New Crowdin translations - zh-CN (#25559)

Co-authored-by: Crowdin Bot <support+bot@crowdin.com>

docs/zh/SUMMARY.md

@@ -157,6 +157,7 @@
         - [mRo (3DR) Pixhawk Wiring Quickstart](assembly/quick_start_pixhawk.md)
       - [Holybro Pixhawk Mini (FMUv3) - Discontinued](flight_controller/pixhawk_mini.md)
     - [Manufacturer-Supported Autopilots](flight_controller/autopilot_manufacturer_supported.md)
+      - [Accton Godwit GA1](flight_controller/accton-godwit_ga1.md)
       - [AirMind MindPX](flight_controller/mindpx.md)
       - [AirMind MindRacer](flight_controller/mindracer.md)
       - [ARK Electronics ARKV6X](flight_controller/ark_v6x.md)
@@ -283,6 +284,7 @@
       - [CubePilot Here+ (Discontined)](gps_compass/rtk_gps_hex_hereplus.md)
     - [INS (Inertial Navigation/GNSS)](sensor/inertial_navigation_systems.md)
       - [InertialLabs](sensor/inertiallabs.md)
+      - [sbgECom](sensor/sbgecom.md)
       - [VectorNav](sensor/vectornav.md)
     - [光流](sensor/optical_flow.md)
       - [ARK 光流](dronecan/ark_flow.md)
@@ -679,6 +681,8 @@
         - [RoverPositionSetpoint](msg_docs/RoverPositionSetpoint.md)
         - [RoverRateSetpoint](msg_docs/RoverRateSetpoint.md)
         - [RoverRateStatus](msg_docs/RoverRateStatus.md)
+        - [RoverSpeedSetpoint](msg_docs/RoverSpeedSetpoint.md)
+        - [RoverSpeedStatus](msg_docs/RoverSpeedStatus.md)
         - [RoverSteeringSetpoint](msg_docs/RoverSteeringSetpoint.md)
         - [RoverThrottleSetpoint](msg_docs/RoverThrottleSetpoint.md)
         - [RoverVelocitySetpoint](msg_docs/RoverVelocitySetpoint.md)
@@ -739,6 +743,7 @@
         - [YawEstimatorStatus](msg_docs/YawEstimatorStatus.md)
         - [AirspeedValidatedV0](msg_docs/AirspeedValidatedV0.md)
         - [ArmingCheckReplyV0](msg_docs/ArmingCheckReplyV0.md)
+        - [ArmingCheckRequestV0](msg_docs/ArmingCheckRequestV0.md)
         - [BatteryStatusV0](msg_docs/BatteryStatusV0.md)
         - [EventV0](msg_docs/EventV0.md)
         - [HomePositionV0](msg_docs/HomePositionV0.md)

docs/zh/airframes/airframe_reference.md

@@ -628,7 +628,16 @@ div.frame_variant td, div.frame_variant th {
 ### Free-Flyer
 
 <div class="frame_common">
-<img src="../../assets/airframes/types/AirframeUnknown.svg"/>
+<img src="../../assets/airframes/types/FreeFlyer.svg"/>
+<table>
+ <thead>
+   <tr><th>常规输出接法</th></tr>
+ </thead>
+ <tbody>
+<tr>
+ <td><ul><li><b>Motor1</b>: back left thruster, +x thrust</li><li><b>Motor2</b>: front left thruster, -x thrust</li><li><b>Motor3</b>: back right thruster, +x thrust</li><li><b>Motor4</b>: front right thruster, -x thrust</li><li><b>Motor5</b>: front left thruster, +y thrust</li><li><b>Motor6</b>: front right thruster, -y thrust</li><li><b>Motor7</b>: back left thruster, +y thrust</li><li><b>Motor8</b>: back right thruster, -y thrust</li></ul></td>
+</tr>
+</tbody></table>
 </div>
 
 <div class="frame_variant">
@@ -638,7 +647,7 @@ div.frame_variant td, div.frame_variant th {
  </thead>
 <tbody>
 <tr id="spacecraft_free-flyer_kth-atmos">
- <td>KTH-ATMOS</td>
+ <td><a href="https://atmos.discower.io">KTH-ATMOS</a></td>
  <td>Maintainer: DISCOWER<p><code>SYS_AUTOSTART</code> = 70000</p></td>
 </tr>
 </tbody>

docs/zh/assembly/_assembly.md

@@ -291,7 +291,7 @@ If you're using [DroneCAN ESC](../peripherals/esc_motors.md#dronecan) the contro
 ### Flight Controller Power
 
 Pixhawk FCs require a regulated power supply that can supply at around 5V/3A continuous (check your specific FC)!
-This is sufficient to power the controller itself and a few low-power peripherals, such as a GNSS module, RC transmitter, and low power telemetry radio, but not for motors, actuators, and other peripherals.
+This is sufficient to power the controller itself and a few low-power peripherals, such as a GNSS module, RC receiver, and low power telemetry radio, but not for motors, actuators, and other peripherals.
 
 [Power modules](../power_module/index.md) are commonly used to "split off" this regulated power supply for the FC and also to provide measurements of the battery voltage and total current to the whole system — which PX4 can use to estimate power levels.
 The power module is connected to the FC power port, which is normally labeled `POWER` (or `POWER 1` or `POWER 2` for FCs that have redundant power supply).

docs/zh/concept/system_startup.md

@@ -13,9 +13,9 @@ The first executed file is the [init.d/rcS](https://github.com/PX4/PX4-Autopilot
 
 根据 PX4 运行的操作系统将本文后续内容分成了如下各小节。
 
-## Posix (Linux/MacOS)
+## 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）。
+On POSIX, the system shell is used as script interpreter (e.g. /bin/sh, being symlinked to dash on Ubuntu).
 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。
@@ -59,7 +59,7 @@ cd <PX4-Autopilot>/build/px4_sitl_default/bin
 ### Dynamic Modules
 
 通常，所有模块都被编入一个 PX4 可执行程序。
-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.
+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.
 
 ```sh
 dyn ./test.px4mod
@@ -95,7 +95,7 @@ The whole boot can be replaced by creating a file `/etc/rc.txt` on the microSD c
 The best way to customize the system startup is to introduce a [new frame configuration](../dev_airframes/adding_a_new_frame.md).
 机架配置文件可以在固件中，也可以在SD卡上。
 
-#### Dynamic customization
+#### Dynamic Customization
 
 If you only need to "tweak" the existing configuration, such as starting one more application or setting the value of a few parameters, you can specify these by creating two files in the `/etc/` directory of the SD Card:
 
@@ -153,27 +153,36 @@ Calling an unknown command in system boot files may result in boot failure.
   mandatory_app start     # Will abort boot if mandatory_app is unknown or fails
   ```
 
-#### Additional customization
+#### Additional Init-File Customization
 
-In rare cases where the desired setup cannot be achieved through frame configuration or dynamic customization,
+In rare cases where the desired setup cannot be achieved through frame configuration or dynamic customization, you can add a script that will be compiled into the binary for a particular `make` target build variant.
-you can add a script that will be contained in the binary.
 
-**Note**: In almost all cases, you should use a frame configuration. This method should only be used for
+:::warning
-edge-cases such as customizing `cannode` based boards.
+In almost all cases, you should use a frame configuration.
+This method should only be used for edge-cases such as customizing `cannode` based boards.
+:::
+
+步骤如下：
+
+- Add a new init script in `boards/<vendor>/<board>/init` that will run during board startup.
+  例如：
 
-- Add a new init script in `boards/<vendor>/<board>/init` that will run during board startup. 例如：
   ```sh
   # File: boards/<vendor>/<board>/init/rc.additional
   param set-default <param> <value>
   ```
 
-- Add a new board variant in `boards/<vendor>/<board>/<variant>.px4board` that includes the additional script. 例如：
+- Add a new board variant in `boards/<vendor>/<board>/<variant>.px4board` that includes the additional script.
+  例如：
+
   ```sh
   # File: boards/<vendor>/<board>/var.px4board
   CONFIG_BOARD_ADDITIONAL_INIT="rc.additional"
   ```
 
-- Compile the firmware with your new variant by appending the variant name to the compile target. 例如：
+- Compile the firmware with your new variant by appending the variant name to the compile target.
+  例如：
+
   ```sh
   make <target>_var
   ```

docs/zh/config/safety.md

@@ -206,23 +206,13 @@ The relevant parameters shown below.
 
