/parameter_reference.md#LPE_VIC_P) (for MoCap). 减小它们会使估计器更加信任外部传入的位姿信息。 Reducing them will cause the estimator to trust the incoming pose estimate more. 您可能需要将它们设置为允许的最小值。 +If your vision or MoCap data is highly accurate, and you just want the estimator to track it tightly, you should reduce the standard deviation parameters: [LPE_VIS_XY](../advanced/parameter_reference.md#LPE_VIS_XY) and [LPE_VIS_Z](../advanced/parameter_reference.md#LPE_VIS_Z) (for VIO) or [LPE_VIC_P](../advanced/parameter_reference.md#LPE_VIC_P) (for MoCap). 减小它们会使估计器更加信任外部传入的位姿信息。 减小它们会使估计器更加信任外部传入的位姿信息。 您可能需要将它们设置为允许的最小值。 -> **Tip** If performance is still poor, try increasing the [LPE_PN_V](../advanced/parameter_reference.md#LPE_PN_V) parameter. This will cause the estimator to trust measurements more during velocity estimation. This will cause the estimator to trust measurements more during velocity estimation. +> **Tip** If performance is still poor, try increasing the [LPE_PN_V](../advanced/parameter_reference.md#LPE_PN_V) parameter. This will cause the estimator to trust measurements more during velocity estimation. 这将使估计器在估计速度时更信任测量值。 -## Working with ROS +## 使用 ROS -ROS is not *required* for supplying external pose information, but is highly recommended as it already comes with good integrations with VIO and MoCap systems. PX4 must already have been set up as above. PX4 must already have been set up as above. +ROS is not *required* for supplying external pose information, but is highly recommended as it already comes with good integrations with VIO and MoCap systems. PX4 must already have been set up as above. PX4 必须已设置如上所示。 -### Getting Pose Data Into ROS +### 将数据输入 ROS -VIO and MoCap systems have different ways of obtaining pose data, and have their own setup and topics. +VIO 和 MoCap 系统具有不同的获取姿势数据的方式，并且有自己的设置和主题。 -The setup for specific systems is covered [below](#setup_specific_systems). For other systems consult the vendor setup documentation. For other systems consult the vendor setup documentation. +The setup for specific systems is covered [below](#setup_specific_systems). For other systems consult the vendor setup documentation. 对于其他系统，请参阅供应商设置文档。 -### Relaying Pose Data to PX4 +### 将数据回传给 PX4 -MAVROS has plugins to relay a visual estimation from a VIO or MoCap system using the following pipelines: +MAVROS 具有插件，可使用以下管道从 VIO 或 MOCAP 系统中继可视化估计： | ROS | MAVLink | uORB | | ------------------------ | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | ------------------------- | | /mavros/vision_pose/pose | [VISION_POSITION_ESTIMATE](https://mavlink.io/en/messages/common.html#VISION_POSITION_ESTIMATE) | `vehicle_visual_odometry` | | /mavros/odometry/odom | [ODOMETRY](https://mavlink.io/en/messages/common.html#ODOMETRY) (`frame_id =` [MAV_FRAME_VISION_NED](https://mavlink.io/en/messages/common.html#MAV_FRAME_VISION_NED)) | `vehicle_visual_odometry` | | /mavros/mocap/pose | [ATT_POS_MOCAP](https://mavlink.io/en/messages/common.html#ATT_POS_MOCAP) | `vehicle_mocap_odometry` | -| /mavros/odometry/odom | [ODOMETRY](https://mavlink.io/en/messages/common.html#ODOMETRY) (`frame_id =` [MAV_FRAME_LOCAL_FRD](https://mavlink.io/en/messages/common.html#MAV_FRAME_LOCAL_FRD)) | `vehicle_mocap_odometry` | +| /mavros/odometry/odom | [ODOMETRY](https://mavlink.io/en/messages/common.html#ODOMETRY) (`frame_id =` [MAV_FRAME_VISION_NED](https://mavlink.io/en/messages/common.html#MAV_FRAME_VISION_NED)) | `vehicle_mocap_odometry` | -You can use any of the above pipelines with LPE. +您可以将上述任何管道与 LPE 一起使用。 -If you're working with EKF2, only the "vision" pipelines are supported. If you're working with EKF2, only the "vision" pipelines are supported. To use MoCap data with EKF2 you will have to [remap](http://wiki.ros.org/roslaunch/XML/remap) the pose topic that you get from MoCap: -- MoCap ROS topics of type `geometry_msgs/PoseStamped` or `geometry_msgs/PoseWithCovarianceStamped` must be remapped to `/mavros/vision_pose/pose`. The `geometry_msgs/PoseStamped` topic is most common as MoCap doesn't usually have associated covariances to the data. The `geometry_msgs/PoseStamped` topic is most common as MoCap doesn't usually have associated covariances to the data. +如果您使用的是 EKF2，则仅支持 "视觉" 管道。 If you're working with EKF2, only the "vision" pipelines are supported. To use MoCap data with EKF2 you will have to [remap](http://wiki.ros.org/roslaunch/XML/remap) the pose topic that you get from MoCap: +- MoCap ROS topics of type `geometry_msgs/PoseStamped` or `geometry_msgs/PoseWithCovarianceStamped` must be remapped to `/mavros/vision_pose/pose`. The `geometry_msgs/PoseStamped` topic is most common as MoCap doesn't usually have associated covariances to the data. `geometry_msgs/PoseStamped` 主题是最常见的，因为 mocap 通常没有与数据相关的协方差。 - If you get data through a `nav_msgs/Odometry` ROS message then you will need to remap it to `/mavros/odometry/odom`. - The odometry frames `frame_id = odom`, `child_frame_id = base_link` can be changed by updating the file in `mavros/launch/px4_config.yaml`. However, the current version of mavros (`1.3.0`) needs to be able to use the tf tree to find a transform from `frame_id` to the hardcoded frame `odom_ned`. The same applies to the `child_frame_id`, which needs to be connected in the tf tree to the hardcoded frame `base_link_frd`. If you are using mavros `1.2.0` and you didn't update the file `mavros/launch/px4_config.yaml`, then you can safely use the odometry frames `frame_id = odom`, `child_frame_id = base_link` without much worry. - **Note** Remapping pose topics is covered above [Relaying pose data to PX4](#relaying_pose_data_to_px4) (`/vrpn_client_node//pose` is of type `geometry_msgs/PoseStamped`). - -### Reference Frames and ROS +### 参考框架和 ROS -The local/world and world frames used by ROS and PX4 are different. +ROS 和 PX4 使用的本地/世界坐标系和全局框架是不同的。 -| Frame | ROS | PX4 | -| ----- | ----------------------------------------------------------------------------- | ----------------------------------------------- | -| Body | FLU (X **F**orward, Y **L**eft, Z **U**p), usually named `base_link` | FRD (X **F**orward, Y **R**ight and Z **D**own) | -| World | ENU (X **E**ast, Y **N**orth and Z Up), with the naming being `odom` or `map` | NED (X **N**orth, Y **E**ast, Z **D**own) | +| 框架 | ROS | PX4 | +| ----- | ----------------------------------------------------------------------------- | --------------------------------------------- | +| 机体 | FLU (X **F**orward, Y **L**eft, Z **U**p), usually named `base_link` | FRD (X **F**orward, Y **R**ight 和 Z **D**own) | +| 世界坐标系 | ENU (X **E**ast, Y **N**orth and Z Up), with the naming being `odom` or `map` | NED (X **N**orth, Y **E**ast, Z **D**own) | -> **Tip** See [REP105: Coordinate Frames for Mobile Platforms](http://www.ros.org/reps/rep-0105.html) for more information about ROS frames. +> **Tip** 有关 ROS 框架的详细信息，请参阅 [REP105: Coordinate Frames for Mobile Platforms](http://www.ros.org/reps/rep-0105.html)。 Both frames are shown in the image below (NED on left/ENU on right). @@ -167,7 +166,7 @@ With EKF2 when using external heading estimation, magnetic north can either be i > **Note** When creating the rigid body in the MoCap software, remember to first align the robot's local *x* axis with the world *x* axis otherwise yaw estimation will have an initial offset. This can stop the external pose estimate fusion from working properly. Yaw angle should be zero when body and reference frame align. -Using MAVROS, this operation is straightforward. ROS uses ENU frames as convention, therefore position feedback must be provided in ENU. 如果您有一个 Optitrack 系统, 则可以使用 [ mocap_optitrack ](https://github.com/ros-drivers/mocap_optitrack) 节点, 其已经发布了一个关于刚体位姿的一个ROS话题。 With a remapping you can directly publish it on `mocap_pose_estimate` as it is without any transformation and MAVROS will take care of NED conversions. +利用MAVROS功能包，以上操作会十分简单。 ROS 默认使用 ENU 系, 因此你在MAVROS中所有代码必须遵循ENU系。 如果您有一个 Optitrack 系统, 则可以使用 [ mocap_optitrack ](https://github.com/ros-drivers/mocap_optitrack) 节点, 其已经发布了一个关于刚体位姿的一个ROS话题。 通过重新映射，您可以直接将其发布在 `mocap_pose_estimate` 因为它没有任何转换，mavros 将负责 NED 转换。 The MAVROS odometry plugin makes it easy to handle the coordinate frames. It uses ROS's tf package. Your external pose system might have a completely different frame convention that does not match the one of PX4. The body frame of the external pose estimate can depend on how you set the body frame in the MOCAP software or on how you mount the VIO sensor on the drone. The MAVROS odometry plugin needs to know how the external pose's child frame is oriented with respect to either the airframe's FRD or FLU body frame known by MAVROS. You therefore have to add the external pose's body frame to the tf tree. This can be done by including an adapted version of the following line into your ROS launch file. @@ -186,43 +185,43 @@ If the reference frame has the z axis pointing upwards you can attached it witho -## Specific System Setups +## 特定的系统设置 -### OptiTrack MoCap +### 光学跟踪 MoCap -The following steps explain how to feed position estimates from an [OptiTrack](http://optitrack.com/systems/#robotics) system to PX4. It is assumed that the MoCap system is calibrated. See [this video](https://www.youtube.com/watch?v=cNZaFEghTBU) for a tutorial on the calibration process. It is assumed that the MoCap system is calibrated. See [this video](https://www.youtube.com/watch?v=cNZaFEghTBU) for a tutorial on the calibration process. +The following steps explain how to feed position estimates from an [OptiTrack](http://optitrack.com/systems/#robotics) system to PX4. It is assumed that the MoCap system is calibrated. See [this video](https://www.youtube.com/watch?v=cNZaFEghTBU) for a tutorial on the calibration process. 假定 mocap 系统已校准。 有关校准过程的教程，请参阅 [this video ](https://www.youtube.com/watch?v=cNZaFEghTBU)。 -#### Steps on the *Motive* MoCap software +#### 设置 *Motive* mocap 软件 -* Align your robot's forward direction with the the [system +x-axis](https://v20.wiki.optitrack.com/index.php?title=Template:Coordinate_System) -* [Define a rigid body in the Motive software](https://www.youtube.com/watch?v=1e6Qqxqe-k0). [Define a rigid body in the Motive software](https://www.youtube.com/watch?v=1e6Qqxqe-k0). Give the robot a name that does not contain spaces, e.g. `robot1` instead of `Rigidbody 1` -* [Enable Frame Broadacst and VRPN streaming](https://www.youtube.com/watch?v=yYRNG58zPFo) -* Set the Up axis to be the Z axis (the default is Y) +* 将无人机的前进方向与 [system + x-axiss](https://v20.wiki.optitrack.com/index.php?title=Template:Coordinate_System) 对齐 +* [Define a rigid body in the Motive software](https://www.youtube.com/watch?v=1e6Qqxqe-k0)。 [Define a rigid body in the Motive software](https://www.youtube.com/watch?v=1e6Qqxqe-k0). Give the robot a name that does not contain spaces, e.g. `robot1` instead of `Rigidbody 1` +* [启用帧广播和 VRPN 流](https://www.youtube.com/watch?v=yYRNG58zPFo) +* 将 "向上" 轴设置为 z 轴（默认值为 y） -#### Getting pose data into ROS +#### 将数据输入 ROS -* Install the `vrpn_client_ros` package +* 安装 `vrpn_client_ros` 包 * You can get each rigid body pose on an individual topic by running bash roslaunch vrpn_client_ros sample.launch server:= ```bash roslaunch vrpn_client_ros sample.launch server:= ``` -If you named the rigidbody as `robot1`, you will get a topic like `/vrpn_client_node/robot1/pose` +如果你把机体命名为 `robot1`，你会得到一个主题，比如 `/vrpn_client_node/robot1/pose` -#### Relaying/remapping Pose Data +#### 重新映射/重新映射位置数据 -MAVROS provides a plugin to relay pose data published on `/mavros/vision_pose/pose` to PX4. Assuming that MAVROS is running, you just need to **remap** the pose topic that you get from MoCap `/vrpn_client_node//pose` directly to `/mavros/vision_pose/pose`. Note that there is also a `mocap` topic that MAVROS provides to feed `ATT_POS_MOCAP` to PX4, but it is not applicable for EKF2. However, it is applicable with LPE. +MAVROS 提供了一个插件来中继在 `/mavros/vision_pose/pose` 上发布的姿势数据到 px4。 假设 mavros 正在运行，您只需 **remap** 从 mcap 获得的位置主题 `/vrpn_client_node/<rigid_body_name>/pose` 直接到 `/mavros/vision_pose/pose`。 请注意，mavros 还提供了一个 `mocap` 主题，用于将 `ATT_POS_MOCAP` 提供给 px4，但它不适用于 ekf2。 但是，它适用于 lpe。 > MAVROS provides a plugin to relay pose data published on `/mavros/vision_pose/pose` to PX4. Assuming that MAVROS is running, you just need to **remap** the pose topic that you get from MoCap `/vrpn_client_node//pose` directly to `/mavros/vision_pose/pose`. Note that there is also a `mocap` topic that MAVROS provides to feed `ATT_POS_MOCAP` to PX4, but it is not applicable for EKF2. However, it is applicable with LPE. -Assuming that you have configured EKF2 parameters as described above, PX4 now is set and fusing MoCap data. +假设您已按上述方式配置了 EKF2 参数，那么现在就设置并融合了 MoCap 数据。 -You are now set to proceed to the first flight. +您现在已准备好继续进行第一次飞行。 ## 第一次飞行 -After setting up one of the (specific) systems described above you should now be ready to test. After setting up one of the (specific) systems described above you should now be ready to test. The instructions below show how to do so for MoCap and VIO systems +在设置了上述（特定）系统之一之后，您现在应该可以进行测试了。 After setting up one of the (specific) systems described above you should now be ready to test. The instructions below show how to do so for MoCap and VIO systems ### MoCap First Flight @@ -234,14 +233,14 @@ After setting up one of the (specific) systems described above you should now be * Once aligned you can pick the vehicle up from the ground and you should see the position's z coordinate decrease. Moving the vehicle in forward direction, should increase the position's x coordinate. While moving the vehicle to the right should increase the y coordinate. In the case you send also linear velocities from the external pose system, you should also check the linear velocities. Check that the linear velocities are in expressed in the *FRD* body frame reference frame. * Set the PX4 parameter `MAV_ODOM_LP` back to 0. PX4 will stop streaming this message back. -If those steps are consistent, you can try your first flight. +如果以上步骤没问题，你可以开始你的第一次飞行。 -Put the robot on the ground and start streaming MoCap feedback. 油门杆推到最低并解锁。 Lower your left (throttle) stick and arm the motors. +Put the robot on the ground and start streaming MoCap feedback. 油门杆推到最低并解锁。 油门杆推到最低并解锁。 -At this point, with the left stick at the lowest position, switch to position control. You should have a green light. The green light tells you that position feedback is available and position control is now activated. +此时，设置为位置控制模式。 如果切换成功，飞控会闪绿灯。 绿灯代表：你的外部位置信息已经注入到飞控中，并且位置控制模式已经切换成功。 -Put your left stick at the middle, this is the dead zone. With this stick value, the robot maintains its altitude; raising the stick will increase the reference altitude while lowering the value will decrease it. Same for right stick on x and y. +油门杆居中，这是油门控制死区。 With this stick value, the robot maintains its altitude; raising the stick will increase the reference altitude while lowering the value will decrease it. 同理对于另一个杆。 -Increase the value of the left stick and the robot will take off, put it back to the middle right after. Check if it is able to keep its position. +Increase the value of the left stick and the robot will take off, put it back to the middle right after. 检查此时无人机能否悬停。 如果这一切都没问题，那么你可以开始进行offboard模式下的试验了（发布自行设定的位置期望值给飞控）。 diff --git a/zh/ros/mavros_custom_messages.md b/zh/ros/mavros_custom_messages.md index 31d3e6e27f9e..ff02e0b590d2 100644 --- a/zh/ros/mavros_custom_messages.md +++ b/zh/ros/mavros_custom_messages.md @@ -1,23 +1,23 @@ -# Sending a Custom Message from MAVROS to PX4 +# 将自定义消息从 MOVROS 发送到 PX4 -> **Warning** This article has been tested against: - - **Ubuntu:** 18.04 - - **ROS:** Melodic - - **PX4 Firmware:** 1.9.0 +> **Warning** 本文已经过如下测试： + - **Ubuntu：**18.04 + - **ROS：**Melodic + - **PX4 Firmware：**1.9.0 - However these steps are fairly general and so it should work with other distros/versions with little to no modifications. + 这些步骤普遍适用于其他发行版，或者只需要稍微修改。 -## MAVROS Installation +## MAVROS 安装 -Follow *Source Installation* instructions from [mavlink/mavros](https://github.com/mavlink/mavros/blob/master/mavros/README.md) to install "ROS Kinetic". +按照 *Source Installation* 中的指导，从 [mavlink/mavros](https://github.com/mavlink/mavros/blob/master/mavros/README.md) 安装“ROS Kinetic”版本。 ## MAVROS -1. We start by creating a new MAVROS plugin, in this example named **keyboard_command.cpp** (in **workspace/src/mavros/mavros_extras/src/plugins**) by using the code below: +1. 首先，我们创建一个新的MAVROS 插件，在**keyboard_command.cpp**(**workspace/src/mavros/mavros_extras/src/plugins**)示例中添加以下代码： - The code subscribes a 'char' message from ROS topic `/mavros/keyboard_command/keyboard_sub` and sends it as a MAVLink message. + 代码功能是从ROS消息主题`/mavros/keyboard_command/keyboard_sub`中订阅了一个字符消息，并且将其作为MAVLink 消息发送出去。 ```c #include #include @@ -86,7 +86,7 @@ Follow *Source Installation* instructions from [mavlink/mavros](https://github.c ... ``` -## PX4 Changes +## PX4 修改 1. Inside **common.xml** (in **PX4-Autopilot/mavlink/include/mavlink/v2.0/message_definitions**), add your MAVLink message as following (same procedure as for MAVROS section above): ```xml @@ -103,14 +103,14 @@ Follow *Source Installation* instructions from [mavlink/mavros](https://github.c rm -r common rm -r standard ``` -1. Git clone "mavlink_generator" to any directory you want and execute it. +1. git 克隆"mavlink_generator"到你想要的文件夹下并执行。 ```sh git clone https://github.com/mavlink/mavlink mavlink-generator cd mavlink-generator python mavgenerate.py ``` -1. You will see a "MAVLink Generator" popup: +1. 你会看到一个“MAVLink Generator”应用程序窗口： - For *XML*, "Browse" to **/PX4-Autopilot/mavlink/include/mavlink/v2.0/message_definitions/standard.xml**. - For Out, "Browse" to **/PX4-Autopilot/mavlink/include/mavlink/v2.0/**. - Select Language **C** @@ -119,7 +119,7 @@ Follow *Source Installation* instructions from [mavlink/mavros](https://github.c Then, press **Generate**. You will see *common*, and *standard* directories created in **/PX4-Autopilot/mavlink/include/mavlink/v2.0/**. -1. Make your own uORB message file **key_command.msg** in (PX4-Autopilot/msg). For this example the "key_command.msg" has only the code: +1. Make your own uORB message file **key_command.msg** in (PX4-Autopilot/msg). 示例中的“key_command.msg”文件只包含以下代码： ``` char cmd ``` @@ -147,7 +147,7 @@ Follow *Source Installation* instructions from [mavlink/mavros](https://github.c } ``` -1. Edit **mavlink_receiver.cpp** (in **PX4-Autopilot/src/modules/mavlink**). This is where PX4 receives the MAVLink message sent from ROS, and publishes it as a uORB topic. +1. Edit **mavlink_receiver.cpp** (in **PX4-Autopilot/src/modules/mavlink**). 这是 PX4 接收 ROS 发送过来的 MAVLink 消息的地方，并且将消息作为 uORB 主题发布。 ```cpp ... void MavlinkReceiver::handle_message(mavlink_message_t *msg) @@ -179,7 +179,7 @@ Follow *Source Installation* instructions from [mavlink/mavros](https://github.c } ``` -1. Make your own uORB topic subscriber just like any example subscriber module. For this example lets create the model in (/PX4-Autopilot/src/modules/key_receiver). In this directory, create two files **CMakeLists.txt**, **key_receiver.cpp**. Each one looks like following. +1. 像其他示例一样订阅你自己的uORB主题。 For this example lets create the model in (/PX4-Autopilot/src/modules/key_receiver). In this directory, create two files **CMakeLists.txt**, **key_receiver.cpp**. 两个文件如下所示。 -CMakeLists.txt @@ -269,12 +269,12 @@ Follow *Source Installation* instructions from [mavlink/mavros](https://github.c Now you are ready to build all your work! -## Building +## 构建 ### Build for ROS 1. In your workspace enter: `catkin build`. -1. Beforehand, you have to set your "px4.launch" in (/workspace/src/mavros/mavros/launch). Edit "px4.launch" as below. If you are using USB to connect your computer with Pixhawk, you have to set "fcu_url" as shown below. But, if you are using CP2102 to connect your computer with Pixhawk, you have to replace "ttyACM0" with "ttyUSB0". Modifying "gcs_url" is to connect your Pixhawk with UDP, because serial communication cannot accept MAVROS, and your nutshell connection simultaneously. +1. 在此之前，你必须设置你的“px4.launch”（/workspace/src/mavros/mavros/launch）文件。 编辑“px4.launch”文件如下： 如果你使用USB来连接你的电脑和Pixhawk，你必须设置“fcu_url”如下所示。 但是，如果你使用CP2102来连接你的电脑和Pixhawk，你必须将“ttyACM0” 替换为"ttyUSB0"。 修改“gcs_url”是为了连接你的 Pixhawk 和 UDP，因为串口通信不能同时接收 MAVROS 和 nutshell。 1. Write your IP address at "xxx.xx.xxx.xxx" ```xml @@ -284,7 +284,7 @@ Now you are ready to build all your work! ... ``` -### Build for PX4 +### PX4 编译 1. Build PX4-Autopilot and upload [in the normal way](../dev_setup/building_px4.md#nuttx). @@ -303,28 +303,28 @@ Next test if the MAVROS message is sent to PX4. ```sh roslaunch mavros px4.launch ``` -1. In a second terminal run: +1. 在第二个终端中运行： ```sh rostopic pub -r 10 /mavros/keyboard_command/keyboard_sub std_msgs/Char 97 ``` - This means, publish 97 ('a' in ASCII) to ROS topic "/mavros/keyboard_command/keyboard_sub" in message type "std_msgs/Char". "-r 10" means to publish continuously in "10Hz". + 这意味着以“std_msgs/Char”消息类型发布97（ASCII码的‘a'）到ROS主题“/mavros/keyboard_command/keyboard_sub” “-r 10”意味着以“10Hz”频率持续发布。 -### Running PX4 +### PX4 运行 -1. Enter the Pixhawk nutshell through UDP. Replace xxx.xx.xxx.xxx with your IP. +1. 通过UDP进入Pixhawk 的 nutshell。 用你的IP地址替换xxx.xx.xxx.xxx ```sh cd PX4-Autopilot/Tools ./mavlink_shell.py xxx.xx.xxx.xxx:14557 --baudrate 57600 ``` -1. After few seconds, press **Enter** a couple of times. You should see a prompt in the terminal as below: +1. After few seconds, press **Enter** a couple of times. 你会看到终端中以下提示： ```sh nsh> nsh> ``` - Type "key_receiver", to run your subscriber module. + 输入“key_receiver”命令来运行你的订阅模块。 ``` nsh> key_receiver ``` -Check if it successfully receives `a` from your ROS topic. +测试是否从你的 ROS 话题中接收到 `a` 字符。 diff --git a/zh/ros/mavros_installation.md b/zh/ros/mavros_installation.md index d668277211db..87ef40308e75 100644 --- a/zh/ros/mavros_installation.md +++ b/zh/ros/mavros_installation.md @@ -40,7 +40,7 @@ catkin init wstool init src ``` -你需要利用ROS的Python工具，如*wstool* (for retrieving sources), *rosinstall*, and *catkin_tools* (building) for this installation. 按照以下命令来安装： While they may have been installed during your installation of ROS you can also install them with: +你需要利用ROS的Python工具，如*wstool* (for retrieving sources), *rosinstall*, and *catkin_tools* (building) for this installation. 按照以下命令来安装： 按照以下命令来安装： ```sh sudo apt-get install python-catkin-tools python-rosinstall-generator -y ``` @@ -53,20 +53,20 @@ $ wstool init ~/catkin_ws/src ``` 现在你已经准备好去编译。 -1. Install MAVLink: +1. 安装Mavlink ``` 安装Mavlink # We use the Kinetic reference for all ROS distros as it's not distro-specific and up to date rosinstall_generator --rosdistro kinetic mavlink | tee /tmp/mavros.rosinstall ``` 1. 安装MAVROS最新的版本： - * Released/stable + * 发行版 / 稳定版 ``` 最新源码 sh rosinstall_generator --upstream-development mavros | tee -a /tmp/mavros.rosinstall ``` - * Latest source + * 最新源码 ```sh 发行版 / 稳定版 rosinstall_generator --upstream mavros | tee -a /tmp/mavros.rosinstall ``` @@ -103,4 +103,4 @@ $ wstool init ~/catkin_ws/src source devel/setup.bash ``` -In the case of error, there are addition installation and troubleshooting notes in the [mavros repo](https://github.com/mavlink/mavros/tree/master/mavros#installation). +如果有任何问题，这还有另外一种方式和解决问题的途径在mavros功能包的主页。 （译者注：1、最好使用kinetic版本的电脑 2、不要用虚拟机 3、不需要看这里，直接去mavros github主页安装步骤一步一步装，装的时候确认每一步没有报错，网络好一点的话会顺利一点） diff --git a/zh/ros/mavros_offboard.md b/zh/ros/mavros_offboard.md index 3af61f9da683..8236091caf2f 100644 --- a/zh/ros/mavros_offboard.md +++ b/zh/ros/mavros_offboard.md @@ -198,6 +198,6 @@ while(ros::ok()){ rate.sleep(); } ``` -剩下的代码都比较容易自学。 We attempt to switch to *Offboard* mode, after which we arm the quad to allow it to fly. We space out the service calls by 5 seconds so to not flood the autopilot with the requests. In the same loop, we continue sending the requested pose at the appropriate rate. +剩下的代码都比较容易自学。 We attempt to switch to *Offboard* mode, after which we arm the quad to allow it to fly. 我们每隔五秒去检查一下与飞控的连接等是否一切正常。 在同一个循环中，我们按照指定的频率持续发送期望点信息给飞控。 > **提示** 为了说明使用方法，我们提供这段十分间断的示例代码。 在一个复杂的系统中，通常需要创建新的进程来负责周期性的发送位置期望点给飞控。 diff --git a/zh/sensor/airspeed.md b/zh/sensor/airspeed.md index 3262ebc15c15..00134ca82332 100644 --- a/zh/sensor/airspeed.md +++ b/zh/sensor/airspeed.md @@ -1,8 +1,8 @@ -# Airspeed Sensors +# 空速传感器 -Airspeed sensors are *highly recommended* for fixed-wing and VTOL frames. They are so important because the autopilot does not have other means to detect stall. For fixed-wing flight it is the airspeed that guarantees lift not ground speed! +对于固定翼和 VTOL 机架，*强烈建议* 使用空速传感器。 它们非常重要，因为自驾仪没有其他方法来检测失速。 对于固定翼飞行来说，保证升力的是空速而不是地速。 -![Digital airspeed sensor](../../assets/hardware/sensors/airspeed/digital_airspeed_sensor.jpg) +![数字空速传感器](../../assets/hardware/sensors/airspeed/digital_airspeed_sensor.jpg) ## Hardware Options diff --git a/zh/sensor/avanon_laser_interface.md b/zh/sensor/avanon_laser_interface.md index 863ab645051b..5a11ec67815c 100644 --- a/zh/sensor/avanon_laser_interface.md +++ b/zh/sensor/avanon_laser_interface.md @@ -4,7 +4,7 @@ The [Avionics Anonymous Laser Altimeter Interface](https://www.tindie.com/produc ![Avionics Anonymous Laser Altimeter UAVCAN Interface](../../assets/hardware/sensors/avionics_anon_uavcan_alt_interface/avionics_anon_altimeter_uavcan_interface.jpg) -## Where to Buy +## 购买渠道 * [AvAnon Laser Interface](https://www.tindie.com/products/avionicsanonymous/uavcan-laser-altimeter-interface/) @@ -24,33 +24,33 @@ At time of writing the following rangefinders are supported: - Lightware SF/LW20/c -## Pinouts +## 针脚定义 ### CAN Connector -| Pin | Name | Description | -| --- | -------- | ----------------------------------------------------------------------------------- | -| 1 | POWER_IN | Power Supply. 4.0-5.5V supported, but must also be compatible with connected laser. | -| 2 | TX/SCL | TX for serial mode, Clock for I2C mode | -| 3 | RX/SDA | RX for serial mode, Data for I2C mode | -| 4 | GND | Signal/power ground. | +| 针脚 | 参数名 | 参数描述 | +| -- | -------- | ----------------------------------------------------------------------------------- | +| 1 | POWER_IN | Power Supply. 4.0-5.5V supported, but must also be compatible with connected laser. | +| 2 | TX/SCL | TX for serial mode, Clock for I2C mode | +| 0 | RX/SDA | RX for serial mode, Data for I2C mode | +| 4 | GND | Signal/power ground. | ### Laser Connector -| Pin | Name | Description | -| --- | --------- | -------------------------------------- | -| 1 | POWER_OUT | Filtered power at the supply voltage. | -| 2 | CAN+ | TX for serial mode, Clock for I2C mode | -| 3 | RX/SDA | RX for serial mode, Data for I2C mode | -| 4 | GND | Signal/power ground. | +| 针脚 | 参数名 | 参数描述 | +| -- | --------- | -------------------------------------- | +| 1 | POWER_OUT | Filtered power at the supply voltage. | +| 2 | CAN+ | TX for serial mode, Clock for I2C mode | +| 3 | RX/SDA | RX for serial mode, Data for I2C mode | +| 4 | GND | Signal/power ground. | -## Wiring +## 布线 The rangefinder (laser) is connected to the AvAnon interface board, which is connected to one of the CAN ports on your autopilot. The wiring is as per the pinout above, or the necessary cables can be purchased to connect to your system right out of the box. These are available at the links [here](https://www.tindie.com/products/avionicsanonymous/uavcan-laser-altimeter-interface/). The interface board provides a filtered power output for the laser, but does not provide its own regulation. Therefore the laser must be compatible with whatever voltage is supplied to the board. -## Software Configuration +## 软件配置 UAVCAN must be enabled by setting [UAVCAN_ENABLE](../advanced_config/parameter_reference.md#UAVCAN_ENABLE) non zero. diff --git a/zh/sensor/cm8jl65_ir_distance_sensor.md b/zh/sensor/cm8jl65_ir_distance_sensor.md index 9fecd45fb9e1..22e0a92bb966 100644 --- a/zh/sensor/cm8jl65_ir_distance_sensor.md +++ b/zh/sensor/cm8jl65_ir_distance_sensor.md @@ -7,7 +7,7 @@ The [Lanbao PSK-CM8JL65-CC5](https://www.seeedstudio.com/PSK-CM8JL65-CC5-Infrare ![PSK-CM8JL65-CC5 ToF IR Distance Sensor - Hero image](../../assets/hardware/sensors/cm8jl65/psk_cm8jl65_hero.jpg) -## Hardware Setup +## 硬件连接 PSK-CM8JL65-CC5 can be connected to any unused *serial port*, e.g.: TELEM2, TELEM3, GPS2 etc. @@ -19,6 +19,6 @@ The pinouts are labeled on the bottom of the sensor: [Configure the serial port](../peripherals/serial_configuration.md) on which the lidar will run using [SENS_CM8JL65_CFG](../advanced_config/parameter_reference.md#SENS_CM8JL65_CFG). -> **Note** If the configuration parameter is not available in *QGroundControl* then you may need to [add the driver to the firmware](../peripherals/serial_configuration.md#parameter_not_in_firmware): ```distance_sensor/cm8jl65``` - -In order to use the sensor for *collision prevention* you will further need to set the parameters [SENS_CM8JL65_R_0](../advanced_config/parameter_reference.md#SENS_CM8JL65_R_0) and [CP_DIST](../advanced_config/parameter_reference.md#CP_DIST). For more information see: [Collision Prevention](../computer_vision/collision_prevention.md#rangefinder). \ No newline at end of file +> **Note** 如果配置参数在 *QGroundControl* 中不可用, 则可能需要 添加驱动程序到固件 : ```distance_sensor/cm8jl65```

