From 30b6938f5eca0d161f3e31ed18c3239d512516a0 Mon Sep 17 00:00:00 2001 From: PX4 Build Bot Date: Thu, 5 Mar 2026 14:01:38 +1100 Subject: [PATCH] New Crowdin translations - uk (#26552) Co-authored-by: Crowdin Bot --- docs/uk/SUMMARY.md | 41 +- docs/uk/advanced/computer_vision.md | 2 +- docs/uk/advanced/gimbal_control.md | 2 +- docs/uk/advanced/px4_metadata.md | 3 +- .../bootloader_update_v6xrt.md | 6 +- .../gnss_degraded_or_denied_flight.md | 78 ++++ docs/uk/advanced_config/index.md | 1 + docs/uk/advanced_config/land_detector.md | 2 +- docs/uk/advanced_config/tuning_the_ecl_ekf.md | 7 +- docs/uk/advanced_features/satcom_roadblock.md | 8 +- docs/uk/airframes/airframe_reference.md | 4 +- docs/uk/assembly/_assembly.md | 4 +- docs/uk/assembly/quick_start_cuav_v5_nano.md | 4 +- docs/uk/assembly/quick_start_cuav_v5_plus.md | 6 +- docs/uk/assembly/quick_start_cube.md | 2 +- docs/uk/assembly/quick_start_pixhawk5x.md | 2 +- docs/uk/assembly/quick_start_pixhawk6x.md | 2 +- 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docs/uk/ros2/px4_ros2_msg_translation_node.md | 2 +- docs/uk/ros2/px4_ros2_navigation_interface.md | 4 +- docs/uk/ros2/user_guide.md | 4 +- docs/uk/sensor/airspeed.md | 4 +- docs/uk/sensor/airspeed_tfslot.md | 2 +- docs/uk/sensor/grf_lidar.md | 69 +++ docs/uk/sensor/inertial_navigation_systems.md | 1 - docs/uk/sensor/inertiallabs.md | 4 +- docs/uk/sensor/lidar_lite.md | 2 +- docs/uk/sensor/microstrain.md | 10 +- docs/uk/sensor/optical_flow.md | 2 +- docs/uk/sensor/px4flow.md | 2 +- docs/uk/sensor/rangefinders.md | 4 +- docs/uk/sensor/sbgecom.md | 6 +- docs/uk/sensor/sf45_rotating_lidar.md | 2 +- docs/uk/sensor/sfxx_lidar.md | 16 +- docs/uk/sensor/teraranger.md | 11 +- docs/uk/sensor/thunderfly_tachometer.md | 4 +- docs/uk/sensor/vectornav.md | 8 +- docs/uk/sensor_bus/translator_tfi2cadt.md | 4 +- docs/uk/sim_gazebo_classic/index.md | 4 +- docs/uk/sim_gazebo_gz/gazebo_models.md | 4 +- docs/uk/sim_gazebo_gz/index.md | 4 +- docs/uk/sim_gazebo_gz/tools_avl_automation.md | 2 +- docs/uk/sim_gazebo_gz/vehicles.md | 2 +- docs/uk/sim_gazebo_gz/worlds.md | 2 +- docs/uk/sim_jmavsim/index.md | 2 +- docs/uk/sim_sih/index.md | 6 +- docs/uk/simulation/hitl.md | 12 +- docs/uk/simulation/index.md | 4 +- docs/uk/smart_batteries/index.md | 2 +- docs/uk/smart_batteries/rotoye_batmon.md | 8 +- docs/uk/software_update/stm32_bootloader.md | 2 +- docs/uk/telemetry/cuav_p8_radio.md | 4 +- docs/uk/telemetry/jfi_telemetry.md | 2 +- .../test_and_ci/integration_testing_mavsdk.md | 2 +- .../integration_testing_ros1_mavros.md | 2 +- docs/uk/test_and_ci/test_flights.md | 2 +- docs/uk/test_and_ci/unit_tests.md | 2 +- docs/uk/test_cards/mc_02_full_autonomous.md | 2 +- .../mc_10_optical_flow_gps_mixed.md | 2 +- 471 files changed, 4056 insertions(+), 5665 deletions(-) create mode 100644 docs/uk/advanced_config/gnss_degraded_or_denied_flight.md create mode 100644 docs/uk/config/manual_control.md create mode 100644 docs/uk/dronecan/lights.md create mode 100644 docs/uk/flight_controller/cuav_x25-super.md create mode 100644 docs/uk/msg_docs/AuxGlobalPosition.md create mode 100644 docs/uk/msg_docs/VehicleCommandAckV0.md create mode 100644 docs/uk/msg_docs/VehicleGlobalPositionV0.md create mode 100644 docs/uk/msg_docs/VehicleStatusV1.md create mode 100644 docs/uk/sensor/grf_lidar.md diff --git a/docs/uk/SUMMARY.md b/docs/uk/SUMMARY.md index f5b17caa3d..3f31f5037b 100644 --- a/docs/uk/SUMMARY.md +++ b/docs/uk/SUMMARY.md @@ -153,15 +153,11 @@ - [Wiring Quickstart](assembly/quick_start_pixhawk5x.md) - [Holybro Pixhawk 4 (FMUv5)](flight_controller/pixhawk4.md) - [Wiring Quickstart](assembly/quick_start_pixhawk4.md) - - [Holybro Pixhawk 4 Mini (FMUv5) - Припинено](flight_controller/pixhawk4_mini.md) - - [Wiring Quickstart](assembly/quick_start_pixhawk4_mini.md) - - [Drotek Pixhawk 3 Pro (FMUv4pro) - Припинено](flight_controller/pixhawk3_pro.md) - [mRo Pixracer (FMUv4)](flight_controller/pixracer.md) - [Wiring Quickstart](assembly/quick_start_pixracer.md) - [Hex Cube Black (FMUv3)](flight_controller/pixhawk-2.md) - [mRo Pixhawk (FMUv3)](flight_controller/mro_pixhawk.md) - [Швидке підключення mRo (3DR) Pixhawk](assembly/quick_start_pixhawk.md) - - [Holybro Pixhawk Mini (FMUv3) - Припинено](flight_controller/pixhawk_mini.md) - [Автопілоти, що підтримуються виробником](flight_controller/autopilot_manufacturer_supported.md) - [Accton Godwit GA1](flight_controller/accton-godwit_ga1.md) - [AirMind MindPX](flight_controller/mindpx.md) @@ -175,6 +171,7 @@ - [CUAV V5 nano (FMUv5)](flight_controller/cuav_v5_nano.md) - [Швидке підключення CUAV V5 nano](assembly/quick_start_cuav_v5_nano.md) - [CUAV X25 EVO](flight_controller/cuav_x25-evo.md) + - [CUAV X25 SUPER](flight_controller/cuav_x25-super.md) - [CubePilot Cube Orange+ (CubePilot)](flight_controller/cubepilot_cube_orangeplus.md) - [CubePilot Cube Orange (CubePilot)](flight_controller/cubepilot_cube_orange.md) - [CubePilot Cube Yellow (CubePilot)](flight_controller/cubepilot_cube_yellow.md) @@ -205,22 +202,6 @@ - [PilotPi з Raspberry Pi OS](flight_controller/raspberry_pi_pilotpi_rpios.md) - [PilotPi з Ubuntu Server](flight_controller/raspberry_pi_pilotpi_ubuntu_server.md) - [Зняті з виробництва автопілоти/транспортні засоби](flight_controller/autopilot_discontinued.md) - - [Drotek Dropix (FMUv2)](flight_controller/dropix.md) - - [Omnibus F4 SD](flight_controller/omnibus_f4_sd.md) - - [Bitcraze Crazyflie 2.0 ](complete_vehicles_mc/crazyflie2.md) - - [Aerotenna OcPoC-Zynq Mini](flight_controller/ocpoc_zynq.md) - - [CUAV X7](flight_controller/cuav_x7.md) - - [CUAV v5](flight_controller/cuav_v5.md) - - [CUAV Pixhack v3 (FMUv3)](flight_controller/pixhack_v3.md) - - [Holybro Kakute F7](flight_controller/kakutef7.md) - - [Holybro Pixfalcon](flight_controller/pixfalcon.md) - - [Holybro pix32 (FMUv2)](flight_controller/holybro_pix32.md) - - [ModalAI Flight Core v1](flight_controller/modalai_fc_v1.md) - - [ModalAI VOXL Flight](flight_controller/modalai_voxl_flight.md) - - [mRo X2.1 (FMUv2)](flight_controller/mro_x2.1.md) - - [mRo AUAV-X2](flight_controller/auav_x2.md) - - [NXP RDDRONE-FMUK66 FMU](flight_controller/nxp_rddrone_fmuk66.md) - - [3DR Pixhawk 1](flight_controller/pixhawk.md) - [Pixhawk Autopilot Bus (PAB) & Carriers](flight_controller/pixhawk_autopilot_bus.md) - [ARK Electronics Pixhawk Autopilot Bus Carrier](flight_controller/ark_pab.md) - [Кріплення польотного контролера](assembly/mount_and_orient_controller.md) @@ -258,6 +239,7 @@ - [Lidar-Lite](sensor/lidar_lite.md) - [Lightware Lidars (SF/LW/GRF)](sensor/sfxx_lidar.md) - [Lightware SF45 Rotary Lidar](sensor/sf45_rotating_lidar.md) + - [Lightware GRF250/GRF500 Gimbal Lidar](sensor/grf_lidar.md) - [TeraRanger](sensor/teraranger.md) - [✘ Lanbao PSK-CM8JL65-CC5](sensor/cm8jl65_ir_distance_sensor.md) - [Avionics Anonymous Laser Altimeter UAVCAN Interface (CAN)](dronecan/avanon_laser_interface.md) @@ -332,11 +314,11 @@ - [VESC Project ESCs](peripherals/vesc.md) - [Zubax Telega ESCs](dronecan/zubax_telega.md) - - [Радіокерування (RC)](getting_started/rc_transmitter_receiver.md) - - [Налаштування радіо](config/radio.md) - - [Режими польоту](config/flight_mode.md) - - - [Джойстики](config/joystick.md) + - [Manual Control](config/manual_control.md) + - [Радіокерування (RC)](getting_started/rc_transmitter_receiver.md) + - [Налаштування радіо](config/radio.md) + - [Режими польоту](config/flight_mode.md) + - [Джойстики](config/joystick.md) - [Посилання даних](data_links/index.md) - [MAVLink Telemetry (OSD/GCS)](peripherals/mavlink_peripherals.md) @@ -412,6 +394,7 @@ - [Прошивка PX4 DroneCAN](dronecan/px4_cannode_fw.md) - [ARK CANnode](dronecan/ark_cannode.md) - [RaccoonLab CAN Nodes](dronecan/raccoonlab_nodes.md) + - [DroneCAN Lights](dronecan/lights.md) - [Підключення дротів](assembly/cable_wiring.md) @@ -439,6 +422,7 @@ - [Розширені налаштування](advanced_config/index.md) - [Using PX4's Navigation Filter (EKF2)](advanced_config/tuning_the_ecl_ekf.md) + - [GNSS-Denied & Degraded Flight](advanced_config/gnss_degraded_or_denied_flight.md) - [Finding/Updating Parameters](advanced_config/parameters.md) - [Full Parameter Reference](advanced_config/parameter_reference.md) @@ -547,6 +531,8 @@ - [LongitudinalControlConfiguration](msg_docs/LongitudinalControlConfiguration.md) - [ManualControlSetpoint](msg_docs/ManualControlSetpoint.md) - [ModeCompleted](msg_docs/ModeCompleted.md) + - [RaptorInput](msg_docs/RaptorInput.md) + - [RaptorStatus](msg_docs/RaptorStatus.md) - [RegisterExtComponentReply](msg_docs/RegisterExtComponentReply.md) - [RegisterExtComponentRequest](msg_docs/RegisterExtComponentRequest.md) - [TrajectorySetpoint](msg_docs/TrajectorySetpoint.md) @@ -575,6 +561,7 @@ - [Airspeed](msg_docs/Airspeed.md) - [AirspeedWind](msg_docs/AirspeedWind.md) - [AutotuneAttitudeControlStatus](msg_docs/AutotuneAttitudeControlStatus.md) + - [AuxGlobalPosition](msg_docs/AuxGlobalPosition.md) - [BatteryInfo](msg_docs/BatteryInfo.md) - [ButtonEvent](msg_docs/ButtonEvent.md) - [CameraCapture](msg_docs/CameraCapture.md) @@ -768,6 +755,7 @@ - [VehicleThrustSetpoint](msg_docs/VehicleThrustSetpoint.md) - [VehicleTorqueSetpoint](msg_docs/VehicleTorqueSetpoint.md) - [VelocityLimits](msg_docs/VelocityLimits.md) + - [Vtx](msg_docs/Vtx.md) - [WheelEncoders](msg_docs/WheelEncoders.md) - [Wind](msg_docs/Wind.md) - [YawEstimatorStatus](msg_docs/YawEstimatorStatus.md) @@ -781,8 +769,11 @@ - [RegisterExtComponentReplyV0](msg_docs/RegisterExtComponentReplyV0.md) - [RegisterExtComponentRequestV0](msg_docs/RegisterExtComponentRequestV0.md) - [VehicleAttitudeSetpointV0](msg_docs/VehicleAttitudeSetpointV0.md) + - [VehicleCommandAckV0](msg_docs/VehicleCommandAckV0.md) + - [VehicleGlobalPositionV0](msg_docs/VehicleGlobalPositionV0.md) - [VehicleLocalPositionV0](msg_docs/VehicleLocalPositionV0.md) - [VehicleStatusV0](msg_docs/VehicleStatusV0.md) + - [VehicleStatusV1](msg_docs/VehicleStatusV1.md) - [MAVLink Messaging](mavlink/index.md) - [Adding Messages](mavlink/adding_messages.md) - [Streaming Messages](mavlink/streaming_messages.md) diff --git a/docs/uk/advanced/computer_vision.md b/docs/uk/advanced/computer_vision.md index 2199356038..acccce1661 100644 --- a/docs/uk/advanced/computer_vision.md +++ b/docs/uk/advanced/computer_vision.md @@ -65,7 +65,7 @@ MoCap is commonly used to navigate a vehicle in situations where GPS is absent ( Консенсусом [здається](https://discuss.px4.io/t/vio-vs-optical-flow/34680): -- Оптичний потік, спрямований вниз, надає вам планарну швидкість, яка коригується на кутову швидкість за допомогою гіроскопа. +- Downward facing optical flow gives you a planar velocity that's corrected for angular velocity with the gyro. - Вимагає точної відстані до землі і передбачає планарну поверхню.Враховуючи ці умови, це може бути настільки ж точним / надійним, як VIO (для польотів у приміщенні) - Має більшу надійність, оскільки має менше станів, ніж VIO. - Значно дешевший і легший у налаштуванні оскільки для цього потрібен лише датчик оптичного потоку, дальномір та налаштування кількох параметрів (які можна підключити до керуючого пристрою польоту). diff --git a/docs/uk/advanced/gimbal_control.md b/docs/uk/advanced/gimbal_control.md index 68ca5a651f..e84370ba74 100644 --- a/docs/uk/advanced/gimbal_control.md +++ b/docs/uk/advanced/gimbal_control.md @@ -20,7 +20,7 @@ PX4 приймає вхідний сигнал і маршрутизує/пер Після вибору режиму введення перезавантажте транспортний засіб, щоб запустити драйвер кріплення. Ви повинні встановити `MNT_MODE_IN` одним із наступних: `RC (1)`, `Протокол гімбала MAVLink v2 (4)` або `Авто (0)` (інші варіанти застарілі). -Якщо ви виберете `Авто (0)`, гімбал автоматично вибере вхід RC або MAVLink відповідно до останнього введення. +If you select `Auto (0)`, the gimbal will automatically select either RC or MAVLink input based on the latest input. Зверніть увагу, що для автоматичного перемикання з MAVLink на RC потрібен великий рух ручкою! Вихід налаштовується за допомогою параметра [MNT_MODE_OUT](../advanced_config/parameter_reference.md#MNT_MODE_OUT). diff --git a/docs/uk/advanced/px4_metadata.md b/docs/uk/advanced/px4_metadata.md index 25bb667d02..0ca3b0b12f 100644 --- a/docs/uk/advanced/px4_metadata.md +++ b/docs/uk/advanced/px4_metadata.md @@ -45,7 +45,7 @@ PX4 використовує та генерує дані, які мають в Бінарні файли для контролерів польоту з обмеженим обсягом пам'яті не зберігають метадані параметрів у бінарному файлі, а натомість посилаються на ті самі дані, що зберігаються на `px4-travis.s3.amazonaws.com`. Це стосується, наприклад, [Omnibus F4 SD](../flight_controller/omnibus_f4_sd.md). -Метадані завантажуються через [github CI](https://github.com/PX4/PX4-Autopilot/blob/main/.github/workflows/metadata.yml) для всіх цілей збірки (таким чином, вони будуть доступні лише після того, як параметри будуть об'єднані в main). +The metadata is uploaded via the [build_all_targets](https://github.com/PX4/PX4-Autopilot/blob/main/.github/workflows/build_all_targets.yml) GitHub CI workflow for all build targets (and hence will only be available once parameters have been merged into main). :::info You can identify memory constrained boards because they specify `CONFIG_BOARD_CONSTRAINED_FLASH=y` in their [px4board definition file](https://github.com/PX4/PX4-Autopilot/blob/main/boards/omnibus/f4sd/default.px4board). @@ -60,6 +60,7 @@ JSON-файли метаданих для CI-збірок `main` також ко Це інтегрується з Crowdin для отримання перекладів, які зберігаються у теці [translated](https://github.com/PX4/PX4-Metadata-Translations/tree/main/translated) як xz-стиснуті файли перекладу для кожної мови. На них посилаються метадані компонентів безпілотника, і вони завантажуються за необхідності. Для отримання додаткової інформації див. [PX4-Metadata-Translations](https://github.com/PX4/PX4-Metadata-Translations/) та [Протокол метаданих компонентів > Переклад](https://mavlink.io/en/services/component_information.html#translation). +This is orchestrated by the [docs-orchestrator](https://github.com/PX4/PX4-Autopilot/blob/main/.github/workflows/docs-orchestrator.yml) GitHub CI workflow, which also regenerates auto-generated documentation such as parameter reference, airframe reference, and uORB message docs. :::info Файл параметрів XML з головної гілки проєкту PX4 копіюється до дерева джерел QGC за допомогою безперервної інтеграції (CI). Цей файл використовується як резервний варіант у випадках, коли метадані недоступні через протокол метаданих компонентів (цей підхід передує появі протоколу метаданих компонентів). diff --git a/docs/uk/advanced_config/bootloader_update_v6xrt.md b/docs/uk/advanced_config/bootloader_update_v6xrt.md index 499e6ad695..d653551cb0 100644 --- a/docs/uk/advanced_config/bootloader_update_v6xrt.md +++ b/docs/uk/advanced_config/bootloader_update_v6xrt.md @@ -1,6 +1,6 @@ # Оновлення завантажувача Pixhawk V6X-RT через USB -У цій темі пояснюється флеш-завантажувач [Pixhawk FMUv6X-RT](../flight_controller/pixhawk6x-rt.md) через USB _без необхідності перевірки налагодження_. +This topic explains how to flash [Pixhawk FMUv6X-RT](../flight_controller/pixhawk6x-rt.md) bootloader via USB _without needing a debug probe_. ## Загальний огляд @@ -33,7 +33,7 @@ arm-none-eabi-objcopy -O ihex build/px4_fmu-v6xrt_bootloader/px4_fmu-v6xrt_bootl ## Прошивання завантажувальної програми через USB. -Pixhawk V6X-RT постачається з вбудованим завантажувачем, розміщеним у ПЗУ. +The Pixhawk V6X-RT comes with a built-in bootloader located on the ROM. Щоб прошити новий завантажувач через USB, потрібно завантажити [NXP MCUXpresso Secure Provisioning](https://www.nxp.com/design/design-center/software/development-software/mcuxpresso-software-and- tools-/mcuxpresso-secure-provisioning-tool:MCUXPRESSO-SECURE-PROVIZIONING). Інструмент доступний для Windows, Linux і macOS. @@ -80,7 +80,7 @@ Pixhawk V6X-RT постачається з вбудованим завантаж ![Flash bootloader through Secure provisioning - Step 7](../../assets/advanced_config/bootloader_6xrt/bootloader_update_v6xrt_step7.png) -4. Коли конфігурація цільової пам'яті успішна, ви можете натиснути кнопку **Стерти все** +4. When the Target Memory configuration is successful you can press the **Erase All** button ![Flash bootloader through Secure provisioning - Step 8](../../assets/advanced_config/bootloader_6xrt/bootloader_update_v6xrt_step8.png) diff --git a/docs/uk/advanced_config/gnss_degraded_or_denied_flight.md b/docs/uk/advanced_config/gnss_degraded_or_denied_flight.md new file mode 100644 index 0000000000..c462c68524 --- /dev/null +++ b/docs/uk/advanced_config/gnss_degraded_or_denied_flight.md @@ -0,0 +1,78 @@ +# GNSS-Degraded & Denied Flight ("Dead-Reckoning" Mode) + + + +:::warning +Експериментальні налаштування +This is a new feature with limited real-world testing. +It is intended for GNSS dropout scenarios (not pure GNSS-denied from takeoff), and requires that alternative velocity/position sensors are available. + +Please [share your related test logs](../getting_started/flight_reporting.md#sharing-the-log-files-for-review-by-px4-developers) to help us verify and harden it. +::: + +PX4 is default-configured for outdoor flight with a reliable GNSS signal, but it can also be set up in "dead-reckoning mode" to more gracefully handle environments where GNSS is intermittently degraded or denied during flight. + +This section describes the differences between automatic and dead-reckoning modes, the circumstances in which each should be used, and how dead-reckoning is configured. + +## Загальний огляд + +PX4's EKF2 navigation has two modes for handling when GNSS data is determined to be unreliable: + +- **Automatic mode** (the default): Used for flying outdoors in environments where a GNSS signal is expected to be largely reliable. +- **Dead-reckoning mode**: Recommended when you want to fly missions or other position controlled modes when there is intermittent GNSS loss, such as when flying under a bridge, from outdoors into an indoor setting, or when there is GNSS jamming (it is not suitable for pure-indoor use, as a GNSS signal is required before arming). + +:::info +Dead-reckoning mode helps for both Fixed-Wing and Multicopter vehicles. +MC vehicles benefit more because they can hover when transitioning between sensor regimes. +FW needs continuous accurate velocity/position during the entire mission arc, making sensor transitions trickier. +::: + +## Mode Comparison + +The following sections provide more detail about each of the modes and when they should be used. + +### Automatic Mode + +In Automatic mode the EKF2 resets if GNSS is lost and no other sources of position are available. +This can result in a [position loss failsafe](../config/safety.md#position-loss-failsafe) and may trigger a shift into a mode that does not require global position, including stopping missions. + +This is desirable if the GNSS signal is likely to be recovered quickly and there are no mechanisms to estimate position when GNSS is unavailable. + +Use Automatic (default) when: + +- Flying in open sky with reliable GNSS throughout the mission. +- You want the EKF to reset to GNSS when it becomes available again. +- Operating in environments where GNSS is either good or completely unavailable (binary state). + +### Dead-Reckoning Mode + +In dead-reckoning mode, EKF2 stops fusing GNSS data when it becomes unreliable and prevents EKF2 resets — provided there are other sources of position or velocity data that can be fused. +This ensures that the vehicle can continue flying missions and other position controlled modes when GNSS is lost. + +When GNSS is recovered it will be fused with other measurements when tests indicate it can be trusted. +This may cause jerky movements in position controlled modes if the estimate has drifted. +This mode relies on having additional position or velocity sensors and must also have a reliable GNSS signal at boot. + +Use Dead-Reckoning when: + +- **Transitioning between GNSS and non-GNSS environments** (flying into buildings, under bridges, through tree cover). +- You have **redundant sensors** (optical flow, VIO, rangefinder, quality baro) that can maintain position estimation. +- Flying **missions that cross GPS-denied areas** where you want continuous operation rather than failsafe. +- **Urban environments** or other areas with intermittent GNSS quality. +- You want to **avoid EKF resets and jumps** when GNSS recovers (smoother transitions). + +## Налаштування + +To use dead-reckoning mode, the vehicle must have an alternative source of position or velocity information, such as an [Optical Flow](../sensor/optical_flow.md) sensor or [VIO](../computer_vision/visual_inertial_odometry.md) setup. + +To enable the mode: + +1. Set [EKF2_GPS_MODE](../advanced_config/parameter_reference.md#EKF2_GPS_MODE) to `1`. +2. Ensure that GNSS arming checks are enabled (a reliable GNSS signal is required before arming): + - [COM_ARM_WO_GPS](../advanced_config/parameter_reference.md#COM_ARM_WO_GPS) - set to `0` + - [EKF2_GPS_CHECK](../advanced_config/parameter_reference.md#EKF2_GPS_CHECK) - set to default. + +## Дивіться також + +- [GNSS Fault Detection](../advanced_config/tuning_the_ecl_ekf.md#gnss-fault-detection) in _Using PX4's Navigation Filter (EKF2)_ +- [Fuse, Reset, or Reject? Handling Various Data-sources in EKF2](https://www.youtube.com/watch?v=CMGQJNPiTJg) - _PX4 Developer Summit 2025_, Marco Hauswirth, Auterion AG diff --git a/docs/uk/advanced_config/index.md b/docs/uk/advanced_config/index.md index 6d1347fa9f..e64d6ed775 100644 --- a/docs/uk/advanced_config/index.md +++ b/docs/uk/advanced_config/index.md @@ -10,6 +10,7 @@ This topic lists configuration topics that are not particularly vehicle specific ## Feature configuration - [Using PX4's Navigation Filter (EKF2)](../advanced_config/tuning_the_ecl_ekf.md) +- [GNSS-Denied and Degraded Flight](../advanced_config/gnss_degraded_or_denied_flight.md) - [Конфігурація завершення польоту](../advanced_config/flight_termination.md) - [Конфігурація датчика землі](../advanced_config/land_detector.md) - [Prearm/Arm/Disarm Configuration](../advanced_config/prearm_arm_disarm.md) diff --git a/docs/uk/advanced_config/land_detector.md b/docs/uk/advanced_config/land_detector.md index 0d9b41ba63..5bbc33899f 100644 --- a/docs/uk/advanced_config/land_detector.md +++ b/docs/uk/advanced_config/land_detector.md @@ -39,7 +39,7 @@ Якщо умова не може бути досягнута через відсутність сенсорів, то умова, за замовчуванням, є істинною. Наприклад, у режимі [Acro](../flight_modes_mc/acro.md), коли жоден сенсор, крім гіроскопа, не активний, виявлення базується лише на виводі потужності і часі. -Для переходу до наступного стану кожна умова повинна бути виконана протягом однієї третини загального налаштованого часу спрацювання детектора посадки [LNDMC_TRIG_TIME](../advanced_config/parameter_reference.md#LNDMC_TRIG_TIME). +In order to proceed to the next state, each condition has to be true for 300ms. Якщо транспортний засіб обладнаний датчиком відстані, але відстань до землі в даний момент не вимірюється (зазвичай через те, що вона занадто велика), час спрацювання збільшується втричі. Якщо одна умова не виконується, виявник посадки негайно виходить з поточного стану. diff --git a/docs/uk/advanced_config/tuning_the_ecl_ekf.md b/docs/uk/advanced_config/tuning_the_ecl_ekf.md index 0755469343..2fc7aa50ca 100644 --- a/docs/uk/advanced_config/tuning_the_ecl_ekf.md +++ b/docs/uk/advanced_config/tuning_the_ecl_ekf.md @@ -357,6 +357,10 @@ The mode is set using the [EKF2_GPS_MODE](../advanced_config/parameter_reference EKF2 may reset if no other sources of position or velocity are available. If GNSS altitude OR horizontal position data drifts, the system disables fusion of both measurements simultaneously (even if one would still pass validation) and avoids performing resets. +:::tip +See also [Fault Detection](https://youtu.be/CMGQJNPiTJg?si=sFtdf4AQbcOH8-u8) in "Fuse, Reset, or Reject? Handling Various Data-sources in EKF2" _PX4 Developer Summit 2025_, Marco Hauswirth, Auterion AG +::: + ##### Detection Logic Horizontal Position: @@ -587,7 +591,7 @@ The **.ulog** format data can be parsed in python by using the [PX4 pyulog libra - Attitude output data is found in the [VehicleAttitude](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleAttitude.msg) message. - Local position output data is found in the [VehicleLocalPosition](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleLocalPosition.msg) message. - Global \(WGS-84\) output data is found in the [VehicleGlobalPosition](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleGlobalPosition.msg) message. -- Вихідні дані про швидкість вітру містяться в повідомленні [Wind.msg](https://github.com/PX4/PX4-Autopilot/blob/main/msg/Wind.msg). +- Wind velocity output data is found in the [AirspeedWind.msg](https://github.com/PX4/PX4-Autopilot/blob/main/msg/AirspeedWind.msg) message. ### Стани @@ -889,3 +893,4 @@ The rise in [EstimatorStatus](https://github.com/PX4/PX4-Autopilot/blob/main/msg ## Подальша інформація - [Огляд оцінки стану PX4](https://youtu.be/HkYRJJoyBwQ), _Саміт розробників PX4 2019_, д-р Пол Райзборо: Огляд оцінювача та основні зміни з 2018/19, а також очікувані покращення до 2019/ 20. +- [Fuse, Reset, or Reject? Handling Various Data-sources in EKF2](https://www.youtube.com/watch?v=CMGQJNPiTJg) - _PX4 Developer Summit 2025_, Marco Hauswirth, Auterion AG diff --git a/docs/uk/advanced_features/satcom_roadblock.md b/docs/uk/advanced_features/satcom_roadblock.md index 91702bb349..9fda66902d 100644 --- a/docs/uk/advanced_features/satcom_roadblock.md +++ b/docs/uk/advanced_features/satcom_roadblock.md @@ -9,7 +9,7 @@ Для посилання на супутникове зв'язку потрібні наступні компоненти: -- A [RockBlock 9603 Iridium Satellite Modem](https://www.iridium.com/products/ground-control-rockblock-9603/) module connected to a Pixhawk flashed with the PX4 Autopilot. +- A [RockBlock 9603 Iridium Satellite Modem](https://www.iridium.com/products/rockblock-9603) module connected to a Pixhawk flashed with the PX4 Autopilot. - Сервер повторного повідомлення працює Ubuntu Linux. - Автономний комп'ютер запущено _QGroundControl_ на Ubuntu Linux @@ -58,13 +58,13 @@ To [switch between the two antennas modes](https://docs.groundcontrol.com/iot/ro 2. Змінити швидкість передачі: - ``` + ```sh AT+IPR=9 ``` 3. Знову підключіться до моделі з параметрами 115200/8-N-1 і збережіть конфігурацію за допомогою: - ``` + ```sh AT&W0 ``` @@ -78,7 +78,7 @@ To [switch between the two antennas modes](https://docs.groundcontrol.com/iot/ro :::info Якщо параметр конфігурації недоступний у _QGroundControl_, можливо, вам знадобиться [додати драйвер до мікропрограми](../peripherals/serial_configuration.md#parameter_not_in_firmware): -``` +```txt drivers/telemetry/iridiumsbd ``` diff --git a/docs/uk/airframes/airframe_reference.md b/docs/uk/airframes/airframe_reference.md index c54f02eac1..7c8a531b1c 100644 --- a/docs/uk/airframes/airframe_reference.md +++ b/docs/uk/airframes/airframe_reference.md @@ -402,7 +402,7 @@ div.frame_variant td, div.frame_variant th { Підтримувач: Lorenz Meier <lorenz@px4.io>

SYS_AUTOSTART = 4050

- HolyBro QAV250 + HolyBro QAV250 Супроводжувач: Beat Kueng <beat-kueng@gmx.net>

SYS_AUTOSTART = 4050

@@ -604,7 +604,7 @@ div.frame_variant td, div.frame_variant th { Підтримувач: John Doe <john@example.com>

SYS_AUTOSTART = 50000

- Aion Robotics R1 UGV + Aion Robotics R1 UGV Підтримувач: John Doe <john@example.com>

SYS_AUTOSTART = 50001

diff --git a/docs/uk/assembly/_assembly.md b/docs/uk/assembly/_assembly.md index 163acaf4f7..e363253b7e 100644 --- a/docs/uk/assembly/_assembly.md +++ b/docs/uk/assembly/_assembly.md @@ -338,7 +338,7 @@ Any outputs on either PWM output bus can be connected to any actuators, motor, o Note that the PWM outputs are often labeled `AUX` or `MAIN`. Use the `AUX` bus if both are present, and `MAIN` otherwise. - [DShot ESC](../peripherals/dshot.md) (recommended) can only be used on the FMU PWM outputs. -- Motor outputs should be grouped together as much as possible rather than spread randomly across both the FMU and IO busses. +- Motor outputs should be grouped together as much as possible rather than spread randomly across both the FMU and IO buses. This is because if you assign some function to an output, such as DShot ESC, you can't then assign adjacent unused pins for anything other than a DShot ESC. ### Сервоприводи @@ -364,7 +364,7 @@ If you don't use servos that all accept the same voltage, you'll need to separat Other peripherals, such as high-power radios, cameras, and so on have their own power requirements. These will usually be supplied off a separate BEC. -The wiring and configuration of optional/less common components is covered within the [Hardware Hardware Selection & Setup](../hardware/drone_parts.md) topics for individual peripherals. +The wiring and configuration of optional/less common components is covered within the [Hardware Selection & Setup](../hardware/drone_parts.md) topics for individual peripherals. ## Build Tutorials diff --git a/docs/uk/assembly/quick_start_cuav_v5_nano.md b/docs/uk/assembly/quick_start_cuav_v5_nano.md index 5183da4694..456a513184 100644 --- a/docs/uk/assembly/quick_start_cuav_v5_nano.md +++ b/docs/uk/assembly/quick_start_cuav_v5_nano.md @@ -33,7 +33,7 @@ This quick start guide shows how to power the [CUAV V5 nano](../flight_controlle | DSM/SBUS/RSSI | Включає інтерфейси введення сигналів DSM, SBUS, RSSI, інтерфейс DSM може бути підключений до приймача DSM-супутника, інтерфейс SBUS - до приймача дистанційного керування SBUS, RSSI - для модуля зворотного повернення сили сигналу. | :::info -For more interface information, please read [V5 nano Manual](http://manual.cuav.net/V5-nano.pdf). +For more interface information, please read [V5 nano Manual](https://manual.cuav.net/V5-nano.pdf). ::: ![quickstart](../../assets/flight_controller/cuav_v5_nano/connection/v5_nano_quickstart_03.png) @@ -128,6 +128,6 @@ Motors/servos are connected to the MAIN ports in the order specified for your ve - [Airframe buildlog using CUAV v5 nano on a DJI FlameWheel450](../frames_multicopter/dji_f450_cuav_5nano.md) - [CUAV V5 nano](../flight_controller/cuav_v5_nano.md) -- [V5 nano manual](http://manual.cuav.net/V5-nano.pdf) (CUAV) +- [V5 nano manual](https://manual.cuav.net/V5-nano.pdf) (CUAV) - [FMUv5 reference design pinout](https://docs.google.com/spreadsheets/d/1-n0__BYDedQrc_2NHqBenG1DNepAgnHpSGglke-QQwY/edit#gid=912976165) (CUAV) - [CUAV Github](https://github.com/cuav) (CUAV) diff --git a/docs/uk/assembly/quick_start_cuav_v5_plus.md b/docs/uk/assembly/quick_start_cuav_v5_plus.md index 248d5e1a8d..e4a0c31fa7 100644 --- a/docs/uk/assembly/quick_start_cuav_v5_plus.md +++ b/docs/uk/assembly/quick_start_cuav_v5_plus.md @@ -33,7 +33,7 @@ This quick start guide shows how to power the [CUAV V5+](../flight_controller/cu | DSM/SBUS/RSSI | Включає інтерфейси введення сигналів DSM, SBUS, RSSI, інтерфейс DSM може бути підключений до приймача DSM-супутника, інтерфейс SBUS - до приймача дистанційного керування SBUS, RSSI - для модуля зворотного повернення сили сигналу. | :::info -For more interface information, please read [V5+ Manual](http://manual.cuav.net/V5-Plus.pdf). +For more interface information, please read [V5+ Manual](https://manual.cuav.net/V5-Plus.pdf). ::: ![V5+ AutoPilot](../../assets/flight_controller/cuav_v5_plus/connection/v5+_quickstart_02.png) @@ -122,12 +122,12 @@ Motors/servos are connected to the MAIN and AUX ports in the order specified for ## Схема розташування виводів -Download **V5+** pinouts from [here](http://manual.cuav.net/V5-Plus.pdf). +See [CUAV V5+ Manual](https://manual.cuav.net/V5-Plus.pdf). ## Подальша інформація - [Airframe build-log using CUAV v5+ on a DJI FlameWheel450](../frames_multicopter/dji_f450_cuav_5plus.md) -- [CUAV V5+ Manual](http://manual.cuav.net/V5-Plus.pdf) (CUAV) +- [CUAV V5+ Manual](https://manual.cuav.net/V5-Plus.pdf) (CUAV) - [CUAV V5+ docs](https://doc.cuav.net/controller/v5-autopilot/en/v5+.html) (CUAV) - [FMUv5 reference design pinout](https://docs.google.com/spreadsheets/d/1-n0__BYDedQrc_2NHqBenG1DNepAgnHpSGglke-QQwY/edit#gid=912976165) (CUAV) - [CUAV Github](https://github.com/cuav) (CUAV) diff --git a/docs/uk/assembly/quick_start_cube.md b/docs/uk/assembly/quick_start_cube.md index 8ef4be835c..c71eb95185 100644 --- a/docs/uk/assembly/quick_start_cube.md +++ b/docs/uk/assembly/quick_start_cube.md @@ -18,7 +18,7 @@ Further/updated information may be available in the [Cube User Manual](https://d ## Аксесуари -Cube comes with most (or all) of the accessories you will need when [purchased](../flight_controller/pixhawk-2.md#stores). +Cube comes with most (or all) of the accessories you will need when [purchased](../flight_controller/pixhawk-2.md#store). ![Cube Accessories](../../assets/flight_controller/cube/cube_accessories.jpg) diff --git a/docs/uk/assembly/quick_start_pixhawk5x.md b/docs/uk/assembly/quick_start_pixhawk5x.md index 6eb54d132c..95e12f5bfc 100644 --- a/docs/uk/assembly/quick_start_pixhawk5x.md +++ b/docs/uk/assembly/quick_start_pixhawk5x.md @@ -52,7 +52,7 @@ The GPS/Compass should be [mounted on the frame](../assembly/mount_gps_compass.m ## Power Connect the output of the _PM02D Power Module_ (PM board) that comes with the Standard Set to one of the **POWER** port of _Pixhawk 5X_ using the 6-wire cable. -The PM02D and Power ports on the Pixhawk 5X uses the 6 circuit [2.00mm Pitch CLIK-Mate Wire-to-Board PCB Receptacle](https://www.molex.com/en-us/products/part-detail/5024430670) & [Housing](https://www.molex.com/molex/products/part-detail/crimp_housings/5024390600). +The PM02D and Power ports on the Pixhawk 5X uses the 6 circuit [2.00mm Pitch CLIK-Mate Wire-to-Board PCB Receptacle](https://www.molex.com/en-us/products/part-detail/5024430670) & [Housing](https://www.molex.com/en-us/products/part-detail/5024390600). The PM02D Power Module supports **2~6S** battery, the board input should be connected to your LiPo battery. Note that the PM board does not supply power to the + and - pins of **FMU PWM OUT** and **I/O PWM OUT**. diff --git a/docs/uk/assembly/quick_start_pixhawk6x.md b/docs/uk/assembly/quick_start_pixhawk6x.md index c1d5bcf6bd..b1fc6aeb1d 100644 --- a/docs/uk/assembly/quick_start_pixhawk6x.md +++ b/docs/uk/assembly/quick_start_pixhawk6x.md @@ -65,7 +65,7 @@ The GPS/Compass should be [mounted on the frame](../assembly/mount_gps_compass.m ## Power Connect the output of the _PM02D Power Module_ (PM board) that comes with the Standard Set to one of the **POWER** port of _Pixhawk 6X_ using the 6-wire cable. -The PM02D and Power ports on the Pixhawk 6X uses the 6 circuit [2.00mm Pitch CLIK-Mate Wire-to-Board PCB Receptacle](https://www.molex.com/en-us/products/part-detail/5024430670) & [Housing](https://www.molex.com/molex/products/part-detail/crimp_housings/5024390600). +The PM02D and Power ports on the Pixhawk 6X uses the 6 circuit [2.00mm Pitch CLIK-Mate Wire-to-Board PCB Receptacle](https://www.molex.com/en-us/products/part-detail/5024430670) & [Housing](https://www.molex.com/en-us/products/part-detail/5024390600). The PM02D Power Module supports **2~6S** battery, the board input should be connected to your LiPo battery. Note that the PM board does not supply power to the + and - pins of **FMU PWM OUT** and **I/O PWM OUT**. diff --git a/docs/uk/assembly/quick_start_pixracer.md b/docs/uk/assembly/quick_start_pixracer.md index 2de74ed8f6..7e364f3f36 100644 --- a/docs/uk/assembly/quick_start_pixracer.md +++ b/docs/uk/assembly/quick_start_pixracer.md @@ -52,7 +52,7 @@ This quick start guide shows how to power the [Pixracer](../flight_controller/pi Pixracer has inbuilt WiFi, but also supports telemetry via external Wi-Fi or radio telemetry modules connected to the `TELEM1` or `TELEM2` ports. Це показано на схемі підключення нижче. -![Pixracer external telemtry options](../../assets/flight_controller/pixracer/pixracer_top_telemetry.jpg) +![Pixracer external telemetry options](../../assets/flight_controller/pixracer/pixracer_top_telemetry.jpg) :::info The `TELEM2` port must be configured as a second MAVLink instance using the [MAV_2_CONFIG](../advanced_config/parameter_reference.md#MAV_2_CONFIG) parameter. diff --git a/docs/uk/camera/camera_architecture.md b/docs/uk/camera/camera_architecture.md index d9b243372e..4defdeba1d 100644 --- a/docs/uk/camera/camera_architecture.md +++ b/docs/uk/camera/camera_architecture.md @@ -36,7 +36,7 @@ PX4 повинен бути налаштований для маршрутиза Ця робота виконується трьома компонентами PX4: [`camera_trigger` driver](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/camera_trigger), [`camera_capture` driver](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/camera_capture), модуль `camera-feedback` (../modules/modules_system.md#camera-feedback). `camera_trigger` підписується на тему [VehicleCommand](../msg_docs/VehicleCommand.md) та відстежує оновлення в [команди, які він підтримує](../camera/fc_connected_camera.md#mavlink-command-interface). -Ці оновлення відбуваються, коли отримано команду через MAVLink або коли [елемент камери досягнутий у місії](#camera-commands-in-missions). +These updates occur when either a command is received via MAVLink or when a [camera item is reached in a mission](#camera-commands-in-missions). Команди увімкнення та вимкнення спрацьовують, а також налаштовують спрацьовування за часовими та відстаневими інтервалами. Водій відстежує ці інтервали, і коли це потрібно, спрацьовують виходи. diff --git a/docs/uk/camera/camera_intel_realsense_t265_vio.md b/docs/uk/camera/camera_intel_realsense_t265_vio.md index 9dd630a198..ee97fbcc9c 100644 --- a/docs/uk/camera/camera_intel_realsense_t265_vio.md +++ b/docs/uk/camera/camera_intel_realsense_t265_vio.md @@ -18,17 +18,22 @@ No longer available. На загальному рівні: -- Для отримання необроблених даних з камери слід використовувати [обгортку `realsense-ros`](https://github.com/IntelRealSense/realsense-ros), надану компанією Intel. +- The [`realsense-ros` wrapper](https://github.com/realsenseai/realsense-ros) provided by Intel should be used to extract the raw data from the camera. + - Камеру слід встановити об'єктивами спрямованими вниз (за замовчуванням). Не забудьте вказати орієнтацію камери, опублікувавши статичне перетворення між `base_link` та `camera_pose_frame` у файлі запуску ROS, наприклад: + ```xml ``` + Це - статичне перетворення, що пов'язує систему відліку камери `camera_pose_frame` у ROS з системою відліку дрона `base_link` у MAVROS. + - перші три `args` вказують _перетворення_ x,y,z у метрах від центру контролера польоту до камери. Наприклад, якщо камера знаходиться на відстані 10 см від контролера і на висоті 4 см, перші три числа будуть: [0.1, 0, 0.04,...] - наступні три `args` вказують обертання в радіанах (рискання, тангаж, крен). Тому `[... 0, 1.5708, 0]` означає нахил вниз на 90° (обернений до землі). Обернений вперед буде [... 0 0 0]. + - Камера чутлива до високочастотних вібрацій! Вона повинна бути змонтована з м'яким кріпленням, наприклад з піною для віброізоляції. diff --git a/docs/uk/camera/fc_connected_camera.md b/docs/uk/camera/fc_connected_camera.md index 648c29a108..660266d966 100644 --- a/docs/uk/camera/fc_connected_camera.md +++ b/docs/uk/camera/fc_connected_camera.md @@ -79,7 +79,7 @@ PX4 підтримує наступні команди MAVLink для камер ## Налаштування спрацьовування -Камери можна підключати до FC для виклику за допомогою різних інтерфейсів, таких як PWM та GPIO, вказавши відповідний [задній інтерфейс тригера](#trigger-interface-backends). +Cameras can be connected to the FC for triggering using different interfaces, such as PWM, and GPIO, by specifying the appropriate [trigger interface backend](#trigger-interface-backends). Ви також можете вказати камеру [режим тригера](#trigger-mode). Цю конфігурацію найлегше виконати з розділу _QGroundControl_ [Налаштування рухомого засобу > Камера](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/setup_view/camera.html#px4-camera-setup). @@ -308,7 +308,7 @@ end ### Крок 4 Вам доведеться змінити свій драйвер, щоб дотримуватися схеми послідовності вище. -Для камер [IDS Imaging UEye](https://github.com/ProjectArtemis/ueye_cam) та для камер, що відповідають стандарту [IEEE1394 compliant](https://github.com/andre-nguyen/camera1394), доступні публічні посилання на референтні реалізації. +Public reference implementations for [IDS Imaging UEye](https://github.com/anqixu/ueye_cam) cameras and for [IEEE1394 compliant](https://github.com/andre-nguyen/camera1394) cameras are available. ## Дивіться також diff --git a/docs/uk/camera/mavlink_v1_camera.md b/docs/uk/camera/mavlink_v1_camera.md index 1321fc29ca..3431845464 100644 --- a/docs/uk/camera/mavlink_v1_camera.md +++ b/docs/uk/camera/mavlink_v1_camera.md @@ -1,4 +1,4 @@ -# Прості камери MAVLink (Протокол камери v1) +# Simple MAVLink Cameras (Camera Protocol v1) Ця тема пояснює, як використовувати PX4 з MAVLink [камерою](../camera/index.md), що реалізує [Протокол Камери v1 (Простий Протокол Тригера)](https://mavlink.io/en/services/camera_v1.html) з PX4 та Наземною Станцією. @@ -18,7 +18,7 @@ PX4 підтримує цей набір команд для спрацьовування камер з вбудованою підтримкою протоколу (як описано в цій темі), а також для [камер, підключених до виходів контролера польоту](../camera/fc_connected_camera.md). Наземні станції та SDK MAVLink, як правило, надсилають команди камери автопілоту, який потім передає їх на підключений канал MAVLink типу `onboard`. -PX4 також повторно відправляє будь-які елементи місії камери, з якими він зустрічається у місії як команди камери: команди, які не приймаються, реєструються. +PX4 also re-emits any camera mission items it encounters in a mission as camera commands: commands that aren't accepted are logged. У всіх випадках команди надсилаються з системним ідентифікатором автопілота та ідентифікатором компоненту 0 (тобто адресовані всім компонентам, включаючи камери). PX4 також буде випускати [CAMERA_TRIGGER](https://mavlink.io/en/messages/common.html#CAMERA_TRIGGER) кожного разу, коли спрацьовує захоплення зображення (сама камера також може випускати це повідомлення при спрацьовуванні). diff --git a/docs/uk/companion_computer/companion_computer_peripherals.md b/docs/uk/companion_computer/companion_computer_peripherals.md index a8223c1e6a..af8ce87b55 100644 --- a/docs/uk/companion_computer/companion_computer_peripherals.md +++ b/docs/uk/companion_computer/companion_computer_peripherals.md @@ -54,8 +54,8 @@ Cameras are used image and video capture, and more generally to provide data for Серед популярних стереокамер: -- [Intel® RealSense™ Depth Camera D435](https://realsenseai.com/stereo-depth-cameras/stereo-depth-camera-d435/) -- [Intel® RealSense™ Depth Camera D415](https://realsenseai.com/stereo-depth-cameras/stereo-depth-camera-d415/) +- [Intel® RealSense™ Depth Camera D435](https://www.realsenseai.com/products/stereo-depth-camera-d435/) +- [Intel® RealSense™ Depth Camera D415](https://www.realsenseai.com/products/stereo-depth-camera-d415/) - [DUO MLX](https://duo3d.com/product/duo-minilx-lv1) ### VIO Камера/Сенсори diff --git a/docs/uk/companion_computer/holybro_pixhawk_jetson_baseboard.md b/docs/uk/companion_computer/holybro_pixhawk_jetson_baseboard.md index 97aa227df0..a4c3677b31 100644 --- a/docs/uk/companion_computer/holybro_pixhawk_jetson_baseboard.md +++ b/docs/uk/companion_computer/holybro_pixhawk_jetson_baseboard.md @@ -786,7 +786,7 @@ sudo apt install build-essential cmake git genromfs kconfig-frontends libncurses ## Building/Flashing the Pixhawk The recommended way to update PX4 is on the Pixhawk part of the board is to use your development computer. -You can either install install prebuilt binaries with QGroundControl, or first build and then upload custom firmware. +You can either install prebuilt binaries with QGroundControl, or first build and then upload custom firmware. Alternatively, you can build and deploy PX4 firmware to the Pixhawk part from the Jetson. diff --git a/docs/uk/companion_computer/index.md b/docs/uk/companion_computer/index.md index 3ad3f93548..505840d88e 100644 --- a/docs/uk/companion_computer/index.md +++ b/docs/uk/companion_computer/index.md @@ -33,7 +33,7 @@ The boards support the [Pixhawk Autopilot Bus (PAB)](../flight_controller/pixhaw ## Параметри супутнього комп'ютера -PX4 можна використовувати з комп'ютерами, які можна налаштувати для зв’язку через MAVLink або microROS/uXRCE-DDS через послідовний порт (або порт Ethernet, якщо є). +PX4 can be used with computers that can be configured to communicate via MAVLink or microROS/uXRCE-DDS over a serial port (or Ethernet port, if present). Невеликий набір можливих альтернатив наведено нижче. Більші приклади високої потужності: diff --git a/docs/uk/companion_computer/pixhawk_rpi.md b/docs/uk/companion_computer/pixhawk_rpi.md index 2d33d41b8f..5821b470f6 100644 --- a/docs/uk/companion_computer/pixhawk_rpi.md +++ b/docs/uk/companion_computer/pixhawk_rpi.md @@ -1,6 +1,6 @@ # Супутник Raspberry Pi з Pixhawk -This topic describes how to setup a Raspberry Pi ("RPi") companion companion running [ROS 2](../ros2/user_guide.md) on Linux Ubuntu OS, connecting to a [Pixhawk](../flight_controller/autopilot_pixhawk_standard.md) flight controller using a serial connection between the Pixhawk `TELEM2` port and the RPi's TX/RX pins. +This topic describes how to setup a Raspberry Pi ("RPi") companion running [ROS 2](../ros2/user_guide.md) on Linux Ubuntu OS, connecting to a [Pixhawk](../flight_controller/autopilot_pixhawk_standard.md) flight controller using a serial connection between the Pixhawk `TELEM2` port and the RPi's TX/RX pins. Ці інструкції мають бути легко розширювані для інших конфігурацій контролерів RPi та польотів. diff --git a/docs/uk/companion_computer/video_streaming.md b/docs/uk/companion_computer/video_streaming.md index 09e9cb25a9..800390d0b3 100644 --- a/docs/uk/companion_computer/video_streaming.md +++ b/docs/uk/companion_computer/video_streaming.md @@ -20,7 +20,7 @@ For a Ubuntu companion, a minimal set might be: sudo apt install gstreamer1.0-plugins-bad gstreamer1.0-libav gstreamer1.0-gl -y ``` -For the full set you can mirror the QGC dependencies installed by [/tools/setup/install-dependencies-debian.sh](https://github.com/mavlink/qgroundcontrol/blob/master/tools/setup/install-dependencies-debian.sh). +For the full set you can mirror the QGC dependencies installed by [/tools/setup/install_dependencies.py](https://github.com/mavlink/qgroundcontrol/blob/master/tools/setup/install_dependencies.py). At time of writing this is: ```sh diff --git a/docs/uk/complete_vehicles_mc/crazyflie2.md b/docs/uk/complete_vehicles_mc/crazyflie2.md index 369edb5a70..920c814ee3 100644 --- a/docs/uk/complete_vehicles_mc/crazyflie2.md +++ b/docs/uk/complete_vehicles_mc/crazyflie2.md @@ -1,319 +1,7 @@ -# Crazyflie 2.0 (Припинено) + - + diff --git a/docs/uk/complete_vehicles_mc/px4_vision_kit.md b/docs/uk/complete_vehicles_mc/px4_vision_kit.md index 45f56e1c9d..10996e7fbe 100644 --- a/docs/uk/complete_vehicles_mc/px4_vision_kit.md +++ b/docs/uk/complete_vehicles_mc/px4_vision_kit.md @@ -70,7 +70,7 @@ For PX4 Vision v1 with ECN below 010/carrier board below RC04, the _UP Core_ sho ![PV4 Vision v1.5](../../assets/hardware/px4_vision_devkit/px4_vision_v1.5_whats_inside.jpg) -Про те, що знаходиться всередині PX4 Vision V1, можна дізнатися тут [PX4 v1.13 Docs here] (https://docs.px4.io/v1.13/en/complete_vehicles/px4_vision_kit.html#what-is-inside). +What's inside the PX4 Vision V1 can be found here in the [PX4 v1.13 Docs here](https://docs.px4.io/v1.13/en/complete_vehicles/px4_vision_kit#what-is-inside). PX4 Vision DevKit містить наступні компоненти: @@ -403,7 +403,7 @@ You can modify PX4 itself, and [install it as custom firmware](../config/firmwar ## Інші Ресурси Розробника - [_UP Core_ Wiki](https://github.com/up-board/up-community/wiki/Ubuntu) - _Up Core_ супутниковий комп'ютер технічна інформація -- [Occipital Developer Forum](https://structure.io/developers/) - _Structure Core_ camera information +- [Occipital Developer Forum](https://structure.io/structure-sdk/) - _Structure Core_ camera information - [Огляд Pixhawk 4](../flight_controller/pixhawk4.md) - [Огляд Pixhawk 6C](../flight_controller/pixhawk6c.md) diff --git a/docs/uk/complete_vehicles_rover/aion_r1.md b/docs/uk/complete_vehicles_rover/aion_r1.md index 1eac40e8fe..c2bae5e5d3 100644 --- a/docs/uk/complete_vehicles_rover/aion_r1.md +++ b/docs/uk/complete_vehicles_rover/aion_r1.md @@ -33,7 +33,7 @@ The documentation and driver information here should also make it easier to work Якщо використовуєте стандартний Pixhawk, ви можете підключити RoboClaw до автопілота без плати адаптера. ::: -RoboClaw повинен бути підключений до відповідного послідовного (UART) порту на контролері польоту, такого як `GPS2` або `TELEM1`. +The RoboClaw should be connected to a suitable serial (UART) port on the flight controller, such as `GPS2` or `TELEM1`. Інші з'єднання RoboClaw детально описані в розділі [Посібник користувача RoboClaw](https://downloads.basicmicro.com/docs/roboclaw_user_manual.pdf) "Проводка пакетної послідовної передачі даних" та показані нижче (ця настройка була перевірена на сумісність). ![Послідовне підключення енкодерів](../../assets/airframes/rover/aion_r1/wiring_r1.jpg) diff --git a/docs/uk/computer_vision/collision_prevention.md b/docs/uk/computer_vision/collision_prevention.md index 74201e0f07..9edaf818ac 100644 --- a/docs/uk/computer_vision/collision_prevention.md +++ b/docs/uk/computer_vision/collision_prevention.md @@ -143,7 +143,7 @@ If you wish to move freely into directions without sensor coverage, this can be ### Acceleration Constraining -For this we split out the acceleration setpoint into two components, one parallel to the closest distance to the obstacle and one normal to it. Then we scale each of these components according the the figure below. +For this we split out the acceleration setpoint into two components, one parallel to the closest distance to the obstacle and one normal to it. Then we scale each of these components according to the figure below. ![Scalefactor](../../assets/computer_vision/collision_prevention/scalefactor.png) diff --git a/docs/uk/computer_vision/path_planning_interface.md b/docs/uk/computer_vision/path_planning_interface.md index 0c28a5ecd0..c8a4438dd9 100644 --- a/docs/uk/computer_vision/path_planning_interface.md +++ b/docs/uk/computer_vision/path_planning_interface.md @@ -18,4 +18,4 @@ This interface allows PX4 to stream a proposed path to a companion computer, and This enables features such obstacle avoidance in missions and safer landing to be provided by a planner on a companion computer. This actual code is still present in code at time of writing (PX4 v1.15). -Information about the API and associated features can be found in the [PX4 v1.14 docs](https://docs.px4.io/v1.14/en/computer_vision/path_planning_interface.html). +Information about the API and associated features can be found in the [PX4 v1.14 docs](https://docs.px4.io/v1.14/en/computer_vision/path_planning_interface). diff --git a/docs/uk/concept/control_allocation.md b/docs/uk/concept/control_allocation.md index 9bb27c3631..0017e3e2e1 100644 --- a/docs/uk/concept/control_allocation.md +++ b/docs/uk/concept/control_allocation.md @@ -2,7 +2,7 @@ :::info Розподіл керування замінює застарілий підхід змішування, який використовувався в PX4 v1.13 або раніше. -Документацію по PX4 v1.13 дивіться в: [Змішування та приводи](https://docs.px4.io/v1.13/en/concept/mixing.html), [Файли геометрії](https://docs.px4.io/v1.13/en/concept/geometry_files.html) та [Додавання налаштувань нового планера](https://docs.px4.io/v1.13/en/dev_airframes/adding_a_new_frame.html). +For PX4 v1.13 documentation see: [Mixing & Actuators](https://docs.px4.io/v1.13/en/concept/mixing), [Geometry Files](https://docs.px4.io/v1.13/en/concept/geometry_files) and [Adding a New Airframe Configuration](https://docs.px4.io/v1.13/en/dev_airframes/adding_a_new_frame). ::: PX4 приймає бажані команди моменту та тяги від основних контролерів і перекладає їх у команди приводів, які керують двигунами чи сервоприводами. diff --git a/docs/uk/concept/events_interface.md b/docs/uk/concept/events_interface.md index f4dbd2871b..d82d95854b 100644 --- a/docs/uk/concept/events_interface.md +++ b/docs/uk/concept/events_interface.md @@ -94,7 +94,7 @@ events::send(events::ID("event_name"), ``` - Above we specify a separate external and internal log level, which are the levels displayed to GCS users and in the log file, respectively: `{events::Log::Error, events::LogInternal::Info}`. - For the majority of cases you can pass a single log level, and this will be used for both exernal and internal cases. + For the majority of cases you can pass a single log level, and this will be used for both external and internal cases. There are cases it makes sense to have two different log levels. For example an RTL failsafe action: the user should see it as Warning/Error, whereas in the log, it is an expected system response, so it can be set to `Info`. diff --git a/docs/uk/concept/flight_tasks.md b/docs/uk/concept/flight_tasks.md index 88586a9388..1a225c4b1b 100644 --- a/docs/uk/concept/flight_tasks.md +++ b/docs/uk/concept/flight_tasks.md @@ -115,7 +115,7 @@ _Польотні завдання_ використовуються у [Реж ::: tip The task added above will be built on all boards, including those with constrained flash such as Pixhawk FMUv2. - If your task is not indended for use on boards with constrained flash it should instead be added to the conditional block shown below (as shown). + If your task is not intended for use on boards with constrained flash it should instead be added to the conditional block shown below (as shown). ```cmake ... diff --git a/docs/uk/concept/system_startup.md b/docs/uk/concept/system_startup.md index f94b70aa7c..a1862716ed 100644 --- a/docs/uk/concept/system_startup.md +++ b/docs/uk/concept/system_startup.md @@ -21,7 +21,7 @@ On POSIX, the system shell is used as script interpreter (e.g. /bin/sh, being sy - Модулі PX4 повинні виглядати для системи як окремі виконувані файли. Це робиться за допомогою символьних посилань. For each module a symbolic link `px4- -> px4` is created in the `bin` directory of the build folder. - При виконанні двійкового файлу перевіряється його шлях (`argv[0]`) і якщо це модуль (починається з `px4-`) він відправляє команду на основний екземпляр px4 (див. нижче). + When executed, the binary path is checked (`argv[0]`), and if it is a module (starts with `px4-`), it sends the command to the main PX4 instance (see below). :::tip The `px4-` prefix is used to avoid conflicts with system commands (e.g. `shutdown`), and it also allows for simple tab completion by typing `px4-`. @@ -32,7 +32,7 @@ On POSIX, the system shell is used as script interpreter (e.g. /bin/sh, being sy For that the `bin` directory with the symbolic links is added to the `PATH` variable right before executing the startup scripts. - Оболонка запускає кожен модуль як новий (клієнтський) процес. - Кожен клієнтський процес повинен спілкуватися з головним екземпляром px4 (сервером), де справжні модулі працюють як потоки. + Each client process needs to communicate with the main instance of PX4 (the server), where the actual modules are running as threads. This is done through a [UNIX socket](https://man7.org/linux/man-pages/man7/unix.7.html). Сервер прослуховує сокет, до якого клієнти можуть під'єднатися та надіслати команду. Сервер відправляє вихідні дані та код повернення назад до клієнта. @@ -40,7 +40,7 @@ On POSIX, the system shell is used as script interpreter (e.g. /bin/sh, being sy - The startup scripts call the module directly, e.g. `commander start`, rather than using the `px4-` prefix. This works via aliases: for each module an alias in the form of `alias =px4-` is created in the file `bin/px4-alias.sh`. -- Скрипт `rcS` виконується з основного екземпляра Px4. +- The `rcS` script is executed from the main PX4 instance. Він не запускає жодних модулів, але спочатку оновлює змінну `PATH`, а потім просто запускає оболонку з файлом `rcS` як аргумент. - Крім того, декілька екземплярів серверу можуть бути запущені для симуляції кількох засобів. diff --git a/docs/uk/config/_autotune.md b/docs/uk/config/_autotune.md index dca0cf93c2..32cb059b99 100644 --- a/docs/uk/config/_autotune.md +++ b/docs/uk/config/_autotune.md @@ -126,7 +126,7 @@ Additional notes:
- The instructions above tune the vehicle in [Altitude mode](../flight_modes_mc/altitude.md). - You can instead takeoff in [Takeoff mode](../flight_modes_mc/takeoff.md) and tune in [Position mode](../flight_modes_mc/position.md) if the vehicle is is _known_ to be stable in these modes. + You can instead takeoff in [Takeoff mode](../flight_modes_mc/takeoff.md) and tune in [Position mode](../flight_modes_mc/position.md) if the vehicle is _known_ to be stable in these modes.
@@ -243,7 +243,7 @@ To map a switch: 2. Set [RC_MAP_AUX1](../advanced_config/parameter_reference.md#RC_MAP_AUX1) to match the RC channel for your switch (you can use any of `RC_MAP_AUX1` to `RC_MAP_AUX6`). 3. Set [FW_AT_MAN_AUX](../advanced_config/parameter_reference.md#FW_AT_MAN_AUX) to the selected channel (i.e. `1: Aux 1` if you mapped `RC_MAP_AUX1`). -The auto tuner will be disabled when the switch is below `0.5` (on the manual control setpoint range of of `[-1, 1]`) and enabled when the switch channel is above `0.5`. +The auto tuner will be disabled when the switch is below `0.5` (on the manual control setpoint range of `[-1, 1]`) and enabled when the switch channel is above `0.5`. If using an RC AUX switch to enable autotuning, make sure to [select the tuning axes](#select-tuning-axis) before flight. diff --git a/docs/uk/config/joystick.md b/docs/uk/config/joystick.md index b5fb0a3940..eccd55abb9 100644 --- a/docs/uk/config/joystick.md +++ b/docs/uk/config/joystick.md @@ -23,8 +23,7 @@ Information about how to set up a joystick is covered in: [QGroundControl > Joys Підсумовуючи: - Open _QGroundControl_ -- Set the parameter [COM_RC_IN_MODE=1](../advanced_config/parameter_reference.md#COM_RC_IN_MODE) - `Joystick` - - See [Parameters](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/setup_view/parameters.html) for information about setting parameters - - Setting the parameter to `2` or `3` also enables Joystick under some circumstances. +- [Enable a `COM_RC_IN_MODE` mode that allows Joystick](../config/manual_control.md#px4-configuration). + The default `RC or MAVLink keep first` should work if you plan to only have a Joystick connected. - Підключіть джойстик - Configure the connected joystick in: **Vehicle Setup > Joystick**. diff --git a/docs/uk/config/manual_control.md b/docs/uk/config/manual_control.md new file mode 100644 index 0000000000..4dda9dd5a2 --- /dev/null +++ b/docs/uk/config/manual_control.md @@ -0,0 +1,58 @@ +# Ручне керування + +Pilots can control a vehicle manually using either a [Radio Control (RC) System](../getting_started/rc_transmitter_receiver.md) or a [Joystick/Gamepad](../config/joystick.md) controller connected via QGroundControl. +PX4 also supports using RC and/or multiple Joysticks, with fallback from one type to the other. + +![Taranis X9D Transmitter](../../assets/hardware/transmitters/frsky_taranis_x9d_transmitter.jpg) Photo of MicroNav, a ground controller with integrated joysticks + +## Загальний огляд + +_Joystick_ setups use QGroundControl to encode the control information from a "standard" computer gaming joystick into [MAVLink messages](https://mavlink.io/en/services/manual_control.html) that are sent to the vehicle over the (shared) telemetry radio channel. +They are often used in integrated GCS/manual control systems because it is cheaper and easier to integrate a joystick than a separate radio system. + +Joysticks are suitable for most applications provided your telemetry channel has a high enough bandwidth/low latency. +They are perfect for flying the PX4 simulator, because you can plug them directly into your ground control computer and start flying. + +_RC systems_ use a dedicated ground-based radio transmitter and vehicle-based receiver for sending control information. +They offer lower latency than Joysticks, and are very highly recommended when first tuning/testing a new frame design, when flying racers/acrobatically, and in other cases where low latency is important. +They can also be useful as a robust backup link for safety. +Note RC systems usually require significantly more configuration and calibration, much of which may be brand or model-specific. + +:::info +PX4 does not _require_ a manual control system for autonomous flight modes. +::: + +## Конфігурація PX4 + +:::tip +This section explains how to configure PX4 to use and prioritise various manual control sources (other configuration is covered in the guides for each type of manual control). +::: + +If you only have one manual control system, either RC or Joystick, then by default no manual control selection is required. +In this case PX4 locks to the first valid manual control source it detects and uses that source until the vehicle is rebooted. + +If you have multiple control sources, such as an RC system and/or one or more Joysticks, then you can use the [COM_RC_IN_MODE](../advanced_config/parameter_reference.md#COM_RC_IN_MODE) parameter to determine which source is active, specifying selection priorities and fallback behavior ([parameters can be set](../advanced_config/parameters.md#finding-a-parameter) using QGC): + +- `0`: RC only. +- `1`: MAVLink only. +- `2`: RC or MAVLink with fallback (switches if current source becomes invalid). +- `3`: RC or MAVLink keep first (locks to the first valid source until reboot). +- `4`: Disable manual control (ignores all sources). +- `5`: RC priority, then MAVLink (lower instance before higher) — `RC > MAVLink 1 > MAVLink 2` +- `6`: MAVLink priority (lower instance before higher), then RC — `MAVLink 1 > MAVLink 2 > RC` +- `7`: RC priority, then MAVLink (higher instance before lower) — `RC > MAVLink 2 > MAVLink 1` +- `8`: MAVLink priority (higher instance before lower), then RC — `MAVLink 2 > MAVLink 1 > RC` + +The [MAVLink instance](../peripherals/mavlink_peripherals.md#mavlink-instances) refers to an instance assigned to a serial port, such as [MAV_0_CONFIG](../advanced_config/parameter_reference.md#MAV_0_CONFIG). + +Примітки: + +- RC checks are run for any option that uses RC (so not for `MAVLink only` or `Disable manual control`). +- When using priority sources, sources are evaluated as soon as they become valid and may trigger an immediate switch (if higher priority than the currently active source). +- A [Manual Control Loss Failsafe](../config/safety.md#manual-control-loss-failsafe) is triggered when none of the manual control inputs allowed by the `COM_RC_IN_MODE` mode are available for a time that is greater than the RC Loss Timeout. + As long as there is a fallback input source available, the failsafe is not triggered. + +## Дивіться також + +- [Radio Control (RC)](../getting_started/rc_transmitter_receiver.md) +- [Joysticks](../config/joystick.md) diff --git a/docs/uk/config/radio.md b/docs/uk/config/radio.md index 135877a0b7..26379873d4 100644 --- a/docs/uk/config/radio.md +++ b/docs/uk/config/radio.md @@ -1,10 +1,12 @@ # Налаштування радіомодулів (RC) -The _Radio Setup_ screen is used to configure the mapping of your RC controller's main attitude control sticks (roll, pitch, yaw, throttle) to channels, and to calibrate the minimum, maximum, trim and reverse settings for all other transmitter controls/RC channels. +The _Radio Setup_ screen is used to configure the mapping of your [RC controller's](../getting_started/rc_transmitter_receiver.md) main attitude control sticks (roll, pitch, yaw, throttle) to channels, and to calibrate the minimum, maximum, trim and reverse settings for all other transmitter controls/RC channels. :::info -A [Joystick](../config/joystick.md) can be used instead of RC for manual control. -The [COM_RC_IN_MODE](../advanced_config/parameter_reference.md#COM_RC_IN_MODE) parameter [can be set](../advanced_config/parameters.md) to define what kind of manual controller(s) are enabled. +A [Joystick](../config/joystick.md) can also be used for [Manual Control](../config/manual_control.md). + +By default PX4 will latch the first valid controller it discovers and use it until the vehicle reboots. +If you have multiple controllers and you want to define their priority see [Manual Control > PX4 Configuration](../config/manual_control.md#px4-configuration). ::: ## Прив'язка приймача diff --git a/docs/uk/config/safety.md b/docs/uk/config/safety.md index a3535d8675..4ed4b0cf72 100644 --- a/docs/uk/config/safety.md +++ b/docs/uk/config/safety.md @@ -109,19 +109,17 @@ There are several other "battery related" failsafe mechanisms that may be config ## Manual Control Loss Failsafe -The manual control loss failsafe may be triggered if the connection to the [RC transmitter](../getting_started/rc_transmitter_receiver.md) or [joystick](../config/joystick.md) is lost, and there is no fallback. -If using an [RC transmitter](../getting_started/rc_transmitter_receiver.md) this is triggered if the RC [transmitter link is lost](../getting_started/rc_transmitter_receiver.md#set-signal-loss-behaviour). -If using [joysticks](../config/joystick.md) connected over a MAVLink data link, this is triggered if the joysticks are disconnected or the data link is lost. - -:::info -PX4 and the receiver may also need to be configured in order to _detect RC loss_: [Radio Setup > RC Loss Detection](../config/radio.md#rc-loss-detection). -::: +A [Manual Control Loss Failsafe](../config/safety.md#manual-control-loss-failsafe) is triggered after a [manual control loss timeout](#COM_RC_LOSS_T) in which none of the configured [Manual Controllers](../config/manual_control.md) are available. ![Safety - RC Loss (QGC)](../../assets/qgc/setup/safety/safety_rc_loss.png) The QGCroundControl Safety UI allows you to set the [failsafe action](#failsafe-actions) and [manual control loss timeout](#COM_RC_LOSS_T). Users that want to disable this failsafe in specific modes can do so using the parameter [COM_RCL_EXCEPT](#COM_RCL_EXCEPT). +:::info +PX4 and the receiver may also need to be configured in order to _detect RC loss_: [Radio Setup > RC Loss Detection](../config/radio.md#rc-loss-detection). +::: + Нижче наведено додаткові (і базові) налаштування параметрів. | Параметр | Налаштування | Опис | @@ -179,17 +177,22 @@ Due to the inherent danger of this, this function is disabled using [CBRK_FLIGHT | Preemptive geofence triggering | [GF_PREDICT](../advanced_config/parameter_reference.md#GF_PREDICT) | (Експериментальний) Спрацьовувати геозону, якщо поточний рух транспортного засобу передбачає спрацьовування порушення (замість пізнього спрацьовування після порушення). | | Circuit breaker for flight termination | [CBRK_FLIGHTTERM](../advanced_config/parameter_reference.md#CBRK_FLIGHTTERM) | Увімкнення/вимкнення дії припинення польоту (за замовчуванням вимкнено). | -## Position (GNSS) Loss Failsafe +## Position Estimation Failsafes + +This section describes failsafes related to the quality of the vehicle's position estimate. + +### Position Loss Failsafe 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. -The sections below cover first the trigger and then the failsafe action taken by the controller. ### Position Loss Failsafe Trigger -There are basically two mechanisms in PX4 to trigger position failsafes: +The position loss failsafe triggers if the position estimate becomes _invalid_. There are two mechanisms in PX4 to invalidate the position estimate: -- A timeout since the last sensor data was fused that provides direct speed or horizontal position measurements. Sensors that fall into that category are: GNSS, optical flow, airspeed, VIO, auxiliary global position. -- The estimated horizontal position accuracy exceeds a certain threshold. This check is only done on hovering systems (rotary wing vehicles or VTOLs in hover phase). +- A timeout since the last sensor data was fused that provides direct speed or horizontal position measurements. + - Sensors that fall into that category are: GNSS, optical flow, airspeed, VIO, auxiliary global position. +- The estimated horizontal position inaccuracy exceeds the threshold [COM_POS_LOW_EPH](../advanced_config/parameter_reference.md#COM_POS_LOW_EPH) + - This check is only done on hovering systems (rotary-wing vehicles or VTOLs in hover phase). For fixed-wing vehicles, refer to the [Position Accuracy Low](#position-accuracy-low-failsafe) section. The relevant parameters shown below. @@ -205,14 +208,24 @@ Multicopters will switch to [Altitude mode](../flight_modes_mc/altitude.md) if a 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. -Відповідні параметри для всіх транспортних засобів наведено нижче. +Відповідними параметрами є: -Параметри, які впливають лише на повітряні судна з фіксованим крилом: +| Параметр | Опис | +| ----------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| [FW_GPSF_LT](../advanced_config/parameter_reference.md#FW_GPSF_LT) | Fixed-wing only: Loiter time (waiting at current altitude for position estimation recovery before starting to descend). Установіть значення 0 для відключення. | +| [FW_GPSF_R](../advanced_config/parameter_reference.md#FW_GPSF_R) | Фіксований кут крену/кочення під час кілочення. | +| [NAV_FORCE_VT](../advanced_config/parameter_reference.md#NAV_FORCE_VT) | If true, force VTOL takeoff and landing, even in `Descend` failsafe. | -| Параметр | Опис | -| ----------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -| [FW_GPSF_LT](../advanced_config/parameter_reference.md#FW_GPSF_LT) | Час простою (очікування відновлення GPS перед посадкою або припиненням польоту). Установіть значення 0 для відключення. | -| [FW_GPSF_R](../advanced_config/parameter_reference.md#FW_GPSF_R) | Фіксований кут крену/кочення під час кілочення. | +### Position Accuracy Low Failsafe + +In Fixed-wing, the position estimate is never strictly invalidated as long as we have a horizontal aiding source, such as an airspeed sensor. In that case, a separate failsafe can be configured that triggers if the position estimate inacuraccy exceeds the threshold [COM_POS_LOW_EPH](../advanced_config/parameter_reference.md#COM_POS_LOW_EPH). The failsafe action is taken if the vehicle is in mission or hold mode, otherwise it is only a warning. Відповідними параметрами є: + +| Параметр | Опис | +| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------- | +| [COM_POS_LOW_EPH](../advanced_config/parameter_reference.md#COM_POS_LOW_EPH) | Position inaccuracy threshold above which COM_POS_LOW_ACT is taken. | +| [COM_POS_LOW_ACT](../advanced_config/parameter_reference.md#COM_POS_LOW_ACT) | Failsafe action taken when position inaccuracy is above configured threshold. | + +Note that if there is no horizontal aiding source anymore, the position estimate is invalidated after `EKF2_NOAID_TOUT`, and the standard position loss failsafe applies. ## Аварійний режим втрати управління з пульта @@ -259,7 +272,7 @@ The quad-chute can also be triggered by sending a MAVLINK [MAV_CMD_DO_VTOL_TRANS ## High Wind Failsafe -The high wind failsafe can trigger a warning and/or other mode change when the wind speed exceeds the warning and maximum wind-speed threshhold values. +The high wind failsafe can trigger a warning and/or other mode change when the wind speed exceeds the warning and maximum wind-speed threshold values. The relevant parameters are listed in the table below. | Параметр | Опис | @@ -313,8 +326,8 @@ The failure detector can be configured to detect a motor failure while armed (an | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | [FD_ACT_EN](../advanced_config/parameter_reference.md#FD_ACT_EN) | Enable/disable the motor failure trigger completely. | | [FD_ACT_MOT_THR](../advanced_config/parameter_reference.md#FD_ACT_MOT_THR) | Minimum normalized [0,1] motor command below which motor under current is ignored. | -| [FD_ACT_MOT_C2T](../advanced_config/parameter_reference.md#FD_ACT_MOT_C2T) | Scale between normalized [0,1] motor command and expected minimally reported currrent when the rotor is healthy. | -| [FD_ACT_MOT_TOUT](../advanced_config/parameter_reference.md#FD_ACT_MOT_TOUT) | Time in miliseconds for which the under current detection condition needs to stay true. | +| [FD_ACT_MOT_C2T](../advanced_config/parameter_reference.md#FD_ACT_MOT_C2T) | Scale between normalized [0,1] motor command and expected minimally reported current when the rotor is healthy. | +| [FD_ACT_MOT_TOUT](../advanced_config/parameter_reference.md#FD_ACT_MOT_TOUT) | Time in milliseconds for which the under current detection condition needs to stay true. | | [CA_FAILURE_MODE](../advanced_config/parameter_reference.md#CA_FAILURE_MODE) | Configure to not only warn about a motor failure but remove the first motor that detects a failure from the allocation effectiveness which turns off the motor and tries to operate the vehicle without it until disarming the next time. | ### Зовнішня автоматична система тригерування (ATS) diff --git a/docs/uk/config_mc/pid_tuning_guide_multicopter_basic.md b/docs/uk/config_mc/pid_tuning_guide_multicopter_basic.md index 7cb155a70a..3ef23172aa 100644 --- a/docs/uk/config_mc/pid_tuning_guide_multicopter_basic.md +++ b/docs/uk/config_mc/pid_tuning_guide_multicopter_basic.md @@ -13,7 +13,7 @@ Tuning is recommended for all new vehicle setups to get the _very best_ performa ## Введення -PX4 uses **P**roportional, **I**ntegral, **D**erivative (PID) controllers (these are the most widespread control technique). +PX4 uses **P**roportional, **I**integral, **D**erivative (PID) controllers (these are the most widespread control technique). The _QGroundControl_ **PID Tuning** setup provides real-time plots of the vehicle setpoint and response curves. The goal of tuning is to set the P/I/D values such that the _Response_ curve matches the _Setpoint_ curve as closely as possible (i.e. a fast response without overshoots). diff --git a/docs/uk/config_rover/attitude_tuning.md b/docs/uk/config_rover/attitude_tuning.md index 66fcae656a..8e3fd36af0 100644 --- a/docs/uk/config_rover/attitude_tuning.md +++ b/docs/uk/config_rover/attitude_tuning.md @@ -16,7 +16,7 @@ Configure the following [parameters](../advanced_config/parameters.md) in QGroun Put the rover into stabilized mode and move the left stick of your controller up to drive forwards. Disarm the rover and from the flight log plot the `measured_yaw` and the `adjusted_yaw_setpoint` from the [RoverAttitudeStatus](../msg_docs/RoverAttitudeStatus.md) message over each other. Increase/Decrease the parameter until you are satisfied with the setpoint tracking. - If you observe a steady state error in the yaw setpoint increase the the integrator of the rate controller: [RO_YAW_RATE_I](../advanced_config/parameter_reference.md#RO_YAW_RATE_I) . + If you observe a steady state error in the yaw setpoint increase the integrator of the rate controller: [RO_YAW_RATE_I](../advanced_config/parameter_reference.md#RO_YAW_RATE_I) . ::: @@ -30,7 +30,7 @@ The attitude controller uses the following structure: ![Rover Attitude Controller](../../assets/config/rover/rover_attitude_controller.png) -The rate and attitude controllers are cascaded, therefor we only require one integrator in the structure to eliminate steady state errors. +The rate and attitude controllers are cascaded, therefore we only require one integrator in the structure to eliminate steady state errors. We placed the integrator in the rate controller since it can run without the attitude controller but not the other way around. ## Огляд параметрів diff --git a/docs/uk/config_rover/basic_setup.md b/docs/uk/config_rover/basic_setup.md index b01b5ebb0f..432e6abdbd 100644 --- a/docs/uk/config_rover/basic_setup.md +++ b/docs/uk/config_rover/basic_setup.md @@ -138,7 +138,7 @@ In [Manual mode](../flight_modes_rover/manual.md#manual-mode) we can additionall - Differential Rover: $r=$ [RD_YAW_STK_GAIN](#RD_YAW_STK_GAIN), which enables adjusting the slope of the input mapping. This leads to a normalized steering input $\hat{\delta} = \delta \cdot r \in$ [-[RD_YAW_STK_GAIN](#RD_YAW_STK_GAIN), [RD_YAW_STK_GAIN](#RD_YAW_STK_GAIN)]. - Mecanum Rover: $r=$ [RM_YAW_STK_GAIN](#RM_YAW_STK_GAIN), which enables adjusting the slope of the input mapping. This leads to a normalized steering input $\hat{\delta} = \delta \cdot r \in$ [-[RM_YAW_STK_GAIN](#RM_YAW_STK_GAIN), [RM_YAW_STK_GAIN](#RM_YAW_STK_GAIN)]. -This scaling is useful to limit the normalized steering setpoint, if it is too aggresive for your rover in manual mode. +This scaling is useful to limit the normalized steering setpoint, if it is too aggressive for your rover in manual mode. You can experiment with the relationships graphically using the [PX4 SuperExpo Rover calculator](https://www.desmos.com/calculator/gwm8lrlanx). diff --git a/docs/uk/config_rover/index.md b/docs/uk/config_rover/index.md index c49dc517e8..ef21a2e3b4 100644 --- a/docs/uk/config_rover/index.md +++ b/docs/uk/config_rover/index.md @@ -39,7 +39,7 @@ make px4_fmu-v6x_rover Note that configuration targets are constructed with the format "VENDOR_MODEL_VARIANT". -The built firmware can be installed as custom firmware, as shown above in in [Flashing the Rover Build](#flashing-the-rover-build). +The built firmware can be installed as custom firmware, as shown above in [Flashing the Rover Build](#flashing-the-rover-build). :::info You can also enable the modules in default builds by adding these lines to your [board configuration](../hardware/porting_guide_config.md) (e.g. for fmu-v6x you might add them to [`main/boards/px4/fmu-v6x/default.px4board`](https://github.com/PX4/PX4-Autopilot/blob/main/boards/px4/fmu-v6x/default.px4board)): diff --git a/docs/uk/config_rover/rate_tuning.md b/docs/uk/config_rover/rate_tuning.md index 456a48f7dc..191c29cb95 100644 --- a/docs/uk/config_rover/rate_tuning.md +++ b/docs/uk/config_rover/rate_tuning.md @@ -11,7 +11,7 @@ Configure the following [parameters](../advanced_config/parameters.md) in QGroun 1. [RO_YAW_RATE_LIM](#RO_YAW_RATE_LIM): Maximum yaw rate you want to allow for your rover. :::tip - Limiting the yaw rate is necessary if the rover is prone rolling over, loosing traction at high speeds or if passenger comfort is important. + Limiting the yaw rate is necessary if the rover is prone rolling over, losing traction at high speeds or if passenger comfort is important. Small rovers especially can be prone to rolling over when steering aggressively at high speeds. If this is the case: diff --git a/docs/uk/config_rover/velocity_tuning.md b/docs/uk/config_rover/velocity_tuning.md index b7800b1822..96dc3a64b3 100644 --- a/docs/uk/config_rover/velocity_tuning.md +++ b/docs/uk/config_rover/velocity_tuning.md @@ -60,7 +60,7 @@ To tune the velocity controller configure the following [parameters](../advanced ## Manual Position Mode Parameters -These steps are only necessary if you are tuning/want to unlock the manual [Position mode](../flight_modes_rover/manual.md#position-mode). Othwerwise, you can continue with [position tuning](position_tuning.md) where these same parameters will also be configured. +These steps are only necessary if you are tuning/want to unlock the manual [Position mode](../flight_modes_rover/manual.md#position-mode). Otherwise, you can continue with [position tuning](position_tuning.md) where these same parameters will also be configured. 1. [PP_LOOKAHD_GAIN](#PP_LOOKAHD_GAIN): When driving in a straight line (right stick centered) position mode leverages the same path following algorithm used in [auto modes](../flight_modes_rover/auto.md) called [pure pursuit](position_tuning.md#pure-pursuit-guidance-logic-info-only) to achieve the best possible straight line driving behaviour. This parameter determines how aggressive the controller will steer towards the path. @@ -109,7 +109,7 @@ The speed controller uses the following structure: The feed forward mapping is done by interpolating the speed setpoint from [-[RO_MAX_THR_SPEED](../advanced_config/parameter_reference.md#RO_MAX_THR_SPEED), [RO_MAX_THR_SPEED](../advanced_config/parameter_reference.md#RO_MAX_THR_SPEED)] to [-1, 1]. -For ackermann and differential rovers the bearing is aligned with the vehicle yaw. Therefor the bearing is simply sent as a yaw setpoint to the [yaw controller](attitude_tuning.md#attitude-controller-structure-info-only) and the speed setpoint is always defined in body x direction. +For ackermann and differential rovers the bearing is aligned with the vehicle yaw. Therefore the bearing is simply sent as a yaw setpoint to the [yaw controller](attitude_tuning.md#attitude-controller-structure-info-only) and the speed setpoint is always defined in body x direction. For mecanum vehicles, the bearing and yaw are decoupled. The direction is controlled by splitting the velocity vector into one speed component in body x direction and one in body y direction. Both these setpoint are then sent to their own closed loop speed controllers. diff --git a/docs/uk/config_vtol/vtol_ice_shedding.md b/docs/uk/config_vtol/vtol_ice_shedding.md index de94fb7e37..ed3f1d00fa 100644 --- a/docs/uk/config_vtol/vtol_ice_shedding.md +++ b/docs/uk/config_vtol/vtol_ice_shedding.md @@ -6,7 +6,7 @@ Ice shedding is a feature that periodically spins unused motors in fixed-wing flight, to break off any ice that is starting to build up in the motors while it is still feasible to do so. -It is configured by the paramter `CA_ICE_PERIOD`. When it is 0, the feature is +It is configured by the parameter `CA_ICE_PERIOD`. When it is 0, the feature is disabled, when it is above 0, it sets the duration of the ice shedding cycle in seconds. In each cycle, the rotors are spun for two seconds at a motor output of 0.01. diff --git a/docs/uk/config_vtol/vtol_quad_configuration.md b/docs/uk/config_vtol/vtol_quad_configuration.md index 0c8dc8c47a..e247c2f823 100644 --- a/docs/uk/config_vtol/vtol_quad_configuration.md +++ b/docs/uk/config_vtol/vtol_quad_configuration.md @@ -96,7 +96,7 @@ It should be set to a value which ensures that the vehicle reaches a high enough [VT_TRANS_TIMEOUT](../advanced_config/parameter_reference.md#VT_TRANS_TIMEOUT) This specifies the upper limit for the duration of the front transition. If the vehicle has not reached the transition airspeed after this time, then the transition will be aborted and a [Quadchute](../config/safety.md#quad-chute-failsafe) event will be triggered. -:::note +::: info Additionally, if an airspeed sensor is present, the transition will also be aborted if the airspeed has not reached [VT_ARSP_BLEND](../advanced_config/parameter_reference.md#VT_ARSP_BLEND) after the openloop transition time [VT_F_TR_OL_TM](../advanced_config/parameter_reference.md#VT_F_TR_OL_TM) has elapsed. This checks is used to avoid a scenario where the vehicle gains excessive speed when the airspeed sensor is faulty. ::: diff --git a/docs/uk/contribute/dev_call.md b/docs/uk/contribute/dev_call.md index 4f1172adab..177a8fa4fc 100644 --- a/docs/uk/contribute/dev_call.md +++ b/docs/uk/contribute/dev_call.md @@ -7,7 +7,7 @@ const { site } = useData();
-