 ### Position Loss Failsafe Action
 
-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):
+Multicopters will switch to [Altitude mode](../flight_modes_mc/altitude.md) if a height estimate is available, otherwise [Stabilized mode](../flight_modes_mc/manual_stabilized.md).
-
-- `0`: Remote control available.
-  Switch to _Altitude mode_ if a height estimate is available, otherwise _Stabilized mode_.
-- `1`: Remote control _not_ available.
-  Switch to _Descend mode_ if a height estimate is available, otherwise enter flight termination.
-  _Descend mode_ is a landing mode that does not require a position estimate.
 
 Fixed-wing planes, and VTOLs not configured to land in hover ([NAV_FORCE_VT](../advanced_config/parameter_reference.md#NAV_FORCE_VT)), have a parameter ([FW_GPSF_LT](../advanced_config/parameter_reference.md#FW_GPSF_LT)) that defines how long they will loiter (circle with a constant roll angle ([FW_GPSF_R](../advanced_config/parameter_reference.md#FW_GPSF_R)) at the current altitude) after losing position before attempting to land.
 If VTOLs have are configured to switch to hover for landing ([NAV_FORCE_VT](../advanced_config/parameter_reference.md#NAV_FORCE_VT)) then they will first transition and then descend.
 
 The relevant parameters for all vehicles shown below.
 
-| 参数                                                                                                                                                 | 描述                                                                                                                                                            |
-| -------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------- |
-| <a id="COM_POSCTL_NAVL"></a>[COM_POSCTL_NAVL](../advanced_config/parameter_reference.md#COM_POSCTL_NAVL) | Position control navigation loss response during mission. Values: `0` - assume use of RC, `1` - Assume no RC. |
-
 Parameters that only affect Fixed-wing vehicles:
 
 | 参数                                                                                                                                  | 描述                                                                                                                                   |

docs/zh/dev_setup/dev_env_windows_wsl.md

@@ -349,3 +349,9 @@ sudo add-apt-repository ppa:kisak/kisak-mesa
 sudo apt update
 sudo apt upgrade
 ```
+
+### QGroundControl not connecting to PX4 SITL
+
+- The connection between PX4 SITL on WSL2 and QGroundControl on Windows requires [broadcasting](../simulation/index.md#enable-udp-broadcasting) or [streaming to a specific address](../simulation/index.md#enable-streaming-to-specific-address) to be enabled.
+  Streaming to a specific address should be enabled by default, but is something to check if a connection can't be established.
+- Network traffic might be blocked by firewall or antivirus on you system.

docs/zh/flight_controller/accton-godwit_ga1.md

@@ -0,0 +1,153 @@
+# Accton Godwit G-A1
+
+:::warning
+PX4 does not manufacture this (or any) autopilot.
+Contact the [manufacturer](https://cubepilot.org/#/home) for hardware support or compliance issues.
+:::
+
+The G-A1 is a state-of-the-art flight controller developed derived from the [Pixhawk Autopilot v6X Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-012%20Pixhawk%20Autopilot%20v6X%20Standard.pdf).
+
+It includes an STM32H753 double-precision floating-point FMU processor and an STM32F103 IO coprocessor, multiple IMUs with 6-axis inertial sensors, two pressure/temperature sensors, and a geomagnetic sensor.
+It also has independent buses and power supplies, and is designed for safety and rich expansion capabilities.
+
+With an integrated 10/100M Ethernet Physical Layer (PHY), the G-A1 can also communicate with a mission computer (airborne computer), high-end surveying and mapping cameras, and other UxV-mounted equipment for high-speed communications, meeting the needs of advanced UxV systems.
+
+:::tip
+Visit [Accton-IoT Godwit](https://www.accton-iot.com/godwit/) for more information.
+:::
+
+![AccGodwitGA1](../../assets/flight_controller/accton-godwit/ga1/outlook.png "Accton Godwit G-A1")
+
+![AccGodwitGA1 Top View](../../assets/flight_controller/accton-godwit/ga1/orientation.png "Accton Godwit G-A1 Top View")
+
+:::info
+This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
+:::
+
+## 产品规格
+
+### 处理器
+
+- STM32H753IIK (Arm® Cortex®-M7 480MHz)
+- STM32F103 (Arm® Cortex®-M3, 72MHz)
+
+### 传感器
+
+- Bosch BMI088 (vibration isolated)
+- TDK InvenSense ICM-42688-P x 2 (one vibration isolated)
+- TDK Barometric Pressure and Temperature Sensor CP-20100 x 2 (one vibration isolated)
+- PNI RM3100 Geomagnetic Sensor (vibration isolated)
+
+### 电源
+
+- 4.6V to 5.7V
+
+### External ports
+
+- 2 CAN Buses (CAN1 and CAN2)
+- 3 TELEM Ports (TELEM1, TELEM2 and TELEM3)
+- 2 GPS Ports (GPS1 with safety switch, LED, buzzer, and GPS2)
+- 1 PPM IN
+- 1 SBUS OUT
+- 2 USB Ports (1 TYPE-C and 1 JST GH1.25)
+- 1 10/100Base-T Ethernet Port
+- 1 DSM/SBUS RC
+- 1 UART 4
+- 1 AD&IO Port
+- 2 Debug Ports (1 IO Debug and 1 FMU Debug)
+- 1 SPI6 Bus
+- 4 Power Inputs (Power 1, Power 2, Power C1 and Power C2)
+- 16 PWM Servo Outputs (A1-A8 from FMU and M1-M8 from IO)
+- Micro SD Socket (supports SD 4.1 & SDIO 4.0 in two databus modes: 1 bit (default) and 4 bits)
+
+### Size and Dimensions
+
+- 92.2 (L) x 51.2 (W) x 28.3 (H) mm
+- 77.6g (carrier board with IMU)
+
+## 购买渠道
+
+- [Accton-IoT Godwit](https://www.accton-iot.com/godwit/)
+- [sales@accton-iot.com](sales@accton-iot.com)
+
+## 针脚定义
+
+![G-A1 Pin definition](../../assets/flight_controller/accton-godwit/ga1/pin_definition.png "G-A1 Pin definition")
+
+## UART Mapping
+
+| Serial# | Protocol  | Port   | 备注         |
+| ------- | --------- | ------ | ---------- |
+| SERIAL1 | Telem1    | UART7  | /dev/ttyS6 |
+| SERIAL2 | Telem2    | UART5  | /dev/ttyS4 |
+| SERIAL3 | GPS1      | USART1 | /dev/ttyS0 |
+| SERIAL4 | GPS2      | UART8  | /dev/ttyS7 |
+| SERIAL5 | Telem3    | USART2 | /dev/ttyS1 |
+| SERIAL6 | UART4     | UART4  | /dev/ttyS3 |
+| SERIAL7 | FMU Debug | USART3 |            |
+| SERIAL8 | OTG2      | USB    |            |
+
+## Wiring Diagram
+
+![G-A1 Wiring](../../assets/flight_controller/accton-godwit/ga1/wiring.png "G-A1 Wiring")
+
+## PWM Output
+
+PWM M1-M8 (IO Main PWM), A1-A8(FMU PWM).
+All these 16 support normal PWM output formats.
+FMU PWM A1-A6 can support DShot and B-Directional DShot.
+A1-A8(FMU PWM) are grouped as:
+
+- Group 1: A1, A2, A3, A4
+- Group 2: A5, A6
+- Group 3: A7, A8
+
+The motor and servo system should be connected to these ports according to the order outlined in the fuselage reference for your carrier.
+
+![G-A1 PWM Motor Servo](../../assets/flight_controller/accton-godwit/ga1/motor_servo.png "G-A1 PWM Motor Servo")
+
+## RC Input
+
+For DSM/SBUS receivers, connect them to the DSM/SBUS interface which provides dedicated 3.3V and 5V power pins respectively, and check above "Pinout" for detailed pin definition.
+PPM receivers should be connected to the PPM interface. And other RC systems can be connected via other spare telemetry ports.
+
+![G-A1 Radio](../../assets/flight_controller/accton-godwit/ga1/radio.png "G-A1 Radio")
+
+## GPS/Compass
+
+The Godwit G-A1 has a built-in compass
+Due to potential interference, the autopilot is usually used with an external I2C compass as part of a GPS/Compass combination.
+
+![G-A1 GPS](../../assets/flight_controller/accton-godwit/ga1/gps.png "G-A1 GPS")
+
+## Power Connection and Battery Monitor
+
+This universal controller features a CAN PMU module that supports 3 to 14s lithium batteries.
+To ensure proper connection, attach the module's 6-pin connector to the flight control Power C1 and/or Power C2 interface.
+
+This universal controller does not provide power to the servos.
+To power them, an external BEC must be connected to the positive and negative terminals of any A1–A8 or M1–M8 port.
+
+![G-A1 Power](../../assets/flight_controller/accton-godwit/ga1/power.png "G-A1 Power")
+
+## SD Card
+
+The SD card is NOT included in the package, you need to prepare the SD card and insert it into the slot.
+
+![G-A1 SD Card](../../assets/flight_controller/accton-godwit/ga1/sdcard.png "G-A1 SD Card")
+
+## 固件
+
+The autopilot is compatible with PX4 firmware. And G-A1 can be detected by QGroundControl automatically. Users can also build it with target "accton-godwit_ga1"
+
+To [build PX4](../dev_setup/building_px4.md) for this target, open up the terminal and enter:
+
+```sh
+make accton-godwit_ga1
+```
+
+## More Information and Support
+
+- [Accton-IoT Godwit](https://www.accton-iot.com/godwit/)
+- [sales@accton-iot.com](sales@accton-iot.com)
+- [support@accton-iot.com](mailto:support@accton-iot.com)

docs/zh/flight_controller/autopilot_manufacturer_supported.md

@@ -12,6 +12,7 @@ This category includes boards that are not fully compliant with the pixhawk stan
 
 The boards in this category are:
 
+- [Accton Godwit GA1](../flight_controller/accton-godwit_ga1.md)
 - [AirMind MindPX](../flight_controller/mindpx.md)
 - [AirMind MindRacer](../flight_controller/mindracer.md)
 - [ARK Electronics ARKV6X](../flight_controller/ark_v6x.md) (and [ARK Electronics Pixhawk Autopilot Bus Carrier](../flight_controller/ark_pab.md))

docs/zh/flight_modes_mc/throw_launch.md

@@ -1,6 +1,6 @@
 # Throw Launch (Multicopter)
 
-<Badge type="tip" text="PX4 v1.15" /> <Badge type="warning" text="Experimental" />
+<0/> <1/>
 
 :::warning
 Experimental

docs/zh/modules/modules_driver_ins.md

@@ -45,6 +45,41 @@ MicroStrain <command> [arguments...]
    status        Driver status
 ```
 