                                                            +> +> In order to use the sensor for *collision prevention* you will further need to set the parameters [SENS_CM8JL65_R_0](../advanced_config/parameter_reference.md#SENS_CM8JL65_R_0) and [CP_DIST](../advanced_config/parameter_reference.md#CP_DIST). For more information see: [Collision Prevention](../computer_vision/collision_prevention.md#rangefinder). \ No newline at end of file diff --git a/zh/sensor/leddar_one.md b/zh/sensor/leddar_one.md index ae110a3d7a0f..840f34aea634 100644 --- a/zh/sensor/leddar_one.md +++ b/zh/sensor/leddar_one.md @@ -21,10 +21,10 @@ Build a cable following your board and pinout and LeddarOne pinout (shown below) ## Parameter Setup -[Configure the serial port](../peripherals/serial_configuration.md) on which the lidar will run using [SENS_LEDDAR1_CFG](../advanced_config/parameter_reference.md#SENS_LEDDAR1_CFG). There is no need to set the baud rate for the port, as this is configured by the driver. +[Configure the serial port](../peripherals/serial_configuration.md) on which the lidar will run using [SENS_LEDDAR1_CFG](../advanced_config/parameter_reference.md#SENS_LEDDAR1_CFG). 无需设置端口的波特率, 因为这是由驱动程序配置的。 -> **Note** If the configuration parameter is not available in *QGroundControl* then you may need to [add the driver to the firmware](../peripherals/serial_configuration.md#parameter_not_in_firmware): ```drivers/distance_sensor/leddar_one``` - -## Further Information - -* [LeddarOne Spec sheet](https://leddartech.com/app/uploads/dlm_uploads/2017/05/Spec-Sheets-LeddarOne-27octobre2017-web.pdf) \ No newline at end of file +> **Note** 如果配置参数在 *QGroundControl* 中不可用, 则可能需要 添加驱动程序到固件 : ```drivers/distance_sensor/leddar_one```