Ця сторінка може бути застарілою. Подивіться останню версію.

+

This page may be out of date. See the latest version.

@@ -36,4 +36,4 @@ We publish a forum post per meeting a week before the call on [PX4 Discuss - wee ## Розклад - TIME: Wednesday 17h00 CET ([subscribe to calendar](https://dronecode.org/calendar/)) -- **Join the call**: [https://discord.gg/BDYmr6FA6Q](https://discord.gg/BDYmr6FA6Q) +- **Join the call**: [https://discord.com/invite/BDYmr6FA6Q](https://discord.com/invite/BDYmr6FA6Q) diff --git a/docs/uk/contribute/docs.md b/docs/uk/contribute/docs.md index e4bd6005ec..437e22ed3f 100644 --- a/docs/uk/contribute/docs.md +++ b/docs/uk/contribute/docs.md @@ -55,7 +55,7 @@ If you already have a clone of the [PX4-Autopilot](https://github.com/PX4/PX4-Au Щоб отримати джерела бібліотеки(ів) на свій локальний комп'ютер, вам потрібно використовувати інструментарій git. Нижче наведено інструкції, як отримати git і використовувати його на своєму локальному комп'ютері. -1. Download git for your computer from [https://git-scm.com/downloads](https://git-scm.com/downloads) +1. Download git for your computer from [https://git-scm.com/downloads/](https://git-scm.com/downloads/) 2. [Sign up](https://github.com/signup) for Github if you haven't already @@ -83,10 +83,10 @@ If you already have a clone of the [PX4-Autopilot](https://github.com/PX4/PX4-Au 6. Add a _remote_ called "upstream" to point to the "official" PX4 version of the library: ```sh - git remote add upstream https://github.com/PX4/PX4-Autopilot.git + git remote add upstream https://github.com/PX4/PX4-Autopilot ``` - :::tip + ::: tip A "remote" is a handle to a particular repository. The remote named _origin_ is created by default when you clone the repository, and points to _your fork_ of the guide. Above you create a new remote _upstream_ that points to the PX4 project version of the documents. @@ -166,7 +166,9 @@ Within the repository you created above: yarn install ``` -4. Попередній перегляд і обслуговування бібліотеки: +4. (Optional) [Build the docs for PX4 metadata](#building-px4-docs-metadata) if your source contains changes to parameter or module docs that you want to check. + +5. Попередній перегляд і обслуговування бібліотеки: ```sh yarn docs:dev @@ -176,7 +178,7 @@ Within the repository you created above: This will be something like: `http://localhost:5173/px4_user_guide/`. - Stop serving using **CTRL+C** in the terminal prompt. -5. Open previewed pages in your local editor: +6. Open previewed pages in your local editor: First specify a local text editor file using the `EDITOR` environment variable, before calling `yarn start` to preview the library. For example, you can enable VSCode as your default editor by entering: @@ -195,7 +197,7 @@ Within the repository you created above: The **Open in your editor** link at the bottom of each page will then open the current page in the editor (this replaces the _Open in GitHub_ link). -6. Побудуйте бібліотеку за допомогою: +7. Побудуйте бібліотеку за допомогою: ```sh # Ubuntu @@ -210,6 +212,32 @@ Use `yarn start` to preview changes _as you make them_ (documents are updated an Before submitting a PR you should also build it using `yarn docs:build`, as this can highlight issues that are not visible when using `yarn start`. ::: +#### Building PX4 docs metadata + +PX4 Metadata is not automatically updated in the local docs tree when you make changes to source. +This can result in broken links showing up during testing if you link to new parameters, modules, airframes, or other content that is generated from source. + +You can generate the metadata and copy it into the tree on _Ubuntu_ (only) using the convenient yarn command: + +```sh +# Ubuntu +yarn build_docs_metadata_ubuntu +``` + +:::info +The generated metadata docs should not be included in PRs as they will complicate reveiwing (metadata is automatically generated when a PR merges in main). +It is not a problem if you do add such metadata, as it will be swamped on merge. +::: + +#### Check for broken links + +You can use the following command to check for broken links in the whole document: + +```sh +# Ubuntu +yarn linkcheck +``` + ### Структура Вихідного Коду The guide uses the [Vitepress](https://vitepress.dev/) toolchain. diff --git a/docs/uk/contribute/git_examples.md b/docs/uk/contribute/git_examples.md index 37d211b180..d0ecff7cae 100644 --- a/docs/uk/contribute/git_examples.md +++ b/docs/uk/contribute/git_examples.md @@ -22,7 +22,7 @@ ```sh cd PX4-Autopilot git submodule update --init --recursive - git remote add upstream https://github.com/PX4/PX4-Autopilot.git + git remote add upstream https://github.com/PX4/PX4-Autopilot ``` - You should have now two remote repositories: One repository is called `upstream` that points to PX4/PX4-Autopilot, and one repository `origin` that points to your forked copy of the PX4 repository. @@ -49,7 +49,7 @@ git add ``` - If you prefer having a GUI to add your files see [Gitk](https://git-scm.com/book/en/v2/Git-in-Other-Environments-Graphical-Interfaces) or [`git add -p`](https://nuclearsquid.com/writings/git-add/). + If you prefer having a GUI to add your files see [Gitk](https://git-scm.com/book/en/v2/Appendix-A:-Git-in-Other-Environments-Graphical-Interfaces) or [`git add -p`](https://nuclearsquid.com/writings/git-add/). - @@ -59,7 +59,7 @@ For a good commit message, please refer to the [Source Code Management](../contribute/code.md#commits-and-commit-messages) section. -- Some time might have passed and the [upstream main](https://github.com/PX4/PX4-Autopilot.git) has changed. +- Some time might have passed and the [upstream main](https://github.com/PX4/PX4-Autopilot) has changed. PX4 prefers a linear commit history and uses [git rebase](https://git-scm.com/book/en/v2/Git-Branching-Rebasing). Щоб включити найновіші зміни з початкової версії до локальної гілки, перейдіть до головної гілки @@ -139,7 +139,7 @@ To get the source code for a _specific older release_ (tag): 1. Clone the PX4-Autopilot repo and navigate into _PX4-Autopilot_ directory: ```sh - git clone https://github.com/PX4/PX4-Autopilot.git + git clone https://github.com/PX4/PX4-Autopilot cd PX4-Autopilot ``` @@ -179,7 +179,7 @@ The are [listed here](https://github.com/PX4/PX4-Autopilot/branches/all?query=re - Clone the PX4-Autopilot repo and navigate into _PX4-Autopilot_ directory: ```sh - git clone https://github.com/PX4/PX4-Autopilot.git + git clone https://github.com/PX4/PX4-Autopilot cd PX4-Autopilot ``` diff --git a/docs/uk/contribute/index.md b/docs/uk/contribute/index.md index 7bb9c46ec8..7bc3ab17a9 100644 --- a/docs/uk/contribute/index.md +++ b/docs/uk/contribute/index.md @@ -7,7 +7,7 @@ const { site } = useData();
-

Ця сторінка може бути застарілою. Переглянути останню версію.

+

This page may be out of date. Переглянути останню версію.

diff --git a/docs/uk/contribute/support.md b/docs/uk/contribute/support.md index d8a626542b..b03a2fbbda 100644 --- a/docs/uk/contribute/support.md +++ b/docs/uk/contribute/support.md @@ -7,7 +7,7 @@ const { site } = useData();
-

Ця сторінка може бути застарілою. Переглянути останню версію.