+## eulernav_bahrs
+
+Source: [drivers/ins/eulernav_bahrs](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/ins/eulernav_bahrs)
+
+### 描述
+
+Serial bus driver for the EULER-NAV Baro-Inertial AHRS.
+
+### 示例
+
+Attempt to start driver on a specified serial device.
+
+```
+eulernav_bahrs start -d /dev/ttyS1
+```
+
+Stop driver
+
+```
+eulernav_bahrs stop
+```
+
+### Usage {#eulernav_bahrs_usage}
+
+```
+eulernav_bahrs <command> [arguments...]
+ Commands:
+   start         Start driver
+     -d <val>    Serial device
+
+   status        Print driver status
+
+   stop          Stop driver
+```
+
 ## ilabs
 
 Source: [drivers/ins/ilabs](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/ins/ilabs)

docs/zh/msg_docs/ActionRequest.md

@@ -26,7 +26,7 @@ uint8 ACTION_KILL = 4 # Kill vehicle (instantly stop the motors)
 uint8 ACTION_SWITCH_MODE = 5                     # Switch mode. The target mode is set in the `mode` field.
 uint8 ACTION_VTOL_TRANSITION_TO_MULTICOPTER = 6  # Transition to hover flight
 uint8 ACTION_VTOL_TRANSITION_TO_FIXEDWING = 7    # Transition to fast forward flight
-uint8 ACTION_TERMINATION = 8 # Irreversably output failsafe values on all outputs, trigger parachute
+uint8 ACTION_TERMINATION = 8                     # Irreversibly output failsafe values on all outputs, trigger parachute
 
 uint8 source                    # [@enum SOURCE] Request trigger type, such as a switch, button or gesture
 uint8 SOURCE_STICK_GESTURE = 0  # Triggered by holding the sticks in a certain position

docs/zh/msg_docs/ActuatorMotors.md

@@ -20,9 +20,9 @@ uint64 timestamp_sample # [us] Sampling timestamp of the data this control respo
 
 uint16 reversible_flags  # Bitset indicating which motors are configured to be reversible
 
-uint8 ACTUATOR_FUNCTION_MOTOR1 = 101
+uint8 ACTUATOR_FUNCTION_MOTOR1 = 101 #
 
-uint8 NUM_CONTROLS = 12
+uint8 NUM_CONTROLS = 12  #
 float32[12] control                  # [@range -1, 1] Normalized thrust. where 1 means maximum positive thrust, -1 maximum negative (if not supported by the output, <0 maps to NaN). NaN maps to disarmed (stop the motors)
 
 ```

docs/zh/msg_docs/ActuatorServos.md

@@ -18,7 +18,7 @@ uint32 MESSAGE_VERSION = 0
 uint64 timestamp         # [us] Time since system start
 uint64 timestamp_sample  # [us] Sampling timestamp of the data this control response is based on
 
-uint8 NUM_CONTROLS = 8
+uint8 NUM_CONTROLS = 8  #
 float32[8] control      # [@range -1, 1] Normalized output. 1 means maximum positive position. -1 maximum negative position (if not supported by the output, <0 maps to NaN). NaN maps to disarmed.
 
 ```

docs/zh/msg_docs/ArmingCheckReply.md

@@ -54,6 +54,6 @@ bool mode_req_home_position # Requires a home position (such as RTL/Return mode)
 bool mode_req_prevent_arming           # Prevent arming (such as in Land mode).
 bool mode_req_manual_control           # Requires a manual controller
 
-uint8 ORB_QUEUE_LENGTH = 4 #
+uint8 ORB_QUEUE_LENGTH  = 4
 
 ```

docs/zh/msg_docs/ArmingCheckRequest.md

@@ -21,10 +21,12 @@ The reply will also include the registration_id for each external component, pro
 # The reply will include the published request_id, allowing correlation of all arming check information for a particular request.
 # The reply will also include the registration_id for each external component, provided to it during the registration process (RegisterExtComponentReply).
 
-uint32 MESSAGE_VERSION = 0
+uint32 MESSAGE_VERSION = 1
 
 uint64 timestamp  # [us] Time since system start.
 
 uint8 request_id  # Id of this request. Allows correlation with associated ArmingCheckReply messages.
 
+uint32 valid_registrations_mask # Bitmask of valid registration ID's (the bit is also cleared if flagged as unresponsive)
+
 ```

docs/zh/msg_docs/ArmingCheckRequestV0.md

@@ -0,0 +1,30 @@
+# ArmingCheckRequestV0 (UORB message)
+
+Arming check request.
+
+Broadcast message to request arming checks be reported by all registered components, such as external ROS 2 navigation modes.
+All registered components should respond with an ArmingCheckReply message that indicates their current mode requirements, and any arming failure information.
+The request is sent regularly, even while armed, so that the FMU always knows the current arming state for external modes, and can forward it to ground stations.
+
+The reply will include the published request_id, allowing correlation of all arming check information for a particular request.
+The reply will also include the registration_id for each external component, provided to it during the registration process (RegisterExtComponentReply).
+
+[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/ArmingCheckRequestV0.msg)
+
+```c
+# Arming check request.
+#
+# Broadcast message to request arming checks be reported by all registered components, such as external ROS 2 navigation modes.
+# All registered components should respond with an ArmingCheckReply message that indicates their current mode requirements, and any arming failure information.
+# The request is sent regularly, even while armed, so that the FMU always knows the current arming state for external modes, and can forward it to ground stations.
+#
+# The reply will include the published request_id, allowing correlation of all arming check information for a particular request.
+# The reply will also include the registration_id for each external component, provided to it during the registration process (RegisterExtComponentReply).
+
+uint32 MESSAGE_VERSION = 0
+
+uint64 timestamp  # [us] Time since system start.
+
+uint8 request_id  # Id of this request. Allows correlation with associated ArmingCheckReply messages.
+
+```

docs/zh/msg_docs/RoverSpeedSetpoint.md

@@ -0,0 +1,14 @@
+# RoverSpeedSetpoint (UORB message)
+
+Rover Speed Setpoint
+
+[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RoverSpeedSetpoint.msg)
+
+```c
+# Rover Speed Setpoint
+
+uint64 timestamp # [us] Time since system start
+float32 speed_body_x # [m/s] [@range -inf (Backwards), inf (Forwards)] [@frame Body] Speed setpoint in body x direction
+float32 speed_body_y # [m/s] [@range -inf (Left), inf (Right)] [@frame Body] [@invalid NaN If not mecanum] Mecanum only: Speed setpoint in body y direction
+
+```