                                                            +> +> ## 更多信息 +> +> * [LeddarOne Spec sheet](https://leddartech.com/app/uploads/dlm_uploads/2017/05/Spec-Sheets-LeddarOne-27octobre2017-web.pdf) \ No newline at end of file diff --git a/zh/sensor/lidar_lite.md b/zh/sensor/lidar_lite.md index a32f8ceeea6d..051fef83dfb0 100644 --- a/zh/sensor/lidar_lite.md +++ b/zh/sensor/lidar_lite.md @@ -4,7 +4,7 @@ LIDAR-Lite is a compact, high-performance optical distant measurement sensor sol ![LidarLite v3](../../assets/hardware/sensors/lidar_lite/lidar_lite_v3.jpg) -## Where to Buy +## 购买渠道 * [LIDAR-Lite v3](https://buy.garmin.com/en-AU/AU/p/557294) (5cm - 40m) @@ -58,7 +58,7 @@ The wiring for LidarLite v2 is shown below. Lidar-Lite v3 is wired similarly, ex The I2C wiring is the same for any other distance sensor. Simply connect the SLA, SLC, GND and VCC to the corresponding (same) pins on the flight controller and the sensor. -## Software Configuration +## 软件配置 The rangefinder/port is enabled using [SENS_EN_LL40LS](../advanced_config/parameter_reference.md#SENS_EN_LL40LS) - set to `1` for PWM, or `2` for I2C. diff --git a/zh/sensor/optical_flow.md b/zh/sensor/optical_flow.md index 89cdaa174502..210398fa7b49 100644 --- a/zh/sensor/optical_flow.md +++ b/zh/sensor/optical_flow.md @@ -2,7 +2,7 @@ *Optical Flow* uses a downward facing camera and a downward facing distance sensor for velocity estimation. Optical Flow based navigation is enabled by the estimators: EKF2 and LPE (deprecated). -## Setup +## 设置 An Optical Flow setup requires a downward facing camera and a [distance sensor](../sensor/rangefinders.md) (preferably a LiDAR). These can be connected via MAVLink, I2C or any other bus that supports the peripheral. @@ -43,7 +43,7 @@ It is also possible to use a board/quad that has an integrated camera (e.g. Snap You can use any supported [distance sensor](../sensor/rangefinders.md). However we recommend using LIDAR rather than sonar sensors, because of their robustness and accuracy. -## Estimators +## 估计器 Estimators fuse data from the optical flow sensor and other sources. The settings for how fusing is done, and relative offsets to vehicle center must be specified for the estimator used. @@ -61,7 +61,7 @@ For optical flow fusion using EKF2, set the use optical flow flag in the [EKF2_A If your optical flow sensor is offset from the vehicle centre, you can set this using the following parameters. -| Parameter | Description | +| 参数 | 描述 | | --------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------- | | [EKF2_OF_POS_X](../advanced_config/parameter_reference.md#EKF2_OF_POS_X) | X position of optical flow focal point in body frame (default is 0.0m). | | [EKF2_OF_POS_Y](../advanced_config/parameter_reference.md#EKF2_OF_POS_Y) | Y position of optical flow focal point in body frame (default is 0.0m). | diff --git a/zh/sensor/pmw3901.md b/zh/sensor/pmw3901.md index aaec2c7cd05f..bc7fe61c2e4f 100644 --- a/zh/sensor/pmw3901.md +++ b/zh/sensor/pmw3901.md @@ -12,13 +12,13 @@ This topic provides links to sensors that have been tested, along with informati The following table shows some of the boards that use this sensor, listing the number of interfaces, the number of sensors, the input voltage, and the size. The board name links to board-specific sections that include wiring and purchase information. -| Manufacture | Board | Interface | Flow | Range Finder | Gyro | Voltage (V) | Size (mm) | Max Height (m) | -| ----------- | ------------------------------------------------------------- | --------- | ---- | ------------ | ---- | ----------- | --------- | -------------- | -| Bitcraze | [Flow breakout](#bitcraze_flow_breakout) | SPI | Y | Y | - | 3 - 5 | 21x20 | 1 | -| Tindie | [PMW3901 Optical Flow Sensor](#tindie_pmw3901_flow_sensor) | SPI | Y | - | - | 3 - 5 | AxB | - | -| Hex | [HereFlow PMW3901 Optical Flow Sensor](#hex_hereflow_pwm3901) | CAN | Y | Y | Y | 3 - 5 | AxB | 4 | -| Thone | [ThoneFlow-3901U](#thone_thoneflow_3901U) | UART | Y | - | - | 3 - 5 | AxB | - | -| Alientek | [ATK-PMW3901](#alientek_atk-pwm3901) | SPI | Y | - | - | 3.3 - 4.2 | 27.5x16.5 | 1 | +| Manufacture | Board | Interface | Flow | 测距仪 | Gyro | Voltage (V) | Size (mm) | Max Height (m) | +| ----------- | ------------------------------------------------------------- | --------- | ---- | --- | ---- | ----------- | --------- | -------------- | +| Bitcraze | [Flow breakout](#bitcraze_flow_breakout) | SPI | Y | Y | - | 3 - 5 | 21x20 | 1 | +| Tindie | [PMW3901 Optical Flow Sensor](#tindie_pmw3901_flow_sensor) | SPI | Y | - | - | 3 - 5 | AxB | - | +| Hex | [HereFlow PMW3901 Optical Flow Sensor](#hex_hereflow_pwm3901) | CAN | Y | Y | Y | 3 - 5 | AxB | 4 | +| Thone | [ThoneFlow-3901U](#thone_thoneflow_3901U) | UART | Y | - | - | 3 - 5 | AxB | - | +| Alientek | [ATK-PMW3901](#alientek_atk-pwm3901) | SPI | Y | - | - | 3.3 - 4.2 | 27.5x16.5 | 1 | @@ -56,7 +56,7 @@ You can use the notch to find the orientation of the other boards in the same wa -## PX4 Configuration +## PX4 配置 The PX4 configuration that is common to all boards: - [Optical Flow > EKF2](../sensor/optical_flow.md#ekf2) explains how to fuse optical flow data in the EKF2 estimator and set position offsets for the mounting position of the flow sensor. diff --git a/zh/sensor/px4flow.md b/zh/sensor/px4flow.md index 331c0fed6833..8f508887cc41 100644 --- a/zh/sensor/px4flow.md +++ b/zh/sensor/px4flow.md @@ -22,7 +22,7 @@ PX4FLOW 是一款 [光流](../sensor/optical_flow.md) 智能相机。 它的自 - [Holybro](https://shop.holybro.com/px4flow-kit_p1035.html) (Germany & EU) - [Drotek](https://store-drotek.com/798-optical-flow-kit-px4flow.html) -## Specifications +## 产品规格 - MT9V034 machine vision CMOS sensor with global shutter - Optical flow processing at 4x4 binned image at **400 Hz** @@ -34,7 +34,7 @@ PX4FLOW 是一款 [光流](../sensor/optical_flow.md) 智能相机。 它的自 - USB power option - **Does fit the MatrixVision Bluefox MV mounting holes (camera center off-centered)** -![PX4Flow Top](../../assets/hardware/sensors/px4flow/px4flow_top.jpg) ![px4flow-bottom](../../assets/hardware/sensors/px4flow/px4flow_bottom.jpg) +![PX4Flow Top](../../assets/hardware/sensors/px4flow/px4flow_top.jpg) ![px4flow-底面](../../assets/hardware/sensors/px4flow/px4flow_bottom.jpg) ## Pixhawk设置 @@ -42,7 +42,7 @@ In order to use the PX4Flow board, connect it to the I2C bus (on any Pixhawk ser > **Warning** PX4FLOW does not work on FMUv5 (Pixhawk 4) for PX4 versions less than **1.9.0**. All other PX4/PX4-Autopilot versions should work. -The steps are: +步骤如下： - In *QGroundControl*: - Update the firmware on PX4Flow (in the top left menu, click on CONFIG, then on Firmware Upgrade) @@ -67,11 +67,11 @@ Make sure the the PX4Flow board is well dampened. -## PX4 Configuration +## PX4 配置 The PX4Flow parameters that you may need to configure are listed below. -| Parameter | Description | +| 参数 | 描述 | | --------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------- | | [SENS_EN_PX4FLOW](../advanced_config/parameter_reference.md#SENS_EN_PX4FLOW) | Start the PX4 Flow driver. | | [SENS_FLOW_MAXHGT](../advanced_config/parameter_reference.md#SENS_FLOW_MAXHGT) | Maximum height above ground when reliant on optical flow. | @@ -155,7 +155,7 @@ The following are third party libraries that can be used to integrate the flow m - \[px-ros-pkg]\](https://github.com/cvg/px-ros-pkg): A PX4FLOW ROS (Robot Operating System) interface, maintained by Lionel Heng (hengli@inf.ethz.ch). - [arduino-px4flow-i2c](https://github.com/eschnou/arduino-px4flow-i2c): An Arduino library wrapping the I2C interface, maintained by Laurent Eschenauer (laurent@eschenauer.be). -## Connectors +## 连接器 - **USART2 (J2)**: Hirose DF13 6 pos ([Digi-Key Link: DF13A-6P-1.25H(20)](https://www.digikey.com/products/en?keywords=H3371-ND)) - Mates: Hirose DF13 6 pos housing ([Digi-Key Link: Hirose DF13-6S-1.25C](https://www.digikey.com/products/en?keywords=H2182-ND)) @@ -234,7 +234,7 @@ PX4FLOW is not designed as a camera, but does all processing on-chip. You can co # PX4FLOW Developer Guide -## Hardware Setup +## 硬件连接 - PX4FLOW Board v1.3 - HRLV-MaxSonar-EZ (MB1043) @@ -250,7 +250,7 @@ PX4FLOW is not designed as a camera, but does all processing on-chip. You can co > **Note** PX4 *driver* code can be found here: [PX4/PX4-Autopilot/src/drivers/px4flow](https://github.com/PX4/PX4-Autopilot/tree/master/src/drivers/optical_flow/px4flow) -## Build +## 编译 Install the [PX4 toolchain](../dev_setup/dev_env.md) (PX4 Developer Guide). Then and clone the sources from https://github.com/PX4/Flow using *git*. @@ -270,7 +270,7 @@ verify... done, rebooting. ``` -## Troubleshooting +## 故障处理 In case one doesn't see the aforementioned steps, the modem-manager should be removed by: @@ -329,57 +329,57 @@ This is a pattern correlation threshold for filtering bad matches. Lower means o ### Others -| Name | Default | Access | Comment | -| ---------------- | ------- | ------ | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -| AEC | 1 | RW | Camera Automatic Exposure Control. 1: ON, 0: OFF. | -| AGC | 1 | RW | Camera Automatic Gain Control. 1: ON, 0: OFF. | -| BFLOW_F_THLD | 40 | RW | This parameter is a feature threshold and limits the quality of patterns that are used to calculate the bottom flow. For low values (e.g. 10) almost every pattern is taken, for higher values (e.g. 100) only significant patterns are taken. | -| BFLOW_V_THLD | 5000 | RW | This is a pattern correlation threshold for filtering bad matches. Lower means only strong correlations are accepted. | -| BFLOW_HIST_FIL | 0 | RW | Flow histogram filter. 1: ON, 0: OFF. | -| BFLOW_GYRO_COM | 0 | RW | Gyro compensation. 1: ON, 0: OFF. | -| BFLOW_LP_FIL | 0 | RW | Lowpass filter on flow output. 1: ON, 0: OFF. | -| BFLOW_W_NEW | 0.3 | RW | Flow lowpass filter gain | -| BFLOW_MAX_PIX | 8 | R | Delete (parameter not used). | -| BFLOW_RATE | 10.0 | RW | Rate with which updates for optical flow are published | -| BRIGHT | 20 | RW | Desired brightness level from camera | -| DEBUG | 1 | RW | Debug messages. 1: ON, 0: OFF | -| EXPOSURE_MAX | 500 | RW | Maximal exposure time (μs) | -| GAIN_MAX | 16 | RW | Maximal gain (units?) | -| GYRO_SENS_DPS | 250 | RW | Gyroscope sensitivity: 250, 500, 2000 (dps) | -| GYRO_COMP_THR | 0.01 | RW | Gyro compensation threshold (dps): Gyro data lower than this threshold is not compensated to prevent drift | -| HDR | 1 | RW | Camera High Dynamic Range. 1: ON, 0: OFF | -| IMAGE_HEIGHT | 64 | R | Image height (pixels) | -| IMAGE_WIDTH | 64 | R | Image width (pixels) | -| IMAGE_L_LIGHT | 0 | RW | Delete (parameter not used). | -| IMAGE_NOISE_C | 1 | RW | Image sensor noise correction, 1: ON, 0: OFF | -| IMAGE_TEST_PAT | 0 | RW | Gray-shaded test pattern mode. 1: ON, 0: OFF | -| LENS_FOCAL_LEN | 16.0 | RW | Focal length of lens (mm) | -| POSITION | 0 | RW | 0: Only position 0 is used (Bottom: 0, Front: 1, Top: 2, Back: 3, Right: 4, Left: 5) | -| SHTR_W_1 | 443 | RW | Camera Shutter W_1 ? | -| SHTR_W_2 | 473 | RW | Camera Shutter W_2 ? | -| SHTR_W_TOT | 480 | RW | Camera Shutter Total ? | -| SONAR_FILTERED | 0 | RW | Kalman filter on sonar output. 1: ON, 0: OFF. | -| SONAR_KAL_L1 | 0.8461 | RW | Sonar Kalman gain L1 (for the position) | -| SONAR_KAL_L2 | 6.2034 | RW | Sonar Kalman gain L2 (for the speed) | -| SYS_ID | 81 | RW | [MAVLink](https://mavlink.io/en/) System ID | -| SYS_COMP_ID | 50 | RW | [MAVLink](https://mavlink.io/en/) Component ID | -| SYS_SENSOR_ID | 77 | RW | [MAVLink](https://mavlink.io/en/) Sensor ID | -| SYS_TYPE | 0 | RW | [MAVLink](https://mavlink.io/en/) System Type (0 means generic) | -| SYS_AP_TYPE | 0 | RW | [MAVLink](https://mavlink.io/en/) Autopilot Type (0 means generic) | -| SYS_SW_VER | 13XX | R | Software Version | -| SYS_SEND_STATE | 1 | RW | Send [MAVLink](https://mavlink.io/en/messages/common.html#HEARTBEAT) Heartbeat. 1: ON, 0: OFF. | -| SYS_SEND_LPOS | 1 | RW | Send [MAVLink](https://mavlink.io/en/messages/common.html#LOCAL_POSITION_NED) Local position estimate. 1: ON, 0: OFF. | -| USART_2_BAUD | 115200 | R | Baudrate USART 2 | -| USART_3_BAUD | 115200 | R | Baudrate USART 3 (Data Output) | -| USB_SEND_DEBUG | 1 | RW | Send debug msgs over USB. 1: ON, 0: OFF. | -| USB_SEND_FLOW | 1 | RW | Send flow over USB. 1: ON. 0: OFF. | -| USB_SEND_FWD | 0 | RW | Send forwarded flow over USB. 1: ON, 0: OFF. | -| USB_SEND_GYRO | 1 | RW | Send gyro data over USB. 1: ON, 0: OFF. | -| USB_SEND_VIDEO | 1 | RW | Send video over USB. 1: ON, 0: OFF. | -| VIDEO_ONLY | 0 | RW | High resolution video mode. 1: ON, 0: OFF | -| VIDEO_RATE | 50 | RW | Time between images of video transmission (ms) | - -## Modes +| 参数名 | 默认值 | Access | Comment | +| ---------------- | ------ | ------ | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| AEC | 1 | RW | Camera Automatic Exposure Control. 1: ON, 0: OFF. | +| AGC | 1 | RW | Camera Automatic Gain Control. 1: ON, 0: OFF. | +| BFLOW_F_THLD | 40 | RW | This parameter is a feature threshold and limits the quality of patterns that are used to calculate the bottom flow. For low values (e.g. 10) almost every pattern is taken, for higher values (e.g. 100) only significant patterns are taken. | +| BFLOW_V_THLD | 5000 | RW | This is a pattern correlation threshold for filtering bad matches. Lower means only strong correlations are accepted. | +| BFLOW_HIST_FIL | 0 | RW | Flow histogram filter. 1: ON, 0: OFF. | +| BFLOW_GYRO_COM | 0 | RW | Gyro compensation. 1: ON, 0: OFF. | +| BFLOW_LP_FIL | 0 | RW | Lowpass filter on flow output. 1: ON, 0: OFF. | +| BFLOW_W_NEW | 0.3 | RW | Flow lowpass filter gain | +| BFLOW_MAX_PIX | 8 | R | Delete (parameter not used). | +| BFLOW_RATE | 10.0 | RW | Rate with which updates for optical flow are published | +| BRIGHT | 20 | RW | Desired brightness level from camera | +| DEBUG | 1 | RW | Debug messages. 1: ON, 0: OFF | +| EXPOSURE_MAX | 500 | RW | Maximal exposure time (μs) | +| GAIN_MAX | 16 | RW | Maximal gain (units?) | +| GYRO_SENS_DPS | 250 | RW | Gyroscope sensitivity: 250, 500, 2000 (dps) | +| GYRO_COMP_THR | 0.01 | RW | Gyro compensation threshold (dps): Gyro data lower than this threshold is not compensated to prevent drift | +| HDR | 1 | RW | Camera High Dynamic Range. 1: ON, 0: OFF | +| IMAGE_HEIGHT | 64 | R | Image height (pixels) | +| IMAGE_WIDTH | 64 | R | Image width (pixels) | +| IMAGE_L_LIGHT | 0 | RW | Delete (parameter not used). | +| IMAGE_NOISE_C | 1 | RW | Image sensor noise correction, 1: ON, 0: OFF | +| IMAGE_TEST_PAT | 0 | RW | Gray-shaded test pattern mode. 1: ON, 0: OFF | +| LENS_FOCAL_LEN | 16.0 | RW | Focal length of lens (mm) | +| POSITION | 0 | RW | 0: Only position 0 is used (Bottom: 0, Front: 1, Top: 2, Back: 3, Right: 4, Left: 5) | +| SHTR_W_1 | 443 | RW | Camera Shutter W_1 ? | +| SHTR_W_2 | 473 | RW | Camera Shutter W_2 ? | +| SHTR_W_TOT | 480 | RW | Camera Shutter Total ? | +| SONAR_FILTERED | 0 | RW | Kalman filter on sonar output. 1: ON, 0: OFF. | +| SONAR_KAL_L1 | 0.8461 | RW | Sonar Kalman gain L1 (for the position) | +| SONAR_KAL_L2 | 6.2034 | RW | Sonar Kalman gain L2 (for the speed) | +| SYS_ID | 81 | RW | [MAVLink](https://mavlink.io/en/) System ID | +| SYS_COMP_ID | 50 | RW | [MAVLink](https://mavlink.io/en/) Component ID | +| SYS_SENSOR_ID | 77 | RW | [MAVLink](https://mavlink.io/en/) Sensor ID | +| SYS_TYPE | 0 | RW | [MAVLink](https://mavlink.io/en/) System Type (0 means generic) | +| SYS_AP_TYPE | 0 | RW | [MAVLink](https://mavlink.io/en/) Autopilot Type (0 means generic) | +| SYS_SW_VER | 13XX | R | Software Version | +| SYS_SEND_STATE | 1 | RW | Send [MAVLink](https://mavlink.io/en/messages/common.html#HEARTBEAT) Heartbeat. 1: ON, 0: OFF. | +| SYS_SEND_LPOS | 1 | RW | Send [MAVLink](https://mavlink.io/en/messages/common.html#LOCAL_POSITION_NED) Local position estimate. 1: ON, 0: OFF. | +| USART_2_BAUD | 115200 | R | Baudrate USART 2 | +| USART_3_BAUD | 115200 | R | Baudrate USART 3 (Data Output) | +| USB_SEND_DEBUG | 1 | RW | Send debug msgs over USB. 1: ON, 0: OFF. | +| USB_SEND_FLOW | 1 | RW | Send flow over USB. 1: ON. 0: OFF. | +| USB_SEND_FWD | 0 | RW | Send forwarded flow over USB. 1: ON, 0: OFF. | +| USB_SEND_GYRO | 1 | RW | Send gyro data over USB. 1: ON, 0: OFF. | +| USB_SEND_VIDEO | 1 | RW | Send video over USB. 1: ON, 0: OFF. | +| VIDEO_ONLY | 0 | RW | High resolution video mode. 1: ON, 0: OFF | +| VIDEO_RATE | 50 | RW | Time between images of video transmission (ms) | + +## 模式 diff --git a/zh/sensor/rangefinders.md b/zh/sensor/rangefinders.md index 2c9c397d38c5..2f655e3c4f17 100644 --- a/zh/sensor/rangefinders.md +++ b/zh/sensor/rangefinders.md @@ -72,7 +72,7 @@ The common rangefinder configuration is specified using [EKF2*RNG**](../advanced -## Testing +## 测试 The easiest way to test the rangefinder is to vary the range and compare to the values detected by PX4. The sections below show some approaches to getting the measured range. @@ -102,7 +102,7 @@ listener distance_sensor 5 For more information see: [Sensor/Topic Debugging using the Listener Command](../debug/sensor_uorb_topic_debugging.md) (PX4 Development Guide). -## Simulation +## 仿真 Lidar and sonar rangefinders can be used in the [Gazebo Simulator](../simulation/gazebo.md) (PX4 Development Guide). To do this you must start the simulator using a vehicle model that includes the rangefinder. @@ -122,35 +122,35 @@ If you need to use a different vehicle you can include the model in its configur - [iris_opt_flow.sdf](https://github.com/PX4/sitl_gazebo/blob/master/models/iris_opt_flow/iris_opt_flow.sdf) xml - - model://sonar - - - sonar_model::link - typhoon_h480::base_link - - 0 0 1 - - 0 - 0 - - - + <include> + <uri>model://sonar</uri> + </include> + <joint name="sonar_joint" type="revolute"> + <child>sonar_model::link</child> + <parent>typhoon_h480::base_link</parent> + <axis> + <xyz>0 0 1</xyz> + <limit> + <upper>0</upper> + <lower>0</lower> + </limit> + </axis> + </joint> - [typhoon_h480.sdf](https://github.com/PX4/sitl_gazebo/blob/master/models/typhoon_h480/typhoon_h480.sdf#L1144) xml - - model://lidar - -0.12 0 0 0 3.1415 0 - - - lidar::link - iris::base_link - - 0 0 1 - - 0 - 0 - - - \ No newline at end of file + <include> + <uri>model://lidar</uri> + <pose>-0.12 0 0 0 3.1415 0</pose> + </include> + <joint name="lidar_joint" type="revolute"> + <child>lidar::link</child> + <parent>iris::base_link</parent> + <axis> + <xyz>0 0 1</xyz> + <limit> + <upper>0</upper> + <lower>0</lower> + </limit> + </axis> + </joint> \ No newline at end of file diff --git a/zh/sensor/sfxx_lidar.md b/zh/sensor/sfxx_lidar.md index c210b2b0781a..f940ef29f66b 100644 --- a/zh/sensor/sfxx_lidar.md +++ b/zh/sensor/sfxx_lidar.md @@ -10,7 +10,7 @@ The following models are supported by PX4, and can be connected to either the I2 ### Available -| Model | Range (m) | Bus | Description | +| Model | Range (m) | Bus | 参数描述 | | -------------------------------------------------------------------------------------- | --------- | ----------------- | --------------------------------------------------------------- | | [SF11/C](https://lightware.co.za/collections/lidar-rangefinders/products/sf11-c-120-m) | 120 | Serial or I2C bus | | | [LW20/B](https://lightware.co.za/products/lw20-b-50-m) | 50 | I2C bus | Waterproofed (IP67) with servo for sense-and-avoid applications | @@ -20,12 +20,12 @@ The following models are supported by PX4, and can be connected to either the I2 The following models are no longer available from the manufacturer. -| Model | Range | Bus | -| -------------------------------------------------------------------------------------------------- | ----- | ------------- | -| [SF02](http://documents.lightware.co.za/SF02%20-%20Laser%20Rangefinder%20Manual%20-%20Rev%208.pdf) | 50 | Serial | -| [SF10/A](http://documents.lightware.co.za/SF10%20-%20Laser%20Altimeter%20Manual%20-%20Rev%206.pdf) | 25 | Serial or I2C | -| [SF10/B](http://documents.lightware.co.za/SF10%20-%20Laser%20Altimeter%20Manual%20-%20Rev%206.pdf) | 50 | Serial or I2C | -| SF10/C | 100m | Serial or I2C | +| Model | 范围 | Bus | +| -------------------------------------------------------------------------------------------------- | ---- | ------------- | +| [SF02](http://documents.lightware.co.za/SF02%20-%20Laser%20Rangefinder%20Manual%20-%20Rev%208.pdf) | 50 | Serial | +| [SF10/A](http://documents.lightware.co.za/SF10%20-%20Laser%20Altimeter%20Manual%20-%20Rev%206.pdf) | 25 | Serial or I2C | +| [SF10/B](http://documents.lightware.co.za/SF10%20-%20Laser%20Altimeter%20Manual%20-%20Rev%206.pdf) | 50 | Serial or I2C | +| SF10/C | 100m | Serial or I2C | ## I2C Setup @@ -33,7 +33,7 @@ Check the tables above to confirm that which models can be connected to the I2C -### Hardware +### 硬件 Connect the Lidar the autopilot I2C port as shown below (in this case, for the [Pixhawk 1](../flight_controller/mro_pixhawk.md)). @@ -51,7 +51,7 @@ Set the [SENS_EN_SF1XX](../advanced_config/parameter_reference.md#SENS_EN_SF1XX) -### Hardware +### 硬件 The lidar can be connected to any unused *serial port* (UART), e.g.: TELEM2, TELEM3, GPS2 etc. @@ -61,12 +61,12 @@ The lidar can be connected to any unused *serial port* (UART), e.g.: TELEM2, TEL ### Parameter Setup -[Configure the serial port](../peripherals/serial_configuration.md) on which the lidar will run using [SENS_SF0X_CFG](../advanced_config/parameter_reference.md#SENS_SF0X_CFG). There is no need to set the baud rate for the port, as this is configured by the driver. +[Configure the serial port](../peripherals/serial_configuration.md) on which the lidar will run using [SENS_SF0X_CFG](../advanced_config/parameter_reference.md#SENS_SF0X_CFG). 无需设置端口的波特率, 因为这是由驱动程序配置的。 > **Note** If the configuration parameter is not available in *QGroundControl* then you may need to [add the driver to the firmware](../peripherals/serial_configuration.md#parameter_not_in_firmware). Then set the [SENS_EN_SF0X](../advanced_config/parameter_reference.md#SENS_EN_SF0X) parameter to match the rangefinder model and reboot. -## Further Information +## 更多信息 - [Modules Reference: Distance Sensor (Driver) : sf1xx](../modules/modules_driver_distance_sensor.md#sf1xx) (PX4 Dev Guide) \ No newline at end of file diff --git a/zh/sensor/teraranger.md b/zh/sensor/teraranger.md index 60772fcef9fd..89a9bfa57404 100644 --- a/zh/sensor/teraranger.md +++ b/zh/sensor/teraranger.md @@ -10,19 +10,19 @@ PX4 supports: > **Info** The *Terranger One* is used in the [Qualcomm Snapdragon Flight](../flight_controller/snapdragon_flight.md). -## Where to Buy +## 购买渠道 * TBD -## Pinouts +## 针脚定义 -## Wiring +## 布线 All TeraRanger sensors must be connected via the I2C bus. While TeraRanger One requires an [I2C adapter](https://www.terabee.com/shop/accessories/i2c-adapter-for-teraranger-one/) any sensor from TeraRanger Evo series can be connected directly to the autopilot. -## Software Configuration +## 软件配置 The sensors are enabled using the parameter [SENS_EN_TRANGER](../advanced_config/parameter_reference.md#SENS_EN_TRANGER) (you can set the type of sensor or that PX4 should auto-detect the type). @@ -30,6 +30,6 @@ The sensors are enabled using the parameter [SENS_EN_TRANGER](../advanced_config > > **Tip** The driver for this rangefinder is usually present in firmware. If missing, you would also need to add the driver (`drivers/ll40ls`) to the board configuration. -## Further Information +## 更多信息 * [Modules Reference: Distance Sensor (Driver) : teraranger](../modules/modules_driver_distance_sensor.md#teraranger) (PX4 Dev Guide) \ No newline at end of file diff --git a/zh/sensor/tfmini.md b/zh/sensor/tfmini.md index 62f630a2b96e..fbf3a4760d1b 100644 --- a/zh/sensor/tfmini.md +++ b/zh/sensor/tfmini.md @@ -12,4 +12,4 @@ TFmini can be connected to any unused *serial port* (UART), e.g.: TELEM2, TELEM3 [Configure the serial port](../peripherals/serial_configuration.md) on which the lidar will run using [SENS_TFMINI_CFG](../advanced_config/parameter_reference.md#SENS_TFMINI_CFG). There is no need to set the baud rate (this is hard coded in the sensor driver as only one rate is supported). -> **Note** If the configuration parameter is not available in *QGroundControl* then you may need to [add the driver to the firmware](../peripherals/serial_configuration.md#parameter_not_in_firmware): ```drivers/distance_sensor/tfmini``` \ No newline at end of file +> **Note** 如果配置参数在 *QGroundControl* 中不可用, 则可能需要 添加驱动程序到固件 : ```drivers/distance_sensor/tfmini```