+

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@@ -18,7 +18,7 @@ const { site } = useData(); Основна команда розробників і спільнота активні на наступних каналах: - [PX4 Discuss Forum](https://discuss.px4.io/) - Post here first! -- [PX4 Discord](https://discord.gg/dronecode) - Post here if you don't get a response in discuss within a few days (include a link to your forum topic). +- [PX4 Discord](https://discord.com/invite/dronecode) - Post here if you don't get a response in discuss within a few days (include a link to your forum topic). :::tip The Discuss Forum is much preferred because it is indexed by search engines and serves as a common knowledge base. diff --git a/docs/uk/debug/asset_tracking.md b/docs/uk/debug/asset_tracking.md index 6ed230b97c..c7f30c1c52 100644 --- a/docs/uk/debug/asset_tracking.md +++ b/docs/uk/debug/asset_tracking.md @@ -1,6 +1,6 @@ # Asset Tracking - + PX4 can track and log detailed information about external hardware devices connected to the flight controller. This enables unique identification of vehicle parts throughout their operational lifetime using device IDs, serial numbers, and version information. diff --git a/docs/uk/debug/debug_values.md b/docs/uk/debug/debug_values.md index 1c7ce22691..6a5b9c66ac 100644 --- a/docs/uk/debug/debug_values.md +++ b/docs/uk/debug/debug_values.md @@ -22,7 +22,7 @@ This tutorial shows how to send the MAVLink message `NAMED_VALUE_FLOAT` using th Код для цього посібника доступний тут: - [Debug Tutorial Code](https://github.com/PX4/PX4-Autopilot/blob/main/src/examples/px4_mavlink_debug/px4_mavlink_debug.cpp) -- [Enable the tutorial app](https://github.com/PX4/PX4-Autopilot/blob/main/boards/px4/fmu-v5/default.px4board) by ensuring the MAVLink debug app (**CONFIG_EXAMPLES_PX4_MAVLINK_DEBUG**) is in the config of your board and set set to 'y'. +- [Enable the tutorial app](https://github.com/PX4/PX4-Autopilot/blob/main/boards/px4/fmu-v5/default.px4board) by ensuring the MAVLink debug app (**CONFIG_EXAMPLES_PX4_MAVLINK_DEBUG**) is in the config of your board and set to 'y'. Все необхідне для налаштування відлагодження публікації - це цей фрагмент коду. Спочатку додайте файл заголовка: diff --git a/docs/uk/debug/eclipse_jlink.md b/docs/uk/debug/eclipse_jlink.md index 060d2732a3..473f3808a9 100644 --- a/docs/uk/debug/eclipse_jlink.md +++ b/docs/uk/debug/eclipse_jlink.md @@ -122,7 +122,7 @@ Task-aware debugging (also known as [thread-aware debugging](https://www.segger. 2. Compile the **jlink-nuttx.so** library in the terminal by running the following command in the terminal: `make jlink-nuttx` -3. Змініть Eclipse, щоб використовувати цю бібліотеку. +3. Modify Eclipse to use this library. In the _J-Link GDB Server Setup_ configuration, update **Other options** to include `-rtos /home//Tools/jlink-nuttx.so`, as shown in the image below. ![Eclipse: GDB Segger Debug config RTOS aware: debugger tab](../../assets/debug/eclipse_settings_debug_config_gdb_segger_task_aware.png) diff --git a/docs/uk/debug/plotting_realtime_uorb_data.md b/docs/uk/debug/plotting_realtime_uorb_data.md index e005e186d8..bbb482a6c7 100644 --- a/docs/uk/debug/plotting_realtime_uorb_data.md +++ b/docs/uk/debug/plotting_realtime_uorb_data.md @@ -72,7 +72,7 @@ cd ~/PX4-Autopilot make px4_sitl gz_x500 ``` -Open another terminal and start the `MicroXRCEAgent` to connect to the the simulator: +Open another terminal and start the `MicroXRCEAgent` to connect to the simulator: ```sh MicroXRCEAgent udp4 -p 8888; exec bash diff --git a/docs/uk/debug/probe_mculink.md b/docs/uk/debug/probe_mculink.md index 8a63994793..85af4e0ca4 100644 --- a/docs/uk/debug/probe_mculink.md +++ b/docs/uk/debug/probe_mculink.md @@ -1,6 +1,6 @@ # MCU-Link адаптер для налагодження -[MCU-Link Debug Probe](https://www.nxp.com/design/design-center/software/development-software/mcuxpresso-software-and-tools-/mcu-link-debug-probe:MCU-LINK) - це дешевий, швидкий і дуже потужний засіб відлагодження, який може використовуватися як самостійний засіб відлагодження та комунікатор консолі під час роботи з платами Pixhawk. +The [MCU-Link Debug Probe](https://www.nxp.com/design/design-center/software/development-software/mcuxpresso-software-and-tools-/mcu-link-debug-probe:MCU-LINK) is a cheap, fast and highly capable debug probe that can serve as a stand-alone debug and console communicator when working with Pixhawk boards. Основні функції: diff --git a/docs/uk/debug/simulation_debugging.md b/docs/uk/debug/simulation_debugging.md index 8a36dabdff..ded4021219 100644 --- a/docs/uk/debug/simulation_debugging.md +++ b/docs/uk/debug/simulation_debugging.md @@ -106,7 +106,7 @@ You can also start your simulation, and _then_ attach `gdb`: ``` As the script runs, note the **SITL COMMAND:** output text located right above the large "PX4" text. - Він перерахує місце розташування вашого файлу px4 bin для подальшого використання. + It will list the location of your PX4 bin file for later use. ```sh SITL COMMAND: "" ""/etc diff --git a/docs/uk/debug/swd_debug.md b/docs/uk/debug/swd_debug.md index 2138fb8326..297b1edd61 100644 --- a/docs/uk/debug/swd_debug.md +++ b/docs/uk/debug/swd_debug.md @@ -1,6 +1,6 @@ # Порт для налагодження SWD -PX4 runs on ARM Cortex-M microcontrollers, which contain dedicated hardware for interactive debugging via the [_Serial Wire Debug (SWD)_][swd] interface and non-invasive profiling and high-bandwidth tracing via the [_Serial Wire Ouput (SWO)_][itm] and [_TRACE_ pins][etm]. +PX4 runs on ARM Cortex-M microcontrollers, which contain dedicated hardware for interactive debugging via the [_Serial Wire Debug (SWD)_][swd] interface and non-invasive profiling and high-bandwidth tracing via the [_Serial Wire Output (SWO)_][itm] and [_TRACE_ pins][etm]. Інтерфейс відладки SWD дозволяє прямий, низькорівневий, апаратний доступ до процесора мікроконтролера та периферійних пристроїв, тому він не залежить від будь-якого програмного забезпечення на пристрої. Отже, його можна використовувати для налагодження завантажувальних програм та операційних систем, таких як NuttX. @@ -27,9 +27,7 @@ SWO-пін може випромінювати дані профілювання Піни TRACE потребують спеціалізованих засобів відлагодження для роботи з високою пропускною здатністю та наступним декодуванням потоку даних. Зазвичай вони недоступні і зазвичай використовуються лише для відлагодження дуже конкретних питань з часом. - - -## Порти налагодження автопілота +## Autopilot Debug Ports {#debug-ports} Flight controllers commonly provide a single debug port that exposes both the [SWD Interface](#debug-signals) and [System Console](system_console). @@ -40,23 +38,35 @@ However there are still many boards that use different pinouts or connectors, so -| Автопілот | Відладочний порт | -| :----------------------------------------------------------------------------------------------------- | :---------------------------------------------------------------------------------------------------------------------------------------------------------------- | -| Holybro Pixhawk 6X-RT (FMUv6X-RT) | [Pixhawk Debug Full](#pixhawk-debug-full) | -| Holybro Pixhawk 6X (FMUv6x) | [Pixhawk Debug Full](#pixhawk-debug-full) | -| Holybro Pixhawk 5X (FMUv5x) | [Pixhawk Debug Full](#pixhawk-debug-full) | -| [Holybro Durandal](../flight_controller/durandal.md#debug-port) | [Pixhawk Debug Mini](#pixhawk-debug-mini) | -| [Holybro Kakute F7](../flight_controller/kakutef7.md#debug-port) | Паяльні майданчики | -| [Holybro Pixhawk 4 Mini](../flight_controller/pixhawk4_mini.md#debug-port) (FMUv5) | [Pixhawk Debug Mini](#pixhawk-debug-mini) | -| [Holybro Pixhawk 4](../flight_controller/pixhawk4.md#debug_port) (FMUv5) | [Pixhawk Debug Mini](#pixhawk-debug-mini) | -| [Drotek Pixhawk 3 Pro](../flight_controller/pixhawk3_pro.md#debug-port) (FMU-v4pro) | [Pixhawk Debug Mini](#pixhawk-debug-mini) | -| [CUAV V5+](../flight_controller/cuav_v5_plus.md#debug-port) | 6-pin JST GH
Digikey: [BM06B-GHS-TBT(LF)(SN)(N)][bm06b-ghs-tbt(lf)(sn)(n)] (vertical mount), [SM06B-GHS-TBT(LF)(SN)(N)][sm06b-ghs-tbt(lf)(sn)(n)] (side mount) | -| [CUAV V5nano](../flight_controller/cuav_v5_nano.md#debug_port) | 6-pin JST GH
Digikey: [BM06B-GHS-TBT(LF)(SN)(N)][bm06b-ghs-tbt(lf)(sn)(n)] (vertical mount), [SM06B-GHS-TBT(LF)(SN)(N)][sm06b-ghs-tbt(lf)(sn)(n)] (side mount) | -| [3DR Pixhawk](../flight_controller/pixhawk.md#swd-port) | ARM 10-pin JTAG Connector (also used for FMUv2 boards including: _mRo Pixhawk_, _HobbyKing HKPilot32_). | +| Автопілот | Відладочний порт | +| :------------------------------------------------------------------------------------------------------ | :----------------------------------------------------------------------- | +| [Holybro Pixhawk 6X-RT](../flight_controller/pixhawk6x-rt.md#debug_port) (FMUv6X-RT) | [Pixhawk Debug Full](#pixhawk-debug-full) | +| [Holybro Pixhawk 6X](../flight_controller/pixhawk6x.md#debug_port) (FMUv6x) | [Pixhawk Debug Full](#pixhawk-debug-full) | +| [Holybro Pixhawk 5X](../flight_controller/pixhawk5x.md#debug_port) (FMUv5x) | [Pixhawk Debug Full](#pixhawk-debug-full) | +| [Holybro Durandal](../flight_controller/durandal.md#debug-port) | [Pixhawk Debug Mini](#pixhawk-debug-mini) | +| [Holybro Pixhawk 4](../flight_controller/pixhawk4.md#debug_port) (FMUv5) | [Pixhawk Debug Mini](#pixhawk-debug-mini) | +| [Holybro Pixhawk 6X Pro](../flight_controller/pixhawk6x_pro.md#debug-port) | [Pixhawk Debug Full](#pixhawk-debug-full) | +| [Holybro Pixhawk 6C](../flight_controller/pixhawk6c.md#debug_port) | [Pixhawk Debug Full](#pixhawk-debug-full) | +| [Holybro Pixhawk 6C Mini](../flight_controller/pixhawk6c_mini.md#debug_port) | [Pixhawk Debug Mini](#pixhawk-debug-mini) | +| [Holybro Pix32 v6](../flight_controller/holybro_pix32_v6.md#debug_port) | [Pixhawk Debug Full](#pixhawk-debug-full) | +| [Holybro Pix32 v5](../flight_controller/holybro_pix32_v5.md#debug-port) | [Pixhawk Debug Mini](#pixhawk-debug-mini) | +| [Holybro Kakute H7](../flight_controller/kakuteh7.md#debug-port) | SWD pads and system console | +| [Holybro Kakute H7 mini](../flight_controller/kakuteh7mini.md#debug-port) | SWD pads and system console | +| [Holybro Kakute H7 V2](../flight_controller/kakuteh7v2.md#debug-port) | SWD pads and system console | +| [CUAV V5+](../flight_controller/cuav_v5_plus.md#debug-port) | Custom port but comes with adaptor cable | +| [CUAV V5nano](../flight_controller/cuav_v5_nano.md#debug_port) | Custom port but comes with adaptor cable | +| [CUAV Pixhawk V6X](../flight_controller/cuav_pixhawk_v6x.md#debug_port) | [Pixhawk Debug Full](#pixhawk-debug-full) | +| [CUAV X25-SUPER](../flight_controller/cuav_x25-super.md#debug_port) | [Pixhawk Debug Mini] | +| [CUAV X25-EVO](../flight_controller/cuav_x25-evo.md#debug_port) | [Pixhawk Debug Mini] | +| [CUAV Nora](../flight_controller/cuav_nora.md#debug-port) | Custom port but comes with adaptor cable. | +| [ARK Pixhawk Autopilot Bus Carrier](../flight_controller/ark_pab.md#debug-port) | [Pixhawk Debug Full](#pixhawk-debug-full) | +| [NXP MR-VMU-RT1176](../flight_controller/nxp_mr_vmu_rt1176.md#debug_port) | [Pixhawk Debug Full](#pixhawk-debug-full) | +| [mRo Pixracer](../flight_controller/pixracer.md#debug-port) | [Pixhawk Debug Mini](#pixhawk-debug-mini) | +| [S-Vehicle E2](../flight_controller/svehicle_e2.md#debug-port) | [Pixhawk Debug Mini] | +| [AP-H743-R1](../flight_controller/x-mav_ap-h743r1.md#debug-port) | 4-pin JST GH (SWD only) | +| [mRo Control Zero F7](../flight_controller/mro_control_zero_f7.md#debug_port) | | - - -## Стандарт роз'ємів Pixhawk Debug Портів +## Pixhawk Connector Standard Debug Ports {#pixhawk-standard-debug-ports} Проект Pixhawk визначив стандартну схему виводів та тип роз'єму для різних випусків Pixhawk FMU: @@ -64,16 +74,16 @@ However there are still many boards that use different pinouts or connectors, so Check your [specific board](#port-information) to confirm the port used. ::: -| Версія FMU | Версія Pixhawk | Відладочний порт | -| :--------- | :-------------------------------------------------------------- | :---------------------------------------- | -| FMUv2 | [Pixhawk / Pixhawk 1](../flight_controller/pixhawk.md#swd-port) | 10 pin ARM Debug | -| FMUv3 | Pixhawk 2 | 6 pin SUR Debug | -| FMUv4 | Pixhawk 3 | [Pixhawk Debug Mini](#pixhawk-debug-mini) | -| FMUv5 | Pixhawk 4 FMUv5 | [Pixhawk Debug Mini](#pixhawk-debug-mini) | -| FMUv5X | Pixhawk 5X | [Pixhawk Debug Full](#pixhawk-debug-full) | -| FMUv6 | Pixhawk 6 | [Pixhawk Debug Full](#pixhawk-debug-full) | -| FMUv6X | Pixhawk 6X | [Pixhawk Debug Full](#pixhawk-debug-full) | -| FMUv6X-RT | Pixhawk 6X-RT | [Pixhawk Debug Full](#pixhawk-debug-full) | +| Версія FMU | Версія Pixhawk | Відладочний порт | +| :--------- | :------------------ | :---------------------------------------- | +| FMUv2 | Pixhawk / Pixhawk 1 | 10 pin ARM Debug | +| FMUv3 | Pixhawk 2 | 6 pin SUR Debug | +| FMUv4 | Pixhawk 3 | [Pixhawk Debug Mini](#pixhawk-debug-mini) | +| FMUv5 | Pixhawk 4 FMUv5 | [Pixhawk Debug Mini](#pixhawk-debug-mini) | +| FMUv5X | Pixhawk 5X | [Pixhawk Debug Full](#pixhawk-debug-full) | +| FMUv6 | Pixhawk 6 | [Pixhawk Debug Full](#pixhawk-debug-full) | +| FMUv6X | Pixhawk 6X | [Pixhawk Debug Full](#pixhawk-debug-full) | +| FMUv6X-RT | Pixhawk 6X-RT | [Pixhawk Debug Full](#pixhawk-debug-full) | :::info There FMU and Pixhawk versions are (only) consistent after FMUv5X. @@ -142,9 +152,7 @@ You can connect to the debug port using a [cable like this one](https://www.digi ![10-pin JST SH Cable](../../assets/debug/cable_10pin_jst_sh.jpg) - - -## Зонди налагодження для апаратного забезпечення PX4 +## Debug Probes for PX4 Hardware {#debug-probes} Flight controllers commonly provide a [single debug port](#autopilot-debug-ports) that exposes both the [SWD Interface](#debug-signals) and [System Console](system_console). @@ -217,5 +225,3 @@ Where possible, we highly recommend that you create or obtain an adapter board r [swd]: https://developer.arm.com/documentation/ihi0031/a/The-Serial-Wire-Debug-Port--SW-DP- [itm]: https://developer.arm.com/documentation/ddi0403/d/Appendices/Debug-ITM-and-DWT-Packet-Protocol?lang=en [etm]: https://developer.arm.com/documentation/ihi0064/latest/ -[bm06b-ghs-tbt(lf)(sn)(n)]: https://www.digikey.com/en/products/detail/jst-sales-america-inc/BM06B-GHS-TBT/807804 -[sm06b-ghs-tbt(lf)(sn)(n)]: https://www.digikey.com/en/products/detail/jst-sales-america-inc/SM06B-GHS-TB/807790 diff --git a/docs/uk/dev_airframes/adding_a_new_frame.md b/docs/uk/dev_airframes/adding_a_new_frame.md index 2fe074a490..a1e6a924ef 100644 --- a/docs/uk/dev_airframes/adding_a_new_frame.md +++ b/docs/uk/dev_airframes/adding_a_new_frame.md @@ -124,118 +124,79 @@ param set-default CA_ROTOR3_PY 0.15 param set-default CA_ROTOR3_KM -0.05 ``` -### Приклад – Повний транспортний засіб Babyshark VTOL +### Example - HolyBro QAV250 Complete Vehicle -Нижче наведено більш складний файл конфігурації для повного транспортного засобу. -This is the configuration for the Baby Shark [Standard VTOL](../frames_vtol/standardvtol.md) ([original file here](https://github.com/PX4/PX4-Autopilot/blob/main/ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark)). +A more complete configuration file for a real vehicle is provided below. +This is the configuration for the [HolyBro QAV250](../frames_multicopter/holybro_qav250_pixhawk4_mini.md) quadrotor ([original file here](https://github.com/PX4/PX4-Autopilot/blob/main/ROMFS/px4fmu_common/init.d/airframes/4052_holybro_qav250)). -The shebang and documentation sections are similar to those for the generic frame, but here we also document what `outputs` are mapped to each motor and actuator. -Зверніть увагу, що ці результати є лише документацією; фактичне відображення виконується за допомогою параметрів. +The shebang and documentation sections are similar to those for the generic frame. +Here we also add a `@url` link to the vehicle documentation, a `@maintainer`, and additional board exclusions. ```sh #!/bin/sh # -# @name BabyShark VTOL +# @name HolyBro QAV250 # -# @type Standard VTOL -# @class VTOL +# @url https://docs.px4.io/main/en/frames_multicopter/holybro_qav250_pixhawk4_mini # -# @maintainer Silvan Fuhrer +# @type Quadrotor x +# @class Copter # -# @output Motor1 motor 1 -# @output Motor2 motor 2 -# @output Motor3 motor 3 -# @output Motor4 motor 4 -# @output Motor5 Pusher motor -# @output Servo1 Ailerons -# @output Servo2 A-tail left -# @output Servo3 A-tail right +# @maintainer Beat Kueng # # @board px4_fmu-v2 exclude # @board bitcraze_crazyflie exclude -# @board holybro_kakutef7 exclude +# @board px4_fmu-v6x exclude +# @board ark_fmu-v6x exclude # ``` -Як і для загальної конструкції, ми додаємо типові значення VTOL за замовчуванням. +Next, we source the multicopter defaults. ```sh -. ${R}etc/init.d/rc.vtol_defaults +. ${R}etc/init.d/rc.mc_defaults ``` Then we define configuration parameters and [tuning gains](#tuning-gains): ```sh -param set-default MAV_TYPE 22 +# The set does not include a battery, but most people will probably use 4S +param set-default BAT1_N_CELLS 4 -param set-default BAT1_N_CELLS 6 +param set-default IMU_GYRO_CUTOFF 120 +param set-default IMU_DGYRO_CUTOFF 45 -param set-default FW_AIRSPD_MAX 30 -param set-default FW_AIRSPD_MIN 19 -param set-default FW_AIRSPD_TRIM 23 -param set-default FW_PN_R_SLEW_MAX 40 -param set-default FW_PSP_OFF 3 -param set-default FW_P_LIM_MAX 18 -param set-default FW_P_LIM_MIN -25 -param set-default FW_RLL_TO_YAW_FF 0.1 -param set-default FW_RR_P 0.08 -param set-default FW_R_LIM 45 -param set-default FW_R_RMAX 50 -param set-default FW_THR_TRIM 0.65 -param set-default FW_THR_MIN 0.3 -param set-default FW_THR_SLEW_MAX 0.6 -param set-default FW_T_HRATE_FF 0 -param set-default FW_T_SINK_MAX 15 -param set-default FW_T_SINK_MIN 3 -param set-default FW_YR_P 0.15 - -param set-default IMU_DGYRO_CUTOFF 15 -param set-default MC_PITCHRATE_MAX 60 -param set-default MC_ROLLRATE_MAX 60 -param set-default MC_YAWRATE_I 0.15 -param set-default MC_YAWRATE_MAX 40 -param set-default MC_YAWRATE_P 0.3 - -param set-default MPC_ACC_DOWN_MAX 2 -param set-default MPC_ACC_HOR_MAX 2 -param set-default MPC_ACC_UP_MAX 3 param set-default MC_AIRMODE 1 -param set-default MPC_JERK_AUTO 4 -param set-default MPC_LAND_SPEED 1 -param set-default MPC_MAN_TILT_MAX 25 -param set-default MPC_MAN_Y_MAX 40 -param set-default COM_SPOOLUP_TIME 1.5 -param set-default MPC_THR_HOVER 0.45 -param set-default MPC_TILTMAX_AIR 25 -param set-default MPC_TKO_RAMP_T 1.8 -param set-default MPC_TKO_SPEED 1 -param set-default MPC_VEL_MANUAL 3 -param set-default MPC_XY_CRUISE 3 -param set-default MPC_XY_VEL_MAX 3.5 -param set-default MPC_YAWRAUTO_MAX 40 -param set-default MPC_Z_VEL_MAX_UP 2 +param set-default MC_PITCHRATE_D 0.0012 +param set-default MC_PITCHRATE_I 0.35 +param set-default MC_PITCHRATE_MAX 1200 +param set-default MC_PITCHRATE_P 0.082 +param set-default MC_PITCH_P 8 +param set-default MC_ROLLRATE_D 0.0012 +param set-default MC_ROLLRATE_I 0.3 +param set-default MC_ROLLRATE_MAX 1200 +param set-default MC_ROLLRATE_P 0.076 +param set-default MC_ROLL_P 8 +param set-default MC_YAWRATE_I 0.3 +param set-default MC_YAWRATE_MAX 600 +param set-default MC_YAWRATE_P 0.25 +param set-default MC_YAW_P 4 -param set-default NAV_ACC_RAD 3 +param set-default MPC_MANTHR_MIN 0 +param set-default MPC_MAN_TILT_MAX 60 +param set-default MPC_THR_CURVE 1 +param set-default MPC_THR_HOVER 0.25 +param set-default MPC_THR_MIN 0.05 +param set-default MPC_Z_VEL_I_ACC 1.7 -param set-default SENS_BOARD_ROT 4 - -param set-default VT_ARSP_BLEND 10 -param set-default VT_ARSP_TRANS 21 -param set-default VT_B_DEC_MSS 1.5 -param set-default VT_B_TRANS_DUR 12 -param set-default VT_ELEV_MC_LOCK 0 -param set-default VT_FWD_THRUST_SC 1.2 -param set-default VT_F_TR_OL_TM 8 -param set-default VT_PSHER_SLEW 0.5 -param set-default VT_TRANS_MIN_TM 4 -param set-default VT_TYPE 2 +param set-default THR_MDL_FAC 0.3 ``` -Нарешті, файл визначає параметри розподілу керування для геометрії та параметри, які встановлюють відповідність виходів різним двигунам та сервоприводам. +Last of all, the file defines the control allocation parameters for the geometry and the parameters that set which outputs map to different motors. ```sh -param set-default CA_AIRFRAME 2 -param set-default CA_ROTOR_COUNT 5 +# Square quadrotor X PX4 numbering +param set-default CA_ROTOR_COUNT 4 param set-default CA_ROTOR0_PX 1 param set-default CA_ROTOR0_PY 1 param set-default CA_ROTOR1_PX -1 @@ -246,34 +207,11 @@ param set-default CA_ROTOR2_KM -0.05 param set-default CA_ROTOR3_PX -1 param set-default CA_ROTOR3_PY 1 param set-default CA_ROTOR3_KM -0.05 -param set-default CA_ROTOR4_AX 1.0 -param set-default CA_ROTOR4_AZ 0.0 -param set-default CA_SV_CS_COUNT 3 -param set-default CA_SV_CS0_TYPE 15 -param set-default CA_SV_CS0_TRQ_R 1.0 -param set-default CA_SV_CS1_TRQ_P 0.5000 -param set-default CA_SV_CS1_TRQ_R 0.0000 -param set-default CA_SV_CS1_TRQ_Y -0.5000 -param set-default CA_SV_CS1_TYPE 13 -param set-default CA_SV_CS2_TRQ_P 0.5000 -param set-default CA_SV_CS2_TRQ_Y 0.5000 -param set-default CA_SV_CS2_TYPE 14 - -param set-default PWM_MAIN_FUNC1 201 -param set-default PWM_MAIN_FUNC2 202 -param set-default PWM_MAIN_FUNC3 105 -param set-default PWM_MAIN_FUNC4 203 -param set-default PWM_MAIN_FUNC5 101 -param set-default PWM_MAIN_FUNC6 102 -param set-default PWM_MAIN_FUNC7 103 -param set-default PWM_MAIN_FUNC8 104 - -param set-default PWM_MAIN_TIM0 50 -param set-default PWM_MAIN_DIS1 1500 -param set-default PWM_MAIN_DIS2 1500 -param set-default PWM_MAIN_DIS3 1000 -param set-default PWM_MAIN_DIS4 1500 +param set-default PWM_MAIN_FUNC1 101 +param set-default PWM_MAIN_FUNC2 102 +param set-default PWM_MAIN_FUNC3 103 +param set-default PWM_MAIN_FUNC4 104 ``` ## Додавання нової групи планера diff --git a/docs/uk/dev_log/log_encryption.md b/docs/uk/dev_log/log_encryption.md index 82b519a857..ac7dc41cd5 100644 --- a/docs/uk/dev_log/log_encryption.md +++ b/docs/uk/dev_log/log_encryption.md @@ -15,7 +15,7 @@ To use it you will need to build firmware with this feature enabled and then upl Log encryption was has been improved in PX4 v1.16 to generate a single encrypted log file that contains both encrypted log data, and an encrypted symmetric key that you can use to decrypt it (provided you can decrypt the symmetric key). In earlier versions the encrypted symmetric key was stored in a separate file. -For more information see the [Log Encryption (PX4 v1.15)](https://docs.px4.io/v1.15/en/dev_log/log_encryption.html). +For more information see the [Log Encryption (PX4 v1.15)](https://docs.px4.io/v1.15/en/dev_log/log_encryption). ::: ## How ULog Encryption Works @@ -142,7 +142,7 @@ Note that the value is generated fresh for each log, and any value specified in You can use choose different locations for your keys as long as they aren't used by anything else. ::: -The key in `CONFIG_PUBLIC_KEY1` is the public key used to wrap the symmetric key in the the beginning of `.ulge` file (by default: see [SDLOG_EXCH_KEY](../advanced_config/parameter_reference.md#SDLOG_EXCH_KEY)). +The key in `CONFIG_PUBLIC_KEY1` is the public key used to wrap the symmetric key in the beginning of `.ulge` file (by default: see [SDLOG_EXCH_KEY](../advanced_config/parameter_reference.md#SDLOG_EXCH_KEY)). You can use the `rsa2048.pub` key for testing, or replace it with the path to your own public key in the file (see [Generate RSA Public & Private Keys](#generate-rsa-public-private-keys)). Build the firmware like this: diff --git a/docs/uk/dev_setup/dev_env_mac.md b/docs/uk/dev_setup/dev_env_mac.md index 214f44b7f3..1a9a1f945c 100644 --- a/docs/uk/dev_setup/dev_env_mac.md +++ b/docs/uk/dev_setup/dev_env_mac.md @@ -1,116 +1,122 @@ # macOS Development Environment -Наступні інструкції для встановлення середовища розробки PX4 для macOS. +The following instructions set up a PX4 development environment on macOS. Це середовище може бути використане для збірки PX4 для: - Pixhawk та іншого апаратного забезпечення на основі NuttX -- [Gazebo Classic Simulation](../sim_gazebo_classic/index.md) +- [Gazebo Simulation](../sim_gazebo_gz/index.md) (Gazebo Harmonic) + +It works on both Intel and Apple Silicon Macs. :::tip This setup is supported by the PX4 dev team. -To build other targets you will need to use a [different OS](../dev_setup/dev_env.md#supported-targets) (or an [unsupported development environment](../advanced/community_supported_dev_env.md)). +To build for [other targets](../dev_setup/dev_env.md#supported-targets) you will need to use a [different OS](../dev_setup/dev_env.md#supported-targets) or an [unsupported development environment](../advanced/community_supported_dev_env.md). ::: -## Відеоінструкція +## Development Environment Setup - +### Вимоги -## Базове налаштування - -"Базове" налаштування macOS встановлює інструменти, необхідні для збірки прошивки та включає загальні інструменти, які будуть потрібні для встановлення/використання симуляторів. - -### Налаштування середовища - -:::details -Apple Silicon MacBook users! -If you have an Apple M1, M2 etc. MacBook, make sure to run the terminal as x86 by setting up an x86 terminal: - -1. Locate the Terminal application within the Utilities folder (**Finder > Go menu > Utilities**) -2. Select _Terminal.app_ and right-click on it, then choose **Duplicate**. -3. Rename the duplicated Terminal app, e.g. to _x86 Terminal_ -4. Now select the renamed _x86 Terminal_ app and right-click and choose \*_Get Info_ -5. Check the box for **Open using Rosetta**, then close the window -6. Run the _x86 Terminal_ as usual, which will fully support the current PX4 toolchain - -::: - -Спочатку налаштуйте середовище - -1. Enable more open files by appending the following line to the `~/.zshenv` file (creating it if necessary): +1. **Install Xcode Command Line Tools** — provides `git`, `make`, and the Apple `clang` compiler: ```sh - echo ulimit -S -n 2048 >> ~/.zshenv + xcode-select --install ``` +2. **Install Homebrew** by following the [installation instructions](https://brew.sh). + +3. **Increase the open-file limit.** The PX4 build opens many files simultaneously and the macOS default limit (256) is too low — you may see `"LD: too many open files"` errors without this. + + Add the following line to your shell startup file so it applies to every new terminal session. + macOS defaults to **zsh** since Catalina, so add it to `~/.zshrc` (use `~/.bashrc` if you use bash): + + ```sh + echo "ulimit -S -n 2048" >> ~/.zshrc + ``` + + Then **open a new terminal** (or run `source ~/.zshrc`) for the change to take effect. + +4. **Ensure Python 3 is available.** Some PX4 build scripts require `python3` and `pip3` to be in your `PATH`. The Xcode Command Line Tools include Python 3 by default. + + :::tip + If you need to install or manage a different Python version, we recommend [pyenv](https://github.com/pyenv/pyenv), which lets you set global and per-directory Python versions. + +::: + +### Install Development Tools + +1. **Download PX4 Source Code:** + + ```sh + git clone https://github.com/PX4/PX4-Autopilot.git + cd PX4-Autopilot + git submodule update --init --recursive --force + ``` + +2. **Install development environment libraries** from the [macos.sh](https://github.com/PX4/PX4-Autopilot/blob/main/Tools/setup/macos.sh) helper script: + + ```sh + ./Tools/setup/macos.sh --sim-tools + ``` + + This installs: + + - **`px4-dev`** — ARM cross-compiler (`arm-gcc-bin@13`), `cmake`, `ninja`, `ccache`, and other build tools + - **Python packages** from `requirements.txt` + - **`px4-sim`** (via `--sim-tools`) — Gazebo Harmonic simulation (`gz-harmonic`) and related tools + ::: info - If you don't do this, the build toolchain may report the error: `"LD: too many open files"` + Omit `--sim-tools` if you only need to build for NuttX hardware and don't need simulation. + + Use `--reinstall` to force reinstallation of all Homebrew formulas (useful if something is broken). ::: -2. Enforce Python 3 by appending the following lines to `~/.zshenv` +### Gazebo Simulation - ```sh - # Point pip3 to macOS system python 3 pip - alias pip3=/usr/bin/pip3 - ``` +The `--sim-tools` flag installs the `px4-sim` Homebrew formula, which pulls in Gazebo Harmonic. -### Загальні інструменти +If you skipped `--sim-tools` during initial setup and want to add simulation later: -Для налаштування середовища з можливістю збірки для обладнання Pixhawk/NuttX (і встановлення загальних інструментів для використання симуляторів): +```sh +brew tap PX4/px4 +brew install px4-sim +``` -1. Install Homebrew by following these [installation instructions](https://brew.sh). +:::info +Gazebo requires **XQuartz** for display on macOS. +If you don't already have it installed: -2. Виконайте ці команди в командній оболонці для встановлення загальних інструментів: - - ```sh - brew tap PX4/px4 - brew install px4-dev - ``` - -3. Встановіть необхідні пакети Python: - - ```sh - # install required packages using pip3 - python3 -m pip install --user pyserial empty toml numpy pandas jinja2 pyyaml pyros-genmsg packaging kconfiglib future jsonschema - # if this fails with a permissions error, your Python install is in a system path - use this command instead: - sudo -H python3 -m pip install --user pyserial empty toml numpy pandas jinja2 pyyaml pyros-genmsg packaging kconfiglib future jsonschema - ``` - -## Симуляція Gazebo Classic - -To setup the environment for [Gazebo Classic](../sim_gazebo_classic/index.md) simulation: - -1. Виконайте наступні команди в командній оболонці: - - ```sh - brew unlink tbb - sed -i.bak '/disable! date:/s/^/ /; /disable! date:/s/./#/3' $(brew --prefix)/Library/Taps/homebrew/homebrew-core/Formula/tbb@2020.rb - brew install tbb@2020 - brew link tbb@2020 - ``` - - ::: info - September 2021: The commands above are a workaround to this bug: [PX4-Autopilot#17644](https://github.com/PX4/PX4-Autopilot/issues/17644). - Вони можуть бути видалені після того, як вона буде виправлена (разом з цією нотаткою). +```sh +brew install --cask xquartz +``` +You may need to log out and back in after installing XQuartz. ::: -2. Для встановлення симуляції SITL з Gazebo Classic: +### Verify Installation - ```sh - brew install --cask temurin - brew install --cask xquartz - brew install px4-sim-gazebo - ``` +After installation, verify the key tools are available: -3. Run the macOS setup script: `PX4-Autopilot/Tools/setup/macos.sh` - The easiest way to do this is to clone the PX4 source, and then run the script from the directory, as shown: +```sh +# NuttX cross-compiler (from arm-gcc-bin@13) +arm-none-eabi-gcc --version - ```sh - git clone https://github.com/PX4/PX4-Autopilot.git --recursive - cd PX4-Autopilot/Tools/setup - sh macos.sh - ``` +# Build tools +cmake --version +ninja --version + +# Gazebo (if --sim-tools was used) +gz sim --versions +``` + +Quick smoke test — build and run a simulation target: + +```sh +make px4_sitl gz_x500 +``` + +If everything is set up correctly, this will build PX4 SITL and launch a Gazebo simulation with the x500 quadcopter. ## Наступні кроки @@ -120,7 +126,7 @@ To setup the environment for [Gazebo Classic](../sim_gazebo_classic/index.md) si - Install the [QGroundControl Daily Build](../dev_setup/qgc_daily_build.md) - :::tip + ::: tip The _daily build_ includes development tools that are hidden in release builds. Вона також може надати доступ до нових функцій PX4, які ще не підтримуються в релізних збірках. diff --git a/docs/uk/dev_setup/dev_env_windows_vm.md b/docs/uk/dev_setup/dev_env_windows_vm.md index 93d09b3593..1682a56832 100644 --- a/docs/uk/dev_setup/dev_env_windows_vm.md +++ b/docs/uk/dev_setup/dev_env_windows_vm.md @@ -29,14 +29,14 @@ Allocate as many CPU cores and memory resources to the VM as possible. Ефективність VMWare прийнятна для основного застосування (збірки прошивки) але не для запуску ROS чи Gazebo Classic. -1. Download [VMWare Player Freeware](https://www.vmware.com/products/workstation-player/workstation-player-evaluation.html) +1. Download [VMWare Workstation Pro](https://www.vmware.com/products/desktop-hypervisor/workstation-and-fusion) (the free player has been discontinued) 2. Установіть його на вашу Windows систему 3. Download the desired version of [Ubuntu Desktop ISO Image](https://ubuntu.com/download/desktop). (see [Linux Instructions Page](../dev_setup/dev_env_linux.md) for recommended Ubuntu version). -4. Open _VMWare Player_. +4. Open _Workstation Pro_. 5. Enable 3D acceleration in the VM's settings: **VM > Settings > Hardware > Display > Accelerate 3D graphics** diff --git a/docs/uk/dev_setup/qtcreator.md b/docs/uk/dev_setup/qtcreator.md index b1d2b9fc43..f24825fe80 100644 --- a/docs/uk/dev_setup/qtcreator.md +++ b/docs/uk/dev_setup/qtcreator.md @@ -8,7 +8,7 @@ Qt Creator has been replaced by [VSCode](../dev_setup/vscode.md) as the official Дивіться [Встановлення інструментарію](../dev_setup/dev_env.md) для інформації про середовища та інструменти, що підтримуються основною командою розробників. ::: -[Qt Creator](https://www.qt.io/download-open-source) is a popular cross-platform open-source IDE that can be used to compile and debug PX4. +[Qt Creator](https://www.qt.io/development/download-open-source) is a popular cross-platform open-source IDE that can be used to compile and debug PX4. ## Функціональні можливості Qt Creator diff --git a/docs/uk/dronecan/ark_cannode.md b/docs/uk/dronecan/ark_cannode.md index 69cc232ce6..c480330104 100644 --- a/docs/uk/dronecan/ark_cannode.md +++ b/docs/uk/dronecan/ark_cannode.md @@ -28,7 +28,7 @@ - Роз'єм стандарту SPI для Pixhawk - 7-контактний JST-GH - Коннектор PWM - - 10-контактний JST-SH + - 10 Pin JST - 8 PWM виводів - Відповідно до схеми підключення штирьових роз'ємів Pixhawk 4 PWM - Роз'єм для налагодження стандарту Pixhawk @@ -77,7 +77,7 @@ DroneCAN configuration in PX4 is explained in more detail in [DroneCAN > Enablin Вам потрібно буде увімкнути підписника, відповідного для кожного з сенсорів, які підключені до ARK CANnode. -This is done using the the parameters named like `UAVCAN_SUB_*` in the parameter reference (such as [UAVCAN_SUB_ASPD](../advanced_config/parameter_reference.md#UAVCAN_SUB_ASPD), [UAVCAN_SUB_BARO](../advanced_config/parameter_reference.md#UAVCAN_SUB_BARO) etc.). +This is done using the parameters named like `UAVCAN_SUB_*` in the parameter reference (such as [UAVCAN_SUB_ASPD](../advanced_config/parameter_reference.md#UAVCAN_SUB_ASPD), [UAVCAN_SUB_BARO](../advanced_config/parameter_reference.md#UAVCAN_SUB_BARO) etc.). ## Конфігурування CANNode Ark diff --git a/docs/uk/dronecan/ark_g5_rtk_heading_gps.md b/docs/uk/dronecan/ark_g5_rtk_heading_gps.md index 80e1d471e6..c342b9df39 100644 --- a/docs/uk/dronecan/ark_g5_rtk_heading_gps.md +++ b/docs/uk/dronecan/ark_g5_rtk_heading_gps.md @@ -103,7 +103,7 @@ You need to set necessary [DroneCAN](index.md) parameters and define offsets if ### Parameter references -This GPS is using ARK's private driver, the prameters below only exist on the firmware we ship the GPS with. You can set these params either in QGC or using the DroneCAN GUI Tool. +This GPS is using ARK's private driver, the parameters below only exist on the firmware we ship the GPS with. You can set these params either in QGC or using the DroneCAN GUI Tool. #### SEP_OFFS_YAW (float) diff --git a/docs/uk/dronecan/holybro_h_rtk_zed_f9p_gps.md b/docs/uk/dronecan/holybro_h_rtk_zed_f9p_gps.md index 168238617a..0d9a0715f6 100644 --- a/docs/uk/dronecan/holybro_h_rtk_zed_f9p_gps.md +++ b/docs/uk/dronecan/holybro_h_rtk_zed_f9p_gps.md @@ -86,7 +86,7 @@ DroneCAN configuration in PX4 is explained in more detail in [DroneCAN > Enablin ### Конфігурація позиції датчика -- For the the single Rover the module should be mounted with the included mast. +- For the single Rover the module should be mounted with the included mast. - For the Dual ZED-F9P setup (moving baseline), the DroneCAN modules should be placed at least 30cm apart on the airframe and elevated on a mast also. See the following [mast](https://holybro.com/products/30-antenna-mount?_pos=20&_sid=67b49d76b&_ss=r). - F9P module arrow(s) should be pointing forward with respect to the autopilot orientation. diff --git a/docs/uk/dronecan/index.md b/docs/uk/dronecan/index.md index 14d8abc6c1..245cfe22fe 100644 --- a/docs/uk/dronecan/index.md +++ b/docs/uk/dronecan/index.md @@ -158,7 +158,7 @@ DroneCAN peripherals connected to PX4 can also be [configured using parameters v By convention, parameters named with the prefix [CANNODE\_](../advanced_config/parameter_reference.md#CANNODE_BITRATE) have prefined meaning, and may be documented in the parameter reference. `CANNODE_` parameters prefixed with `CANNODE_PUB_` and `CANNODE_SUB_` enable the peripheral to publish or subscribe the associated DroneCAN message. These allow DroneCAN peripherals to be configured to only subscribe and publish messages that they actually need (in the same way that PX4 uses the corresponding `UAVCAN_PUB_`/`UAVCAN_SUB_` parameters). -Note that a peripheral might might not use `CANNODE_` parameters, in which case it may have to publish/subscribe to particular messages whether or not they are needed. +Note that a peripheral might not use `CANNODE_` parameters, in which case it may have to publish/subscribe to particular messages whether or not they are needed. Наступні розділи надають додаткові відомості про параметри периферійних пристроїв PX4 та DroneCAN, які використовуються для увімкнення певних функцій. @@ -287,6 +287,14 @@ If the rangefinder is connected via DroneCAN (whether inbuilt or separate), you Select the specific CAN interface(s) used for ESC data output using the [UAVCAN_ESC_IFACE](../advanced_config/parameter_reference.md#UAVCAN_ESC_IFACE) parameter (all that all interfaces are selected by default). Note that DroneCAN ESCs should be on their own dedicated CAN interface(s) because ESC messages can saturate the bus and starve other nodes of bandwidth. +### Lights + +PX4 can control external LEDs on a connected DroneCAN peripheral using the standard DroneCAN [LightsCommand](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#lightscommand) message. +Up to 2 lights acan be controlled. +Each light can independently show [system status colours](../getting_started/led_meanings.md#ui-led), a fixed colour (commonly used for indicating aircraft orientation), or switch between both depending on arm state. + +See [DroneCAN Lights](lights.md) for full configuration details. + ## Налаштування параметрів CANNODE QGC QGroundControl може переглядати та змінювати параметри, що належать до пристроїв CAN, підключених до автопілота, за умови, що пристрої підключені до автопілота до запуску QGC. diff --git a/docs/uk/dronecan/lights.md b/docs/uk/dronecan/lights.md new file mode 100644 index 0000000000..ffc4ddfe8a --- /dev/null +++ b/docs/uk/dronecan/lights.md @@ -0,0 +1,61 @@ +# DroneCAN Lights + +PX4 can control external LEDs on a connected DroneCAN peripheral using the standard DroneCAN [LightsCommand](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#lightscommand) message. + +Up to 2 lights are supported. +These can show [system status colours](../getting_started/led_meanings.md#ui-led), a fixed colour (used for indicating aircraft orientation), or switch between both depending on arm state. + +## Пристрої, що підтримуються + +Any DroneCAN peripheral implementing the standard `LightsCommand` message type should work. + +The following have been tested: + +- **Vertiq ESC LED add-ons**: Each ESC exposes two light IDs — one RGB (for status) and one white. + The `light_id` for each is calculated as `esc_index × 3 + BASE_ID`, where `BASE_ID` is 1 for RGB and 2 for white. + See [Vertiq](../peripherals/vertiq.md) for other ESC setup details. + +## Конфігурація PX4 + +1. Set up DroneCAN as described in [DroneCAN](index.md) (`UAVCAN_ENABLE` ≥ 2). +2. Set [UAVCAN_LGT_NUM](../advanced_config/parameter_reference.md#UAVCAN_LGT_NUM) to the number of lights (1 or 2). + Then reboot and reopen the ground station so that parameters for the new instances become visible. +3. Set the `light_id` and [light functions](#light_functions) of each light: + - [UAVCAN_LGT_ID0](../advanced_config/parameter_reference.md#UAVCAN_LGT_ID0) / [UAVCAN_LGT_ID1](../advanced_config/parameter_reference.md#UAVCAN_LGT_ID1): Set to a `light_id` value (as defined by the specific product). + - [UAVCAN_LGT_FN0](../advanced_config/parameter_reference.md#UAVCAN_LGT_FN0) / [UAVCAN_LGT_FN1](../advanced_config/parameter_reference.md#UAVCAN_LGT_FN1): Choose the desired [light function](#light_functions). +4. Set [UAVCAN_LGT_MODE](#UAVCAN_LGT_MODE) to control when fixed "orientation" colours activate. +5. Reboot for changes to take effect. + +### Light Functions {#light_functions} + +The functions of enabled lights are configured using [UAVCAN_LGT_FN0](../advanced_config/parameter_reference.md#UAVCAN_LGT_FN0) and [UAVCAN_LGT_FN1](../advanced_config/parameter_reference.md#UAVCAN_LGT_FN1), respectively. +Each function is represented by a value that defines two behaviours: one when the activation mode is **inactive** and one when it is **active**. + +| Значення | Назва | When mode inactive | When mode active | +| -------- | ------------- | -------------------- | -------------------- | +| 0 | Status/Status | System status colour | System status colour | +| 1 | Off/White | Off | White | +| 2 | Off/Red | Off | Red | +| 3 | Off/Green | Off | Зелений | +| 4 | Status/White | System status colour | White | +| 5 | Status/Red | System status colour | Red | +| 6 | Status/Green | System status colour | Зелений | +| 7 | Status/Off | System status colour | Off | + +Примітки: + +- The [system status colours](../getting_started/led_meanings.md#ui-led) is the same LED pattern used by the flight controller's onboard status LED (e.g. red when disarmed, green when armed and ready). +- A fixed colour, commonly used to indicate aircraft orientation. For example it is a common convention to have a red light on the port side, green on starboard, or white to the rear. + These colours do not change with flight controller state. +- For _hybrid_ functions, such as `Status/Red`, the light shows the Status colour while the activation mode is inactive, then switches to the "fixed" light colour once the mode becomes active. + +### Activation Mode (`UAVCAN_LGT_MODE`) {#UAVCAN_LGT_MODE} + +The activation mode parameter ([UAVCAN_LGT_MODE](#UAVCAN_LGT_MODE)) controls when each light switches from its _inactive_ to its _active_ behaviour (configured with the [Light function](#light_functions)): + +| Значення | Значення | +| -------- | --------------------------------------------------------------------------- | +| 0 | Always inactive (lights always show the inactive column) | +| 1 | Active when armed (default) | +| 2 | Active when prearmed or armed | +| 3 | Always active (lights always show the active column) | diff --git a/docs/uk/flight_controller/accton-godwit_ga1.md b/docs/uk/flight_controller/accton-godwit_ga1.md index 5b014c8452..eb564dac95 100644 --- a/docs/uk/flight_controller/accton-godwit_ga1.md +++ b/docs/uk/flight_controller/accton-godwit_ga1.md @@ -5,7 +5,7 @@ PX4 не розробляє цей (або будь-який інший) авт 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). +The G-A1 is a state-of-the-art flight controller 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. @@ -65,7 +65,7 @@ This flight controller is [manufacturer supported](../flight_controller/autopilo - 92.2 (L) x 51.2 (W) x 28.3 (H) mm - 77.6g (carrier board with IMU) -## Де купити +## Where to Buy {#store} - [Accton-IoT Godwit](https://www.accton-iot.com/godwit/) - [sales@accton-iot.com](sales@accton-iot.com) @@ -115,7 +115,7 @@ PPM receivers should be connected to the PPM interface. And other RC systems can ## GPS/компас -The Godwit G-A1 has a built-in 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") diff --git a/docs/uk/flight_controller/airlink.md b/docs/uk/flight_controller/airlink.md index a971101ed2..501d08e9a9 100644 --- a/docs/uk/flight_controller/airlink.md +++ b/docs/uk/flight_controller/airlink.md @@ -26,7 +26,7 @@ AIRLink має два комп'ютери та інтегрований LTE-мо ## Характеристики - **Sensors** - - 3x акселерометри, 3x гіроскопи, 3x магнітометри, 3x датчики тиску + - 3x Accelerometers, 3x Gyroscopes, 3x Magnetometers, 3x Pressure sensors - ГНСС, далекоміри, лідари, оптичний потік, камери - 3x-кратне резервування IMU - Гасіння вібрації @@ -59,7 +59,7 @@ AIRLink має два комп'ютери та інтегрований LTE-мо - Ethernet 10/100/1000 Native Gigabit - WiFi 802.11a/b/g/n/ac, Bluetooth - USB 3.0 Type C - - 2х Video: 4-смугова MIPI CSI (FPV-камера) та 4-смугова MIPI CSI з входом HMDI (камера корисного навантаження) + - 2x Video: 4-Lane MIPI CSI (FPV Camera) and 4-Lane MIPI CSI with HDMI Input (Payload Camera) - **LTE/5G Connectivity Module** - Пропускна здатність до 600 Мбіт/с @@ -71,7 +71,7 @@ AIRLink має два комп'ютери та інтегрований LTE-мо - Антена, 4x4 MIMO - Bands: Worldwide -## Де купити +## Where to Buy {#store} Купуйте в оригінальному магазині Sky-Drones (доставка по всьому світу з обробкою замовлення за 1-2 дні): @@ -92,8 +92,7 @@ AIRLink Enterprise прибуває з усім необхідним для на - 1x FPV камера з CSI кабелем - 1x WiFi антена з роз'ємом MMCX - 2x/4x LTE/5G антена з роз'ємом MMCX -- 1x кабель HDMI на міні HDMI - 1x набір кабелів (7 кабелів для всіх роз'ємів) +- 1x HDMI to mini HDMI cable, 1x set of cables (7 cables for all connectors) [AIRLink Telemetry](https://sky-drones.com/sets/airlink-telemetry-set.html) based on the Microhard LAN/IP-based RF micromodule is available as an add-on and is fully compatible with AIRLink. @@ -332,7 +331,7 @@ RC-вхід конфігурується на виводі SBUS і підклю ## Виводи -AIRLink має 16 ШІМ-виходів. Основні виходи 1-8 і підключені до IO MCU. Виходи AUX 1-8 підключено до FMU. +AIRLink has 16 PWM outputs. Основні виходи 1-8 і підключені до IO MCU. Виходи AUX 1-8 підключено до FMU. | Output | Таймер | Канал | | ------ | -------- | --------- | @@ -356,7 +355,7 @@ It is pre-built and automatically installed by _QGroundControl_ when appropriate To [build PX4](../dev_setup/building_px4.md) for this target: -``` +```sh make sky-drones_smartap-airlink ``` diff --git a/docs/uk/flight_controller/ark_fpv.md b/docs/uk/flight_controller/ark_fpv.md index 666cf03b81..74193a722c 100644 --- a/docs/uk/flight_controller/ark_fpv.md +++ b/docs/uk/flight_controller/ark_fpv.md @@ -13,7 +13,7 @@ The USA-built ARK FPV flight controller is based on the [ARKV6X](https://arkelec This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md). ::: -## Де купити +## Where To Buy {#store} Order from [Ark Electronics](https://arkelectron.com/product/arkv6x/) (US) @@ -76,7 +76,7 @@ See the documentation [Ark Electronics GitBook](https://arkelectron.gitbook.io/a ## Додаткова інформація -- Weight: 7.5 g g with MicroSD card +- Weight: 7.5 g with MicroSD card - Dimensions: 3.6 x 3.6 x 0.8 cm - USA Built - NDAA compliant - Heater: 1W for warming sensors in extreme cold diff --git a/docs/uk/flight_controller/ark_pab.md b/docs/uk/flight_controller/ark_pab.md index 6f8ec3b480..c9e984735f 100644 --- a/docs/uk/flight_controller/ark_pab.md +++ b/docs/uk/flight_controller/ark_pab.md @@ -11,7 +11,7 @@ The PAB form factor enables the ARK PAB Carrier to be used with any [PAB-compati ![ARKPAB Main Photo](../../assets/flight_controller/arkpab/ark_pab_main.jpg) -### Де купити +### Where To Buy {#store} Order From [Ark Electronics](https://arkelectron.com/product/ark-pixhawk-autopilot-bus-carrier/) (US) @@ -39,7 +39,7 @@ Order From [Ark Electronics](https://arkelectron.com/product/ark-pixhawk-autopil - 6-контактний JST-GH - Подвійні CAN порти - 4-контактний JST-GH -- Потрійні телеметричні порти з контролем потоку +- Triple Telemetry Ports with Flow Control - 6-контактний JST-GH - Вісім ШІМ-виходів - 10-контактний JST-GH diff --git a/docs/uk/flight_controller/ark_pi6x.md b/docs/uk/flight_controller/ark_pi6x.md index 308d78028f..c4795a2b35 100644 --- a/docs/uk/flight_controller/ark_pi6x.md +++ b/docs/uk/flight_controller/ark_pi6x.md @@ -1,10 +1,19 @@ # ARK Pi6X Flow +:::warning +PX4 не розробляє цей (або будь-який інший) автопілот. +Contact the [manufacturer](https://arkelectron.com/contact-us/) for hardware support or compliance issues. +::: + The [ARK Pi6X Flow](https://arkelectron.gitbook.io/ark-documentation/flight-controllers/ark-pi6x-flow) integrates a Raspberry Pi Compute Module 4 (CM4) Carrier, [ARKV6X Flight Controller](../flight_controller/ark_v6x.md), [ARK Flow sensors](../dronecan/ark_flow.md) , [ARK PAB Power Module](../power_module/ark_pab_power_module.md), and a 4-in-1 ESC, all mounted onto one compact board. ![ARK Pi6X Flow Flight Controller](../../assets/flight_controller/ark_pi6x_flow/ark_pi6xflow.jpg) -## Де купити +:::info +This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md). +::: + +## Where to Buy {#store} Замовте цей модуль з: diff --git a/docs/uk/flight_controller/ark_v6x.md b/docs/uk/flight_controller/ark_v6x.md index d419de31fe..1805a410bd 100644 --- a/docs/uk/flight_controller/ark_v6x.md +++ b/docs/uk/flight_controller/ark_v6x.md @@ -16,7 +16,7 @@ The Pixhawk Autopilot Bus (PAB) form factor enables the ARKV6X to be used on any This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md). ::: -## Де купити +## Where To Buy {#store} Order From [Ark Electronics](https://arkelectron.com/product/arkv6x/) (US) diff --git a/docs/uk/flight_controller/arkpab.md b/docs/uk/flight_controller/arkpab.md index dee03c10b2..e99ee9b8b6 100644 --- a/docs/uk/flight_controller/arkpab.md +++ b/docs/uk/flight_controller/arkpab.md @@ -1 +1,2 @@ + diff --git a/docs/uk/flight_controller/arkv6x.md b/docs/uk/flight_controller/arkv6x.md index f117e5345f..f3812b11af 100644 --- a/docs/uk/flight_controller/arkv6x.md +++ b/docs/uk/flight_controller/arkv6x.md @@ -1 +1,2 @@ + diff --git a/docs/uk/flight_controller/auav_x2.md b/docs/uk/flight_controller/auav_x2.md index f78d257f6e..89f35a4ec1 100644 --- a/docs/uk/flight_controller/auav_x2.md +++ b/docs/uk/flight_controller/auav_x2.md @@ -1,92 +1,8 @@ -# Автопілот AUAV-X2 (припинено) + - + diff --git a/docs/uk/flight_controller/autopilot_discontinued.md b/docs/uk/flight_controller/autopilot_discontinued.md index d41c68b30a..178831cfd7 100644 --- a/docs/uk/flight_controller/autopilot_discontinued.md +++ b/docs/uk/flight_controller/autopilot_discontinued.md @@ -6,26 +6,28 @@ They are listed because you may be using them in an existing drone, and because ## Автопілоти -- [Drotek DroPix](../flight_controller/dropix.md) (FMUv2) -- [Omnibus F4 SD](../flight_controller/omnibus_f4_sd.md) -- [CUAV X7](../flight_controller/cuav_x7.md) -- [CUAV v5](../flight_controller/cuav_v5.md) (Pixhawk FMUv5) -- [CUAV Pixhack v3](../flight_controller/pixhack_v3.md) (FMUv3) -- [Aerotenna OcPoC-Zynq Mini](../flight_controller/ocpoc_zynq.md) -- [Holybro Pixhawk 4 Mini](../flight_controller/pixhawk4_mini.md) (FMUv5) -- [Holybro Kakute F7](../flight_controller/kakutef7.md) -- [Holybro Pixhawk Mini](../flight_controller/pixhawk_mini.md) (FMUv3) -- [Holybro Pixfalcon](../flight_controller/pixfalcon.md) (Pixhawk FMUv2) -- [Holybro Pix32](../flight_controller/holybro_pix32.md) (FMUv2) -- [ModalAI VOXL Flight](../flight_controller/modalai_voxl_flight.md) -- [ModalAI Flight Core v1](../flight_controller/modalai_fc_v1.md) -- [mRobotics-X2.1](../flight_controller/mro_x2.1.md) (FMUv2) -- [mRo AUAV-X2](../flight_controller/auav_x2.md) (Pixhawk FMUv2) -- [NXP FMUK66](../flight_controller/nxp_rddrone_fmuk66.md) (Discontinued) -- [3DR Pixhawk 1](../flight_controller/pixhawk.md) (Pixhawk FMUv2) +- _Drotek DroPix_ (FMUv2) — last published in [PX4 v1.13](https://docs.px4.io/v1.13/en/flight_controller/dropix) +- _Drotek Pixhawk 3 Pro_ (FMUv4pro) — last published in [PX4 v1.15](https://docs.px4.io/v1.15/en/flight_controller/pixhawk3_pro) +- _Omnibus F4 SD_ — last published in [PX4 v1.15](https://docs.px4.io/v1.15/en/flight_controller/omnibus_f4_sd) +- _CUAV X7_ — last published in [PX4 v1.16](https://docs.px4.io/v1.16/en/flight_controller/cuav_x7) +- _CUAV v5_ (Pixhawk FMUv5) — last published in [PX4 v1.16](https://docs.px4.io/v1.16/en/flight_controller/cuav_v5) +- _CUAV Pixhack v3_ (FMUv3) — last published in [PX4 v1.15](https://docs.px4.io/v1.15/en/flight_controller/pixhack_v3) +- _Aerotenna OcPoC-Zynq Mini_ — last published in [PX4v1.11](https://docs.px4.io/v1.11/en/flight_controller/ocpoc_zynq#aerotenna-ocpoc-zynq-mini-flight-controller) +- _Holybro Pixhawk 4 Mini_ (FMUv5) -— last published in [PX4 v1.16](https://docs.px4.io/v1.16/en/flight_controller/pixhawk4_mini) +- _Holybro Kakute F7_ — last published in [PX4 v1.15](https://docs.px4.io/v1.15/en/flight_controller/kakutef7) +- _Holybro Pixhawk Mini_ (FMUv3) — last published in [PX4 v1.15](https://docs.px4.io/v1.15/en/flight_controller/pixhawk_mini) +- _Holybro Pixfalcon_ (Pixhawk FMUv2) — last published in [PX4 v1.16](https://docs.px4.io/v1.16/en/flight_controller/pixfalcon) +- _Holybro Pix32_ (FMUv2) — last published in [PX4 v1.15](https://docs.px4.io/v1.15/en/flight_controller/holybro_pix32) +- _ModalAI VOXL Flight_ — last published in [PX4 v1.16](https://docs.px4.io/v1.16/en/flight_controller/modalai_voxl_flight) +- _ModalAI Flight Core v1_ — last published in [PX4 v1.11](https://docs.px4.io/v1.11/en/flight_controller/modalai_fc_v1) +- _mRobotics-X2.1_ (FMUv2) — last published in [PX4 v1.16](https://docs.px4.io/v1.16/en/flight_controller/mro_x2.1) +- _mRo AUAV-X2_ (Pixhawk FMUv2) — last published in [PX4 v1.15](https://docs.px4.io/v1.15/en/flight_controller/auav_x2) +- _NXP RDDRONE-FMUK66 FMU_ — last published in [PX4 v1.15 docs](https://docs.px4.io/v1.15/en/flight_controller/nxp_rddrone_fmuk66) +- _3DR Pixhawk 1_ (Pixhawk FMUv2) — last published in [PX4 v1.15](https://docs.px4.io/v1.15/en/flight_controller/pixhawk) ## Укомплектовані транспортні засоби -- [BetaFPV Beta75X 2S Brushless Whoop](https://docs.px4.io/v1.14/en/complete_vehicles/betafpv_beta75x.html#betafpv-beta75x-2s-brushless-whoop) (circa PX4 v1.14) -- [Intel® Aero RTF Drone](https://docs.px4.io/v1.12/en/complete_vehicles/intel_aero.html) (circa PX4 v1.12) -- [Qualcomm Snapdragon Flight](https://docs.px4.io/v1.11/en/flight_controller/snapdragon_flight.html) (circa PX4 v1.11) +- _Bitcraze Crazyflie 2.0_ — last published in [PX4 v1.15](https://docs.px4.io/v1.15/en/complete_vehicles_mc/crazyflie2) +- _BetaFPV Beta75X 2S Brushless Whoop_ — last published in [PX4 v1.14](https://docs.px4.io/v1.14/en/complete_vehicles/betafpv_beta75x#betafpv-beta75x-2s-brushless-whoop) +- _Intel® Aero RTF Drone_ — last published in [PX4 v1.12](https://docs.px4.io/v1.12/en/complete_vehicles/intel_aero) +- _Qualcomm Snapdragon Flight_ — last published in [PX4 v1.11](https://docs.px4.io/v1.11/en/flight_controller/snapdragon_flight) diff --git a/docs/uk/flight_controller/autopilot_manufacturer_supported.md b/docs/uk/flight_controller/autopilot_manufacturer_supported.md index 39713343d9..8c956cfeb8 100644 --- a/docs/uk/flight_controller/autopilot_manufacturer_supported.md +++ b/docs/uk/flight_controller/autopilot_manufacturer_supported.md @@ -18,10 +18,11 @@ This category includes boards that are not fully compliant with the pixhawk stan - [ARK Electronics ARKV6X](../flight_controller/ark_v6x.md) (and [ARK Electronics Pixhawk Autopilot Bus Carrier](../flight_controller/ark_pab.md)) - [ARK FPV Flight Controller](../flight_controller/ark_fpv.md) - [ARK Pi6X Flow Flight Controller](../flight_controller/ark_pi6x.md) -- [CUAV Nora](../flight_controller/cuav_nora.md)（CUAV X7 variant) +- [CUAV Nora](../flight_controller/cuav_nora.md) (CUAV X7 variant) - [CUAV V5+](../flight_controller/cuav_v5_plus.md) (FMUv5) - [CUAV V5 nano](../flight_controller/cuav_v5_nano.md) (FMUv5) - [CUAV X25 EVO](../flight_controller/cuav_x25-evo.md) + [CUAV X25 SUPER](../flight_controller/cuav_x25-super.md) - [CubePilot Cube Orange+](../flight_controller/cubepilot_cube_orangeplus.md) - [CubePilot Cube Orange](../flight_controller/cubepilot_cube_orange.md) - [CubePilot Cube Yellow](../flight_controller/cubepilot_cube_yellow.md) diff --git a/docs/uk/flight_controller/beaglebone_blue.md b/docs/uk/flight_controller/beaglebone_blue.md index ea08e0c827..f5664083dd 100644 --- a/docs/uk/flight_controller/beaglebone_blue.md +++ b/docs/uk/flight_controller/beaglebone_blue.md @@ -4,10 +4,10 @@ :::warning PX4 не розробляє цей (або будь-який інший) автопілот. -Contact the [manufacturer](https://beagleboard.org/blue) for hardware support or compliance issues. +Contact the [manufacturer](https://www.beagleboard.org/boards/beaglebone-blue) for hardware support or compliance issues. ::: -[BeagleBone Blue](https://beagleboard.org/blue) is an all-in-one Linux-based computer. +[BeagleBone Blue](https://www.beagleboard.org/boards/beaglebone-blue) is an all-in-one Linux-based computer. Хоча ця компактна і недорога плата оптимізована для робототехніки, вона має всі необхідні датчики і периферійні пристрої, необхідні для керування польотом. This topic shows how to set up the board to run PX4 with [librobotcontrol](https://github.com/beagleboard/librobotcontrol) robotics package. @@ -17,7 +17,7 @@ This topic shows how to set up the board to run PX4 with [librobotcontrol](https _BeagleBone Blue_ images can be found here: -- [Latest stable OS image](https://beagleboard.org/latest-images). +- [Latest stable OS image](https://www.beagleboard.org/distros). - [Test OS images](https://rcn-ee.net/rootfs/bb.org/testing/) (updated frequently). Information about flashing OS images can be found on [this page](https://github.com/beagleboard/beaglebone-blue/wiki/Flashing-firmware). @@ -79,7 +79,7 @@ echo "PermitRootLogin yes" >> /etc/ssh/sshd_config && systemctl restart sshd For _rsync_ over SSH with key authentication, follow the steps here (on the development machine): 1. Створіть ключ SSH, якщо ви раніше цього не робили: - ``` + ```sh ssh-keygen -t rsa ``` @@ -89,13 +89,13 @@ echo "PermitRootLogin yes" >> /etc/ssh/sshd_config && systemctl restart sshd 2. Define the BeagleBone Blue board as `beaglebone` in **/etc/hosts** and copy the public SSH key to the board for password-less SSH access: - ``` + ```sh ssh-copy-id debian@beaglebone ``` 3. Крім того, ви можете використовувати IP-адресу beaglebone безпосередньо: - ``` + ```sh ssh-copy-id debian@ ``` @@ -116,7 +116,7 @@ echo "PermitRootLogin yes" >> /etc/ssh/sshd_config && systemctl restart sshd The ARM Cross Compiler for _BeagleBone Blue_ can be found at [Linaro Toolchain Binaries site](https://www.linaro.org/downloads/#gnu_and_llvm). - :::tip + ::: 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_. @@ -131,7 +131,7 @@ echo "PermitRootLogin yes" >> /etc/ssh/sshd_config && systemctl restart sshd tar -xf gcc-linaro-13.0.0-2022.06-x86_64_arm-linux-gnueabihf.tar.xz ``` - :::tip + ::: tip The GCC version of the toolchain should be compatible with kernel in _BeagleBone Blue_. ::: @@ -151,7 +151,7 @@ echo "PermitRootLogin yes" >> /etc/ssh/sshd_config && systemctl restart sshd 3. Налаштуйте інші залежності, завантаживши вихідний код PX4, а потім виконайте сценарії налаштування: - ```` + ````sh git clone https://github.com/PX4/PX4-Autopilot.git --recursive ols ``` @@ -170,7 +170,7 @@ echo "PermitRootLogin yes" >> /etc/ssh/sshd_config && systemctl restart sshd Компіляція та завантаження -``` +```sh make beaglebone_blue_default upload ``` @@ -189,9 +189,7 @@ sudo ./bin/px4 -s px4.config Currently _librobotcontrol_ requires root access. ::: - - -## Нативні збірки (необов'язково) +## Native Builds (optional) {#native_builds} Ви також можете нативно створювати збірки PX4 безпосередньо на BeagleBone Blue. @@ -216,7 +214,7 @@ Currently _librobotcontrol_ requires root access. ## Зміни в конфігурації -Усі зміни можна вносити безпосередньо в файл налаштувань px4.config на beaglebone. +All changes can be made in the px4.config file directly on beaglebone. Наприклад, ви можете змінити WIFI на wlan. :::info @@ -295,8 +293,6 @@ UARTs на BeagleBone Blue можуть працювати лише з неін 1. Підключіть ESC двигуна 1, 2, 3 та 4 до каналу 1, 2, 3 та 4 вихідних сигналів сервоприводів на BeagleBone Blue відповідно. Якщо ваш роз'єм ESC містить вихідний контакт живлення, вийміть його і не підключайте його до вихідного контакту живлення каналу сервоприводу на BeagleBone Blue. - 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. Підключіть сигнали модуля GPS до порту GPS на платі BeagleBone Blue. Зверніть увагу, що сигнальні контакти порту GPS на BeagleBone Blue підтримують лише 3,3 В, тому обирайте свій GPS-модуль відповідно. diff --git a/docs/uk/flight_controller/cuav_nora.md b/docs/uk/flight_controller/cuav_nora.md index c30f7f1e32..722715c49c 100644 --- a/docs/uk/flight_controller/cuav_nora.md +++ b/docs/uk/flight_controller/cuav_nora.md @@ -5,7 +5,7 @@ PX4 не розробляє цей (або будь-який інший) авт Contact the [manufacturer](https://www.cuav.net) for hardware support or compliance issues. ::: -The [Nora](https://doc.cuav.net/flight-controller/x7/en/nora.html)® flight controller is a high-performance autopilot. +The [Nora](https://doc.cuav.net/controller/x7/en/nora-plus.html)® flight controller is a high-performance autopilot. Це ідеальний вибір для промислових дронів і великомасштабних важких дронів. В основному постачається комерційним виробникам. @@ -31,7 +31,7 @@ This flight controller is [manufacturer supported](../flight_controller/autopilo - Високопродуктивний процесор :::tip -The manufacturer [CUAV Docs](https://doc.cuav.net/flight-controller/x7/en/nora.html) are the canonical reference for Nora. +The manufacturer [CUAV Docs](https://doc.cuav.net/controller/x7/en/nora-plus.html) are the canonical reference for Nora. Вони повинні використовуватися за перевагою, оскільки вони містять найбільш повну та актуальну інформацію. ::: @@ -76,14 +76,14 @@ When it runs PX4 firmware, only 8 PWM outputs work. Решта 6 ШІМ-портів все ще адаптуються (тому на момент написання статті вони не сумісні з VOLT). ::: -## Де купити +## Where to Buy {#store} - [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) ## З'єднання (Проводка) -[CUAV nora Wiring Quickstart](https://doc.cuav.net/flight-controller/x7/en/quick-start/quick-start-nora.html) +[CUAV nora Wiring Quickstart](https://doc.cuav.net/controller/x7/en/quick-start/quick-start-nora.html) ## Розмір та роз'єми @@ -120,7 +120,7 @@ It is pre-built and automatically installed by _QGroundControl_ when appropriate To [build