docs/zh/msg_docs/RoverSpeedStatus.md

@@ -0,0 +1,18 @@
+# RoverSpeedStatus (UORB message)
+
+Rover Velocity Status
+
+[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RoverSpeedStatus.msg)
+
+```c
+# Rover Velocity Status
+
+uint64 timestamp # [us] Time since system start
+float32 measured_speed_body_x # [m/s] [@range -inf (Backwards), inf (Forwards)] [@frame Body] Measured speed in body x direction
+float32 adjusted_speed_body_x_setpoint # [m/s] [@range -inf (Backwards), inf (Forwards)] [@frame Body] Speed setpoint in body x direction that is being tracked (Applied slew rates)
+float32 pid_throttle_body_x_integral # [] [@range -1, 1] Integral of the PID for the closed loop controller of the speed in body x direction
+float32 measured_speed_body_y # [m/s] [@range -inf (Left), inf (Right)] [@frame Body] [@invalid NaN If not mecanum] Mecanum only: Measured speed in body y direction
+float32 adjusted_speed_body_y_setpoint # [m/s] [@range -inf (Left), inf (Right)] [@frame Body] [@invalid NaN If not mecanum] Mecanum only: Speed setpoint in body y direction that is being tracked (Applied slew rates)
+float32 pid_throttle_body_y_integral # [] [@range -1, 1] [@invalid NaN If not mecanum] Mecanum only: Integral of the PID for the closed loop controller of the speed in body y direction
+
+```

docs/zh/msg_docs/VehicleAirData.md

@@ -1,22 +1,26 @@
 # VehicleAirData (UORB message)
 
+Vehicle air data
+
+Data from the currently selected barometer (plus ambient temperature from the source specified in temperature_source).
+Includes calculated data such as barometric altitude and air density.
+
 [source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleAirData.msg)
 
 ```c
+# Vehicle air data
+#
+# Data from the currently selected barometer (plus ambient temperature from the source specified in temperature_source).
+# Includes calculated data such as barometric altitude and air density.
 
-uint64 timestamp            # time since system start (microseconds)
+uint64 timestamp             # [us] Time since system start
-
+uint64 timestamp_sample      # [us] Timestamp of the raw data
-uint64 timestamp_sample     # the timestamp of the raw data (microseconds)
+uint32 baro_device_id        # Unique device ID for the selected barometer
-
+float32 baro_alt_meter       # [m] [@frame MSL] Altitude above MSL calculated from temperature compensated baro sensor data using an ISA corrected for sea level pressure SENS_BARO_QNH
-uint32 baro_device_id       # unique device ID for the selected barometer
+float32 baro_pressure_pa     # [Pa] Absolute pressure
-
+float32 ambient_temperature  # [degC] Ambient temperature
-float32 baro_alt_meter			# Altitude above MSL calculated from temperature compensated baro sensor data using an ISA corrected for sea level pressure SENS_BARO_QNH.
-float32 baro_pressure_pa		# Absolute pressure in Pascals
-float32 ambient_temperature		# Abient temperature in degrees Celsius
 uint8 temperature_source     # Source of temperature data: 0: Default Temperature (15°C), 1: External Baro, 2: Airspeed
-
+float32 rho                  # [kg/m^3] Air density
-float32 rho				# air density
-
 uint8 calibration_count      # Calibration changed counter. Monotonically increases whenever calibration changes.
 
 ```

docs/zh/msg_docs/index.md

@@ -229,10 +229,10 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
 - [RoverPositionSetpoint](RoverPositionSetpoint.md) — Rover Position Setpoint
 - [RoverRateSetpoint](RoverRateSetpoint.md) — Rover Rate setpoint
 - [RoverRateStatus](RoverRateStatus.md) — Rover Rate Status
+- [RoverSpeedSetpoint](RoverSpeedSetpoint.md) — Rover Speed Setpoint
+- [RoverSpeedStatus](RoverSpeedStatus.md) — Rover Velocity Status
 - [RoverSteeringSetpoint](RoverSteeringSetpoint.md) — Rover Steering setpoint
 - [RoverThrottleSetpoint](RoverThrottleSetpoint.md) — Rover Throttle setpoint
-- [RoverVelocitySetpoint](RoverVelocitySetpoint.md) — Rover Velocity Setpoint
-- [RoverVelocityStatus](RoverVelocityStatus.md) — Rover Velocity Status
 - [Rpm](Rpm.md)
 - [RtlStatus](RtlStatus.md)
 - [RtlTimeEstimate](RtlTimeEstimate.md)
@@ -281,7 +281,7 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
 - [UlogStreamAck](UlogStreamAck.md) — Ack a previously sent ulog_stream message that had
   the NEED_ACK flag set
 - [VehicleAcceleration](VehicleAcceleration.md)
-- [VehicleAirData](VehicleAirData.md)
+- [VehicleAirData](VehicleAirData.md) — Vehicle air data
 - [VehicleAngularAccelerationSetpoint](VehicleAngularAccelerationSetpoint.md)
 - [VehicleConstraints](VehicleConstraints.md) — Local setpoint constraints in NED frame
   setting something to NaN means that no limit is provided
@@ -301,6 +301,7 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
 - [YawEstimatorStatus](YawEstimatorStatus.md)
 - [AirspeedValidatedV0](AirspeedValidatedV0.md)
 - [ArmingCheckReplyV0](ArmingCheckReplyV0.md)
+- [ArmingCheckRequestV0](ArmingCheckRequestV0.md) — Arming check request.
 - [BatteryStatusV0](BatteryStatusV0.md) — Battery status
 - [EventV0](EventV0.md) — this message is required here in the msg_old folder because other msg are depending on it
   Events interface

docs/zh/releases/main.md

@@ -52,7 +52,7 @@ Please continue reading for [upgrade instructions](#upgrade-guide).
 
 ### 传感器
 
-- TBD
+- Add [sbgECom INS driver](../sensor/sbgecom.md) ([PX4-Autopilot#24137](https://github.com/PX4/PX4-Autopilot/pull/24137))
 
 ### 仿真
 

docs/zh/ros2/index.md

@@ -1,45 +1,45 @@
 # ROS 2
 
-[ROS 2](https://docs.ros.org/en/humble/#) is a powerful general purpose robotics library that can be used with the PX4 Autopilot to create powerful drone applications.
+ROS 2 是ROS (机器人操作系统)最新版本 ， 一个通用的机器人库，可以与 PX4 自驾仪一起创建强大的无人机应用。
 
 :::warning
-Tip
+小提示
-The PX4 development team highly recommend that you use/migrate to this version of ROS!
+PX4开发团队强烈建议您使用/迁移到此版本的 ROS！
 
-This is the newest version of [ROS](https://www.ros.org/) (Robot Operating System).
+这是最新版本的 [ROS](https://www.ros.org/) (机器人操作系统)。
-It significantly improves on ROS "1", and in particular allows a much deeper and lower-latency integration with PX4.
+它大大改进了外空军备竞赛“1”，尤其是允许与PX4更深、更低的延迟结合。
 :::
 
 ROS得益于一个活跃的生态系统，在这个生态系统里，开发者会解决常见的机器人问题，他们也有权使用为Linux编写的其他软件库。
-It can be used, for example, for [computer vision](../computer_vision/index.md) solutions.
+例如，它可以用于[计算机视图](../computer_vision/index.md)解决方案。
 
-ROS 2 enables a very deep integration with PX4, to the extent that you can create flight modes in ROS 2 that are indistinguisable from internal PX4 modes, and directly read from and write to internal uORB topics at high rate.
+ROS 2能够非常深入地与 PX4 集成 只要你可以在交战规则2中创建无法与内部的 PX4 模式区分的飞行模式， 并以高费率直接读取内部uORB主题。
-It is recommended (in particular) for control and communication from a companion computer where low latency is important, when leveraging existing libraries from Linux, or when writing new high level flight modes.
+建议（尤其是）从同伴计算机进行控制和通信，因为这种计算机的延迟率很低。 当利用来自Linux的现有库时，或在编写新的高层飞行模式时。
 