                                                            \ No newline at end of file diff --git a/zh/sensor/thunderfly_tachometer.md b/zh/sensor/thunderfly_tachometer.md index b8cd2962ce0a..db34edd095a4 100644 --- a/zh/sensor/thunderfly_tachometer.md +++ b/zh/sensor/thunderfly_tachometer.md @@ -9,7 +9,7 @@ The board itself does not include the actual sensor, but can be used with a numb > **Note** The TFRPM01 sensor is open-source hardware commercially available from [ThunderFly s.r.o.](https://www.thunderfly.cz/) (manufacturing data is [available on GitHub](https://github.com/ThunderFly-aerospace/TFRPM01)). It is based on the [PCF8583 counter](https://www.nxp.com/docs/en/data-sheet/PCF8583.pdf). -## Hardware Setup +## 硬件连接 The board is equipped with a (two troughpass) I²C connectors for connecting to PX4 and has a 3-pin connector that can be used to connect to various sensors: - TFRPM01 may be connected to any I²C port. diff --git a/zh/sensor/ulanding_radar.md b/zh/sensor/ulanding_radar.md index ad24698060fa..b7332da0f870 100644 --- a/zh/sensor/ulanding_radar.md +++ b/zh/sensor/ulanding_radar.md @@ -16,6 +16,6 @@ US-D1 can be connected to any unused *serial port* (UART), e.g.: TELEM2, TELEM3, ## Parameter Setup -[Configure the serial port](../peripherals/serial_configuration.md) on which the lidar will run using [SENS_ULAND_CFG](../advanced_config/parameter_reference.md#SENS_ULAND_CFG). There is no need to set the baud rate for the port, as this is configured by the driver. +[Configure the serial port](../peripherals/serial_configuration.md) on which the lidar will run using [SENS_ULAND_CFG](../advanced_config/parameter_reference.md#SENS_ULAND_CFG). 无需设置端口的波特率, 因为这是由驱动程序配置的。 -> **Note** If the configuration parameter is not available in *QGroundControl* then you may need to [add the driver to the firmware](../peripherals/serial_configuration.md#parameter_not_in_firmware): ```drivers/distance_sensor/ulanding``` \ No newline at end of file +> **或者** 如果配置参数在 *QGroundControl* 中不可用, 则可能需要 添加驱动程序到固件 : ```drivers/distance_sensor/ulanding```

                                                            \ No newline at end of file diff --git a/zh/sensor_bus/README.md b/zh/sensor_bus/README.md index 194d8b271967..3a6230d462d2 100644 --- a/zh/sensor_bus/README.md +++ b/zh/sensor_bus/README.md @@ -1,3 +1,3 @@ -# Sensor and Actuator I/O +# 传感器和执行器 I/O -This section contains topics about integrating sensors and actuators into PX4. It covers both sensor busses ([I2C](../sensor_bus/i2c.md), [UAVCAN ](../uavcan/README.md), [UART](../uart/README.md), SPI) and also the main PWM ports. +本节包含有关 PX 4 中集成的传感器和执行器的主题。 它既包括传感器总线（[I2C](../sensor_bus/i2c.md)、[UAVCAN ](../uavcan/README.md)、[UART](../uart/README.md)、spi），也包括主 PWM 端口。 diff --git a/zh/simulation/README.md b/zh/simulation/README.md index f1ebede16f2f..85be40de6f77 100644 --- a/zh/simulation/README.md +++ b/zh/simulation/README.md @@ -1,126 +1,126 @@ -# Simulation +# 仿真 -Simulators allow PX4 flight code to control a computer modeled vehicle in a simulated "world". You can interact with this vehicle just as you might with a real vehicle, using *QGroundControl*, an offboard API, or a radio controller/gamepad. +在仿真机中模拟器允许 px4 飞行代码来控制计算机建模工具。 您可以与此工具进行交互，就像您可以使用 *QGroundControl*、非机载 api 或无线电控制器/游戏板与真正的车辆进行交互一样。 -> **Tip** Simulation is a quick, easy, and most importantly, *safe* way to test changes to PX4 code before attempting to fly in the real world. It is also a good way to start flying with PX4 when you haven't yet got a vehicle to experiment with. +> **Tip**仿真是一种快速、简单、最重要的方法，*safe* 的方法来测试对 px4 代码的更改，然后再尝试在现实世界中飞行。 当你还没有飞行器可以试验的时候，使用 px4 来模拟飞行的就是一种好方法。 -PX4 supports both *Software In the Loop (SITL)* simulation, where the flight stack runs on computer (either the same computer or another computer on the same network) and *Hardware In the Loop (HITL)* simulation using a simulation firmware on a real flight controller board. +Px4 支持 *软件在环（SITL）* 仿真，其中飞行堆栈在计算机上运行（同一台计算机或同一网络上的另一台计算机），也支持 *硬件在环（HITL）*仿真，即使用真实飞行电路板来运行仿真。 -Information about available simulators and how to set them up are provided in the next section. The other sections provide general information about how the simulator works, and are not required to *use* the simulators. +下一节将提供有关可用仿真器以及如何配置仿真仿真器的信息。 其他部分提供了有关仿真器如何工作的普通信息, 并且不需要 *use* 模拟器。 -## Supported Simulators +## 支持的仿真器 -The following simulators work with PX4 for HITL and/or SITL simulation. +以下仿真器与 px4 一起工作，用于 HITL 和/或 SITL 仿真。 -| Simulator | Description | +| 仿真器 | 描述 | | ----------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------- | -| [Gazebo](../simulation/gazebo.md) |

                                                            This simulator is highly recommended.

                                                            A powerful 3D simulation environment that is particularly suitable for testing object-avoidance and computer vision. It can also be used for multi-vehicle simulation and is commonly used with ROS, a collection of tools for automating vehicle control.

                                                            Supported Vehicles: Quad (Iris and Solo), Hex (Typhoon H480), Generic quad delta VTOL, Tailsitter, Plane, Rover, Submarine

                                                            | +| [Gazebo](../simulation/gazebo.md) |

                                                            强烈建议使用此仿真器。

                                                            它具有功能强大的 3D 仿真环境, 特别适用于测试对象避障和计算机视觉。 它还可用于 多工具仿真，通常用于 ROS，这是一种用于自动控制的工具集。

                                                            Supported Vehicles: Quad (Iris and Solo), Hex (Typhoon H480), Generic quad delta VTOL, Tailsitter, Plane, Rover, Submarine

                                                            | | [FlightGear](../simulation/flightgear.md) |

                                                            A simulator that provides physically and visually realistic simulations. In particular it can simulate many weather conditions, including thunderstorms, snow, rain and hail, and can also simulate thermals and different types of atmospheric flows. Multi-vehicle simulation is also supported.

                                                            Supported Vehicles: Plane, Autogyro, Rover

                                                            | | [JSBSim](../simulation/jsbsim.md) |

                                                            A simulator that provides advanced flight dynamics models. This can be used to model realistic flight dynamics based on wind tunnel data.

                                                            Supported Vehicles: Plane, Quad, Hex

                                                            | -| [jMAVSim](../simulation/jmavsim.md) | A simple multirotor simulator that allows you to fly *copter* type vehicles around a simulated world.

                                                            It is easy to set up and can be used to test that your vehicle can take off, fly, land, and responds appropriately to various fail conditions (e.g. GPS failure). It can also be used for multi-vehicle simulation.

                                                            Supported Vehicles: Quad

                                                            | -| [AirSim](../simulation/airsim.md) |

                                                            A cross platform simulator that provides physically and visually realistic simulations. This simulator is resource intensive, and requires a very significantly more powerful computer than the other simulators described here.

                                                            Supported Vehicles: Iris (MultiRotor model and a configuration for PX4 QuadRotor in the X configuration).

                                                            | -| [Simulation-In-Hardware](../simulation/simulation-in-hardware.md) (SIH) |

                                                            An alternative to HITL that offers a hard real-time simulation directly on the hardware autopilot.

                                                            Supported Vehicles: Quad

                                                            | +| [jMAVSim](../simulation/jmavsim.md) | A simple multirotor simulator that allows you to fly *copter* type vehicles around a simulated world.

                                                            它易设置，可以用来测试您的工具是否可以起飞、飞行、降落、并对各种故障条件 (例如 gps 故障) 做出适当的反应。 它也可用于 多机仿真 。

                                                            支持机型： 四旋翼

                                                            | +| [AirSim](../simulation/airsim.md) |

                                                            A cross platform simulator that provides physically and visually realistic simulations. 这个模拟器需要大量的资源，需要一台比这里描述的其他仿真器更强大的计算机。

                                                            支持机型: Iris （多转子模型和 x 配置中 px4 quadrotor 的配置）。

                                                            | +| [Simulation-In-Hardware](../simulation/simulation-in-hardware.md) (SIH) |

                                                            An alternative to HITL that offers a hard real-time simulation directly on the hardware autopilot.