PX4](../dev_setup/building_px4.md) for this target: -``` +```sh make cuav_nora_default ``` @@ -171,6 +171,6 @@ The complete set of supported configurations can be seen in the [Airframes Refer ## Подальша інформація -- [Quick start](https://doc.cuav.net/flight-controller/x7/en/quick-start/quick-start-nora.html) +- [Quick start](https://doc.cuav.net/controller/x7/en/quick-start/quick-start-nora.html) - [CUAV docs](https://doc.cuav.net/) - [nora schematic](https://github.com/cuav/hardware/tree/master/X7_Autopilot) diff --git a/docs/uk/flight_controller/cuav_pixhawk_v6x.md b/docs/uk/flight_controller/cuav_pixhawk_v6x.md index aed38cb87f..97719397b0 100644 --- a/docs/uk/flight_controller/cuav_pixhawk_v6x.md +++ b/docs/uk/flight_controller/cuav_pixhawk_v6x.md @@ -61,7 +61,7 @@ Pixhawk® V6X ідеально підходить для корпоративн - 16 PWM виводів сервоприводів - 1 Виділений R/C вхід для Spektrum / DSM та S.Bus з аналоговим / PWM RSSI входом - 3 TELEM-порти (з повним контролем потоку) -- 1 UART4(Seial та I2C) +- 1 UART4(Serial and I2C) - 2 порти GPS - 1 повноцінний порт GPS плюс порт перемикача безпеки (GPS1) - 1 базовий GPS-порт (з I2C, GPS2) @@ -104,7 +104,7 @@ Pixhawk® V6X ідеально підходить для корпоративн ![Pixhawk V6X](../../assets/flight_controller/cuav_pixhawk_v6x/core.png) -## Де купити +## Where to Buy {#store} Order from [CUAV](https://store.cuav.net/). @@ -173,13 +173,11 @@ It is pre-built and automatically installed by _QGroundControl_ when appropriate To [build PX4](../dev_setup/building_px4.md) for this target: -``` +```sh make px4_fmu-v6x_default ``` - - -## Відладочний порт +## Debug Port {#debug_port} The [PX4 System Console](../debug/system_console.md) and [SWD interface](../debug/swd_debug.md) run on the **FMU Debug** port. diff --git a/docs/uk/flight_controller/cuav_v5.md b/docs/uk/flight_controller/cuav_v5.md index e6e58bd1d6..ed3719fbc0 100644 --- a/docs/uk/flight_controller/cuav_v5.md +++ b/docs/uk/flight_controller/cuav_v5.md @@ -1,149 +1,7 @@ -# CUAV v5 (Знято з виробництва) + - + - -## Периферійні пристрої - -- [Цифровий датчик швидкості польоту](https://item.taobao.com/item.htm?spm=a1z10.3-c-s.w4002-16371268452.37.6d9f48afsFgGZI\&id=9512463037) -- [Телеметричні радіо модулі](https://cuav.taobao.com/category-158480951.htm?spm=2013.1.w5002-16371268426.4.410b7a821qYbBq\&search=y\&catName=%CA%FD%B4%AB%B5%E7%CC%A8) -- [Rangefinders/Distance sensors](../sensor/rangefinders.md) - -## Підтримувані платформи / Конструкції - -Будь-який мультикоптер / літак / наземна платформа / човен, який може керуватися звичайними RC сервоприводами або сервоприводами Futaba S-Bus. -The complete set of supported configurations can be seen in the [Airframes Reference](../airframes/airframe_reference.md). - -## Подальша інформація - -- [FMUv5 reference design pinout](https://docs.google.com/spreadsheets/d/1-n0__BYDedQrc_2NHqBenG1DNepAgnHpSGglke-QQwY/edit#gid=912976165). -- [CUAV Github](https://github.com/cuav) +DOC REMOVED: 202603 +--> diff --git a/docs/uk/flight_controller/cuav_v5_nano.md b/docs/uk/flight_controller/cuav_v5_nano.md index 441092a68c..457b084eb0 100644 --- a/docs/uk/flight_controller/cuav_v5_nano.md +++ b/docs/uk/flight_controller/cuav_v5_nano.md @@ -60,7 +60,7 @@ This flight controller is [manufacturer supported](../flight_controller/autopilo - Інші характеристики: - Робоча температура: -20 ~ 85°С (виміряне значення) -## Де купити +## Where to Buy {#store} [CUAV Store](https://store.cuav.net/shop/v5-nano/) @@ -91,13 +91,11 @@ It is pre-built and automatically installed by _QGroundControl_ when appropriate To [build PX4](../dev_setup/building_px4.md) for this target: -``` +```sh make px4_fmu-v5_default ``` - - -## Відладочний порт +## Debug Port {#debug_port} The [PX4 System Console](../debug/system_console.md) and [SWD interface](../debug/swd_debug.md) operate on the **FMU Debug** port (`DSU7`). Плата не має інтерфейсу відладки вводу/виводу. diff --git a/docs/uk/flight_controller/cuav_v5_plus.md b/docs/uk/flight_controller/cuav_v5_plus.md index d710b6ae36..208278d370 100644 --- a/docs/uk/flight_controller/cuav_v5_plus.md +++ b/docs/uk/flight_controller/cuav_v5_plus.md @@ -63,7 +63,7 @@ This flight controller is [manufacturer supported](../flight_controller/autopilo - Інші характеристики: - Робоча температура: -20 ~ 80°c (виміряне значення) -## Де купити +## Where to Buy {#store} [CUAV Aliexpress](https://www.aliexpress.com/item/32890380056.html?spm=a2g0o.detail.1000060.1.7a7233e7mLTlVl&gps-id=pcDetailBottomMoreThisSeller&scm=1007.13339.90158.0&scm_id=1007.13339.90158.0&scm-url=1007.13339.90158.0&pvid=d899bfab-a7ca-46e1-adf2-72ad1d649822) (International users) @@ -119,7 +119,7 @@ It is pre-built and automatically installed by _QGroundControl_ when appropriate To [build PX4](../dev_setup/building_px4.md) for this target: -``` +```sh make px4_fmu-v5_default ``` @@ -210,7 +210,7 @@ The UAVCAN [NEO V2 PRO GNSS receiver](https://doc.cuav.net/gps/neo-series-gnss/e `DSU7` FMU Debug Pin 1 is 5 volts - not the 3.3 volts of the CPU. -Some JTAG use this voltage to set the IO levels when communicating to the target. +Some JTAG adapters use this voltage to set the IO levels when communicating to the target. For direct connection to _Segger Jlink_ we recommended you use the 3.3 Volts of DSM/SBUS/RSSI pin 4 as Pin 1 on the debug connector (`Vtref`). diff --git a/docs/uk/flight_controller/cuav_x25-evo.md b/docs/uk/flight_controller/cuav_x25-evo.md index 5b1a2efd3b..cb96e88271 100644 --- a/docs/uk/flight_controller/cuav_x25-evo.md +++ b/docs/uk/flight_controller/cuav_x25-evo.md @@ -85,7 +85,7 @@ These flight controllers are [manufacturer supported](../flight_controller/autop - Not provided. -## Purchase Channels +## Purchase Channels {#store} Order from [CUAV](https://store.cuav.net/). @@ -135,13 +135,11 @@ It is pre-built and installed automatically by _QGroundControl_ when the appropr To [build PX4](../dev_setup/building_px4.md) for this target, execute: -``` +```sh make cuav_x25-evo_default ``` - - -## Відладочний порт +## Debug Port {#debug_port} The [PX4 System Console](../debug/system_console.md) and [SWD Interface](../debug/swd_debug.md) operate on the **FMU Debug** port. diff --git a/docs/uk/flight_controller/cuav_x25-super.md b/docs/uk/flight_controller/cuav_x25-super.md new file mode 100644 index 0000000000..b26deb6a78 --- /dev/null +++ b/docs/uk/flight_controller/cuav_x25-super.md @@ -0,0 +1,173 @@ +# CUAV X25-SUPER + + + +:::warning +PX4 не розробляє цей (або будь-який інший) автопілот. +Contact the [manufacturer](https://store.cuav.net/) for hardware support or compliance issues. +::: + +The _X25-SUPER_ is an advanced autopilot manufactured by CUAV®. + +The autopilot is recommended for commercial system integration but is also suitable for academic research and any other applications. + +![X25-SUPER AutoPilot - hero image](../../assets/flight_controller/cuav_x25-super/x25-super.png) + +The X25-SUPER brings you ultimate performance, stability, and reliability in every aspect. + +:::info +These flight controllers are [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md). +::: + +### Функції + +- Arm® Cortex-M7® processor (STM32H743XI) with Floating-Point Unit (FPU), operating at 480MHz, and featuring 2MB Flash memory. Enables developers to enhance productivity and efficiency, allowing for more complex algorithms and models. +- Automotive-grade RM3100 compass. Designed for better stability and anti-interference capability. +- Triple-redundant IMUs and dual-redundant barometers located on separate buses. If the PX4 autopilot detects a sensor failure, the system seamlessly switches to another sensor to maintain flight control reliability. +- Independent LDO power control supplies power to each sensor group. A vibration isolation system filters high-frequency vibrations and reduces noise to ensure accurate readings, enabling better overall flight performance for the vehicle. +- Integrated Microchip Ethernet PHY for high-speed communication with onboard devices like mission computers via Ethernet. +- Dual temperature compensation systems, located on the IMU board and FMU board respectively. Temperature is controlled by onboard heating resistors to achieve the optimal operating temperature for the IMUs. +- PWM servo output voltage switchable between 3.3V or 5V. +- Modular design for DIY carrier boards. + +### Processors & Sensors + +- Main Processor: STM32H743XI + - 32-bit Arm® Cortex®-M7, 480MHz, 2MB Flash, 1MB RAM +- Onboard Sensors: + - Accel/Gyro: SCH16T + - Accel/Gyro: IIM42652 + - Accel/Gyro: IIM42653 + - Магнітометр: RM3100 + - Barometer: BMP581 + - Barometer: ICP-20100 + +### Електричні дані + +- Rated Voltage: + - Input Voltage: 10~18V + - Вхід USB Power: 4.75~5.25V + - Servo Rail Input: 0~9.9V +- Rated Current: + - Total Output Max Current: 10A + - TELEM1 and TELEM2 Output Current limiter: 4A + - CAN1 and CAN2 Output Current limiter: 2.4A + - Other Ports Output Current limiter: 1.5A + +### Інтерфейси + +- 16x PWM Servo Outputs +- 1x Dedicated R/C Input for Spektrum / DSM and S.Bus +- 1x Analog/PWM RSSI Input +- 2x TELEM Ports (with full flow control) +- 1x UART4 Port +- 2x GPS Ports + - 1x Full GPS plus Safety Switch Port (GPS1) + - 1x Basic GPS Port (with I2C, GPS2) +- 1x USB Port (TYPE-C) +- 1x Ethernet Port + - Transformerless application + - 100Mbps +- 3x I2C Bus Ports +- 1x SPI Bus + - 1x Chip Select Line + - 1x Data Ready Line + - 1x SPI Reset Line +- 5x CAN Ports for CAN Peripherals + - 3x CAN1 Bus Multiplexed Ports + - 2x CAN2 Bus Multiplexed Ports +- 2x Power Input Ports + - DroneCAN/UAVCAN Power Input +- 2x AD Ports + - Analog Input (3.3V) + - Analog Input (6.6V - not supported) +- 1x Dedicated Debug Port + - FMU Debug + +### Механічні дані + +- Розмір + - Політний контролер + + ![CUAV X25-SUPER](../../assets/flight_controller/cuav_x25-super/x25-super_size.png) + +## Purchase Channels {#store} + +Order from [CUAV](https://store.cuav.net/). + +## Зборка/інсталяція + +- Not provided. + +## Схема розташування виводів + +![CUAV X25-SUPER Pinout_01](../../assets/flight_controller/cuav_x25-super/x25-super_pinouts_01.png) +![CUAV X25-SUPER Pinout_02](../../assets/flight_controller/cuav_x25-super/x25-super_pinouts_02.png) + +## Налаштування послідовного порту + +| UART | Пристрій | Порт | +| ------ | ---------- | ------------- | +| USART1 | /dev/ttyS0 | GPS1 | +| USART2 | /dev/ttyS1 | GPS2 | +| USART3 | /dev/ttyS2 | Debug Console | +| UART4 | /dev/ttyS3 | UART4 | +| UART5 | /dev/ttyS4 | TELEM2 | +| USART6 | /dev/ttyS5 | RC | +| UART7 | /dev/ttyS6 | TELEM1 | + +## RC-вхід + +The RC input pin is directly connected to the FMU UART6 TX. + +## Номінальна напруга + +The _X25-SUPER_ achieves triple redundancy on power supplies if three power sources are provided. The three power rails are POWERC1, POWERC2, and USB. + +- **POWER C1** and **POWER C2** are DroneCAN/UAVCAN battery interfaces. + +**Normal Operation Maximum Ratings** + +Under these conditions, all power sources will be used to power the system in the following order: + +1. **POWER C1** and **POWER C2** Inputs (10V to 18V) +2. USB Input (4.75V to 5.25V) + +**Voltage monitoring** + +Digital DroneCAN/UAVCAN battery monitoring is enabled by default. + +## Збірка прошивки + +:::tip +Most users will not need to build this firmware from PX4 v1.18. +It is pre-built and automatically installed by _QGroundControl_ when appropriate hardware is connected. +::: + +To [build PX4](../dev_setup/building_px4.md) for this target, execute: + +``` +make cuav_x25-super_default +``` + +## Debug Port {#debug_port} + +The [PX4 System Console](../debug/system_console.md) and [SWD Interface](../debug/swd_debug.md) operate on the **FMU Debug** port. + +| Pin | Сигнал | Вольтаж | +| -------------------------- | --------------------------------- | --------------------- | +| 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 | + +## Підтримувані платформи / Конструкції + +Будь-який мультикоптер / літак / наземна платформа / човен, який може керуватися звичайними RC сервоприводами або сервоприводами Futaba S-Bus. +The complete set of supported configurations can be seen in the [Airframes Reference](../airframes/airframe_reference.md). + +## Подальша інформація + +- [CUAV Docs](https://doc.cuav.net/) diff --git a/docs/uk/flight_controller/cuav_x7.md b/docs/uk/flight_controller/cuav_x7.md index 570e9e5b09..8eb0b07db3 100644 --- a/docs/uk/flight_controller/cuav_x7.md +++ b/docs/uk/flight_controller/cuav_x7.md @@ -1,186 +1,7 @@ + + + - -:::warning -This flight controller has been [discontinued](../flight_controller/autopilot_experimental.md) and is no longer commercially available. -It has been superseded by the [CUAV X7+](https://doc.cuav.net/controller/x7/en/). -::: - -:::warning -PX4 не розробляє цей (або будь-який інший) автопілот. -Contact the [manufacturer](https://www.cuav.net) for hardware support or compliance issues. -::: - -The [X7](https://doc.cuav.net/controller/x7/en/)® flight controller is a high-performance autopilot. -Це ідеальний вибір для промислових дронів і великомасштабних важких дронів. -В основному постачається комерційним виробникам. - -![CUAV x7](../../assets/flight_controller/cuav_x7/x7.jpg) - -Контролер польоту використовує модульний дизайн і може бути поєднаний з різними базовими платами. -Ви можете розробити спеціалізовану плату-носій для вашого БПЛА, щоб покращити інтеграцію комерційних систем, зменшити кількість проводів, підвищити надійність системи та підвищити конкурентоспроможність вашого БПЛА (наприклад, інтегруючи датчики швидкості повітря, телеметрію або навіть супутниковий комп'ютер на платі-носії). -CUAV також надає вам на вибір різноманітні несучі плати. - -:::info -This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md). -::: - -## Функції - -- Внутрішнє поглинання ударів -- Модульна конструкція, може бути саморобною несучою платою -- Підтримка USB_HS, швидше завантаження журналів (PX4 ще не підтримується) -- Підтримка більшої кількості виходів DShot -- Підтримка нагріву IMU, покращення роботи датчика -- Виділений порт для акумулятора CAN -- 3 комплекти датчиків IMU -- Автомобільний компас RM3100 -- Високопродуктивний процесор - -:::tip -The manufacturer [CUAV Docs](https://doc.cuav.net/flight-controller/x7/en/) are the canonical reference for the X7. -Вони повинні використовуватися за перевагою, оскільки вони містять найбільш повну та актуальну інформацію. -::: - -## Короткий опис - -- Головний FMU процесор: STM32H743 - -- Бортові сенсори: - - Акселерометр/Гіроскоп: ICM-20689 - - Прискорювач/гіроскоп: ICM-20649 - - Акселерометр/Гіроскоп: BMI088 - - Магнітометр: RM3100 - - Барометр: MS5611\*2 - -- Інтерфейси: - - 14 ШІМ-виходів （12 підтримує Dshot） - - Підтримка декількох входів RC (SBU / CPPM / DSM) - - Аналоговий / PWM вхід RSSI - - 2 GPS порти (GPS і UART4 порти) - - 4 шини i2c (два виділені порти i2c) - - 2 порти CAN шини - - 2 порти живлення (Power A - загальний інтерфейс адаптера, Power C - інтерфейс акумулятора DroneCAN) - - 2 входи АЦП - - 1 USB порт - -- Система живлення: - - Живлення: 4.3~5.4В - - Вхід USB: 4.75~5.25В - - Вхід сервоприводу: 0~36V - -- Вага та розміри: - - Вага: 101 g - -- Інші характеристики: - - Робоча температура: -20 ~ 80°c (виміряне значення) - - Три імуси - - Підтримка компенсації температури - - Внутрішнє поглинання ударів - -:::info -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. -::: - -## Де купити - -[CUAV Store](https://store.cuav.net) - -[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) - -## З'єднання (Проводка) - -[CUAV X7 Wiring Quickstart](https://doc.cuav.net/controller/x7/en/quick-start/quick-start-x7-plus.html) - -## Розмір та роз'єми - -![CUAV x7](../../assets/flight_controller/cuav_x7/x7-size.jpg) - -![X7 pinouts](../../assets/flight_controller/cuav_x7/x7-pinouts.jpg) - -:::warning -The `RCIN` port is limited to powering the RC receiver and cannot be connected to any power/load. -::: - -## Номінальна напруга - -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**. - -:::info -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** - -За таких умов всі джерела живлення будуть використовуватися в цьому порядку для живлення системи: - -1. **POWERA** and **POWERC** inputs (4.3V to 5.4V) -2. **USB** input (4.75V to 5.25V) - -## Збірка прошивки - -:::tip -Most users will not need to build this firmware! -It is pre-built and automatically installed by _QGroundControl_ when appropriate hardware is connected. -::: - -To [build PX4](../dev_setup/building_px4.md) for this target: - -``` -make cuav_x7pro_default -``` - -## Захист від перенапруги - -The _X7_ has over-current protection on the 5 Volt Peripheral and 5 Volt high power, which limits the current to 2.5A. -The _X7_ has short circuit protection. - -:::warning -Up to 2.5 A can be delivered to the connectors listed as pin 1 (although these are only rated at 1 A). -::: - -## Відладочний порт - -The system's serial console and SWD interface operate on the **DSU7** port. -Просто підключіть кабель FTDI до роз'єму DSU7 (у списку продуктів є кабель CUAV FTDI). - -![Debug port (DSU7)](../../assets/flight_controller/cuav_v5_plus/debug_port_dsu7.jpg) - -The [PX4 System Console](../debug/system_console.md) and [SWD interface](../debug/swd_debug.md) operate on the **FMU Debug** port (`DSU7`). - -The debug port (`DSU7`) uses a [JST BM06B](https://www.digikey.com.au/en/products/detail/jst-sales-america-inc/BM06B-GHS-TBT-LF-SN-N/807850) connector and has the following pinout: - -| Pin | Сигнал | Вольтаж | -| -------------------------- | --------------------------------- | --------------------- | -| 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 | - -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). - -![CUAV Debug cable](../../assets/flight_controller/cuav_v5_plus/cuav_v5_debug_cable.jpg) - -:::warning -The SWD Vref pin (1) uses 5V as Vref but the CPU is run at 3.3V! - -Деякі JTAG-адаптери (SEGGER J-Link) використовують напругу Vref для встановлення напруги на лініях SWD. -For direct connection to _Segger Jlink_ we recommended you use the 3.3 Volts from pin 4 of the connector marked `DSM`/`SBUS`/`RSSI` to provide `Vtref` to the JTAG (i.e. providing 3.3V and _NOT_ 5V). -::: - -## Підтримувані платформи / Конструкції - -Any multicopter / plane / 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). - -## Подальша інформація - -- [CUAV docs](https://doc.cuav.net/) -- [x7 schematic](https://github.com/cuav/hardware/tree/master/X7_Autopilot) +DOC REMOVED: 202603 +--> diff --git a/docs/uk/flight_controller/cubepilot_cube_orange.md b/docs/uk/flight_controller/cubepilot_cube_orange.md index c57b5ceda3..c540779960 100644 --- a/docs/uk/flight_controller/cubepilot_cube_orange.md +++ b/docs/uk/flight_controller/cubepilot_cube_orange.md @@ -10,7 +10,7 @@ The [Cube Orange](https://www.cubepilot.com/#/cube/features) flight controller i ![Cube Orange](../../assets/flight_controller/cube/orange/cube_orange_hero.jpg) Контролер призначений для використання зі специфічною для домену несучою платою, щоб зменшити кількість дротів, підвищити надійність і спростити збірку. -Наприклад, несуча плата для комерційного інспекційного апарату може містити з'єднання для комп'ютера-компаньйона, тоді як несуча плата для пілота може містити ESC для рами транспортного засобу. +For example, a carrier board for a commercial inspection vehicle might include connections for a companion computer, while a carrier board for a racer could include ESCs for the frame of the vehicle. Несуча плата ADS-B включає налаштований приймач ADSB-In на 1090 МГц від uAvionix. Це забезпечує позиціонування і розташування комерційних пілотованих літаків в межах досяжності Cube. @@ -22,6 +22,10 @@ Cube має віброізоляцію на двох IMU, з третім фік The manufacturer [Cube User Guide](https://docs.cubepilot.org/user-guides/autopilot/the-cube) contains detailed information, including an overview of the [Differences between Cube Colours](https://docs.cubepilot.org/user-guides/autopilot/the-cube/introduction/specifications). ::: +:::info +This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md). +::: + ## Основні характеристики - 32bit STM32H753VI (32bit [ARM Cortex M7](https://en.wikipedia.org/wiki/ARM_Cortex-M#Cortex-M7), 400 MHz, Flash 2MB, RAM 1MB). @@ -36,9 +40,7 @@ The manufacturer [Cube User Guide](https://docs.cubepilot.org/user-guides/autopi - Потужний багатотональний п'єзозвуковий індикатор - Карта microSD для високошвидкісної фіксації даних протягом тривалого періоду часу - - -## Де купити +## Where to Buy {#store} - [Reseller list](https://www.cubepilot.com/#/reseller/list) @@ -232,7 +234,7 @@ It is pre-built and automatically installed by _QGroundControl_ when appropriate To [build PX4](../dev_setup/building_px4.md) for this target, open up the terminal and enter: -``` +```sh make cubepilot_cubeorange ``` diff --git a/docs/uk/flight_controller/cubepilot_cube_orangeplus.md b/docs/uk/flight_controller/cubepilot_cube_orangeplus.md index 1b155e1a2f..4e14b1bf9b 100644 --- a/docs/uk/flight_controller/cubepilot_cube_orangeplus.md +++ b/docs/uk/flight_controller/cubepilot_cube_orangeplus.md @@ -6,12 +6,12 @@ Contact the [manufacturer](https://cubepilot.org/#/home) for hardware support or ::: The [Cube Orange+](https://www.cubepilot.com/#/cube/features) flight controller is a flexible autopilot intended primarily for manufacturers of commercial systems. -Cube Orange+ схожий з Cube Orange, але має потужніший двоядерний процесор (STM32H757 та деякі інші сенсори. +Cube Orange+ is similar to Cube Orange, but has a more powerful dual-core processor (STM32H757), and some different sensor parts. ![Cube Orange](../../assets/flight_controller/cube/orangeplus/cubepilot_cube_orangeplus_standard_set.jpg) Контролер призначений для використання зі специфічною для домену несучою платою, щоб зменшити кількість дротів, підвищити надійність і спростити збірку. -Наприклад, несуча плата для комерційного інспекційного апарату може містити з'єднання для комп'ютера-компаньйона, тоді як несуча плата для пілота може містити ESC для рами транспортного засобу. +For example, a carrier board for a commercial inspection vehicle might include connections for a companion computer, while a carrier board for a racer could include ESCs for the frame of the vehicle. Несуча плата ADS-B включає налаштований приймач ADSB-In на 1090 МГц від uAvionix. Це забезпечує позиціонування і розташування комерційних пілотованих літаків в межах досяжності Cube. @@ -23,6 +23,10 @@ Cube має віброізоляцію на двох IMU, з третім фік The manufacturer [Cube User Guide](https://docs.cubepilot.org/user-guides/autopilot/the-cube) contains detailed information, including an overview of the [Differences between Cube Colours](https://docs.cubepilot.org/user-guides/autopilot/the-cube/introduction/specifications). ::: +:::info +This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md). +::: + ## Основні характеристики - 32bit STM32H757ZI (32bit [ARM Cortex M7](https://en.wikipedia.org/wiki/ARM_Cortex-M#Cortex-M7), 400 MHz, Flash 2MB, RAM 1MB). @@ -37,9 +41,7 @@ The manufacturer [Cube User Guide](https://docs.cubepilot.org/user-guides/autopi - Потужний багатотональний п'єзозвуковий індикатор - Карта microSD для високошвидкісної фіксації даних протягом тривалого періоду часу - - -## Де купити +## Where to Buy {#store} - [Reseller list](https://www.cubepilot.com/#/reseller/list) @@ -232,7 +234,7 @@ The firmware for Orange+ will be present in releases from PX4 v1.14. To [build PX4](../dev_setup/building_px4.md) for this target, open up the terminal and enter: -``` +```sh make cubepilot_cubeorangeplus ``` diff --git a/docs/uk/flight_controller/cubepilot_cube_yellow.md b/docs/uk/flight_controller/cubepilot_cube_yellow.md index 70e36a2a7e..e7701dd42c 100644 --- a/docs/uk/flight_controller/cubepilot_cube_yellow.md +++ b/docs/uk/flight_controller/cubepilot_cube_yellow.md @@ -10,7 +10,7 @@ Contact the [manufacturer](https://cubepilot.org/#/home) for hardware support or ![Cube Yellow](../../assets/flight_controller/cube/yellow/cube_yellow_hero.jpg) Контролер призначений для використання зі специфічною для домену несучою платою, щоб зменшити кількість дротів, підвищити надійність і спростити збірку. -Наприклад, несуча плата для комерційного інспекційного апарату може містити з'єднання для комп'ютера-компаньйона, тоді як несуча плата для пілота може містити ESC для рами транспортного засобу. +For example, a carrier board for a commercial inspection vehicle might include connections for a companion computer, while a carrier board for a racer could include ESCs for the frame of the vehicle. Cube має віброізоляцію на двох IMU, з третім фіксованим IMU в якості еталонного/резервного. @@ -18,6 +18,10 @@ Cube має віброізоляцію на двох IMU, з третім фік The manufacturer [Cube User Guide](https://docs.cubepilot.org/user-guides/autopilot/the-cube) contains detailed information, including an overview of the [Differences between Cube Colours](https://docs.cubepilot.org/user-guides/autopilot/the-cube/introduction/specifications). ::: +:::info +This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md). +::: + ## Основні характеристики - 32bit STM32F777VI (32bit [ARM Cortex M7](https://en.wikipedia.org/wiki/ARM_Cortex-M#Cortex-M7), 400 MHz, Flash 2MB, RAM 512 KB). @@ -32,9 +36,7 @@ The manufacturer [Cube User Guide](https://docs.cubepilot.org/user-guides/autopi - Потужний багатотональний п'єзозвуковий індикатор - Карта microSD для високошвидкісної фіксації даних протягом тривалого періоду часу - - -## Де купити +## Where to Buy {#store} - [Reseller list](https://www.cubepilot.com/#/reseller/list) @@ -47,7 +49,7 @@ The manufacturer [Cube User Guide](https://docs.cubepilot.org/user-guides/autopi - **Processor:** - STM32F777VI (32bit [ARM Cortex M7](https://en.wikipedia.org/wiki/ARM_Cortex-M#Cortex-M7)) - 400 МГц - - 512 KB MB RAM + - 512 KB RAM - 2 MB Flash - **Failsafe co-processor:** - STM32F100 (32bit _ARM Cortex-M3_) @@ -130,7 +132,7 @@ It is pre-built and automatically installed by _QGroundControl_ when appropriate To [build PX4](../dev_setup/building_px4.md) for this target: -``` +```sh make cubepilot_cubeyellow ``` diff --git a/docs/uk/flight_controller/durandal.md b/docs/uk/flight_controller/durandal.md index 0ed9d55d4d..71c5a70a09 100644 --- a/docs/uk/flight_controller/durandal.md +++ b/docs/uk/flight_controller/durandal.md @@ -19,7 +19,7 @@ _Durandal_® is the latest update to the successful family of Holy - Внутрішня система ізоляції вібрації. - На платі є два високопродуктивних, малошумних ІМП (інерціальних вимірювачів кутової швидкості), призначених для вимогливих застосувань стабілізації. -A summary of the key features, [assembly](../assembly/quick_start_durandal.md), and [purchase](#purchase) links can be found below. +A summary of the key features, [assembly](../assembly/quick_start_durandal.md), and [purchase](#store) links can be found below. :::info This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md). @@ -86,9 +86,7 @@ This flight controller is [manufacturer supported](../flight_controller/autopilo For more information see: [Durandal Technical Data Sheet](https://cdn.shopify.com/s/files/1/0604/5905/7341/files/Durandal_technical_data_sheet_90f8875d-8035-4632-a936-a0d178062077.pdf). - - -## Де купити +## Where to Buy {#store} Order from [Holybro](https://holybro.com/products/durandal). @@ -162,7 +160,7 @@ It is pre-built and automatically installed by _QGroundControl_ when appropriate To [build PX4](../dev_setup/building_px4.md) for this target: -``` +```sh make holybro_durandal-v1_default ``` diff --git a/docs/uk/flight_controller/gearup_airbrainh743.md b/docs/uk/flight_controller/gearup_airbrainh743.md index deb6f6feb6..fda883e22c 100644 --- a/docs/uk/flight_controller/gearup_airbrainh743.md +++ b/docs/uk/flight_controller/gearup_airbrainh743.md @@ -74,7 +74,7 @@ Download the [gearup_airbrainh743_bootloader.bin](https://github.com/PX4/PX4-Aut To [build PX4](../dev_setup/building_px4.md) for this target: -``` +```sh make gearup_airbrainh743_default ``` @@ -84,7 +84,7 @@ Firmware can be installed in any of the normal ways: - Збудуйте та завантажте джерело: - ``` + ```sh make gearup_airbrainh743_default upload ``` diff --git a/docs/uk/flight_controller/holybro_pix32.md b/docs/uk/flight_controller/holybro_pix32.md index 9a1c7791b5..7ef63fc2af 100644 --- a/docs/uk/flight_controller/holybro_pix32.md +++ b/docs/uk/flight_controller/holybro_pix32.md @@ -1,106 +1,8 @@ -# Контролер польоту Holybro pix32 (знято з виробництва) + - + +--> diff --git a/docs/uk/flight_controller/holybro_pix32_v5.md b/docs/uk/flight_controller/holybro_pix32_v5.md index a6f7ff909c..ff3b5db2cf 100644 --- a/docs/uk/flight_controller/holybro_pix32_v5.md +++ b/docs/uk/flight_controller/holybro_pix32_v5.md @@ -71,7 +71,7 @@ This flight controller is [manufacturer supported](../flight_controller/autopilo Additional information can be found in the [Pix32 V5 Technical Data Sheet](https://cdn.shopify.com/s/files/1/0604/5905/7341/files/Holybro_PIX32-V5_technical_data_sheet_v1.1.pdf). -## Де купити +## Where to Buy {#store} Order from [Holybro website](https://holybro.com/products/pix32-v5). @@ -125,7 +125,7 @@ It is pre-built and automatically installed by _QGroundControl_ when appropriate To [build PX4](../dev_setup/building_px4.md) for this target: -``` +```sh зробіть holybro_durandal-v1_default ``` diff --git a/docs/uk/flight_controller/holybro_pix32_v6.md b/docs/uk/flight_controller/holybro_pix32_v6.md index 1e6791c930..d5fd9855a4 100644 --- a/docs/uk/flight_controller/holybro_pix32_v6.md +++ b/docs/uk/flight_controller/holybro_pix32_v6.md @@ -12,7 +12,7 @@ _Pix32 v6_® is the latest update to the pix32 v5 flight controlle @@ -93,7 +93,7 @@ Pix32 v6’s H7 MCU містить ядро Arm® Cortex®-M7 до 480 MHz, ма - Інші характеристики: - Operating & storage temperature: -40 ~ 85°c -## Де купити +## Where to Buy {#store} Order from [Holybro](https://holybro.com/products/pix32-v6). @@ -156,13 +156,11 @@ It is pre-built and automatically installed by _QGroundControl_ when appropriate To [build PX4](../dev_setup/building_px4.md) for this target: -``` +```sh make px4_fmu-v6c_default ``` - - -## Відладочний порт +## Debug Port {#debug_port} The [PX4 System Console](../debug/system_console.md) and [SWD interface](../debug/swd_debug.md) run on the **FMU Debug** port. diff --git a/docs/uk/flight_controller/kakutef7.md b/docs/uk/flight_controller/kakutef7.md index 297334c9ca..72e2f77c50 100644 --- a/docs/uk/flight_controller/kakutef7.md +++ b/docs/uk/flight_controller/kakutef7.md @@ -1,142 +1,7 @@ -# Holybro Kakute F7 (Знято з виробництва) + - + - -## Відладочний порт - -### Системна консоль - -UART3 RX and TX are configured for use as the [System Console](../debug/system_console.md). - -### SWD - -The [SWD interface](../debug/swd_debug.md) (JTAG) pins are: - -- `SWCLK`: Test Point 2 (Pin 72 on the CPU) -- `SWDIO`: Test Point 3 (Pin 76 on CPU) -- `GND`: As marked on board -- `VDD_3V3`: As marked on board - -Ці показані нижче. - -![SWD Pins on Kakute F7 - CLK SWO](../../assets/flight_controller/kakutef7/debug_swd_port.jpg) ![SWD Pins on Kakute F7: GND and VDD_3V3](../../assets/flight_controller/kakutef7/debug_swd_port_gnd_vcc3_3.jpg) +DOC REMOVED: 202603 +--> diff --git a/docs/uk/flight_controller/kakuteh7-wing.md b/docs/uk/flight_controller/kakuteh7-wing.md index bea7e564f5..5919b0a50e 100644 --- a/docs/uk/flight_controller/kakuteh7-wing.md +++ b/docs/uk/flight_controller/kakuteh7-wing.md @@ -13,7 +13,7 @@ The [Holybro Kakute H743 Wing](https://holybro.com/products/kakute-h743-wing) is This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md). ::: -## Де купити +## Where to Buy {#store} Плату можна придбати в одному з наступних магазинів (наприклад): @@ -43,7 +43,7 @@ Download the [holybro_kakuteh7-wing.hex](https://github.com/PX4/PX4-Autopilot/ra To [build PX4](../dev_setup/building_px4.md) for this target: -``` +```sh make holybro_kakuteh7-wing_default ``` @@ -58,7 +58,7 @@ KakuteH7-wing is supported in PX4 v1.16 or newer. - Збудуйте та завантажте джерело: - ``` + ```sh make holybro_kakuteh7-wing_default upload ``` diff --git a/docs/uk/flight_controller/kakuteh7.md b/docs/uk/flight_controller/kakuteh7.md index e9b2811f25..ffc8b461ae 100644 --- a/docs/uk/flight_controller/kakuteh7.md +++ b/docs/uk/flight_controller/kakuteh7.md @@ -36,7 +36,7 @@ This flight controller is [manufacturer supported](../flight_controller/autopilo - Розміри: 35 x 35мм - Вага: 8г -## Де купити +## Where to Buy {#store} Плату можна придбати в одному з наступних магазинів (наприклад): @@ -102,7 +102,7 @@ make holybro_kakuteh7_default Ви можете використовувати або готове вбудоване програмне забезпечення, або власне користувацьке програмне забезпечення. :::info -Якщо ви завантажуєте готове програмне забезпечення через QGroundcontrol, вам необхідно використовувати щоденну версію QGC або версію QGC новішу за 4.1.7. +If you are loading the pre-built firmware via QGroundControl, you must use QGC Daily or QGC version newer than 4.1.7. ::: ## Конфігурація PX4 diff --git a/docs/uk/flight_controller/kakuteh7mini.md b/docs/uk/flight_controller/kakuteh7mini.md index d336df822f..d777c8b31b 100644 --- a/docs/uk/flight_controller/kakuteh7mini.md +++ b/docs/uk/flight_controller/kakuteh7mini.md @@ -40,7 +40,7 @@ PX4 runs on the H7 mini v1.3 and later. - Розміри: 30x31x6мм - Вага: 5.5г -## Де купити +## Where to Buy {#store} Плату можна придбати в одному з наступних магазинів (наприклад): @@ -86,14 +86,14 @@ Download the [holybro_kakuteh7mini_bootloader.hex](https://github.com/PX4/PX4-Au To [build PX4](../dev_setup/building_px4.md) for this target: -``` +```sh make holybro_kakuteh7mini_default ``` ## Встановлення прошивки PX4 :::info -Якщо ви завантажуєте готове програмне забезпечення через QGroundcontrol, вам необхідно використовувати щоденну версію QGC або версію QGC новішу за 4.1.7. +If you are loading the pre-built firmware via QGroundControl, you must use QGC Daily or QGC version newer than 4.1.7. До випуску вам потрібно буде вручну зібрати та встановити прошивку. ::: @@ -101,7 +101,7 @@ make holybro_kakuteh7mini_default - Збудуйте та завантажте джерело: - ``` + ```sh make holybro_kakuteh7mini_default upload ``` diff --git a/docs/uk/flight_controller/kakuteh7v2.md b/docs/uk/flight_controller/kakuteh7v2.md index a1b3eb6246..a828c1984e 100644 --- a/docs/uk/flight_controller/kakuteh7v2.md +++ b/docs/uk/flight_controller/kakuteh7v2.md @@ -36,7 +36,7 @@ This flight controller is [manufacturer supported](../flight_controller/autopilo - Розміри: 35 x 35мм - Вага: 8г -## Де купити +## Where to Buy {#store} Плату можна придбати в одному з наступних магазинів (наприклад): @@ -83,14 +83,14 @@ Download the [holybro_kakuteh7v2_bootloader.hex](https://github.com/PX4/PX4-Auto To [build PX4](../dev_setup/building_px4.md) for this target: -``` +```sh make holybro_kakuteh7v2_default ``` ## Встановлення прошивки PX4 :::info -KakuteH7v2 is supported with PX4 master & PX4 v1.14 or newer. Якщо ви завантажуєте готове програмне забезпечення через QGroundcontrol, вам необхідно використовувати щоденну версію QGC або версію QGC новішу за 4.1.7. +KakuteH7v2 is supported with PX4 master & PX4 v1.14 or newer. If you are loading the pre-built firmware via QGroundControl, you must use QGC Daily or QGC version newer than 4.1.7. До випуску вам потрібно буде вручну зібрати та встановити прошивку. ::: @@ -98,7 +98,7 @@ KakuteH7v2 is supported with PX4 master & PX4 v1.14 or newer. Якщо ви за - Збудуйте та завантажте джерело: - ``` + ```sh make holybro_kakuteh7v2_default upload ``` diff --git a/docs/uk/flight_controller/micoair743-lite.md b/docs/uk/flight_controller/micoair743-lite.md index d98d3a1d30..66f4399f55 100644 --- a/docs/uk/flight_controller/micoair743-lite.md +++ b/docs/uk/flight_controller/micoair743-lite.md @@ -12,7 +12,7 @@ MicoAir743-Lite is an ultra-high performance H743 flight controller with an unbe ![MicoAir743-Lite Front View](../../assets/flight_controller/micoair743_lite/front_view.png) Equipped with a high-performance H7 processor, the MicoAir743-Lite features a compact form factor with SH1.0 connectors (which are more suitable than Pixhawk-standard GH1.25 for this board size). -When paired with with Bluetooth telemetry, the board can be debugged with a phone or PC. +When paired with Bluetooth telemetry, the board can be debugged with a phone or PC. :::info This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md). @@ -67,7 +67,7 @@ This flight controller is [manufacturer supported](../flight_controller/autopilo ![MicoAir743-Lite Size](../../assets/flight_controller/micoair743_lite/size.png) -## Де купити +## Where to Buy {#store} Order from [MicoAir Tech Store](https://store.micoair.com/product/micoair743-lite/). @@ -85,12 +85,12 @@ Pinouts definition can be found in the [MicoAir743-Lite_pinout.xlsx](https://raw | UART4 | /dev/ttyS3 | TELEM2 | | UART5 | /dev/ttyS4 | TELEM3 | | USART6 | /dev/ttyS5 | RC | -| UART7 | /dev/ttyS6 | URT6 | +| UART7 | /dev/ttyS6 | UART6 | | UART8 | /dev/ttyS7 | TELEM4 | ## Interfaces Diagram -:::note +:::info All the connectors used on the board are SH1.0 ::: diff --git a/docs/uk/flight_controller/mindpx.md b/docs/uk/flight_controller/mindpx.md index 962f71b45f..b35d9ce37f 100644 --- a/docs/uk/flight_controller/mindpx.md +++ b/docs/uk/flight_controller/mindpx.md @@ -19,7 +19,7 @@ These flight controllers are [manufacturer supported](../flight_controller/autop The main hardware documentation is [here](http://mindpx.net/assets/accessories/Specification9.18_3_pdf.pdf). ::: -MindPX - це нова система автопілотів, що створена з Pixhawk®, переглянута в схематиці та структурі, і вони були ще більше розширені новими можливостями, щоб безпілотний пристрій був "розумнішим" та простшим у користуванні. +MindPX is a new generation autopilot system branched from Pixhawk®, has been revised in schematic and structure, and has been further enhanced with new features to make unmanned vehicle more smart and more friendly to use. MindPX збільшує загальну кількість каналів виведення PWM до 16 (8 основних виводів + 8 допоміжних виводів). Це означає, що MindPX може підтримувати більш складні конфігурації VTOL і кращий контроль. @@ -86,7 +86,7 @@ It is pre-built and automatically installed by _QGroundControl_ when appropriate To [build PX4](../dev_setup/building_px4.md) for this target: -``` +```sh make airmind_mindpx-v2_default ``` @@ -96,7 +96,7 @@ MindPX має USB-TO-UART Bridge IC на платі. Кабель micro-USB до USB type A використовується для підключення. Підключіть micro-USB кінець до порту 'OBC' MindPX та USB type A кінець до комп'ютера-компаньйона. -Максимальна швидкість BAUD така ж, як у родини px4, яка становить до 921600. +And the max BAUD rate is the same as for the PX4 family, which is up to 921600. ## Посібник користувача @@ -104,7 +104,7 @@ MindPX має USB-TO-UART Bridge IC на платі. The user guide is [here](http://mindpx.net/assets/accessories/UserGuide9.18_2_pdf.pdf). ::: -## Де купити +## Where to Buy {#store} MindRacer is available at [AirMind Store](https://airmind.mindpx.net/catalog). Ви також можете знайти MindRacer на Amazon® або на eBay®. diff --git a/docs/uk/flight_controller/mindracer.md b/docs/uk/flight_controller/mindracer.md index 59ccc8e7ec..9d6b79bca5 100644 --- a/docs/uk/flight_controller/mindracer.md +++ b/docs/uk/flight_controller/mindracer.md @@ -66,7 +66,7 @@ It is pre-built and automatically installed by _QGroundControl_ when appropriate To [build PX4](../dev_setup/building_px4.md) for this target: -``` +```sh make airmind_mindpx-v2_default ``` @@ -79,7 +79,7 @@ MindRacer має приєднану до себе плату Adapt IO. MindRacer має вбудований конвертер UART-to-USB. Для підключення комп'ютера-компаньйона встановіть MindRacer на плату інтерфейсу та підключіть супутній комп'ютер до USB-порту на платі інтерфейсу. -Максимальна швидкість BAUD така ж, як у родини px4, яка становить до 921600. +And the max BAUD rate is the same as for the PX4 family, which is up to 921600. ### Посібник користувача @@ -87,7 +87,7 @@ MindRacer має вбудований конвертер UART-to-USB. The user guide is [here](http://mindpx.net/assets/accessories/mindracer_user_guide_v1.2.pdf) ::: -## Де купити +## Where to Buy {#store} MindRacer is available at [AirMind Store](https://airmind.mindpx.net/catalog). Ви також можете знайти MindRacer на Amazon® або на eBay®. diff --git a/docs/uk/flight_controller/modalai_fc_v1.md b/docs/uk/flight_controller/modalai_fc_v1.md index ce55434ba3..c7729f854a 100644 --- a/docs/uk/flight_controller/modalai_fc_v1.md +++ b/docs/uk/flight_controller/modalai_fc_v1.md @@ -1,146 +1,7 @@ -# ModalAI Flight Core v1 + - + - -[stm32f765ii]: https://www.st.com/en/microcontrollers-microprocessors/stm32f765ii.html -[bmp388]: https://www.adafruit.com/product/3966 -[icm-20602]: https://invensense.tdk.com/products/motion-tracking/6-axis/icm-20602/ -[bmi088]: https://www.bosch-sensortec.com/products/motion-sensors/imus/bmi088/ -[px4]: https://github.com/PX4/PX4-Autopilot/tree/main/boards/modalai/fc-v1 -[a71ch]: https://www.nxp.com/products/security-and-authentication/authentication/plug-and-trust-the-fast-easy-way-to-deploy-secure-iot-connections:A71CH - -## Розміри - -![FlightCoreV1Dimensions](../../assets/flight_controller/modalai/fc_v1/dimensions.png) - -## Сумісність прошивки PX4 - -_Flight Core v1_ is fully compatible with the official PX4 Firmware from PX4 v1.11. - -ModalAI maintains a [branched PX4 version](https://github.com/modalai/px4-firmware/tree/modalai-1.11) for PX4 v1.11. -Це включає підтримку UART ESC та поліпшення в VIO та VOA, які планується включити в основний код. - -More information about the firmware can be found [here](https://docs.modalai.com/flight-core-firmware/). - -## QGroundControl Підтримка - -Ця плата підтримується QGroundControl 4.0 та пізнішими версіями. - -## Доступність - -- No longer available - -## Швидкий Старт - -### Орієнтація - -The diagram below shows the recommended orientation, which corresponds to `ROTATION_NONE` starting with PX4 v1.11. - -![FlightCoreV1Orientation](../../assets/flight_controller/modalai/fc_v1/orientation.png) - -### З’єднання - -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) - -| З’єднання | Опис | -| --------- | ------------------------------------------------------------------------------- | -| J1 | Роз'єм інтерфейсу зв'язку VOXL (TELEM2) | -| J2 | Програмний та відлагоджувальний роз'єм | -| J3 | USB конектор | -| J4 | UART2, UART ESC (TELEM3) | -| J5 | Конектор телеметрії (TELEM1) | -| J6 | Введенням VOXL-Power Management / розширення | -| J7 | Роз'єм виводу з 8 каналами PWM | -| J8 | Конектор шини CAN | -| J9 | PPM RC In | -| J10 | External GPS & Magnetometer Connector | -| J12 | Вхід RC, Spektrum/SBus/UART конектор | -| J13 | I2C Дисплей (роз'єм запасного датчика) / Вхід кнопки безпеки | - -![FlightCoreV1Bottom](../../assets/flight_controller/modalai/fc_v1/bottom.png) - -### Посібник користувача - -The full user guide is available [here](https://docs.modalai.com/flight-core-manual/). - -### Як зібрати - -To [build PX4](../dev_setup/building_px4.md) for this target: - -``` -make modalai_fc-v1 -``` - -## Налаштування послідовного порту - -| UART | Пристрій | Порт | -| ------ | ---------- | ---------------------------------------------------- | -| USART1 | /dev/ttyS0 | GPS1 (J10) | -| USART2 | /dev/ttyS1 | TELEM3 (J4) | -| USART3 | /dev/ttyS2 | Консоль відлагодження (J2) | -| UART4 | /dev/ttyS3 | Розширення UART (J6) | -| UART5 | /dev/ttyS4 | TELEM2, Основні зв'язки VOXL (J1) | -| USART6 | /dev/ttyS5 | RC (J12) | -| UART7 | /dev/ttyS6 | TELEM1 (J5) | -| UART8 | /dev/ttyS7 | N/A | - - - -## Підтримка - -Please visit the [ModalAI Forum](https://forum.modalai.com/category/10/flight-core) for more information. +DOC REMOVED: 202603 +--> diff --git a/docs/uk/flight_controller/modalai_voxl_2.md b/docs/uk/flight_controller/modalai_voxl_2.md index 0e4743b0d9..133ee9c8d9 100644 --- a/docs/uk/flight_controller/modalai_voxl_2.md +++ b/docs/uk/flight_controller/modalai_voxl_2.md @@ -5,7 +5,7 @@ PX4 не розробляє цей (або будь-який інший) авт Contact the [manufacturer](https://forum.modalai.com/) for hardware support or compliance issues. ::: -The ModalAI [VOXL 2](https://modalai.com/voxl-2) ([Datasheet](https://docs.modalai.com/voxl2-datasheets/)) is ModalAI’s next-gen autonomous computing platform built around the Qualcomm QRB5165 processor. VOXL 2 має 8 ядер, вбудований PX4, сім одночасних камер, бортовий ШІ до 15+ TOPS та підтримку 5G зв'язку. З вагою 16 грамів, VOXL 2 - це майбутнє повністю автономних та підключених дронів! +The ModalAI [VOXL 2](https://www.modalai.com/products/voxl-2) ([Datasheet](https://docs.modalai.com/voxl2-datasheets/)) is ModalAI's next-gen autonomous computing platform built around the Qualcomm QRB5165 processor. VOXL 2 має 8 ядер, вбудований PX4, сім одночасних камер, бортовий ШІ до 15+ TOPS та підтримку 5G зв'язку. З вагою 16 грамів, VOXL 2 - це майбутнє повністю автономних та підключених дронів! ![VOXL-2](../../assets/flight_controller/modalai/voxl_2/voxl-2-hero.jpg) @@ -62,7 +62,7 @@ ModalAI is actively maintaining a [branched PX4 version](https://github.com/moda As VOXL 2 runs Ubuntu, the production releases of PX4 for VOXL 2 are distributed through [apt package management](https://docs.modalai.com/configure-pkg-manager/) and the [VOXL SDK](https://docs.modalai.com/voxl-sdk/). -More information about the firmware can be found [here](https://docs.modalai.com/voxl2-px4-developer-guide/). +More information about the firmware can be found [here](https://docs.modalai.com/voxl-px4/). ### основна гілка @@ -70,7 +70,7 @@ PX4 mainline supports VOXL 2 (board documentation [here](https://github.com/PX4/ ## QGroundControl Підтримка -Ця плата підтримується QGroundControl 4.0 та пізнішими версіями. +This board is supported in QGroundControl 4.0 and later. ## Доступність @@ -78,17 +78,16 @@ PX4 mainline supports VOXL 2 (board documentation [here](https://github.com/PX4/ - [Starling 2 MAX](https://www.modalai.com/products/starling-2-max) - [Sentinel Development Drone powered by VOXL 2](https://www.modalai.com/pages/sentinel) - [Demo Video](https://www.youtube.com/watch?v=hMhQgWPLGXo) -- [VOXL 2 Flight Deck, ready to mount, tune and fly](https://www.modalai.com/collections/ready-to-mount/products/voxl-2-flight-deck) - [VOXL 2 Development Kits](https://www.modalai.com/products/voxl-2) - [Demo Video](https://www.youtube.com/watch?v=aVHBWbwp488) ## Швидкий Старт -Quickstarts from the vendor are located [here](https://docs.modalai.com/voxl2-quickstarts/). +Quickstarts from the vendor are located [here](https://docs.modalai.com/voxl-2-hardware-quickstart/). ### VOXL SDK -VOXL SDK (Software Development Kit) consists of the open source [voxl-px4](https://docs.modalai.com/voxl-px4/), [core libraries](https://docs.modalai.com/core-libs/), [services](https://docs.modalai.com/mpa-services/), [tools](https://docs.modalai.com/inspect-tools/), [utilities](https://docs.modalai.com/sdk-utilities/), and [build environments](https://docs.modalai.com/build-environments/) that ModalAI provide to accelerate the use and development of VOXL compute boards and accessories. +VOXL SDK (Software Development Kit) consists of the open source [voxl-px4](https://docs.modalai.com/voxl-px4/), [core libraries](https://docs.modalai.com/core-libs/), [services](https://docs.modalai.com/mpa-services/), [tools](https://docs.modalai.com/inspect-tools/), and [build environments](https://docs.modalai.com/build-environments/) that ModalAI provide to accelerate the use and development of VOXL compute boards and accessories. VOXL SDK працює на VOXL, VOXL 2 та RB5 Flight! @@ -123,11 +122,11 @@ The PX4 user guide for VOXL 2 is available [here](https://docs.modalai.com/voxl- ### Інструкція розробника -The PX4 developer guide for VOXL 2 is available [here](https://docs.modalai.com/voxl-px4-developer-guide/). +The PX4 developer guide for VOXL 2 is available [here](https://docs.modalai.com/voxl-px4/). ### Як зібрати -See the [VOXL PX4 Build Guide](https://docs.modalai.com/voxl2-px4-build-guide/) on how to build. +See the [VOXL PX4 Build Guide](https://docs.modalai.com/voxl-px4-dev-build-guide/) on how to build. ## Підтримка diff --git a/docs/uk/flight_controller/modalai_voxl_flight.md b/docs/uk/flight_controller/modalai_voxl_flight.md index a864148b16..7f5ee9210d 100644 --- a/docs/uk/flight_controller/modalai_voxl_flight.md +++ b/docs/uk/flight_controller/modalai_voxl_flight.md @@ -1,202 +1,7 @@ -# ModalAI VOXL Flight + - + - -[stm32f765ii]: https://www.st.com/en/microcontrollers-microprocessors/stm32f765ii.html -[px4]: https://github.com/PX4/PX4-Autopilot/tree/main/boards/modalai/fc-v1 -[icm-20602]: https://invensense.tdk.com/products/motion-tracking/6-axis/icm-20602/ -[bmi088]: https://www.bosch-sensortec.com/products/motion-sensors/imus/bmi088/ -[bmp388]: https://www.adafruit.com/product/3966 -[a71ch]: https://www.nxp.com/products/security-and-authentication/authentication/plug-and-trust-the-fast-easy-way-to-deploy-secure-iot-connections:A71CH - -:::info -More detailed hardware documentation can be found [here](https://docs.modalai.com/voxl-flight-datasheet/). -::: - -## Розміри - -![FlightCoreV1Dimensions](../../assets/flight_controller/modalai/voxl_flight/voxl-flight-dimensions.jpg) - -[3D STEP File](https://storage.googleapis.com/modalai_public/modal_drawings/M0019_VOXL-Flight.zip) - -## Сумісність прошивки PX4 - -_VOXL Flight_ is fully compatible with the official PX4 Firmware from PX4 v1.11. - -ModalAI maintains a [branched PX4 version](https://github.com/modalai/px4-firmware/tree/modalai-1.11) for PX4 v1.11. -Це включає підтримку UART ESC та поліпшення в VIO та VOA, які планується включити в основний код. - -More information about the firmware can be found [here](https://docs.modalai.com/flight-core-firmware/). - -## QGroundControl Підтримка - -Ця плата підтримується QGroundControl 4.0 та пізнішими версіями. - -## Доступність - -No longer available. - -## Швидкий Старт - -A quickstart from the vendor is located [here](https://docs.modalai.com/voxl-flight-quickstart/). - -### voxl-vision-px4 - -The VOXL Flight runs [voxl-vision-px4](https://gitlab.com/voxl-public/modal-pipe-architecture/voxl-vision-px4) on the companion computer portion of the hardware serving as a sort of MAVLink proxy. -For details, the source code is available [here](https://gitlab.com/voxl-public/modal-pipe-architecture/voxl-vision-px4) - -### З’єднання - -Detailed information about the pinouts can be found [here](https://docs.modalai.com/voxl-flight-datasheet-connectors/). - -#### Верх - -![VOXLFlightTop](../../assets/flight_controller/modalai/voxl_flight/voxl-flight-top.jpg) - -_Note: 1000 Series connectors accessible from the STM32/PX4_ - -| З’єднання | Опис | Використовується | -| --------- | ---------------------------------------------------------------------- | ---------------------------------------------------- | -| J2 | Датчик зображення 4k (CSI0) високої якості | Snapdragon - Linux | -| J3 | Стерео Датчик Зображення (CSI1) | Snapdragon - Linux | -| J6 | Конектор вентилятора охолодження | Snapdragon - Linux | -| J7 | BLSP6 (GPIO) та BLSP9 (UART) | Snapdragon - Linux | -| J13 | Expansion B2B | Snapdragon - Linux | -| J14 | Підключення вбудованої антени GNSS | Snapdragon - Linux | -| J1001 | Програмний та відлагоджувальний/UART3 | STM32 - PX4 | -| J1002 | UART ESC, UART2/TELEM3 | STM32 - PX4 | -| J1003 | PPM RC In | STM32 - PX4 | -| J1004 | Вхід RC, Spektrum/SBus/UART6 | STM32 - PX4 | -| J1006 | Роз'єм USB 2.0 (PX4/QGroundControl) | STM32 - PX4 | -| J1007 | 8-Канальний вихід PWM/DShot | STM32 - PX4 | -| J1008 | CAN шина | STM32 - PX4 | -| J1009 | I2C3, UART4 | STM32 - PX4 | -| J1010 | Телеметрія (TELEM1) | STM32 - PX4 | -| J1011 | I2C2, кнопка безпеки | STM32 - PX4 | -| J1012 | External GPS & Mag, UART1, I2C1 | STM32 - PX4 | -| J1013 | Вхід живлення, I2C3 | STM32 - PX4 (живить весь систему) | - -#### Низ - -![VOXLFlightBottom](../../assets/flight_controller/modalai/voxl_flight/voxl-flight-bottom.jpg) - -_Note: 1000 Series connectors accessible from the STM32/PX4_ - -| З’єднання | Опис | Використовується | -| -------------- | -------------------------------------------------------------------------- | --------------------------- | -| J4 | Датчик відстеження / оптичного потоку зображення (CSI2) | Snapdragon - Linux | -| J8 | USB 3.0 OTG | Snapdragon - Linux, **adb** | -| J10 | BLSP7 UART та I2C off-board | Snapdragon - Linux | -| J11 | BLSP12 UART та I2C off-board | Snapdragon - Linux | -| VOXL microSD | | Snapdragon - Linux | -| PX4 microSD | 32Gb Max | STM32 - PX4 | -| Wi-Fi Antennas | У комплекті | Snapdragon - Linux | - -### Посібник користувача - -The full user guide is available [here](https://docs.modalai.com/voxl-flight-quickstart). - -### Як зібрати - -To [build PX4](../dev_setup/building_px4.md) for this target: - -``` -make modalai_fc-v1 -``` - -## Налаштування послідовного порту - -_Note: mappings shown are for the PX4 controlled interfaces only_ - -| UART | Пристрій | Порт | -| ------ | ---------- | ------------------------------------------- | -| USART1 | /dev/ttyS0 | GPS1 (J1012) | -| USART2 | /dev/ttyS1 | TELEM3 (J1002) | -| USART3 | /dev/ttyS2 | Консоль відладки (J1001) | -| UART4 | /dev/ttyS3 | Розширення UART (J6) | -| UART5 | /dev/ttyS4 | UART між PX4 та Комп'ютером-компаньйоном | -| USART6 | /dev/ttyS5 | RC (J1004) | -| UART7 | /dev/ttyS6 | TELEM1 (J1010) | -| UART8 | /dev/ttyS7 | N/A | - - - -## Підтримка - -Please visit the [ModalAI Forum](https://forum.modalai.com/category/8/voxl-flight) for more information. +DOC REMOVED: 202603 +--> diff --git a/docs/uk/flight_controller/mro_control_zero_f7.md b/docs/uk/flight_controller/mro_control_zero_f7.md index 1a52fdd1de..a40e387e62 100644 --- a/docs/uk/flight_controller/mro_control_zero_f7.md +++ b/docs/uk/flight_controller/mro_control_zero_f7.md @@ -30,7 +30,7 @@ This flight controller is [manufacturer supported](../flight_controller/autopilo - [Bosch BMI088](https://www.bosch-sensortec.com/products/motion-sensors/imus/bmi088/) 3-axis accelerometer/gyroscope (internally vibration dampened) - [Invensense ICM-20602](https://invensense.tdk.com/products/motion-tracking/6-axis/icm-20602/) 3-axis accelerometer/gyroscope - [Invensense ICM-20948](https://invensense.tdk.com/products/motion-tracking/9-axis/icm-20948/) 3-axis accelerometer/gyroscope/magnetometer - - [Infineon DPS310 barometer](https://www.infineon.com/assets/row/public/documents/24/49/infineon-dps310-datasheet-en.pdf) - [Discontinued](https://www.infineon.com/part/DPS310) (So smooth and NO more light sensitivity) + - Infineon DPS310 barometer - [Discontinued](https://www.infineon.com/products/sensor/pressure-sensors/pressure-sensors-for-iot) (So smooth and NO more light sensitivity) - Інтерфейси: - 6x UART (загальна кількість послідовних портів), 3x з HW керуванням потоком, 1x FRSky Telemetry (типи D або Х), 1x Консоль та 1x GPS+I2C @@ -56,7 +56,7 @@ This flight controller is [manufacturer supported](../flight_controller/autopilo - Система живлення: - 3x Низькозатратний лінійний регулятор напруги Ultra Low Noise LDO -## Де купити +## Where to Buy {#store} - [mRo Control Zero](https://store.mrobotics.io/mRo-Control-Zero-F7-p/mro-ctrl-zero-f7.htm) @@ -69,22 +69,22 @@ It is pre-built and automatically installed by _QGroundControl_ when appropriate To [build PX4](../dev_setup/building_px4.md) for this target: -``` +```sh make mro_ctrl-zero-f7 ``` -## Відладочні порти +## Debug Ports {#debug_port} ### Порт Консолі The [PX4 System Console](../debug/system_console.md) runs on `USART7` using the pins listed below. This is a standard serial pinout, designed to connect to a [3.3V FTDI](https://www.digikey.com/en/products/detail/TTL-232R-3V3/768-1015-ND/1836393) cable (5V tolerant). -\| mRo control zero f7 | | FTDI | -\| ------------------- | ----------- | ---- | ---------------- | -\| 17 | USART7 Tx | 5 | FTDI RX (yellow) | -\| 19 | USART7 Rx | 4 | FTDI TX (orange) | -\| 6 | USART21 GND | 1 | FTDI GND (black) | +| mRo control zero f7 | | FTDI | | +| ------------------- | ----------- | ---- | ----------------------------------- | +| 17 | USART7 Tx | 5 | FTDI RX (yellow) | +| 19 | USART7 Rx | 4 | FTDI TX (orange) | +| 6 | USART21 GND | 1 | FTDI GND (black) | ### SWD Port diff --git a/docs/uk/flight_controller/mro_pixhawk.md b/docs/uk/flight_controller/mro_pixhawk.md index b1fb6e397d..b38a513df9 100644 --- a/docs/uk/flight_controller/mro_pixhawk.md +++ b/docs/uk/flight_controller/mro_pixhawk.md @@ -72,7 +72,7 @@ It is pre-built and automatically installed by _QGroundControl_ when appropriate To [build PX4](../dev_setup/building_px4.md) for this target: -``` +```sh make px4_fmu-v3_default ``` diff --git a/docs/uk/flight_controller/mro_x2.1.md b/docs/uk/flight_controller/mro_x2.1.md index 98a172a2f8..1be40508d7 100644 --- a/docs/uk/flight_controller/mro_x2.1.md +++ b/docs/uk/flight_controller/mro_x2.1.md @@ -1,119 +1,10 @@ + + + +Doc removed 202603 + text="Discontinued" 202507 / PX4v1.16 -:::warning -This flight controller has been [discontinued](../flight_controller/autopilot_experimental.md) and is no longer commercially available. -::: - -:::warning -PX4 не розробляє цей (або будь-який інший) автопілот. -Contact the [manufacturer](https://store.mrobotics.io/) for hardware support or compliance issues. -::: - -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](https://nuttx.apache.org/) OS. - -![mRo X2.1](../../assets/flight_controller/mro/mro_x2.1.jpg) - -:::info -This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md). -::: - -## Короткий опис - -- Main System-on-Chip: [STM32F427](https://www.st.com/en/microcontrollers-microprocessors/stm32f427-437.html) - - CPU: STM32F427VIT6 ARM® мікроконтроллер - Revision 3 - - ІО: мікроконтролер STM32F100C8T6 ARM® -- Датчики: - - Invensense® MPU9250 9DOF - - Invensense ICM-20602 6DOF - - MEAS MS5611 барометр -- Розміри/Вага - - Size: 36mm x 50mm - (Can be ordered with vertical, horizontal or no headers installed) - - Точки кріплення: 30,5 мм х 30,5 мм діаметр 3,2 мм - - Вага: 10.9g - -Діаграма нижче надає порівняльний аналіз з Pixhawk 1. -mRo має практично ідентичне апаратне забезпечення й підключення, але має значно менший слід. -Основні відмінності - це оновлені датчики та Rev 3 FMU. - -![Mro Pixhawk 1 vs X2.1 comparison](../../assets/flight_controller/mro/px1_x21.jpg) - -## Підключення - -- 2.54 мм заголовки: -- GPS (UART4) з I2C -- CAN шина -- Вхід RC -- PPM вхід -- Вхідний спектр -- RSSI вхід -- вхід SBUS -- sBus вихід -- Вхід живлення -- Вихід зумера -- Вихід світлодіода -- 8 x Виводи сервоприводів -- 6 x Aux outputs -- Позабортовий конектор microUSB -- Kill Pin output _(Currently not supported by firmware)_ -- AirSpeed Sensor -- USART2 (Telem 1) -- USART3 (Telem 2) -- UART7 (Console) -- UART8 (OSD) - -## Проблема PX4 BootLoader - -За замовчуванням mRo X2.1 може бути попередньо налаштований на ArduPilot®, а не на PX4. Це можна побачити під час оновлення прошивки, коли плата визнається як FMUv2 замість X2.1. - -In this case you must update the BootLoader using [BL_Update_X21.zip](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/hardware/BL_Update_X21.zip). -Якщо це виправлення не буде зроблено, ваша пеленга буде відображена неправильно і надмірний інерціальний модуль не буде виявлено. - -Основні кроки: - -1. Download and extract [BL_Update_X21.zip](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/hardware/BL_Update_X21.zip). -2. Find the folder _BL_Update_X21_. This contains a **bin** file and a subfolder named **/etc** containing an **rc.txt** file -3. Скопіюйте ці файли на кореневий каталог вашої micro SD-карти та вставте її в mRO x2.1 -4. Увімкніть mRO x2.1. Зачекайте, доки він завантажиться, а потім перезавантажте 1 раз. - -## Доступність - -This product can be ordered at the [mRobotics® Store](https://store.mrobotics.io/mRo-X2-1-Rev-2-p/m10021a.htm). - -## Посібник з підключення - -![mRo_X2.1_Wiring](../../assets/flight_controller/mro/mro_x21_wiring.png) - -## Збірка прошивки - -:::tip -Most users will not need to build this firmware! -It is pre-built and automatically installed by _QGroundControl_ when appropriate hardware is connected. -::: - -To [build PX4](../dev_setup/building_px4.md) for this target: - -``` -make mro_x21_default -``` - -## Креслення - -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). - -## Налаштування послідовного порту - -| UART | Пристрій | Порт | -| ------ | ---------- | --------------- | -| USART1 | /dev/ttyS0 | IO debug | -| USART2 | /dev/ttyS1 | SERIAL1 | -| USART3 | /dev/ttyS2 | TELEM2 | -| UART4 | /dev/ttyS3 | GPS/I2C | -| USART6 | /dev/ttyS4 | PX4IO | -| UART7 | /dev/ttyS5 | SERIAL5 CONSOLE | -| UART8 | /dev/ttyS6 | SERIAL4 | - - +Note: Got ports using https://github.com/PX4/PX4-user_guide/pull/672#issuecomment-598198434 +--> diff --git a/docs/uk/flight_controller/nxp_mr_vmu_rt1176.md b/docs/uk/flight_controller/nxp_mr_vmu_rt1176.md index cfbc86d19f..d193c23860 100644 --- a/docs/uk/flight_controller/nxp_mr_vmu_rt1176.md +++ b/docs/uk/flight_controller/nxp_mr_vmu_rt1176.md @@ -147,7 +147,7 @@ Similar variants will be available from our licensees. - Інші характеристики: - Operating & storage temperature: -40 ~ 85°c -## Де купити +## Where to Buy {#store} Order from [NXP](https://www.nxp.com). diff --git a/docs/uk/flight_controller/nxp_rddrone_fmuk66.md b/docs/uk/flight_controller/nxp_rddrone_fmuk66.md index eaf9224256..b57415577c 100644 --- a/docs/uk/flight_controller/nxp_rddrone_fmuk66.md +++ b/docs/uk/flight_controller/nxp_rddrone_fmuk66.md @@ -1,131 +1,7 @@ + + + - -## Де купити - -**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). - -- [Purchase Link](https://www.nxp.com/design/design-center/development-boards-and-designs/px4-robotic-drone-vehicle-flight-management-unit-vmu-fmu-rddrone-fmuk66:RDDRONE-FMUK66#buy) (www.nxp.com) -- Телеметричні радіопередавачі придбаються окремо в залежності від частотного діапазону: - - [HGD-TELEM433](https://www.nxp.com/part/HGD-TELEM433) - - [HGD-TELEM915](https://www.nxp.com/part/HGD-TELEM915) - -:::info -_RDDRONE-FMUK66_ FMU is also included in the complete HoverGames drone kit: [KIT-HGDRONEK66](https://www.nxp.com/design/design-center/development-boards-and-designs/nxp-hovergames-drone-kit-including-flight-controller-and-peripherals:KIT-HGDRONEK66#buy) -::: - - - -## Зборка/інсталяція - -https://nxp.gitbook.io/hovergames - -## Збірка прошивки - -:::tip -Most users will not need to build this firmware! -It is pre-built and automatically installed by _QGroundControl_ when appropriate hardware is connected. -::: - -To [build PX4](../dev_setup/building_px4.md) for this target: - -``` -make nxp_fmuk66-v3_default -``` - -## Відладочний порт - -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. - -NXP's DCD-LZ is a 7 pin JST-GH connector and adds the nRST/MCU_RESET pin to the [Pixhawk 6-Pin standard debug port](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf). - -Адаптер DCD-LZ дозволяє використовувати стандартний інтерфейс JTAG/SWD з 10 контактами (тобто за допомогою Segger Jlink) та стандартний кабель типу FTDI USB-TTL-3V3 з 5 контактами. - - - -## Підтримувані платформи / Конструкції - -Будь-який мультикоптер / літак / наземна платформа / човен, який може керуватися звичайними RC сервоприводами або сервоприводами Futaba S-Bus. -The complete set of supported configurations can be seen in the [Airframes Reference](../airframes/airframe_reference.md). - -![HoverGames Drone Kit](../../assets/flight_controller/nxp_rddrone_fmuk66/hovergames_drone_14042019_xl001.