-Communication between ROS 2 and PX4 uses middleware that implements the [XRCE-DDS protocol](../middleware/uxrce_dds.md).
+ROS 2 和 PX4 之间的通信使用中间件实现[XRCE-DDS] (../middleware/uxrce_dds.md)。
-This middleware exposes PX4 [uORB messages](../msg_docs/index.md) as ROS 2 messages and types, effectively allowing direct access to PX4 from ROS 2 workflows and nodes.
+这个中间件将以 ROS 2 消息和类型显示 PX4 [uORB 消息](../msg_docs/index.md)， 有效地允许从 ROS 2 工作流和节点直接访问 PX4。
 中间件使用 uORB 消息定义生成代码来序列化和反序列化来处理PX4 的收发消息。
-These same message definitions are used in ROS 2 applications to allow the messages to be interpreted.
+在ROS 2 应用中使用相同的消息定义可直接进行解析。
 
 :::info
-ROS 2 can also connect with PX4 using [MAVROS](https://github.com/mavlink/mavros/tree/ros2/mavros) instead of XRCE-DDS.
+ROS 2 也可以使用 [MAVROS](https://github.com/mavlink/mavros/tree/ros2/mavros而不是 XRCE-DDS连接到 PX4。
-This option is supported by the MAVROS project (it is not documented here).
+这一备选办法得到了MAVROS项目的支持(此处没有记录)。
 :::
 
-To use the [ROS 2](../ros2/user_guide.md) over XRCE-DDS effectively, you must (at time of writing) have a reasonable understanding of the PX4 internal architecture and conventions, which differ from those used by ROS.
+在XRCE-DDS上有效使用[ROS2](../ros2/user_guide.md)。 (撰写本文时)你必须对PX4内部结构和公约有合理的理解，这些结构和公约不同于交战规则所用的内部结构和公约。
 我们计划近期提供ROS 2 API 以对 PX4 的特性进行封装，并举例说明它们的用途。
 
 ## Topics
 
 本节的主要主题是：
 
-- [ROS 2 User Guide](../ros2/user_guide.md): A PX4-centric overview of ROS 2, covering installation, setup, and how to build ROS 2 applications that communicate with PX4.
+- ROS 2 用户指南: PX4 视角下的 ROS 2，包括安装、设置和如何构建与 PX4 通信的 ROS 2 应用。
-- [ROS 2 Offboard Control Example](../ros2/offboard_control.md): A C++ tutorial examples showing how to do position control in [offboard mode](../flight_modes/offboard.md) from a ROS 2 node.
+- [ROS 2 离板控制示例](../ros2/offboard_control.md)：一个 C++ 教程示例显示如何在 [离板模式] (../flight_modes/offboard.md) 中使用 ROS 2 节点进行位置控制。
-- [ROS 2 Multi Vehicle Simulation](../ros2/multi_vehicle.md): Instructions for connecting to multipole PX4 simulations via single ROS 2 agent.
+- [ROS 2 多车辆模拟](../ros2/multi_vehicle.md)：通过单独的ROS2 代理商连接到多极PX4 模拟的说明。
-- [PX4 ROS 2 Interface Library](../ros2/px4_ros2_interface_lib.md): A C++ library that simplies interacting with PX4 from ROS 2.
+- [PX4 ROS2 接口库](../ros2/px4_ros2_interface_lib.md)：一个C++ 库，它与ROS2的 PX4 交互。
-  Can be used to create and register flight modes wrtten using ROS2 and send position estimates from ROS2 applications such as a VIO system.
+  可以使用 ROS 2 创建和注册飞行模式，并从 ROS2 应用程序如VIO 系统发送位置估计数。
-- [ROS 2 Message Translation Node](../ros2/px4_ros2_msg_translation_node.md): A ROS 2 message translation node that enables communcation between PX4 and ROS 2 applications that were compiled with different sets of messages versions.
+- [ROS 2 消息翻译节点](../ros2/px4_ros2_msg_translation_node.md)：一个 ROS 2 消息翻译节点，它允许在 PX4 和 ROS 2 应用程序之间共享，这些应用程序被编译成不同的消息版本。
 
 ## 更多信息
 
-- [XRCE-DDS (PX4-ROS 2/DDS Bridge)](../middleware/uxrce_dds.md): PX4 middleware for connecting to ROS 2.
+- [XRCE-DDS (PX4-ROS 2/DDS Bridge)](../middleware/uxrce_dds.md): PX4 使用中间件链接到 ROS 2。

docs/zh/ros2/multi_vehicle.md

@@ -1,54 +1,54 @@
-# Multi-Vehicle Simulation with ROS 2
+# 使用 ROS 2 进行多车辆仿真
 
-[XRCE-DDS](../middleware/uxrce_dds.md) allows for multiple clients to be connected to the same agent over UDP.
+[XRCE-DDS](../middleware/uxrce_dds.md) 支持多个客户端通过 UDP 协议连接到同一个代理。
-This is particular useful in simulation as only one agent needs to be started.
+这在模拟中特别有用，因为只有一个代理需要启动。
 
-## Setup and Requirements
+## 设置和要求
 
-The only requirements are
+唯一的要求是
 
-- To be able to run [multi-vehicle simulation](../simulation/multi-vehicle-simulation.md) without ROS 2 with the desired simulator ([Gazebo](../sim_gazebo_gz/multi_vehicle_simulation.md), [Gazebo Classic](../sim_gazebo_classic/multi_vehicle_simulation.md#multiple-vehicle-with-gazebo-classic), [FlightGear](../sim_flightgear/multi_vehicle.md) and [JMAVSim](../sim_jmavsim/multi_vehicle.md)).
+- 能够在不依赖 ROS 2 的情况下，使用所需的仿真器([Gazebo](../sim_gazebo_gz/multi_vehicle_simulation.md), [Gazebo Classic](../sim_gazebo_classic/multi_vehicle_simulation.md#multiple-vehicle-with-gazebo-classic), [FlightGear](../sim_flightgear/multi_vehicle.md) 和 [JMAVSim](../sim_jmavsim/multi_vehicle.md))运行多车辆仿真[multi-vehicle simulation](../simulation/multi-vehicle-simulation.md)。
-- To be able to use [ROS 2](../ros2/user_guide.md) in a single vehicle simulation.
+- 能够在单车辆仿真中使用ROS 2（机器人操作系统 2）
 
-## Principle of Operation
+## 工作原理
 
-In simulation each PX4 instance receives a unique `px4_instance` number starting from `0`.
+在仿真中，每个 PX4 实例都会获得一个唯一的px4_instance编号，编号从0开始。
-This value is used to assign a unique value to [UXRCE_DDS_KEY](../advanced_config/parameter_reference.md#UXRCE_DDS_KEY):
+该值用于为 [UXRCE_DDS_KEY](../advanced_config/parameter_reference.md#UXRCE_DDS_KEY)分配一个唯一值：
 
 ```sh
-param set UXRCE_DDS_KEY $((px4_instance+1))
+参数设置 UXRCE_DDS_KEY $(px4_instance+1))
 ```
 
 :::info
-By doing so, `UXRCE_DDS_KEY` will always coincide with [MAV_SYS_ID](../advanced_config/parameter_reference.md#MAV_SYS_ID).
+通过这种方式，UXRCE_DDS_KEY 将始终与 [MAV_SYS_ID] 保持一致（../advanced_config/parameter_reference.md#MAV_SYS_ID）
 :::
 
-Moreover, when `px4_instance` is greater than zero, a unique ROS 2 [namespace prefix](../middleware/uxrce_dds.md#customizing-the-namespace) in the form `px4_$px4_instance` is added:
+此外，当 px4_instance 大于 0 时，会添加一个格式为 px4_$px4_instance 的唯一 ROS 2 命名空间前缀：
 
 ```sh
 uxrce_dds_ns="-n px4_$px4_instance"
 ```
 
 :::info
-The environment variable `PX4_UXRCE_DDS_NS`, if set, will override the namespace behavior described above.
+环境变量 PX4_UXRCE_DDS_NS 若已设置，将覆盖上文所述的命名空间行为。
 :::
 
-The first instance (`px4_instance=0`) does not have an additional namespace in order to be consistent with the default behavior of the `xrce-dds` client on a real vehicle.
+第一个实例（px4_instance=0）没有额外的命名空间，此举是为了与真实载具上 xrce-dds 客户端的默认行为保持一致。
-This mismatch can be fixed by manually using `PX4_UXRCE_DDS_NS` on the first instance or by starting adding vehicles from index `1` instead of `0` (this is the default behavior adopted by [sitl_multiple_run.sh](https://github.com/PX4/PX4-Autopilot/blob/main/Tools/simulation/gazebo-classic/sitl_multiple_run.sh) for Gazebo Classic).
+这种不匹配可以通过手动使用 `PX4_UXRCE_DDS_NS` 来修复，或者通过从索引 `1` 中添加车辆而不是 `0` (这是Gazebo Classic的 [sitl_multiple_run.sh](https://github.com/PX4/PX4-Autopilot/blob/main/Tools/simulation/gazebo-classic/sitl_multiple_run.sh) 的默认行为)。
 