                                                            支持机型： 四旋翼

                                                            | -Instructions for how to setup and use the simulators are in the topics linked above. +有关如何设置和使用仿真器的说明，请参见上面链接的主题。 --- -The remainder of this topic is a "somewhat generic" description of how the simulation infrastructure works. It is not required to *use* the simulators. +本主题的其余部分是对仿真基础结构如何工作的 "有点笼统" 的描述。 它不需要 *use* 仿真器。 -## Simulator MAVLink API +## 仿真器 MAVLink API -All simulators communicate with PX4 using the Simulator MAVLink API. This API defines a set of MAVLink messages that supply sensor data from the simulated world to PX4 and return motor and actuator values from the flight code that will be applied to the simulated vehicle. The image below shows the message flow. +所有模拟器都使用 Simulator MAVLink API 与 PX4 进行通信。 该 API 定义了一组 MAVLink 消息，这些消息将仿真机的传感器数据提供给 PX4，并从将应用于仿真机的飞行代码返回电机和执行器值。 下面图表描述了消息。 -![Simulator MAVLink API](../../assets/simulation/px4_simulator_messages.png) +![仿真器 MAVLink API](../../assets/simulation/px4_simulator_messages.png) -> **Note** A SITL build of PX4 uses [simulator_mavlink.cpp](https://github.com/PX4/PX4-Autopilot/blob/master/src/modules/simulator/simulator_mavlink.cpp) to handle these messages while a hardware build in HIL mode uses [mavlink_receiver.cpp](https://github.com/PX4/PX4-Autopilot/blob/master/src/modules/mavlink/mavlink_receiver.cpp). Sensor data from the simulator is written to PX4 uORB topics. All motors / actuators are blocked, but internal software is fully operational. +> **注意** PX4 的 SITL 版本使用[仿真器 mavlink.cpp](https://github.com/PX4/PX4-Autopilot/blob/master/src/modules/simulator/simulator_mavlink.cpp)来处理这些消息，而在HITL模式下的硬件构建使用[mavlink receiver.cpp](https://github.com/PX4/PX4-Autopilot/blob/master/src/modules/mavlink/mavlink_receiver.cpp)。 模拟器中的传感器数据将写入 PX4 uORB 主题。 所有电机/执行器都被卡停，但内部软件可以完全正常运行。 -The messages are described below (see links for specific detail). +下面介绍了这些消息 （有关特定详细信息, 请参阅链接）。 -| Message | Direction | Description | -| -------------------------------------------------------------------------------------------------------------- | ---------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -| [MAV_MODE:MAV_MODE_FLAG_HIL_ENABLED](https://mavlink.io/en/messages/common.html#MAV_MODE_FLAG_HIL_ENABLED) | NA | Mode flag when using simulation. All motors/actuators are blocked, but internal software is fully operational. | -| [HIL_ACTUATOR_CONTROLS](https://mavlink.io/en/messages/common.html#HIL_ACTUATOR_CONTROLS) | PX4 to Sim | PX4 control outputs (to motors, actuators). | -| [HIL_SENSOR](https://mavlink.io/en/messages/common.html#HIL_SENSOR) | Sim to PX4 | Simulated IMU readings in SI units in NED body frame. | -| [HIL_GPS](https://mavlink.io/en/messages/common.html#HIL_GPS) | Sim to PX4 | The simulated GPS RAW sensor value. | -| [HIL_OPTICAL_FLOW](https://mavlink.io/en/messages/common.html#HIL_OPTICAL_FLOW) | Sim to PX4 | Simulated optical flow from a flow sensor (e.g. PX4FLOW or optical mouse sensor) | -| [HIL_STATE_QUATERNION](https://mavlink.io/en/messages/common.html#HIL_STATE_QUATERNION) | Sim to PX4 | Contains the actual "simulated" vehicle position, attitude, speed etc. This can be logged and compared to PX4's estimates for analysis and debugging (for example, checking how well an estimator works for noisy (simulated) sensor inputs). | -| [HIL_RC_INPUTS_RAW](https://mavlink.io/en/messages/common.html#HIL_RC_INPUTS_RAW) | Sim to PX4 | The RAW values of the RC channels received. | +| 消息 | 方向 | 参数描述 | +| -------------------------------------------------------------------------------------------------------------- | --------- | ------------------------------------------------------------------------------- | +| [MAV_MODE:MAV_MODE_FLAG_HIL_ENABLED](https://mavlink.io/en/messages/common.html#MAV_MODE_FLAG_HIL_ENABLED) | 不可用 | 使用模拟时的模式标志。 所有电机/执行器都被卡停，但内部软件可以完全正常运行。 | +| [HIL_ACTUATOR_CONTROLS](https://mavlink.io/en/messages/common.html#HIL_ACTUATOR_CONTROLS) | PX4 至 Sim | PX4 控制输出 （电机、执行器）。 | +| [HIL_SENSOR](https://mavlink.io/en/messages/common.html#HIL_SENSOR) | Sim 至 PX4 | 在 NED 体框架中以 SI 单位模拟 IMU 读数。 | +| [HIL_GPS](https://mavlink.io/en/messages/common.html#HIL_GPS) | Sim 至 PX4 | 模拟的 GPS RAW 传感器值。 | +| [HIL_OPTICAL_FLOW](https://mavlink.io/en/messages/common.html#HIL_OPTICAL_FLOW) | Sim 至 PX4 | 来自流量传感器的模拟光流 （例如 PX4FLOW 或光学鼠标传感器）。 | +| [HIL_STATE_QUATERNION](https://mavlink.io/en/messages/common.html#HIL_STATE_QUATERNION) | Sim 至 PX4 | 包含实际的“仿真”无人机位置、姿态、速度等。 这可以记录并与 px4 的分析和调试估计进行比较 （例如，检查估计器在噪声 （仿真） 传感器输入中的工作情况）。 | +| [HIL_RC_INPUTS_RAW](https://mavlink.io/en/messages/common.html#HIL_RC_INPUTS_RAW) | Sim 至 PX4 | 收到 RC 通道的 RAW 值。 | -## Default PX4 MAVLink UDP Ports +## 默认 PX4 MAVLink UDP 端口 -By default, PX4 uses commonly established UDP ports for MAVLink communication with ground control stations (e.g. *QGroundControl*), Offboard APIs (e.g. MAVSDK, MAVROS) and simulator APIs (e.g. Gazebo). These ports are: +By default, PX4 uses commonly established UDP ports for MAVLink communication with ground control stations (e.g. *QGroundControl*), Offboard APIs (e.g. MAVSDK, MAVROS) and simulator APIs (e.g. Gazebo). 这些端口是： -* UDP Port **14540** is used for communication with offboard APIs. Offboard APIs are expected to listen for connections on this port. -* UDP Port **14550** is used for communication with ground control stations. GCS are expected to listen for connections on this port. *QGroundControl* listens to this port by default. -* The simulator's local TCP Port **4560** is used for communication with PX4. PX4 listens to this port, and simulators are expected to initiate the communication by broadcasting data to this port. +* UDP Port **14540** is used for communication with offboard APIs. 期望外接 APIs 监听此端口上的连接。 +* UDP Port **14550** is used for communication with ground control stations. 期望 GCS 将侦听此端口上的连接。 *QGroundControl*默认侦听此端口。 +* The simulator's local TCP Port **4560** is used for communication with PX4. PX4 侦听此端口，仿真器应通过向该端口广播数据来启动通信。 -> **Note** The ports for the GCS and offboard APIs are set in configuration files, while the simulator broadcast port is hard-coded in the simulation MAVLink module. +> **注意**GCS 和外置 API 的端口设置在配置文件中，而仿真器广播端口在模拟 MAVlink 模块中硬编码． -## SITL Simulation Environment +## SITL 仿真环境 -The diagram below shows a typical SITL simulation environment for any of the supported simulators. The different parts of the system connect via UDP, and can be run on either the same computer or another computer on the same network. +下面显示了适用于任何受支持仿真器的典型 SITL 仿真环境。 系统的不同部分通过 UDP 连接，并且可以在同一台计算机上运行，也可以在同一网络上的另一台计算机上运行。 -* PX4 uses a simulation-specific module to connect to the simulator's local TCP port 4560. Simulators then exchange information with PX4 using the [Simulator MAVLink API](#simulator-mavlink-api) described above. PX4 on SITL and the simulator can run on either the same computer or different computers on the same network. +* PX4 uses a simulation-specific module to connect to the simulator's local TCP port 4560. Simulators then exchange information with PX4 using the [Simulator MAVLink API](#simulator-mavlink-api) described above. SITL 和模拟器上的 PX4 可以在同一台计算机上运行，也可以在同一网络上运行不同的计算机。 * PX4 uses the normal MAVLink module to connect to ground stations (which listen on port 14550) and external developer APIs like MAVSDK or ROS (which listen on port 14540). -* A serial connection is used to connect Joystick/Gamepad hardware via *QGroundControl*. +* 通过串口将操纵杆/游戏手柄通过 *QGroundControl* 连接至仿真回路中。 -![PX4 SITL overview](../../assets/simulation/px4_sitl_overview.png) +![PX4 SITL 概述](../../assets/simulation/px4_sitl_overview.png) -If you use the normal build system SITL `make` configuration targets (see next section) then both SITL and the Simulator will be launched on the same computer and the ports above will automatically be configured. You can configure additional MAVLink UDP connections and otherwise modify the simulation environment in the build configuration and initialisation files. +如果使用正常的生成系统 SITL `make` 配置目标 （请参阅下一节），则 SITL 和模拟器都将在同一台计算机上启动，并自动配置上述端口。 您可以配置其他 MAVLink UDP 连接，并以其他方式修改生成配置和初始化文件中的模拟环境。 -### Starting/Building SITL Simulation +### 启动/构建 SITL 模拟 -The build system makes it very easy to build and start PX4 on SITL, launch a simulator, and connect them. The syntax (simplified) looks like this: +构建系统使在 SITL 上构建和启动 PX4、启动模拟器并连接它们变得非常容易。 语法 （简化）如下所示： ``` make px4_sitl simulator[_vehicle-model] ``` -where `simulator` is `gazebo`, `jmavsim` or some other simulator, and vehicle-model is a particular vehicle type supported by that simulator ([jMAVSim](../simulation/jmavsim.md) only supports multicopters, while [Gazebo](../simulation/gazebo.md) supports many different types). +其中 `simulator` 是 `gazebo`、`jmavsim` 或其他一些模拟器，该设备模型是该模拟器支持的特殊的无人机类型 （[jMAVSim](../simulation/jmavsim.md) 仅支持多路光台，而 [Gazebo](../simulation/gazebo.md) 支持许多不同类型）。 -A number of examples are shown below, and there are many more in the individual pages for each of the simulators: +下面显示了许多示例，每个模拟器的各个页面中还有更多示例： ```sh -# Start Gazebo with plane +# 启动固定翼机型的 Gazebo make px4_sitl gazebo_plane -# Start Gazebo with iris and optical flow +# 启动有光流的Iris机型的 Gazebo make px4_sitl gazebo_iris_opt_flow -# Start JMavSim with iris (default vehicle model) +# 启动Iris（默认机型）的 JMavSim make px4_sitl jmavsim ``` -The simulation can be further configured via environment variables: -- `PX4_ESTIMATOR`: This variable configures which estimator to use. Possible options are: `ekf2` (default), `lpe` (deprecated). It can be set via `export PX4_ESTIMATOR=lpe` before running the simulation. +可以通过环境变量进一步仿真机： +- `PX4_ESTIMATOR`：此变量配置要使用的估算器。 Possible options are: `ekf2` (default), `lpe` (deprecated). 在运行模拟之前，可以通过 `export PX4_ESTIMATOR=lpe` 进行设置。 -The syntax described here is simplified, and there are many other options that you can configure via *make* - for example, to set that you wish to connect to an IDE or debugger. For more information see: [Building the Code > PX4 Make Build Targets](../dev_setup/building_px4.md#make_targets). +这里描述的语法是简化的，您可以通过 *make* 配置许多其他选项，例如，设置要连接到 IDE 或调试器的选项。 For more information see: [Building the Code > PX4 Make Build Targets](../dev_setup/building_px4.md#make_targets).                                                             -### Run Simulation Faster than Realtime +### 以比实际时间更快的流速运行仿真 -SITL can be run faster or slower than realtime when using jMAVSim or Gazebo. +使用 jMAVSim 或者 Gazebo 进行 SITL 仿真时，我们可以以比实际时间流速更快或者更慢的时间流速运行仿真。 -The speed factor is set using the environment variable `PX4_SIM_SPEED_FACTOR`. For example, to run the jMAVSim simulation at 2 times the real time speed: +时间相对流速因子可通过环境变量 `PX4_SIM_SPEED_FACTOR` 进行设定。 例如，想以相对实际时间的 2 倍流速运行 jMAVSim 仿真： ``` PX4_SIM_SPEED_FACTOR=2 make px4_sitl jmavsim ``` -To run at half real-time: +运行半速仿真： ``` PX4_SIM_SPEED_FACTOR=0.5 make px4_sitl jmavsim ``` -You can apply the factor to all SITL runs in the current session using `EXPORT`: +你也可以在当前会话（session）中使用 `EXPORT` 来将该因子应用于所有 SITL 仿真： ``` export PX4_SIM_SPEED_FACTOR=2 make px4_sitl jmavsim ``` -> **Note** At some point IO or CPU will limit the speed that is possible on your machine and it will be slowed down "automatically". Powerful desktop machines can usually run the simulation at around 6-10x, for notebooks the achieved rates can be around 3-4x. +> **Note** 在某些情况下当你的电脑的 IO 或者 CPU 性能不足以支撑仿真以设定的速度运行时，该速度会 “自动”降低。 性能强劲的台式机通常可以以 6-10 倍的流速运行仿真，而笔记本测通常可以实现 3-4 倍的流速。 > **Note** To avoid PX4 detecting data link timeouts, increase the value of param [COM_DL_LOSS_T](../advanced_config/parameter_reference.md#COM_DL_LOSS_T) proportional to the simulation rate. For example, if `COM_DL_LOSS_T` is 10 in realtime, at 10x simulation rate increase to 100. @@ -150,9 +150,9 @@ To disable lockstep in jMAVSim, remove `-l` in [jmavsim_run.sh](https://github.c -### Startup Scripts +### 启动脚本 -Scripts are used to control which parameter settings to use or which modules to start. They are located in the [ROMFS/px4fmu_common/init.d-posix](https://github.com/PX4/PX4-Autopilot/tree/master/ROMFS/px4fmu_common/init.d-posix) directory, the `rcS` file is the main entry point. See [System Startup](../concept/system_startup.md) for more information. +脚本被用于控制要使用的参数设置或要启动的模块。 它们位于 [ROMFS/px4fmu_common/init.d-posix](https://github.com/PX4/PX4-Autopilot/tree/master/ROMFS/px4fmu_common/init.d-posix) 目录中，`rcS` 文件是主要入口点。 有关详细信息，请参阅 [System startup](../concept/system_startup.md)。 ### Simulating Failsafes and Sensor/Hardware Failure @@ -161,56 +161,56 @@ The [SITL parameters](../advanced_config/parameter_reference.md#sitl) can also b Additionally (and with some overlap), [Simulate Failsafes](../simulation/failsafes.md) explains how to trigger safety failsafes. -## HITL Simulation Environment +## HITL 仿真环境 -With Hardware-in-the-Loop (HITL) simulation the normal PX4 firmware is run on real hardware. The HITL Simulation Environment in documented in: [HITL Simulation](../simulation/hitl.md). +通过硬件在环（HITL）仿真使正常的 PX4 固件在真正的硬件上运行。 HITL 仿真环境记录于： [HITL 模拟](../simulation/hitl.md)。 -## Joystick/Gamepad Integration +## 操纵杆／手柄集成 -*QGroundControl* desktop versions can connect to a USB Joystick/Gamepad and send its movement commands and button presses to PX4 over MAVLink. This works on both SITL and HITL simulations, and allows you to directly control the simulated vehicle. If you don't have a joystick you can alternatively control the vehicle using QGroundControl's onscreen virtual thumbsticks. +*QGroundControl* 台式机版本可以连接到 USB Joystick/Gamepad，并通过 MAVLink 将其移动指令和按钮发送到 PX4。 这适用于 SITL 和 HITL 仿真，并允许直接控制仿真机。 如果你没有操纵杆，你也可以使用地面控制站的屏幕虚拟拇指杆来控制无人机。 -For setup information see the *QGroundControl User Guide*: -* [Joystick Setup](https://docs.qgroundcontrol.com/en/SetupView/Joystick.html) -* [Virtual Joystick](https://docs.qgroundcontrol.com/en/SettingsView/VirtualJoystick.html) +有关设置信息，请参阅 *QGroundControl 用户指南 *： +* [操纵杆设置](https://docs.qgroundcontrol.com/en/SetupView/Joystick.html) +* [虚拟操纵杆](https://docs.qgroundcontrol.com/en/SettingsView/VirtualJoystick.html) -## Camera Simulation +## 相机模拟 -PX4 supports capture of both still images and video from within the [Gazebo](../simulation/gazebo.md) simulated environment. This can be enabled/set up as described in [Gazebo > Video Streaming](../simulation/gazebo.md#video). +PX4 支持在 [Gazebo](../simulation/gazebo.md) 模拟环境中捕获静止图像和视频。 This can be enabled/set up as described in [Gazebo > Video Streaming](../simulation/gazebo.md#video). -The simulated camera is a gazebo plugin that implements the [MAVLink Camera Protocol](https://mavlink.io/en/protocol/camera.html). PX4 connects/integrates with this camera in *exactly the same way* as it would with any other MAVLink camera: +The simulated camera is a gazebo plugin that implements the [MAVLink Camera Protocol](https://mavlink.io/en/protocol/camera.html). PX4 与这个相机以 *exactly the same way* 连接／集成，与任何其他 MAVLink 相机一样： 1. [TRIG_INTERFACE](../advanced_config/parameter_reference.md#TRIG_INTERFACE) must be set to `3` to configure the camera trigger driver for use with a MAVLink camera - > **Tip** In this mode the driver just sends a [CAMERA_TRIGGER](https://mavlink.io/en/messages/common.html#CAMERA_TRIGGER) message whenever an image capture is requested. For more information see [Camera](../peripherals/camera.md). -1. PX4 must forward all camera commands between the GCS and the (simulator) MAVLink Camera. You can do this by starting [MAVLink](../middleware/modules_communication.md#mavlink) with the `-f` flag as shown, specifying the UDP ports for the new connection. + > **Tip** In this mode the driver just sends a [CAMERA_TRIGGER](https://mavlink.io/en/messages/common.html#CAMERA_TRIGGER) message whenever an image capture is requested. 更多信息请参见：[Camera](../peripherals/camera.md)。 +1. PX4 必须在 GCS 和（模拟器）MAVLink Camera 之间转发所有摄像机命令。 You can do this by starting [MAVLink](../middleware/modules_communication.md#mavlink) with the `-f` flag as shown, specifying the UDP ports for the new connection. ``` mavlink start -u 14558 -o 14530 -r 4000 -f -m camera ``` > **Note** More than just the camera MAVLink messages will be forwarded, but the camera will ignore those that it doesn't consider relevant. -The same approach can be used by other simulators to implement camera support. +其他模拟器可以使用相同的方法来实现相机支持。 -## Running Simulation on a Remote Server +## 在远程服务器上运行仿真 -It is possible to run the simulator on one computer, and access it from another computer on the same network (or on another network with appropriate routing). This might be useful, for example, if you want to test a drone application running on real companion computer hardware running against a simulated vehicle. +可以在一台计算机上运行模拟器，并从同一网络 (或具有适当路由的另一台网络) 上的另一台计算机访问模拟器。 