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. -Вам потрібно лише поставити акумулятор LiPo 3S/4S. -::: - -## Подальша інформація - -- [HoverGames online documentation](https://nxp.gitbook.io/hovergames) PX4 user and programming guide, specific assembly, construction, debugging, programming instructions. - -- 3DModels supporting HoverGames and RDDRONE-FMUK66 can be found on _Thingiverse_ at these search links: [fmuk66](https://www.thingiverse.com/search?q=fmuk66&type=things&sort=relevant), [hovergames](https://www.thingiverse.com/search?q=hovergames&type=things&sort=relevant). - -![HoverGamesDronelogo](../../assets/flight_controller/nxp_rddrone_fmuk66/hovergames_colored_small.png) diff --git a/docs/uk/flight_controller/ocpoc_zynq.md b/docs/uk/flight_controller/ocpoc_zynq.md index be04d84463..807468b20f 100644 --- a/docs/uk/flight_controller/ocpoc_zynq.md +++ b/docs/uk/flight_controller/ocpoc_zynq.md @@ -1,12 +1,7 @@ -# Aerotena OcPoC-Zynq Mini Польотний контролер (припинено) + - - -:::warning -This flight controller has been [discontinued](../flight_controller/autopilot_experimental.md) and is no longer commercially available. - -PX4 v1.11 - це останній реліз, який має (експериментальну) підтримку для цієї платформи. -See the [PX4v1.11 docs](http://docs.px4.io/v1.11/en/flight_controller/ocpoc_zynq.html#aerotenna-ocpoc-zynq-mini-flight-controller) for more information. -::: - -![ocpoc-zynq-mini](../../assets/hardware/hardware-ocpoc-zynq-mini.jpg) + diff --git a/docs/uk/flight_controller/omnibus_f4_sd.md b/docs/uk/flight_controller/omnibus_f4_sd.md index eb3551eddc..b7d37a2db2 100644 --- a/docs/uk/flight_controller/omnibus_f4_sd.md +++ b/docs/uk/flight_controller/omnibus_f4_sd.md @@ -1,266 +1,7 @@ -# Omnibus F4 SD + -:::warning -This flight controller has been [discontinued](../flight_controller/autopilot_experimental.md) and is no longer commercially available. -::: + - -## RC Телеметрія - -The Omnibus supports telemetry to the RC Transmitter using [FrSky Telemetry](../peripherals/frsky_telemetry.md) or [CRSF Crossfire Telemetry](#crsf_telemetry). - - - -### Телеметрія CRSF (TBS Crossfire Telemetry) - -[TBS CRSF Telemetry](../telemetry/crsf_telemetry.md) may be used to send telemetry data from the flight controller (the vehicle's attitude, battery, flight mode and GPS data) to an RC transmitter such as a Taranis. - -Benefits over [FrSky telemetry](../peripherals/frsky_telemetry.md) include: - -- Лише один UART потрібен для RC та телеметрії. -- Протокол CRSF оптимізований для низької затримки. -- 150 Гц частота оновлення RC. -- Сигнали неінвертовані, тому не потрібна (зовнішня) логіка інвертора. - -:::info -If you use CRSF Telemetry you will need to build custom PX4 firmware. -На відміну від цього, телеметрія FrSky може використовувати завчасно побудоване програмне забезпечення. -::: - -For Omnibus we recommend the [TBS Crossfire Nano RX](https://www.team-blacksheep.com/products/prod:crossfire_nano_rx), since it is specifically designed for small Quads. - -On the handheld controller (e.g. Taranis) you will also need a [Transmitter Module](https://www.team-blacksheep.com/shop/cat:tbs-crossfire-radio-transmitter#product_listing). -Це можна підключити ззаду до пульта радіо керування. - -:::info -The referenced links above contains the documentation for the TX/RX modules. -::: - -#### Установка - -Підключіть контакти Nano RX та Omnibus, як показано: - -| Omnibus UART1 | Nano RX | -| ------------- | ------- | -| TX | Ch2 | -| RX | Ch1 | - -Наступне оновіть модулі TX/RX для використання протоколу CRSF та налаштуйте телеметрію. -Instructions for this are provided in the [TBS Crossfire Manual](https://www.team-blacksheep.com/media/files/tbs-crossfire-manual.pdf) (search for 'Setting up radio for CRSF'). - -#### Налаштування CRSF PX4 - -Вам потрібно буде створити власну прошивку, щоб використовувати CRSF. -For more information see [CRSF Telemetry](../telemetry/crsf_telemetry.md#px4-configuration). - - - -## PX4 Bootloader Update {#bootloader} - -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-Autopilot/raw/main/docs/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. - -## Збірка прошивки - -To [build PX4](../dev_setup/building_px4.md) for this target: - -``` -make omnibus_f4sd_default -``` - -## Встановлення прошивки PX4 - -Ви можете використовувати або готове вбудоване програмне забезпечення, або власне користувацьке програмне забезпечення. - -:::warning -If you use [CRSF Telemetry](../telemetry/crsf_telemetry.md#px4-configuration) in your radio system, as describe above, then you must use custom firmware. -::: - -Прошивку можна встановити будь-якими звичайними способами: - -- Збудуйте та завантажте джерело - - ``` - make omnibus_f4sd_default upload - ``` - -- [Load the firmware](../config/firmware.md) using _QGroundControl_. - -## Налаштування - -In addition to the [basic configuration](../config/index.md), the following parameters are important: - -| Параметр | Налаштування | -| ---------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------- | -| [SYS_HAS_MAG](../advanced_config/parameter_reference.md#SYS_HAS_MAG) | Це має бути вимкнено, оскільки у платі немає внутрішнього магніту. Ви можете активувати це, якщо приєднаєте зовнішній магніт. | -| [SYS_HAS_BARO](../advanced_config/parameter_reference.md#SYS_HAS_BARO) | Вимкніть це, якщо ваша плата не має барометра. | - -## Додаткова інформація - -[This page](https://blog.unmanned.tech/omnibus-f4-flight-controller-guide/) provides a good overview with pinouts and setup instructions. +DOC REMOVED: 202603 +--> diff --git a/docs/uk/flight_controller/pixfalcon.md b/docs/uk/flight_controller/pixfalcon.md index 595a628be9..ad95ab4c86 100644 --- a/docs/uk/flight_controller/pixfalcon.md +++ b/docs/uk/flight_controller/pixfalcon.md @@ -1,75 +1,5 @@ -# Контролер польоту Pixfalcon (знятий з виробництва) + - - -:::warning -This flight controller has been [discontinued](../flight_controller/autopilot_experimental.md) and is no longer commercially available. -::: - -:::warning -PX4 не розробляє цей (або будь-який інший) автопілот. -Contact the [manufacturer](https://holybro.com/) for hardware support or compliance issues. -::: - -The Pixfalcon autopilot (designed by [Holybro®](https://holybro.com/)) is binary-compatible (FMUv2) derivative of the [Pixhawk 1](../flight_controller/pixhawk.md) design that has been optimized for space-constrained applications such as FPV racers. Він має менше входів-виходів, що дозволяє зменшити розмір. - -![Pixfalcon hero image](../../assets/hardware/hardware-pixfalcon.png) - -## Короткий опис - -- Main System-on-Chip: [STM32F427](https://www.st.com/en/microcontrollers-microprocessors/stm32f427-437.html) - - CPU: 180 MHz ARM® Cortex® M4 з одинарною точністю FPU - - RAM: 256 KB SRAM (L1) -- Failsafe System-on-Chip: STM32F100 - - CPU: 24 MHz ARM Cortex M3 - - RAM: 8 KB SRAM -- GPS: u-blox® M8 (в комплекті) - -### Підключення - -- 1x I2C -- 2x UART (один для телеметрії / OSD, без контролю потоку) -- 8x ШІМ з ручним управлінням -- S.BUS / PPM вхід - -## Наявність: - -No longer available. - -Опціональне обладнання: - -- Optical flow: PX4 Flow unit from manufacturer [Holybro](https://holybro.com/products/px4flow) -- Digital Airspeed sensor from manufacturer [Holybro](https://holybro.com/products/digital-air-speed-sensor-ms4525do) -- Екранний дисплей з вбудованою телеметрією: - - Micro HKPilot Telemetry Radio Module with On Screen Display (OSD) unit - 433MHz. (Discontinued) -- Pure Telemetry опції: - - [SIK Radios](../telemetry/sik_radio.md) - -## Збірка прошивки - -:::tip -Most users will not need to build this firmware! -It is pre-built and automatically installed by _QGroundControl_ when appropriate hardware is connected. -::: - -To [build PX4](../dev_setup/building_px4.md) for this target: - -``` -make px4_fmu-v3_default -``` - -## Відладочний порт - -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). - -Розробники повинні будуть припаяти дроти до підключених площин для SWD, а також до STM32F4 (IC) TX і RX, щоб отримати консоль. - -## Налаштування послідовного порту - -| UART | Пристрій | Порт | -| ------ | ---------- | ----------------------------------------------- | -| UART1 | /dev/ttyS0 | IO Debug | -| USART2 | /dev/ttyS1 | TELEM1 (без контролю потоку) | -| UART4 | /dev/ttyS2 | GPS | - - + diff --git a/docs/uk/flight_controller/pixhack_v3.md b/docs/uk/flight_controller/pixhack_v3.md index ed8f165d7b..d7907a18c3 100644 --- a/docs/uk/flight_controller/pixhack_v3.md +++ b/docs/uk/flight_controller/pixhack_v3.md @@ -1,88 +1,8 @@ + + + - -## Налаштування послідовного порту - -| UART | Пристрій | Порт | -| ------ | ---------- | --------------------------------------------- | -| UART1 | /dev/ttyS0 | IO debug | -| USART2 | /dev/ttyS1 | TELEM1 (керування потоком) | -| USART3 | /dev/ttyS2 | TELEM2 (керування потоком) | -| UART4 | | | -| UART7 | | CONSOLE | -| UART8 | | SERIAL4 | +--> diff --git a/docs/uk/flight_controller/pixhawk-2.md b/docs/uk/flight_controller/pixhawk-2.md index 7b6015091a..6927526fe5 100644 --- a/docs/uk/flight_controller/pixhawk-2.md +++ b/docs/uk/flight_controller/pixhawk-2.md @@ -46,9 +46,7 @@ This autopilot is [supported](../flight_controller/autopilot_pixhawk_standard.md - Потужний багатотональний п'єзозвуковий індикатор - Карта microSD для високошвидкісної фіксації даних протягом тривалого періоду часу - - -## Де купити +## Where to Buy {#store} [Cube Black](https://www.cubepilot.com/#/reseller/list) (Reseller list) @@ -154,7 +152,7 @@ It is pre-built and automatically installed by _QGroundControl_ when appropriate To [build PX4](../dev_setup/building_px4.md) for this target: -``` +```sh make px4_fmu-v3_default ``` diff --git a/docs/uk/flight_controller/pixhawk.md b/docs/uk/flight_controller/pixhawk.md index 57244bb4e5..c8bd92ee33 100644 --- a/docs/uk/flight_controller/pixhawk.md +++ b/docs/uk/flight_controller/pixhawk.md @@ -1,337 +1,6 @@ -# 3DR Pixhawk 1 Flight Controller (знято з виробництва) + -:::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. -::: - -:::warning -PX4 не розробляє цей (або будь-який інший) автопілот. -Звертайтесь до виробника з питань щодо підтримки або відповідності. -::: - -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](https://nuttx.apache.org/) OS. - -![Pixhawk Image](../../assets/hardware/hardware-pixhawk.png) - -Assembly/setup instructions for use with PX4 are provided here: [Pixhawk Wiring Quickstart](../assembly/quick_start_pixhawk.md) - -## Основні характеристики - -- Main System-on-Chip: [STM32F427](https://www.st.com/en/microcontrollers-microprocessors/stm32f427-437.html) - - CPU: 180 MHz ARM® Cortex® M4 з одинарною точністю FPU - - RAM: 256 KB SRAM (L1) -- Failsafe System-on-Chip: STM32F100 - - CPU: 24 MHz ARM Cortex M3 - - RAM: 8 KB SRAM -- Wifi: ESP8266 зовнішній -- GPS: u-blox® 7/8 (Hobbyking®) / u-blox 6 (3D Robotics) -- Optical flow: [PX4 Flow unit](../sensor/px4flow.md) -- Резервні входи живлення та автоматичне перемикання на резервне джерело -- Зовнішній запобіжний вимикач -- Головний візуальний індикатор - багатоколірний світлодіод -- Потужний багатотональний п'єзозвуковий індикатор -- Карта microSD для високошвидкісної фіксації даних протягом тривалого періоду часу - -Підключення - -- 1x I2C -- 1x CAN (2x опційно) -- 1x ADC -- 4x UART (2x з контролем потоку) -- 1x Консоль -- 8x ШІМ з ручним управлінням -- 6x PWM / GPIO / PWM вхід -- S.BUS / PPM / Spektrum вхід -- S.BUS вивід - -# Де купити - -Ця плата, що оригінально вироблялася компанією 3DR®, була стандартною платформою мікроконтролера для PX4®. While the board is no longer manufactured by 3DR, you can use the [mRo Pixhawk](../flight_controller/mro_pixhawk.md) as a drop-in replacement. - -Замовте mRo Pixhawk з: - -- [Bare Bones](https://store.mrobotics.io/Genuine-PixHawk-1-Barebones-p/mro-pixhawk1-bb-mr.htm) - Just the board (useful as a 3DR Pixhawk replacement) -- [mRo Pixhawk 2.4.6 Essential Kit](https://store.mrobotics.io/Genuine-PixHawk-Flight-Controller-p/mro-pixhawk1-minkit-mr.htm) - includes everything except for telemetry radios -- [mRo Pixhawk 2.4.6 Cool Kit! (Limited edition)](https://store.mrobotics.io/product-p/mro-pixhawk1-fullkit-mr.htm) - includes everything you need including telemetry radios - -## Характеристики - -### Процесор - -- 32bit STM32F427 [Cortex-M4F](https://en.wikipedia.org/wiki/ARM_Cortex-M#Cortex-M4) core with FPU -- 168 MHz -- 256 KB RAM -- 2 MB Flash -- 32 bit STM32F103 відмовостійкий копроцесор - -### Датчики - -- ST Micro L3GD20H 16 bit гіроскоп -- ST Micro LSM303D 14 bit акселерометр / магнітометр -- Invensense MPU 6000 3-вісний акселерометр/гіроскоп -- MEAS MS5611 барометр - -### Інтерфейси - -- 5x UART (послідовні порти), один високої потужності, 2x з контролем потоку ГВП -- 2x CAN (один з внутрішнім 3.3В трансивером, один на конекторі розширювача) -- Spektrum DSM / DSM2 / DSM-X® Satellite сумісний вхід -- Futaba S.BUS® сумісний вхід і вивід -- Вхід сигналу PPM sum -- Вхід RSSI (ШІМ або напруга) -- I2C -- SPI -- 3.3 та 6.6V ADC входи -- Внутрішній порт microUSB і розширення зовнішнього порту microUSB - - - -### Система живлення та захист - -- Ідеальний діодний контролер з автоматичним перемиканням на резервне живлення -- Сервопривід високої потужності (max. 10В) і сильного струму (10A+) -- Усі периферійні виводи захищені від перевантаження по струму, усі входи захищені від електростатичного розряду - -## Номінальна напруга - -Pixhawk може мати потрійну резервність у джерелі живлення, якщо подаються три джерела живлення. Три шини: вхід модуля живлення, вхід сервоприводу, вхід USB. - -### Максимальна напруга нормальної роботи - -За таких умов всі джерела живлення будуть використовуватися в цьому порядку для живлення системи - -- Вхід модуля живлення (4.8В до 5.4В) -- Servo rail input (4.8V to 5.4V) **UP TO 10V FOR MANUAL OVERRIDE, BUT AUTOPILOT PART WILL BE UNPOWERED ABOVE 5.7V IF POWER MODULE INPUT IS NOT PRESENT** -- Вхід живлення USB (4.8В до 5.4В) - -### Абсолютна максимальна напруга - -За таких умов система не буде витрачати жодної потужності (не буде працювати), але залишиться неушкодженою. - -- Вхід модуля живлення (4.1В до 5.7В, 0В до 20В неушкоджений) -- Вхід сервоприводу (4.1В до 5.7В, 0В до 20В) -- Вхід живлення USB (4.1В до 5.7В, 0В до 6В) - -## Креслення - -[FMUv2 + IOv2 schematic](https://raw.githubusercontent.com/PX4/Hardware/master/FMUv2/PX4FMUv2.4.5.pdf) -- Schematic and layout - -:::info -As a CC-BY-SA 3.0 licensed Open Hardware design, all schematics and design files are [available](https://github.com/pixhawk/Hardware). -::: - -## З'єднання - -Порти Pixhawk показані нижче. -Вони використовують роз’єми Hirose DF13 (передують роз’ємам JST-GH, визначеним у стандарті роз’ємів Pixhawk). - -:::warning -Many 3DR Pixhawk clones use Molex picoblade connectors instead of DF13 connectors. -Вони мають прямокутні штифти замість квадратних, і їх не можна вважати сумісними. -::: - -![Pixhawk Connectors](../../assets/flight_controller/pixhawk1/pixhawk_connectors.png) - -:::tip -The `RC IN` port is for RC receivers only and provides sufficient power for that purpose. -**NEVER** connect any servos, power supplies or batteries to it or to the receiver connected to it. -::: - -## Схема розташування виводів - -#### TELEM1, TELEM2 порти - -| Pin | Сигнал | Вольтаж | -| -------------------------- | ---------------------------- | --------------------- | -| 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 | - -#### Порт GPS - -| Pin | Сигнал | Вольтаж | -| -------------------------- | --------------------------- | --------------------- | -| 1 (red) | VCC | +5V | -| 2 (blk) | 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 | - -#### SERIAL 4/5 port - -У зв'язку з обмеженням простору два порти знаходяться на одному роз'ємі. - -| Pin | Сигнал | Вольтаж | -| -------------------------- | -------------------------- | --------------------- | -| 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 | - -#### ADC 6.6V - -| Pin | Сигнал | Вольтаж | -| -------------------------- | ------ | --------------------------- | -| 1 (red) | VCC | +5V | -| 2 (blk) | ADC IN | up to +6.6V | -| 3 (blk) | GND | GND | - -#### ADC 3.3V - -| Pin | Сигнал | Вольтаж | -| -------------------------- | ------ | ------------------------ | -| 1 (red) | VCC | +5V | -| 2 (blk) | ADC IN | до +3.3V | -| 3 (blk) | GND | GND | -| 4 (blk) | ADC IN | до +3.3V | -| 5 (blk) | GND | GND | - -#### I2C - -| Pin | Сигнал | Вольтаж | -| -------------------------- | ------ | ------------------------------------------------- | -| 1 (red) | VCC | +5V | -| 2 (blk) | SCL | +3.3 (pullups) | -| 3 (blk) | SDA | +3.3 (pullups) | -| 4 (blk) | GND | GND | - -#### CAN - -| Pin | Сигнал | Вольтаж | -| -------------------------- | -------------------------- | ------- | -| 1 (red) | VCC | +5V | -| 2 (blk) | CAN_H | +12V | -| 3 (blk) | CAN_L | +12V | -| 4 (blk) | GND | GND | - -#### SPI - -| Pin | Сигнал | Вольтаж | -| -------------------------- | ------------------------------------------------------ | -------------------- | -| 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 | - -#### POWER - -| Pin | Сигнал | Вольтаж | -| -------------------------- | ------- | --------------------- | -| 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 | - -#### SWITCH - -| Pin | Сигнал | Вольтаж | -| -------------------------- | -------------------------------------------------------- | --------------------- | -| 1 (red) | VCC | +3.3V | -| 2 (blk) | !IO_LED_SAFETY | GND | -| 3 (blk) | SAFETY | GND | - -## Налаштування послідовного порту - -| UART | Пристрій | Порт | -| ------ | ---------- | --------------------------------------------- | -| UART1 | /dev/ttyS0 | IO debug | -| USART2 | /dev/ttyS1 | TELEM1 (керування потоком) | -| USART3 | /dev/ttyS2 | TELEM2 (керування потоком) | -| UART4 | | | -| UART7 | CONSOLE | | -| UART8 | SERIAL4 | | - - - -## Відладочні порти - -### Порт Консолі - -The [PX4 System Console](../debug/system_console.md) runs on the port labeled [SERIAL4/5](#serial-4-5-port). - -:::tip -A convenient way to connect to the console is to use a [Zubax BugFace BF1](https://github.com/Zubax/bugface_bf1), as it comes with connectors that can be used with several different Pixhawk devices. -Simply connect the 6-pos DF13 1:1 cable on the [Zubax BugFace BF1](https://github.com/Zubax/bugface_bf1) to the Pixhawk `SERIAL4/5` port. - -![Zubax BugFace BF1](../../assets/flight_controller/pixhawk1/dronecode_probe.jpg) -::: - -The pinout is standard serial pinout, designed to connect to a [3.3V FTDI](https://www.digikey.com/en/products/detail/TTL-232R-3V3/768-1015-ND/1836393) cable (5V tolerant). - -\| 3DR Pixhawk 1 | | FTDI | -\| ------------- | --------- | ---- | ---------------- | -\| 1 | +5V (red) | | N/C | -\| 2 | S4 Tx | | N/C | -\| 3 | S4 Rx | | N/C | -\| 4 | S5 Tx | 5 | FTDI RX (yellow) | -\| 5 | S5 Rx | 4 | FTDI TX (orange) | -\| 6 | GND | 1 | FTDI GND (black) | - -Підключення кабелю FTDI до 6-контактного роз’єму DF13 1:1 показано на малюнку нижче. - -![Console Connector](../../assets/flight_controller/pixhawk1/console_connector.jpg) - -Повна проводка показана нижче. - -![Console Debug](../../assets/flight_controller/pixhawk1/console_debug.jpg) - -:::info -For information on how to _use_ the console see: [System Console](../debug/system_console.md). -::: - -### SWD Port - -The [SWD](../debug/swd_debug.md) (JTAG) ports are hidden under the cover (which must be removed for hardware debugging). -Є окремі порти для FMU та IO, як показано нижче. - -![Pixhawk SWD](../../assets/flight_controller/pixhawk1/pixhawk_swd.jpg) - -Порти являють собою 10-контактні роз’єми JTAG ARM, які вам, ймовірно, доведеться паяти. -Схема контактів для портів показана нижче (квадратні маркери в кутах вище вказують на контакт 1). - -![ARM 10-Pin connector pinout](../../assets/flight_controller/pixhawk1/arm_10pin_jtag_connector_pinout.jpg) - -:::info -All Pixhawk FMUv2 boards have a similar SWD port. -::: - -## Збірка прошивки - -:::tip -Most users will not need to build this firmware! -It is pre-built and automatically installed by _QGroundControl_ when appropriate hardware is connected. -::: - -To [build PX4](../dev_setup/building_px4.md) for this target: - -``` -make px4_fmu-v3_default -``` - -## Частини / Корпуси - -- **ARM MINI JTAG (J6)**: 1.27 mm 10pos header (SHROUDED), for Black Magic Probe: FCI 20021521-00010D4LF ([Digi-Key](https://www.digikey.com/en/products/detail/20021521-00010T1LF/609-4054-ND/2414951),) or Samtec FTSH-105-01-F-DV-K (untested) or Harwin M50-3600542 ([Digikey](https://www.digikey.com/en/products/detail/harwin-inc/M50-3600542/2264370)) - - JTAG Adapter Option #1: [BlackMagic Probe](https://1bitsquared.com/products/black-magic-probe). Зверніть увагу, що може поставлятися без кабелів (перевірте у виробника). - If so, you will need the **Samtec FFSD-05-D-06.00-01-N** cable ([Samtec sample service](https://www.samtec.com/products/ffsd-05-d-06.00-01-n) or [Digi-Key Link: SAM8218-ND](https://www.digikey.com/en/products/detail/samtec-inc/ffsd-05-d-06-00-01-n/1106577)) or [Tag Connect Ribbon](https://www.tag-connect.com/product/10-pin-cortex-ribbon-cable-4-length-with-50-mil-connectors) and a Mini-USB cable. - - JTAG Adapter Option #2: [Digi-Key Link: ST-LINK/V2](https://www.digikey.com/product-detail/en/stmicroelectronics/ST-LINK-V2/497-10484-ND) / [ST USER MANUAL](https://www.st.com/resource/en/user_manual/dm00026748.pdf), needs an ARM Mini JTAG to 20pos adapter: [Digi-Key Link: 726-1193-ND](https://www.digikey.com/en/products/detail/texas-instruments/MDL-ADA2/1986451) - - JTAG Adapter Option #3: [Olimex ARM-TINY](https://www.olimex.com/wiki/ARM-USB-TINY) or any other OpenOCD-compatible ARM Cortex JTAG adapter, needs an ARM Mini JTAG to 20pos adapter: [Digi-Key Link: 726-1193-ND](https://www.digikey.com/en/products/detail/texas-instruments/MDL-ADA2/1986451) -- **USARTs**: 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)) -- **I2C and CAN**: Hirose DF13 4 pos ([Digi-Key Link: DF13A-4P-1.25H(20)](https://www.digikey.com/en/products/detail/hirose-electric-co-ltd/DF13A-4P-1-25H-20/530666) - discontinued) - -## Підтримувані платформи / Конструкції - -Будь-який мультикоптер / літак / наземна платформа / човен, який може керуватися звичайними RC сервоприводами або сервоприводами Futaba S-Bus. + diff --git a/docs/uk/flight_controller/pixhawk3_pro.md b/docs/uk/flight_controller/pixhawk3_pro.md index 80ae86363f..deaacad9ac 100644 --- a/docs/uk/flight_controller/pixhawk3_pro.md +++ b/docs/uk/flight_controller/pixhawk3_pro.md @@ -1,87 +1,7 @@ -# Pixhawk 3 Pro (Знято з виробництва) + -:::warning -PX4 не розробляє цей (або будь-який інший) автопілот. -Contact the [manufacturer](https://store-drotek.com/) for hardware support or compliance issues. -::: + +DOC REMOVED: 202603 +--> diff --git a/docs/uk/flight_controller/pixhawk4.md b/docs/uk/flight_controller/pixhawk4.md index 497d049ffa..e286aba5f5 100644 --- a/docs/uk/flight_controller/pixhawk4.md +++ b/docs/uk/flight_controller/pixhawk4.md @@ -51,7 +51,7 @@ This autopilot is [supported](../flight_controller/autopilot_pixhawk_standard.md Additional information can be found in the [Pixhawk 4 Technical Data Sheet](https://github.com/PX4/PX4-Autopilot/blob/main/docs/assets/flight_controller/pixhawk4/pixhawk4_technical_data_sheet.pdf). -## Де купити +## Where to Buy {#store} Order from [Holybro](https://holybro.com/products/pixhawk-4). @@ -126,13 +126,11 @@ It is pre-built and automatically installed by _QGroundControl_ when appropriate To [build PX4](../dev_setup/building_px4.md) for this target: -``` +```sh make px4_fmu-v5_default ``` - - -## Відладочний порт +## Debug Port {#debug_port} 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. diff --git a/docs/uk/flight_controller/pixhawk4_mini.md b/docs/uk/flight_controller/pixhawk4_mini.md index 9eabf47d28..d5ccdebf6a 100644 --- a/docs/uk/flight_controller/pixhawk4_mini.md +++ b/docs/uk/flight_controller/pixhawk4_mini.md @@ -1,160 +1,7 @@ -# Holybro Pixhawk 4 Mini (Знято з виробництва) + - + diff --git a/docs/uk/flight_controller/pixhawk5x.md b/docs/uk/flight_controller/pixhawk5x.md index 273fd9629f..89434122bd 100644 --- a/docs/uk/flight_controller/pixhawk5x.md +++ b/docs/uk/flight_controller/pixhawk5x.md @@ -113,7 +113,7 @@ Pixhawk® 5X ідеально підходить для розробників - Інші характеристики: - Operating & storage temperature: -40 ~ 85°c -## Де купити +## Where to Buy {#store} Замовляйте на [Holybro](https://holybro.com/products/pixhawk-5x). @@ -131,10 +131,10 @@ Pixhawk® 5X ідеально підходить для розробників :::info Connector pin assignments are left to right (i.e. Pin 1 - це найлівіший контакт). -:::info +::: - The [camera capture pin](../camera/fc_connected_camera.md#camera-capture-configuration) (`PI0`) is pin 2 on the AD&IO port, marked above as `FMU_CAP1`. -- Схему контактів _Pixhawk 5X_ можна завантажити у форматі PDF [тут](https://github.com/PX4/PX4-user_guide/blob/main/assets/flight_controller/pixhawk5x/pixhawk5x_pinout.pdf) або [тут](https://cdn.shopify.com/s/files/1/0604/5905/7341/files/Holybro_Pixhawk5X_Pinout.pdf). +- _Pixhawk 5X_ pinouts can be downloaded in PDF from [here](https://github.com/PX4/PX4-user_guide/blob/main/assets/flight_controller/pixhawk5x/pixhawk5x_pinout.pdf) or [here](https://cdn.shopify.com/s/files/1/0604/5905/7341/files/Holybro_Pixhawk5X_Pinout.pdf). ## Налаштування послідовного порту @@ -177,8 +177,8 @@ The **POWER1** & **POWER2** ports on the Pixhawk 5X uses the 6 circuit [2.00mm P Цифровий моніторинг батареї I2C увімкнено за замовчуванням (див. [Швидкий старт > Живлення](../assembly/quick_start_pixhawk5x.md#power)). -::: info -Аналоговий моніторинг батареї через ADC не підтримується на цій конкретній платі, але може підтримуватися в варіантах цього політного контролера з іншою базовою платою. +:::info +Analog battery monitoring via an ADC is not supported on this particular board, but may be supported in variations of this flight controller with a different baseboard. ::: ## Збірка прошивки @@ -190,13 +190,11 @@ It is pre-built and automatically installed by _QGroundControl_ when appropriate To [build PX4](../dev_setup/building_px4.md) for this target: -``` +```sh make px4_fmu-v5x_default ``` - - -## Відладочний порт +## Debug Port {#debug_port} The [PX4 System Console](../debug/system_console.md) and [SWD interface](../debug/swd_debug.md) run on the **FMU Debug** port. diff --git a/docs/uk/flight_controller/pixhawk6c.md b/docs/uk/flight_controller/pixhawk6c.md index c541e4f2b0..8cf062a7a0 100644 --- a/docs/uk/flight_controller/pixhawk6c.md +++ b/docs/uk/flight_controller/pixhawk6c.md @@ -96,7 +96,7 @@ Pixhawk® 6C ідеально підходить для розробників - Інші характеристики: - Operating & storage temperature: -40 ~ 85°c -## Де купити +## Where to Buy {#store} Order from [Holybro](https://holybro.com/products/pixhawk-6c). @@ -162,13 +162,11 @@ It is pre-built and automatically installed by _QGroundControl_ when appropriate To [build PX4](../dev_setup/building_px4.md) for this target: -``` +```sh make px4_fmu-v6c_default ``` - - -## Відладочний порт +## Debug Port {#debug_port} The [PX4 System Console](../debug/system_console.md) and [SWD interface](../debug/swd_debug.md) run on the **FMU Debug** port. diff --git a/docs/uk/flight_controller/pixhawk6c_mini.md b/docs/uk/flight_controller/pixhawk6c_mini.md index ab986123ac..ff72834af1 100644 --- a/docs/uk/flight_controller/pixhawk6c_mini.md +++ b/docs/uk/flight_controller/pixhawk6c_mini.md @@ -58,7 +58,7 @@ The Pixhawk® 6C Mini is perfect for developers at corporate research labs, star - Вхід USB Power: 4.75~5.25V - Вхід Servo Rail: 0\~36V - Номінальний струм: - - \`TELEM1\`\` обмежувач максимального вихідного струму: 1A + - `TELEM1` Max output current limiter: 1A - Комбінований обмежувач вихідного струму всіх інших портів: 1A ### **Mechanical data** @@ -94,7 +94,7 @@ The Pixhawk® 6C Mini is perfect for developers at corporate research labs, star - Інші характеристики: - Operating & storage temperature: -40 ~ 85°c -## Де купити +## Where to Buy {#store} Order from [Holybro](https://holybro.com/products/pixhawk-6c-mini). @@ -165,13 +165,11 @@ It is pre-built and automatically installed by _QGroundControl_ when appropriate To [build PX4](../dev_setup/building_px4.md) for this target: -``` +```sh make px4_fmu-v6c_default ``` - - -## Відладочний порт +## Debug Port {#debug_port} The [PX4 System Console](../debug/system_console.md) and [SWD interface](../debug/swd_debug.md) run on the **FMU Debug** port. diff --git a/docs/uk/flight_controller/pixhawk6x-rt.md b/docs/uk/flight_controller/pixhawk6x-rt.md index c3854f5daf..65dfcd0c85 100644 --- a/docs/uk/flight_controller/pixhawk6x-rt.md +++ b/docs/uk/flight_controller/pixhawk6x-rt.md @@ -130,9 +130,9 @@ Pixhawk®️sco6X-RT ідеально підходить для розробни - Інші характеристики: - Operating & storage temperature: -40 ~ 85°c -## Де купити +## Where to Buy {#store} -Order from [Holybro](https://holybro.com/products/fmuv6x-rt-developer-edition). +Order from [Holybro](https://holybro.com/products/pixhawk-6x-rt). ## Зборка/інсталяція @@ -207,13 +207,11 @@ It is pre-built and automatically installed by _QGroundControl_ when appropriate To [build PX4](../dev_setup/building_px4.md) for this target: -``` +```sh make px4_fmu-v6xrt_default ``` - - -## Відладочний порт +## Debug Port {#debug_port} The [PX4 System Console](../debug/system_console.md) and [SWD interface](../debug/swd_debug.md) run on the **FMU Debug** port. diff --git a/docs/uk/flight_controller/pixhawk6x.md b/docs/uk/flight_controller/pixhawk6x.md index 048cc981bc..e7d51c3005 100644 --- a/docs/uk/flight_controller/pixhawk6x.md +++ b/docs/uk/flight_controller/pixhawk6x.md @@ -160,7 +160,7 @@ The Pixhawk®​ 6X is perfect for developers at corporate research labs, startu - Інші характеристики: - Operating & storage temperature: -40 ~ 85°c -## Де купити +## Where to Buy {#store} Order from [Holybro](https://holybro.com/products/pixhawk-6x). @@ -215,7 +215,7 @@ The **POWER1** & **POWER2** ports on the Pixhawk 6X uses the 6 circuit [2.00mm P **Absolute Maximum Ratings** -Under these conditions, the system will not draw any power (will not be operational) but will remain intact. +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) 2. **USB** input (operational range 4.1V to 5.7V, 0V to 6V undamaged) @@ -238,13 +238,11 @@ It is pre-built and automatically installed by _QGroundControl_ when appropriate To [build PX4](../dev_setup/building_px4.md) for this target: -``` +```sh make px4_fmu-v6x_default ``` - - -## Відладочний порт +## Debug Port {#debug_port} The [PX4 System Console](../debug/system_console.md) and [SWD interface](../debug/swd_debug.md) run on the **FMU Debug** port. diff --git a/docs/uk/flight_controller/pixhawk6x_pro.md b/docs/uk/flight_controller/pixhawk6x_pro.md index 3dada1d987..aa7b7b5265 100644 --- a/docs/uk/flight_controller/pixhawk6x_pro.md +++ b/docs/uk/flight_controller/pixhawk6x_pro.md @@ -115,7 +115,7 @@ Processors & Sensors ::: -## Де купити +## Where to Buy {#store} Order from [Holybro](https://holybro.com/products/pixhawk-6x-pro). @@ -199,7 +199,7 @@ It is pre-built and automatically installed by _QGroundControl_ when appropriate To [build PX4](../dev_setup/building_px4.md) for this target: -``` +```sh make px4_fmu-v6x_default ``` diff --git a/docs/uk/flight_controller/pixhawk_mini.md b/docs/uk/flight_controller/pixhawk_mini.md index b31daf1374..5cef4b678c 100644 --- a/docs/uk/flight_controller/pixhawk_mini.md +++ b/docs/uk/flight_controller/pixhawk_mini.md @@ -1,327 +1,7 @@ -# Holybro Pixhawk Mini (Припинено) + -:::warning -PX4 не розробляє цей (або будь-який інший) автопілот. -Contact the [manufacturer](https://holybro.com/) for hardware support or compliance issues. -::: + diff --git a/docs/uk/flight_controller/pixracer.md b/docs/uk/flight_controller/pixracer.md index 5f1a57cc2e..b28669039b 100644 --- a/docs/uk/flight_controller/pixracer.md +++ b/docs/uk/flight_controller/pixracer.md @@ -30,7 +30,7 @@ This autopilot is [supported](../flight_controller/autopilot_pixhawk_standard.md - OneShot PWM (налаштовується) - Опціонально: запобіжний перемикач та базер -## Де купити +## Where to Buy {#store} Pixracer Pro is available from the [store.3dr.com](https://store.3dr.com/pixracer-pro/). @@ -217,7 +217,7 @@ It is pre-built and automatically installed by _QGroundControl_ when appropriate To [build PX4](../dev_setup/building_px4.md) for this target: -``` +```sh make px4_fmu-v4_default ``` diff --git a/docs/uk/flight_controller/raccoonlab_fmu6x.md b/docs/uk/flight_controller/raccoonlab_fmu6x.md index 1e4da7f796..09e454e897 100644 --- a/docs/uk/flight_controller/raccoonlab_fmu6x.md +++ b/docs/uk/flight_controller/raccoonlab_fmu6x.md @@ -130,7 +130,7 @@ The manufacturer [RaccoonLab Docs](https://docs.raccoonlab.co/guide/autopilot/RC Вони повинні використовуватися за перевагою, оскільки вони містять найбільш повну та актуальну інформацію. ::: -## Де купити +## Where to Buy {#store} [RaccoonLab Store](https://raccoonlab.co/store) diff --git a/docs/uk/flight_controller/radiolink_pix6.md b/docs/uk/flight_controller/radiolink_pix6.md index b7475d5202..ff18aaeeb5 100644 --- a/docs/uk/flight_controller/radiolink_pix6.md +++ b/docs/uk/flight_controller/radiolink_pix6.md @@ -27,7 +27,7 @@ This flight controller is [manufacturer supported](../flight_controller/autopilo - 32KB FRAM - FM25V02A - AT7456E OSD - Датчики - - Bosh BMI088 IMU (accel, gyro) + - Bosch BMI088 IMU (accel, gyro) - InvenSense ICM-42688 IMU (accel, gyro) - SPA06 barometer - IST8310 magnetometer @@ -48,7 +48,7 @@ This flight controller is [manufacturer supported](../flight_controller/autopilo - Weight 80g - Size 94mm x 51.5mm x 14.5mm -## Де купити +## Where to Buy {#store} [Radiolink Amazon](https://www.radiolink.com.cn/pix6_where_to_buy)（International users） @@ -278,7 +278,7 @@ In addition to the [basic configuration](../config/index.md), the following para ### Powering the PIX6 The PIX6 has 2 dedicated power monitor ports, each with a 6 pin connector. -One is the Analog power monitor (`POWER1`), and the others is the I2C power monitor (`POWER2`). +One is the Analog power monitor (`POWER1`), and the other is the I2C power monitor (`POWER2`). The power module that comes with the flight controller with a wide voltage input range of 2-12S (7.4-50.4V), a maximum detection current of 90A (single ESC maximum detection current is 22.5A), a BEC output voltage of 5.3±0.2V, and a BEC output current of 2A. diff --git a/docs/uk/flight_controller/raspberry_pi_pilotpi.md b/docs/uk/flight_controller/raspberry_pi_pilotpi.md index ec6a4479cb..cb6262b937 100644 --- a/docs/uk/flight_controller/raspberry_pi_pilotpi.md +++ b/docs/uk/flight_controller/raspberry_pi_pilotpi.md @@ -175,7 +175,7 @@ ADC 3 & 4 will have VCC driven by: Системний rc script перевірить його значення і вирішить, чи повинен PX4 запускатися разом із завантаженням системи чи ні. - On: автоматичний запуск PX4 -- Off: не запускати PX4 +- Off: don't start PX4 ## Швидкий старт для розробника diff --git a/docs/uk/flight_controller/raspberry_pi_pilotpi_rpios.md b/docs/uk/flight_controller/raspberry_pi_pilotpi_rpios.md index 109efdea70..57a560dfaf 100644 --- a/docs/uk/flight_controller/raspberry_pi_pilotpi_rpios.md +++ b/docs/uk/flight_controller/raspberry_pi_pilotpi_rpios.md @@ -125,7 +125,7 @@ Don't forget to turn off the switch when it is not needed. #### CSI камера :::info -Enable CSI camera will stop anything works on I2C-0. +Enabling CSI camera will stop anything that works on I2C-0. ::: ```sh diff --git a/docs/uk/flight_controller/raspberry_pi_pilotpi_ubuntu_server.md b/docs/uk/flight_controller/raspberry_pi_pilotpi_ubuntu_server.md index d2ced1cad2..3133ffe54d 100644 --- a/docs/uk/flight_controller/raspberry_pi_pilotpi_ubuntu_server.md +++ b/docs/uk/flight_controller/raspberry_pi_pilotpi_ubuntu_server.md @@ -16,13 +16,13 @@ Ubuntu Server on RPi 4B consumes a lot of current and generates a lot of heat. - [Ubuntu Server 18.04.5 for RPi2](https://cdimage.ubuntu.com/releases/18.04.5/release/ubuntu-18.04.5-preinstalled-server-armhf+raspi2.img.xz) - [Ubuntu Server 18.04.5 for RPi3](https://cdimage.ubuntu.com/releases/18.04.5/release/ubuntu-18.04.5-preinstalled-server-armhf+raspi3.img.xz) - [Ubuntu Server 18.04.5 for RPi4](https://cdimage.ubuntu.com/releases/18.04.5/release/ubuntu-18.04.5-preinstalled-server-armhf+raspi4.img.xz) -- [Ubuntu Server 20.04.1 for RPi 2/3/4](https://cdimage.ubuntu.com/releases/20.04.1/release/ubuntu-20.04.2-preinstalled-server-arm64+raspi.img.xz) +- [Ubuntu Server 20.04.1 for RPi 2/3/4](https://old-releases.ubuntu.com/releases/focal/ubuntu-20.04.2-preinstalled-server-arm64+raspi.img.xz) #### arm64 - [Ubuntu Server 18.04.5 for RPi3](https://cdimage.ubuntu.com/releases/18.04.5/release/ubuntu-18.04.5-preinstalled-server-arm64+raspi3.img.xz) - [Ubuntu Server 18.04.5 for RPi4](https://cdimage.ubuntu.com/releases/18.04.5/release/ubuntu-18.04.5-preinstalled-server-arm64+raspi4.img.xz) -- [Ubuntu Server 20.04.1 for RPi 3/4](https://cdimage.ubuntu.com/releases/20.04.1/release/ubuntu-20.04.2-preinstalled-server-arm64+raspi.img.xz) +- [Ubuntu Server 20.04.1 for RPi 3/4](https://old-releases.ubuntu.com/releases/focal/ubuntu-20.04.2-preinstalled-server-arm64+raspi.img.xz) #### Найновіша ОС @@ -206,7 +206,7 @@ Don't forget to turn off the switch when it is not needed! #### CSI камера :::warning -Enable CSI camera will stop anything works on I2C-0. +Enabling CSI camera will stop anything that works on I2C-0. ::: ```sh diff --git a/docs/uk/flight_controller/spracingh7extreme.md b/docs/uk/flight_controller/spracingh7extreme.md index 55e5486186..4e8d0614e3 100644 --- a/docs/uk/flight_controller/spracingh7extreme.md +++ b/docs/uk/flight_controller/spracingh7extreme.md @@ -72,7 +72,7 @@ This flight controller is [manufacturer supported](../flight_controller/autopilo - 36x36 мм із зразком кріплення 30.5\*30.5, отвори M4. - Втулки з м’яким кріпленням від M4 до M3 постачаються. -## Де купити +## Where to Buy {#store} The SPRacingH7EXTREME is available from the [Seriously Pro shop](https://shop.seriouslypro.com/sp-racing-h7-extreme). diff --git a/docs/uk/flight_controller/svehicle_e2.md b/docs/uk/flight_controller/svehicle_e2.md index 5d3a4aa9a1..63d96c77e7 100644 --- a/docs/uk/flight_controller/svehicle_e2.md +++ b/docs/uk/flight_controller/svehicle_e2.md @@ -58,7 +58,7 @@ These flight controllers are [manufacturer supported](../flight_controller/autop - 1x Dedicated Debug Port - FMU Debug -## Purchase Channels +## Purchase Channels {#store} Order from [S-Vehicle](https://svehicle.cn/). diff --git a/docs/uk/flight_controller/thepeach_k1.md b/docs/uk/flight_controller/thepeach_k1.md index b0bcc3b63f..6b517c497f 100644 --- a/docs/uk/flight_controller/thepeach_k1.md +++ b/docs/uk/flight_controller/thepeach_k1.md @@ -11,6 +11,10 @@ It is based on the **Pixhawk-project FMUv3** open hardware design and runs **PX4 ![ThePeach FCC-K1](../../assets/flight_controller/thepeach_k1/main.png) +:::info +This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md). +::: + ## Характеристики - Основний процесор: STM32F427VIT6 diff --git a/docs/uk/flight_controller/thepeach_r1.md b/docs/uk/flight_controller/thepeach_r1.md index acb00be57e..22011b146c 100644 --- a/docs/uk/flight_controller/thepeach_r1.md +++ b/docs/uk/flight_controller/thepeach_r1.md @@ -11,6 +11,10 @@ It is based on the **Pixhawk-project FMUv3** open hardware design and runs **PX4 ![ThePeach_R1](../../assets/flight_controller/thepeach_r1/main.png) +:::info +This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md). +::: + ## Характеристики - Основний процесор: STM32F427VIT6 diff --git a/docs/uk/flight_controller/x-mav_ap-h743r1.md b/docs/uk/flight_controller/x-mav_ap-h743r1.md index 03f01f3ffd..dbd86854a0 100644 --- a/docs/uk/flight_controller/x-mav_ap-h743r1.md +++ b/docs/uk/flight_controller/x-mav_ap-h743r1.md @@ -45,7 +45,7 @@ These flight controllers are [manufacturer supported](../flight_controller/autop - FMU Debug - IO Debug -## Purchase Channels +## Purchase Channels {#store} Order from [X-MAV](https://www.x-mav.cn/). @@ -91,7 +91,7 @@ The 7 FMU PWM outputs are in 3 groups: - A1 - A4 are in one group. - A5, A6 are in a 2nd group. -- A7 is in a 3nd group. +- A7 is in a 3rd group. Channels within the same group need to use the same output rate. If any channel in a group uses DShot then all channels in the group need to use DShot. @@ -131,7 +131,7 @@ make x-mav_ap-h743r1_default Any multirotor/airplane/rover or boat that can be controlled using normal RC servos or Futaba S-Bus servos. The complete set of supported configurations can be found in the [Airframe Reference](../airframes/airframe_reference.md). -## Відладочний порт +## Debug Port {#debug_port} ### SWD diff --git a/docs/uk/flight_modes/offboard.md b/docs/uk/flight_modes/offboard.md index 066a1a846f..493287856d 100644 --- a/docs/uk/flight_modes/offboard.md +++ b/docs/uk/flight_modes/offboard.md @@ -11,7 +11,7 @@ PX4 вмикає функції в оф-борді лише після отри ::: info - Для цього режиму потрібна інформація про позицію або орієнтацію за допомогою вказівника, наприклад, від GPS, оптичного потоку, візуально-інерційної одометрії, MoCap та ін. -- RC control is disabled except to change modes (you can also fly without any manual controller at all by setting the parameter [COM_RC_IN_MODE](../advanced_config/parameter_reference.md#COM_RC_IN_MODE) to 4: Stick input disabled). +- Manual control is disabled except to change modes (you can also fly without any manual controller at all by setting the parameter [COM_RC_IN_MODE](../advanced_config/parameter_reference.md#COM_RC_IN_MODE) to `4: Disable manual control`). - The vehicle must be already be receiving a stream of MAVLink setpoint messages or ROS 2 [OffboardControlMode](../msg_docs/OffboardControlMode.md) messages before arming in offboard mode or switching to offboard mode when flying. - The vehicle will exit offboard mode if MAVLink setpoint messages or `OffboardControlMode` are not received at a rate of > 2Hz. - Не всі значення координат та параметрів, дозволені MAVLink підтримуються для усіх повідомлень та транспортних засобів. diff --git a/docs/uk/flight_modes_fw/mission.md b/docs/uk/flight_modes_fw/mission.md index a45e78c840..c476949d5f 100644 --- a/docs/uk/flight_modes_fw/mission.md +++ b/docs/uk/flight_modes_fw/mission.md @@ -61,7 +61,7 @@ _Режим місії_ змушує транспортний засіб вик Якщо транспортний засіб не захоплював зображення, коли він був призупинений, під час відновлення він рухатиметься зі своєї _поточної позиції_ до тієї ж точки шляху, до якої він спочатку рухався. Якщо транспортний засіб захоплював зображення (має елементи спуску камери), він замість цього рухатиметься зі своєї поточної позиції до останньої точки шляху, якою він проїхав (перед зупинкою), а потім пройде свій шлях з тією самою швидкістю та з такою самою поведінкою спуску камери. Це забезпечує, що планований шлях зафіксований під час місій з опитування/камери. -Місію можна завантажити, коли транспортний засіб зупинений, у такому випадку поточний активний елемент місії встановлюється на 1. +A mission can be uploaded while the vehicle is paused, in which case the current active mission item is set to 1. :::info Коли місію призупинено під час спрацювання камери на транспортному засобі, PX4 встановлює поточний активний пункт місії на попередню точку маршруту, так що при відновленні місії транспортний засіб буде повторювати свій останній етап місії. @@ -100,8 +100,8 @@ _QGroundControl_ надає додаткову підтримку обробки Для додаткової інформації дивіться: -- [Видалити місію після посадки транспортного засобу](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/releases/stable_v3.2_long.html#remove-mission-after-vehicle-lands) -- [Відновити місію після режиму Повернення](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/releases/stable_v3.2_long.html#resume-mission) +- [Remove mission after vehicle lands](https://docs.qgroundcontrol.com/Stable_V4.3/en/qgc-user-guide/releases/stable_v3.2_long.html#remove-mission-after-vehicle-lands) +- [Resume mission after Return mode](https://docs.qgroundcontrol.com/Stable_V4.3/en/qgc-user-guide/releases/stable_v3.2_long.html#resume-mission) ## Параметри місії @@ -215,7 +215,7 @@ PX4 очікує пряму лінію від попередньої точки ![acc-rad](../../assets/flying/acceptance_radius_mission.png) Транспортні засоби переходять на наступну точку шляху, як тільки вони увійшли в радіус прийняття. -Це визначається "відстанню L1", яка обчислюється з двох параметрів: [NPFG_DAMPING](../advanced_config/parameter_reference.md#NPFG_DAMPING) та [NPFG_PERIOD](../advanced_config/parameter_reference.md#NPFG_PERIOD), та поточною швидкістю на землі. +This is defined by the "L1 distance", which is computed from two parameters: [NPFG_DAMPING](../advanced_config/parameter_reference.md#NPFG_DAMPING) and [NPFG_PERIOD](../advanced_config/parameter_reference.md#NPFG_PERIOD), and the current ground speed. За замовчуванням, це приблизно 70 метрів. Рівняння: @@ -317,7 +317,7 @@ A fixed-wing mission requires a `Takeoff` mission item to takeoff; if however th Переривання посадки призводить до вибору курсу вище для формування орбіти над цільовою точкою на землі. Максимальна висота поточної висоти літака та [MIS_LND_ABRT_ALT](#MIS_LND_ABRT_ALT) встановлюється як висота витягу абортного орбіту відносно (вище) пункту посадки. -Конфігурація посадки (наприклад, закрилки, спойлери, швидкість повітряного судна під час посадки) відключена під час спинення, і повітряне судно летить в умовах круїзу. +Landing configuration (e.g. flaps, spoilers, landing airspeed) is disabled during abort and the aircraft flies in cruise conditions. Команда відміни вимкнена під час спалаху для безпеки. Оператори все ще можуть вручну припинити посадку, переключившись на будь-який ручний режим, такий як [Режим стабілізації](../flight_modes_fw/stabilized.md)), але варто зазначити, що це ризиковано! @@ -357,7 +357,7 @@ A fixed-wing mission requires a `Takeoff` mission item to takeoff; if however th :::info Відштовхування (Nudging) не повинно використовуватися для доповнення поганого налаштування контролю позиції. -Якщо транспортний засіб постійно показує погану роботу слідування по визначеній траєкторії, будь ласка, зверніться до [керівництва з настройки керування фіксованим крилом](../flight_modes_fw/position.md) за інструкціями. +If the vehicle is regularly showing poor tracking performance on a defined path, please refer to the [fixed-wing control tuning guide](../flight_modes_fw/position.md) for instruction. ::: | Параметр | Опис | @@ -368,7 +368,7 @@ A fixed-wing mission requires a `Takeoff` mission item to takeoff; if however th ### Обмеження безпеки на низькій висоті -У режимі посадки використовується датчик відстані для визначення близькості до землі, а геометрія підфрейму використовується для розрахунку обмежень кочення для запобігання удару крилом. +In landing mode, the distance sensor is used to determine proximity to the ground, and the airframe's geometry is used to calculate roll constraints to prevent wing strike. ![Посадка літака з фіксованим криломТоркання(../../assets/flying/wing_geometry.png) diff --git a/docs/uk/flight_modes_fw/takeoff.md b/docs/uk/flight_modes_fw/takeoff.md index 9edfa564da..e66bbe0a31 100644 --- a/docs/uk/flight_modes_fw/takeoff.md +++ b/docs/uk/flight_modes_fw/takeoff.md @@ -14,7 +14,7 @@ Vehicles are [hand or catapult launched](#catapult-hand-launch) by default, but - Flying vehicles will failsafe if they lose the altitude estimate. - Disarmed vehicles can switch to mode without valid altitude estimate but can't arm. - Перемикачі радіокерування можна використовувати для зміни режимів польоту. -- Рух стіка радіокерування ігнорується при зліті за допомогою катапульти, але може бути використана для легкого перекочування транспортного засобу при зльоті зі злітної смуги. +- RC stick movement is ignored in catapult takeoff but can be used to nudge the vehicle in runway takeoff. - The [Failure Detector](../config/safety.md#failure-detector) will automatically stop the engines if there is a problem on takeoff. @@ -85,6 +85,7 @@ The vehicle always respects normal FW max/min throttle settings during takeoff ( In _catapult/hand-launch mode_ the vehicle waits to detect launch (based on acceleration trigger). On launch it enables the motor(s) and climbs with the maximum climb rate [FW_T_CLMB_MAX](#FW_T_CLMB_MAX) while keeping the pitch setpoint above [FW_TKO_PITCH_MIN](#FW_TKO_PITCH_MIN). Once it reaches [MIS_TAKEOFF_ALT](#MIS_TAKEOFF_ALT) it will automatically switch to [Hold mode](../flight_modes_fw/hold.md) and loiter. +It is possible to delay the activation of the motors and control surfaces separately, see parameters [FW_LAUN_MOT_DEL](#FW_LAUN_MOT_DEL), [FW_LAUN_CS_LK_DY](#FW_LAUN_CS_LK_DY) and [CA_CS_LAUN_LK](#CA_CS_LAUN_LK). The later is also exposed in the actuator configuration page under the advanced view. Всі рухи стіку радіоуправління ігноруються під час повного взлітного процесу. @@ -99,16 +100,18 @@ Once it reaches [MIS_TAKEOFF_ALT](#MIS_TAKEOFF_ALT) it will automatically switch The _launch detector_ is affected by the following parameters: -| Параметр | Опис | -| -------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------- | -| [FW_LAUN_DETCN_ON](../advanced_config/parameter_reference.md#FW_LAUN_DETCN_ON) | Увімкнути автоматичне визначення запуску. Якщо вимкнені двигуни обертаються при підготовці до польоту | -| [FW_LAUN_AC_THLD](../advanced_config/parameter_reference.md#FW_LAUN_AC_THLD) | Поріг прискорення (прискорення в напрямку руху тіла повинно бути вище цієї величини) | -| [FW_LAUN_AC_T](../advanced_config/parameter_reference.md#FW_LAUN_AC_T) | Час спрацьовування (прискорення повинно бути вище порогу на цю кількість секунд) | -| [FW_LAUN_MOT_DEL](../advanced_config/parameter_reference.md#FW_LAUN_MOT_DEL) | Затримка від виявлення запуску до відкручування мотору | +| Параметр | Опис | +| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------- | +| [FW_LAUN_DETCN_ON](../advanced_config/parameter_reference.md#FW_LAUN_DETCN_ON) | Увімкнути автоматичне визначення запуску. Якщо вимкнені двигуни обертаються при підготовці до польоту | +| [FW_LAUN_AC_THLD](../advanced_config/parameter_reference.md#FW_LAUN_AC_THLD) | Поріг прискорення (прискорення в напрямку руху тіла повинно бути вище цієї величини) | +| [FW_LAUN_AC_T](../advanced_config/parameter_reference.md#FW_LAUN_AC_T) | Час спрацьовування (прискорення повинно бути вище порогу на цю кількість секунд) | +| [FW_LAUN_MOT_DEL](../advanced_config/parameter_reference.md#FW_LAUN_MOT_DEL) | Затримка від виявлення запуску до відкручування мотору | +| [FW_LAUN_CS_LK_DY](../advanced_config/parameter_reference.md#FW_LAUN_CS_LK_DY) | Delay from launch detection to unlocking the control surfaces | +| [CA_CS_LAUN_LK](../advanced_config/parameter_reference.md#CA_CS_LAUN_LK) | Bitmask to select which control surfaces are to be locked during launch | ## Runway Takeoff {#runway_launch} -Зліт зі злітної смуги можна використовувати тільки для транспортних засобів з посадковим шасі та керованим колесом. +Runway takeoffs can be used by vehicles with landing gear and steerable wheel (only). You will first need to enable the wheel controller using the parameter [FW_W_EN](#FW_W_EN). Транспортний засіб повинен бути в центрі та вирівняний по злітній смузі, коли починається зльот. diff --git a/docs/uk/flight_modes_mc/follow_me.md b/docs/uk/flight_modes_mc/follow_me.md index 3eef36e4f3..5b30d2c8ce 100644 --- a/docs/uk/flight_modes_mc/follow_me.md +++ b/docs/uk/flight_modes_mc/follow_me.md @@ -31,7 +31,7 @@ The vehicle will automatically yaw to face and follow the target from a specifie Користувачі можуть налаштувати кут слідування, висоту та відстань за допомогою пульта дистанційного керування, як показано вище: - _Follow Height_ is controlled with the `up-down` input ("Throttle"). - Центруйте палицю, щоб тримати відстеження цілі на постійній висоті. Підніміть або опустіть палицю, щоб налаштувати висоту. + Center the stick to keep follow the target at a constant height. Підніміть або опустіть палицю, щоб налаштувати висоту. - _Follow Distance_ is controlled with the `forward-back` input ("Pitch"). Тиснення палиці вперед збільшує відстань слідування, витягування назад зменшує відстань. - _Follow Angle_ is controlled with the `left-right` input ("Roll"). @@ -117,7 +117,7 @@ The altitude control mode determine whether the vehicle altitude is relative to - `2D + Terrain` makes the drone follow at a fixed height relative to the terrain underneath it, using information from a distance sensor. - If the vehicle does not have a distance sensor following will be identical to `2D tracking`. - Датчики відстані не завжди точні, і транспортні засоби можуть бути "скачущими" під час польоту в цьому режимі. - - Зверніть увагу, що висота вимірюється відносно землі під транспортним засобом, а не цільового об'єкта. + - Note that height is relative to the ground underneath the vehicle, not the follow target. Дрон може не слідувати за змінами висоти цілі! - `3D tracking` mode makes the drone follow at a height relative to the follow target, as supplied by its GPS sensor. diff --git a/docs/uk/flight_modes_mc/mission.md b/docs/uk/flight_modes_mc/mission.md index d603c354df..f5a36d1419 100644 --- a/docs/uk/flight_modes_mc/mission.md +++ b/docs/uk/flight_modes_mc/mission.md @@ -64,7 +64,7 @@ They may also be created by a MAVLink API such as [MAVSDK](../robotics/mavsdk.md Якщо транспортний засіб не захоплював зображення, коли він був призупинений, під час відновлення він рухатиметься зі своєї _поточної позиції_ до тієї ж точки шляху, до якої він спочатку рухався. Якщо транспортний засіб захоплював зображення (має елементи спуску камери), він замість цього рухатиметься зі своєї поточної позиції до останньої точки шляху, якою він проїхав (перед зупинкою), а потім пройде свій шлях з тією самою швидкістю та з такою самою поведінкою спуску камери. Це забезпечує, що планований шлях зафіксований під час місій з опитування/камери. -Місію можна завантажити, коли транспортний засіб зупинений, у такому випадку поточний активний елемент місії встановлюється на 1. +A mission can be uploaded while the vehicle is paused, in which case the current active mission item is set to 1. :::info Коли місію призупинено під час спрацювання камери на транспортному засобі, PX4 встановлює поточний активний пункт місії на попередню точку маршруту, так що при відновленні місії транспортний засіб буде повторювати свій останній етап місії. @@ -100,8 +100,8 @@ _QGroundControl_ надає додаткову підтримку обробки Для додаткової інформації дивіться: -- [Видалити місію після посадки транспортного засобу](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/releases/stable_v3.2_long.html#remove-mission-after-vehicle-lands) -- [Відновити місію після режиму Повернення](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/releases/stable_v3.2_long.html#resume-mission) +- [Remove mission after vehicle lands](https://docs.qgroundcontrol.com/Stable_V4.3/en/qgc-user-guide/releases/stable_v3.2_long.html#remove-mission-after-vehicle-lands) +- [Resume mission after Return mode](https://docs.qgroundcontrol.com/Stable_V4.3/en/qgc-user-guide/releases/stable_v3.2_long.html#resume-mission) ## Параметри місії diff --git a/docs/uk/flight_modes_mc/position.md b/docs/uk/flight_modes_mc/position.md index 51abfe20f2..4c28fa2a24 100644 --- a/docs/uk/flight_modes_mc/position.md +++ b/docs/uk/flight_modes_mc/position.md @@ -78,7 +78,7 @@ All the parameters in the [Multicopter Position Control](../advanced_config/para ### Втрата позиції / безпека Режим позиціонування залежить від наявності прийнятної оцінки позиції. -If the estimate falls below acceptable levels, for example due to GPS loss, this may trigger a [Position (GPS) Loss Failsafe](../config/safety.md#position-gnss-loss-failsafe). +If the estimate falls below acceptable levels, for example due to GPS loss, this may trigger a [Position (GPS) Loss Failsafe](../config/safety.md#position-loss-failsafe). Залежно від конфігурації, наявності пульта дистанційного керування та наявності достатньої оцінки висоти, PX4 може переключитися в режим висоти, ручний режим, режим посадки або завершити роботу. ## Дивіться також diff --git a/docs/uk/flight_modes_mc/return.md b/docs/uk/flight_modes_mc/return.md index 4072d59290..67a77cd729 100644 --- a/docs/uk/flight_modes_mc/return.md +++ b/docs/uk/flight_modes_mc/return.md @@ -48,7 +48,7 @@ Multicopter підтримує [інші типи повернення PX4](../f ![Режим повернення конуса](../../assets/flying/rtl_cone.jpg) -Конус впливає на мінімальну висоту повернення, якщо режим повернення активується всередині циліндра, що визначений максимальним радіусом конуса та `RTL_RETURN_ALT`: за межами цього циліндра використовується `RTL_RETURN_ALT`. +The cone affects the minimum return altitude if return mode is triggered within the cylinder defined by the maximum cone radius and `RTL_RETURN_ALT`: outside this cylinder `RTL_RETURN_ALT` is used. У межах коду мінімальна висота повернення - це перетин позиції транспортного засобу з конусом, або `RTL_DESCEND_ALT` (яка буде вище). Іншими словами, транспортний засіб завжди повинен підніматися принаймні до значення `RTL_DESCEND_ALT`, якщо воно нижче цього значення. diff --git a/docs/uk/flight_modes_vtol/mission.md b/docs/uk/flight_modes_vtol/mission.md index 30821c2d6f..622da4c03e 100644 --- a/docs/uk/flight_modes_vtol/mission.md +++ b/docs/uk/flight_modes_vtol/mission.md @@ -11,7 +11,7 @@ VTOL-транспортні засоби дотримуються поведін - [Режим Місії (MC)](../flight_modes_mc/mission.md) - [Режим Місії (FW)](../flight_modes_fw/mission.md) -У наступних розділах описується поведінка режиму місії, яка є специфічною для VTOL. +The following sections outline mission mode behaviour that is VTOL specific. ## Команди місій diff --git a/docs/uk/flight_stack/controller_diagrams.md b/docs/uk/flight_stack/controller_diagrams.md index c124360410..85f965c872 100644 --- a/docs/uk/flight_stack/controller_diagrams.md +++ b/docs/uk/flight_stack/controller_diagrams.md @@ -110,7 +110,7 @@ Make sure to tune the attitude controller before attempting to tune TECS. Збільшення дросельної заслінки збільшить швидкість повітря, але також збільшиться висота через збільшення підйомної сили. Таким чином, ми маємо два входи (кут нахилу та дросель), які обидва впливають на два виходи (швидкість повітря та висоту), що ускладнює проблему керування. -TECS пропонує рішення, представляючи проблему в термінах енергій, а не початкових заданих значень. +TECS offers a solution by representing the problem in terms of energies rather than the original setpoints. Повна енергія літака — це сума кінетичної та потенціальної енергії. Тяга (через керування дроселем) збільшує загальний стан енергії літака. Даний загальний енергетичний стан може бути досягнутий довільними комбінаціями потенціальної та кінетичної енергій. Іншими словами, польот на великій висоті, але з низькою швидкістю, може бути еквівалентним польоту на низькій висоті, але з більшою швидкістю повітря з точки зору загальної енергії. Ми називаємо це балансом конкретної енергії і обчислюємо його за поточною висотою та встановленим значенням швидкості повітря. Баланс конкретної енергії контролюється за допомогою кута тангажу літака. diff --git a/docs/uk/flying/basic_flying_mc.md b/docs/uk/flying/basic_flying_mc.md index 1339ca9285..eb857a713b 100644 --- a/docs/uk/flying/basic_flying_mc.md +++ b/docs/uk/flying/basic_flying_mc.md @@ -71,7 +71,7 @@ If you see the vehicle "twitch" during landing (turn down the motors, and then i ## Flight Controls/Commands Vehicle movement is controlled using the 4 basic commands: roll, yaw, pitch and throttle. -As the throttle is increased the rotors spin faster and the vehicle moves up, if the vehicle pitches forward then some of that that force will move the vehicle forward, if it rolls to the left/right, then some of that force will move the vehicle left/right, and changing the yaw spins the vehicle on its axis over the ground plane. +As the throttle is increased the rotors spin faster and the vehicle moves up, if the vehicle pitches forward then some of that force will move the vehicle forward, if it rolls to the left/right, then some of that force will move the vehicle left/right, and changing the yaw spins the vehicle on its axis over the ground plane. These commands therefore allow you to move left/right, spin left/right, forward/back, and up/down, respectively, as shown on the [Mode 2](../getting_started/rc_transmitter_receiver.md#remote-control-units-for-aircraft) RC controller shown below. diff --git a/docs/uk/flying/pre_flight_checks.md b/docs/uk/flying/pre_flight_checks.md index d96e7f8995..cc2e0c57c4 100644 --- a/docs/uk/flying/pre_flight_checks.md +++ b/docs/uk/flying/pre_flight_checks.md @@ -128,7 +128,11 @@ Tuning these parameters is a last resort. #### 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. +The [COM_ARM_WO_GPS](../advanced_config/parameter_reference.md#COM_ARM_WO_GPS) parameter controls whether or not arming is allowed in modes that require a valid global position estimate when EKF2 GNSS quality checks are failing. -- `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 +Значення: + +- `0`: Deny arming. +- `1`: Arming allowed with warning (default). + This might be used to provide a warning that the GNSS is unhealthy even when there is another source of valid position estimate, such as VIO or optical flow. +- `2`: Arming allowed without warnings. diff --git a/docs/uk/frames_multicopter/dji_f450_cuav_5nano.md b/docs/uk/frames_multicopter/dji_f450_cuav_5nano.md index f6311a3b29..23f77f0040 100644 --- a/docs/uk/frames_multicopter/dji_f450_cuav_5nano.md +++ b/docs/uk/frames_multicopter/dji_f450_cuav_5nano.md @@ -15,7 +15,7 @@ This topic provides full instructions for building the kit and configuring PX4 u Компоненти, необхідні для цієї збірки, є: - Flight controller: [CUAV V5 nano](https://store.cuav.net/shop/v5-nano/): - - GPS: [CUAV NEO V2 GPS](https://store.cuav.net/index.php?id_product=97&id_product_attribute=0&rewrite=cuav-new-ublox-neo-m8n-gps-module-with-shell-stand-holder-for-flight-controller-gps-compass-for-pixhack-v5-plus-rc-parts-px4&controller=product&id_lang=1) + - GPS: [CUAV NEO V2 GPS](https://store.cuav.net/?id_product=97&id_product_attribute=0&rewrite=cuav-new-ublox-neo-m8n-gps-module-with-shell-stand-holder-for-flight-controller-gps-compass-for-pixhack-v5-plus-rc-parts-px4&controller=product&id_lang=1) - Модуль живлення - Frame: [DJI F450](https://www.amazon.com/Flame-Wheel-Basic-Quadcopter-Drone/dp/B00HNMVQHY) - Propellers: [DJI Phantom Built-in Nut Upgrade Propellers 9.4x5](https://www.masterairscrew.com/products/dji-phantom-built-in-nut-upgrade-propellers-in-black-mr-9-4x5-prop-set-x4-phantom) diff --git a/docs/uk/frames_multicopter/holybro_x500_pixhawk4.md b/docs/uk/frames_multicopter/holybro_x500_pixhawk4.md index 3cf16c139d..c9349c9f9a 100644 --- a/docs/uk/frames_multicopter/holybro_x500_pixhawk4.md +++ b/docs/uk/frames_multicopter/holybro_x500_pixhawk4.md @@ -118,7 +118,7 @@ Additionally you will need a battery and receiver ([compatible radio system](../ _Figure 7_: ESC power module and signal wiring Колір на верхній частині двигуна вказує на напрямок обертання (зображення 7-1), чорний кінчик - за годинниковою стрілкою, а білий - проти годинникової стрілки. - Переконайтеся, що при виборі напрямку двигуна ви дотримуєтесь орієнтира px4 quadrotor x airframe (зображення 7-2). + Make sure the follow the PX4 quadrotor x airframe reference for motor direction (figure 7-2). diff --git a/docs/uk/frames_multicopter/kits.md b/docs/uk/frames_multicopter/kits.md index ef1972f280..f77bd0c08c 100644 --- a/docs/uk/frames_multicopter/kits.md +++ b/docs/uk/frames_multicopter/kits.md @@ -18,6 +18,7 @@ Kits generally do not include: Наступні комплекти в даний час доступні: +- [Holybro X650 PX4 Development Kit](https://holybro.com/collections/x650-kits) (Pixhawk 6C/6X) ([Frame assembly guide](https://docs.holybro.com/drone-development-kit/x650-development-kit/download)) - [Holybro X500 v2 PX4 Development Kit](https://holybro.com/collections/x500-kits) (Pixhawk 6c) ([Build instructions](../frames_multicopter/holybro_x500v2_pixhawk6c.md)) - [Holybro S500 Kit v2](https://holybro.com/collections/s500/products/s500-v2-development-kit) (Pixhawk 6c) - [Holybro QAV250 Kit](https://holybro.com/products/qav250-kit) (Pixhawk 6c) @@ -27,7 +28,7 @@ Kits generally do not include: ## Посібники зі збірки Нижче наведені інструкції зі складання для декількох комплектів. -Багато наборів відрізняються лише трохи між ревізіями (наприклад, новий набір може просто оновити використаний контролер польоту, інакше він ідентичний), тому їх ймовірно буде корисно використовувати для збирання наборів у розділі вище. +Many kits vary only a little between revisions (for example, the new kit might simply upgrade the flight controller used, and is otherwise identical), so these are likely to be useful for building the kits in the section above. - [Holybro X500 v2 (Pixhawk 6C)](../frames_multicopter/holybro_x500v2_pixhawk6c.md) - [Holybro X500 v2 (Pixhawk 5X)](../frames_multicopter/holybro_x500V2_pixhawk5x.md) — Знятий з виробництва (комплект v2 використовує Pixhawk 6c) diff --git a/docs/uk/frames_multicopter/omnicopter.md b/docs/uk/frames_multicopter/omnicopter.md index e62cdaa9e8..395a72e623 100644 --- a/docs/uk/frames_multicopter/omnicopter.md +++ b/docs/uk/frames_multicopter/omnicopter.md @@ -19,8 +19,8 @@ This build follows the original design from [Brescianini, Dario, and Raffaello D You can select your own flight controller of choice, it just needs to support 8 DShot outputs. ::: - - GPS: [ZED-F9P](https://gnss.store/zed-f9p-gnss-modules/105-elt0092.html) - - [GPS helix antenna](https://gnss.store/gnss-rtk-multiband-antennas/28-elt0014.html) + - GPS: [ZED-F9P](https://gnss.store/products/elt0092) + - [GPS helix antenna](https://gnss.store/products/elt0014) ::: info Any other GPS may work as well, however a helix antenna is expected to perform better for inverted flights. @@ -34,8 +34,8 @@ This build follows the original design from [Brescianini, Dario, and Raffaello D - Акумулятор: ми використовували LiPo на 6S 3300mAh. Обов'язково перевірте розміри, щоб він підійшов до рами. - Ремінь для акумулятора - Рама: - - Carbon square tube R 8mm X 7mm X 1000mm, e.g. [here on shop.swiss-composite.ch](https://shop.swiss-composite.ch/pi.php/Halbfabrikate/Rohre/Vierkant-Rohre/CFK-Vierkantrohr-8x8-7x7mm.html) - - Carbon Rods R 3mm X 2mm X 1000mm, e.g. [here on shop.swiss-composite.ch](https://shop.swiss-composite.ch/pi.php/Halbfabrikate/Rohre/CFK-Rohre-pultrudiert-pullwinding/Carbon-Microtubes-100cm-x-20-3mm.html) + - Carbon square tube R 8mm X 7mm X 1000mm, e.g. [here on shop.swiss-composite.ch](https://www.shop.swiss-composite.ch/de/produkt/cfk-vierkantrohr-8x8-7x7mm) + - Carbon Rods R 3mm X 2mm X 1000mm, e.g. [here on shop.swiss-composite.ch](https://www.shop.swiss-composite.ch/de/produkt/carbon-microtubes-100cm-x-20-3mm) - Необхідні довжини: - квадратна трубка: 8 штук довжиною 248 мм - стрижні: 12x328мм, 6x465мм diff --git a/docs/uk/frames_plane/reptile_dragon_2.md b/docs/uk/frames_plane/reptile_dragon_2.md index 5f1d8e8108..60f73167ac 100644 --- a/docs/uk/frames_plane/reptile_dragon_2.md +++ b/docs/uk/frames_plane/reptile_dragon_2.md @@ -56,7 +56,7 @@ The Reptile Dragon 2 is a twin motor RC airplane specifically designed for effic - Модуль диференційного тиску MS4525DO та пітот-трубка -- [Caddx Vista FPV air unit](https://caddxfpv.com/collections/vista-kit) +- [Caddx Vista FPV air unit](https://www.caddxfpv.com/collections/vista-kit) - [Emax ES08MA ii](https://emaxmodel.com/products/emax-es08ma-ii-12g-mini-metal-gear-analog-servo-for-rc-model-robot-pwm-servo) @@ -66,7 +66,7 @@ The Reptile Dragon 2 is a twin motor RC airplane specifically designed for effic - [5V BEC](https://www.readymaderc.com/products/details/rmrc-3a-power-regulator-5-to-6-volt-ubec) -- [6s2p 18650 LiIon flight battery](https://www.upgradeenergytech.com/product-page/6s-22-2v-5600mah-30c-dark-lithium-liion-drone-battery) (select XT60 connector) +- [6s2p 18650 LiIon flight battery](https://www.upgradeenergytech.com/products/red-6s1p-5000mah-molicel-p50b) (select XT60 connector) - [Custom designed 3D printed parts](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/airframes/fw/reptile_dragon_2/rd2_3d_printed_parts.zip) - Монтаж платформи ARK6X @@ -97,7 +97,7 @@ The Reptile Dragon 2 is a twin motor RC airplane specifically designed for effic Сервоприводи, крила та хвіст потрібно встановити. :::info -Для цієї частини збірки інструкція, включена в комплект, повинна бути достатньою, але нижче наведено деякі корисні поради. +For this portion of assembly, the instructions included with the kit should be sufficient, but some helpful tips are listed below. ::: ### Наклейка піни @@ -225,7 +225,7 @@ The RD2 comes with a wooden electronics mount baseplate preglued in the airframe Оператор встановлений у пластиковому кейсі. Хоча справа виглядає гарно, це додаткова вага, тому переноска була видалена з чохла. -Після видалення з корпусу ARK6X був встановлений, а захисна кришка встановлена зверху. +Once removed from the case, the ARK6X was installed, and a protective cover fitted on top. ![Flight computer carrier board](../../assets/airframes/fw/reptile_dragon_2/holybro_5x.jpg) @@ -353,7 +353,7 @@ For more information see [TBS Crossfire (CRSF) Telemetry](../telemetry/crsf_tele ### `msp_osd` Module -The `msp_osd` module steams MSP telemetry to a selected serial port. +The `msp_osd` module streams MSP telemetry to a selected serial port. Пристрій Caddx Vista Air підтримує прослуховування телеметрії MSP і відображає отримані значення телеметрії на своєму OSD (екрані). 