-The default client configuration in simulation is summarized as follows:
+模拟中的默认客户端配置概述如下：
 
-| `PX4_UXRCE_DDS_NS` | `px4_instance` | `UXRCE_DDS_KEY`  | client namespace      |
+| `PX4_UXRCE_DDS_NS` | `px4_instance` | `UXRCE_DDS_KEY`  | 客户端命名空间               |
 | ------------------ | -------------- | ---------------- | --------------------- |
-| not provided       | 0              | `px4_instance+1` | 无                     |
+| 未提供                | 0              | `px4_instance+1` | 无                     |
-| provided           | 0              | `px4_instance+1` | `PX4_UXRCE_DDS_NS`    |
+| 已提供                | 0              | `px4_instance+1` | `PX4_UXRCE_DDS_NS`    |
-| not provided       | > 0            | `px4_instance+1` | `px4_${px4_instance}` |
+| 未提供                | > 0            | `px4_instance+1` | `px4_${px4_instance}` |
-| provided           | > 0            | `px4_instance+1` | `PX4_UXRCE_DDS_NS`    |
+| 已提供                | > 0            | `px4_instance+1` | `PX4_UXRCE_DDS_NS`    |
 
-## Adjusting the `target_system` value
+## 调整 `target_system` 值
 
-PX4 accepts [VehicleCommand](../msg_docs/VehicleCommand.md) messages only if their `target_system` field is zero (broadcast communication) or coincides with `MAV_SYS_ID`.
+PX4 只在他们的 `target_system` 字段为 0 (路由通信) 或与 `MAV_SYS_ID` 一致时，才接受 [VehicleCommand](../msg_docs/VehicleCommand.md)。
-In all other situations, the messages are ignored.
+在所有其他情况下，信息都被忽视。
-Therefore, when ROS 2 nodes want to send `VehicleCommand` to PX4, they must ensure that the messages are filled with the appropriate `target_system` value.
+因此，当 ROS 2 节点需向 PX4 发送 VehicleCommand（载具指令）消息时，必须确保消息中填写了合适的 target_system（目标系统）字段值。
 
 For example, if you want to send a command to your third vehicle, which has `px4_instance=2`, you need to set `target_system=3` in all your `VehicleCommand` messages.

docs/zh/ros2/offboard_control.md

@@ -1,6 +1,6 @@
 # ROS 2 Offboard 控制示例
 
-The following C++ example shows how to do position control in [offboard mode](../flight_modes/offboard.md) from a ROS 2 node.
+以下的 C++ 示例展示了如何在 [离板模式] (../flight_modes/offboard.md) 中从 ROS 2 节点进行位置控制。
 
 示例将首先发送设置点、进入offboard模式、解锁、起飞至5米，并悬停等待。
 虽然简单，但它显示了如何使用offboard控制以及如何向无人机发送指令。

docs/zh/ros2/px4_ros2_control_interface.md

@@ -1,6 +1,6 @@
 # PX4 ROS 2 Control Interface
 
-<Badge type="tip" text="PX4 v1.15" /> <Badge type="warning" text="Experimental" />
+<0/> <1/>
 
 :::warning
 Experimental
@@ -104,26 +104,26 @@ The above concepts provide a number of advantages over traditional [offboard con
 
 The following steps are required to get started:
 
-1. Make sure you have a working [ROS 2 setup](../ros2/user_guide.md), with [`px4_msgs`](https://github.com/PX4/px4_msgs) in the ROS 2 workspace.
+1. 请确保您在 ROS 2 工作区中有 [ROS 2 设置](../ros2/user_guide.md) 与 [`px4_msgs`](https://github.com/PX4/px4_msgs]。
 
-2. Clone the repository into the workspace:
+2. 将代码仓库克隆到工作空间中
 
    ```sh
    cd $ros_workspace/src
    git clone --recursive https://github.com/Auterion/px4-ros2-interface-lib
    ```
 
-   ::: info
+   提示信息
-   To ensure compatibility, use the latest _main_ branches for PX4, _px4_msgs_ and the library.
+   为确保兼容性，请使用 PX4、px4_msgs（PX4 消息包）及该库的最新 main 分支。
-   See also [here](https://github.com/Auterion/px4-ros2-interface-lib#compatibility-with-px4).
+   另请参阅 [here]（https://github.com/Auterion/px4-ros2-interface-lib#compatibility-with-px4）
 
 :::
 
-3. Build the workspace:
+3. 构建工作空间:
 
    ```sh
    cd ..
-   colcon build
+   colcon building
    source install/setup.bash
    ```
 

docs/zh/ros2/px4_ros2_interface_lib.md

@@ -1,48 +1,48 @@
-# PX4 ROS 2 Interface Library
+# PX4 ROS 2 接口库
 
-<Badge type="tip" text="PX4 v1.15" /> <Badge type="warning" text="Experimental" />
+<0/> <1/>
 
 :::warning
 Experimental
-At the time of writing, parts of the PX4 ROS 2 Interface Library are experimental, and hence subject to change.
+在撰写本文时，PX4 ROS 2 接口库的部分内容仍处于试验阶段，因此可能会发生变动。
 :::
 
-The [PX4 ROS 2 Interface Library](https://github.com/Auterion/px4-ros2-interface-lib) is a C++ library that simplifies controlling and interacting with PX4 from ROS 2.
+[PX4 ROS 2 接口库 ]（https://github.com/Auterion/px4-ros2-interface-lib）是一个 C++ 库，可简化从 ROS 2 对 PX4 进行控制和交互的操作。
 
-The library provides two high-level interfaces for developers:
+该库为开发者提供了两个高级接口。
 
-1. The [Control Interface](./px4_ros2_control_interface.md) allows developers to create and dynamically register modes written using ROS 2.
+1. [Control Interface](./px4_ros2_control_interface.md) 允许开发者创建并动态注册使用 ROS2 编写的模式。
-   It provides classes for sending different types of setpoints, ranging from high-level navigation tasks all the way down to direct actuator controls.
+   它为发送不同类型的设置点提供了课程，涵盖范围从高级导航任务一直到直接执行器控制。
-2. The [Navigation Interface](./px4_ros2_navigation_interface.md) enables sending vehicle position estimates to PX4 from ROS 2 applications, such as a VIO system.
+2. [导航界面](./px4_ros2_navigation_interface.md) 允许从ROS 2应用程序（如VIO系统）向PX4发送车辆位置估计数。
 
 <!--
 ## Overview
 -->
 
-## Installation in a ROS 2 Workspace
+## 在 ROS 2 工作区中安装
 
-To get started using the library within an existing ROS 2 workspace:
+要开始使用现有ROS2工作空间内的库：
 
-1. Make sure you have a working [ROS 2 setup](../ros2/user_guide.md), with [`px4_msgs`](https://github.com/PX4/px4_msgs) in the ROS 2 workspace.
+1. 请确保您在 ROS 2 工作区中有 [ROS 2 设置](../ros2/user_guide.md) 与 [`px4_msgs`](https://github.com/PX4/px4_msgs]。
 
-2. Clone the repository into the workspace:
+2. 将代码仓库克隆到工作空间中
 
    ```sh
    cd $ros_workspace/src
    git clone --recursive https://github.com/Auterion/px4-ros2-interface-lib
    ```
 
-   ::: info
+   提示信息
-   To ensure compatibility, use the latest _main_ branches for PX4, _px4_msgs_ and the library.
+   为确保兼容性，请使用 PX4、px4_msgs（PX4 消息包）及该库的最新 main 分支。
-   See also [here](https://github.com/Auterion/px4-ros2-interface-lib#compatibility-with-px4).
+   另请参阅 [here]（https://github.com/Auterion/px4-ros2-interface-lib#compatibility-with-px4）
 
 :::
 
-3. Build the workspace:
+3. 构建工作空间:
 
    ```sh
    cd ..
-   colcon build
+   colcon building
    source install/setup.bash
    ```
 
@@ -50,9 +50,9 @@ To get started using the library within an existing ROS 2 workspace:
 ## How to Use the Library
 -->
 