例如，如果要测试在模拟车辆上运行的真实配套计算机硬件上运行的无人机应用程序，这可能很有用。 -This does not work "out of the box" because PX4 does not route packets to external interfaces by default (in order to avoid spamming the network and different simulations interfering with each other). Instead it routes traffic internally - to "localhost". +这不是 "开箱即用" 的，因为 PX4 在默认情况下不会将数据包路由到外部接口 (以避免垃圾邮件和不同的模拟相互干扰)。 相反，它将数据包路由到 "本地主机"。 -There are a number of ways to make the UDP packets available on external interfaces, as outlined below. +有多种方法可以使 UDP 数据包在外部接口上可用，如下所述。 -### Enable MAV_BROADCAST +### 启用 MAV_BROADCAST -Enable [MAV_BROADCAST](../advanced_config/parameter_reference.md#MAV_BROADCAST) to broadcast heartbeats on the local network. +启用 [MAV_BROADCAST](../advanced_config/parameter_reference.md#MAV_BROADCAST) 在本地网络上广播检测信号。 -A remote computer can then connect to the simulator by listening to the appropriate port (i.e. 14550 for *QGroundControl*). +然后，远程计算机可以通过侦听适当的端口 (即 *QGroundControl* 的14550端口) 连接到模拟器。 -### Use MAVLink Router +### 使用 MAVLink 路由器 The [mavlink-router](https://github.com/intel/mavlink-router) can be used to route packets from localhost to an external interface. @@ -236,41 +236,41 @@ To route packets between SITL running on one computer (sending MAVLink traffic t > **Note** More information about *mavlink-router* configuration can be found [here](https://github.com/intel/mavlink-router/#running). -### Modify Configuration for External Broadcasting +### 修改外部广播的配置 -The [mavlink](../middleware/modules_communication.md#mavlink_usage) module routes to *localhost* by default, but you can specify an external IP address to broadcast to using its `-t` option. +默认情况下，[mavlink](../middleware/modules_communication.md#mavlink_usage) 模块路由到 *localhost*，但您可以指定要使用其 `-t` 选项广播的外部 IP 地址。 -This should be done in various configuration files where `mavlink start` is called. For example: [/ROMFS/px4fmu_common/init.d-posix/rcS](https://github.com/PX4/PX4-Autopilot/blob/master/ROMFS/px4fmu_common/init.d-posix/rcS). +这应该在各种配置文件中完成，其中调用了 `mavlink start`。 例如：[/ROMFS/px4fmu_common/init.d-posix/rcS](https://github.com/PX4/PX4-Autopilot/blob/master/ROMFS/px4fmu_common/init.d-posix/rcS)。 -### SSH Tunneling +### SSH 通道 -SSH tunneling is a flexible option because the simulation computer and the system using it need not be on the same network. +ssh 是一个灵活的选项，因为模拟计算机和使用它的系统不需要在同一网络上。 -> **Note** You might similarly use VPN to provide a tunnel to an external interface (on the same network or another network). +> **Note** 您也可以使用 vpn 向外部接口 (在同一网络或其他网络上) 提供隧道。 -One way to create the tunnel is to use SSH tunneling options. The tunnel itself can be created by running the following command on *localhost*, where `remote.local` is the name of a remote computer: +创建隧道的一种方法是使用 ssh 隧道选项。 可以通过在 *localhost* 上运行以下命令来创建隧道，其中 `remote.local` 是远程计算机的名称： ``` ssh -C -fR 14551:localhost:14551 remote.local ``` -The UDP packets need to be translated to TCP packets so they can be routed over SSH. The [netcat](https://en.wikipedia.org/wiki/Netcat) utility can be used on both sides of the tunnel - first to convert packets from UDP to TCP, and then back to UDP at the other end. +UDP 数据包需要转换为 TCP 数据包，以便可以通过 ssh 对其进行路由。 [netcat](https://en.wikipedia.org/wiki/Netcat) 可以用于隧道的两边—首先转换 UDP 为 TCP 数据包，然后在另一端再转回 UDP 。 -> **Tip** QGC must be running before executing *netcat*. +> **Tip** 执行 *netcat* 之前， QGC 必须运行起来。 On the *QGroundControl* computer, UDP packet translation may be implemented by running following commands: ``` mkfifo /tmp/tcp2udp netcat -lvp 14551 < /tmp/tcp2udp | netcat -u localhost 14550 > /tmp/tcp2udp ``` -On the simulator side of the SSH tunnel, the command is: +在 ssh 隧道的模拟器一端，命令是： ``` mkfifo /tmp/udp2tcp netcat -lvup 14550 < /tmp/udp2tcp | netcat localhost 14551 > /tmp/udp2tcp ``` -The port number `14550` is valid for connecting to QGroundControl or another GCS, but should be adjusted for other endpoints (e.g. developer APIs etc.). +端口号 `14550` 可以用于 QGroundControl 与其他的 GCS 连接，但应根据其他端点进行调整（比如开发者 API 等）。 -The tunnel may in theory run indefinitely, but *netcat* connections may need to be restarted if there is a problem. +理论上，隧道可能无限期运行，但如果出现问题，可能需要重新启动 *netcat* 连接。 -The [QGC_remote_connect.bash](https://raw.githubusercontent.com/ThunderFly-aerospace/sitl_gazebo/autogyro-sitl/scripts/QGC_remote_connect.bash) script can be run on the QGC computer to automatically setup/run the above instructions. The simulation must already be running on the remote server, and you must be able to SSH into that server. +[QGC_remote_connect.bash](https://raw.githubusercontent.com/ThunderFly-aerospace/sitl_gazebo/autogyro-sitl/scripts/QGC_remote_connect.bash) 脚本可以在 QGC 计算机上运行，以自动设置运行上述指令。 模拟必须已经在远程服务器上运行，并且您必须能够通过 ssh 登录到该服务器。 diff --git a/zh/simulation/airsim.md b/zh/simulation/airsim.md index 1d8287b32def..0d3de60a746e 100644 --- a/zh/simulation/airsim.md +++ b/zh/simulation/airsim.md @@ -6,6 +6,6 @@ AirSim 是一款开源、跨平台的无人机仿真器，基于虚幻引擎开 使用 PX4 的文档主要切入点为 [PX4 Setup for AirSim](https://github.com/Microsoft/AirSim/blob/master/docs/px4_setup.md)（涵盖 HITL 与 SITL）。 -## Further Information +## 更多信息 -* [Using AirSim to Simulate Aircraft Inspection by Autonomous Drones](https://github.com/generalized-intelligence/GAAS/tree/master/demo/case_study_1?fbclid=IwAR2JO0LPesA5z313sA2QGm1t01bb4wn0Xpz_JkD7Z1s3nombJWHyTZdLuMA) (Case Study from Generalized Autonomy Aviation System (GAAS) project). +* [在 AirSim 中模拟无人机对客机巡检](https://gaas.gitbook.io/guide/case-study/zai-airsim-zhong-mo-ni-wu-ren-ji-dui-ke-ji-xun-jian)（中文页面，来自 GAAS 项目的案例研究） diff --git a/zh/simulation/failsafes.md b/zh/simulation/failsafes.md index fde6808f42ba..5fe6bd56e6f0 100644 --- a/zh/simulation/failsafes.md +++ b/zh/simulation/failsafes.md @@ -1,42 +1,42 @@ -# Simulate Failsafes +# 模拟故障保护 -[Failsafes](../config/safety.md) define the safe limits/conditions under which you can safely use PX4, and the action that will be performed if a failsafe is triggered (for example, landing, holding position, or returning to a specified point). +[ Failsafes ](../config/safety.md) 为了您可以安全地使用 PX4，定义安全限制/条件，以及触发故障安全时将执行的操作（例如，着陆，保持或返回指定点）。 -In SITL some failsafes are disabled by default to enable easier simulation usage. This topic explains how you can test safety-critical behavior in SITL simulation before attempting it in the real world. +在 SITL 中，默认情况下会禁用某一些故障，以便方便模拟使用。 本主题说明如何在实际世界中尝试 SITL 仿真之前测试安全关键行为。 -> **Note** You can also test failsafes using [HITL simulation](../simulation/hitl.md). HITL uses the normal configuration parameters of your flight controller. +> **Note** 您还可以使用 [ HITL 模拟](../simulation/hitl.md) 测试故障。 HITL 使用飞行控制器的常规配置参数。 > **Tip** The [SITL parameters](../advanced_config/parameter_reference.md#sitl) allow you to simulate other common sensor failure cases that are not covered here, including: loss of barometer, gyro and accelerometer, increased GPS noise etc. -## Data Link Loss +## 数据链路丢失 -The *Data Link Loss* failsafe (unavailability of external data via MAVLink) is enabled by default. This makes the simulation only usable with a connected GCS, SDK, or other MAVLink application. +默认情况下启用 *数据链路丢失* 故障保护（无法通过 MAVLink 获取外部数据）。 这使得模拟仅适用于连接的 GCS，SDK 或其他 MAVLink 应用程序。 -Set the parameter [NAV_DLL_ACT](../advanced_config/parameter_reference.md#NAV_DLL_ACT) to the desired failsafe action to change the behavior. For example, set to `0` to disable it. +将参数 [NAV_DLL_ACT](../advanced_config/parameter_reference.md#NAV_DLL_ACT) 设置为想要的故障保护操作，以改变行为。 例如，设置为 `0` 禁用它。 -> **Note** All parameters in SITL including this one get reset when you do `make clean`. +> **Note** 当您执行 `make clean` 时，SITL 中的所有参数（包括此参数）都会被重置。 -## RC Link Loss +## RC 链接损失 -The *RC Link Loss* failsafe (unavailability of data from a remote control) is enabled by default. This makes the simulation only usable with either an active MAVLink or remote control connection. +*RC 链接损失* failslafe （来自远程控制的数据不可用） 被默认启用。 这使得模拟仿真只能使用 MAVLink 或远程控制连接。 -Set the parameter [NAV_RCL_ACT](../advanced_config/parameter_reference.md#NAV_RCL_ACT) to the desired failsafe action to change the behavior. For example, set to `0` to disable it. +将参数 [NAV_RCL_ACT](../advanced_config/parameter_reference.md#NAV_RCL_ACT) 设置为所需的故障保护操作，以更改行为。 例如，设置为 `0` 禁用它。 -> **Note** All parameters in SITL including this one get reset when you do `make clean`. +> **Note** 当您执行 `make clean` 时，SITL 中的所有参数（包括此参数）都会被重置。 -## Low Battery +## 低电量 -The simulated battery is implemented to never run out of energy, and by default only depletes to 50% of its capacity and hence reported voltage. This enables testing of battery indication in GCS UIs without triggering low battery reactions that might interrupt other testing. +模拟仿真的电池永远不会耗尽电量，并且默认情况下仅耗尽其容量的 50％ 会发送电压报告。 这可以在 GCS UI 中测试电池指示，而不会触发可能中断其他测试的低电池反应。 -To change this minimal battery percentage value change [this line](https://github.com/PX4/PX4-Autopilot/blob/9d67bbc328553bbd0891ffb8e73b8112bca33fcc/src/modules/simulator/simulator_mavlink.cpp#L330). +要更改此最小电池百分比值，请更改 [this line](https://github.com/PX4/PX4-Autopilot/blob/9d67bbc328553bbd0891ffb8e73b8112bca33fcc/src/modules/simulator/simulator_mavlink.cpp#L330)。 -To control how fast the battery depletes to the minimal value use the parameter [SIM_BAT_DRAIN](../advanced_config/parameter_reference.md#SIM_BAT_DRAIN). +要控制电池消耗到最小值的速度，请使用参数 [SIM_BAT_DRAIN](../advanced_config/parameter_reference.md#SIM_BAT_DRAIN)。 -> **Tip** By changing this configuration in flight, you can also test regaining capacity to simulate inaccurate battery state estimation or in-air charging technology. +> **Tip** 通过在飞行中更改此配置，您还可以测试恢复能力，以模拟不准确的电池状态估计或空中充电技术。 -## GPS Loss +## GPS 损失 -To simulate losing and regaining GPS information you can just stop the publication of GPS messages. This is done by running the `param set SIM_GPS_BLOCK 1` and `param set SIM_GPS_BLOCK 0` commands on your SITL instance *pxh shell* to block and unblock messages respectively. +为了模拟丢失和重新获取 GPS 全球定位系统信息，您可以停止/重新启动 GPS 驱动程序。 This is done by running the `param set SIM_GPS_BLOCK 1` and `param set SIM_GPS_BLOCK 0` commands on your SITL instance *pxh shell* to block and unblock messages respectively. diff --git a/zh/simulation/flightgear.md b/zh/simulation/flightgear.md index 69e1467f1bae..3aee3f7e222d 100644 --- a/zh/simulation/flightgear.md +++ b/zh/simulation/flightgear.md @@ -1,4 +1,4 @@ -# FlightGear Simulation +# AirSim 仿真 [FlightGear](https://www.flightgear.org/) is a flight simulator with powerful [FDM engines](http://wiki.flightgear.org/Flight_Dynamics_Model). This allows FlightGear to simulate rotorcrafts under various meteorological conditions (which is why the bridge was originally developed by [ThunderFly s.r.o.](https://www.thunderfly.cz/)). @@ -19,7 +19,7 @@ graph LR; MAVLink-- >PX4_SITL; --> -> **Note** See [Simulation](/simulation/README.md) for general information about simulators, the simulation environment, and simulation configuration (e.g. supported vehicles). +> **Note**有关模拟器，模拟环境和可用模拟配置（例如支持的机型）的一般信息，请参见[Simulation](/simulation/README.md)。 @@ -52,11 +52,11 @@ Additional installation instructions can be found on [FlightGear wiki](http://wi -## Running the Simulation +## 运行仿真 Run a simulation by starting PX4 SITL, specifying the airframe configuration of your choice. -The easiest way to do this is to open a terminal in the root directory of the PX4 *PX4-Autopilot* repository and call `make` for the desired target. For example, to start a plane simulation : +最简单的方法是在 PX4 * Firmware *存储库的根目录中打开一个终端，并为目标调用`make`，如以下部分所示。 For example, to start a plane simulation : ```sh cd /path/to/PX4-Autopilot make px4_sitl_nolockstep flightgear_rascal @@ -64,13 +64,13 @@ make px4_sitl_nolockstep flightgear_rascal The supported vehicles and `make` commands are listed below (click on the links to see the vehicle images). -| Vehicle | Command | -| ------------------------------------------------------------------------ | -------------------------------------------- | -| [Standard Plane](../simulation/flightgear_vehicles.md#standard_plane) | `make px4_sitl_nolockstep flightgear_rascal` | -| [Ackerman vehicle (UGV/Rover)](../simulation/flightgear_vehicles.md#ugv) | `make px4_sitl_nolockstep flightgear_tf-r1` | -| [Autogyro](../simulation/flightgear_vehicles.md#autogyro) | `make px4_sitl_nolockstep flightgear_tf-g1` | +| 载具类型 | 指令 | +| ------------------------------------------------------------------ | -------------------------------------------- | +| [标准构型的固定翼飞机](../simulation/flightgear_vehicles.md#standard_plane) | `make px4_sitl_nolockstep flightgear_rascal` | +| [Ackerman 车 （UGV/Rover）](../simulation/flightgear_vehicles.md#ugv) | `make px4_sitl_nolockstep flightgear_tf-r1` | +| [旋翼机](../simulation/flightgear_vehicles.md#autogyro) | `make px4_sitl_nolockstep flightgear_tf-g1` | -The commands above launch a single vehicle with the full UI. *QGroundControl* should be able to automatically connect to the simulated vehicle. +以上指令启动了一个具有完整 UI 的载具。 *QGroundControl* should be able to automatically connect to the simulated vehicle. > **Note** For the full list of FlightGear build targets (highlighted) run: > @@ -80,10 +80,10 @@ The commands above launch a single vehicle with the full UI. *QGroundControl* sh For additional information see: [FlightGear Vehicles](../simulation/flightgear_vehicles.md) (this includes information about "unsupported" vehicles, and adding new vehicles). -> **Note** The [Installing Files and Code](../dev_setup/dev_env.md) guide is a useful reference if there are build errors. +> **Tip** 使用命令 `make px4_sitl list_vmd_make_targets` 获取所有支持的平台（你还可以过滤掉以 `gazebo_` 开头的平台）。 -## Taking it to the Sky +## 让飞行器起飞 The `make` commands mentioned above first build PX4 and then run it along with the FlightGear simulator. @@ -131,20 +131,20 @@ PX4 Communicator: PX4 Connected. pxh> ``` -The console will print out status as PX4 loads the airframe-specific initialization and parameter files, wait for (and connect to) the simulator. Once there is an INFO print that [ecl/EKF] is `commencing GPS fusion` the vehicle is ready to arm. At this point, you should see a FlightGear window with some view of aircraft. +The console will print out status as PX4 loads the airframe-specific initialization and parameter files, wait for (and connect to) the simulator. 一旦 INFO 打印出的 [ecl/EKF] 状态为 `commencing GPS fusion` ，则表明该载具已准备就绪可以解锁。 At this point, you should see a FlightGear window with some view of aircraft. > **Note** You can change the view by pressing **Ctrl+V**. ![FlightGear UI](../../assets/simulation/flightgear/flightgearUI.jpg) -You can bring it into the air by typing: +你可以通过输入以下指令让飞机起飞： ```sh pxh> commander takeoff ``` -## Usage/Configuration Options +## 使用/配置选项 You can tune your FG installation/settings by the following environment variables: @@ -160,13 +160,13 @@ In FlightGear you can display the frame rate by enabling it in: **View > View Op -### Set Custom Takeoff Location +### 带光流的四旋翼 Takeoff location in SITL FlightGear can be set using additional variables. Setting the variable will override the default takeoff location. The variables which can be set are as follows: `--airport`, `--runway`, and `--offset-distance`. Other options can be found on [FlightGear wiki](http://wiki.flightgear.org/Command_line_options#Initial_Position_and_Orientation) -For example: +例如： ``` FG_ARGS_EX="--airport=PHNL" make px4_sitl_nolockstep flightgear_rascal ``` @@ -175,18 +175,18 @@ The example above starts the simulation on the [Honolulu international airport]( -### Using a Joystick +### 模拟一个 Wifi 无人机 Joystick and thumb-joystick are supported through *QGroundControl* ([setup instructions here](../simulation/README.md#joystickgamepad-integration)). The joystick input in FlightGear should be disabled in otherwise there will be a "race condition" between the FG joystick input and PX4 commands. -## Extending and Customizing +## 扩展与定制 To extend or customize the simulation interface, edit the files in the **Tools/flightgear_bridge* folder. The code is available in the [PX4-FlightGear-Bridge repository](https://github.com/ThunderFly-aerospace/PX4-FlightGear-Bridge) on Github. -## Further Information +## 更多信息 * [PX4-FlightGear-Bridge readme](https://github.com/ThunderFly-aerospace/PX4-FlightGear-Bridge) diff --git a/zh/simulation/flightgear_vehicles.md b/zh/simulation/flightgear_vehicles.md index 547b64219a06..5bbbbc44003d 100644 --- a/zh/simulation/flightgear_vehicles.md +++ b/zh/simulation/flightgear_vehicles.md @@ -9,7 +9,7 @@ This topic lists/displays the vehicles supported by the PX4 [FlightGear](../simu -## Standard Plane +## 标准构型的固定翼飞机 FlightGear has models for many planes. The most suitable one for UAV development is currently the [Rascal RC plane](https://github.com/ThunderFly-aerospace/FlightGear-Rascal) (which also exists in multiple variants). @@ -57,7 +57,7 @@ This variant does not have a direct `make` option but can be manually selected i -## Autogyro +## 飞机 The only UAV autogyro model supported by FlightGear is [TF-G1 Autogyro](https://github.com/ThunderFly-aerospace/TF-G1). @@ -69,7 +69,7 @@ make px4_sitl_nolockstep flightgear_tf-g1 -## Ackerman vehicle (UGV/Rover) +## Ackerman 车 （UGV/Rover） ### TF-R1 Ground support Rover @@ -83,7 +83,7 @@ make px4_sitl_nolockstep flightgear_tf-r1 -## Quadrotor +## 四旋翼 There is only an [incomplete multirotor model](https://github.com/ThunderFly-aerospace/FlightGear-TF-Mx1). This is not yet usable (it is numerically unstable and needs an additional work). diff --git a/zh/simulation/gazebo.md b/zh/simulation/gazebo.md index d05956663902..671337bd49f0 100644 --- a/zh/simulation/gazebo.md +++ b/zh/simulation/gazebo.md @@ -36,38 +36,38 @@ Gazebo 8 设置包含在我们的标准构建说明中： 您可以通过启动 PX4 SITL和 Gazebo 来运行模拟，并加载机身配置（支持多旋翼飞机，飞机，VTOL，光流和多机仿真）。 -最简单的方法是在 PX4 * Firmware *存储库的根目录中打开一个终端，并为目标调用`make`，如以下部分所示。 For example, to start a quadrotor simulation (the default): +最简单的方法是在 PX4 * Firmware *存储库的根目录中打开一个终端，并为目标调用`make`，如以下部分所示。 例如，要开始一个四旋翼飞行器的仿真（默认）： ```sh cd ~/src/Firmware make px4_sitl gazebo ``` -The supported vehicles and `make` commands are listed below (click links to see vehicle images). +下文列出了支持的载具类型及对应的 `make` 指令（点击链接查看载具图像）。 -> **Note** For the full list of build targets run `make px4_sitl list_vmd_make_targets` (and filter on those that start with `gazebo_`). +> **Note** 使用指令 `make px4_sitl list_vmd_make_targets` 获取构建目标的完整列表（并过滤掉以 `gazebo_` 开头的目标）。 -| 探测车 | Command | +| 探测车 | 指令 | | --------------------------------------------------------------------------------------------------------------------------------------- | ----------------------------------------------- | | [飞行器](../simulation/gazebo_vehicles.md#quadrotor) | `make clean make px4_sitl gazebo_typhoon_h480` | -| [Quadrotor with Optical Flow](../simulation/gazebo_vehicles.md#quadrotor_optical_flow) | `make px4_sitl gazebo_iris_opt_flow` | +| [具有光流的四旋翼](../simulation/gazebo_vehicles.md#quadrotor_optical_flow) | `make px4_sitl gazebo_iris_opt_flow` | | [3DR Solo in Gazebo](../simulation/gazebo_vehicles.md#3dr_solo) | `make px4_sitl gazebo_solo` | | !!crwdBlockTags_82_sgaTkcolBdwrc!![Typhoon H480 (Hexrotor)](../simulation/gazebo_vehicles.md#typhoon_h480) (supports video streaming) | `make px4_sitl gazebo_typhoon_h480` | -| [Standard Plane](../simulation/gazebo_vehicles.md#standard_plane) | `make px4_sitl gazebo_plane` | +| [标准构型的固定翼](../simulation/gazebo_vehicles.md#standard_plane) | `make px4_sitl gazebo_plane` | | [Standard Plane (with catapult launch)](../simulation/gazebo_vehicles.md#standard_plane_catapult) | `make px4_sitl gazebo_plane_catapult` | | [标准构型的 VTOL](../simulation/gazebo_vehicles.md#standard_vtol) | `make px4_sitl gazebo_standard_vtol` | | [尾座式 VTOL](../simulation/gazebo_vehicles.md#tailsitter_vtol) | `make px4_sitl gazebo_tailsitter` | | [阿克曼车 （UGV/Rover）](../simulation/gazebo_vehicles.md#ugv) | `make px4_sitl gazebo_rover` | | [海马体 TUHH (UUV: 无人水下航行器)](../simulation/gazebo_vehicles.md#uuv) | `make px4_sitl gazebo_uuv_hippocampus` | -| [Boat (USV: Unmanned Surface Vehicle)](../simulation/gazebo_vehicles.md#usv) | `make px4_sitl gazebo_boat` | +| [船（USV：无人驾驶水面艇）](../simulation/gazebo_vehicles.md#usv) | `make px4_sitl gazebo_boat` | | [Cloudship (Airship)](../simulation/gazebo_vehicles.md#airship) | `make px4_sitl gazebo_cloudship` | > **Tip** 使用命令 `make px4_sitl list_vmd_make_targets` 获取所有支持的平台（你还可以过滤掉以 `gazebo_` 开头的平台）。 -The commands above launch a single vehicle with the full UI. Other options include: +以上指令启动了一个具有完整 UI 的载具。 其他选项包括： - 单独启动 Gazebo 和 PX4 -- Run the simulation in [Headless Mode](#headless), which does not start the Gazebo UI (this uses fewer resources and is much faster). +- 在 [无头模式](#headless) 运行仿真将不会启动 Gazebo UI（使用的资源更少，速度更快）。 ## 改变仿真环境中的世界 @@ -98,7 +98,7 @@ http://gazebosim.org ... INFO [ecl/EKF] 5188000: commencing GPS fusion ``` -The console will print out status as PX4 loads the airframe-specific initialisation and parameter files, waits for (and connects to) the simulator. Once there is an INFO print that [ecl/EKF] is `commencing GPS fusion` the vehicle is ready to arm. +控制台将打印出“PX4”的形状，加载指定机型的初始化和参数文件，等待（并连接到）仿真器。 一旦 INFO 打印出的 [ecl/EKF] 状态为 `commencing GPS fusion` ，则表明该载具已准备就绪可以解锁。 > **Note** 如遇到任何错误请参考： [Installing Files and Code](../setup/dev_env.md) 。 @@ -119,7 +119,7 @@ pxh> commander takeoff Gazebo 可以在* headless *模式下运行，其中 Gazebo UI 未启动。 这样可以更快地启动并使用更少的系统资源（即，它是运行模拟的更“轻量级”方式）。 -Simply prefix the normal `make` command with `HEADLESS=1` as shown: +只需在 `make` 指令前添加 `HEADLESS=1`，如下所示： ```bash HEADLESS=1 make px4_sitl gazebo_plane ``` @@ -130,7 +130,7 @@ HEADLESS=1 make px4_sitl gazebo_plane The takeoff location in SITL Gazebo can be set using environment variables. This will override both the default takeoff location, and any value [set for the world](#set_world_location). -The variables to set are: `PX4_HOME_LAT`, `PX4_HOME_LON`, and `PX4_HOME_ALT`. +要设置的变量有：`PX4_HOME_LAT`、`PX4_HOME_LON` 和 `PX4_HOME_ALT`。 只需在正常的* make *命令前加上`HEADLESS=1`，如下所示： ``` @@ -174,14 +174,14 @@ make px4_sitl_default gazebo ### 标准构型的 VTOL -Joystick and thumb-joystick support are supported through *QGroundControl* ([setup instructions here](../simulation/README.md#joystickgamepad-integration)). +此举可以缩短测试循环时间（重启 jMAVSim 需要耗费非常多的时间）。 ### 尾座式 VTOL 当前的默认世界是位于目录 [worlds](https://github.com/PX4/sitl_gazebo/tree/b59e6e78e42d50f70224d1d0e506825590754d64/worlds) 中的 **iris.world**。 **iris.world** 中默认使用高程图生成地面景物。 -This can cause difficulty when using a distance sensor. 这样生成的地面可能会导致使用距离传感器时较为困难， 如果使用高程图会导致任何出乎意料的结果，我们建议你将 **iris.model** 中的模型设定从 `uneven_ground` 改为 `asphalt_plane`. +这可能会在使用距离传感器时造成困难。 这样生成的地面可能会导致使用距离传感器时较为困难， 如果使用高程图会导致任何出乎意料的结果，我们建议你将 **iris.model** 中的模型设定从 `uneven_ground` 改为 `asphalt_plane`. @@ -192,7 +192,7 @@ Gazebo 可以模拟类似于实际系统中常见的 GPS 噪声（否则报告 果目标设备的 SDF 文件包含`gpsNoise`元素的值（即，它具有行：`true`），则启用GPS噪声。 默认情况下, 它在许多设备 SDF 文件中启用：**solo.sdf**、**iris.sdf**、**standard_vtol.sdf**、**delta_wing.sdf**、**plane.sdf**、**typhoon_h480** **tailsitter.sdf**。 启用/禁用GPS噪音： -1. 构建任何 gazebo 目标以生成 SDF 文件（适用于所有机型）。 For example: +1. 构建任何 gazebo 目标以生成 SDF 文件（适用于所有机型）。 例如： ``` make px4_sitl gazebo_iris ``` @@ -216,7 +216,7 @@ Gazebo 可以模拟类似于实际系统中常见的 GPS 噪声（否则报告 这种方法显着缩短了调试周期时间，因为模拟器（例如 gazebo）总是在后台运行，而你只重新运行 px4 进程是非常轻松的。 -You can load any of the worlds by specifying them as the final option in the PX4 configuration target. +您可以在PX4配置目标中将它们指定为最终选项，进而加载任意世界。 安装* Gstreamer 1.0 *及其依赖项： ``` @@ -225,7 +225,7 @@ make px4_sitl gazebo_hippocampus > **Note** There are *two underscores* after the model (`plane_cam`) indicating that the default debugger is used (none). See [Building the Code > PX4 Make Build Targets](../dev_setup/building_px4.md#make_targets). -You can also specify the full path to a world to load using the `PX4_SITL_WORLD` environment variable. This is useful if testing a new world that is not yet included with PX4. +您也可以使用环境变量 `PX4_SITL_WORLD` 来指定要加载的世界的完整路径。 如果您想测试一个暂未包含在PX4中的新世界，这种方式非常有用。 > **Tip** If the loaded world does not align with the map, you may need to [set the world location](#set_world_location). @@ -281,27 +281,27 @@ make px4_sitl gazebo_rover__sonoma_raceway 对于扩展开发会话，单独启动 Gazebo 和 PX4 可能更方便，甚至可以在 IDE 中启动。 -* Run gazebo (or any other sim) server and client viewers via the terminal specifing an `_ide` variant: +* 通过在终端中指定环境变量 `_ide` 来运行 gazebo（或任何其他 sim 卡）服务器和客户端查看器： ```sh make px4_sitl gazebo___ide ``` - or + 或者 ```sh make px4_sitl gazebo_iris_ide ``` * 在 IDE 中选择要调试的`px4_ `目标（例如`px4_iris`） * 直接从 IDE 启动调试会话 -This approach significantly reduces the debug cycle time because simulator (e.g. Gazebo) is always running in background and you only re-run the px4 process which is very light. +这种方法可显著缩短调试周期，因为仿真器（例如 Gazebo ）总是在后台运行，而您只需重新运行 px4 这个非常轻量的进程。 ## 扩展和定制 -The *Gazebo* survey camera simulates a [MAVLink camera](https://mavlink.io/en/services/camera.html) that captures geotagged JPEG images and sends camera capture information to a connected ground station. The camera also supports video streaming. It can be used to test camera capture, in particular within survey missions. +The *Gazebo* survey camera simulates a [MAVLink camera](https://mavlink.io/en/services/camera.html) that captures geotagged JPEG images and sends camera capture information to a connected ground station. 该摄像机同时支持视频流。 它可用于测试摄像机的拍摄性能，特别是在航测任务中。 -The camera emits the [CAMERA_IMAGE_CAPTURED](https://mavlink.io/en/messages/common.html#CAMERA_IMAGE_CAPTURED) message every time an image is captured. The captured images are saved to: **PX4-Autopilot/build/px4_sitle_default/tmp/frames/DSC_n_.jpg** (where _n_ starts as 00000 and is iterated by one on each capture). +每当捕获到图像时，相机都会发送出 [CAMERA_IMAGE_CAPTURED](https://mavlink.io/en/messages/common.html#CAMERA_IMAGE_CAPTURED) 消息。 The captured images are saved to: **PX4-Autopilot/build/px4_sitle_default/tmp/frames/DSC_n_.jpg** (where _n_ starts as 00000 and is iterated by one on each capture). -To simulate a plane with this camera: +模拟一个带有该相机的飞机： ``` make px4_sitl_default gazebo_plane_cam ``` @@ -317,17 +317,17 @@ make px4_sitl_default gazebo_plane_cam *Gazebo* can be used to simulate deploying a [parachute](../peripherals/parachute.md) during [Flight Termination](../advanced_config/flight_termination.md) (flight termination is triggered by the PWM command that is simulated in *Gazebo*). -The `if750a` target has a parachute attached to the vehicle. To simulate the vehicle, run the following command: +`IF750A` 机身上装有降落伞。 仿真该型飞行器，请运行以下指令： ``` make px4_sitl gazebo_if750a ``` To put the vehicle into flight termination state, you can force it to fail a [safety check](../config/safety.md) that has flight termination set as the failsafe action. For example, you could do this by forcing a [Geofence violation](../config/safety.md#geofence-failsafe). -For more information see: -- [Flight Termination](../advanced_config/flight_termination.md) -- [Parachute](../peripherals/parachute.md) -- [Safety Configuration (Failsafes)](../config/safety.md) +有关详细信息，请参阅︰ +- [飞行终止](../advanced_config/flight_termination.md) +- [降落伞](../peripherals/parachute.md) +- [ 安全配置（故障保护） ](../config/safety.md) @@ -335,20 +335,20 @@ For more information see: 用于 Gazebo 的 PX4 SITL 支持来自连接到设备型号的 Gazebo 相机传感器的 UDP 视频流。 您可以从* QGroundControl *（在 UDP 端口 5600 上）连接到此流，并从模拟设备查看 Gazebo 环境的视频 - 就像您从真实摄像机那样。 使用* gstreamer *流水线流式传输视频。 -The Gazebo camera sensor is supported/enabled on the following frames: +Gazebo 摄像机传感器可在以下机型上被支持/启用： * [Typhoon H480](#typhoon_h480) -### Prerequisites +### 系统必备组件 -*Gstreamer 1.0* is required for video streaming. The required dependencies should already have been [installed when you set up Gazebo](#installation) (they are included in the standard PX4 installation scripts/instructions for macOS and Ubuntu Linux). +*Gstreamer 1.0* is required for video streaming. [当您设置 Gazebo 时](#installation)，所需的依赖项应该已经安装完毕（它们包含在 macOS 和 UbuntuLinux 系统下的标准 PX4 安装脚本/说明中）。 > **Note**默认情况下，来自 Gazebo 和 Gazebo 小部件中的视频流以打开/关闭流式传输是未启用的。 ### Headless 模式 -Video streaming is automatically started when supported by the target vehicle. For example, to start streaming video on the Typhoon H480: +对支持的目标载具，视频流将自动启动。 例如，要在台风 Typhoon H480 上启动视频流： ``` sudo apt-get install $(apt-cache --names-only search ^gstreamer1.0-* | awk '{ print $1 }' | grep -v gstreamer1.0-hybris) -y ``` @@ -366,7 +366,7 @@ sudo apt-get install $(apt-cache --names-only search ^gstreamer1.0-* | awk '{ pr The video from Gazebo should then display in *QGroundControl* just as it would from a real camera. -![QGC Video Streaming Gazebo Example](../../assets/simulation/gazebo/qgc_gazebo_video_stream_typhoon.jpg) +![QGC 视频流 Gazebo 示例](../../assets/simulation/gazebo/qgc_gazebo_video_stream_typhoon.jpg) > **Note** The Typhoon world is not very interesting. @@ -385,7 +385,7 @@ make clean make px4_sitl gazebo_typhoon_h480 ``` -or +或 ``` gst-launch-1.0 -v udpsrc port=5600 caps='application/x-rtp, media=(string)video, clock-rate=(int)90000, encoding-name=(string)H264' \ @@ -393,13 +393,13 @@ gst-launch-1.0 -v udpsrc port=5600 caps='application/x-rtp, media=(string)video ``` -## Extending and Customizing +## 扩展和自定义 要扩展或自定义仿真界面，请编辑`Tools/sitl_gazebo`文件夹中的文件。 该代码可在 Github 上的[ sitl_gazebo repository ](https://github.com/px4/sitl_gazebo)上获得。 > **Note** 建系统强制执行正确的 GIT 子模块，包括模拟器。 它不会覆盖目录中文件的更改。 -## Further Information +## 更多信息 * [另见 Gazebo 模拟。](../simulation/ros_interface.md) * [Gazebo Octomap](../simulation/gazebo_octomap.md) diff --git a/zh/simulation/gazebo_vehicles.md b/zh/simulation/gazebo_vehicles.md index e50f7ddb9af7..104e687128c8 100644 --- a/zh/simulation/gazebo_vehicles.md +++ b/zh/simulation/gazebo_vehicles.md @@ -1,19 +1,19 @@ -# Gazebo Vehicles +# Gazebo 机型 This topic lists/displays the vehicles supported by the PX4 [Gazebo](../simulation/gazebo.md) simulation and the `make` commands required to run them (the commands are run from a terminal in the **PX4-Autopilot** directory). -Supported vehicle types include: mutirotors, VTOL, VTOL Tailsitter, Plane, Rover, Submarine/UUV. +支持的机型种类包括：多旋翼、VTOL、尾座式 VTOL、固定翼、无人车、潜艇/无人水下航行器。 -> **Tip** For the full list of build targets run `make px4_sitl list_vmd_make_targets` (and filter on those that start with `gazebo_`). +> **Tip** 使用命令 `make px4_sitl list_vmd_make_targets` 获取构建目标的完整列表（你还可以过滤掉以 `gazebo_` 开头的目标）。 -> **Note** The [Gazebo](../simulation/gazebo.md) page shows how to install Gazebo, how to enable video and load custom maps, and many other configuration options. +> **Note** [Gazebo](../simulation/gazebo.md) 页面展示了如何安装 Gazebo、如何启用视频并加载自定义地图以及许多其他的配置选项。 -## Multicopter +## 多旋翼 -### Quadrotor (Default) +### 四旋翼（默认） ```sh make px4_sitl gazebo @@ -21,7 +21,7 @@ make px4_sitl gazebo -### Quadrotor with Optical Flow +### 带光流的四旋翼 ```sh make px4_sitl gazebo_iris_opt_flow @@ -29,25 +29,25 @@ make px4_sitl gazebo_iris_opt_flow -### 3DR Solo (Quadrotor) +### 3DR Solo（四旋翼） ```sh make px4_sitl gazebo_solo ``` -![3DR Solo in Gazebo](../../assets/simulation/gazebo/vehicles/solo.png) +![3DR Solo 的 Gazebo 仿真](../../assets/simulation/gazebo/vehicles/solo.png) -### Typhoon H480 (Hexrotor) +### Typhoon H480（六旋翼） ``` make px4_sitl gazebo_typhoon_h480 ``` -![Typhoon H480 in Gazebo](../../assets/simulation/gazebo/vehicles/typhoon.jpg) +![Typhoon H480 的 Gazebo 仿真](../../assets/simulation/gazebo/vehicles/typhoon.jpg) -> **Note** This target also supports [video streaming simulation](#video). +> **Note** 此机型还支持[视频流仿真](#video)。 @@ -55,13 +55,13 @@ make px4_sitl gazebo_typhoon_h480 -### Standard Plane +### 标准构型的固定翼飞机 ```sh make px4_sitl gazebo_plane ``` -![Plane in Gazebo](../../assets/simulation/gazebo/vehicles/plane.png) +![固定翼的 Gazebo 仿真](../../assets/simulation/gazebo/vehicles/plane.png) @@ -76,27 +76,27 @@ This model simulates hand/catapult launch, which can be used for [fixed wing tak The plane will automatically be launched as soon as the vehicle is armed. -## VTOL +## 垂直起降 -### Standard VTOL +### 标准垂起 ```sh make px4_sitl gazebo_standard_vtol ``` -![Standard VTOL in Gazebo](../../assets/simulation/gazebo/vehicles/standard_vtol.png) +![标准构型的 VTOL](../../assets/simulation/gazebo/vehicles/standard_vtol.png) -### Tailsitter VTOL +### 尾座式垂起 ```sh make px4_sitl gazebo_tailsitter ``` -![Tailsitter VTOL in Gazebo](../../assets/simulation/gazebo/vehicles/tailsitter.png) +![尾座式 VTOL](../../assets/simulation/gazebo/vehicles/tailsitter.png) @@ -110,7 +110,7 @@ make px4_sitl gazebo_tailsitter make px4_sitl gazebo_rover ``` -![Rover in Gazebo](../../assets/simulation/gazebo/vehicles/rover.png) +![探测车](../../assets/simulation/gazebo/vehicles/rover.png) @@ -120,7 +120,7 @@ make px4_sitl gazebo_rover make px4_sitl gazebo_r1_rover ``` -![Rover in Gazebo](../../assets/simulation/gazebo/vehicles/r1_rover.png) +![探测车](../../assets/simulation/gazebo/vehicles/r1_rover.png) @@ -134,7 +134,7 @@ make px4_sitl gazebo_r1_rover make px4_sitl gazebo_uuv_hippocampus ``` -![Submarine/UUV](../../assets/simulation/gazebo/vehicles/hippocampus.png) +![潜艇 /UUV](../../assets/simulation/gazebo/vehicles/hippocampus.png) @@ -142,17 +142,17 @@ make px4_sitl gazebo_uuv_hippocampus -### Boat +### 船舶 ```sh make px4_sitl gazebo_boat ``` -![Boat/USV](../../assets/simulation/gazebo/vehicles/boat.png) +![船/USV](../../assets/simulation/gazebo/vehicles/boat.png) -## Airship +## 旋翼机 @@ -162,4 +162,4 @@ make px4_sitl gazebo_boat make px4_sitl gazebo_cloudship ``` -![Airship](../../assets/simulation/gazebo/vehicles/airship.png) +![旋翼机](../../assets/simulation/gazebo/vehicles/airship.png) diff --git a/zh/simulation/gazebo_worlds.md b/zh/simulation/gazebo_worlds.md index f7219f76dc49..35e18060433f 100644 --- a/zh/simulation/gazebo_worlds.md +++ b/zh/simulation/gazebo_worlds.md @@ -1,10 +1,10 @@ -# Gazebo Worlds +# Gazebo 世界（Worlds） -This topic provides imagery/information about the [Gazebo](../simulation/gazebo.md) worlds supported by PX4. +本主题提供 PX4 支持的 [Gazebo](../simulation/gazebo.md) 世界的有关图像/信息。 