1. In the PX4 board config tool, navigate to the `drivers` submenu, then scroll down to highlight `OSD`. diff --git a/docs/uk/frames_plane/turbo_timber_evolution.md b/docs/uk/frames_plane/turbo_timber_evolution.md index 28651db0fe..693845ab93 100644 --- a/docs/uk/frames_plane/turbo_timber_evolution.md +++ b/docs/uk/frames_plane/turbo_timber_evolution.md @@ -50,7 +50,7 @@ This model is designed to excel at [STOL](https://en.wikipedia.org/wiki/STOL) fl - Модуль диференційного тиску MS4525DO та пітот-трубка -- [Caddx Vista FPV air unit](https://caddxfpv.com/collections/vista-kit) +- [Caddx Vista FPV air unit](https://www.caddxfpv.com/collections/vista-kit) - [DJI FPV Goggles](https://www.dji.com/fpv) @@ -74,7 +74,7 @@ This model is designed to excel at [STOL](https://en.wikipedia.org/wiki/STOL) fl Для цієї частини збирання просто дотримуйтеся інструкції. :::info -[Some reports](https://www.rcgroups.com/forums/showthread.php?3904021-NEW-E-flite-Turbo-Timber-Evolution-1-5m-%C2%96-Smartest-Most-Capable-Durable-Timber-Yet/page50) have indicated that the stock ESC bundled with the airplane has an issue with overheating. +[Some reports](https://www.rcgroups.com/forums/showthread.php?3904021-NEW-E-flite-Turbo-Timber-Evolution-1-5m/page50) have indicated that the stock ESC bundled with the airplane has an issue with overheating. Оскільки ця збірка буде особливо важкою, і, отже, ймовірно, потребуватиме більшого середнього потужності від регулятора швидкості, стандартний регулятор швидкості на 60 А був замінений на 80-амперний регулятор швидкості Turnigy PLUSH-32 під час тестування. The stock motor was also replaced with a [higher power motor](https://hobbyking.com/en_us/turnigy-aerodrive-sk3-3548-840kv-brushless-outrunner-motor.html). @@ -90,7 +90,7 @@ FPV підставка була закріплена зверху кришки ![Window and front fuselage (hatch) with FPV Pod mounted on top](../../assets/airframes/fw/turbo_timber_evolution/fpv_pod_hatch.jpg) -![Underside of hatch showing the FPV pod attachement screws and wires pulled through](../../assets/airframes/fw/turbo_timber_evolution/hatch_underside.jpg) +![Underside of hatch showing the FPV pod attachment screws and wires pulled through](../../assets/airframes/fw/turbo_timber_evolution/hatch_underside.jpg) ## Підвіс для динамічного тиску @@ -150,7 +150,7 @@ A custom mount for the PX4 Mini was designed and 3d printed (see [3D printed par ТЕ дуже гнучкий щодо варіантів акумуляторів. Я використовую як акумулятор Turnigy 3,6 Аг 4S, так і акумулятор Upgrade Energy 4s2p liion. -Хоча LiPo 3,6 Аг є недорогим, з акумулятором Upgrade Energy Liion можна досягти майже вдвічі більшого часу польоту (24 хвилини проти 12 хвилин). +While the 3.6Ah LiPo is inexpensive, nearly twice the flight time (24 minutes vs 12 minutes) can be achieved with the Upgrade Energy Liion pack. ![Image of batteries used for the build](../../assets/airframes/fw/turbo_timber_evolution/batteries.jpg) @@ -177,10 +177,10 @@ USB-A кінець цього кабелю залишено висіти в ба #### Приймач радіокерування -A custom cable was made to connect the ExpressLRS RX ([RC Reciever](../getting_started/rc_transmitter_receiver.md)) to the Pixhawk 4 Mini. +A custom cable was made to connect the ExpressLRS RX ([RC Receiver](../getting_started/rc_transmitter_receiver.md)) to the Pixhawk 4 Mini. Оскільки у Pixhawk 4 Mini обмежена кількість UART, RX був підключений до входу RC, який не має піна TX. -Це означає, що RX буде відправляти дані керування до FCU, але телеметрія не може бути відправлена до RX з FCU. +This means that the RX will only send control data to the FCU but telemetry cannot be sent to the RX from the FCU. Термоусадка була використана для закріплення роз'єму Dupont кабелю таким чином, що він не може випадково вийти з заголовків приймача ExpressLRS RX. #### FPV Pod & Airspeed Cable @@ -189,7 +189,7 @@ Another custom cable was made to connect the Caddx Vista FPV transmitter to the Біля Vista було додано роз'єм Molex Microfit, щоб його можна було легко від'єднати без необхідності доступу до Pixhawk. As the name implies, the `UART/I2C B` port provides both a UART and I2C interface. Цей порт розділено за допомогою спеціального кабелю, і одна сторона надає живлення та дані для I2C датчика швидкості повітря, тоді як інша сторона надає живлення та UART TX/RX для Caddx Vista. -Від порту UART/I2C B, 5V, GND та I2C SCL/SDA підключені до датчика швидкості повітря по I2C, тоді як лише серійний RX та TX підключені до Caddx Vista (заземлення надається окремими лініями живлення/землі для Vista) +From the UART/I2C B port, 5V, GND, and I2C SCL/SDA, are connected to the I2C airspeed sensor, while just serial RX and TX are connected to the Caddx Vista (Ground is provided the separate battery power/gnd leads for the Vista) The [msp_osd](../modules/modules_driver.md#msp-osd) module is used to stream telemetry to the Caddx Vista which can be seen on the DJI Goggles with the "custom OSD" feature enabled. @@ -204,7 +204,7 @@ The [msp_osd](../modules/modules_driver.md#msp-osd) module is used to stream tel Загалом, ця збірка була успішною. -Навіть з додатковою вагою встановлення Pixhawk 4 Mini літак добре балансується і має достатньо потужності, щоб зберегти свої оригінальні характеристики STOL. +Even with the added weight of the Pixhawk 4 Mini installation, the airplane balances well and has plenty of power to retain its original STOL characteristics. PX4 is easily capable of stabilizing the airplane and fine tuning of the rate loops were accomplished using [fixed-wing autotuning](../config/autotune_fw.md). The results of tuning can be found in the [parameter file linked below](#parameter-file). diff --git a/docs/uk/frames_plane/wing_wing_z84.md b/docs/uk/frames_plane/wing_wing_z84.md index 0c3a0a357d..9c309a1769 100644 --- a/docs/uk/frames_plane/wing_wing_z84.md +++ b/docs/uk/frames_plane/wing_wing_z84.md @@ -33,7 +33,7 @@ Any small (>=12A) ESC will do: - Приймач FrSky D4R-II або йому еквівалентний (з'єднаний за допомогою перемички з виходом PPM sum відповідно до інструкції) - [Mini telemetry set](../flight_controller/pixfalcon.md#availability) for Holybro pix32 - [Digital airspeed sensor](../flight_controller/pixfalcon.md#availability) for Holybro pix32 / Pixfalcon -- 1800 mAh 2S LiPo Battery - e.g. [Team Orion 1800mAh 7.4V 50C 2S1P](https://teamorion.com/en/batteries-en/lipo/soft-case/team-orion-lipo-1800-2s-7-4v-50c-xt60-en/) +- 1800 mAh 2S LiPo Battery - e.g. Team Orion 1800mAh 7.4V 50C 2S1P with XT 60 plug. ### Рекомендовані запасні частини diff --git a/docs/uk/frames_sub/bluerov2.md b/docs/uk/frames_sub/bluerov2.md index 50d8be1c55..8965333aa7 100644 --- a/docs/uk/frames_sub/bluerov2.md +++ b/docs/uk/frames_sub/bluerov2.md @@ -2,21 +2,25 @@ -The [BlueROV2](https://bluerobotics.com/store/rov/bluerov2-upgrade-kits/brov2-heavy-retrofit-r1-rp/BlueROV2) is an affordable high-performance underwater vehicle that is perfect for inspections, research, and adventuring. +The [BlueROV2](https://bluerobotics.com/store/rov/bluerov2/) is an +affordable high-performance underwater vehicle that is perfect for inspections, research, and adventuring. -PX4 provides [experimental support](index.md) for an 8-thrust vectored configuration, known as the _BlueROV2 Heavy Configuration_. +PX4 provides [experimental support](index.md) for an 8-thrust vectored configuration, known as the _BlueROV2 Heavy +Configuration_. ![Hero](../../assets/airframes/sub/bluerov/bluerov_hero.jpg) ## Де купити -[BlueROV2](https://bluerobotics.com/store/rov/bluerov2/) + [BlueROV2 Heavy Configuration Retrofit Kit](https://bluerobotics.com/store/rov/bluerov2-upgrade-kits/brov2-heavy-retrofit-r1-rp/) +[BlueROV2](https://bluerobotics.com/store/rov/bluerov2/) + [BlueROV2 Heavy Configuration Retrofit Kit](https://bluerobotics.com/store/rov/bluerov2-accessories/brov2-heavy-kit/) ### Відповідність двигунів/підключення -Мотори повинні бути підключені до контролера польоту відповідно до стандартних інструкцій, наданих BlueRobotics для цього транспортного засобу. +The motors must be wired to the flight controller following the standard instructions supplied by BlueRobotics for this +vehicle . -The vehicle will then match the configuration documented in the [Airframe Reference](../airframes/airframe_reference.md#vectored-6-dof-uuv): +The vehicle will then match the configuration documented in +the [Airframe Reference](../airframes/airframe_reference.md#vectored-6-dof-uuv): @@ -29,6 +33,15 @@ The vehicle will then match the configuration documented in the [Airframe Refere - **MAIN7:** motor 7 CCW, stern starboard vertical, propeller CW - **MAIN8:** motor 8 CCW, stern port vertical, propeller CCW +## Manual Modes + +| Режим | Опис | +| --------- | ---------------------------------------------------------------------------------------------------------------------------------------------------- | +| Manual | Direct manual control of yaw and thrust. | +| Acro | Manual control of yaw/thrust, but keeps roll/pitch zero | +| Altitude | Manual control of x/y thrust and yaw. Control of height with PID, manually controlled by user. Keeps roll/pitch zero | +| Положення | Controls x/y/z and yaw. Manually controlled by user. Keeps roll/pitch zero | + ## Конфігурація планера BlueROV2 не йде з предвстановленою версією з PX4. diff --git a/docs/uk/frames_vtol/tailsitter.md b/docs/uk/frames_vtol/tailsitter.md index 35f01e782f..d0d43e5ec1 100644 --- a/docs/uk/frames_vtol/tailsitter.md +++ b/docs/uk/frames_vtol/tailsitter.md @@ -91,7 +91,7 @@ This section contains videos that are specific to Tailsitter VTOL (videos that a
-
WingtraOne
+
WingtraOne
wingtraone
diff --git a/docs/uk/frames_vtol/vtol_quadplane_falcon_vertigo_hybrid_rtf_dropix.md b/docs/uk/frames_vtol/vtol_quadplane_falcon_vertigo_hybrid_rtf_dropix.md index e21f612731..5cc50c34e4 100644 --- a/docs/uk/frames_vtol/vtol_quadplane_falcon_vertigo_hybrid_rtf_dropix.md +++ b/docs/uk/frames_vtol/vtol_quadplane_falcon_vertigo_hybrid_rtf_dropix.md @@ -36,7 +36,7 @@ The _Falcon Vertigo Hybrid VTOL_ is a quadplane VTOL aircraft that has been desi - Система потужності двигуна-штовхача - Вуглецеві труби та кріплення - Кронштейни для мотора G10 -- 1 x [3700mah 4S 30C Lipo battery](https://www.overlander.co.uk/batteries/lipo-batteries/power-packs/3700mah-4s-14-8v-25c-lipo-battery-overlander-sport.html) +- 1 x [3700mah 4S 30C Lipo battery](https://wheelspinmodels.co.uk/i/3700mah-4s-14.8v-25c-lipo-battery-overlander-262221/) - Плата розподілу живлення Dropix та кабель Набір не постачається з радіоприймачем або (опціональними) модулями телеметрії. diff --git a/docs/uk/frames_vtol/vtol_quadplane_foxtech_loong_2160.md b/docs/uk/frames_vtol/vtol_quadplane_foxtech_loong_2160.md index 8bd9b58c2d..340e9b9d9f 100644 --- a/docs/uk/frames_vtol/vtol_quadplane_foxtech_loong_2160.md +++ b/docs/uk/frames_vtol/vtol_quadplane_foxtech_loong_2160.md @@ -43,14 +43,14 @@ Foxtech Loong 2160 VTOL - це легкий у монтажі майже гот - [Модуль живлення Holybro PM08D (альтернатива Auterion PM)](https://holybro.com/collections/power-modules-pdbs/products/pm08d-digital-power-module-14s-200a) - [GPS F9P (включено в Skynode оціночний. комплект)](../gps_compass/rtk_gps_holybro_h-rtk-f9p.md) - [GPS M9N (дешевша альтернатива F9P)](../gps_compass/rtk_gps_holybro_h-rtk-m8p.md) -- [Датчик швидкості (включено в Skynode eval. kit)](https://www.dualrc.com/parts/airspeed-sensor-sdp33) — рекомендований для покращення безпеки та продуктивності +- [Датчик швидкості (включено в Skynode eval. kit)](https://www.dualrc.com/parts/p/airspeed-sensor-sdp33) — recommended for improved safety and performance - [Airspeed sensor (cheaper alternative)](https://holybro.com/products/digital-air-speed-sensor-ms4525do) - [Lidar Lightware lw20-c (включено в Skynode eval. kit)](../sensor/sfxx_lidar.md) (Необов'язково) - [Інфрачервоний сенсор вимірювання відстані Seeed Studio PSK-CM8JL65-CC5 (дешевший аналог)](https://www.seeedstudio.com/PSK-CM8JL65-CC5-Infrared-Distance-Measuring-Sensor-p-4028.html) (Опціонально) - [Радіо (RC) система](../getting_started/rc_transmitter_receiver.md) на ваш вибір -- [Наземна станція та радіо зв'язок](https://holybro.com/collections/rc-radio-transmitter-receiver/products/skydroid-h12?variant=42940989931709) +- [Groundstation and Radio link](https://holybro.com/products/skydroid-h12) - [Розширення кабеля USB-C](https://www.digitec.ch/en/s1/product/powerguard-usb-c-usb-c-025-m-usb-cables-22529949?dbq=1&gclid=Cj0KCQjw2cWgBhDYARIsALggUhrh-z-7DSU0wKfLBVa8filkXLQaxUpi7pC0ffQyRzLng8Ph01h2R1gaAp0mEALw_wcB&gclsrc=aw.ds) -- [Розгалужувач I2C](https://www.3dxr.co.uk/autopilots-c2/the-cube-aka-pixhawk-2-1-c9/cube-cables-accessories-sensors-c15/cubepilot-i2c-can-splitter-jst-gh-4pin-p2840) +- [I2C Splitter](https://www.3dxr.co.uk/autopilots-c2/the-cube-aka-pixhawk-2-1-c9/cube-cables-accessories-sensors-c15/cubepilot-i2c-can-splitter-jst-gh-4pin-hx4-06152-p2840) - [3D-Printed mounts](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/airframes/vtol/foxtech_loong_2160/loong-3d-prints.zip) - 1x Базова плита - 1x Stack-fixture @@ -305,7 +305,7 @@ Next we load a [parameter file](https://github.com/PX4/PX4-Autopilot/raw/main/do - Якщо [Lidar Lightware lw20-c (включено в Skynode eval. kit)](../sensor/sfxx_lidar.md) використовується, потрібно встановити [SENS_EN_SF1XX](../advanced_config/parameter_reference.md#SENS_EN_SF1XX) на 6 (SF/LW/20c). - Впевніться, що обраний правильний датчик швидкості. - Якщо ви використовуєте рекомендований [датчик швидкості SDP33](https://www.dualrc.com/parts/airspeed-sensor-sdp33), зміни не будуть потрібні, оскільки [SENS_EN_SDP3X](../advanced_config/parameter_reference.md#SENS_EN_SDP3X) увімкнено (встановлено на `1`) в файлі параметрів. + If you use the recommended [SDP33 airspeed sensor](https://www.dualrc.com/parts/p/airspeed-sensor-sdp33) no changes will be needed as [SENS_EN_SDP3X](../advanced_config/parameter_reference.md#SENS_EN_SDP3X) is enabled (set to `1`) in the parameter file. ### Калібрування сенсорів diff --git a/docs/uk/frames_vtol/vtol_tailsitter_caipiroshka_pixracer.md b/docs/uk/frames_vtol/vtol_tailsitter_caipiroshka_pixracer.md index e163ed34aa..f2104d27eb 100644 --- a/docs/uk/frames_vtol/vtol_tailsitter_caipiroshka_pixracer.md +++ b/docs/uk/frames_vtol/vtol_tailsitter_caipiroshka_pixracer.md @@ -4,7 +4,7 @@ The Caipiroshka VTOL is a slightly modified _TBS Caipirinha_. :::info The _TBS Caipirinha_ has been superseded and is no longer available. -These instructions _should_ work with the updated vehicle: [TBS Caipirinha 2](https://team-blacksheep.com/products/prod:tbs_caipi2_pnp). +These instructions _should_ work with the updated vehicle: [TBS Caipirinha 2](https://www.team-blacksheep.com/products/prod:tbs_caipi2_pnp). Кілька інших компонентів також було оновлено в списку деталей. ::: @@ -12,7 +12,7 @@ These instructions _should_ work with the updated vehicle: [TBS Caipirinha 2](ht ## Список деталей -- TBS Caipirinha Wing (no longer available - try [TBS Caipirinha 2](https://team-blacksheep.com/products/prod:tbs_caipi2_pnp)) +- TBS Caipirinha Wing (no longer available - try [TBS Caipirinha 2](https://www.team-blacksheep.com/products/prod:tbs_caipi2_pnp)) - Left and right 3D-printed motor mount (design files) - CW 8045 propeller ([Eflight store](https://www.banggood.com/GEMFAN-Carbon-Nylon-8045-CWCCW-Propeller-For-Quadcopters-1-Pair-p-950874.html)) - CCW 8045 propeller ([Eflight store](https://www.banggood.com/GEMFAN-Carbon-Nylon-8045-CWCCW-Propeller-For-Quadcopters-1-Pair-p-950874.html)) @@ -24,7 +24,7 @@ These instructions _should_ work with the updated vehicle: [TBS Caipirinha 2](ht - [GetFPV](https://www.getfpv.com/lumenier-30a-blheli-s-esc-opto-2-4s.html) - BEC (3А, 5-5.3В) (потрібно лише у випадку, якщо використовуєте ESC, які не можуть діяти як джерело живлення 5В для вихідної рейки) - 3S 2200 mA LiPo акумулятор - - Team Orion 3S 11.1V 50 C ([Hobbyshop store](https://www.hobbyshop.ch/modellbau-elektronik/akku/team-orion-lipo-2200-3s-11-1v-50c-xt60-ori60163.html)) + - Team Orion 3S 11.1V 50 C ([Hobbyshop store](https://www.hobbyshop.ch/team-orion-lipo-2200-3s-11-1v-50c-xt60-ori60163.html)) - [Pixracer autopilot board + power module](../flight_controller/pixracer.md) - [Digital airspeed sensor](https://hobbyking.com/en_us/hkpilot-32-digital-air-speed-sensor-and-pitot-tube-set.html) diff --git a/docs/uk/frames_vtol/vtol_tiltrotor_omp_hobby_zmo_fpv.md b/docs/uk/frames_vtol/vtol_tiltrotor_omp_hobby_zmo_fpv.md index 3ceb129558..df184db371 100644 --- a/docs/uk/frames_vtol/vtol_tiltrotor_omp_hobby_zmo_fpv.md +++ b/docs/uk/frames_vtol/vtol_tiltrotor_omp_hobby_zmo_fpv.md @@ -25,9 +25,9 @@ This build guide shows add a flight controller system (using [Auterion Skynode e ## Де купити -- [OMP-Hobby](https://www.omphobby.com/OMPHOBBY-ZMO-VTOL-FPV-Aircraft-With-DJI-Goggles-And-Remote-Controller-p3069854.html) - [GetFPV](https://www.getfpv.com/omphobby-zmo-z3-vtol-fpv-1200mm-arf-plane-kit-no-fpv-system.html) - [FoxtechFPV](https://www.foxtechfpv.com/zmo-pro-fpv-vtol.html) +- [RMRC](https://www.readymaderc.com/products/details/omp-hobby-zmo-vtol-fpv-airplane-rtf-goggles-radio) ## Політний контролер @@ -43,7 +43,7 @@ This build guide shows add a flight controller system (using [Auterion Skynode e - [GPS F9P (включено в Skynode оціночний. комплект)](../gps_compass/rtk_gps_holybro_h-rtk-f9p.md) - [GPS M9N (дешевша альтернатива F9P)](../gps_compass/rtk_gps_holybro_h-rtk-m8p.md) -- [Датчик швидкості (включено в Skynode eval. kit)](https://www.dualrc.com/parts/airspeed-sensor-sdp33) — рекомендований для покращення безпеки та продуктивності +- [Датчик швидкості (включено в Skynode eval. kit)](https://www.dualrc.com/parts/p/airspeed-sensor-sdp33) — recommended for improved safety and performance - [Airspeed sensor (cheaper alternative)](https://holybro.com/products/digital-air-speed-sensor-ms4525do) - [Lidar Lightware lw20-c (включено в Skynode eval. kit)](../sensor/sfxx_lidar.md) (Необов'язково) - [Інфрачервоний сенсор вимірювання відстані Seeed Studio PSK-CM8JL65-CC5 (дешевший аналог)](https://www.seeedstudio.com/PSK-CM8JL65-CC5-Infrared-Distance-Measuring-Sensor-p-4028.html) (Опціонально) @@ -79,7 +79,7 @@ This build guide shows add a flight controller system (using [Auterion Skynode e ### Підготовка Вийміть оригінальний контролер польоту, ESC регулятор швидкості та кабелі з'єднання крила. -Також зніміть пропелери. +Also remove the propellers. Це допоможе вам з управлінням транспортного засобу і зменшить ризик отримання травми внаслідок ненавмисного запуску двигуна. ZMO FPV в його початковому стані. @@ -101,7 +101,7 @@ ZMO FPV в його початковому стані. 4. Укоротіть дроти заднього двигуна та припаяйте їх на місце, як показано на малюнку. -5. Припаяйте сигнальні та GND-дроти до входу PWM ESC регулятора швидкості. +5. Solder signal and GND wires to the PWM input to the ESC. ![ESC 01](../../assets/airframes/vtol/omp_hobby_zmo_fpv/esc-01.jpg) @@ -293,7 +293,7 @@ Next we load a [parameter file](https://github.com/PX4/PX4-Autopilot/raw/main/do The airspeed sensor can be enabled in the [Parameters](../advanced_config/parameters.md#finding-updating-parameters) tab. -- If the [recommended airspeed sensor (SDP33)](https://www.dualrc.com/parts/airspeed-sensor-sdp33) is used, `SENS_EN_SDP3X` needs to be enabled. +- If the [recommended airspeed sensor (SDP33)](https://www.dualrc.com/parts/p/airspeed-sensor-sdp33) is used, `SENS_EN_SDP3X` needs to be enabled. - Якщо [Lidar Lightware lw20-c (включено в Skynode eval. kit)](../sensor/sfxx_lidar.md) is used, `SENS_EN_SF1XX` needs to be set to 6 (SF/LW/20c). ### Калібрування сенсорів diff --git a/docs/uk/getting_started/flight_reporting.md b/docs/uk/getting_started/flight_reporting.md index 32845f9826..73ddb7935e 100644 --- a/docs/uk/getting_started/flight_reporting.md +++ b/docs/uk/getting_started/flight_reporting.md @@ -38,7 +38,7 @@ For more information see [Settings > MAVLink Settings > MAVLink 2 Logging (PX4 o ## Надання доступу до файлів журналів розробникам PX4 -The [Flight Review](https://logs.px4.io/) log file link can be shared for discussion in the [support forums](../contribute/support.md#forums-and-chat) or a [Github issue](../index.md#reporting-bugs-issues). +The [Flight Review](https://logs.px4.io/) log file link can be shared for discussion in the [support forums](../contribute/support.md#forums-and-chat) or a [Github issue](../contribute/support.md#issue-bug-reporting). ## Конфігурація журналу diff --git a/docs/uk/getting_started/rc_transmitter_receiver.md b/docs/uk/getting_started/rc_transmitter_receiver.md index b5d03c3bf3..c27bbd52c5 100644 --- a/docs/uk/getting_started/rc_transmitter_receiver.md +++ b/docs/uk/getting_started/rc_transmitter_receiver.md @@ -3,13 +3,15 @@ A Radio Control (RC) system can be used to _manually_ control your vehicle from a handheld RC controller. У цьому розділі наведено огляд того, як працює RC система, як вибрати відповідну радіосистему для вашого засобу, і як під'єднати її до політного контролера. -:::tip -PX4 can also be manually controlled using a [Joystick](../config/joystick.md) or gamepad-like controller: this is different to an RC system! -The [COM_RC_IN_MODE](../advanced_config/parameter_reference.md#COM_RC_IN_MODE) parameter [can be set](../advanced_config/parameters.md) to choose whether RC (default), Joystick, both, or neither, are enabled. +:::info +PX4 does not require a manual control system for autonomous flight modes. ::: -:::info -PX4 does not require a remote control system for autonomous flight modes. +:::tip +PX4 can also be [manually controlled](../config/manual_control.md) using a [Joystick](../config/joystick.md) or gamepad-like controller. + +By default PX4 will latch the first valid controller it discovers and use it until the vehicle reboots. +If you have multiple controllers and you want to define their priority see [Manual Control > PX4 Configuration](../config/manual_control.md#px4-configuration). ::: ## Як працюють системи радіо керування? diff --git a/docs/uk/gps_compass/gps_cuav_neo_3.md b/docs/uk/gps_compass/gps_cuav_neo_3.md index 42d4fc49a9..4030bdaac1 100644 --- a/docs/uk/gps_compass/gps_cuav_neo_3.md +++ b/docs/uk/gps_compass/gps_cuav_neo_3.md @@ -47,7 +47,7 @@ ## Де купити -- [CUAV](https://cuav.en.alibaba.com/product/1600217379204-820872629/CUAV_NEO_3_M9N_GPS_Module_for_Pixhawk_Compass_gps_tracker_navigation_gps.html?spm=a2700.shop_oth.74.1.636e28725EvVHb) +- [CUAV](https://www.alibaba.com/product-detail/CUAV_NEO_3_M9N_GPS_Module_for_Pixhawk_Compass_gps_tracker_navigation_gps_1600217379204.html) ## Підключення та з'єднання diff --git a/docs/uk/gps_compass/gps_cuav_neo_3pro.md b/docs/uk/gps_compass/gps_cuav_neo_3pro.md index ea31a40885..463aca05c0 100644 --- a/docs/uk/gps_compass/gps_cuav_neo_3pro.md +++ b/docs/uk/gps_compass/gps_cuav_neo_3pro.md @@ -41,7 +41,7 @@ NEO 3Pro - це приймач GPS DroneCan, вироблений CUAV. ## Де купити -- [CUAV](https://cuav.en.alibaba.com/product/1600165544920-820872629/Free_shipping_CUAV_Neo_3_pro_drone_UAVCAN_GNSS_processor_STM32F412_autopilot_ublox_M9N_positioning_RM3100_compass_uav_gps_module.html?spm=a2700.shop_oth.74.2.636e28725EvVHb) +- [CUAV](https://www.alibaba.com/product-detail/Free_shipping_CUAV_Neo_3_pro_drone_UAVCAN_GNSS_processor_STM32F412_autopilot_ublox_M9N_positioning_RM3100_compass_uav_gps_module_1600165544920.html) ## Підключення та з'єднання diff --git a/docs/uk/gps_compass/index.md b/docs/uk/gps_compass/index.md index 722af9a4e5..82d2b44d33 100644 --- a/docs/uk/gps_compass/index.md +++ b/docs/uk/gps_compass/index.md @@ -187,9 +187,9 @@ Some of GNSS terms that are useful for interpreting the data include: - `DOP`: Dilution of position (dimensionless). This is a measure of the geometric quality of satellite positions and their effect on the precision of the GPS receiver's calculations. - `EPH`: Standard deviation of horizontal position error (metres). - This represents the the uncertainty in the GPS fix latitude and longitude. + This represents the uncertainty in the GPS fix latitude and longitude. - `EPV`: Standard deviation of vertical position error (metres). - This represents the the uncertainty in the GPS fix altitude. + This represents the uncertainty in the GPS fix altitude. ### DOP vs EPH/EPV diff --git a/docs/uk/gps_compass/magnetometer.md b/docs/uk/gps_compass/magnetometer.md index 42d0d72b4e..e79d1766b0 100644 --- a/docs/uk/gps_compass/magnetometer.md +++ b/docs/uk/gps_compass/magnetometer.md @@ -22,7 +22,7 @@ It should not be used otherwise, and is automatically disabled after [calibratio ### Частини компасу PX4 можна використовувати з багатьма деталями магнітометрів, включаючи: Bosch BMM 150 MEMS (через шину I2C), HMC5883 / HMC5983 (I2C або SPI), IST8310 (I2C), LIS3MDL (I2C або SPI), RM3100 та інші. -Інші підтримувані частини магнітометра та їхні шини можна дізнатися з драйверів, перелічених у [Посилання на модулі: Магнітометр (драйвер)](../modules/modules_driver_magnetometer.md). +Other supported magnetometer parts and their buses can be inferred from the drivers listed in [Modules Reference: Magnetometer (Driver)](../modules/modules_driver_magnetometer.md). Ці деталі входять до складу автономних модулів компаса, комбінованих модулів компаса/ГНСС, а також до складу багатьох контролерів польоту, @@ -55,7 +55,7 @@ PX4 можна використовувати з багатьма деталям Internal compasses are not recommended for real use as a heading source, because the performance is almost always very poor. -This is particularly true on on small vehicles where the flight controller has to be mounted close to motor/ESC power lines and other sources of electromagnetic interference. +This is particularly true on small vehicles where the flight controller has to be mounted close to motor/ESC power lines and other sources of electromagnetic interference. While they may be better on larger vehicles (e.g. VTOL), where it is possible to reduce electromagnetic interference by mounting the flight controller a long way from power supply lines, an external compass will almost always be better. :::tip diff --git a/docs/uk/gps_compass/rtk_gps.md b/docs/uk/gps_compass/rtk_gps.md index 3cd95c567b..2b2b29a38a 100644 --- a/docs/uk/gps_compass/rtk_gps.md +++ b/docs/uk/gps_compass/rtk_gps.md @@ -14,7 +14,7 @@ Some RTK GNSS setups can provide yaw/heading information, as an alternative to t ## Пристрої, що підтримуються -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://oemgnss.trimble.com/en/products/receiver-modules/mb-two) GPS, and products that incorporate them. +PX4 supports the [u-blox M8P](https://www.u-blox.com/en/product/neo-m8p-series), [u-blox F9P](https://www.u-blox.com/en/product/zed-f9p-module) and the [Trimble MB-Two](https://oemgnss.trimble.com/en/products/receiver-modules/mb-two) GPS, and products that incorporate them. Список сумісних пристроїв RTK нижче, які очікуються для роботи з PX4 (він виключає припинені пристрої). Таблиця вказує пристрої, які також виводять курсову відмітку, а також можуть надавати курсову відмітку, коли використовуються дві одиниці на транспортному засобі. @@ -57,7 +57,7 @@ PX4 supports the [u-blox M8P](https://www.u-blox.com/en/product/neo-m8p), [u-blo | [Septentrio AsteRx-m3 Pro](../gps_compass/septentrio_asterx-rib.md) | AsteRx | ✓ | | [Septentrio Dual Antenna] | ✓ | | [Septentrio mosaic-go](../gps_compass/septentrio_mosaic-go.md) | mosaic X5 / mosaic H | ✓ | | [Septentrio Dual Antenna] | ✓ | | [SIRIUS RTK GNSS ROVER (F9P)](https://store-drotek.com/911-sirius-rtk-gnss-rover-f9p.html) | F9P | ✓ | | [Dual F9P] | | -| [SparkFun GPS-RTK2 Board - ZED-F9P](https://www.sparkfun.com/products/15136) | F9P | ✓ | | [Dual F9P] | | +| [SparkFun GPS-RTK2 Board - ZED-F9P](https://www.sparkfun.com/sparkfun-gps-rtk2-board-zed-f9p-qwiic-gps-15136.html) | F9P | ✓ | | [Dual F9P] | | | [Trimble MB-Two](../gps_compass/rtk_gps_trimble_mb_two.md) | F9P | ✓ | | ✓ | | diff --git a/docs/uk/gps_compass/rtk_gps_cuav_c-rtk-9ps.md b/docs/uk/gps_compass/rtk_gps_cuav_c-rtk-9ps.md index 96e0635bc6..61927a6d0e 100644 --- a/docs/uk/gps_compass/rtk_gps_cuav_c-rtk-9ps.md +++ b/docs/uk/gps_compass/rtk_gps_cuav_c-rtk-9ps.md @@ -1,6 +1,6 @@ # CUAV C-RTK 9Ps -The CUAV [C-RTK 9Ps](https://www.cuav.net/en/c_rtk_9ps/) is a multi-satellite, multi-band, centimeter-level, RTK GNSS system. +The CUAV [C-RTK 9Ps](https://www.cuav.net/en/c-rtk-9ps-en/) is a multi-satellite, multi-band, centimeter-level, RTK GNSS system. Модуль одночасно приймає сигнали супутників GPS, ГЛОНАСС, Galileo та Beidou, що забезпечує швидке позиціонування та вищу точність. It also supports [RTK GPS Heading](../gps_compass/u-blox_f9p_heading.md) using dual modules. @@ -12,7 +12,7 @@ It also supports [RTK GPS Heading](../gps_compass/u-blox_f9p_heading.md) using d ## Де купити -[cuav Store](https://store.cuav.net/shop/c-rtk-9ps/) +[cuav Store](https://store.cuav.net/?route=product%2Fproduct&path=61&product_id=187) ## Специфікація diff --git a/docs/uk/gps_compass/rtk_gps_cuav_c-rtk.md b/docs/uk/gps_compass/rtk_gps_cuav_c-rtk.md index 8930fb6cca..0f75a9d2e8 100644 --- a/docs/uk/gps_compass/rtk_gps_cuav_c-rtk.md +++ b/docs/uk/gps_compass/rtk_gps_cuav_c-rtk.md @@ -1,6 +1,6 @@ # CUAV C-RTK -The [CUAV C-RTK GPS receiver](https://www.cuav.net/en/c_rtk_9ps/) is an [RTK GPS module](../gps_compass/rtk_gps.md) for the mass market. +The [CUAV C-RTK GPS receiver](https://www.cuav.net/en/c-rtk-9ps-en/) is an [RTK GPS module](../gps_compass/rtk_gps.md) for the mass market. Повна система RTK складається щонайменше з двох модулів C-RTK (один для базової станції, а інший для літака). Використовуючи RTK, PX4 може визначати своє місцезнаходження з точністю до сантиметра, що набагато точніше, ніж може забезпечити звичайний GPS. @@ -8,7 +8,7 @@ The [CUAV C-RTK GPS receiver](https://www.cuav.net/en/c_rtk_9ps/) is an [RTK GPS ## Де купити - [cuav taobao](https://item.taobao.com/item.htm?id=565380634341&spm=2014.21600712.0.0) -- [cuav aliexpress](https://www.aliexpress.com/store/product/CUAV-NEW-Flight-Controller-GPS-C-RTK-differential-positioning-navigation-module-GPS-for-PIX4-Pixhawk-pixhack/3257035_32853894248.html?spm=2114.12010608.0.0.75592fadQKPPEn) +- [cuav aliexpress](https://www.aliexpress.com/item/32853894248.html?spm=2114.12010608.0.0.75592fadQKPPEn) ## Налаштування @@ -16,7 +16,7 @@ RTK setup and use on PX4 via _QGroundControl_ is largely plug and play \(see [RT ## Підключення та з'єднання -C-RTK GPS comes with a cable that terminates in a 6-pin connector and 4-pin connector that are compatible with [Pixhack v3](https://doc.cuav.net/flight-controller/pixhack/en/quick-start-pixhack-v3x.html#gps--compass). +C-RTK GPS comes with a cable that terminates in a 6-pin connector and 4-pin connector that are compatible with [Pixhack v3](../flight_controller/pixhack_v3.md). 6-контактний роз'єм забезпечує інтерфейс для RTK GPS і повинен бути підключений до GPS-порту польотного контролера. 4-контактний роз'єм - це GPS-інтерфейс m8n (стандартний), який призначений для (додаткового) використання в якості другого GPS. diff --git a/docs/uk/gps_compass/rtk_gps_cuav_c-rtk2.md b/docs/uk/gps_compass/rtk_gps_cuav_c-rtk2.md index 9fcf84c922..0973f8706a 100644 --- a/docs/uk/gps_compass/rtk_gps_cuav_c-rtk2.md +++ b/docs/uk/gps_compass/rtk_gps_cuav_c-rtk2.md @@ -1,6 +1,6 @@ # CUAV C-RTK2 GNSS Module (RTK/PPK) -The [CUAV C-RTK2 receiver](https://www.cuav.net/en/c_rtk_9ps/) is a high-performance PPK/RTK positioning module created by CUAV for professional applications such as drone aerial surveying and mapping. +The [CUAV C-RTK2 receiver](https://www.cuav.net/en/c-rtk-9ps-en/) is a high-performance PPK/RTK positioning module created by CUAV for professional applications such as drone aerial surveying and mapping. It has a high-precision IMU and positioning module, and can reduce the number of required [control points](https://www.youtube.com/watch?v=3k7v5aXyuKQ) by more than to 80%. На додаток до зйомки/картографування, він підходить для багатьох інших випадків використання, включаючи: захист сільськогосподарських рослин та рої дронів. @@ -10,7 +10,7 @@ It has a high-precision IMU and positioning module, and can reduce the number of - Потужний процесор H7 - Високоточний IMU промислового класу -- Підтримка RTK та одночасне збереження необроблених даних RAW (PPK) +- Support RTK and save raw data (PPK) at the same time - Багатосупутникові та багаточастотні приймачі - Протокол UAVCAN/Dronecan - Підтримка гарячого взуття та спуску спусковик @@ -18,7 +18,7 @@ It has a high-precision IMU and positioning module, and can reduce the number of ## Де купити -- [CUAV Store](https://store.cuav.net/shop/c-rtk-2/) +- [CUAV Store](https://store.cuav.net/?route=product%2Fproduct&product_id=159) - [CUAV aliexpress](https://pt.aliexpress.com/item/1005003754165772.html?spm=a2g0o.store_pc_groupList.8148356.13.2f893550i0NE4o) # Короткий опис diff --git a/docs/uk/gps_compass/rtk_gps_datagnss_nano_hrtk.md b/docs/uk/gps_compass/rtk_gps_datagnss_nano_hrtk.md index cf4c1c5d24..d9c28c3417 100644 --- a/docs/uk/gps_compass/rtk_gps_datagnss_nano_hrtk.md +++ b/docs/uk/gps_compass/rtk_gps_datagnss_nano_hrtk.md @@ -90,7 +90,7 @@ Note that for the base we recommend the [NANO RTK Receiver](https://www.datagnss ![DATAGNSS NANO RTK Receiver with case](../../assets/hardware/gps/datagnss_gem1305/nano_rtk_with_case.png) -See to [How to setup Base station](https://wiki.datagnss.com/index.php/GEM1305-autopilot#Base_station_setup) for information on how to configure the module for use as a base station (not including step 6 and later, for which you would QGroundControl instead of Mission Planner). +See to [How to setup Base station](https://docs.datagnss.com/#Base_station_setup) for information on how to configure the module for use as a base station (not including step 6 and later, for which you would QGroundControl instead of Mission Planner). ### Rover Setup (PX4) @@ -111,13 +111,12 @@ GPS and RTK configuration on PX4 via _QGroundControl_ is plug and play (see [RTK ## Resources -- [NANO RTK Receiver 2D drawing file](https://wiki.datagnss.com/images/3/31/EVK-DG-1206_V.2.0.pdf) - [NANO HRTK Receiver Wiki](https://docs.datagnss.com/gnss/rtk_receiver/NANO/nano-helix-rtk/) (DATAGNSS WiKi) - [HED-10L Heading RTK Receiver](https://docs.datagnss.com/gnss/rtk_receiver/HED-10L/) ## Докладніше -- [NANO RTK Receiver](https://docs.datagnss.com/gnss/rtk_receiver/NANO/nano-rtk-receiver) +- [NANO RTK Receiver](https://docs.datagnss.com/gnss/rtk_receiver/NANO/nano-rtk-receiver/) - [HELIX Antenna for RTK](https://www.datagnss.com/collections/rtk-antenna/products/smart-helix-antenna) - [RTK Antenna AGR6302G](https://www.datagnss.com/collections/rtk-antenna/products/antenna-agr6302g) - [AT400 RTK Antenna](https://www.datagnss.com/collections/rtk-antenna/products/at400-multi-band-antenna-for-rtk) diff --git a/docs/uk/gps_compass/rtk_gps_drotek_xl.md b/docs/uk/gps_compass/rtk_gps_drotek_xl.md index 36b774b426..11d3d190eb 100644 --- a/docs/uk/gps_compass/rtk_gps_drotek_xl.md +++ b/docs/uk/gps_compass/rtk_gps_drotek_xl.md @@ -2,7 +2,7 @@ :::info This module appears to have been discontinued, and is no longer on the Drotek site (September 2023). -The last documentation was in [PX4 v1.13 here](https://docs.px4.io/v1.13/en/gps_compass/rtk_gps_drotek_xl.html) +The last documentation was in [PX4 v1.13 here](https://docs.px4.io/v1.13/en/gps_compass/rtk_gps_drotek_xl) ::: diff --git a/docs/uk/gps_compass/rtk_gps_gem1305.md b/docs/uk/gps_compass/rtk_gps_gem1305.md index 92c6c3aea5..b0bbe06ebf 100644 --- a/docs/uk/gps_compass/rtk_gps_gem1305.md +++ b/docs/uk/gps_compass/rtk_gps_gem1305.md @@ -77,7 +77,7 @@ The 1.25mm pitch 6P connector (from left: PIN1 to PIN6) supports UART for GNSS a ## Налаштування програмного забезпечення RTK requires a base RTK module attached to the ground station, and a rover RTK module on the vehicle. -The data from the base needs to be transmitted to the drone via telemetry radio and inputed into the RTK receiver on the rover. +The data from the base needs to be transmitted to the drone via telemetry radio and inputted into the RTK receiver on the rover. ![RTK setup overview](../../assets/hardware/gps/datagnss_gem1305/setup_overview.png) @@ -93,7 +93,7 @@ Note that for the base we recommend the [NANO RTK Receiver](https://www.datagnss DATAGNSS NANO RTK Receiver -See to [How to setup Base station](https://wiki.datagnss.com/index.php/GEM1305-autopilot#Base_station_setup) for information on how to configure the module for use as a base station (not including step 6 and later, for which you would QGroundControl instead of Mission Planner). +See to [How to setup Base station](https://docs.datagnss.com/#Base_station_setup) for information on how to configure the module for use as a base station (not including step 6 and later, for which you would QGroundControl instead of Mission Planner). ### Rover Setup (PX4) @@ -115,14 +115,13 @@ GPS and RTK configuration on PX4 via _QGroundControl_ is plug and play (see [RTK ## Resources -- [NANO RTK Receiver 2D drawing file](https://wiki.datagnss.com/images/3/31/EVK-DG-1206_V.2.0.pdf) - [GEM1305 Wiki](https://docs.datagnss.com/gnss/rtk_receiver/GEM1305/) (DATAGNSS WiKi) - [HED-10L Heading RTK Receiver](https://docs.datagnss.com/gnss/rtk_receiver/HED-10L/) - [NANO HRTK Receiver](https://docs.datagnss.com/gnss/rtk_receiver/NANO/nano-helix-rtk/) ## Докладніше -- [NANO RTK Receiver](https://www.datagnss.com/collections/evk/products/tau951m-1312-tiny-evk) +- [NANO RTK Receiver](https://www.datagnss.com/products/nano-rtk-receiver) - [HELIX Antenna for RTK](https://www.datagnss.com/collections/rtk-antenna/products/smart-helix-antenna) - [RTK Antenna AGR6302G](https://www.datagnss.com/collections/rtk-antenna/products/antenna-agr6302g) - [AT400 RTK Antenna](https://www.datagnss.com/collections/rtk-antenna/products/at400-multi-band-antenna-for-rtk) diff --git a/docs/uk/gps_compass/rtk_gps_hex_hereplus.md b/docs/uk/gps_compass/rtk_gps_hex_hereplus.md index c6cca64024..35c531a7ba 100644 --- a/docs/uk/gps_compass/rtk_gps_hex_hereplus.md +++ b/docs/uk/gps_compass/rtk_gps_hex_hereplus.md @@ -5,7 +5,7 @@ :::info This GPS is no longer available for purchase but is still compatible with PX4. -Usage documentation can be found in [PX4v1.11 docs](https://docs.px4.io/v1.11/en/gps_compass/rtk_gps_hex_hereplus.html) +Usage documentation can be found in [PX4v1.11 docs](https://docs.px4.io/v1.11/en/gps_compass/rtk_gps_hex_hereplus) ::: The **Here+ RTK GPS receiver** is a small, light and energy efficient [RTK GPS module](../gps_compass/rtk_gps.md), based on the u-blox M8P. Використовуючи RTK, PX4 може визначати своє місцезнаходження з точністю до сантиметра, що набагато точніше, ніж може забезпечити звичайний GPS. diff --git a/docs/uk/gps_compass/rtk_gps_holybro_h-rtk-f9p.md b/docs/uk/gps_compass/rtk_gps_holybro_h-rtk-f9p.md index 43793d98dd..a91ccc1630 100644 --- a/docs/uk/gps_compass/rtk_gps_holybro_h-rtk-f9p.md +++ b/docs/uk/gps_compass/rtk_gps_holybro_h-rtk-f9p.md @@ -19,7 +19,7 @@ Using RTK allows PX4 to get its position with centimetre-level accuracy, which i ## Де купити - [H-RTK F9P (Holybro Website)](https://holybro.com/products/h-rtk-f9p-gnss-series) -- [H-RTK Accessories (Holybro Website)](https://holybro.com/collections/h-rtk-gps) +- [H-RTK Accessories (Holybro Website)](https://holybro.com/collections/gps) ## Налаштування @@ -50,6 +50,6 @@ The cables/connectors may need to be modified in order to connect to other fligh ## Аксесуари до GPS -[H-RTK Mount (Holybro Website)](https://holybro.com/products/vertical-mount-for-h-rtk-helical) +[H-RTK Mount (Holybro Website)](https://holybro.com/collections/gps-accessories/products/vertical-mount-for-h-rtk-helical) ![h-rtk](../../assets/hardware/gps/rtk_holybro_h-rtk_mount_3.png) diff --git a/docs/uk/gps_compass/rtk_gps_holybro_h-rtk-m8p.md b/docs/uk/gps_compass/rtk_gps_holybro_h-rtk-m8p.md index 3e5d7b133e..79b138ad63 100644 --- a/docs/uk/gps_compass/rtk_gps_holybro_h-rtk-m8p.md +++ b/docs/uk/gps_compass/rtk_gps_holybro_h-rtk-m8p.md @@ -2,9 +2,10 @@ :::warning This GNSS has been discontinued, and is no longer commercially available. +Replaced by [Holybro H-RTK F9P GNSS](../gps_compass/rtk_gps_holybro_h-rtk-f9p.md). ::: -The [Holybro H-RTK M8P GNSS](https://holybro.com/collections/standard-h-rtk-series/products/h-rtk-m8p-gnss-series) is an [RTK GNSS module](../gps_compass/rtk_gps.md) series for the mass market. +The _Holybro H-RTK M8P GNSS_ is an [RTK GNSS module](../gps_compass/rtk_gps.md) series for the mass market. This family is similar to the [H-RTK M9P](../gps_compass/rtk_gps_holybro_h-rtk-f9p.md) series but uses the smaller, lighter, and less expensive M8P u-blox RTK GNSS module (which still provides far superior position resolution than previous generations\_. Є три моделі Holybro H-RTK M8P на вибір, кожна з різним дизайном антени, щоб задовольнити різні потреби. @@ -16,7 +17,7 @@ Refer to the [Specification and Model Comparison section](#specification-and-mod ## Де купити -- [H-RTK M8P (GPS RTK Mounts)](https://holybro.com/products/vertical-mount-for-h-rtk-helical) +- Припинено. ## Налаштування @@ -30,9 +31,7 @@ All H-RTK GNSS models come with a GH 10-pin connector/cable that is compatible w The cables/connectors may need to be modified in order to connect to other flight controller boards (see [pin map](#pin_map)below). ::: - - -## Карта виводів +## Pin Map {#pin_map} ![h-rtk_rover_pinmap](../../assets/hardware/gps/rtk_holybro_h-rtk-m8p_pinmap.jpg) diff --git a/docs/uk/gps_compass/rtk_gps_holybro_unicore_um982.md b/docs/uk/gps_compass/rtk_gps_holybro_unicore_um982.md index c5e24df2a4..479b9d277e 100644 --- a/docs/uk/gps_compass/rtk_gps_holybro_unicore_um982.md +++ b/docs/uk/gps_compass/rtk_gps_holybro_unicore_um982.md @@ -1,10 +1,10 @@ # Holybro H-RTK Unicore UM982 GPS -The [Holybro H-RTK Unicore UM982 GPS](https://holybro.com/products/h-rtk-um982) is an multi-band high-precision [RTK GNSS System](../gps_compass/rtk_gps.md) launched by Holybro. +The [Holybro H-RTK Unicore UM982 GPS](https://holybro.com/products/h-rtk-unicore-um982) is an multi-band high-precision [RTK GNSS System](../gps_compass/rtk_gps.md) launched by Holybro. ![HB-pmw3901-1](../../assets/hardware/gps/holybro-unicore-um982/holybro-unicore-um982-1.jpg) -This module is based on the [Unicore UM982 Chip](https://en.unicorecomm.com/products/detail/24), which supports RTK positioning and dual-antenna heading calculation. +This module is based on the [Unicore UM982 Chip](https://en.unicore.com/products/dual-antenna-gnss-um982/), which supports RTK positioning and dual-antenna heading calculation. Це означає, що він може генерувати рухому базову лінію визначення курсу/рискання для автопілотів з одним GPS-модулем і двома антенами - магнітометр не потрібен. Unlike when using a module such as the U-blox F9P, where you would need [two U-blox F9P modules to compute a heading angle](../gps_compass/u-blox_f9p_heading.md), with the Unicore UM982 GPS, you only need one GPS module! @@ -20,7 +20,7 @@ Additional technical information can be found at [Holybro Technical Documentatio ## Де купити -- [Holybro Website](https://holybro.com/products/h-rtk-um982) +- [Holybro Website](https://holybro.com/products/h-rtk-unicore-um982) ## Підключення diff --git a/docs/uk/gps_compass/rtk_gps_locosys_r2.md b/docs/uk/gps_compass/rtk_gps_locosys_r2.md index 9eabfb72af..0db339c34f 100644 --- a/docs/uk/gps_compass/rtk_gps_locosys_r2.md +++ b/docs/uk/gps_compass/rtk_gps_locosys_r2.md @@ -23,7 +23,7 @@ The [LOCOSYS Hawk R2](https://www.locosystech.com/en/product/hawk-r2.html) is a - Безкоштовне прогнозування гібридних ефемерид для швидшого холодного старту - Стандартна частота оновлення 5 Гц, до 10 Гц (підтримка SBAS лише 5 Гц) - Вбудований суперконденсатор для резервування системних даних для швидкого отримання супутникових даних -- Вбудована функція компасу 3-х вимірів +- Built-in 3 axis compass function - Три світлодіодного індикатора для живлення, PPS та передачі даних ![LOCOSYS Hawk R2](../../assets/hardware/gps/locosys_hawk_a1/locosys_hawk_a1_gps.png) diff --git a/docs/uk/gps_compass/septentrio.md b/docs/uk/gps_compass/septentrio.md index b358383bd3..cc63cc211d 100644 --- a/docs/uk/gps_compass/septentrio.md +++ b/docs/uk/gps_compass/septentrio.md @@ -10,7 +10,7 @@ Certain receivers are recommended for autopilot applications because of their ph Dual-antenna, ultra-low-power GNSS rover receiver with support for heading. -- [AsteRx-m3 Pro+](https://www.septentrio.com/en/products/gps/gnss-boards/asterx-m3-pro-plus) +- [AsteRx-m3 Pro+](https://www.septentrio.com/en/products/gnss-receivers/gnss-boards/asterx-m3-pro-plus) Dual-antenna, ultra-low-power versatile GNSS rover and base receiver with support for heading. @@ -19,7 +19,7 @@ Certain receivers are recommended for autopilot applications because of their ph Single-antenna evaluation kit with support for L5 frequency band, based on the mosaic-X5 GNSS receiver module. -- [mosaic-go heading](https://www.septentrio.com/en/products/gps/gnss-receiver-modules/mosaic-h-evaluation-kit) +- [mosaic-go heading](https://www.septentrio.com/en/products/gnss-receivers/gnss-receiver-modules/mosaic-h-evaluation-kit) Dual-antenna evaluation kit with support for heading, based on the mosaic-H GNSS receiver module. diff --git a/docs/uk/gps_compass/septentrio_mosaic-go.md b/docs/uk/gps_compass/septentrio_mosaic-go.md index 431cefff97..e6188d64be 100644 --- a/docs/uk/gps_compass/septentrio_mosaic-go.md +++ b/docs/uk/gps_compass/septentrio_mosaic-go.md @@ -2,8 +2,8 @@ The Septentrio mosaic-go receivers are evaluation kits for their mosaic-X5 and mosaic-H receiver modules. Because of their small size and low weight, they are ideal for autopilot applications. -The available variants are the [mosaic-go](https://www.septentrio.com/en/products/gps/gnss-receiver-modules/mosaic-go-evaluation-kit) -and [mosaic-go heading](https://www.septentrio.com/en/products/gps/gnss-receiver-modules/mosaic-h-evaluation-kit). +The available variants are the [mosaic-go](https://www.septentrio.com/en/products/gnss-receivers/gnss-receiver-modules/mosaic-go-evaluation-kit) +and [mosaic-go heading](https://www.septentrio.com/en/products/gnss-receivers/gnss-receiver-modules/mosaic-h-evaluation-kit). ![Mosaic go Highly Accurate GNSS Receiver Module](../../assets/hardware/gps/septentrio_sbf/mosaic-go.png) @@ -108,7 +108,7 @@ Make sure the JST cable is wired correctly since this is not a standard cable: These can be compensated for with the heading parameters provided by the Septentrio driver in PX4. :::info -For optimal heading results, the two antennas should be seperated by at least 30cm / 11.8 in (ideally 50cm / 19.7in or more). +For optimal heading results, the two antennas should be separated by at least 30cm / 11.8 in (ideally 50cm / 19.7in or more). For additional configuration of the dual antenna setup, please refer to our [Knowledge Base](https://support.septentrio.com/l/858493/2022-04-19/xgrqd) or the [hardware manual](https://web.septentrio.com/l/858493/2022-04-19/xgrql). ::: diff --git a/docs/uk/gps_compass/u-blox_f9p_heading.md b/docs/uk/gps_compass/u-blox_f9p_heading.md index 2c679bb912..f8b59d906c 100644 --- a/docs/uk/gps_compass/u-blox_f9p_heading.md +++ b/docs/uk/gps_compass/u-blox_f9p_heading.md @@ -10,7 +10,7 @@ The two GPS devices in this scenario are referred to as the _Moving Base_ and _R Підтримуються наступні пристрої: - [ARK RTK GPS](https://arkelectron.com/product/ark-rtk-gps/) (arkelectron.com) -- [SparkFun GPS-RTK2 Board - ZED-F9P](https://www.sparkfun.com/products/15136) (www.sparkfun.com) +- [SparkFun GPS-RTK2 Board - ZED-F9P](https://www.sparkfun.com/sparkfun-gps-rtk2-board-zed-f9p-qwiic-gps-15136.html) (www.sparkfun.com) - [SIRIUS RTK GNSS ROVER (F9P)](https://store-drotek.com/911-sirius-rtk-gnss-rover-f9p.html) (store-drotek.com) - [mRo u-blox ZED-F9 RTK L1/L2 GPS](https://store.mrobotics.io/product-p/m10020d.htm) (store.mrobotics.io) - [Holybro H-RTK F9P Helical or Base](https://holybro.com/products/h-rtk-f9p-gnss-series) (Holybro Store) diff --git a/docs/uk/hardware/board_support_guide.md b/docs/uk/hardware/board_support_guide.md index 9d1f1854db..1fe32f511c 100644 --- a/docs/uk/hardware/board_support_guide.md +++ b/docs/uk/hardware/board_support_guide.md @@ -57,7 +57,7 @@ PX4 загалом підтримує лише плати, які є комер ### VER and REV ID (Hardware Revision and Version Sensing) {#ver_rev_id} У FMUv5 та пізніше є електричний механізм виявлення. -Цей сенсорний зв'язок разом з необов'язковими даними конфігурації буде використовуватися для визначення конфігурації апаратного забезпечення щодо обов'язкової конфігурації пристрою та живлення. Manufacturers must obtain the VER and REV ID from PX4 board maintainers by issuing a PR to ammend the [DS-018 Pixhawk standard](https://github.com/pixhawk/Pixhawk-Standards) for board versions and revisions. +Цей сенсорний зв'язок разом з необов'язковими даними конфігурації буде використовуватися для визначення конфігурації апаратного забезпечення щодо обов'язкової конфігурації пристрою та живлення. Manufacturers must obtain the VER and REV ID from PX4 board maintainers by issuing a PR to amend the [DS-018 Pixhawk standard](https://github.com/pixhawk/Pixhawk-Standards) for board versions and revisions. Оскільки ці борди на 100% відповідають стандарту Pixhawk, значення, призначені для VER та REV ID, є значеннями за замовчуванням для цієї версії FMU. @@ -97,7 +97,7 @@ _New_ experimental boards are allocated [VER and REV IDs](#ver_rev_id) based on Ця категорія включає всі плати, які не підтримуються проектом PX4 або виробником, і що виходять за межі "експериментальної" підтримки. - Плата на папері в певній мірі сумісна з чимось, що ми вже підтримуємо, і для того, щоб підняти її до рівня "експериментального", потрібно буде мінімальних зусиль, проте або команда розробників, або виробник наразі цим не займаються -- Manufacturer/Owner of hardware violates our [Code of Conduct](https://discuss.px4.io/t/code-of-conduct/13655) +- Manufacturer/Owner of hardware violates our [Code of Conduct](https://discuss.px4.io/t/px4-community-code-of-conduct/13655) - Закритий вихідний код, де будь-які необхідні інструменти/бібліотеки/драйвери тощо, необхідні для підтримки плати, вважаються несумісними через ліцензійні обмеження - Плата не відповідає мінімальним вимогам, визначеним у Загальних вимогах diff --git a/docs/uk/hardware/drone_parts.md b/docs/uk/hardware/drone_parts.md index 42a6209123..31cefb55fb 100644 --- a/docs/uk/hardware/drone_parts.md +++ b/docs/uk/hardware/drone_parts.md @@ -1,4 +1,4 @@ -# Hardware Hardware Selection & Setup +# Hardware Selection & Setup У цьому розділі міститься інформація про повністю готові транспортні засоби PX4 і компоненти, які ви можете використовувати для створення власних дронів: diff --git a/docs/uk/index.md b/docs/uk/index.md index 729767f521..093035aba9 100644 --- a/docs/uk/index.md +++ b/docs/uk/index.md @@ -5,7 +5,7 @@ const { site } = useData(); # Посібник користувача автопілота PX4 -[![Releases](https://img.shields.io/badge/release-main-blue.svg)](https://github.com/PX4/PX4-Autopilot/releases) [![Discuss](https://img.shields.io/badge/discuss-px4-ff69b4.svg)](https://discuss.px4.io//) [![Discord](https://discordapp.com/api/guilds/1022170275984457759/widget.png?style=shield)](https://discord.gg/dronecode) +[![Releases](https://img.shields.io/badge/release-main-blue.svg)](https://github.com/PX4/PX4-Autopilot/releases) [![Discuss](https://img.shields.io/badge/discuss-px4-ff69b4.svg)](https://discuss.px4.io//) [![Discord](https://discordapp.com/api/guilds/1022170275984457759/widget.png?style=shield)](https://discord.com/invite/dronecode) PX4 is an open-source autopilot for drones and autonomous vehicles. It runs on multirotors, fixed-wing, VTOL, helicopters, rovers, and more. This guide covers everything from assembly and configuration to flight operations and development. @@ -49,7 +49,7 @@ Read [Operations](config/operations.md) to understand safety features and failsa ## Підтримка -Get help on the [discussion forums](https://discuss.px4.io/) or [Discord](https://discord.gg/dronecode). See the [Support](contribute/support.md) page for diagnosing problems, reporting bugs, and joining the [weekly dev call](contribute/dev_call.md). +Get help on the [discussion forums](https://discuss.px4.io/) or [Discord](https://discord.com/invite/dronecode). See the [Support](contribute/support.md) page for diagnosing problems, reporting bugs, and joining the [weekly dev call](contribute/dev_call.md). ## Долучитись до проєкту @@ -93,9 +93,9 @@ The calendar default timezone is Central European Time (CET). ## Управління -The PX4 Autopilot project is hosted by the [Dronecode Foundation](https://www.dronecode.org/), a [Linux Foundation](https://www.linuxfoundation.org/) Collaborative Project. Dronecode holds all PX4 trademarks and serves as the project's legal guardian, ensuring vendor-neutral stewardship. No single company owns the name or controls the roadmap. The source code is licensed under the [BSD 3-Clause](https://opensource.org/license/BSD-3-Clause) license, so you are free to use, modify, and distribute it in your own projects. +The PX4 Autopilot project is hosted by the [Dronecode Foundation](https://dronecode.org/), a [Linux Foundation](https://www.linuxfoundation.org/) Collaborative Project. Dronecode holds all PX4 trademarks and serves as the project's legal guardian, ensuring vendor-neutral stewardship. No single company owns the name or controls the roadmap. The source code is licensed under the [BSD 3-Clause](https://opensource.org/license/BSD-3-Clause) license, so you are free to use, modify, and distribute it in your own projects. -Dronecode Logo Linux Foundation Logo +Dronecode Logo Linux Foundation Logo
 