-## CI: Integration Tests
+## ROS集成测试
 
-When opening a pull request to PX4, CI runs the library integration tests.
+向 PX4 提交拉取请求（pull request）时，持续集成（CI）会运行该库的集成测试
-These test that mode registration, failsafes, and mode replacement, work as expected.
+这些测试用于验证模式注册、故障保护（failsafes）和模式替换功能是否按预期工作。
 
-For more information see [PX4 ROS2 Interface Library Integration Testing](../test_and_ci/integration_testing_px4_ros2_interface.md).
+欲了解更多信息，请访问[PX4 ROS2 接口库集成测试](../test_and_ci/integration_testing_px4_ros2_interface.md)。

docs/zh/ros2/px4_ros2_msg_translation_node.md

@@ -65,7 +65,7 @@ The translation node will print a warning if it encounters an unknown topic vers
 After making a modification in PX4 to the message definitions and/or translation node code, you will need to rerun the steps above from point 2 to update your ROS workspace accordingly.
 :::
 
-### In ROS Applications
+### 在ROS 应用中
 
 While developing a ROS 2 application that communicates with PX4, it is not necessary to know the specific version of a message being used.
 The message version can be added generically to a topic name like this:
@@ -183,7 +183,7 @@ class MinimalPubSub(Node):
 On the PX4 side, the DDS client automatically adds the version suffix if a message definition contains the field `uint32 MESSAGE_VERSION = x`.
 
 :::info
-Version 0 of a topic means that no `_v<version>` suffix should be added.
+主题版本0意味着不应添加`_v<version>`后缀。
 :::
 
 ## Development

docs/zh/ros2/px4_ros2_navigation_interface.md

@@ -1,10 +1,10 @@
-# PX4 ROS 2 Navigation Interface
+# PX4 ROS2 导航接口
 
-<Badge type="tip" text="PX4 v1.15" /> <Badge type="warning" text="Experimental" />
+<0/> <1/>
 
 :::warning
 Experimental
-At the time of writing, parts of the PX4 ROS 2 Interface Library are experimental, and hence subject to change.
+在撰写本文时，PX4 ROS 2 接口库的部分内容仍处于试验阶段，因此可能会发生变动。
 :::
 
 The [PX4 ROS 2 Interface Library](../ros2/px4_ros2_interface_lib.md) navigation interface enables developers to send their position measurements to PX4 directly from ROS 2 applications, such as a VIO system or a map matching system.
@@ -18,22 +18,22 @@ The `update` method expects a position measurement `struct` ([`LocalPositionMeas
 
 The following steps are required to get started:
 
-1. Make sure you have a working [ROS 2 setup](../ros2/user_guide.md), with [`px4_msgs`](https://github.com/PX4/px4_msgs) in the ROS 2 workspace.
+1. 请确保您在 ROS 2 工作区中有 [ROS 2 设置](../ros2/user_guide.md) 与 [`px4_msgs`](https://github.com/PX4/px4_msgs]。
 
-2. Clone the repository into the workspace:
+2. 将代码仓库克隆到工作空间中
 
    ```sh
    cd $ros_workspace/src
    git clone --recursive https://github.com/Auterion/px4-ros2-interface-lib
    ```
 
-   ::: info
+   提示信息
-   To ensure compatibility, use the latest _main_ branches for PX4, _px4_msgs_ and the library.
+   为确保兼容性，请使用 PX4、px4_msgs（PX4 消息包）及该库的最新 main 分支。
-   See also [here](https://github.com/Auterion/px4-ros2-interface-lib#compatibility-with-px4).
+   另请参阅 [here]（https://github.com/Auterion/px4-ros2-interface-lib#compatibility-with-px4）
 
 :::
 
-3. Build the workspace:
+3. 构建工作空间:
 
    ```sh
    cd ..

docs/zh/sensor/accelerometer.md

@@ -5,7 +5,7 @@ PX4使用加速计数据进行速度估计。
 你无需将加速度计作为独立的外部设备进行连接。
 
 - 大多数飞行控制器，例如[Pixhawk系列](../flight_controller/pixhawk_series.md)中的飞行控制器，都将加速度计作为飞行控制器[惯性测量单元（IMU）](https://en.wikipedia.org/wiki/Inertial_measurement_unit)的一部分。
-- 陀螺仪作为[外部惯性导航系统、姿态与航向参考系统或惯性导航增强型全球导航卫星系统](../sensor/inertial_navigation_systems.md)的一部分而存在。
+- Gyroscopes are present as part of an [external INS, AHRS or INS-enhanced GNSS system](../sensor/inertial_navigation_systems.md).
 
 在首次使用载具之前必须校准加速计：
 

docs/zh/sensor/inertial_navigation_systems.md

@@ -9,6 +9,7 @@ However PX4 can also use some INS devices as either sources of raw data, or as a
 INS systems that can be used as a replacement for EKF2 in PX4:
 
 - [InertialLabs](../sensor/inertiallabs.md)
+- [SBG Systems](../sensor/sbgecom.md): IMU/AHRS, GNSS/INS, Dual GNSS/INS systems that can be used as an external INS or as a source of raw sensor data.
 - [VectorNav](../sensor/vectornav.md): IMU/AHRS, GNSS/INS, Dual GNSS/INS systems that can be used as an external INS or as a source of raw sensor data.
 