The [empty.world](#empty_world) is spawned by default, though this may be overridden by a [model specific world](#model_specific_worlds). Developers can also manually specify the world to load: [Gazebo Simulation > Loading a Specific World](../simulation/gazebo.md#set_world). -The source code for supported worlds can be found on GitHub here: [PX4/sitl_gazebo/worlds](https://github.com/PX4/sitl_gazebo/tree/master/worlds). +所支持世界的源代码可在 GitHub 上找到：[PX4/sitl_gazebo/worlds](https://github.com/PX4/sitl_gazebo/tree/master/worlds)。 @@ -12,41 +12,41 @@ The source code for supported worlds can be found on GitHub here: [PX4/sitl_gaze [PX4/sitl_gazebo/worlds/empty.world](https://github.com/PX4/sitl_gazebo/blob/master/worlds/empty.world) -![empty](../../assets/simulation/gazebo/worlds/empty.png) +![空白](../../assets/simulation/gazebo/worlds/empty.png) -## Baylands +## 海湾 [PX4/sitl_gazebo/worlds/baylands.world](https://github.com/PX4/sitl_gazebo/blob/master/worlds/baylands.world) -![Baylands World](../../assets/simulation/gazebo/worlds/baylands.jpg) +![海湾世界](../../assets/simulation/gazebo/worlds/baylands.jpg) -## KSQL Airport +## KSQL 机场 [PX4/sitl_gazebo/worlds/ksql_airport.world](https://github.com/PX4/sitl_gazebo/blob/master/worlds/ksql_airport.world) -![KSQL Airport World](../../assets/simulation/gazebo/worlds/ksql_airport.jpg) +![KSQL机场世界](../../assets/simulation/gazebo/worlds/ksql_airport.jpg) -## McMillan Airfield +## 麦克米兰机场 [PX4/sitl_gazebo/worlds/mcmillan_airfield.world](https://github.com/PX4/sitl_gazebo/blob/master/worlds/mcmillan_airfield.world) -![McMillan Airfield World](../../assets/simulation/gazebo/worlds/mcmillan_airfield.jpg) +![麦克米兰机场世界](../../assets/simulation/gazebo/worlds/mcmillan_airfield.jpg) -## Sonoma Raceway +## 索诺玛赛道 [PX4/sitl_gazebo/worlds/sonoma_raceway.world](https://github.com/PX4/sitl_gazebo/blob/master/worlds/sonoma_raceway.world) ![Sonoma_Raceway](../../assets/simulation/gazebo/worlds/sonoma_raceway.png) -## Warehouse +## 仓库 [PX4/sitl_gazebo/worlds/warehouse.world](https://github.com/PX4/sitl_gazebo/blob/master/worlds/warehouse.world) -![Warehouse](../../assets/simulation/gazebo/worlds/warehouse.png) +![仓库](../../assets/simulation/gazebo/worlds/warehouse.png) -## Yosemite +## 约塞米蒂 [PX4/sitl_gazebo/worlds/yosemite.world](https://github.com/PX4/sitl_gazebo/blob/master/worlds/yosemite.world) -![Yosemite](../../assets/simulation/gazebo/worlds/yosemite.jpg) +![约塞米蒂](../../assets/simulation/gazebo/worlds/yosemite.jpg) diff --git a/zh/simulation/hitl.md b/zh/simulation/hitl.md index 39df24a52f12..fca53b0abe5a 100644 --- a/zh/simulation/hitl.md +++ b/zh/simulation/hitl.md @@ -35,13 +35,13 @@ HITL 模式下 PX4 支持多旋翼 (使用 jMAVSim 或者 Gazebo) 和固定翼 ( ![HITL 配置 - jMAVSim 和 Gazebo](../../assets/simulation/px4_hitl_overview_jmavsim_gazebo.png) -## HITL vs SITL +## HITL 相比于 SITL SITL 开发计算机中的模拟环境中运行, 并使用专门为该环境生成的固件。 除了仿真程序从模拟器中获取虚假的环境数据外，系统的行为也很正常。 相比之下， HITL 在正常飞控硬件平台上运行正常的处于 ”HITL 模式“ 的 PX4 固件。 仿真数据进入整个仿真系统的时间点与 SITL 有所不同。 指令器和传感器等有 HIL 模式的核心模块在启动时被绕过了一些正常的功能。 -In summary, HITL runs PX4 on the actual hardware using standard firmware, but SITL actually executes more of the standard system code. +总而言之， HITL 在真实硬件上运行标准 PX4 固件，而 SITL 实际上要比标准 PX4 系统执行更多的代码。 ## 配置 HITL @@ -65,7 +65,7 @@ In summary, HITL runs PX4 on the actual hardware using standard firmware, but SI ![GITL 模式 QGC 自动连接设置](../../assets/gcs/qgc_hitl_autoconnect.png) 1. (可选) 配置操纵杆和故障保护。 设置以下 [parameters](https://docs.px4.io/en/advanced_config/parameters.html#finding-a-parameter) 以便使用操纵杆而不是 RC 遥控器： - * [COM_RC_IN_MODE](../advanced/parameter_reference.md#COM_RC_IN_MODE) 更改为 "Joystick/No RC Checks". 这允许操纵杆输入并禁用 RC 输入检查。 This allows joystick input and disables RC input checks. + * [COM_RC_IN_MODE](../advanced/parameter_reference.md#COM_RC_IN_MODE) 更改为 "Joystick/No RC Checks". 这允许操纵杆输入并禁用 RC 输入检查。 这允许操纵杆输入并禁用 RC 输入检查。 * [NAV_DLL_ACT](../advanced/parameter_reference.md#NAV_DLL_ACT) 更改为 "Disabled"。 这可确保在没有无线遥控的情况下运行 HITL 时 RC 失控保护不会介入。 > **Tip** *QGroundControl User Guide* 中也有如何配置 [操纵杆](https://docs.qgroundcontrol.com/en/SetupView/Joystick.html) 和 [虚拟操纵杆](https://docs.qgroundcontrol.com/en/SettingsView/VirtualJoystick.html) 的说明。 @@ -90,12 +90,12 @@ In summary, HITL runs PX4 on the actual hardware using standard firmware, but SI ![HIL 参数](../../assets/simulation/gazebo_sdf_model_hil_params.png) - > **Note** The file iris.sdf is autogenerated. Therefore you need to either keep a copy of your changed file or re-edit it for every build. + > **Note** iris.sdf文件时自动生成的。 因此，您需要保存您修改过的文件的副本，或者为每个版本重新编辑。 1. 如有必要的话替换掉 `serialDevice` 参数 (`/dev/ttyACM0`) 。 > **Note** 串口设备参数取决于载具与计算机使用哪个端口完成连接 (通常情况下都是 `/dev/ttyACM0`)。 在 Ubuntu 上最简单的一个检测办法就是将自驾仪插入电脑，然后打开终端窗口输入 `dmesg | grep "tty"` 命令。 命令执行结果中最后一个显示的设备就是我们关心的。 -1. Set up the environment variables: +1. 设置环境变量 ```sh source Tools/setup_gazebo.bash $(pwd) $(pwd)/build/px4_sitl_default ``` @@ -117,7 +117,7 @@ In summary, HITL runs PX4 on the actual hardware using standard firmware, but SI ./Tools/jmavsim_run.sh -q -s -d /dev/ttyACM0 -b 921600 -r 250 ``` - > **Note** Replace the serial port name `/dev/ttyACM0` as appropriate. On macOS this port would be `/dev/tty.usbmodem1`. On Windows (including Cygwin) it would be the COM1 or another port - check the connection in the Windows Device Manager. + > **Note** Replace the serial port name `/dev/ttyACM0` as appropriate. 在 macOS 上，这个端口将是 `/dev/tty.bankmodem1`。 在 Windows 上(包括Cygwin) 它将是 COM1 或另一个端口 - 请检查 Windows 设备管理器中的连接。 1. 开启 *QGroundControl*。 它应该会自动连接 PX4 和 Gazebo 。 diff --git a/zh/simulation/jmavsim.md b/zh/simulation/jmavsim.md index ee84a58885d2..572493e776aa 100644 --- a/zh/simulation/jmavsim.md +++ b/zh/simulation/jmavsim.md @@ -16,7 +16,7 @@ jMAVSim setup is included in our [standard build instructions](../dev_setup/dev_ ## 运行 SITL -软件在环仿真在主机上运行仿真系统的全部组件，使用软件来模拟真实飞控， 并通过当地网络实现与仿真软件的连接。 It connects via local network to the simulator. The setup looks like this: +软件在环仿真在主机上运行仿真系统的全部组件，使用软件来模拟真实飞控， 并通过当地网络实现与仿真软件的连接。 并通过当地网络实现与仿真软件的连接。 整套仿真方案设置如下： [![{% mermaid %} graph LR; Simulator-->MAVLink; MAVLink-->SITL; {% endmermaid %}](https://mermaid.ink/img/eyJjb2RlIjoiZ3JhcGggTFI7XG4gIFNpbXVsYXRvci0tPk1BVkxpbms7XG4gIE1BVkxpbmstLT5TSVRMOyIsIm1lcm1haWQiOnsidGhlbWUiOiJkZWZhdWx0In0sInVwZGF0ZUVkaXRvciI6ZmFsc2V9)](https://mermaid-js.github.io/mermaid-live-editor/#/edit/eyJjb2RlIjoiZ3JhcGggTFI7XG4gIFNpbXVsYXRvci0tPk1BVkxpbms7XG4gIE1BVkxpbmstLT5TSVRMOyIsIm1lcm1haWQiOnsidGhlbWUiOiJkZWZhdWx0In0sInVwZGF0ZUVkaXRvciI6ZmFsc2V9) @@ -57,7 +57,7 @@ pxh> jMAVSim 3d 视图 -![jMAVSim 3d View](../../assets/simulation/jmavsim.jpg) +![jMAVSim 3d 视图](../../assets/simulation/jmavsim.jpg) ## 使用/配置选项 @@ -86,7 +86,7 @@ export PX4_HOME_ALT=28.5 make px4_sitl_default jmavsim ``` -### Change Simulation Speed +### 更改仿真的时间流速 模拟器会跟真实的该类无人机一样在当地网络中广播自己的位置信息等。 @@ -114,7 +114,7 @@ make broadcast jmavsim 如果想扩展或者定制仿真接口，你可以编辑 **Tools/jMAVSim** 文件夹下的文件： 源代码可以从 Github 上的 [jMAVSim 软件仓库](https://github.com/px4/jMAVSim) 获取。 -### Start JMAVSim and PX4 Separately +### 分别启动 JMAVSim 和 PX4 在仿真中可以使用跟真实飞机一样的方式实现 [与 ROS 的对接交互](../simulation/ros_interface.md) 。 @@ -135,35 +135,35 @@ Ready to fly. pxh> ``` -This allows a faster testing cycle (restarting jMAVSim takes significantly more time). +此举可以缩短测试循环时间（重启 jMAVSim 需要耗费非常多的时间）。 -### Headless Mode +### 无航向模式 -To start jMAVSim without the GUI, set the env variable `HEADLESS=1` as shown: +要使用没有jMAVSim图形界面的仿真，请设置如下环境变量 `HEADLESS=1` ```bash HEADLESS=1 make px4_sitl jmavsim ``` ## 扩展和定制 -JMAVSim can be used for multi-vehicle simulation: [Multi-Vehicle Sim with JMAVSim](../simulation/multi_vehicle_jmavsim.md). +JMAVSim 也可用来进行多飞行器仿真： [Multi-Vehicle Sim with JMAVSim](../simulation/multi_vehicle_jmavsim.md). ## 与 ROS 对接交互 -To extend or customize the simulation interface, edit the files in the **Tools/jMAVSim** folder. The code can be accessed through the[jMAVSim repository](https://github.com/px4/jMAVSim) on Github. +如果想扩展或者定制仿真接口，你可以编辑 **Tools/jMAVSim** 文件夹下的文件： 源代码可以从 Github 上的 [jMAVSim 软件仓库](https://github.com/px4/jMAVSim) 获取。 > **Info** 编译系统会强制检查所有依赖项的子模块正确无误，其中就包括了模拟器。 但是，它不会直接覆盖你对目录中文件所做的更改， 当提交这些更改时你需要在固件 repo 中重新为子模块注册新的哈希值。 为此,，使用 `git add Tools/jMAVSim` 灵敏提交你的更改。 这将更新模拟器的 GIT 哈希值。 ## 重要的文件 -The simulation can be [interfaced to ROS](../simulation/ros_interface.md) the same way as onboard a real vehicle. +在仿真中可以使用跟真实飞机一样的方式实现 [与 ROS 的对接交互](../simulation/ros_interface.md) 。 -## Important Files +## 值得一看的脚本文件 * 启动脚本位于 [posix-configs/SITL/init](https://github.com/PX4/Firmware/tree/master/posix-configs/SITL/init) 文件夹下，以 `rcS_SIM_AIRFRAME` 的方式进行命名，默认值是 `rcS_jmavsim_iris` 。 * 根文件系统 (相当于 `/`) 位于生成目录内: `build/px4_sitl_default/src/firmware/posix/rootfs/` 。 -## Troubleshooting +## 故障处理 ### java.long.NoClassDefFoundError @@ -226,16 +226,16 @@ at me.drton.jmavsim.Simulator.(Simulator.java:157) at me.drton.jmavsim.Simulator.main(Simulator.java:678) ``` -If you see this error, try this workaround: +如果遇到类似错误，可以尝试如下解决方法： Edit the **accessibility.properties** file: ``` sudo gedit /etc/java-8-openjdk/accessibility.properties ``` -and comment out the line indicated below: +并注释下面所指示的一行： ``` #assistive_technologies=org.GNOME.Acessibility.AtkWrapper ``` -For more info check [this GitHub issue](https://github.com/PX4/PX4-Autopilot/issues/9557). The fix was found in [askubuntu.com](https://askubuntu.com/questions/695560). +For more info check [this GitHub issue](https://github.com/PX4/PX4-Autopilot/issues/9557). 该解决方案引自于 [askubuntu.com](https://askubuntu.com/questions/695560) 。 diff --git a/zh/simulation/jsbsim.md b/zh/simulation/jsbsim.md index aeabbc05010a..d74001a58064 100644 --- a/zh/simulation/jsbsim.md +++ b/zh/simulation/jsbsim.md @@ -8,7 +8,7 @@ {% youtube %}https://youtu.be/y5azVNmIVyw{% endyoutube %} -> **Note** See [Simulation](/simulation/README.md) for general information about simulators, the simulation environment, and simulation configuration (e.g. supported vehicles). +> **Note**有关模拟器，模拟环境和可用模拟配置（例如支持的机型）的一般信息，请参见[Simulation](/simulation/README.md)。 @@ -25,7 +25,7 @@ -## Running the Simulation +## 运行仿真 JSBSim SITL simulation can be conveniently run through a `make` command as shown below: ```sh @@ -36,15 +36,15 @@ This will run both the PX4 SITL instance and the FlightGear UI (for visualizatio The supported vehicles and `make` commands are listed below (click on the links to see the vehicle images). -| Vehicle | Command | -| -------------- | ---------------------------------- | -| Standard Plane | `make px4_sitl jsbsim_rascal` | -| Quadrotor | `make px4_sitl jsbsim_quadrotor_x` | -| Hexarotor | `make px4_sitl jsbsim_hexarotor_x` | +| 载具类型 | 指令 | +| ---------- | ---------------------------------- | +| 标准构型的固定翼飞机 | `make px4_sitl jsbsim_rascal` | +| 四旋翼 | `make px4_sitl jsbsim_quadrotor_x` | +| 六旋翼 | `make px4_sitl jsbsim_hexarotor_x` | -The commands above launch a single vehicle with the full UI. *QGroundControl* should be able to automatically connect to the simulated vehicle. +以上指令启动了一个具有完整 UI 的载具。 *QGroundControl* should be able to automatically connect to the simulated vehicle. -## Further Information +## 更多信息 * [px4-jsbsim-bridge readme](https://github.com/Auterion/px4-jsbsim-bridge) diff --git a/zh/simulation/multi-vehicle-simulation.md b/zh/simulation/multi-vehicle-simulation.md index c3d4075a9c01..c9d0cbf43127 100644 --- a/zh/simulation/multi-vehicle-simulation.md +++ b/zh/simulation/multi-vehicle-simulation.md @@ -3,7 +3,7 @@ 本主题介绍如何使用 gazebo 和 sitl (仅限 linux) 模拟多架无人机/车辆。 - **注意**如果您不需要 gazebo 或 ros 提供的功能， [ jmavsim的 Multi-车辆仿真](../simulation/multi_vehicle_jmavsim.md)更容易设置。 - [MAVROS 包](../simulation/multi_vehicle_flightgear.md) -- [Multi-Vehicle Sim with JMAVSim](../simulation/multi_vehicle_jmavsim.md) +- [使用 JMAVSim 进行多飞行器仿真](../simulation/multi_vehicle_jmavsim.md) The choice of the simulator depends on the vehicle to be simulated, how "good" the simulation needs to be (and for what features), and how many vehicles need to be simulated at a time: - FlightGear is the most accurate simulator, and as a result the most heavy weight. It might be used if you need a great simulation but not too many vehicles at a time. It can also be used if different types of vehicles need to be simulated at the same time. diff --git a/zh/simulation/multi_vehicle_flightgear.md b/zh/simulation/multi_vehicle_flightgear.md index f5f2860ba060..da8dfee5ac08 100644 --- a/zh/simulation/multi_vehicle_flightgear.md +++ b/zh/simulation/multi_vehicle_flightgear.md @@ -5,7 +5,7 @@ This topic explains how to simulate multiple vehicles using FlightGear in SITL. > **Note** This is the most environmentally realistic way to simulate multiple vehicles running PX, and allows easy testing of multiple different types of vehicles. It is suitable for testing multi-vehicle support in *QGroundControl*, [MAVSDK](https://mavsdk.mavlink.io/), etc. [Multi-Vehicle Simulation with Gazebo](../simulation/multi-vehicle-simulation.md) should be used instead for: swarm simulations with many vehicles, and testing features like computer vision that are only supported by Gazebo. -## How to Start Multiple Instances +## 如何启动多机实例 To start multiple instances (on separate ports and IDs): @@ -30,10 +30,10 @@ Each instance should have its own startup script, which can represent a complete ![Multi-vehicle simulation using PX4 SITL and FlightGear](../../assets/simulation/flightgear/flightgear-multi-vehicle-sitl.jpg) -Ground stations such as *QGroundControl* connect to all instances using the normal UDP port 14550 (all traffic goes to the same port). +*QGroundControl* 和开发者 APIs (比如 Dronecode SDK) 可以通过代码默认端口连接到所有实例（分别为14550 和 14540）。 The number of simultaneously running instances is limited mainly by computer resources. FlightGear is a single-thread application, but aerodynamics solvers consume a lot of memory. Therefore splitting to multiple computers and using a [multiplayer server](http://wiki.flightgear.org/index.php?title=Howto:Multiplayer) is probably required to run *many* vehicle instances. -## Additional Resources +## 额外资源 -* See [Simulation](../simulation/README.md) for more information about the port configuration. +* 看 [仿真](../simulation/README.md) 接口配置的更多信息。 diff --git a/zh/simulation/multi_vehicle_jmavsim.md b/zh/simulation/multi_vehicle_jmavsim.md index 6ba98234e97b..497e833cc2ee 100644 --- a/zh/simulation/multi_vehicle_jmavsim.md +++ b/zh/simulation/multi_vehicle_jmavsim.md @@ -28,11 +28,11 @@ ``` ./Tools/jmavsim_run.sh -p 4561 -l ``` - The port should be set to `4560+i` for `i` in `[0, N-1]`. + 端口号应该被设置为 `4560+i` ， `i` 的范围为 `[0, N-1]` 。 *QGroundControl* 和开发者 APIs (比如 Dronecode SDK) 可以通过代码默认端口连接到所有实例（分别为14550 和 14540）。 -Developer APIs such as *MAVSDK* or *MAVROS* connect on the UDP port 14540 (first instance), UDP port 14541 (second instance), and so on. +像 *MAVSDK* 或者 *MAVROS* 开发者 APIs 接口就是通过连接 UDP 接口 14540 （第一个实例）， UDP 接口 14541（第二个实例），以此类推。 ## 额外资源 diff --git a/zh/simulation/multi_vehicle_simulation_gazebo.md b/zh/simulation/multi_vehicle_simulation_gazebo.md index f1cbda868c3c..aab642df78b7 100644 --- a/zh/simulation/multi_vehicle_simulation_gazebo.md +++ b/zh/simulation/multi_vehicle_simulation_gazebo.md @@ -1,6 +1,6 @@ -# Multi-Vehicle Simulation with Gazebo +# Gazebo 多机仿真 -This topic explains how to simulate multiple UAV vehicles using Gazebo and SITL (Linux only). A different approach is used for simulation with and without ROS. +本文介绍如何使用 Gazebo 仿真器配合软件在环仿真进行多机仿真（仅适用于 Linux ）。 A different approach is used for simulation with and without ROS. @@ -14,7 +14,7 @@ Tools/gazebo_sitl_multiple_run.sh [-m ] [-n ] [-w `: The [vehicle type/model](../simulation/gazebo_vehicles.md) to spawn, e.g.: `iris` (default), `plane`, `standard_vtol`. - ``: The number of vehicles to spawn. Default is 3. Maximum is 255. - ``: The [world](../simulation/gazebo_worlds.md) that the vehicle should be spawned into, e.g.: `empty` (default) -- `