 ## PX4 Firmware

docs/zh/sensor/sbgecom.md

@@ -0,0 +1,159 @@
+# SBG Systems INS/AHRS (Pulse, Ellipse, etc.)
+
+[SBG-Systems](https://www.sbg-systems.com/) designs, manufactures, and support an extensive range of state-of-the-art inertial sensors such as Inertial Measurement Units (IMU), Attitude and Heading Reference Systems (AHRS), Inertial Navigation Systems with embedded GNSS (INS/GNSS), and so on.
+
+PX4 supports [all SBG Systems products](https://www.sbg-systems.com/products/) and can use these as an [external INS](../sensor/inertial_navigation_systems.md) (bypassing/replacing the EKF2 estimator), or as a source of raw sensor data provided to the navigation estimator.
+
+![Ellipse](../../assets/hardware/sensors/inertial/ellipse-inertial-navigation-system.png)
+
+## 综述
+
+SBG Systems products provide a range of benefits to PX4 users and can be integrated for:
+
+- Higher accuracy heading, pitch, and roll estimates
+- More robust and reliable GNSS positioning
+- Improved positioning and attitude performance in GNSS-contested environments
+- Performance under challenging dynamic conditions (e.g. catapult launches, VTOL operations, high-g or high angular rate operations)
+
+The sbgECom PX4 driver is streamlined to provide a simple plug-and-play architecture, removing engineering obstacles and allowing the acceleration of the design, development, and launch of platforms to keep pace with the rapid rate of innovation.
+
+The driver supports [all SBG Systems products](https://www.sbg-systems.com/products/).
+In particular the following systems are recommended:
+
+- **Pulse:** Recommended for fixed-wing systems without hovering, where static heading is not necessary.
+- **Ellipse:** Recommended for multicopter systems where hovering and low dynamics requires the use of static heading.
+
+## 购买渠道
+
+SBG Systems solutions are available directly from [MySBG](https://my.sbg-systems.com) (FR) or through their Global Sales Representatives. For more information on their solutions or for international orders, please contact contact@sbg-systems.com.
+
+## 硬件安装
+
+### 布线
+
+Connect any unused flight controller serial interface, such as a spare `GPS` or `TELEM` port, to the SBG Systems product MAIN port (required by PX4).
+
+### Mounting
+
+The SBG Systems product sensor can be mounted in any orientation, in any position on the vehicle, without regard to center of gravity.
+All SBG Systems product sensors default to a coordinate system of x-forward, y-right, and z-down, making the default mounting as connector-back, base down.
+This can be changed to any rigid rotation using the sbgECom Reference Frame Rotation register.
+
+If using a GNSS-enabled product, the GNSS antenna must be mounted rigidly with respect to the inertial sensor and with an unobstructed sky view. If using a dual-GNSS-enabled product (Ellipse-D), the secondary antenna must be mounted rigidly with respect to the primary antenna and the inertial sensor with an unobstructed sky view.
+
+For more mounting and configuration requirements and recommendations, see the relevant [SBG SUPPORT CENTER](https://support.sbg-systems.com/sc).
+
+## Firmware Configuration
+
+### PX4 配置
+
+To use the sbgECom driver:
+
+1. Include the module in firmware in the [kconfig board configuration](../hardware/porting_guide_config.md#px4-board-configuration-kconfig) by setting the kconfig variables: `CONFIG_DRIVERS_INS_SBGECOM` or `CONFIG_COMMON_INS`.
+
+2. [Set the parameter](../advanced_config/parameters.md) [SENS_SBG_CFG](../advanced_config/parameter_reference.md#SENS_SBG_CFG) to the hardware port connected to the SBG Systems product (for more information see [Serial Port Configuration](../peripherals/serial_configuration.md)).
+
+   ::: warning
+   Disable or change port of other sensors that are using the same one, for example [GPS_1_CONFIG](../advanced_config/parameter_reference.md#GPS_1_CONFIG) if using GPS1 port.
+
+:::
+
+3. Set [SBG_BAUDRATE](../advanced_config/parameter_reference.md#SBG_BAUDRATE) to the desired default baudrate value.
+
+4. Allow the sbgECom driver to initialize by restarting PX4.
+
+5. Configure driver to provide IMU data, GNSS data and INS :
+
+   1. Set [SBG_MODE](../advanced_config/parameter_reference.md#SBG_MODE) to the desired mode.
+   2. Make sensor module select sensors by enabling [SENS_IMU_MODE](../advanced_config/parameter_reference.md#SENS_IMU_MODE).
+   3. Prioritize SBG Systems sensors using [CAL_GYROn_PRIO](../advanced_config/parameter_reference.md#CAL_GYRO0_PRIO), [CAL_ACCn_PRIO](../advanced_config/parameter_reference.md#CAL_ACC0_PRIO), [CAL_BAROn_PRIO](../advanced_config/parameter_reference.md#CAL_BARO0_PRIO), [CAL_MAGn_PRIO](../advanced_config/parameter_reference.md#CAL_MAG0_PRIO), where _n_ is the instance number of the IMU component (0, 1, etc.).
+
+   ::: tip
+   In most cases the external IMU (SBG) is the highest-numbered.
+   You can get a list of the IMU components available using [`uorb top -1`](../middleware/uorb.md#uorb-top-command), you can differentiate between them using the [`listener`](../modules/modules_command.md#listener) command and looking through the data, or just the rates.
+
+   Alternatively, you can check [CAL_GYROn_ID](../advanced_config/parameter_reference.md#CAL_GYRO0_ID) to see the device id.
+   The priority is 0-255, where 0 is entirely disabled and 255 is highest priority.
+
+:::
+
+   ::: warning
+   When configuring both SBG Systems and Pixhawk sensors to have non-zero priority, if the selected sensor is errored (timeout), it can change during operation without being notified.
+   In this case, MAVLink messages will be updated with the newly selected sensor.
+
+   If you don't want to have this fallback mechanism, you must disable unwanted sensors.
+
+:::
+
+   4. If using the sbgECom as an INS, disable EKF2 using [EKF2_EN](../advanced_config/parameter_reference.md#EKF2_EN).
+
+6. Restart PX4.
+
+Once enabled, the module will be detected on boot.
+IMU data should be published at 200Hz.
+
+## SBG Systems Configuration
+
+All High Performance and Ellipse 3.0 and higher SBG Systems INS can be configured directly from PX4 firmware:
+
+1. Enable [SBG_CONFIGURATION_EN](../advanced_config/parameter_reference.md#SBG_CONFIGURATION_EN)
+
+2. Provide a JSON file `sbg_settings.json` containing SBG Systems INS settings to be applied in your PX4 board `extras` directory (ex: `boards/px4/fmu-v5/extras`). The settings JSON file will be installed in `/etc/extras/sbg_settings.json` on the board.
+
+   ::: tip
+   The settings can be retrieved using [sbgEComAPI](https://github.com/SBG-Systems/sbgECom/tree/main/tools/sbgEComApi) or [sbgInsRestApi](https://developer.sbg-systems.com/sbgInsRestApi/1.3/#tag/Settings) and then modified as a JSON file.
+
+:::
+
+   ::: tip
+   The settings file can be provided in the SD card in q`/fs/microsd/etc/extras/sbg_settings.json` to avoid rebuilding a new firmware to change JSON settings file.
+
+:::
+
+3. For testing purpose, it's also possible to modify SBG Systems INS settings on the fly:
+
+   - By passing a JSON file path as argument when starting sbgecom driver (ex: `sbgecom start -f /fs/microsd/new_sbg_settings.json`)
+   - By passing a JSON string as argument when starting sbgecom driver: (ex: `sbgecom start -s {"output":{"comA":{"messages":{"airData":"onChange"}}}}`)
+
+For older Ellipse SBG Systems INS or to configure any SBG Systems INS directly, all commands and registers can be found in the [SBG SUPPORT CENTER](https://support.sbg-systems.com/sc).
+
+:::warning
+If the baudrate of the serial port on the INS product (used to communicate with PX4) is changed, the parameter [SBG_BAUDRATE](../advanced_config/parameter_reference.md#SBG_BAUDRATE) must be changed to match.
+:::
+
+## Published Data
+
+Upon initialization, the driver should print the following information to console (printed using `PX4_INFO`)
+
+- Unit model number
+- Unit hardware version
+- Unit serial number
+- Unit firmware number
+
+This should be accessible using the [`dmesg`](../modules/modules_system.md#dmesg) command.
+
+The sbgECom driver always publishes the unit's data to the following uORB topics:
+
+- [sensor_accel](../msg_docs/SensorAccel.md)
+- [sensor_gyro](../msg_docs/SensorGyro.md)
+- [sensor_mag](../msg_docs/SensorMag.md)
+
+if configured as a GNSS, publishes:
+
+- [sensor_gps](../msg_docs/SensorGps.md)
+
+and, if configured as an INS, publishes:
+
+- [estimator_status](../msg_docs/EstimatorStatus.md)
+- [vehicle_local_position](../msg_docs/VehicleLocalPosition.md)
+- [vehicle_global_positon](../msg_docs/VehicleGlobalPosition.md)
+- [vehicle_attitude](../msg_docs/VehicleAttitude.md)
+
+:::tip
+Published topics can be viewed using the `listener` command.
+:::
+
+## Hardware Specifications
+
+- [Product Briefs](https://www.sbg-systems.com/products/)
+- [Datasheets](https://www.sbg-systems.com/contact/#products)

docs/zh/sim_gazebo_classic/worlds.md

@@ -1,6 +1,6 @@
-# Gazebo Classic Worlds
+# Gazebo 经典世界
 
-This topic provides imagery/information about the [Gazebo Classic](../sim_gazebo_classic/index.md) worlds supported by PX4.
+这个主题提供了 PX4 支持的 [Gazebo Classic](../sim_gazebo_classic/index.md) 世界的图像/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 Classic > Loading a Specific World](../sim_gazebo_classic/index.md#loading-a-specific-world).
@@ -69,4 +69,4 @@ The model specific worlds are:
 - [uuv_hippocampus.world](https://github.com/PX4/PX4-SITL_gazebo-classic/blob/main/worlds/uuv_hippocampus.world): An empty world used to simulate an underwater environment for the [HippoCampus UUV](../sim_gazebo_classic/vehicles.md#hippocampus-tuhh-uuv).
 - [typhoon_h480.world](https://github.com/PX4/PX4-SITL_gazebo-classic/blob/main/worlds/typhoon_h480.world): Used by [Typhoon H480 (Hexrotor)](../sim_gazebo_classic/vehicles.md#typhoon-h480-hexrotor) vehicle model and includes a video widget to enable / disable video streaming.
   The world includes a gazebo plugin for a simulated camera.
-- [iris_irlock.world](https://github.com/PX4/PX4-SITL_gazebo-classic/blob/main/worlds/iris_irlock.world): Includes a IR beacon for testing [precision landing](../advanced_features/precland.md).
+- [iris_irlock.world](https://github.com/PX4/PX4-SITL_gazebo-classic/blob/main/worlds/iris_irlock.world): 包括用于测试[精确着陆]的IR 信标(../advanced_features/precland.md)。

docs/zh/test_and_ci/integration_testing_px4_ros2_interface.md

@@ -2,11 +2,11 @@
 
 This topic outlines the integration tests for the [PX4 ROS 2 Interface Library](../ros2/px4_ros2_interface_lib.md).
 
-These test that mode registration, failsafes, and mode replacement, work as expected.
+这些测试用于验证模式注册、故障保护（failsafes）和模式替换功能是否按预期工作。
 
 ## CI Testing
 
-When opening a pull request to PX4, CI runs the library integration tests.
+向 PX4 提交拉取请求（pull request）时，持续集成（CI）会运行该库的集成测试
 
 ## Running Tests Locally