diff --git a/docs/uk/mavlink/adding_messages.md b/docs/uk/mavlink/adding_messages.md index 3ba5dac36b..22a2927ed3 100644 --- a/docs/uk/mavlink/adding_messages.md +++ b/docs/uk/mavlink/adding_messages.md @@ -39,7 +39,7 @@ Once the message headers for your definitions are generated in the PX4 build, yo The first step in debugging is to confirm that any messages you've created are being sent/received as you expect. -You should should first 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)). +You should first 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). Існує кілька підходів для перегляду трафіку MAVLink: @@ -82,16 +82,16 @@ mavlink stream -u 14556 -s CA_TRAJECTORY -r 300 ### Оновлення QGroundControl -You will need to [Build QGroundControl](https://docs.qgroundcontrol.com/master/en/qgc-dev-guide/getting_started/index.html) including a pre-built C library that contains your custom messages. +You will need to [Build QGroundControl](https://docs.qgroundcontrol.com/master/en/qgc-dev-guide/getting_started/index.html) with your custom messages included. -QGC uses a pre-built C library that must be located at [/qgroundcontrol/libs/mavlink/include/mavlink](https://github.com/mavlink/qgroundcontrol/tree/master/libs/mavlink/include/mavlink) in the QGC source. +QGC fetches MAVLink via CMake using settings defined in [`cmake/CustomOptions.cmake`](https://github.com/mavlink/qgroundcontrol/blob/master/cmake/CustomOptions.cmake). +The key variables are `QGC_MAVLINK_GIT_REPO` (the MAVLink repository to fetch), `QGC_MAVLINK_GIT_TAG` (a specific commit or tag), and `QGC_MAVLINK_DIALECT` (the dialect, default: `all`). +To use a custom MAVLink repository or dialect, override these in a `CustomOverrides.cmake` file in the QGC source root. -By default this is pre-included as a submodule from but you can [generate your own MAVLink Libraries](https://mavlink.io/en/getting_started/generate_libraries.html). +QGC uses the **all** dialect by default, which includes **common.xml**. +You can include your messages in either file, or [generate your own MAVLink Libraries](https://mavlink.io/en/getting_started/generate_libraries.html). -QGC uses the **all.xml** dialect by default, which includes **common.xml**. -You can include your messages in either file. - -Note that if you use your own _custom dialect_ then it should include **ArduPilotMega.xml** (or it will miss all the existing messages), and you will need to change the dialect used by setting it in [`MAVLINK_CONF`](https://github.com/mavlink/qgroundcontrol/blob/master/QGCExternalLibs.pri#L52) when running _qmake_. +Note that if you use your own _custom dialect_ then it should include **all.xml** (or it may miss all the existing messages), and you will need to set `QGC_MAVLINK_DIALECT` accordingly in `CustomOverrides.cmake`. ### Оновлення MAVSDK diff --git a/docs/uk/mavlink/index.md b/docs/uk/mavlink/index.md index 3da14afef9..3aa33708d2 100644 --- a/docs/uk/mavlink/index.md +++ b/docs/uk/mavlink/index.md @@ -77,7 +77,7 @@ You will need to work with the [MAVLink team](https://mavlink.io/en/contributing ::: PX4 includes the [mavlink/mavlink](https://github.com/mavlink/mavlink) repo as a submodule under [/src/modules/mavlink](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/mavlink). -This contains XML definition files in [/mavlink/messages/1.0/](https://github.com/mavlink/mavlink/blob/master/message_definitions/v1.0/). +This contains XML definition files in [/mavlink/messages/1.0/](https://github.com/mavlink/mavlink/tree/master/message_definitions/v1.0). Інструментарій збірки генерує заголовні файли MAVLink 2 C під час збірки. The XML file for which headers files are generated may be defined in the [PX4 kconfig board configuration](../hardware/porting_guide_config.md#px4-board-configuration-kconfig) on a per-board basis, using the variable `CONFIG_MAVLINK_DIALECT`: diff --git a/docs/uk/middleware/dds_topics.md b/docs/uk/middleware/dds_topics.md index 174dc6c859..333fe06d99 100644 --- a/docs/uk/middleware/dds_topics.md +++ b/docs/uk/middleware/dds_topics.md @@ -70,7 +70,6 @@ This document shows a markdown-rendered version of [dds_topics.yaml](https://git | /fmu/in/vehicle_torque_setpoint | [px4_msgs::msg::VehicleTorqueSetpoint](../msg_docs/VehicleTorqueSetpoint.md) | | /fmu/in/actuator_motors | [px4_msgs::msg::ActuatorMotors](../msg_docs/ActuatorMotors.md) | | /fmu/in/actuator_servos | [px4_msgs::msg::ActuatorServos](../msg_docs/ActuatorServos.md) | -| /fmu/in/aux_global_position | [px4_msgs::msg::VehicleGlobalPosition](../msg_docs/VehicleGlobalPosition.md) | | /fmu/in/fixed_wing_longitudinal_setpoint | [px4_msgs::msg::FixedWingLongitudinalSetpoint](../msg_docs/FixedWingLongitudinalSetpoint.md) | | /fmu/in/fixed_wing_lateral_setpoint | [px4_msgs::msg::FixedWingLateralSetpoint](../msg_docs/FixedWingLateralSetpoint.md) | | /fmu/in/longitudinal_control_configuration | [px4_msgs::msg::LongitudinalControlConfiguration](../msg_docs/LongitudinalControlConfiguration.md) | @@ -85,7 +84,9 @@ This document shows a markdown-rendered version of [dds_topics.yaml](https://git ## Subscriptions Multi -None +| Topic | Тип | Route Field | Max Instances | +| --------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------- | ----------- | ------------- | +| /fmu/in/aux_global_position | [px4_msgs::msg::AuxGlobalPosition](../msg_docs/AuxGlobalPosition.md) | `id` | 4 | ## Not Exported @@ -95,200 +96,203 @@ They are not build into the module, and hence are neither published or subscribe :::details See messages -- [GpioIn](../msg_docs/GpioIn.md) -- [SystemPower](../msg_docs/SystemPower.md) -- [LandingTargetInnovations](../msg_docs/LandingTargetInnovations.md) -- [VehicleOpticalFlow](../msg_docs/VehicleOpticalFlow.md) -- [LandingTargetPose](../msg_docs/LandingTargetPose.md) -- [EstimatorGpsStatus](../msg_docs/EstimatorGpsStatus.md) -- [EstimatorBias](../msg_docs/EstimatorBias.md) -- [ParameterSetValueResponse](../msg_docs/ParameterSetValueResponse.md) -- [LogMessage](../msg_docs/LogMessage.md) -- [PowerMonitor](../msg_docs/PowerMonitor.md) -- [VehicleConstraints](../msg_docs/VehicleConstraints.md) -- [SensorAirflow](../msg_docs/SensorAirflow.md) -- [ArmingCheckRequestV0](../msg_docs/ArmingCheckRequestV0.md) -- [ActuatorArmed](../msg_docs/ActuatorArmed.md) -- [HoverThrustEstimate](../msg_docs/HoverThrustEstimate.md) -- [LaunchDetectionStatus](../msg_docs/LaunchDetectionStatus.md) -- [DifferentialPressure](../msg_docs/DifferentialPressure.md) -- [MagnetometerBiasEstimate](../msg_docs/MagnetometerBiasEstimate.md) -- [PwmInput](../msg_docs/PwmInput.md) -- [OrbTestMedium](../msg_docs/OrbTestMedium.md) -- [QshellReq](../msg_docs/QshellReq.md) -- [GeofenceStatus](../msg_docs/GeofenceStatus.md) -- [RcChannels](../msg_docs/RcChannels.md) -- [Cpuload](../msg_docs/Cpuload.md) -- [DebugArray](../msg_docs/DebugArray.md) -- [FlightPhaseEstimation](../msg_docs/FlightPhaseEstimation.md) -- [Mission](../msg_docs/Mission.md) -- [Airspeed](../msg_docs/Airspeed.md) -- [LedControl](../msg_docs/LedControl.md) -- [HealthReport](../msg_docs/HealthReport.md) -- [FixedWingLateralGuidanceStatus](../msg_docs/FixedWingLateralGuidanceStatus.md) -- [FigureEightStatus](../msg_docs/FigureEightStatus.md) -- [EstimatorInnovations](../msg_docs/EstimatorInnovations.md) -- [VehicleImuStatus](../msg_docs/VehicleImuStatus.md) -- [VehicleLocalPositionSetpoint](../msg_docs/VehicleLocalPositionSetpoint.md) -- [InputRc](../msg_docs/InputRc.md) -- [UavcanParameterRequest](../msg_docs/UavcanParameterRequest.md) -- [FixedWingRunwayControl](../msg_docs/FixedWingRunwayControl.md) -- [SensorCorrection](../msg_docs/SensorCorrection.md) -- [ControlAllocatorStatus](../msg_docs/ControlAllocatorStatus.md) -- [AirspeedValidatedV0](../msg_docs/AirspeedValidatedV0.md) -- [CanInterfaceStatus](../msg_docs/CanInterfaceStatus.md) -- [SensorSelection](../msg_docs/SensorSelection.md) -- [DeviceInformation](../msg_docs/DeviceInformation.md) -- [CameraTrigger](../msg_docs/CameraTrigger.md) -- [SensorAccel](../msg_docs/SensorAccel.md) -- [ActuatorServosTrim](../msg_docs/ActuatorServosTrim.md) -- [SensorsStatusImu](../msg_docs/SensorsStatusImu.md) -- [EstimatorBias3d](../msg_docs/EstimatorBias3d.md) -- [GimbalManagerStatus](../msg_docs/GimbalManagerStatus.md) -- [BatteryStatusV0](../msg_docs/BatteryStatusV0.md) -- [OpenDroneIdSelfId](../msg_docs/OpenDroneIdSelfId.md) -- [VehicleImu](../msg_docs/VehicleImu.md) -- [MissionResult](../msg_docs/MissionResult.md) -- [SensorAccelFifo](../msg_docs/SensorAccelFifo.md) -- [DistanceSensorModeChangeRequest](../msg_docs/DistanceSensorModeChangeRequest.md) -- [SensorPreflightMag](../msg_docs/SensorPreflightMag.md) -- [OrbTest](../msg_docs/OrbTest.md) -- [PositionControllerLandingStatus](../msg_docs/PositionControllerLandingStatus.md) -- [FuelTankStatus](../msg_docs/FuelTankStatus.md) -- [OpenDroneIdSystem](../msg_docs/OpenDroneIdSystem.md) -- [OrbitStatus](../msg_docs/OrbitStatus.md) -- [Px4ioStatus](../msg_docs/Px4ioStatus.md) -- [RtlStatus](../msg_docs/RtlStatus.md) -- [ButtonEvent](../msg_docs/ButtonEvent.md) -- [VehicleLocalPositionV0](../msg_docs/VehicleLocalPositionV0.md) -- [DebugValue](../msg_docs/DebugValue.md) -- [ParameterSetUsedRequest](../msg_docs/ParameterSetUsedRequest.md) -- [RoverSpeedStatus](../msg_docs/RoverSpeedStatus.md) -- [SensorHygrometer](../msg_docs/SensorHygrometer.md) -- [OpenDroneIdOperatorId](../msg_docs/OpenDroneIdOperatorId.md) -- [InternalCombustionEngineStatus](../msg_docs/InternalCombustionEngineStatus.md) -- [GpioOut](../msg_docs/GpioOut.md) -- [ActuatorTest](../msg_docs/ActuatorTest.md) -- [SensorBaro](../msg_docs/SensorBaro.md) -- [PositionControllerStatus](../msg_docs/PositionControllerStatus.md) -- [PurePursuitStatus](../msg_docs/PurePursuitStatus.md) -- [RoverRateStatus](../msg_docs/RoverRateStatus.md) -- [TecsStatus](../msg_docs/TecsStatus.md) -- [PpsCapture](../msg_docs/PpsCapture.md) -- [RaptorStatus](../msg_docs/RaptorStatus.md) -- [EventV0](../msg_docs/EventV0.md) -- [GpioRequest](../msg_docs/GpioRequest.md) -- [FollowTargetEstimator](../msg_docs/FollowTargetEstimator.md) -- [MagWorkerData](../msg_docs/MagWorkerData.md) -- [FollowTarget](../msg_docs/FollowTarget.md) -- [EstimatorAidSource1d](../msg_docs/EstimatorAidSource1d.md) -- [GimbalDeviceSetAttitude](../msg_docs/GimbalDeviceSetAttitude.md) -- [SensorGnssRelative](../msg_docs/SensorGnssRelative.md) -- [ActionRequest](../msg_docs/ActionRequest.md) -- [NavigatorMissionItem](../msg_docs/NavigatorMissionItem.md) -- [GpsInjectData](../msg_docs/GpsInjectData.md) -- [VehicleStatusV0](../msg_docs/VehicleStatusV0.md) -- [DronecanNodeStatus](../msg_docs/DronecanNodeStatus.md) -- [UlogStream](../msg_docs/UlogStream.md) -- [DebugKeyValue](../msg_docs/DebugKeyValue.md) -- [NavigatorStatus](../msg_docs/NavigatorStatus.md) -- [MountOrientation](../msg_docs/MountOrientation.md) -- [RcParameterMap](../msg_docs/RcParameterMap.md) -- [AdcReport](../msg_docs/AdcReport.md) -- [EstimatorSensorBias](../msg_docs/EstimatorSensorBias.md) -- [InternalCombustionEngineControl](../msg_docs/InternalCombustionEngineControl.md) -- [MavlinkLog](../msg_docs/MavlinkLog.md) -- [VehicleMagnetometer](../msg_docs/VehicleMagnetometer.md) - [GpioConfig](../msg_docs/GpioConfig.md) -- [GainCompression](../msg_docs/GainCompression.md) -- [DebugVect](../msg_docs/DebugVect.md) -- [ArmingCheckReplyV0](../msg_docs/ArmingCheckReplyV0.md) -- [VehicleAttitudeSetpointV0](../msg_docs/VehicleAttitudeSetpointV0.md) -- [FollowTargetStatus](../msg_docs/FollowTargetStatus.md) -- [RtlTimeEstimate](../msg_docs/RtlTimeEstimate.md) -- [RoverAttitudeStatus](../msg_docs/RoverAttitudeStatus.md) -- [SensorUwb](../msg_docs/SensorUwb.md) -- [YawEstimatorStatus](../msg_docs/YawEstimatorStatus.md) -- [VelocityLimits](../msg_docs/VelocityLimits.md) -- [TrajectorySetpoint6dof](../msg_docs/TrajectorySetpoint6dof.md) -- [OpenDroneIdArmStatus](../msg_docs/OpenDroneIdArmStatus.md) -- [EscStatus](../msg_docs/EscStatus.md) -- [GimbalManagerInformation](../msg_docs/GimbalManagerInformation.md) -- [HeaterStatus](../msg_docs/HeaterStatus.md) -- [EstimatorSelectorStatus](../msg_docs/EstimatorSelectorStatus.md) -- [GeofenceResult](../msg_docs/GeofenceResult.md) -- [PowerButtonState](../msg_docs/PowerButtonState.md) -- [Rpm](../msg_docs/Rpm.md) -- [WheelEncoders](../msg_docs/WheelEncoders.md) -- [LoggerStatus](../msg_docs/LoggerStatus.md) -- [CellularStatus](../msg_docs/CellularStatus.md) -- [TuneControl](../msg_docs/TuneControl.md) -- [ConfigOverridesV0](../msg_docs/ConfigOverridesV0.md) -- [GimbalManagerSetAttitude](../msg_docs/GimbalManagerSetAttitude.md) -- [OrbTestLarge](../msg_docs/OrbTestLarge.md) -- [BatteryInfo](../msg_docs/BatteryInfo.md) -- [CameraStatus](../msg_docs/CameraStatus.md) -- [QshellRetval](../msg_docs/QshellRetval.md) -- [SensorMag](../msg_docs/SensorMag.md) -- [RateCtrlStatus](../msg_docs/RateCtrlStatus.md) -- [TaskStackInfo](../msg_docs/TaskStackInfo.md) -- [EstimatorAidSource2d](../msg_docs/EstimatorAidSource2d.md) -- [AirspeedWind](../msg_docs/AirspeedWind.md) -- [AutotuneAttitudeControlStatus](../msg_docs/AutotuneAttitudeControlStatus.md) -- [GimbalDeviceInformation](../msg_docs/GimbalDeviceInformation.md) -- [GpsDump](../msg_docs/GpsDump.md) -- [SensorTemp](../msg_docs/SensorTemp.md) -- [ParameterResetRequest](../msg_docs/ParameterResetRequest.md) -- [TiltrotorExtraControls](../msg_docs/TiltrotorExtraControls.md) -- [SensorsStatus](../msg_docs/SensorsStatus.md) -- [EstimatorStatus](../msg_docs/EstimatorStatus.md) -- [FailureDetectorStatus](../msg_docs/FailureDetectorStatus.md) -- [VehicleAirData](../msg_docs/VehicleAirData.md) -- [ActuatorControlsStatus](../msg_docs/ActuatorControlsStatus.md) -- [TakeoffStatus](../msg_docs/TakeoffStatus.md) -- [GeneratorStatus](../msg_docs/GeneratorStatus.md) -- [SensorGyroFifo](../msg_docs/SensorGyroFifo.md) -- [VehicleAngularVelocity](../msg_docs/VehicleAngularVelocity.md) -- [LandingGearWheel](../msg_docs/LandingGearWheel.md) -- [ParameterSetValueRequest](../msg_docs/ParameterSetValueRequest.md) -- [RegisterExtComponentReplyV0](../msg_docs/RegisterExtComponentReplyV0.md) -- [RaptorInput](../msg_docs/RaptorInput.md) -- [SensorGyro](../msg_docs/SensorGyro.md) -- [ParameterUpdate](../msg_docs/ParameterUpdate.md) -- [NormalizedUnsignedSetpoint](../msg_docs/NormalizedUnsignedSetpoint.md) -- [PositionSetpoint](../msg_docs/PositionSetpoint.md) -- [EstimatorStates](../msg_docs/EstimatorStates.md) -- [ActuatorOutputs](../msg_docs/ActuatorOutputs.md) -- [ManualControlSwitches](../msg_docs/ManualControlSwitches.md) -- [UavcanParameterValue](../msg_docs/UavcanParameterValue.md) -- [VehicleAngularAccelerationSetpoint](../msg_docs/VehicleAngularAccelerationSetpoint.md) -- [EstimatorEventFlags](../msg_docs/EstimatorEventFlags.md) -- [SensorGnssStatus](../msg_docs/SensorGnssStatus.md) -- [GimbalManagerSetManualControl](../msg_docs/GimbalManagerSetManualControl.md) -- [HomePositionV0](../msg_docs/HomePositionV0.md) -- [FixedWingLateralStatus](../msg_docs/FixedWingLateralStatus.md) -- [SatelliteInfo](../msg_docs/SatelliteInfo.md) -- [IrlockReport](../msg_docs/IrlockReport.md) -- [Ping](../msg_docs/Ping.md) -- [CameraCapture](../msg_docs/CameraCapture.md) -- [Vtx](../msg_docs/Vtx.md) -- [Ekf2Timestamps](../msg_docs/Ekf2Timestamps.md) -- [RegisterExtComponentRequestV0](../msg_docs/RegisterExtComponentRequestV0.md) -- [EscReport](../msg_docs/EscReport.md) -- [Gripper](../msg_docs/Gripper.md) -- [UlogStreamAck](../msg_docs/UlogStreamAck.md) -- [SensorGyroFft](../msg_docs/SensorGyroFft.md) -- [VehicleRoi](../msg_docs/VehicleRoi.md) -- [VehicleAcceleration](../msg_docs/VehicleAcceleration.md) -- [NeuralControl](../msg_docs/NeuralControl.md) -- [DatamanResponse](../msg_docs/DatamanResponse.md) -- [GimbalControls](../msg_docs/GimbalControls.md) -- [MavlinkTunnel](../msg_docs/MavlinkTunnel.md) -- [EstimatorAidSource3d](../msg_docs/EstimatorAidSource3d.md) -- [DatamanRequest](../msg_docs/DatamanRequest.md) +- [MavlinkLog](../msg_docs/MavlinkLog.md) - [Event](../msg_docs/Event.md) -- [RadioStatus](../msg_docs/RadioStatus.md) -- [VehicleOpticalFlowVel](../msg_docs/VehicleOpticalFlowVel.md) +- [EstimatorBias3d](../msg_docs/EstimatorBias3d.md) +- [MagWorkerData](../msg_docs/MagWorkerData.md) +- [OrbTest](../msg_docs/OrbTest.md) +- [RtlTimeEstimate](../msg_docs/RtlTimeEstimate.md) +- [EventV0](../msg_docs/EventV0.md) +- [TiltrotorExtraControls](../msg_docs/TiltrotorExtraControls.md) +- [EstimatorBias](../msg_docs/EstimatorBias.md) +- [QshellRetval](../msg_docs/QshellRetval.md) - [IridiumsbdStatus](../msg_docs/IridiumsbdStatus.md) +- [GpioIn](../msg_docs/GpioIn.md) +- [Px4ioStatus](../msg_docs/Px4ioStatus.md) +- [UavcanParameterRequest](../msg_docs/UavcanParameterRequest.md) +- [RegisterExtComponentReplyV0](../msg_docs/RegisterExtComponentReplyV0.md) +- [Airspeed](../msg_docs/Airspeed.md) +- [SensorMag](../msg_docs/SensorMag.md) +- [QshellReq](../msg_docs/QshellReq.md) +- [RcChannels](../msg_docs/RcChannels.md) +- [FuelTankStatus](../msg_docs/FuelTankStatus.md) +- [ParameterSetValueResponse](../msg_docs/ParameterSetValueResponse.md) +- [VehicleOpticalFlowVel](../msg_docs/VehicleOpticalFlowVel.md) +- [ActuatorControlsStatus](../msg_docs/ActuatorControlsStatus.md) +- [TecsStatus](../msg_docs/TecsStatus.md) +- [CameraStatus](../msg_docs/CameraStatus.md) +- [FollowTargetStatus](../msg_docs/FollowTargetStatus.md) +- [DistanceSensorModeChangeRequest](../msg_docs/DistanceSensorModeChangeRequest.md) +- [DatamanRequest](../msg_docs/DatamanRequest.md) +- [SensorAccel](../msg_docs/SensorAccel.md) +- [HomePositionV0](../msg_docs/HomePositionV0.md) +- [VehicleMagnetometer](../msg_docs/VehicleMagnetometer.md) +- [SensorGnssStatus](../msg_docs/SensorGnssStatus.md) +- [GimbalDeviceInformation](../msg_docs/GimbalDeviceInformation.md) +- [VehicleGlobalPositionV0](../msg_docs/VehicleGlobalPositionV0.md) +- [OrbitStatus](../msg_docs/OrbitStatus.md) +- [RcParameterMap](../msg_docs/RcParameterMap.md) +- [PowerButtonState](../msg_docs/PowerButtonState.md) +- [GpioRequest](../msg_docs/GpioRequest.md) +- [VehicleRoi](../msg_docs/VehicleRoi.md) +- [EstimatorEventFlags](../msg_docs/EstimatorEventFlags.md) +- [VehicleStatusV0](../msg_docs/VehicleStatusV0.md) +- [YawEstimatorStatus](../msg_docs/YawEstimatorStatus.md) +- [ParameterSetValueRequest](../msg_docs/ParameterSetValueRequest.md) +- [LandingTargetInnovations](../msg_docs/LandingTargetInnovations.md) +- [EscStatus](../msg_docs/EscStatus.md) +- [GimbalManagerSetManualControl](../msg_docs/GimbalManagerSetManualControl.md) +- [OpenDroneIdSystem](../msg_docs/OpenDroneIdSystem.md) +- [SensorHygrometer](../msg_docs/SensorHygrometer.md) +- [GpioOut](../msg_docs/GpioOut.md) +- [FlightPhaseEstimation](../msg_docs/FlightPhaseEstimation.md) +- [ActionRequest](../msg_docs/ActionRequest.md) +- [GimbalControls](../msg_docs/GimbalControls.md) +- [MountOrientation](../msg_docs/MountOrientation.md) +- [LedControl](../msg_docs/LedControl.md) +- [UlogStreamAck](../msg_docs/UlogStreamAck.md) +- [EstimatorAidSource1d](../msg_docs/EstimatorAidSource1d.md) +- [DronecanNodeStatus](../msg_docs/DronecanNodeStatus.md) +- [VehicleConstraints](../msg_docs/VehicleConstraints.md) +- [VehicleAirData](../msg_docs/VehicleAirData.md) +- [BatteryInfo](../msg_docs/BatteryInfo.md) +- [GimbalManagerInformation](../msg_docs/GimbalManagerInformation.md) +- [RaptorInput](../msg_docs/RaptorInput.md) +- [RoverAttitudeStatus](../msg_docs/RoverAttitudeStatus.md) +- [Ekf2Timestamps](../msg_docs/Ekf2Timestamps.md) +- [PositionControllerStatus](../msg_docs/PositionControllerStatus.md) +- [VehicleImu](../msg_docs/VehicleImu.md) +- [AirspeedValidatedV0](../msg_docs/AirspeedValidatedV0.md) +- [VehicleAngularAccelerationSetpoint](../msg_docs/VehicleAngularAccelerationSetpoint.md) +- [ConfigOverridesV0](../msg_docs/ConfigOverridesV0.md) +- [EstimatorAidSource2d](../msg_docs/EstimatorAidSource2d.md) +- [SensorUwb](../msg_docs/SensorUwb.md) +- [LogMessage](../msg_docs/LogMessage.md) +- [EstimatorSelectorStatus](../msg_docs/EstimatorSelectorStatus.md) +- [VehicleStatusV1](../msg_docs/VehicleStatusV1.md) +- [ActuatorServosTrim](../msg_docs/ActuatorServosTrim.md) +- [SensorGnssRelative](../msg_docs/SensorGnssRelative.md) +- [LandingGearWheel](../msg_docs/LandingGearWheel.md) +- [SensorTemp](../msg_docs/SensorTemp.md) +- [SensorGyro](../msg_docs/SensorGyro.md) +- [PowerMonitor](../msg_docs/PowerMonitor.md) +- [UavcanParameterValue](../msg_docs/UavcanParameterValue.md) +- [TrajectorySetpoint6dof](../msg_docs/TrajectorySetpoint6dof.md) +- [HeaterStatus](../msg_docs/HeaterStatus.md) +- [SensorAirflow](../msg_docs/SensorAirflow.md) +- [TakeoffStatus](../msg_docs/TakeoffStatus.md) +- [ControlAllocatorStatus](../msg_docs/ControlAllocatorStatus.md) +- [LoggerStatus](../msg_docs/LoggerStatus.md) +- [TuneControl](../msg_docs/TuneControl.md) +- [GpsDump](../msg_docs/GpsDump.md) +- [WheelEncoders](../msg_docs/WheelEncoders.md) +- [PurePursuitStatus](../msg_docs/PurePursuitStatus.md) +- [VehicleAcceleration](../msg_docs/VehicleAcceleration.md) +- [EstimatorGpsStatus](../msg_docs/EstimatorGpsStatus.md) +- [MagnetometerBiasEstimate](../msg_docs/MagnetometerBiasEstimate.md) +- [ManualControlSwitches](../msg_docs/ManualControlSwitches.md) +- [SensorPreflightMag](../msg_docs/SensorPreflightMag.md) +- [HealthReport](../msg_docs/HealthReport.md) +- [SensorGyroFifo](../msg_docs/SensorGyroFifo.md) +- [GpsInjectData](../msg_docs/GpsInjectData.md) +- [OpenDroneIdArmStatus](../msg_docs/OpenDroneIdArmStatus.md) +- [EscReport](../msg_docs/EscReport.md) +- [DebugKeyValue](../msg_docs/DebugKeyValue.md) +- [ActuatorOutputs](../msg_docs/ActuatorOutputs.md) +- [GimbalDeviceSetAttitude](../msg_docs/GimbalDeviceSetAttitude.md) +- [LandingTargetPose](../msg_docs/LandingTargetPose.md) +- [GeofenceStatus](../msg_docs/GeofenceStatus.md) +- [FailureDetectorStatus](../msg_docs/FailureDetectorStatus.md) +- [MavlinkTunnel](../msg_docs/MavlinkTunnel.md) +- [SensorCorrection](../msg_docs/SensorCorrection.md) +- [ParameterUpdate](../msg_docs/ParameterUpdate.md) +- [RateCtrlStatus](../msg_docs/RateCtrlStatus.md) +- [DifferentialPressure](../msg_docs/DifferentialPressure.md) +- [PositionSetpoint](../msg_docs/PositionSetpoint.md) +- [OpenDroneIdOperatorId](../msg_docs/OpenDroneIdOperatorId.md) +- [OrbTestMedium](../msg_docs/OrbTestMedium.md) +- [SensorsStatusImu](../msg_docs/SensorsStatusImu.md) +- [EstimatorStatus](../msg_docs/EstimatorStatus.md) +- [SensorAccelFifo](../msg_docs/SensorAccelFifo.md) +- [VehicleLocalPositionSetpoint](../msg_docs/VehicleLocalPositionSetpoint.md) +- [RegisterExtComponentRequestV0](../msg_docs/RegisterExtComponentRequestV0.md) +- [VehicleCommandAckV0](../msg_docs/VehicleCommandAckV0.md) +- [EstimatorStates](../msg_docs/EstimatorStates.md) +- [CameraCapture](../msg_docs/CameraCapture.md) +- [RadioStatus](../msg_docs/RadioStatus.md) +- [EstimatorSensorBias](../msg_docs/EstimatorSensorBias.md) +- [SensorsStatus](../msg_docs/SensorsStatus.md) +- [VehicleAttitudeSetpointV0](../msg_docs/VehicleAttitudeSetpointV0.md) +- [NeuralControl](../msg_docs/NeuralControl.md) +- [FixedWingLateralStatus](../msg_docs/FixedWingLateralStatus.md) +- [EstimatorAidSource3d](../msg_docs/EstimatorAidSource3d.md) +- [FollowTargetEstimator](../msg_docs/FollowTargetEstimator.md) +- [GimbalManagerStatus](../msg_docs/GimbalManagerStatus.md) +- [GeofenceResult](../msg_docs/GeofenceResult.md) +- [SystemPower](../msg_docs/SystemPower.md) +- [NavigatorMissionItem](../msg_docs/NavigatorMissionItem.md) +- [VehicleImuStatus](../msg_docs/VehicleImuStatus.md) +- [ArmingCheckReplyV0](../msg_docs/ArmingCheckReplyV0.md) +- [CameraTrigger](../msg_docs/CameraTrigger.md) +- [NormalizedUnsignedSetpoint](../msg_docs/NormalizedUnsignedSetpoint.md) +- [RoverRateStatus](../msg_docs/RoverRateStatus.md) +- [NavigatorStatus](../msg_docs/NavigatorStatus.md) +- [VehicleLocalPositionV0](../msg_docs/VehicleLocalPositionV0.md) +- [VelocityLimits](../msg_docs/VelocityLimits.md) +- [Gripper](../msg_docs/Gripper.md) +- [Mission](../msg_docs/Mission.md) +- [RtlStatus](../msg_docs/RtlStatus.md) +- [GainCompression](../msg_docs/GainCompression.md) +- [DatamanResponse](../msg_docs/DatamanResponse.md) +- [BatteryStatusV0](../msg_docs/BatteryStatusV0.md) +- [SensorGyroFft](../msg_docs/SensorGyroFft.md) +- [DeviceInformation](../msg_docs/DeviceInformation.md) +- [UlogStream](../msg_docs/UlogStream.md) +- [SensorSelection](../msg_docs/SensorSelection.md) +- [DebugVect](../msg_docs/DebugVect.md) +- [PpsCapture](../msg_docs/PpsCapture.md) +- [OrbTestLarge](../msg_docs/OrbTestLarge.md) +- [EstimatorInnovations](../msg_docs/EstimatorInnovations.md) +- [PositionControllerLandingStatus](../msg_docs/PositionControllerLandingStatus.md) +- [FigureEightStatus](../msg_docs/FigureEightStatus.md) +- [ActuatorArmed](../msg_docs/ActuatorArmed.md) +- [InternalCombustionEngineControl](../msg_docs/InternalCombustionEngineControl.md) +- [OpenDroneIdSelfId](../msg_docs/OpenDroneIdSelfId.md) +- [FollowTarget](../msg_docs/FollowTarget.md) +- [DebugArray](../msg_docs/DebugArray.md) +- [DebugValue](../msg_docs/DebugValue.md) +- [Rpm](../msg_docs/Rpm.md) +- [HoverThrustEstimate](../msg_docs/HoverThrustEstimate.md) +- [CellularStatus](../msg_docs/CellularStatus.md) +- [ButtonEvent](../msg_docs/ButtonEvent.md) +- [ArmingCheckRequestV0](../msg_docs/ArmingCheckRequestV0.md) +- [VehicleOpticalFlow](../msg_docs/VehicleOpticalFlow.md) +- [PwmInput](../msg_docs/PwmInput.md) +- [LaunchDetectionStatus](../msg_docs/LaunchDetectionStatus.md) +- [RaptorStatus](../msg_docs/RaptorStatus.md) +- [FixedWingLateralGuidanceStatus](../msg_docs/FixedWingLateralGuidanceStatus.md) +- [ParameterSetUsedRequest](../msg_docs/ParameterSetUsedRequest.md) +- [SensorBaro](../msg_docs/SensorBaro.md) +- [InternalCombustionEngineStatus](../msg_docs/InternalCombustionEngineStatus.md) +- [InputRc](../msg_docs/InputRc.md) +- [AirspeedWind](../msg_docs/AirspeedWind.md) +- [CanInterfaceStatus](../msg_docs/CanInterfaceStatus.md) +- [Vtx](../msg_docs/Vtx.md) +- [GimbalManagerSetAttitude](../msg_docs/GimbalManagerSetAttitude.md) +- [SatelliteInfo](../msg_docs/SatelliteInfo.md) +- [TaskStackInfo](../msg_docs/TaskStackInfo.md) +- [RoverSpeedStatus](../msg_docs/RoverSpeedStatus.md) +- [GeneratorStatus](../msg_docs/GeneratorStatus.md) +- [MissionResult](../msg_docs/MissionResult.md) +- [ParameterResetRequest](../msg_docs/ParameterResetRequest.md) +- [ActuatorTest](../msg_docs/ActuatorTest.md) +- [IrlockReport](../msg_docs/IrlockReport.md) +- [AdcReport](../msg_docs/AdcReport.md) +- [FixedWingRunwayControl](../msg_docs/FixedWingRunwayControl.md) +- [AutotuneAttitudeControlStatus](../msg_docs/AutotuneAttitudeControlStatus.md) +- [Ping](../msg_docs/Ping.md) +- [VehicleAngularVelocity](../msg_docs/VehicleAngularVelocity.md) +- [Cpuload](../msg_docs/Cpuload.md) ::: diff --git a/docs/uk/middleware/micrortps.md b/docs/uk/middleware/micrortps.md index 0b58c00792..80d0efbab7 100644 --- a/docs/uk/middleware/micrortps.md +++ b/docs/uk/middleware/micrortps.md @@ -3,4 +3,4 @@ [uXRCE-DDS (PX4-ROS 2/DDS Bridge)](../middleware/uxrce_dds.md) has replaced the _Fast-RTPS Bridge_. -If you're working in PX4 v1.13 or earlier see: [Fast-RTPS Bridge](https://docs.px4.io/v1.13/en/middleware/micrortps.html#rtps-dds-interface-px4-fast-rtps-dds-bridge) +If you're working in PX4 v1.13 or earlier see: [Fast-RTPS Bridge](https://docs.px4.io/v1.13/en/middleware/micrortps#rtps-dds-interface-px4-fast-rtps-dds-bridge) diff --git a/docs/uk/middleware/uorb.md b/docs/uk/middleware/uorb.md index 4e3300ce5f..520e8f7952 100644 --- a/docs/uk/middleware/uorb.md +++ b/docs/uk/middleware/uorb.md @@ -145,8 +145,8 @@ Versioned messages include an additional field `uint32 MESSAGE_VERSION = x`, whe Versioned and non-versioned messages are separated in the file system: - Non-versioned topic message files and [server service](../ros2/user_guide.md#px4-ros-2-service-servers) message files remain in the [`msg/`](https://github.com/PX4/PX4-Autopilot/tree/main/msg) and [`srv/`](https://github.com/PX4/PX4-Autopilot/tree/main/srv) directories, respectively. -- The current (highest) version of message files are located in the `versioned` subfolders ([`msg/versioned`](https://github.com/PX4/PX4-Autopilot/tree/main/msg/versioned) and [`srv/versioned`](https://github.com/PX4/PX4-Autopilot/tree/main/srv/versioned)). -- Older versions of messages are stored in nested `msg/px4_msgs_old/` subfolders ([`msg/px4_msgs_old/msg/`](https://github.com/PX4/PX4-Autopilot/tree/main/msg/px4_msgs_old/msg) and [`msg/px4_msgs_old/srv/`](https://github.com/PX4/PX4-Autopilot/tree/main/msg/px4_msgs_old/srv)). +- The current (highest) version of message files are located in the `versioned` subfolders ([`msg/versioned`](https://github.com/PX4/PX4-Autopilot/tree/main/msg/versioned) and [`srv/versioned`](https://github.com/PX4/PX4-Autopilot/tree/main/msg/versioned)). +- Older versions of messages are stored in nested `msg/px4_msgs_old/` subfolders ([`msg/px4_msgs_old/msg/`](https://github.com/PX4/PX4-Autopilot/tree/main/msg/px4_msgs_old/msg) and [`msg/px4_msgs_old/srv/`](https://github.com/PX4/PX4-Autopilot/tree/main/msg/px4_msgs_old)). The files are also renamed with a suffix to indicate their version number. :::tip @@ -163,7 +163,7 @@ For the full list of versioned and non-versioned messages see: [uORB Message Ref For more on PX4 and ROS 2 communication, see [PX4-ROS 2 Bridge](../ros/ros2_comm.md). :::info -ROS 2 plans to natively support message versioning in the future, but this is not implememented yet. +ROS 2 plans to natively support message versioning in the future, but this is not implemented yet. See the related ROS Enhancement Proposal ([REP 2011](https://github.com/ros-infrastructure/rep/pull/358)). See also this [Foxglove post](https://foxglove.dev/blog/sending-ros2-message-types-over-the-wire) on message hashing and type fetching. ::: diff --git a/docs/uk/middleware/uxrce_dds.md b/docs/uk/middleware/uxrce_dds.md index bc384fb82d..2666f96ab2 100644 --- a/docs/uk/middleware/uxrce_dds.md +++ b/docs/uk/middleware/uxrce_dds.md @@ -3,7 +3,7 @@ :::info -uXRCE-DDS replaces the [Fast-RTPS Bridge](https://docs.px4.io/v1.13/en/middleware/micrortps.html#rtps-dds-interface-px4-fast-rtps-dds-bridge) used in PX4 v1.13. +uXRCE-DDS replaces the [Fast-RTPS Bridge](https://docs.px4.io/v1.13/en/middleware/micrortps#rtps-dds-interface-px4-fast-rtps-dds-bridge) used in PX4 v1.13. If you were using the Fast-RTPS Bridge, please follow the [migration guidelines](#fast-rtps-to-uxrce-dds-migration-guidelines). ::: @@ -34,7 +34,7 @@ The [eProsima micro XRCE-DDS _agent_](https://github.com/eProsima/Micro-XRCE-DDS ## Генерація коду -The PX4 [uxrce_dds_client](../modules/modules_system.md#uxrce-dds-client) is generated at build time and included in PX4 firmare by default. +The PX4 [uxrce_dds_client](../modules/modules_system.md#uxrce-dds-client) is generated at build time and included in PX4 firmware by default. Агент не залежить від клієнтського коду. Він може бути побудований окремо або в робочому просторі ROS 2, або встановлений як snap пакет в Ubuntu. @@ -335,7 +335,7 @@ The configuration can be done using the [UXRCE-DDS parameters](../advanced_confi - [UXRCE_DDS_NS_IDX](../advanced_config/parameter_reference.md#UXRCE_DDS_NS_IDX) : Index-based namespace definition. Setting this parameter to any value other than `-1` creates a namespace with the prefix `uav_` and the specified value, e.g. `uav_0`, `uav_1`, etc. See [namespace](#customizing-the-namespace) for methods to define richer or arbitrary namespaces. - - [`UXRCE_DDS_FLCTRL`](../advanced_config/parameter_reference.md#UXRCE_DDS_FLCTRL) : Serial port hardware flow control enable. + - [`UXRCE_DDS_FLCTRL`](../advanced_config/parameter_reference.md#UXRCE_DDS_FLCTRL) : Serial port hardware flow control enable. To use hardware flow control, a custom MicroXRCE Agent needs to be adopted. Please refer to [this PR](https://github.com/eProsima/Micro-XRCE-DDS-Agent/pull/407) for the required changes, cherry-pick them on top of the [agent version](#build-run-within-ros-2-workspace) you need to use and then run the agent with the additional `--flow-control` option. :::info @@ -535,10 +535,10 @@ subscriptions: subscriptions_multi: - - topic: /fmu/in/vehicle_optical_flow_vel - type: px4_msgs::msg::VehicleOpticalFlowVel - - ... + - topic: /fmu/in/aux_global_position + type: px4_msgs::msg::AuxGlobalPosition + route_field: id # OPTIONAL: field used to demux into instances + max_instances: 4 # Required when route_field is set ``` @@ -555,31 +555,42 @@ Each (`topic`,`type`) pairs defines: 4. The message type (`VehicleOdometry`, `VehicleStatus`, `OffboardControlMode`, etc.) and the ROS 2 package (`px4_msgs`) that is expected to provide the message definition. 5. **(Optional)**: An additional `rate_limit` field (only for publication entries), which specifies the maximum rate (Hz) at which messages will be published on this topic by PX4 to ROS 2. If left unspecified, the maximum publication rate limit is set to 100 Hz. -6. **(Optional)**: An additional `instance` field (only for publication entries), which lets you select which instance of a [multi-instance topic](./uorb.md#multi-instance) you want to be published to ROS 2. +6. **(Optional)**: An additional `instance` field (only for publication entries), which lets you select which instance of a [multi-instance topic](./uorb.md#multi-instance) you want to be published to ROS 2. If provided, this option changes the ROS 2 topic name of the advertised uORB topic appending the instance number: `fmu/out/[uorb topic name][instance]` (plus eventual namespace and message version). In the example above the final topic name would be `/fmu/out/vehicle_imu1`. -`subscriptions` and `subscriptions_multi` allow us to choose the uORB topic instance that ROS 2 topics are routed to: either a shared instance that may also be getting updates from internal PX4 uORB publishers, or a separate instance that is reserved for ROS2 publications, respectively. +`subscriptions` and `subscriptions_multi` allow us to choose the uORB topic instance that ROS 2 topics are routed to: either a shared instance that may also be getting updates from internal PX4 uORB publishers, or a separate instance that is reserved for ROS 2 publications, respectively. Without this mechanism all ROS 2 messages would be routed to the _same_ uORB topic instance (because ROS 2 does not have the concept of [multiple topic instances](../middleware/uorb.md#multi-instance)), and it would not be possible for PX4 subscribers to differentiate between streams from ROS 2 or PX4 publishers. Add a topic to the `subscriptions` section to: -- Create a unidirectional route going from the ROS2 topic to the _default_ instance (instance 0) of the associated uORB topic. - For example, it creates a ROS2 subscriber of `/fmu/in/vehicle_odometry` and a uORB publisher of `vehicle_odometry`. -- If other (internal) PX4 modules are already publishing on the same uORB topic instance as the ROS2 publisher, the instance's subscribers will receive all streams of messages. - The uORB subscriber will not be able to determine if an incoming message was published by PX4 or by ROS2. -- This is the desired behavior when the ROS2 publisher is expected to be the sole publisher on the topic instance (for example, replacing an internal publisher to the topic during offboard control), or when the source of multiple publishing streams does not matter. +- Create a unidirectional route going from the ROS 2 topic to the _default_ instance (instance 0) of the associated uORB topic. + For example, it creates a ROS 2 subscriber of `/fmu/in/vehicle_odometry` and a uORB publisher of `vehicle_odometry`. +- If other (internal) PX4 modules are already publishing on the same uORB topic instance as the ROS 2 publisher, the instance's subscribers will receive all streams of messages. + The uORB subscriber will not be able to determine if an incoming message was published by PX4 or by ROS 2. +- This is the desired behavior when the ROS 2 publisher is expected to be the sole publisher on the topic instance (for example, replacing an internal publisher to the topic during offboard control), or when the source of multiple publishing streams does not matter. Add a topic to the `subscriptions_multi` section to: -- Create a unidirectional route going from the ROS2 topic to a _new_ instance of the associated uORB topic. - For example, if `vehicle_odometry` has already `2` instances, it creates a ROS2 subscriber of `/fmu/in/vehicle_odometry` and a uORB publisher on instance `3` of `vehicle_odometry`. +- Create a unidirectional route going from the ROS 2 topic to a _new_ instance of the associated uORB topic. + For example, if `vehicle_odometry` has already `2` instances, it creates a ROS 2 subscriber of `/fmu/in/vehicle_odometry` and a uORB publisher on instance `3` of `vehicle_odometry`. - This ensures that no other internal PX4 module will publish on the same instance used by uXRCE-DDS. The subscribers will be able to subscribe to the desired instance and distinguish between publishers. -- Note, however, that this guarantees separation between PX4 and ROS2 publishers, not among multiple ROS2 publishers. - In that scenario, their messages will still be routed to the same instance. +- Without `route_field`, this guarantees separation between PX4 and ROS 2 publishers, but not among multiple ROS 2 publishers. In that scenario, their messages will still be routed to the same instance. - This is the desired behavior, for example, when you want PX4 to log the readings of two equal sensors; they will both publish on the same topic, but one will use instance 0 and the other will use instance 1. + Optionally, add `route_field` and `max_instances` to demultiplex a single ROS 2 topic into multiple uORB instances based on a message field value: + +- Each unique value of `route_field` is dynamically assigned to a separate uORB instance on first arrival, up to `max_instances`. + For example, a single `/fmu/in/aux_global_position` ROS 2 topic can be demultiplexed to up to 4 separate uORB instances of `aux_global_position`, with each unique `id` value mapped to its own instance. +- This allows multiple ROS 2 publishers to share a single DDS topic while PX4 subscribers can distinguish between them by subscribing to different uORB instances. +- `route_field` must be a field present in the message definition. `max_instances` is required when `route_field` is set and limits how many distinct sources can be demultiplexed simultaneously. + +:::warning +The `subscriptions_multi` feature with `route_field` is currently only implemented in the uXRCE-DDS client. +The Zenoh bridge module does not yet support demux routing — topics listed under `subscriptions_multi` in `dds_topics.yaml` will be ignored by the Zenoh bridge. +::: + You can arbitrarily change the configuration. For example, you could use different default namespaces or use a custom package to store the message definitions. @@ -597,7 +608,7 @@ For a list of services, details and examples see the [service documentation](../ ## Fast-RTPS to uXRCE-DDS Migration Guidelines These guidelines explain how to migrate from using PX4 v1.13 [Fast-RTPS](../middleware/micrortps.md) middleware to PX4 v1.14 `uXRCE-DDS` middleware. -These are useful if you have [ROS 2 applications written for PX4 v1.13](https://docs.px4.io/v1.13/en/ros/ros2_comm.html), or you have used Fast-RTPS to interface your applications to PX4 [directly](https://docs.px4.io/v1.13/en/middleware/micrortps.html#agent-in-an-offboard-fast-dds-interface-ros-independent). +These are useful if you have [ROS 2 applications written for PX4 v1.13](https://docs.px4.io/v1.13/en/ros/ros2_comm), or you have used Fast-RTPS to interface your applications to PX4 [directly](https://docs.px4.io/v1.13/en/middleware/micrortps#agent-in-an-offboard-fast-dds-interface-ros-independent). :::info This section contains migration-specific information. @@ -606,7 +617,7 @@ You should also read the rest of this page to properly understand uXRCE-DDS. #### Dependencies do not need to be removed -uXRCE-DDS does not need the dependencies that were required for Fast-RTPS, such as those installed by following the topic [Fast DDS Installation](https://docs.px4.io/v1.13/en/dev_setup/fast-dds-installation.html). +uXRCE-DDS does not need the dependencies that were required for Fast-RTPS, such as those installed by following the topic [Fast DDS Installation](https://docs.px4.io/v1.13/en/dev_setup/fast-dds-installation). You can keep them if you want, without affecting your uXRCE-DDS applications. If you do choose to remove the dependencies, take care not to remove anything that is used by applications (for example, Java). @@ -659,7 +670,7 @@ There are many ways to install it on your PC / companion computer - for more inf #### Application-Specific Changes -If you where not using ROS 2 alongside the agent ([Fast DDS Interface ROS-Independent](https://docs.px4.io/v1.13/en/middleware/micrortps.html#agent-in-an-offboard-fast-dds-interface-ros-independent)), then you need to migrate to [eProsima Fast DDS](https://fast-dds.docs.eprosima.com/en/latest/index.html). +If you where not using ROS 2 alongside the agent ([Fast DDS Interface ROS-Independent](https://docs.px4.io/v1.13/en/middleware/micrortps#agent-in-an-offboard-fast-dds-interface-ros-independent)), then you need to migrate to [eProsima Fast DDS](https://fast-dds.docs.eprosima.com/en/latest/index.html). ROS 2 applications still need to compile alongside the PX4 messages, which you do by adding the [px4_msgs](https://github.com/PX4/px4_msgs) package to your workspace. You can remove the [px4_ros_com](https://github.com/PX4/px4_ros_com) package as it is no longer needed, other than for example code. diff --git a/docs/uk/middleware/zenoh.md b/docs/uk/middleware/zenoh.md index 800d0b5fae..61c2f10512 100644 --- a/docs/uk/middleware/zenoh.md +++ b/docs/uk/middleware/zenoh.md @@ -1,6 +1,6 @@ # Zenoh (PX4 ROS 2 rmw_zenoh) - + :::warning Експериментальні налаштування @@ -49,6 +49,11 @@ ros2 run rmw_zenoh_cpp rmw_zenohd For more information about the Zenoh Router see the [rmw_zenoh](https://github.com/ros2/rmw_zenoh?tab=readme-ov-file#start-the-zenoh-router) documentation. +:::note +From ROS 2 Jazzy onward, `rmw_zenoh` topic key expressions include the message type hash (RIHS01, as defined in REP-2016). This prevents interoperability with ROS 2 Humble and earlier. +For more information about key expressions, refer to the [rmw_zenoh design documentation](https://github.com/ros2/rmw_zenoh/blob/jazzy/docs/design.md#topic-and-service-name-mapping-to-zenoh-key-expressions). +::: + ## PX4 Zenoh-Pico Node Setup ### PX4 Firmware @@ -79,6 +84,12 @@ You can check if Zenoh is present at runtime by using QGroundControl to [find th If present, the module is installed. ::: +:::warning +Interoperability with ROS 2 Humble and earlier requires setting `CONFIG_ZENOH_KEY_TYPE_HASH=n` to disable the +inclusion of the message type hash (RIHS01, as defined in REP-2016) in the Zenoh key expression. +Note that this will break compatibility with ROS 2 Jazzy and later. +::: + ### Enable Zenoh on PX4 Startup Set the [ZENOH_ENABLE](../advanced_config/parameter_reference.md#ZENOH_ENABLE) parameter to `1` to enable Zenoh on PX4 startup. @@ -94,7 +105,7 @@ If you're using a different IP for the Zenoh daemon, run the following command ( zenoh config net client tcp/10.41.10.1:7447#iface=eth0 ``` -Note that for the simulation target with Zeroh (`px4_sitl_zenoh`) you won't need to make any changes because the default IP address of the Zenoh daemon is set to `localhost`. +Note that for the simulation target with Zenoh (`px4_sitl_zenoh`) you won't need to make any changes because the default IP address of the Zenoh daemon is set to `localhost`. :::warning Any changes to the network configuration require a PX4 system reboot to take effect. @@ -199,3 +210,7 @@ Subscription count: 0 The [PX4 ROS 2 Interface Library](../ros2/px4_ros2_interface_lib.md) works out of the box with Zenoh as a transport backend. This means you can publish and subscribe to PX4 topics over Zenoh without changing your ROS 2 nodes or dealing with DDS configuration. For setup details and supported message types, refer to the [PX4 ROS 2 Interface Library](../ros2/px4_ros2_interface_lib.md). + +:::info +The PX4 ROS 2 Interface Library is not compatible with ROS 2 Humble and earlier, as it requires the message type hash (RIHS01, as defined in REP-2016) to be included in the Zenoh key expression. +::: diff --git a/docs/uk/modules/modules_driver.md b/docs/uk/modules/modules_driver.md index 7ac0fd1012..785a083730 100644 --- a/docs/uk/modules/modules_driver.md +++ b/docs/uk/modules/modules_driver.md @@ -363,7 +363,7 @@ Source: [modules/gimbal](https://github.com/PX4/PX4-Autopilot/tree/main/src/modu Mount/gimbal 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://docs.px4.io/main/en/advanced/gimbal_control.html) page. +Documentation how to use it is on the [gimbal_control](../advanced/gimbal_control.md) page. ### Приклади @@ -1109,7 +1109,7 @@ px4io [arguments...] ## rgbled -Source: [drivers/lights/rgbled](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/lights/rgbled) +Source: [drivers/lights/rgbled_ncp5623c](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/lights/rgbled_ncp5623c) ### Usage {#rgbled_usage} @@ -1124,7 +1124,9 @@ rgbled [arguments...] [-f ] bus frequency in kHz [-q] quiet startup (no message if no device found) [-a ] I2C address - default: 85 + default: 57 + [-o ] RGB PWM Assignment + default: 123 stop diff --git a/docs/uk/modules/modules_driver_distance_sensor.md b/docs/uk/modules/modules_driver_distance_sensor.md index 4ed7caf5f7..a1952bc9c5 100644 --- a/docs/uk/modules/modules_driver_distance_sensor.md +++ b/docs/uk/modules/modules_driver_distance_sensor.md @@ -98,13 +98,56 @@ leddar_one [arguments...] stop Stop driver ``` +## lightware_grf_serial + +Source: [drivers/distance_sensor/lightware_grf_serial](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/lightware_grf_serial) + +### Опис + +Serial bus driver for the Lightware GRF Laser rangefinder. + +### Налаштування + +https://docs.px4.io/main/en/sensor/grf_lidar + +### Параметри + +https://docs.px4.io/main/en/advanced_config/parameter_reference#GRF_SENS_MODEL +https://docs.px4.io/main/en/advanced_config/parameter_reference#GRF_RATE_CFG +https://docs.px4.io/main/en/advanced_config/parameter_reference#SENS_EN_GRF_CFG + +### Приклади + +Attempt to start driver on a specified serial device. + +``` +lightware_grf_serial start -d /dev/ttyS1 +``` + +Stop driver + +``` +lightware_grf_serial stop +``` + +### Usage {#lightware_grf_serial_usage} + +``` +lightware_grf_serial [arguments...] + Commands: + start Start driver + -d Serial device + + stop Stop driver +``` + ## lightware_laser_i2c Source: [drivers/distance_sensor/lightware_laser_i2c](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/lightware_laser_i2c) ### Опис -I2C bus driver for Lightware SFxx series LIDAR rangefinders: SF10/a, SF10/b, SF10/c, SF11/c, SF/LW20, SF30/d. +I2C bus driver for Lightware LIDAR rangefinders: SF10/a, SF10/b, SF10/c, SF11/c, SF/LW20, SF/LW30/d, GRF250, GRF500. Setup/usage information: https://docs.px4.io/main/en/sensor/sfxx_lidar.html @@ -122,8 +165,6 @@ lightware_laser_i2c [arguments...] [-q] quiet startup (no message if no device found) [-a ] I2C address default: 102 - [-R ] Sensor rotation - downward facing by default - default: 25 stop diff --git a/docs/uk/modules/modules_driver_ins.md b/docs/uk/modules/modules_driver_ins.md index 0385004203..958b0f48d4 100644 --- a/docs/uk/modules/modules_driver_ins.md +++ b/docs/uk/modules/modules_driver_ins.md @@ -9,7 +9,7 @@ Source: [drivers/ins/microstrain](https://github.com/PX4/PX4-Autopilot/tree/main MicroStrain by HBK Inertial Sensor Driver. Currently supports the following sensors: --[CV7-AR](https://www.hbkworld.com/en/products/transducers/inertial-sensors/vertical-reference-units--vru-/3dm-cv7-ar) -[CV7-AHRS](https://www.hbkworld.com/en/products/transducers/inertial-sensors/attitude-and-heading-reference-systems--ahrs-/3dm-cv7-ahrs) -[CV7-INS](https://www.hbkworld.com/en/products/transducers/inertial-sensors/inertial-navigation-systems--ins-/3dm-cv7-ins) -[CV7-GNSS/INS](https://www.hbkworld.com/en/products/transducers/inertial-sensors/inertial-navigation-systems--ins-/3dm-cv7-gnss-ins) +-[CV7-AR](https://www.hbkworld.com/en/products/transducers/inertial-sensors/vertical-reference-units--vru-/3dm-cv7-ar) -[CV7-AHRS](https://www.hbkworld.com/en/products/transducers/inertial-sensors/attitude-and-heading-reference-systems--ahrs-/3dm-cv7-ahrs) -[CV7-INS](https://www.hbkworld.com/en/products/transducers/inertial-sensors/navigation/3dm-cv7-ins) -[CV7-GNSS/INS](https://www.hbkworld.com/en/products/transducers/inertial-sensors/navigation/3dm-cv7-gnss-ins) This driver is not included in the firmware by default. Include the module in firmware by setting the diff --git a/docs/uk/modules/modules_estimator.md b/docs/uk/modules/modules_estimator.md index af7d898ee6..619a52a5c3 100644 --- a/docs/uk/modules/modules_estimator.md +++ b/docs/uk/modules/modules_estimator.md @@ -52,7 +52,7 @@ Source: [modules/ekf2](https://github.com/PX4/PX4-Autopilot/tree/main/src/module Оцінювач відношення та позиції за допомогою розширеного фільтра Калмана. Використовується для багатороторних і фіксованих крил. -The documentation can be found on the [ECL/EKF Overview & Tuning](https://docs.px4.io/main/en/advanced_config/tuning_the_ecl_ekf.html) page. +The documentation can be found on the [ECL/EKF Overview & Tuning](../advanced_config/tuning_the_ecl_ekf.md) 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/docs/uk/modules/modules_system.md b/docs/uk/modules/modules_system.md index ef5cd50c40..ea604ac422 100644 --- a/docs/uk/modules/modules_system.md +++ b/docs/uk/modules/modules_system.md @@ -321,7 +321,7 @@ Source: [drivers/heater](https://github.com/PX4/PX4-Autopilot/tree/main/src/driv ### Опис -Background process running periodically on the LP work queue to regulate IMU temperature at a setpoint. +Background process running periodically on the INS{i} queue to regulate IMU temperature at a setpoint. This task can be started at boot from the startup scripts by setting SENS_EN_THERMAL or via CLI. @@ -732,7 +732,7 @@ The module is typically used together with uORB publisher rules, to specify whic 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](https://docs.px4.io/main/en/debug/system_wide_replay.html) +The replay procedure is documented on the [System-wide Replay](../debug/system_wide_replay.md) page. ### Usage {#replay_usage} @@ -921,6 +921,30 @@ system_power_simulation [arguments...] status print status info ``` +## task_watchdog + +Source: [modules/task_watchdog](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/task_watchdog) + +### Опис + +Detects when a higher-priority task starves the system by running too long. +When starvation is detected, dumps the offending task's registers and stack, +and saves a cpuload snapshot. + +### Usage {#task_watchdog_usage} + +``` +task_watchdog [arguments...] + Commands: + start + + trigger Manually trigger the watchdog + + stop + + status print status info +``` + ## tattu_can Source: [drivers/tattu_can](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/tattu_can) diff --git a/docs/uk/msg_docs/ActionRequest.md b/docs/uk/msg_docs/ActionRequest.md index 71b4bfde29..077a3e2f07 100644 --- a/docs/uk/msg_docs/ActionRequest.md +++ b/docs/uk/msg_docs/ActionRequest.md @@ -25,26 +25,26 @@ Request are published by `manual_control` and subscribed by the `commander` and ### ACTION {#ACTION} -| Назва | Тип | Значення | Опис | -| ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | -------- | ---------------------------------------------------------------------------------------- | -| ACTION_DISARM | `uint8` | 0 | Disarm vehicle | -| ACTION_ARM | `uint8` | 1 | Arm vehicle | -| ACTION_TOGGLE_ARMING | `uint8` | 2 | Toggle arming | -| ACTION_UNKILL | `uint8` | 3 | Revert a kill action | -| ACTION_KILL | `uint8` | 4 | Kill vehicle (instantly stop the motors) | -| ACTION_SWITCH_MODE | `uint8` | 5 | Switch mode. The target mode is set in the `mode` field. | -| ACTION_VTOL_TRANSITION_TO_MULTICOPTER | `uint8` | 6 | Transition to hover flight | -| ACTION_VTOL_TRANSITION_TO_FIXEDWING | `uint8` | 7 | Transition to fast forward flight | -| ACTION_TERMINATION | `uint8` | 8 | Irreversibly output failsafe values on all outputs, trigger parachute | +| Назва | Тип | Значення | Опис | +| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | -------- | ---------------------------------------------------------------------------------------- | +| ACTION_DISARM | `uint8` | 0 | Disarm vehicle | +| ACTION_ARM | `uint8` | 1 | Arm vehicle | +| ACTION_TOGGLE_ARMING | `uint8` | 2 | Toggle arming | +| ACTION_UNKILL | `uint8` | 3 | Revert a kill action | +| ACTION_KILL | `uint8` | 4 | Kill vehicle (instantly stop the motors) | +| ACTION_SWITCH_MODE | `uint8` | 5 | Switch mode. The target mode is set in the `mode` field. | +| ACTION_VTOL_TRANSITION_TO_MULTICOPTER | `uint8` | 6 | Transition to hover flight | +| ACTION_VTOL_TRANSITION_TO_FIXEDWING | `uint8` | 7 | Transition to fast forward flight | +| ACTION_TERMINATION | `uint8` | 8 | Irreversibly output failsafe values on all outputs, trigger parachute | ### SOURCE {#SOURCE} -| Назва | Тип | Значення | Опис | -| ---------------------------------------------------------------------------------------------------------------------- | ------- | -------- | --------------------------------------------------------------- | -| SOURCE_STICK_GESTURE | `uint8` | 0 | Triggered by holding the sticks in a certain position | -| SOURCE_RC_SWITCH | `uint8` | 1 | Triggered by an RC switch moving into a certain position | -| SOURCE_RC_BUTTON | `uint8` | 2 | Triggered by a momentary button on the RC being pressed or held | -| SOURCE_RC_MODE_SLOT | `uint8` | 3 | Mode change through the RC mode selection mechanism | +| Назва | Тип | Значення | Опис | +| -------------------------------------------------------------------------------------------------------------------- | ------- | -------- | --------------------------------------------------------------- | +| SOURCE_STICK_GESTURE | `uint8` | 0 | Triggered by holding the sticks in a certain position | +| SOURCE_RC_SWITCH | `uint8` | 1 | Triggered by an RC switch moving into a certain position | +| SOURCE_RC_BUTTON | `uint8` | 2 | Triggered by a momentary button on the RC being pressed or held | +| SOURCE_RC_MODE_SLOT | `uint8` | 3 | Mode change through the RC mode selection mechanism | ## Source Message @@ -60,26 +60,26 @@ Click here to see original file # It allows mapping triggers from various external interfaces like RC channels or MAVLink to cause an action. # Request are published by `manual_control` and subscribed by the `commander` and `vtol_att_control` modules. -uint64 timestamp # [us] Time since system start +uint64 timestamp # [us] Time since system start -uint8 action # [@enum ACTION] Requested action -uint8 ACTION_DISARM = 0 # Disarm vehicle -uint8 ACTION_ARM = 1 # Arm vehicle -uint8 ACTION_TOGGLE_ARMING = 2 # Toggle arming -uint8 ACTION_UNKILL = 3 # Revert a kill action -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 # Irreversibly output failsafe values on all outputs, trigger parachute +uint8 action # [@enum ACTION] Requested action +uint8 ACTION_DISARM = 0 # Disarm vehicle +uint8 ACTION_ARM = 1 # Arm vehicle +uint8 ACTION_TOGGLE_ARMING = 2 # Toggle arming +uint8 ACTION_UNKILL = 3 # Revert a kill action +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 # 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 -uint8 SOURCE_RC_SWITCH = 1 # Triggered by an RC switch moving into a certain position -uint8 SOURCE_RC_BUTTON = 2 # Triggered by a momentary button on the RC being pressed or held -uint8 SOURCE_RC_MODE_SLOT = 3 # Mode change through the RC mode selection mechanism +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 +uint8 SOURCE_RC_SWITCH = 1 # Triggered by an RC switch moving into a certain position +uint8 SOURCE_RC_BUTTON = 2 # Triggered by a momentary button on the RC being pressed or held +uint8 SOURCE_RC_MODE_SLOT = 3 # Mode change through the RC mode selection mechanism -uint8 mode # Requested mode. Only applies when `action` is `ACTION_SWITCH_MODE`. Values for this field are defined by the `vehicle_status_s::NAVIGATION_STATE_*` enumeration. +uint8 mode # Requested mode. Only applies when `action` is `ACTION_SWITCH_MODE`. Values for this field are defined by the `vehicle_status_s::NAVIGATION_STATE_*` enumeration. ``` ::: diff --git a/docs/uk/msg_docs/ActuatorMotors.md b/docs/uk/msg_docs/ActuatorMotors.md index bb061ef8ae..6a5e8c0fc0 100644 --- a/docs/uk/msg_docs/ActuatorMotors.md +++ b/docs/uk/msg_docs/ActuatorMotors.md @@ -18,15 +18,15 @@ Published by the vehicle's allocation and consumed by the ESC protocol drivers e | timestamp | `uint64` | us | | Time since system start | | timestamp_sample | `uint64` | us | | Sampling timestamp of the data this control response is based on | | reversible_flags | `uint16` | | | Bitset indicating which motors are configured to be reversible | -| control | `float32[12]` | | [-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) | +| control | `float32[12]` | | [-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) | ## Constants -| Назва | Тип | Значення | Опис | -| ----------------------------------------------------------------------------------------------------------- | -------- | -------- | ---- | -| MESSAGE_VERSION | `uint32` | 0 | | -| ACTUATOR_FUNCTION_MOTOR1 | `uint8` | 101 | | -| NUM_CONTROLS | `uint8` | 12 | | +| Назва | Тип | Значення | Опис | +| --------------------------------------------------------------------------------------------------------- | -------- | -------- | ---- | +| MESSAGE_VERSION | `uint32` | 0 | | +| ACTUATOR_FUNCTION_MOTOR1 | `uint8` | 101 | | +| NUM_CONTROLS | `uint8` | 12 | | ## Source Message @@ -43,15 +43,15 @@ Click here to see original file 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 +uint64 timestamp # [us] Time since system start +uint64 timestamp_sample # [us] Sampling timestamp of the data this control response is based on -uint16 reversible_flags # [-] Bitset indicating which motors are configured to be reversible +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 # -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) +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) ``` ::: diff --git a/docs/uk/msg_docs/ActuatorOutputs.md b/docs/uk/msg_docs/ActuatorOutputs.md index 68446e67ba..feb106b70a 100644 --- a/docs/uk/msg_docs/ActuatorOutputs.md +++ b/docs/uk/msg_docs/ActuatorOutputs.md @@ -16,10 +16,10 @@ pageClass: is-wide-page ## Constants -| Назва | Тип | Значення | Опис | -| ------------------------------------------------------------------------------------------------------------------------------------- | ------- | -------- | ------------------- | -| NUM_ACTUATOR_OUTPUTS | `uint8` | 16 | | -| NUM_ACTUATOR_OUTPUT_GROUPS | `uint8` | 4 | for sanity checking | +| Назва | Тип | Значення | Опис | +| ---------------------------------------------------------------------------------------------------------------------------------- | ------- | -------- | ------------------- | +| NUM_ACTUATOR_OUTPUTS | `uint8` | 16 | | +| NUM_ACTUATOR_OUTPUT_GROUPS | `uint8` | 4 | for sanity checking | ## Source Message diff --git a/docs/uk/msg_docs/ActuatorServos.md b/docs/uk/msg_docs/ActuatorServos.md index dcd37b31bb..32f9ea9eca 100644 --- a/docs/uk/msg_docs/ActuatorServos.md +++ b/docs/uk/msg_docs/ActuatorServos.md @@ -21,10 +21,10 @@ Published by the vehicle's allocation and consumed by the actuator output driver ## Constants -| Назва | Тип | Значення | Опис | -| -------------------------------------------------------------------- | -------- | -------- | ---- | -| MESSAGE_VERSION | `uint32` | 0 | | -| NUM_CONTROLS | `uint8` | 8 | | +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------ | -------- | -------- | ---- | +| MESSAGE_VERSION | `uint32` | 0 | | +| NUM_CONTROLS | `uint8` | 8 | | ## Source Message @@ -41,11 +41,11 @@ Click here to see original file 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 +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 # -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. +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. ``` ::: diff --git a/docs/uk/msg_docs/ActuatorServosTrim.md b/docs/uk/msg_docs/ActuatorServosTrim.md index eaa760e4a7..bac3fddfc0 100644 --- a/docs/uk/msg_docs/ActuatorServosTrim.md +++ b/docs/uk/msg_docs/ActuatorServosTrim.md @@ -6,7 +6,7 @@ pageClass: is-wide-page Servo trims, added as offset to servo outputs. -**TOPICS:** actuator_servostrim +**TOPICS:** actuator_servos_trim ## Fields @@ -17,9 +17,9 @@ Servo trims, added as offset to servo outputs. ## Constants -| Назва | Тип | Значення | Опис | -| -------------------------------------------------------------- | ------- | -------- | ---- | -| NUM_CONTROLS | `uint8` | 8 | | +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------ | ------- | -------- | ---- | +| NUM_CONTROLS | `uint8` | 8 | | ## Source Message diff --git a/docs/uk/msg_docs/ActuatorTest.md b/docs/uk/msg_docs/ActuatorTest.md index c07d77a528..d6d667c985 100644 --- a/docs/uk/msg_docs/ActuatorTest.md +++ b/docs/uk/msg_docs/ActuatorTest.md @@ -18,15 +18,15 @@ pageClass: is-wide-page ## Constants -| Назва | Тип | Значення | Опис | -| ------------------------------------------------------------------------------------------------------- | ------- | -------- | -------------------------------------------------------------------------------------------------------------------- | -| ACTION_RELEASE_CONTROL | `uint8` | 0 | exit test mode for the given function | -| ACTION_DO_CONTROL | `uint8` | 1 | enable actuator test mode | -| FUNCTION_MOTOR1 | `uint8` | 101 | | -| MAX_NUM_MOTORS | `uint8` | 12 | | -| FUNCTION_SERVO1 | `uint8` | 201 | | -| MAX_NUM_SERVOS | `uint8` | 8 | | -| ORB_QUEUE_LENGTH | `uint8` | 16 | > = MAX_NUM_MOTORS to support code in esc_calibration | +| Назва | Тип | Значення | Опис | +| ----------------------------------------------------------------------------------------------------- | ------- | -------- | -------------------------------------------------------------------------------------------------------------------- | +| ACTION_RELEASE_CONTROL | `uint8` | 0 | exit test mode for the given function | +| ACTION_DO_CONTROL | `uint8` | 1 | enable actuator test mode | +| FUNCTION_MOTOR1 | `uint8` | 101 | | +| MAX_NUM_MOTORS | `uint8` | 12 | | +| FUNCTION_SERVO1 | `uint8` | 201 | | +| MAX_NUM_SERVOS | `uint8` | 8 | | +| ORB_QUEUE_LENGTH | `uint8` | 16 | > = MAX_NUM_MOTORS to support code in esc_calibration | ## Source Message diff --git a/docs/uk/msg_docs/AirspeedValidated.md b/docs/uk/msg_docs/AirspeedValidated.md index 306128407a..405c978bdc 100644 --- a/docs/uk/msg_docs/AirspeedValidated.md +++ b/docs/uk/msg_docs/AirspeedValidated.md @@ -30,20 +30,20 @@ Used by controllers, estimators and for airspeed reporting to operator. ### SOURCE {#SOURCE} -| Назва | Тип | Значення | Опис | -| -------------------------------------------------------------------------------------------------------------------------------- | ------ | -------- | ----------------------- | -| SOURCE_DISABLED | `int8` | -1 | Disabled | -| SOURCE_GROUND_MINUS_WIND | `int8` | 0 | Ground speed minus wind | -| SOURCE_SENSOR_1 | `int8` | 1 | Sensor 1 | -| SOURCE_SENSOR_2 | `int8` | 2 | Sensor 2 | -| SOURCE_SENSOR_3 | `int8` | 3 | Sensor 3 | -| SOURCE_SYNTHETIC | `int8` | 4 | Synthetic airspeed | +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------------------------------------------------------------------ | ------ | -------- | ----------------------- | +| SOURCE_DISABLED | `int8` | -1 | Disabled | +| SOURCE_GROUND_MINUS_WIND | `int8` | 0 | Ground speed minus wind | +| SOURCE_SENSOR_1 | `int8` | 1 | Sensor 1 | +| SOURCE_SENSOR_2 | `int8` | 2 | Sensor 2 | +| SOURCE_SENSOR_3 | `int8` | 3 | Sensor 3 | +| SOURCE_SYNTHETIC | `int8` | 4 | Synthetic airspeed | ## Constants -| Назва | Тип | Значення | Опис | -| -------------------------------------------------------------------- | -------- | -------- | ---- | -| MESSAGE_VERSION | `uint32` | 1 | | +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------ | -------- | -------- | ---- | +| MESSAGE_VERSION | `uint32` | 1 | | ## Source Message @@ -58,28 +58,27 @@ Click here to see original file # Provides information about airspeed (indicated, true, calibrated) and the source of the data. # Used by controllers, estimators and for airspeed reporting to operator. - uint32 MESSAGE_VERSION = 1 -uint64 timestamp # [us] Time since system start +uint64 timestamp # [us] Time since system start -float32 indicated_airspeed_m_s # [m/s] [@invalid NaN] Indicated airspeed (IAS) -float32 calibrated_airspeed_m_s # [m/s] [@invalid NaN] Calibrated airspeed (CAS) -float32 true_airspeed_m_s # [m/s] [@invalid NaN] True airspeed (TAS) +float32 indicated_airspeed_m_s # [m/s] [@invalid NaN] Indicated airspeed (IAS) +float32 calibrated_airspeed_m_s # [m/s] [@invalid NaN] Calibrated airspeed (CAS) +float32 true_airspeed_m_s # [m/s] [@invalid NaN] True airspeed (TAS) -int8 airspeed_source # [@enum SOURCE] Source of currently published airspeed values -int8 SOURCE_DISABLED = -1 # Disabled -int8 SOURCE_GROUND_MINUS_WIND = 0 # Ground speed minus wind -int8 SOURCE_SENSOR_1 = 1 # Sensor 1 -int8 SOURCE_SENSOR_2 = 2 # Sensor 2 -int8 SOURCE_SENSOR_3 = 3 # Sensor 3 -int8 SOURCE_SYNTHETIC = 4 # Synthetic airspeed +int8 airspeed_source # [@enum SOURCE] Source of currently published airspeed values +int8 SOURCE_DISABLED = -1 # Disabled +int8 SOURCE_GROUND_MINUS_WIND = 0 # Ground speed minus wind +int8 SOURCE_SENSOR_1 = 1 # Sensor 1 +int8 SOURCE_SENSOR_2 = 2 # Sensor 2 +int8 SOURCE_SENSOR_3 = 3 # Sensor 3 +int8 SOURCE_SYNTHETIC = 4 # Synthetic airspeed -float32 calibrated_ground_minus_wind_m_s # [m/s] [@invalid NaN] CAS calculated from groundspeed - windspeed, where windspeed is estimated based on a zero-sideslip assumption -float32 calibraded_airspeed_synth_m_s # [m/s] [@invalid NaN] Synthetic airspeed -float32 airspeed_derivative_filtered # [m/s^2] Filtered indicated airspeed derivative -float32 throttle_filtered # [-] Filtered fixed-wing throttle -float32 pitch_filtered # [rad] Filtered pitch +float32 calibrated_ground_minus_wind_m_s # [m/s] [@invalid NaN] CAS calculated from groundspeed - windspeed, where windspeed is estimated based on a zero-sideslip assumption +float32 calibraded_airspeed_synth_m_s # [m/s] [@invalid NaN] Synthetic airspeed +float32 airspeed_derivative_filtered # [m/s^2] Filtered indicated airspeed derivative +float32 throttle_filtered # [-] Filtered fixed-wing throttle +float32 pitch_filtered # [rad] Filtered pitch ``` ::: diff --git a/docs/uk/msg_docs/AirspeedValidatedV0.md b/docs/uk/msg_docs/AirspeedValidatedV0.md index 6fdd9f47d1..76b8129af7 100644 --- a/docs/uk/msg_docs/AirspeedValidatedV0.md +++ b/docs/uk/msg_docs/AirspeedValidatedV0.md @@ -4,7 +4,7 @@ pageClass: is-wide-page # AirspeedValidatedV0 (UORB message) -**TOPICS:** airspeed_validatedv0 +**TOPICS:** airspeed_validated_v0 ## Fields @@ -24,9 +24,9 @@ pageClass: is-wide-page ## Constants -| Назва | Тип | Значення | Опис | -| -------------------------------------------------------------------- | -------- | -------- | ---- | -| MESSAGE_VERSION | `uint32` | 0 | | +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------ | -------- | -------- | ---- | +| MESSAGE_VERSION | `uint32` | 0 | | ## Source Message diff --git a/docs/uk/msg_docs/AirspeedWind.md b/docs/uk/msg_docs/AirspeedWind.md index e3a90ba5ee..e425dcba7d 100644 --- a/docs/uk/msg_docs/AirspeedWind.md +++ b/docs/uk/msg_docs/AirspeedWind.md @@ -35,12 +35,12 @@ subscribed to by any other modules. ## Constants -| Назва | Тип | Значення | Опис | -| ---------------------------------------------------------------------------------------------------------------------- | ------- | -------- | ----------------------------------------------------------------------------------------------------- | -| SOURCE_AS_BETA_ONLY | `uint8` | 0 | Wind estimate only based on synthetic sideslip fusion | -| SOURCE_AS_SENSOR_1 | `uint8` | 1 | Combined synthetic sideslip and airspeed fusion (data from first airspeed sensor) | -| SOURCE_AS_SENSOR_2 | `uint8` | 2 | Combined synthetic sideslip and airspeed fusion (data from second airspeed sensor) | -| SOURCE_AS_SENSOR_3 | `uint8` | 3 | Combined synthetic sideslip and airspeed fusion (data from third airspeed sensor) | +| Назва | Тип | Значення | Опис | +| -------------------------------------------------------------------------------------------------------------------- | ------- | -------- | ----------------------------------------------------------------------------------------------------- | +| SOURCE_AS_BETA_ONLY | `uint8` | 0 | Wind estimate only based on synthetic sideslip fusion | +| SOURCE_AS_SENSOR_1 | `uint8` | 1 | Combined synthetic sideslip and airspeed fusion (data from first airspeed sensor) | +| SOURCE_AS_SENSOR_2 | `uint8` | 2 | Combined synthetic sideslip and airspeed fusion (data from second airspeed sensor) | +| SOURCE_AS_SENSOR_3 | `uint8` | 3 | Combined synthetic sideslip and airspeed fusion (data from third airspeed sensor) | ## Source Message diff --git a/docs/uk/msg_docs/ArmingCheckReply.md b/docs/uk/msg_docs/ArmingCheckReply.md index 732d88cb1c..4f56cab405 100644 --- a/docs/uk/msg_docs/ArmingCheckReply.md +++ b/docs/uk/msg_docs/ArmingCheckReply.md @@ -13,7 +13,7 @@ The request is sent regularly to all registered ROS modes, even while armed, so Note that the external component is identified by its registration_id, which is allocated to the component during registration (arming_check_id in RegisterExtComponentReply). The message is not used by internal/FMU components, as their mode requirements are known at compile time. -**TOPICS:** arming_checkreply +**TOPICS:** arming_check_reply ## Fields @@ -45,16 +45,16 @@ The message is not used by internal/FMU components, as their mode requirements a ### HEALTH_COMPONENT_INDEX {#HEALTH_COMPONENT_INDEX} -| Назва | Тип | Значення | Опис | -| -------------------------------------------------------------------------------------------------------------------------------------- | ------- | -------- | --------------------------------------------------------- | -| HEALTH_COMPONENT_INDEX_NONE | `uint8` | 0 | Index of health component for which this response applies | +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------------------------------------------------------------------------ | ------- | -------- | --------------------------------------------------------- | +| HEALTH_COMPONENT_INDEX_NONE | `uint8` | 0 | Index of health component for which this response applies | ## Constants -| Назва | Тип | Значення | Опис | -| ------------------------------------------------------------------------------------------- | -------- | -------- | ---- | -| MESSAGE_VERSION | `uint32` | 1 | | -| ORB_QUEUE_LENGTH | `uint8` | 4 | | +| Назва | Тип | Значення | Опис | +| ----------------------------------------------------------------------------------------- | -------- | -------- | ---- | +| MESSAGE_VERSION | `uint32` | 1 | | +| ORB_QUEUE_LENGTH | `uint8` | 4 | | ## Source Message @@ -73,40 +73,40 @@ Click here to see original file # Note that the external component is identified by its registration_id, which is allocated to the component during registration (arming_check_id in RegisterExtComponentReply). # The message is not used by internal/FMU components, as their mode requirements are known at compile time. -uint32 MESSAGE_VERSION = 1 +uint32 MESSAGE_VERSION = 1 uint64 timestamp # [us] Time since system start. -uint8 request_id # [-] Id of ArmingCheckRequest for which this is a response -uint8 registration_id # [-] Id of external component emitting this response +uint8 request_id # [-] Id of ArmingCheckRequest for which this is a response +uint8 registration_id # [-] Id of external component emitting this response -uint8 HEALTH_COMPONENT_INDEX_NONE = 0 # Index of health component for which this response applies +uint8 HEALTH_COMPONENT_INDEX_NONE = 0 # Index of health component for which this response applies -uint8 health_component_index # [@enum HEALTH_COMPONENT_INDEX] -bool health_component_is_present # Unused. Intended for use with health events interface (health_component_t in events.json) -bool health_component_warning # Unused. Intended for use with health events interface (health_component_t in events.json) -bool health_component_error # Unused. Intended for use with health events interface (health_component_t in events.json) +uint8 health_component_index # [@enum HEALTH_COMPONENT_INDEX] +bool health_component_is_present # Unused. Intended for use with health events interface (health_component_t in events.json) +bool health_component_warning # Unused. Intended for use with health events interface (health_component_t in events.json) +bool health_component_error # Unused. Intended for use with health events interface (health_component_t in events.json) -bool can_arm_and_run # True if the component can arm. For navigation mode components, true if the component can arm in the mode or switch to the mode when already armed +bool can_arm_and_run # True if the component can arm. For navigation mode components, true if the component can arm in the mode or switch to the mode when already armed -uint8 num_events # Number of queued failure messages (Event) in the events field +uint8 num_events # Number of queued failure messages (Event) in the events field -Event[5] events # Arming failure reasons (Queue of events to report to GCS) +Event[5] events # Arming failure reasons (Queue of events to report to GCS) # Mode requirements -bool mode_req_angular_velocity # Requires angular velocity estimate (e.g. from gyroscope) -bool mode_req_attitude # Requires an attitude estimate -bool mode_req_local_alt # Requires a local altitude estimate -bool mode_req_local_position # Requires a local position estimate -bool mode_req_local_position_relaxed # Requires a more relaxed global position estimate -bool mode_req_global_position # Requires a global position estimate -bool mode_req_global_position_relaxed # Requires a relaxed global position estimate -bool mode_req_mission # Requires an uploaded mission -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 +bool mode_req_angular_velocity # Requires angular velocity estimate (e.g. from gyroscope) +bool mode_req_attitude # Requires an attitude estimate +bool mode_req_local_alt # Requires a local altitude estimate +bool mode_req_local_position # Requires a local position estimate +bool mode_req_local_position_relaxed # Requires a more relaxed global position estimate +bool mode_req_global_position # Requires a global position estimate +bool mode_req_global_position_relaxed # Requires a relaxed global position estimate +bool mode_req_mission # Requires an uploaded mission +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 ``` ::: diff --git a/docs/uk/msg_docs/ArmingCheckReplyV0.md b/docs/uk/msg_docs/ArmingCheckReplyV0.md index 80ddfcd015..9233eac589 100644 --- a/docs/uk/msg_docs/ArmingCheckReplyV0.md +++ b/docs/uk/msg_docs/ArmingCheckReplyV0.md @@ -4,7 +4,7 @@ pageClass: is-wide-page # ArmingCheckReplyV0 (UORB message) -**TOPICS:** arming_checkreplyv0 +**TOPICS:** arming_check_reply_v0 ## Fields @@ -33,11 +33,11 @@ pageClass: is-wide-page ## Constants -| Назва | Тип | Значення | Опис | -| -------------------------------------------------------------------------------------------------------------------------------------- | -------- | -------- | ---- | -| MESSAGE_VERSION | `uint32` | 0 | | -| HEALTH_COMPONENT_INDEX_NONE | `uint8` | 0 | | -| ORB_QUEUE_LENGTH | `uint8` | 4 | | +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------------------------------------------------------------------------ | -------- | -------- | ---- | +| MESSAGE_VERSION | `uint32` | 0 | | +| HEALTH_COMPONENT_INDEX_NONE | `uint8` | 0 | | +| ORB_QUEUE_LENGTH | `uint8` | 4 | | ## Source Message diff --git a/docs/uk/msg_docs/ArmingCheckRequest.md b/docs/uk/msg_docs/ArmingCheckRequest.md index bf878f600f..bdf54eccd5 100644 --- a/docs/uk/msg_docs/ArmingCheckRequest.md +++ b/docs/uk/msg_docs/ArmingCheckRequest.md @@ -13,7 +13,7 @@ The request is sent regularly, even while armed, so that the FMU always knows th 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). -**TOPICS:** arming_checkrequest +**TOPICS:** arming_check_request ## Fields @@ -25,9 +25,9 @@ The reply will also include the registration_id for each external component, pro ## Constants -| Назва | Тип | Значення | Опис | -| -------------------------------------------------------------------- | -------- | -------- | ---- | -| MESSAGE_VERSION | `uint32` | 1 | | +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------ | -------- | -------- | ---- | +| MESSAGE_VERSION | `uint32` | 1 | | ## Source Message @@ -48,9 +48,9 @@ Click here to see original file uint32 MESSAGE_VERSION = 1 -uint64 timestamp # [us] Time since system start +uint64 timestamp # [us] Time since system start -uint8 request_id # [-] Id of this request. Allows correlation with associated ArmingCheckReply messages. +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) ``` diff --git a/docs/uk/msg_docs/ArmingCheckRequestV0.md b/docs/uk/msg_docs/ArmingCheckRequestV0.md index 6e5b4e3aaa..058550cc30 100644 --- a/docs/uk/msg_docs/ArmingCheckRequestV0.md +++ b/docs/uk/msg_docs/ArmingCheckRequestV0.md @@ -13,7 +13,7 @@ The request is sent regularly, even while armed, so that the FMU always knows th 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). -**TOPICS:** arming_checkrequestv0 +**TOPICS:** arming_check_request_v0 ## Fields @@ -24,9 +24,9 @@ The reply will also include the registration_id for each external component, pro ## Constants -| Назва | Тип | Значення | Опис | -| -------------------------------------------------------------------- | -------- | -------- | ---- | -| MESSAGE_VERSION | `uint32` | 0 | | +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------ | -------- | -------- | ---- | +| MESSAGE_VERSION | `uint32` | 0 | | ## Source Message diff --git a/docs/uk/msg_docs/AutotuneAttitudeControlStatus.md b/docs/uk/msg_docs/AutotuneAttitudeControlStatus.md index 0d2bfa03a8..2cec1fca89 100644 --- a/docs/uk/msg_docs/AutotuneAttitudeControlStatus.md +++ b/docs/uk/msg_docs/AutotuneAttitudeControlStatus.md @@ -11,7 +11,7 @@ and is subscribed to by the respective attitude controllers to command rate setp The rate_sp field is consumed by the controllers, while the remaining fields (model coefficients, gains, filters, and autotune state) are used for logging and debugging. -**TOPICS:** autotune_attitudecontrol_status +**TOPICS:** autotune_attitude_control_status ## Fields @@ -37,25 +37,25 @@ The rate_sp field is consumed by the controllers, while the remaining fields (mo ### STATE {#STATE} -| Назва | Тип | Значення | Опис | -| ---------------------------------------------------------------------------------------------------------------------------------------------- | ------- | -------- | ------------------------------------------------------------------------------------------- | -| STATE_IDLE | `uint8` | 0 | Idle (not running) | -| STATE_INIT | `uint8` | 1 | Initialize filters and setup | -| STATE_ROLL_AMPLITUDE_DETECTION | `uint8` | 2 | FW only: determine required excitation amplitude (roll) | -| STATE_ROLL | `uint8` | 3 | Roll-axis excitation and model identification | -| STATE_ROLL_PAUSE | `uint8` | 4 | Pause to return to level flight | -| STATE_PITCH_AMPLITUDE_DETECTION | `uint8` | 5 | FW only: determine required excitation amplitude (pitch) | -| STATE_PITCH | `uint8` | 6 | Pitch-axis excitation and model identification | -| STATE_PITCH_PAUSE | `uint8` | 7 | Pause to return to level flight | -| STATE_YAW_AMPLITUDE_DETECTION | `uint8` | 8 | FW only: determine required excitation amplitude (yaw) | -| STATE_YAW | `uint8` | 9 | Yaw-axis excitation and model identification | -| STATE_YAW_PAUSE | `uint8` | 10 | Pause to return to level flight | -| STATE_VERIFICATION | `uint8` | 11 | Verify model and candidate gains | -| STATE_APPLY | `uint8` | 12 | Apply gains | -| STATE_TEST | `uint8` | 13 | Test gains in closed-loop | -| STATE_COMPLETE | `uint8` | 14 | Tuning completed successfully | -| STATE_FAIL | `uint8` | 15 | Tuning failed (model invalid or controller unstable) | -| STATE_WAIT_FOR_DISARM | `uint8` | 16 | Waiting for disarm before finalizing | +| Назва | Тип | Значення | Опис | +| -------------------------------------------------------------------------------------------------------------------------------------------- | ------- | -------- | ------------------------------------------------------------------------------------------- | +| STATE_IDLE | `uint8` | 0 | Idle (not running) | +| STATE_INIT | `uint8` | 1 | Initialize filters and setup | +| STATE_ROLL_AMPLITUDE_DETECTION | `uint8` | 2 | FW only: determine required excitation amplitude (roll) | +| STATE_ROLL | `uint8` | 3 | Roll-axis excitation and model identification | +| STATE_ROLL_PAUSE | `uint8` | 4 | Pause to return to level flight | +| STATE_PITCH_AMPLITUDE_DETECTION | `uint8` | 5 | FW only: determine required excitation amplitude (pitch) | +| STATE_PITCH | `uint8` | 6 | Pitch-axis excitation and model identification | +| STATE_PITCH_PAUSE | `uint8` | 7 | Pause to return to level flight | +| STATE_YAW_AMPLITUDE_DETECTION | `uint8` | 8 | FW only: determine required excitation amplitude (yaw) | +| STATE_YAW | `uint8` | 9 | Yaw-axis excitation and model identification | +| STATE_YAW_PAUSE | `uint8` | 10 | Pause to return to level flight | +| STATE_VERIFICATION | `uint8` | 11 | Verify model and candidate gains | +| STATE_APPLY | `uint8` | 12 | Apply gains | +| STATE_TEST | `uint8` | 13 | Test gains in closed-loop | +| STATE_COMPLETE | `uint8` | 14 | Tuning completed successfully | +| STATE_FAIL | `uint8` | 15 | Tuning failed (model invalid or controller unstable) | +| STATE_WAIT_FOR_DISARM | `uint8` | 16 | Waiting for disarm before finalizing | ## Source Message diff --git a/docs/uk/msg_docs/AuxGlobalPosition.md b/docs/uk/msg_docs/AuxGlobalPosition.md new file mode 100644 index 0000000000..cc7e5c8a4d --- /dev/null +++ b/docs/uk/msg_docs/AuxGlobalPosition.md @@ -0,0 +1,90 @@ +--- +pageClass: is-wide-page +--- + +# AuxGlobalPosition (UORB message) + +Auxiliary global position. + +This message provides global position data from an external source such as +pseudolites, visual navigation, or other positioning system. + +**TOPICS:** aux_global_position + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ------------------------------------------------------------------------------------ | --------- | ---------------------------------------------------------------- | ----------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | us | | Time since system start | +| timestamp_sample | `uint64` | us | | Timestamp of the raw data | +| id | `uint8` | | | Unique identifier for the AGP source | +| source | `uint8` | | [SOURCE](#SOURCE) | Source type of the position data (based on mavlink::GLOBAL_POSITION_SRC) | +| lat | `float64` | deg | | Latitude in WGS84 | +| lon | `float64` | deg | | Longitude in WGS84 | +| alt | `float32` | m | | Altitude above mean sea level (AMSL) (Invalid: NaN) | +| eph | `float32` | m | | Std dev of horizontal position, lower bounded by NOISE param (Invalid: NaN) | +| epv | `float32` | m | | Std dev of vertical position, lower bounded by NOISE param (Invalid: NaN) | +| lat_lon_reset_counter | `uint8` | | | Counter for reset events on horizontal position coordinates | + +## Enums + +### SOURCE {#SOURCE} + +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------------ | ------- | -------- | -------------- | +| SOURCE_UNKNOWN | `uint8` | 0 | Unknown source | +| SOURCE_GNSS | `uint8` | 1 | GNSS | +| SOURCE_VISION | `uint8` | 2 | Vision | +| SOURCE_PSEUDOLITES | `uint8` | 3 | Pseudolites | +| SOURCE_TERRAIN | `uint8` | 4 | Terrain | +| SOURCE_MAGNETIC | `uint8` | 5 | Magnetic | +| SOURCE_ESTIMATOR | `uint8` | 6 | Оцінювач | + +## Constants + +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------ | -------- | -------- | ---- | +| MESSAGE_VERSION | `uint32` | 1 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/AuxGlobalPosition.msg) + +:::details +Click here to see original file + +```c +# Auxiliary global position +# +# This message provides global position data from an external source such as +# pseudolites, visual navigation, or other positioning system. + +uint32 MESSAGE_VERSION = 1 + +uint64 timestamp # [us] Time since system start +uint64 timestamp_sample # [us] Timestamp of the raw data + +uint8 id # [-] Unique identifier for the AGP source +uint8 source # [@enum SOURCE] Source type of the position data (based on mavlink::GLOBAL_POSITION_SRC) +uint8 SOURCE_UNKNOWN = 0 # Unknown source +uint8 SOURCE_GNSS = 1 # GNSS +uint8 SOURCE_VISION = 2 # Vision +uint8 SOURCE_PSEUDOLITES = 3 # Pseudolites +uint8 SOURCE_TERRAIN = 4 # Terrain +uint8 SOURCE_MAGNETIC = 5 # Magnetic +uint8 SOURCE_ESTIMATOR = 6 # Estimator + +# lat, lon: required for horizontal position fusion, alt: required for vertical position fusion +float64 lat # [deg] Latitude in WGS84 +float64 lon # [deg] Longitude in WGS84 +float32 alt # [m] [@invalid NaN] Altitude above mean sea level (AMSL) + +float32 eph # [m] [@invalid NaN] Std dev of horizontal position, lower bounded by NOISE param +float32 epv # [m] [@invalid NaN] Std dev of vertical position, lower bounded by NOISE param + +uint8 lat_lon_reset_counter # [-] Counter for reset events on horizontal position coordinates + +# TOPICS aux_global_position +``` + +::: diff --git a/docs/uk/msg_docs/BatteryStatus.md b/docs/uk/msg_docs/BatteryStatus.md index 348bccb768..8c6462553c 100644 --- a/docs/uk/msg_docs/BatteryStatus.md +++ b/docs/uk/msg_docs/BatteryStatus.md @@ -25,7 +25,7 @@ Battery instance information is also logged and streamed in MAVLink telemetry. | remaining | `float32` | | [0 : 1] | Remaining capacity (Invalid: -1) | | scale | `float32` | | [1 : -] | Scaling factor to compensate for lower actuation power caused by voltage sag (Invalid: -1) | | time_remaining_s | `float32` | s | | Predicted time remaining until battery is empty under previous averaged load (Invalid: NaN) | -| temperature | `float32` | °C | | Temperature of the battery (Invalid: NaN) | +| temperature | `float32` | degC | | Temperature of the battery (Invalid: NaN) | | cell_count | `uint8` | | | Number of cells (Invalid: 0) | | source | `uint8` | | [SOURCE](#SOURCE) | Battery source | | priority | `uint8` | | | Zero based priority is the connection on the Power Controller V1..Vn AKA BrickN-1 | @@ -59,52 +59,52 @@ Battery instance information is also logged and streamed in MAVLink telemetry. ### SOURCE {#SOURCE} -| Назва | Тип | Значення | Опис | -| ------------------------------------------------------------------------------------------------- | ------- | -------- | ----------------------------------------------------------------- | -| SOURCE_POWER_MODULE | `uint8` | 0 | Power module (analog ADC or I2C power monitor) | -| SOURCE_EXTERNAL | `uint8` | 1 | External (MAVLink, CAN, or external driver) | -| SOURCE_ESCS | `uint8` | 2 | ESCs (via ESC telemetry) | +| Назва | Тип | Значення | Опис | +| ----------------------------------------------------------------------------------------------- | ------- | -------- | ----------------------------------------------------------------- | +| SOURCE_POWER_MODULE | `uint8` | 0 | Power module (analog ADC or I2C power monitor) | +| SOURCE_EXTERNAL | `uint8` | 1 | External (MAVLink, CAN, or external driver) | +| SOURCE_ESCS | `uint8` | 2 | ESCs (via ESC telemetry) | ### WARNING {#WARNING} -| Назва | Тип | Значення | Опис | -| ------------------------------------------------------------------------ | ------- | -------- | -------------------------------------------- | -| WARNING_NONE | `uint8` | 0 | No battery low voltage warning active | -| WARNING_LOW | `uint8` | 1 | Low voltage warning | -| WARNING_CRITICAL | `uint8` | 2 | Critical voltage, return / abort immediately | -| WARNING_EMERGENCY | `uint8` | 3 | Immediate landing required | -| WARNING_FAILED | `uint8` | 4 | Battery has failed completely | +| Назва | Тип | Значення | Опис | +| ---------------------------------------------------------------------- | ------- | -------- | -------------------------------------------- | +| WARNING_NONE | `uint8` | 0 | No battery low voltage warning active | +| WARNING_LOW | `uint8` | 1 | Low voltage warning | +| WARNING_CRITICAL | `uint8` | 2 | Critical voltage, return / abort immediately | +| WARNING_EMERGENCY | `uint8` | 3 | Immediate landing required | +| WARNING_FAILED | `uint8` | 4 | Battery has failed completely | ### STATE {#STATE} -| Назва | Тип | Значення | Опис | -| -------------------------------------------------------------------- | ------- | -------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | -| STATE_UNHEALTHY | `uint8` | 6 | Battery is diagnosed to be defective or an error occurred, usage is discouraged / prohibited. Possible causes (faults) are listed in faults field | -| STATE_CHARGING | `uint8` | 7 | Battery is charging | +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------ | ------- | -------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | +| STATE_UNHEALTHY | `uint8` | 6 | Battery is diagnosed to be defective or an error occurred, usage is discouraged / prohibited. Possible causes (faults) are listed in faults field | +| STATE_CHARGING | `uint8` | 7 | Battery is charging | ### FAULT {#FAULT} -| Назва | Тип | Значення | Опис | -| ---------------------------------------------------------------------------------------------------------------------- | ------- | -------- | --------------------------------------------------------------------------------------------------------------------------------- | -| FAULT_DEEP_DISCHARGE | `uint8` | 0 | Battery has deep discharged | -| FAULT_SPIKES | `uint8` | 1 | Voltage spikes | -| FAULT_CELL_FAIL | `uint8` | 2 | One or more cells have failed | -| FAULT_OVER_CURRENT | `uint8` | 3 | Over-current | -| FAULT_OVER_TEMPERATURE | `uint8` | 4 | Over-temperature | -| FAULT_UNDER_TEMPERATURE | `uint8` | 5 | Under-temperature fault | -| FAULT_INCOMPATIBLE_VOLTAGE | `uint8` | 6 | Vehicle voltage is not compatible with this battery (batteries on same power rail should have similar voltage) | -| FAULT_INCOMPATIBLE_FIRMWARE | `uint8` | 7 | Battery firmware is not compatible with current autopilot firmware | -| FAULT_INCOMPATIBLE_MODEL | `uint8` | 8 | Battery model is not supported by the system | -| FAULT_HARDWARE_FAILURE | `uint8` | 9 | Hardware problem | -| FAULT_FAILED_TO_ARM | `uint8` | 10 | Battery had a problem while arming | -| FAULT_COUNT | `uint8` | 11 | Counter. Keep this as last element | +| Назва | Тип | Значення | Опис | +| -------------------------------------------------------------------------------------------------------------------- | ------- | -------- | --------------------------------------------------------------------------------------------------------------------------------- | +| FAULT_DEEP_DISCHARGE | `uint8` | 0 | Battery has deep discharged | +| FAULT_SPIKES | `uint8` | 1 | Voltage spikes | +| FAULT_CELL_FAIL | `uint8` | 2 | One or more cells have failed | +| FAULT_OVER_CURRENT | `uint8` | 3 | Over-current | +| FAULT_OVER_TEMPERATURE | `uint8` | 4 | Over-temperature | +| FAULT_UNDER_TEMPERATURE | `uint8` | 5 | Under-temperature fault | +| FAULT_INCOMPATIBLE_VOLTAGE | `uint8` | 6 | Vehicle voltage is not compatible with this battery (batteries on same power rail should have similar voltage) | +| FAULT_INCOMPATIBLE_FIRMWARE | `uint8` | 7 | Battery firmware is not compatible with current autopilot firmware | +| FAULT_INCOMPATIBLE_MODEL | `uint8` | 8 | Battery model is not supported by the system | +| FAULT_HARDWARE_FAILURE | `uint8` | 9 | Hardware problem | +| FAULT_FAILED_TO_ARM | `uint8` | 10 | Battery had a problem while arming | +| FAULT_COUNT | `uint8` | 11 | Counter. Keep this as last element | ## Constants -| Назва | Тип | Значення | Опис | -| -------------------------------------------------------------------- | -------- | -------- | ---- | -| MESSAGE_VERSION | `uint32` | 1 | | -| MAX_INSTANCES | `uint8` | 3 | | +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------ | -------- | -------- | ---- | +| MESSAGE_VERSION | `uint32` | 1 | | +| MAX_INSTANCES | `uint8` | 3 | | ## Source Message @@ -123,76 +123,75 @@ Click here to see original file uint32 MESSAGE_VERSION = 1 uint8 MAX_INSTANCES = 3 -uint64 timestamp # [us] Time since system start +uint64 timestamp # [us] Time since system start -bool connected # Whether or not a battery is connected. For power modules this is based on a voltage threshold. -float32 voltage_v # [V] [@invalid 0] Battery voltage -float32 current_a # [A] [@invalid -1] Battery current -float32 current_average_a # [A] [@invalid -1] Battery current average (for FW average in level flight) -float32 discharged_mah # [mAh] [@invalid -1] Discharged amount -float32 remaining # [@range 0,1] [@invalid -1] Remaining capacity -float32 scale # [-] [@range 1,] [@invalid -1] Scaling factor to compensate for lower actuation power caused by voltage sag -float32 time_remaining_s # [s] [@invalid NaN] Predicted time remaining until battery is empty under previous averaged load -float32 temperature # [°C] [@invalid NaN] Temperature of the battery -uint8 cell_count # [-] [@invalid 0] Number of cells +bool connected # Whether or not a battery is connected. For power modules this is based on a voltage threshold. +float32 voltage_v # [V] [@invalid 0] Battery voltage +float32 current_a # [A] [@invalid -1] Battery current +float32 current_average_a # [A] [@invalid -1] Battery current average (for FW average in level flight) +float32 discharged_mah # [mAh] [@invalid -1] Discharged amount +float32 remaining # [@range 0,1] [@invalid -1] Remaining capacity +float32 scale # [-] [@range 1,] [@invalid -1] Scaling factor to compensate for lower actuation power caused by voltage sag +float32 time_remaining_s # [s] [@invalid NaN] Predicted time remaining until battery is empty under previous averaged load +float32 temperature # [degC] [@invalid NaN] Temperature of the battery +uint8 cell_count # [-] [@invalid 0] Number of cells +uint8 source # [@enum SOURCE] Battery source +uint8 SOURCE_POWER_MODULE = 0 # Power module (analog ADC or I2C power monitor) +uint8 SOURCE_EXTERNAL = 1 # External (MAVLink, CAN, or external driver) +uint8 SOURCE_ESCS = 2 # ESCs (via ESC telemetry) -uint8 source # [@enum SOURCE] Battery source -uint8 SOURCE_POWER_MODULE = 0 # Power module (analog ADC or I2C power monitor) -uint8 SOURCE_EXTERNAL = 1 # External (MAVLink, CAN, or external driver) -uint8 SOURCE_ESCS = 2 # ESCs (via ESC telemetry) +uint8 priority # [-] Zero based priority is the connection on the Power Controller V1..Vn AKA BrickN-1 +uint16 capacity # [mAh] Capacity of the battery when fully charged +uint16 cycle_count # [-] Number of discharge cycles the battery has experienced +uint16 average_time_to_empty # [minutes] Predicted remaining battery capacity based on the average rate of discharge +uint16 manufacture_date # [-] Manufacture date, part of serial number of the battery pack. Formatted as: Day + Month×32 + (Year–1980)×512 +uint16 state_of_health # [%] [@range 0, 100] State of health. FullChargeCapacity/DesignCapacity +uint16 max_error # [%] [@range 1, 100] Max error, expected margin of error in the state-of-charge calculation +uint8 id # [-] ID number of a battery. Should be unique and consistent for the lifetime of a vehicle. 1-indexed +uint16 interface_error # [-] Interface error counter -uint8 priority # [-] Zero based priority is the connection on the Power Controller V1..Vn AKA BrickN-1 -uint16 capacity # [mAh] Capacity of the battery when fully charged -uint16 cycle_count # [-] Number of discharge cycles the battery has experienced -uint16 average_time_to_empty # [minutes] Predicted remaining battery capacity based on the average rate of discharge -uint16 manufacture_date # [-] Manufacture date, part of serial number of the battery pack. Formatted as: Day + Month×32 + (Year–1980)×512 -uint16 state_of_health # [%] [@range 0, 100] State of health. FullChargeCapacity/DesignCapacity -uint16 max_error # [%] [@range 1, 100] Max error, expected margin of error in the state-of-charge calculation -uint8 id # [-] ID number of a battery. Should be unique and consistent for the lifetime of a vehicle. 1-indexed -uint16 interface_error # [-] Interface error counter +float32[14] voltage_cell_v # [V] [@invalid 0] Battery individual cell voltages +float32 max_cell_voltage_delta # [V] Max difference between individual cell voltages -float32[14] voltage_cell_v # [V] [@invalid 0] Battery individual cell voltages -float32 max_cell_voltage_delta # [V] Max difference between individual cell voltages +bool is_powering_off # Power off event imminent indication, false if unknown +bool is_required # Set if the battery is explicitly required before arming -bool is_powering_off # Power off event imminent indication, false if unknown -bool is_required # Set if the battery is explicitly required before arming +uint8 warning # [@enum WARNING STATE] Current battery warning +uint8 WARNING_NONE = 0 # No battery low voltage warning active +uint8 WARNING_LOW = 1 # Low voltage warning +uint8 WARNING_CRITICAL = 2 # Critical voltage, return / abort immediately +uint8 WARNING_EMERGENCY = 3 # Immediate landing required +uint8 WARNING_FAILED = 4 # Battery has failed completely +uint8 STATE_UNHEALTHY = 6 # Battery is diagnosed to be defective or an error occurred, usage is discouraged / prohibited. Possible causes (faults) are listed in faults field +uint8 STATE_CHARGING = 7 # Battery is charging -uint8 warning # [@enum WARNING STATE] Current battery warning -uint8 WARNING_NONE = 0 # No battery low voltage warning active -uint8 WARNING_LOW = 1 # Low voltage warning -uint8 WARNING_CRITICAL = 2 # Critical voltage, return / abort immediately -uint8 WARNING_EMERGENCY = 3 # Immediate landing required -uint8 WARNING_FAILED = 4 # Battery has failed completely -uint8 STATE_UNHEALTHY = 6 # Battery is diagnosed to be defective or an error occurred, usage is discouraged / prohibited. Possible causes (faults) are listed in faults field -uint8 STATE_CHARGING = 7 # Battery is charging +uint16 faults # [@enum FAULT] Smart battery supply status/fault flags (bitmask) for health indication +uint8 FAULT_DEEP_DISCHARGE = 0 # Battery has deep discharged +uint8 FAULT_SPIKES = 1 # Voltage spikes +uint8 FAULT_CELL_FAIL= 2 # One or more cells have failed +uint8 FAULT_OVER_CURRENT = 3 # Over-current +uint8 FAULT_OVER_TEMPERATURE = 4 # Over-temperature +uint8 FAULT_UNDER_TEMPERATURE = 5 # Under-temperature fault +uint8 FAULT_INCOMPATIBLE_VOLTAGE = 6 # Vehicle voltage is not compatible with this battery (batteries on same power rail should have similar voltage) +uint8 FAULT_INCOMPATIBLE_FIRMWARE = 7 # Battery firmware is not compatible with current autopilot firmware +uint8 FAULT_INCOMPATIBLE_MODEL = 8 # Battery model is not supported by the system +uint8 FAULT_HARDWARE_FAILURE = 9 # Hardware problem +uint8 FAULT_FAILED_TO_ARM = 10 # Battery had a problem while arming +uint8 FAULT_COUNT = 11 # Counter. Keep this as last element -uint16 faults # [@enum FAULT] Smart battery supply status/fault flags (bitmask) for health indication -uint8 FAULT_DEEP_DISCHARGE = 0 # Battery has deep discharged -uint8 FAULT_SPIKES = 1 # Voltage spikes -uint8 FAULT_CELL_FAIL= 2 # One or more cells have failed -uint8 FAULT_OVER_CURRENT = 3 # Over-current -uint8 FAULT_OVER_TEMPERATURE = 4 # Over-temperature -uint8 FAULT_UNDER_TEMPERATURE = 5 # Under-temperature fault -uint8 FAULT_INCOMPATIBLE_VOLTAGE = 6 # Vehicle voltage is not compatible with this battery (batteries on same power rail should have similar voltage) -uint8 FAULT_INCOMPATIBLE_FIRMWARE = 7 # Battery firmware is not compatible with current autopilot firmware -uint8 FAULT_INCOMPATIBLE_MODEL = 8 # Battery model is not supported by the system -uint8 FAULT_HARDWARE_FAILURE = 9 # Hardware problem -uint8 FAULT_FAILED_TO_ARM = 10 # Battery had a problem while arming -uint8 FAULT_COUNT = 11 # Counter. Keep this as last element +float32 full_charge_capacity_wh # [Wh] Compensated battery capacity +float32 remaining_capacity_wh # [Wh] Compensated battery capacity remaining +uint16 over_discharge_count # [-] Number of battery overdischarge +float32 nominal_voltage # [V] Nominal voltage of the battery pack -float32 full_charge_capacity_wh # [Wh] Compensated battery capacity -float32 remaining_capacity_wh # [Wh] Compensated battery capacity remaining -uint16 over_discharge_count # [-] Number of battery overdischarge -float32 nominal_voltage # [V] Nominal voltage of the battery pack - -float32 internal_resistance_estimate # [Ohm] Internal resistance per cell estimate -float32 ocv_estimate # [V] Open circuit voltage estimate -float32 ocv_estimate_filtered # [V] Filtered open circuit voltage estimate -float32 volt_based_soc_estimate # [-] [@range 0, 1] Normalized volt based state of charge estimate -float32 voltage_prediction # [V] Predicted voltage -float32 prediction_error # [V] Prediction error -float32 estimation_covariance_norm # [-] Norm of the covariance matrix +float32 internal_resistance_estimate # [Ohm] Internal resistance per cell estimate +float32 ocv_estimate # [V] Open circuit voltage estimate +float32 ocv_estimate_filtered # [V] Filtered open circuit voltage estimate +float32 volt_based_soc_estimate # [-] [@range 0, 1] Normalized volt based state of charge estimate +float32 voltage_prediction # [V] Predicted voltage +float32 prediction_error # [V] Prediction error +float32 estimation_covariance_norm # [-] Norm of the covariance matrix ``` ::: diff --git a/docs/uk/msg_docs/BatteryStatusV0.md b/docs/uk/msg_docs/BatteryStatusV0.md index 699eedd680..2abd411342 100644 --- a/docs/uk/msg_docs/BatteryStatusV0.md +++ b/docs/uk/msg_docs/BatteryStatusV0.md @@ -10,7 +10,7 @@ Battery status information for up to 4 battery instances. These are populated from power module and smart battery device drivers, and one battery updated from MAVLink. Battery instance information is also logged and streamed in MAVLink telemetry. -**TOPICS:** battery_statusv0 +**TOPICS:** battery_status_v0 ## Fields @@ -60,52 +60,52 @@ Battery instance information is also logged and streamed in MAVLink telemetry. ### SOURCE {#SOURCE} -| Назва | Тип | Значення | Опис | -| ------------------------------------------------------------------------------------------------- | ------- | -------- | ----------------------------------------------------------------- | -| SOURCE_POWER_MODULE | `uint8` | 0 | Power module (analog ADC or I2C power monitor) | -| SOURCE_EXTERNAL | `uint8` | 1 | External (MAVLink, CAN, or external driver) | -| SOURCE_ESCS | `uint8` | 2 | ESCs (via ESC telemetry) | +| Назва | Тип | Значення | Опис | +| ----------------------------------------------------------------------------------------------- | ------- | -------- | ----------------------------------------------------------------- | +| SOURCE_POWER_MODULE | `uint8` | 0 | Power module (analog ADC or I2C power monitor) | +| SOURCE_EXTERNAL | `uint8` | 1 | External (MAVLink, CAN, or external driver) | +| SOURCE_ESCS | `uint8` | 2 | ESCs (via ESC telemetry) | ### WARNING {#WARNING} -| Назва | Тип | Значення | Опис | -| ------------------------------------------------------------------------ | ------- | -------- | -------------------------------------------- | -| WARNING_NONE | `uint8` | 0 | No battery low voltage warning active | -| WARNING_LOW | `uint8` | 1 | Low voltage warning | -| WARNING_CRITICAL | `uint8` | 2 | Critical voltage, return / abort immediately | -| WARNING_EMERGENCY | `uint8` | 3 | Immediate landing required | -| WARNING_FAILED | `uint8` | 4 | Battery has failed completely | +| Назва | Тип | Значення | Опис | +| ---------------------------------------------------------------------- | ------- | -------- | -------------------------------------------- | +| WARNING_NONE | `uint8` | 0 | No battery low voltage warning active | +| WARNING_LOW | `uint8` | 1 | Low voltage warning | +| WARNING_CRITICAL | `uint8` | 2 | Critical voltage, return / abort immediately | +| WARNING_EMERGENCY | `uint8` | 3 | Immediate landing required | +| WARNING_FAILED | `uint8` | 4 | Battery has failed completely | ### STATE {#STATE} -| Назва | Тип | Значення | Опис | -| -------------------------------------------------------------------- | ------- | -------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | -| STATE_UNHEALTHY | `uint8` | 6 | Battery is diagnosed to be defective or an error occurred, usage is discouraged / prohibited. Possible causes (faults) are listed in faults field | -| STATE_CHARGING | `uint8` | 7 | Battery is charging | +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------ | ------- | -------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | +| STATE_UNHEALTHY | `uint8` | 6 | Battery is diagnosed to be defective or an error occurred, usage is discouraged / prohibited. Possible causes (faults) are listed in faults field | +| STATE_CHARGING | `uint8` | 7 | Battery is charging | ### FAULT {#FAULT} -| Назва | Тип | Значення | Опис | -| ---------------------------------------------------------------------------------------------------------------------- | ------- | -------- | --------------------------------------------------------------------------------------------------------------------------------- | -| FAULT_DEEP_DISCHARGE | `uint8` | 0 | Battery has deep discharged | -| FAULT_SPIKES | `uint8` | 1 | Voltage spikes | -| FAULT_CELL_FAIL | `uint8` | 2 | One or more cells have failed | -| FAULT_OVER_CURRENT | `uint8` | 3 | Over-current | -| FAULT_OVER_TEMPERATURE | `uint8` | 4 | Over-temperature | -| FAULT_UNDER_TEMPERATURE | `uint8` | 5 | Under-temperature fault | -| FAULT_INCOMPATIBLE_VOLTAGE | `uint8` | 6 | Vehicle voltage is not compatible with this battery (batteries on same power rail should have similar voltage) | -| FAULT_INCOMPATIBLE_FIRMWARE | `uint8` | 7 | Battery firmware is not compatible with current autopilot firmware | -| FAULT_INCOMPATIBLE_MODEL | `uint8` | 8 | Battery model is not supported by the system | -| FAULT_HARDWARE_FAILURE | `uint8` | 9 | Hardware problem | -| FAULT_FAILED_TO_ARM | `uint8` | 10 | Battery had a problem while arming | -| FAULT_COUNT | `uint8` | 11 | Counter. Keep this as last element | +| Назва | Тип | Значення | Опис | +| -------------------------------------------------------------------------------------------------------------------- | ------- | -------- | --------------------------------------------------------------------------------------------------------------------------------- | +| FAULT_DEEP_DISCHARGE | `uint8` | 0 | Battery has deep discharged | +| FAULT_SPIKES | `uint8` | 1 | Voltage spikes | +| FAULT_CELL_FAIL | `uint8` | 2 | One or more cells have failed | +| FAULT_OVER_CURRENT | `uint8` | 3 | Over-current | +| FAULT_OVER_TEMPERATURE | `uint8` | 4 | Over-temperature | +| FAULT_UNDER_TEMPERATURE | `uint8` | 5 | Under-temperature fault | +| FAULT_INCOMPATIBLE_VOLTAGE | `uint8` | 6 | Vehicle voltage is not compatible with this battery (batteries on same power rail should have similar voltage) | +| FAULT_INCOMPATIBLE_FIRMWARE | `uint8` | 7 | Battery firmware is not compatible with current autopilot firmware | +| FAULT_INCOMPATIBLE_MODEL | `uint8` | 8 | Battery model is not supported by the system | +| FAULT_HARDWARE_FAILURE | `uint8` | 9 | Hardware problem | +| FAULT_FAILED_TO_ARM | `uint8` | 10 | Battery had a problem while arming | +| FAULT_COUNT | `uint8` | 11 | Counter. Keep this as last element | ## Constants -| Назва | Тип | Значення | Опис | -| -------------------------------------------------------------------- | -------- | -------- | ---- | -| MESSAGE_VERSION | `uint32` | 0 | | -| MAX_INSTANCES | `uint8` | 4 | | +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------ | -------- | -------- | ---- | +| MESSAGE_VERSION | `uint32` | 0 | | +| MAX_INSTANCES | `uint8` | 4 | | ## Source Message diff --git a/docs/uk/msg_docs/ButtonEvent.md b/docs/uk/msg_docs/ButtonEvent.md index 782bf6b33a..cb8f817e0d 100644 --- a/docs/uk/msg_docs/ButtonEvent.md +++ b/docs/uk/msg_docs/ButtonEvent.md @@ -15,9 +15,9 @@ pageClass: is-wide-page ## Constants -| Назва | Тип | Значення | Опис | -| ------------------------------------------------------------------------------------------- | ------- | -------- | ---- | -| ORB_QUEUE_LENGTH | `uint8` | 2 | | +| Назва | Тип | Значення | Опис | +| ----------------------------------------------------------------------------------------- | ------- | -------- | ---- | +| ORB_QUEUE_LENGTH | `uint8` | 2 | | ## Source Message diff --git a/docs/uk/msg_docs/CameraTrigger.md b/docs/uk/msg_docs/CameraTrigger.md index 19d9bd4342..d12ab9bc1b 100644 --- a/docs/uk/msg_docs/CameraTrigger.md +++ b/docs/uk/msg_docs/CameraTrigger.md @@ -17,9 +17,9 @@ pageClass: is-wide-page ## Constants -| Назва | Тип | Значення | Опис | -| ------------------------------------------------------------------------------------------- | -------- | -------- | ---- | -| ORB_QUEUE_LENGTH | `uint32` | 2 | | +| Назва | Тип | Значення | Опис | +| ----------------------------------------------------------------------------------------- | -------- | -------- | ---- | +| ORB_QUEUE_LENGTH | `uint32` | 2 | | ## Source Message diff --git a/docs/uk/msg_docs/CanInterfaceStatus.md b/docs/uk/msg_docs/CanInterfaceStatus.md index 907269e25b..f9deefbe31 100644 --- a/docs/uk/msg_docs/CanInterfaceStatus.md +++ b/docs/uk/msg_docs/CanInterfaceStatus.md @@ -4,7 +4,7 @@ pageClass: is-wide-page # CanInterfaceStatus (повідомлення UORB) -**TOPICS:** can_interfacestatus +**TOPICS:** can_interface_status ## Fields diff --git a/docs/uk/msg_docs/CellularStatus.md b/docs/uk/msg_docs/CellularStatus.md index ecaac52960..a4abb6239b 100644 --- a/docs/uk/msg_docs/CellularStatus.md +++ b/docs/uk/msg_docs/CellularStatus.md @@ -27,40 +27,40 @@ This is currently used only for logging cell status from MAVLink. ### STATUS_FLAG {#STATUS_FLAG} -| Назва | Тип | Значення | Опис | -| ------------------------------------------------------------------------------------------------------------- | -------- | -------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -| STATUS_FLAG_UNKNOWN | `uint16` | 1 | State unknown or not reportable | -| STATUS_FLAG_FAILED | `uint16` | 2 | Modem is unusable | -| STATUS_FLAG_INITIALIZING | `uint16` | 4 | Modem is being initialized | -| STATUS_FLAG_LOCKED | `uint16` | 8 | Modem is locked | -| STATUS_FLAG_DISABLED | `uint16` | 16 | Modem is not enabled and is powered down | -| STATUS_FLAG_DISABLING | `uint16` | 32 | Modem is currently transitioning to the STATUS_FLAG_DISABLED state | -| STATUS_FLAG_ENABLING | `uint16` | 64 | Modem is currently transitioning to the STATUS_FLAG_ENABLED state | -| STATUS_FLAG_ENABLED | `uint16` | 128 | Modem is enabled and powered on but not registered with a network provider and not available for data connections | -| STATUS_FLAG_SEARCHING | `uint16` | 256 | Modem is searching for a network provider to register | -| STATUS_FLAG_REGISTERED | `uint16` | 512 | Modem is registered with a network provider, and data connections and messaging may be available for use | -| STATUS_FLAG_DISCONNECTING | `uint16` | 1024 | Modem is disconnecting and deactivating the last active packet data bearer. This state will not be entered if more than one packet data bearer is active and one of the active bearers is deactivated | -| STATUS_FLAG_CONNECTING | `uint16` | 2048 | Modem is activating and connecting the first packet data bearer. Subsequent bearer activations when another bearer is already active do not cause this state to be entered | -| STATUS_FLAG_CONNECTED | `uint16` | 4096 | One or more packet data bearers is active and connected | +| Назва | Тип | Значення | Опис | +| ----------------------------------------------------------------------------------------------------------- | -------- | -------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| STATUS_FLAG_UNKNOWN | `uint16` | 1 | State unknown or not reportable | +| STATUS_FLAG_FAILED | `uint16` | 2 | Modem is unusable | +| STATUS_FLAG_INITIALIZING | `uint16` | 4 | Modem is being initialized | +| STATUS_FLAG_LOCKED | `uint16` | 8 | Modem is locked | +| STATUS_FLAG_DISABLED | `uint16` | 16 | Modem is not enabled and is powered down | +| STATUS_FLAG_DISABLING | `uint16` | 32 | Modem is currently transitioning to the STATUS_FLAG_DISABLED state | +| STATUS_FLAG_ENABLING | `uint16` | 64 | Modem is currently transitioning to the STATUS_FLAG_ENABLED state | +| STATUS_FLAG_ENABLED | `uint16` | 128 | Modem is enabled and powered on but not registered with a network provider and not available for data connections | +| STATUS_FLAG_SEARCHING | `uint16` | 256 | Modem is searching for a network provider to register | +| STATUS_FLAG_REGISTERED | `uint16` | 512 | Modem is registered with a network provider, and data connections and messaging may be available for use | +| STATUS_FLAG_DISCONNECTING | `uint16` | 1024 | Modem is disconnecting and deactivating the last active packet data bearer. This state will not be entered if more than one packet data bearer is active and one of the active bearers is deactivated | +| STATUS_FLAG_CONNECTING | `uint16` | 2048 | Modem is activating and connecting the first packet data bearer. Subsequent bearer activations when another bearer is already active do not cause this state to be entered | +| STATUS_FLAG_CONNECTED | `uint16` | 4096 | One or more packet data bearers is active and connected | ### FAILURE_REASON {#FAILURE_REASON} -| Назва | Тип | Значення | Опис | -| ------------------------------------------------------------------------------------------------------------------------------------ | ------- | -------- | ----------------------------------------------- | -| FAILURE_REASON_NONE | `uint8` | 0 | No error | -| FAILURE_REASON_UNKNOWN | `uint8` | 1 | Error state is unknown | -| FAILURE_REASON_SIM_MISSING | `uint8` | 2 | SIM is required for the modem but missing | -| FAILURE_REASON_SIM_ERROR | `uint8` | 3 | SIM is available, but not usable for connection | +| Назва | Тип | Значення | Опис | +| ---------------------------------------------------------------------------------------------------------------------------------- | ------- | -------- | ----------------------------------------------- | +| FAILURE_REASON_NONE | `uint8` | 0 | No error | +| FAILURE_REASON_UNKNOWN | `uint8` | 1 | Error state is unknown | +| FAILURE_REASON_SIM_MISSING | `uint8` | 2 | SIM is required for the modem but missing | +| FAILURE_REASON_SIM_ERROR | `uint8` | 3 | SIM is available, but not usable for connection | ### CELLULAR_NETWORK_RADIO_TYPE {#CELLULAR_NETWORK_RADIO_TYPE} -| Назва | Тип | Значення | Опис | -| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | -------- | ----- | -| CELLULAR_NETWORK_RADIO_TYPE_NONE | `uint8` | 0 | None | -| CELLULAR_NETWORK_RADIO_TYPE_GSM | `uint8` | 1 | GSM | -| CELLULAR_NETWORK_RADIO_TYPE_CDMA | `uint8` | 2 | CDMA | -| CELLULAR_NETWORK_RADIO_TYPE_WCDMA | `uint8` | 3 | WCDMA | -| CELLULAR_NETWORK_RADIO_TYPE_LTE | `uint8` | 4 | LTE | +| Назва | Тип | Значення | Опис | +| --------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | -------- | ----- | +| CELLULAR_NETWORK_RADIO_TYPE_NONE | `uint8` | 0 | None | +| CELLULAR_NETWORK_RADIO_TYPE_GSM | `uint8` | 1 | GSM | +| CELLULAR_NETWORK_RADIO_TYPE_CDMA | `uint8` | 2 | CDMA | +| CELLULAR_NETWORK_RADIO_TYPE_WCDMA | `uint8` | 3 | WCDMA | +| CELLULAR_NETWORK_RADIO_TYPE_LTE | `uint8` | 4 | LTE | ## Source Message diff --git a/docs/uk/msg_docs/ConfigOverrides.md b/docs/uk/msg_docs/ConfigOverrides.md index 6af879b8d1..5a13d8e61d 100644 --- a/docs/uk/msg_docs/ConfigOverrides.md +++ b/docs/uk/msg_docs/ConfigOverrides.md @@ -22,12 +22,12 @@ Configurable overrides by (external) modes or mode executors. ## Constants -| Назва | Тип | Значення | Опис | -| ---------------------------------------------------------------------------------------------------------------------------------- | -------- | -------- | ---- | -| MESSAGE_VERSION | `uint32` | 1 | | -| SOURCE_TYPE_MODE | `int8` | 0 | | -| SOURCE_TYPE_MODE_EXECUTOR | `int8` | 1 | | -| ORB_QUEUE_LENGTH | `uint8` | 4 | | +| Назва | Тип | Значення | Опис | +| -------------------------------------------------------------------------------------------------------------------------------- | -------- | -------- | ---- | +| MESSAGE_VERSION | `uint32` | 1 | | +| SOURCE_TYPE_MODE | `int8` | 0 | | +| SOURCE_TYPE_MODE_EXECUTOR | `int8` | 1 | | +| ORB_QUEUE_LENGTH | `uint8` | 4 | | ## Source Message diff --git a/docs/uk/msg_docs/ConfigOverridesV0.md b/docs/uk/msg_docs/ConfigOverridesV0.md index 20358bc0eb..9274780467 100644 --- a/docs/uk/msg_docs/ConfigOverridesV0.md +++ b/docs/uk/msg_docs/ConfigOverridesV0.md @@ -21,12 +21,12 @@ Configurable overrides by (external) modes or mode executors. ## Constants -| Назва | Тип | Значення | Опис | -| ---------------------------------------------------------------------------------------------------------------------------------- | -------- | -------- | ---- | -| MESSAGE_VERSION | `uint32` | 0 | | -| SOURCE_TYPE_MODE | `int8` | 0 | | -| SOURCE_TYPE_MODE_EXECUTOR | `int8` | 1 | | -| ORB_QUEUE_LENGTH | `uint8` | 4 | | +| Назва | Тип | Значення | Опис | +| -------------------------------------------------------------------------------------------------------------------------------- | -------- | -------- | ---- | +| MESSAGE_VERSION | `uint32` | 0 | | +| SOURCE_TYPE_MODE | `int8` | 0 | | +| SOURCE_TYPE_MODE_EXECUTOR | `int8` | 1 | | +| ORB_QUEUE_LENGTH | `uint8` | 4 | | ## Source Message diff --git a/docs/uk/msg_docs/ControlAllocatorStatus.md b/docs/uk/msg_docs/ControlAllocatorStatus.md index c8fa45e6a0..44a068d26a 100644 --- a/docs/uk/msg_docs/ControlAllocatorStatus.md +++ b/docs/uk/msg_docs/ControlAllocatorStatus.md @@ -4,7 +4,7 @@ pageClass: is-wide-page # ControlAllocatorStatus (повідомлення UORB) -**TOPICS:** control_allocatorstatus +**TOPICS:** control_allocator_status ## Fields @@ -21,13 +21,13 @@ pageClass: is-wide-page ## Constants -| Назва | Тип | Значення | Опис | -| ------------------------------------------------------------------------------------------------------------------------------------------ | ------ | -------- | ----------------------------------------------------------------------------------------------------------------------------------------------------- | -| ACTUATOR_SATURATION_OK | `int8` | 0 | The actuator is not saturated | -| ACTUATOR_SATURATION_UPPER_DYN | `int8` | 1 | The actuator is saturated (with a value <= the desired value) because it cannot increase its value faster | -| ACTUATOR_SATURATION_UPPER | `int8` | 2 | The actuator is saturated (with a value <= the desired value) because it has reached its maximum value | -| ACTUATOR_SATURATION_LOWER_DYN | `int8` | -1 | The actuator is saturated (with a value >= the desired value) because it cannot decrease its value faster | -| ACTUATOR_SATURATION_LOWER | `int8` | -2 | The actuator is saturated (with a value >= the desired value) because it has reached its minimum value | +| Назва | Тип | Значення | Опис | +| ---------------------------------------------------------------------------------------------------------------------------------------- | ------ | -------- | ----------------------------------------------------------------------------------------------------------------------------------------------------- | +| ACTUATOR_SATURATION_OK | `int8` | 0 | The actuator is not saturated | +| ACTUATOR_SATURATION_UPPER_DYN | `int8` | 1 | The actuator is saturated (with a value <= the desired value) because it cannot increase its value faster | +| ACTUATOR_SATURATION_UPPER | `int8` | 2 | The actuator is saturated (with a value <= the desired value) because it has reached its maximum value | +| ACTUATOR_SATURATION_LOWER_DYN | `int8` | -1 | The actuator is saturated (with a value >= the desired value) because it cannot decrease its value faster | +| ACTUATOR_SATURATION_LOWER | `int8` | -2 | The actuator is saturated (with a value >= the desired value) because it has reached its minimum value | ## Source Message diff --git a/docs/uk/msg_docs/DatamanResponse.md b/docs/uk/msg_docs/DatamanResponse.md index f4d49f334c..3f983efae3 100644 --- a/docs/uk/msg_docs/DatamanResponse.md +++ b/docs/uk/msg_docs/DatamanResponse.md @@ -20,14 +20,14 @@ pageClass: is-wide-page ## Constants -| Назва | Тип | Значення | Опис | -| -------------------------------------------------------------------------------------------------------------------------------------- | ------- | -------- | ---- | -| STATUS_SUCCESS | `uint8` | 0 | | -| STATUS_FAILURE_ID_ERR | `uint8` | 1 | | -| STATUS_FAILURE_NO_DATA | `uint8` | 2 | | -| STATUS_FAILURE_READ_FAILED | `uint8` | 3 | | -| STATUS_FAILURE_WRITE_FAILED | `uint8` | 4 | | -| STATUS_FAILURE_CLEAR_FAILED | `uint8` | 5 | | +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------------------------------------------------------------------------ | ------- | -------- | ---- | +| STATUS_SUCCESS | `uint8` | 0 | | +| STATUS_FAILURE_ID_ERR | `uint8` | 1 | | +| STATUS_FAILURE_NO_DATA | `uint8` | 2 | | +| STATUS_FAILURE_READ_FAILED | `uint8` | 3 | | +| STATUS_FAILURE_WRITE_FAILED | `uint8` | 4 | | +| STATUS_FAILURE_CLEAR_FAILED | `uint8` | 5 | | ## Source Message diff --git a/docs/uk/msg_docs/DebugArray.md b/docs/uk/msg_docs/DebugArray.md index a2cd924b89..503136b10b 100644 --- a/docs/uk/msg_docs/DebugArray.md +++ b/docs/uk/msg_docs/DebugArray.md @@ -17,9 +17,9 @@ pageClass: is-wide-page ## Constants -| Назва | Тип | Значення | Опис | -| ---------------------------------------------------------- | ------- | -------- | ---- | -| ARRAY_SIZE | `uint8` | 58 | | +| Назва | Тип | Значення | Опис | +| -------------------------------------------------------- | ------- | -------- | ---- | +| ARRAY_SIZE | `uint8` | 58 | | ## Source Message diff --git a/docs/uk/msg_docs/DebugKeyValue.md b/docs/uk/msg_docs/DebugKeyValue.md index d99cfd3494..c79acead58 100644 --- a/docs/uk/msg_docs/DebugKeyValue.md +++ b/docs/uk/msg_docs/DebugKeyValue.md @@ -4,7 +4,7 @@ pageClass: is-wide-page # DebugKeyValue (повідомлення UORB) -**TOPICS:** debug_keyvalue +**TOPICS:** debug_key_value ## Fields diff --git a/docs/uk/msg_docs/DeviceInformation.md b/docs/uk/msg_docs/DeviceInformation.md index c3638f9196..8728432313 100644 --- a/docs/uk/msg_docs/DeviceInformation.md +++ b/docs/uk/msg_docs/DeviceInformation.md @@ -17,8 +17,7 @@ as well as tracking of the used firmware versions on the devices. | ------------------------------------- | ---------- | ---------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------- | | timestamp | `uint64` | | | time since system start (microseconds) | | device_type | `uint8` | | [DEVICE_TYPE](#DEVICE_TYPE) | Type of the device. Matches MAVLink DEVICE_TYPE enum | -| vendor_name | `char[32]` | | | Name of the device vendor | -| model_name | `char[32]` | | | Name of the device model | +| name | `char[80]` | | | Name of device e.g. DroneCAN node name | | `uint32` | | | Unique device ID for the sensor. Does not change between power cycles. (Invalid: 0 if not available) | | | firmware_version | `char[24]` | | | Firmware version. (Invalid: empty if not available) | | hardware_version | `char[24]` | | | Hardware version. (Invalid: empty if not available) | @@ -28,24 +27,24 @@ as well as tracking of the used firmware versions on the devices. ### DEVICE_TYPE {#DEVICE_TYPE} -| Назва | Тип | Значення | Опис | -| -------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | -------- | ---------------------- | -| DEVICE_TYPE_GENERIC | `uint8` | 0 | Generic/unknown sensor | -| DEVICE_TYPE_AIRSPEED | `uint8` | 1 | Датчик швидкості | -| DEVICE_TYPE_ESC | `uint8` | 2 | ESC | -| DEVICE_TYPE_SERVO | `uint8` | 3 | Servo | -| DEVICE_TYPE_GPS | `uint8` | 4 | GPS | -| DEVICE_TYPE_MAGNETOMETER | `uint8` | 5 | Магнітометр | -| DEVICE_TYPE_PARACHUTE | `uint8` | 6 | Парашут | -| DEVICE_TYPE_RANGEFINDER | `uint8` | 7 | Rangefinder | -| DEVICE_TYPE_WINCH | `uint8` | 8 | Winch | -| DEVICE_TYPE_BAROMETER | `uint8` | 9 | Барометр | -| DEVICE_TYPE_OPTICAL_FLOW | `uint8` | 10 | Optical flow | -| DEVICE_TYPE_ACCELEROMETER | `uint8` | 11 | Accelerometer | -| DEVICE_TYPE_GYROSCOPE | `uint8` | 12 | Gyroscope | -| DEVICE_TYPE_DIFFERENTIAL_PRESSURE | `uint8` | 13 | Differential pressure | -| DEVICE_TYPE_BATTERY | `uint8` | 14 | Battery | -| DEVICE_TYPE_HYGROMETER | `uint8` | 15 | Hygrometer | +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------------------------------------------------------------------------------------ | ------- | -------- | ---------------------- | +| DEVICE_TYPE_GENERIC | `uint8` | 0 | Generic/unknown sensor | +| DEVICE_TYPE_AIRSPEED | `uint8` | 1 | Датчик швидкості | +| DEVICE_TYPE_ESC | `uint8` | 2 | ESC | +| DEVICE_TYPE_SERVO | `uint8` | 3 | Servo | +| DEVICE_TYPE_GPS | `uint8` | 4 | GPS | +| DEVICE_TYPE_MAGNETOMETER | `uint8` | 5 | Магнітометр | +| DEVICE_TYPE_PARACHUTE | `uint8` | 6 | Парашут | +| DEVICE_TYPE_RANGEFINDER | `uint8` | 7 | Rangefinder | +| DEVICE_TYPE_WINCH | `uint8` | 8 | Winch | +| DEVICE_TYPE_BAROMETER | `uint8` | 9 | Барометр | +| DEVICE_TYPE_OPTICAL_FLOW | `uint8` | 10 | Optical flow | +| DEVICE_TYPE_ACCELEROMETER | `uint8` | 11 | Accelerometer | +| DEVICE_TYPE_GYROSCOPE | `uint8` | 12 | Gyroscope | +| DEVICE_TYPE_DIFFERENTIAL_PRESSURE | `uint8` | 13 | Differential pressure | +| DEVICE_TYPE_BATTERY | `uint8` | 14 | Battery | +| DEVICE_TYPE_HYGROMETER | `uint8` | 15 | Hygrometer | ## Source Message @@ -63,7 +62,6 @@ Click here to see original file uint64 timestamp # time since system start (microseconds) uint8 device_type # [@enum DEVICE_TYPE] Type of the device. Matches MAVLink DEVICE_TYPE enum - uint8 DEVICE_TYPE_GENERIC = 0 # Generic/unknown sensor uint8 DEVICE_TYPE_AIRSPEED = 1 # Airspeed sensor uint8 DEVICE_TYPE_ESC = 2 # ESC @@ -81,8 +79,7 @@ uint8 DEVICE_TYPE_DIFFERENTIAL_PRESSURE = 13 # Differential pressure uint8 DEVICE_TYPE_BATTERY = 14 # Battery uint8 DEVICE_TYPE_HYGROMETER = 15 # Hygrometer -char[32] vendor_name # Name of the device vendor -char[32] model_name # Name of the device model +char[80] name # Name of device e.g. DroneCAN node name uint32 device_id # [-] [@invalid 0 if not available] Unique device ID for the sensor. Does not change between power cycles. char[24] firmware_version # [-] [@invalid empty if not available] Firmware version. diff --git a/docs/uk/msg_docs/DistanceSensor.md b/docs/uk/msg_docs/DistanceSensor.md index d0e173a9bc..318b12ab99 100644 --- a/docs/uk/msg_docs/DistanceSensor.md +++ b/docs/uk/msg_docs/DistanceSensor.md @@ -28,30 +28,30 @@ DISTANCE_SENSOR message data. ## Constants -| Назва | Тип | Значення | Опис | -| -------------------------------------------------------------------------------------------------------------------------------------------- | ------- | -------- | ----------------------------------------------------------------------------------------------------------------- | -| MAV_DISTANCE_SENSOR_LASER | `uint8` | 0 | | -| MAV_DISTANCE_SENSOR_ULTRASOUND | `uint8` | 1 | | -| MAV_DISTANCE_SENSOR_INFRARED | `uint8` | 2 | | -| MAV_DISTANCE_SENSOR_RADAR | `uint8` | 3 | | -| ROTATION_YAW_0 | `uint8` | 0 | MAV_SENSOR_ROTATION_NONE | -| ROTATION_YAW_45 | `uint8` | 1 | MAV_SENSOR_ROTATION_YAW_45 | -| ROTATION_YAW_90 | `uint8` | 2 | MAV_SENSOR_ROTATION_YAW_90 | -| ROTATION_YAW_135 | `uint8` | 3 | MAV_SENSOR_ROTATION_YAW_135 | -| ROTATION_YAW_180 | `uint8` | 4 | MAV_SENSOR_ROTATION_YAW_180 | -| ROTATION_YAW_225 | `uint8` | 5 | MAV_SENSOR_ROTATION_YAW_225 | -| ROTATION_YAW_270 | `uint8` | 6 | MAV_SENSOR_ROTATION_YAW_270 | -| ROTATION_YAW_315 | `uint8` | 7 | MAV_SENSOR_ROTATION_YAW_315 | -| ROTATION_FORWARD_FACING | `uint8` | 0 | MAV_SENSOR_ROTATION_NONE | -| ROTATION_RIGHT_FACING | `uint8` | 2 | MAV_SENSOR_ROTATION_YAW_90 | -| ROTATION_BACKWARD_FACING | `uint8` | 4 | MAV_SENSOR_ROTATION_YAW_180 | -| ROTATION_LEFT_FACING | `uint8` | 6 | MAV_SENSOR_ROTATION_YAW_270 | -| ROTATION_UPWARD_FACING | `uint8` | 24 | MAV_SENSOR_ROTATION_PITCH_90 | -| ROTATION_DOWNWARD_FACING | `uint8` | 25 | MAV_SENSOR_ROTATION_PITCH_270 | -| ROTATION_CUSTOM | `uint8` | 100 | MAV_SENSOR_ROTATION_CUSTOM | -| MODE_UNKNOWN | `uint8` | 0 | | -| MODE_ENABLED | `uint8` | 1 | | -| MODE_DISABLED | `uint8` | 2 | | +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------------------------------------------------------------------------------ | ------- | -------- | ----------------------------------------------------------------------------------------------------------------- | +| MAV_DISTANCE_SENSOR_LASER | `uint8` | 0 | | +| MAV_DISTANCE_SENSOR_ULTRASOUND | `uint8` | 1 | | +| MAV_DISTANCE_SENSOR_INFRARED | `uint8` | 2 | | +| MAV_DISTANCE_SENSOR_RADAR | `uint8` | 3 | | +| ROTATION_YAW_0 | `uint8` | 0 | MAV_SENSOR_ROTATION_NONE | +| ROTATION_YAW_45 | `uint8` | 1 | MAV_SENSOR_ROTATION_YAW_45 | +| ROTATION_YAW_90 | `uint8` | 2 | MAV_SENSOR_ROTATION_YAW_90 | +| ROTATION_YAW_135 | `uint8` | 3 | MAV_SENSOR_ROTATION_YAW_135 | +| ROTATION_YAW_180 | `uint8` | 4 | MAV_SENSOR_ROTATION_YAW_180 | +| ROTATION_YAW_225 | `uint8` | 5 | MAV_SENSOR_ROTATION_YAW_225 | +| ROTATION_YAW_270 | `uint8` | 6 | MAV_SENSOR_ROTATION_YAW_270 | +| ROTATION_YAW_315 | `uint8` | 7 | MAV_SENSOR_ROTATION_YAW_315 | +| ROTATION_FORWARD_FACING | `uint8` | 0 | MAV_SENSOR_ROTATION_NONE | +| ROTATION_RIGHT_FACING | `uint8` | 2 | MAV_SENSOR_ROTATION_YAW_90 | +| ROTATION_BACKWARD_FACING | `uint8` | 4 | MAV_SENSOR_ROTATION_YAW_180 | +| ROTATION_LEFT_FACING | `uint8` | 6 | MAV_SENSOR_ROTATION_YAW_270 | +| ROTATION_UPWARD_FACING | `uint8` | 24 | MAV_SENSOR_ROTATION_PITCH_90 | +| ROTATION_DOWNWARD_FACING | `uint8` | 25 | MAV_SENSOR_ROTATION_PITCH_270 | +| ROTATION_CUSTOM | `uint8` | 100 | MAV_SENSOR_ROTATION_CUSTOM | +| MODE_UNKNOWN | `uint8` | 0 | | +| MODE_ENABLED | `uint8` | 1 | | +| MODE_DISABLED | `uint8` | 2 | | ## Source Message diff --git a/docs/uk/msg_docs/DistanceSensorModeChangeRequest.md b/docs/uk/msg_docs/DistanceSensorModeChangeRequest.md index a54d1d5f68..1ac9ba3b7a 100644 --- a/docs/uk/msg_docs/DistanceSensorModeChangeRequest.md +++ b/docs/uk/msg_docs/DistanceSensorModeChangeRequest.md @@ -4,7 +4,7 @@ pageClass: is-wide-page # DistanceSensorModeChangeRequest (UORB message) -**TOPICS:** distance_sensormode_changerequest +**TOPICS:** distance_sensor_mode_change_request ## Fields @@ -15,10 +15,10 @@ pageClass: is-wide-page ## Constants -| Назва | Тип | Значення | Опис | -| ------------------------------------------------------------ | ------- | -------- | ---- | -| REQUEST_OFF | `uint8` | 0 | | -| REQUEST_ON | `uint8` | 1 | | +| Назва | Тип | Значення | Опис | +| ---------------------------------------------------------- | ------- | -------- | ---- | +| REQUEST_OFF | `uint8` | 0 | | +| REQUEST_ON | `uint8` | 1 | | ## Source Message diff --git a/docs/uk/msg_docs/DronecanNodeStatus.md b/docs/uk/msg_docs/DronecanNodeStatus.md index 042c340f70..59ac90abd2 100644 --- a/docs/uk/msg_docs/DronecanNodeStatus.md +++ b/docs/uk/msg_docs/DronecanNodeStatus.md @@ -4,7 +4,7 @@ pageClass: is-wide-page # DronecanNodeStatus (UORB message) -**TOPICS:** dronecan_nodestatus +**TOPICS:** dronecan_node_status ## Fields @@ -20,17 +20,17 @@ pageClass: is-wide-page ## Constants -| Назва | Тип | Значення | Опис | -| --------------------------------------------------------------------------------------------------- | ------- | -------- | ----------------------------------------------------------------------------------------------- | -| HEALTH_OK | `uint8` | 0 | The node is functioning properly. | -| HEALTH_WARNING | `uint8` | 1 | A critical parameter went out of range or the node encountered a minor failure. | -| HEALTH_ERROR | `uint8` | 2 | The node encountered a major failure. | -| HEALTH_CRITICAL | `uint8` | 3 | The node suffered a fatal malfunction. | -| MODE_OPERATIONAL | `uint8` | 0 | Normal operating mode. | -| MODE_INITIALIZATION | `uint8` | 1 | Initialization is in progress; this mode is entered immediately after startup. | -| MODE_MAINTENANCE | `uint8` | 2 | Наприклад, calibration, the bootloader is running, etc. | -| MODE_SOFTWARE_UPDATE | `uint8` | 3 | New software/firmware is being loaded. | -| MODE_OFFLINE | `uint8` | 7 | The node is no longer available. | +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------------------------------------- | ------- | -------- | ----------------------------------------------------------------------------------------------- | +| HEALTH_OK | `uint8` | 0 | The node is functioning properly. | +| HEALTH_WARNING | `uint8` | 1 | A critical parameter went out of range or the node encountered a minor failure. | +| HEALTH_ERROR | `uint8` | 2 | The node encountered a major failure. | +| HEALTH_CRITICAL | `uint8` | 3 | The node suffered a fatal malfunction. | +| MODE_OPERATIONAL | `uint8` | 0 | Normal operating mode. | +| MODE_INITIALIZATION | `uint8` | 1 | Initialization is in progress; this mode is entered immediately after startup. | +| MODE_MAINTENANCE | `uint8` | 2 | Наприклад, calibration, the bootloader is running, etc. | +| MODE_SOFTWARE_UPDATE | `uint8` | 3 | New software/firmware is being loaded. | +| MODE_OFFLINE | `uint8` | 7 | The node is no longer available. | ## Source Message diff --git a/docs/uk/msg_docs/Ekf2Timestamps.md b/docs/uk/msg_docs/Ekf2Timestamps.md index bc85f54628..2002941ad2 100644 --- a/docs/uk/msg_docs/Ekf2Timestamps.md +++ b/docs/uk/msg_docs/Ekf2Timestamps.md @@ -23,9 +23,9 @@ pageClass: is-wide-page ## Constants -| Назва | Тип | Значення | Опис | -| --------------------------------------------------------------------------------------------------------------- | ------- | -------- | ------------------------------------------------------------- | -| RELATIVE_TIMESTAMP_INVALID | `int16` | 32767 | (0x7fff) If one of the relative timestamps | +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------------------------------------------------- | ------- | -------- | ------------------------------------------------------------- | +| RELATIVE_TIMESTAMP_INVALID | `int16` | 32767 | (0x7fff) If one of the relative timestamps | ## Source Message diff --git a/docs/uk/msg_docs/EscReport.md b/docs/uk/msg_docs/EscReport.md index 89f7de7fdf..abcf887ee1 100644 --- a/docs/uk/msg_docs/EscReport.md +++ b/docs/uk/msg_docs/EscReport.md @@ -16,6 +16,7 @@ pageClass: is-wide-page | esc_voltage | `float32` | | | Voltage measured from current ESC [V] - if supported | | esc_current | `float32` | | | Current measured from current ESC [A] - if supported | | esc_temperature | `float32` | | | Temperature measured from current ESC [degC] - if supported | +| motor_temperature | `int16` | | | Temperature measured from current motor [degC] - if supported | | esc_address | `uint8` | | | Address of current ESC (in most cases 1-8 / must be set by driver) | | esc_cmdcount | `uint8` | | | Counter of number of commands | | esc_state | `uint8` | | | State of ESC - depend on Vendor | @@ -25,31 +26,31 @@ pageClass: is-wide-page ## Constants -| Назва | Тип | Значення | Опис | -| -------------------------------------------------------------------------------------------------------------------------------------------- | ------- | -------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | -| ACTUATOR_FUNCTION_MOTOR1 | `uint8` | 101 | | -| ACTUATOR_FUNCTION_MOTOR2 | `uint8` | 102 | | -| ACTUATOR_FUNCTION_MOTOR3 | `uint8` | 103 | | -| ACTUATOR_FUNCTION_MOTOR4 | `uint8` | 104 | | -| ACTUATOR_FUNCTION_MOTOR5 | `uint8` | 105 | | -| ACTUATOR_FUNCTION_MOTOR6 | `uint8` | 106 | | -| ACTUATOR_FUNCTION_MOTOR7 | `uint8` | 107 | | -| ACTUATOR_FUNCTION_MOTOR8 | `uint8` | 108 | | -| ACTUATOR_FUNCTION_MOTOR9 | `uint8` | 109 | | -| ACTUATOR_FUNCTION_MOTOR10 | `uint8` | 110 | | -| ACTUATOR_FUNCTION_MOTOR11 | `uint8` | 111 | | -| ACTUATOR_FUNCTION_MOTOR12 | `uint8` | 112 | | -| FAILURE_OVER_CURRENT | `uint8` | 0 | (1 << 0) | -| FAILURE_OVER_VOLTAGE | `uint8` | 1 | (1 << 1) | -| FAILURE_MOTOR_OVER_TEMPERATURE | `uint8` | 2 | (1 << 2) | -| FAILURE_OVER_RPM | `uint8` | 3 | (1 << 3) | -| FAILURE_INCONSISTENT_CMD | `uint8` | 4 | (1 << 4) Set if ESC received an inconsistent command (i.e out of boundaries) | -| FAILURE_MOTOR_STUCK | `uint8` | 5 | (1 << 5) | -| FAILURE_GENERIC | `uint8` | 6 | (1 << 6) | -| FAILURE_MOTOR_WARN_TEMPERATURE | `uint8` | 7 | (1 << 7) | -| FAILURE_WARN_ESC_TEMPERATURE | `uint8` | 8 | (1 << 8) | -| FAILURE_OVER_ESC_TEMPERATURE | `uint8` | 9 | (1 << 9) | -| ESC_FAILURE_COUNT | `uint8` | 10 | Counter - keep it as last element! | +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------------------------------------------------------------------------------ | ------- | -------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | +| ACTUATOR_FUNCTION_MOTOR1 | `uint8` | 101 | | +| ACTUATOR_FUNCTION_MOTOR2 | `uint8` | 102 | | +| ACTUATOR_FUNCTION_MOTOR3 | `uint8` | 103 | | +| ACTUATOR_FUNCTION_MOTOR4 | `uint8` | 104 | | +| ACTUATOR_FUNCTION_MOTOR5 | `uint8` | 105 | | +| ACTUATOR_FUNCTION_MOTOR6 | `uint8` | 106 | | +| ACTUATOR_FUNCTION_MOTOR7 | `uint8` | 107 | | +| ACTUATOR_FUNCTION_MOTOR8 | `uint8` | 108 | | +| ACTUATOR_FUNCTION_MOTOR9 | `uint8` | 109 | | +| ACTUATOR_FUNCTION_MOTOR10 | `uint8` | 110 | | +| ACTUATOR_FUNCTION_MOTOR11 | `uint8` | 111 | | +| ACTUATOR_FUNCTION_MOTOR12 | `uint8` | 112 | | +| FAILURE_OVER_CURRENT | `uint8` | 0 | (1 << 0) | +| FAILURE_OVER_VOLTAGE | `uint8` | 1 | (1 << 1) | +| FAILURE_MOTOR_OVER_TEMPERATURE | `uint8` | 2 | (1 << 2) | +| FAILURE_OVER_RPM | `uint8` | 3 | (1 << 3) | +| FAILURE_INCONSISTENT_CMD | `uint8` | 4 | (1 << 4) Set if ESC received an inconsistent command (i.e out of boundaries) | +| FAILURE_MOTOR_STUCK | `uint8` | 5 | (1 << 5) | +| FAILURE_GENERIC | `uint8` | 6 | (1 << 6) | +| FAILURE_MOTOR_WARN_TEMPERATURE | `uint8` | 7 | (1 << 7) | +| FAILURE_WARN_ESC_TEMPERATURE | `uint8` | 8 | (1 << 8) | +| FAILURE_OVER_ESC_TEMPERATURE | `uint8` | 9 | (1 << 9) | +| ESC_FAILURE_COUNT | `uint8` | 10 | Counter - keep it as last element! | ## Source Message @@ -65,6 +66,7 @@ int32 esc_rpm # Motor RPM, negative for reverse rotation [RPM] - if support float32 esc_voltage # Voltage measured from current ESC [V] - if supported float32 esc_current # Current measured from current ESC [A] - if supported float32 esc_temperature # Temperature measured from current ESC [degC] - if supported +int16 motor_temperature # Temperature measured from current motor [degC] - if supported uint8 esc_address # Address of current ESC (in most cases 1-8 / must be set by driver) uint8 esc_cmdcount # Counter of number of commands diff --git a/docs/uk/msg_docs/EscStatus.md b/docs/uk/msg_docs/EscStatus.md index 96f426faef..0c4acef115 100644 --- a/docs/uk/msg_docs/EscStatus.md +++ b/docs/uk/msg_docs/EscStatus.md @@ -20,15 +20,15 @@ pageClass: is-wide-page ## Constants -| Назва | Тип | Значення | Опис | -| -------------------------------------------------------------------------------------------------------------------------------------- | ------- | -------- | ---------------------------------------------------------------------------------------------------- | -| CONNECTED_ESC_MAX | `uint8` | 8 | The number of ESCs supported. Current (Q2/2013) we support 8 ESCs | -| ESC_CONNECTION_TYPE_PPM | `uint8` | 0 | Traditional PPM ESC | -| ESC_CONNECTION_TYPE_SERIAL | `uint8` | 1 | Serial Bus connected ESC | -| ESC_CONNECTION_TYPE_ONESHOT | `uint8` | 2 | One Shot PPM | -| ESC_CONNECTION_TYPE_I2C | `uint8` | 3 | I2C | -| ESC_CONNECTION_TYPE_CAN | `uint8` | 4 | CAN-Bus | -| ESC_CONNECTION_TYPE_DSHOT | `uint8` | 5 | DShot | +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------------------------------------------------------------------------ | ------- | -------- | ---------------------------------------------------------------------------------------------------- | +| CONNECTED_ESC_MAX | `uint8` | 8 | The number of ESCs supported. Current (Q2/2013) we support 8 ESCs | +| ESC_CONNECTION_TYPE_PPM | `uint8` | 0 | Traditional PPM ESC | +| ESC_CONNECTION_TYPE_SERIAL | `uint8` | 1 | Serial Bus connected ESC | +| ESC_CONNECTION_TYPE_ONESHOT | `uint8` | 2 | One Shot PPM | +| ESC_CONNECTION_TYPE_I2C | `uint8` | 3 | I2C | +| ESC_CONNECTION_TYPE_CAN | `uint8` | 4 | CAN-Bus | +| ESC_CONNECTION_TYPE_DSHOT | `uint8` | 5 | DShot | ## Source Message diff --git a/docs/uk/msg_docs/EstimatorEventFlags.md b/docs/uk/msg_docs/EstimatorEventFlags.md index 1f2669d4ff..889265b204 100644 --- a/docs/uk/msg_docs/EstimatorEventFlags.md +++ b/docs/uk/msg_docs/EstimatorEventFlags.md @@ -4,7 +4,7 @@ pageClass: is-wide-page # EstimatorEventFlags (повідомлення UORB) -**TOPICS:** estimator_eventflags +**TOPICS:** estimator_event_flags ## Fields diff --git a/docs/uk/msg_docs/EstimatorGpsStatus.md b/docs/uk/msg_docs/EstimatorGpsStatus.md index 8a9ae0e57f..b68473fbcd 100644 --- a/docs/uk/msg_docs/EstimatorGpsStatus.md +++ b/docs/uk/msg_docs/EstimatorGpsStatus.md @@ -4,7 +4,7 @@ pageClass: is-wide-page # EstimatorGpsStatus (повідомлення UORB) -**TOPICS:** estimator_gpsstatus +**TOPICS:** estimator_gps_status ## Fields diff --git a/docs/uk/msg_docs/EstimatorSelectorStatus.md b/docs/uk/msg_docs/EstimatorSelectorStatus.md index 0fb11005fd..050615149d 100644 --- a/docs/uk/msg_docs/EstimatorSelectorStatus.md +++ b/docs/uk/msg_docs/EstimatorSelectorStatus.md @@ -4,7 +4,7 @@ pageClass: is-wide-page # EstimatorSelectorStatus (повідомлення UORB) -**TOPICS:** estimator_selectorstatus +**TOPICS:** estimator_selector_status ## Fields diff --git a/docs/uk/msg_docs/EstimatorSensorBias.md b/docs/uk/msg_docs/EstimatorSensorBias.md index d881564e12..13816d7086 100644 --- a/docs/uk/msg_docs/EstimatorSensorBias.md +++ b/docs/uk/msg_docs/EstimatorSensorBias.md @@ -6,7 +6,7 @@ pageClass: is-wide-page Показання датчиків та похибки в процесі роботи в одиницях СІ. Sensor readings are compensated for static offsets,. scale errors, in-run bias and thermal drift (if thermal compensation is enabled and available). -**TOPICS:** estimator_sensorbias +**TOPICS:** estimator_sensor_bias ## Fields diff --git a/docs/uk/msg_docs/EstimatorStatus.md b/docs/uk/msg_docs/EstimatorStatus.md index 64c57e7f53..22058756d9 100644 --- a/docs/uk/msg_docs/EstimatorStatus.md +++ b/docs/uk/msg_docs/EstimatorStatus.md @@ -51,52 +51,52 @@ pageClass: is-wide-page ## Constants -| Назва | Тип | Значення | Опис | -| ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | -------- | ------------------------------------------------------------------------------------------------- | -| GPS_CHECK_FAIL_GPS_FIX | `uint8` | 0 | 0 : insufficient fix type (no 3D solution) | -| GPS_CHECK_FAIL_MIN_SAT_COUNT | `uint8` | 1 | 1 : minimum required sat count fail | -| GPS_CHECK_FAIL_MAX_PDOP | `uint8` | 2 | 2 : maximum allowed PDOP fail | -| GPS_CHECK_FAIL_MAX_HORZ_ERR | `uint8` | 3 | 3 : maximum allowed horizontal position error fail | -| GPS_CHECK_FAIL_MAX_VERT_ERR | `uint8` | 4 | 4 : maximum allowed vertical position error fail | -| GPS_CHECK_FAIL_MAX_SPD_ERR | `uint8` | 5 | 5 : maximum allowed speed error fail | -| GPS_CHECK_FAIL_MAX_HORZ_DRIFT | `uint8` | 6 | 6 : maximum allowed horizontal position drift fail - requires stationary vehicle | -| GPS_CHECK_FAIL_MAX_VERT_DRIFT | `uint8` | 7 | 7 : maximum allowed vertical position drift fail - requires stationary vehicle | -| GPS_CHECK_FAIL_MAX_HORZ_SPD_ERR | `uint8` | 8 | 8 : maximum allowed horizontal speed fail - requires stationary vehicle | -| GPS_CHECK_FAIL_MAX_VERT_SPD_ERR | `uint8` | 9 | 9 : maximum allowed vertical velocity discrepancy fail | -| GPS_CHECK_FAIL_SPOOFED | `uint8` | 10 | 10 : GPS signal is spoofed | -| GPS_CHECK_FAIL_JAMMED | `uint8` | 11 | 11 : GPS signal is jammed | -| CS_TILT_ALIGN | `uint8` | 0 | 0 - true if the filter tilt alignment is complete | -| CS_YAW_ALIGN | `uint8` | 1 | 1 - true if the filter yaw alignment is complete | -| CS_GNSS_POS | `uint8` | 2 | 2 - true if GNSS position measurements are being fused | -| CS_OPT_FLOW | `uint8` | 3 | 3 - true if optical flow measurements are being fused | -| CS_MAG_HDG | `uint8` | 4 | 4 - true if a simple magnetic yaw heading is being fused | -| CS_MAG_3D | `uint8` | 5 | 5 - true if 3-axis magnetometer measurement are being fused | -| CS_MAG_DEC | `uint8` | 6 | 6 - true if synthetic magnetic declination measurements are being fused | -| CS_IN_AIR | `uint8` | 7 | 7 - true when thought to be airborne | -| CS_WIND | `uint8` | 8 | 8 - true when wind velocity is being estimated | -| CS_BARO_HGT | `uint8` | 9 | 9 - true when baro data is being fused | -| CS_RNG_HGT | `uint8` | 10 | 10 - true when range finder data is being fused for height aiding | -| CS_GPS_HGT | `uint8` | 11 | 11 - true when GPS altitude is being fused | -| CS_EV_POS | `uint8` | 12 | 12 - true when local position data from external vision is being fused | -| CS_EV_YAW | `uint8` | 13 | 13 - true when yaw data from external vision measurements is being fused | -| CS_EV_HGT | `uint8` | 14 | 14 - true when height data from external vision measurements is being fused | -| CS_BETA | `uint8` | 15 | 15 - true when synthetic sideslip measurements are being fused | -| CS_MAG_FIELD | `uint8` | 16 | 16 - true when only the magnetic field states are updated by the magnetometer | -| CS_FIXED_WING | `uint8` | 17 | 17 - true when thought to be operating as a fixed wing vehicle with constrained sideslip | -| CS_MAG_FAULT | `uint8` | 18 | 18 - true when the magnetometer has been declared faulty and is no longer being used | -| CS_ASPD | `uint8` | 19 | 19 - true when airspeed measurements are being fused | -| CS_GND_EFFECT | `uint8` | 20 | 20 - true when when protection from ground effect induced static pressure rise is active | -| CS_RNG_STUCK | `uint8` | 21 | 21 - true when a stuck range finder sensor has been detected | -| CS_GPS_YAW | `uint8` | 22 | 22 - true when yaw (not ground course) data from a GPS receiver is being fused | -| CS_MAG_ALIGNED | `uint8` | 23 | 23 - true when the in-flight mag field alignment has been completed | -| CS_EV_VEL | `uint8` | 24 | 24 - true when local frame velocity data fusion from external vision measurements is intended | -| CS_SYNTHETIC_MAG_Z | `uint8` | 25 | 25 - true when we are using a synthesized measurement for the magnetometer Z component | -| CS_VEHICLE_AT_REST | `uint8` | 26 | 26 - true when the vehicle is at rest | -| CS_GPS_YAW_FAULT | `uint8` | 27 | 27 - true when the GNSS heading has been declared faulty and is no longer being used | -| CS_RNG_FAULT | `uint8` | 28 | 28 - true when the range finder has been declared faulty and is no longer being used | -| CS_GNSS_VEL | `uint8` | 44 | 44 - true if GNSS velocity measurement fusion is intended | -| CS_GNSS_FAULT | `uint8` | 45 | 45 - true if GNSS measurements have been declared faulty and are no longer used | -| CS_YAW_MANUAL | `uint8` | 46 | 46 - true if yaw has been set manually | +| Назва | Тип | Значення | Опис | +| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | -------- | ------------------------------------------------------------------------------------------------- | +| GPS_CHECK_FAIL_GPS_FIX | `uint8` | 0 | 0 : insufficient fix type (no 3D solution) | +| GPS_CHECK_FAIL_MIN_SAT_COUNT | `uint8` | 1 | 1 : minimum required sat count fail | +| GPS_CHECK_FAIL_MAX_PDOP | `uint8` | 2 | 2 : maximum allowed PDOP fail | +| GPS_CHECK_FAIL_MAX_HORZ_ERR | `uint8` | 3 | 3 : maximum allowed horizontal position error fail | +| GPS_CHECK_FAIL_MAX_VERT_ERR | `uint8` | 4 | 4 : maximum allowed vertical position error fail | +| GPS_CHECK_FAIL_MAX_SPD_ERR | `uint8` | 5 | 5 : maximum allowed speed error fail | +| GPS_CHECK_FAIL_MAX_HORZ_DRIFT | `uint8` | 6 | 6 : maximum allowed horizontal position drift fail - requires stationary vehicle | +| GPS_CHECK_FAIL_MAX_VERT_DRIFT | `uint8` | 7 | 7 : maximum allowed vertical position drift fail - requires stationary vehicle | +| GPS_CHECK_FAIL_MAX_HORZ_SPD_ERR | `uint8` | 8 | 8 : maximum allowed horizontal speed fail - requires stationary vehicle | +| GPS_CHECK_FAIL_MAX_VERT_SPD_ERR | `uint8` | 9 | 9 : maximum allowed vertical velocity discrepancy fail | +| GPS_CHECK_FAIL_SPOOFED | `uint8` | 10 | 10 : GPS signal is spoofed | +| GPS_CHECK_FAIL_JAMMED | `uint8` | 11 | 11 : GPS signal is jammed | +| CS_TILT_ALIGN | `uint8` | 0 | 0 - true if the filter tilt alignment is complete | +| CS_YAW_ALIGN | `uint8` | 1 | 1 - true if the filter yaw alignment is complete | +| CS_GNSS_POS | `uint8` | 2 | 2 - true if GNSS position measurements are being fused | +| CS_OPT_FLOW | `uint8` | 3 | 3 - true if optical flow measurements are being fused | +| CS_MAG_HDG | `uint8` | 4 | 4 - true if a simple magnetic yaw heading is being fused | +| CS_MAG_3D | `uint8` | 5 | 5 - true if 3-axis magnetometer measurement are being fused | +| CS_MAG_DEC | `uint8` | 6 | 6 - true if synthetic magnetic declination measurements are being fused | +| CS_IN_AIR | `uint8` | 7 | 7 - true when thought to be airborne | +| CS_WIND | `uint8` | 8 | 8 - true when wind velocity is being estimated | +| CS_BARO_HGT | `uint8` | 9 | 9 - true when baro data is being fused | +| CS_RNG_HGT | `uint8` | 10 | 10 - true when range finder data is being fused for height aiding | +| CS_GPS_HGT | `uint8` | 11 | 11 - true when GPS altitude is being fused | +| CS_EV_POS | `uint8` | 12 | 12 - true when local position data from external vision is being fused | +| CS_EV_YAW | `uint8` | 13 | 13 - true when yaw data from external vision measurements is being fused | +| CS_EV_HGT | `uint8` | 14 | 14 - true when height data from external vision measurements is being fused | +| CS_BETA | `uint8` | 15 | 15 - true when synthetic sideslip measurements are being fused | +| CS_MAG_FIELD | `uint8` | 16 | 16 - true when only the magnetic field states are updated by the magnetometer | +| CS_FIXED_WING | `uint8` | 17 | 17 - true when thought to be operating as a fixed wing vehicle with constrained sideslip | +| CS_MAG_FAULT | `uint8` | 18 | 18 - true when the magnetometer has been declared faulty and is no longer being used | +| CS_ASPD | `uint8` | 19 | 19 - true when airspeed measurements are being fused | +| CS_GND_EFFECT | `uint8` | 20 | 20 - true when when protection from ground effect induced static pressure rise is active | +| CS_RNG_STUCK | `uint8` | 21 | 21 - true when a stuck range finder sensor has been detected | +| CS_GPS_YAW | `uint8` | 22 | 22 - true when yaw (not ground course) data from a GPS receiver is being fused | +| CS_MAG_ALIGNED | `uint8` | 23 | 23 - true when the in-flight mag field alignment has been completed | +| CS_EV_VEL | `uint8` | 24 | 24 - true when local frame velocity data fusion from external vision measurements is intended | +| CS_SYNTHETIC_MAG_Z | `uint8` | 25 | 25 - true when we are using a synthesized measurement for the magnetometer Z component | +| CS_VEHICLE_AT_REST | `uint8` | 26 | 26 - true when the vehicle is at rest | +| CS_GPS_YAW_FAULT | `uint8` | 27 | 27 - true when the GNSS heading has been declared faulty and is no longer being used | +| CS_RNG_FAULT | `uint8` | 28 | 28 - true when the range finder has been declared faulty and is no longer being used | +| CS_GNSS_VEL | `uint8` | 44 | 44 - true if GNSS velocity measurement fusion is intended | +| CS_GNSS_FAULT | `uint8` | 45 | 45 - true if GNSS measurements have been declared faulty and are no longer used | +| CS_YAW_MANUAL | `uint8` | 46 | 46 - true if yaw has been set manually | ## Source Message diff --git a/docs/uk/msg_docs/EstimatorStatusFlags.md b/docs/uk/msg_docs/EstimatorStatusFlags.md index 29d6a2cd0e..8e840460b8 100644 --- a/docs/uk/msg_docs/EstimatorStatusFlags.md +++ b/docs/uk/msg_docs/EstimatorStatusFlags.md @@ -4,7 +4,7 @@ pageClass: is-wide-page # EstimatorStatusFlags (повідомлення UORB) -**TOPICS:** estimator_statusflags +**TOPICS:** estimator_status_flags ## Fields diff --git a/docs/uk/msg_docs/Event.md b/docs/uk/msg_docs/Event.md index 5be6cbba4a..137d27ec40 100644 --- a/docs/uk/msg_docs/Event.md +++ b/docs/uk/msg_docs/Event.md @@ -20,10 +20,10 @@ Events interface. ## Constants -| Назва | Тип | Значення | Опис | -| ------------------------------------------------------------------------------------------- | -------- | -------- | ---- | -| MESSAGE_VERSION | `uint32` | 1 | | -| ORB_QUEUE_LENGTH | `uint8` | 16 | | +| Назва | Тип | Значення | Опис | +| ----------------------------------------------------------------------------------------- | -------- | -------- | ---- | +| MESSAGE_VERSION | `uint32` | 1 | | +| ORB_QUEUE_LENGTH | `uint8` | 16 | | ## Source Message diff --git a/docs/uk/msg_docs/EventV0.md b/docs/uk/msg_docs/EventV0.md index 4bf5f84e9c..430ed5404d 100644 --- a/docs/uk/msg_docs/EventV0.md +++ b/docs/uk/msg_docs/EventV0.md @@ -6,7 +6,7 @@ pageClass: is-wide-page this message is required here in the msg_old folder because other msg are depending on it. Events interface. -**TOPICS:** eventv0 +**TOPICS:** event_v0 ## Fields @@ -20,10 +20,10 @@ this message is required here in the msg_old folder because other msg are depend ## Constants -| Назва | Тип | Значення | Опис | -| ------------------------------------------------------------------------------------------- | -------- | -------- | ---- | -| MESSAGE_VERSION | `uint32` | 0 | | -| ORB_QUEUE_LENGTH | `uint8` | 16 | | +| Назва | Тип | Значення | Опис | +| ----------------------------------------------------------------------------------------- | -------- | -------- | ---- | +| MESSAGE_VERSION | `uint32` | 0 | | +| ORB_QUEUE_LENGTH | `uint8` | 16 | | ## Source Message diff --git a/docs/uk/msg_docs/FailsafeFlags.md b/docs/uk/msg_docs/FailsafeFlags.md index de1c3eb243..dce677b39a 100644 --- a/docs/uk/msg_docs/FailsafeFlags.md +++ b/docs/uk/msg_docs/FailsafeFlags.md @@ -46,6 +46,10 @@ The flag comments are used as label for the failsafe state machine simulation | battery_warning | `uint8` | | | Battery warning level (see BatteryStatus.msg) | | battery_low_remaining_time | `bool` | | | Low battery based on remaining flight time | | battery_unhealthy | `bool` | | | Battery unhealthy | +| fd_critical_failure | `bool` | | | Critical failure (attitude/altitude limit exceeded, or external ATS) | +| fd_esc_arming_failure | `bool` | | | ESC failed to arm | +| fd_imbalanced_prop | `bool` | | | Imbalanced propeller detected | +| fd_motor_failure | `bool` | | | Motor failure | | geofence_breached | `bool` | | | Geofence breached (one or multiple) | | mission_failure | `bool` | | | Mission failure | | vtol_fixed_wing_system_failure | `bool` | | | vehicle in fixed-wing system failure failsafe mode (after quad-chute) | @@ -53,10 +57,7 @@ The flag comments are used as label for the failsafe state machine simulation | flight_time_limit_exceeded | `bool` | | | Maximum flight time exceeded | | position_accuracy_low | `bool` | | | Position estimate has dropped below threshold, but is currently still declared valid | | navigator_failure | `bool` | | | Navigator failed to execute a mode | -| fd_critical_failure | `bool` | | | Critical failure (attitude/altitude limit exceeded, or external ATS) | -| fd_esc_arming_failure | `bool` | | | ESC failed to arm | -| fd_imbalanced_prop | `bool` | | | Imbalanced propeller detected | -| fd_motor_failure | `bool` | | | Motor failure | +| parachute_unhealthy | `bool` | | | Parachute system missing or unhealthy | ## Source Message @@ -112,6 +113,12 @@ uint8 battery_warning # Battery warning level (see BatteryStatus bool battery_low_remaining_time # Low battery based on remaining flight time bool battery_unhealthy # Battery unhealthy +# Failure detector +bool fd_critical_failure # Critical failure (attitude/altitude limit exceeded, or external ATS) +bool fd_esc_arming_failure # ESC failed to arm +bool fd_imbalanced_prop # Imbalanced propeller detected +bool fd_motor_failure # Motor failure + # Other bool geofence_breached # Geofence breached (one or multiple) bool mission_failure # Mission failure @@ -120,12 +127,7 @@ bool wind_limit_exceeded # Wind limit exceeded bool flight_time_limit_exceeded # Maximum flight time exceeded bool position_accuracy_low # Position estimate has dropped below threshold, but is currently still declared valid bool navigator_failure # Navigator failed to execute a mode - -# Failure detector -bool fd_critical_failure # Critical failure (attitude/altitude limit exceeded, or external ATS) -bool fd_esc_arming_failure # ESC failed to arm -bool fd_imbalanced_prop # Imbalanced propeller detected -bool fd_motor_failure # Motor failure +bool parachute_unhealthy # Parachute system missing or unhealthy ``` ::: diff --git a/docs/uk/msg_docs/FailureDetectorStatus.md b/docs/uk/msg_docs/FailureDetectorStatus.md index 176312bd59..eea24c48fa 100644 --- a/docs/uk/msg_docs/FailureDetectorStatus.md +++ b/docs/uk/msg_docs/FailureDetectorStatus.md @@ -4,7 +4,7 @@ pageClass: is-wide-page # FailureDetectorStatus (повідомлення UORB) -**TOPICS:** failure_detectorstatus +**TOPICS:** failure_detector_status ## Fields diff --git a/docs/uk/msg_docs/FigureEightStatus.md b/docs/uk/msg_docs/FigureEightStatus.md index 9ac9b200f7..421dafaea8 100644 --- a/docs/uk/msg_docs/FigureEightStatus.md +++ b/docs/uk/msg_docs/FigureEightStatus.md @@ -4,7 +4,7 @@ pageClass: is-wide-page # FigureEightStatus (повідомлення UORB) -**TOPICS:** figure_eightstatus +**TOPICS:** figure_eight_status ## Fields diff --git a/docs/uk/msg_docs/FixedWingLateralGuidanceStatus.md b/docs/uk/msg_docs/FixedWingLateralGuidanceStatus.md index 1cef22460f..816eada352 100644 --- a/docs/uk/msg_docs/FixedWingLateralGuidanceStatus.md +++ b/docs/uk/msg_docs/FixedWingLateralGuidanceStatus.md @@ -6,7 +6,7 @@ pageClass: is-wide-page Fixed Wing Lateral Guidance Status message. Published by fw_pos_control module to report the resultant lateral setpoints and NPFG debug outputs. -**TOPICS:** fixed_winglateral_guidancestatus +**TOPICS:** fixed_wing_lateral_guidance_status ## Fields diff --git a/docs/uk/msg_docs/FixedWingLateralSetpoint.md b/docs/uk/msg_docs/FixedWingLateralSetpoint.md index b4c3f069dd..150025c21f 100644 --- a/docs/uk/msg_docs/FixedWingLateralSetpoint.md +++ b/docs/uk/msg_docs/FixedWingLateralSetpoint.md @@ -4,24 +4,27 @@ pageClass: is-wide-page # FixedWingLateralSetpoint (UORB message) -Fixed Wing Lateral Setpoint message. Used by the fw_lateral_longitudinal_control module. At least one of course, airspeed_direction, or lateral_acceleration must be finite. +Fixed Wing Lateral Setpoint message. -**TOPICS:** fixed_winglateral_setpoint +Used by the fw_lateral_longitudinal_control module +At least one of course, airspeed_direction, or lateral_acceleration must be finite. + +**TOPICS:** fixed_wing_lateral_setpoint ## Fields | Назва | Тип | Unit [Frame] | Range/Enum | Опис | | ----------------------------------------- | --------- | ---------------------------------------------------------------- | ------------------------------------------------------------------------------ | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | -| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp | `uint64` | us | | Time since system start | | course | `float32` | rad | [-pi : pi] | Desired direction of travel over ground w.r.t (true) North. NAN if not controlled directly. | | airspeed_direction | `float32` | rad | [-pi : pi] | Desired horizontal angle of airspeed vector w.r.t. (true) North. Same as vehicle heading if in the absence of sideslip. NAN if not controlled directly, takes precedence over course if finite. | -| lateral_acceleration | `float32` | FRD | | Lateral acceleration setpoint. NAN if not controlled directly, used as feedforward if either course setpoint or airspeed_direction is finite. | +| lateral_acceleration | `float32` | m/s^2 [FRD] | | Lateral acceleration setpoint. NAN if not controlled directly, used as feedforward if either course setpoint or airspeed_direction is finite. | ## Constants -| Назва | Тип | Значення | Опис | -| -------------------------------------------------------------------- | -------- | -------- | ---- | -| MESSAGE_VERSION | `uint32` | 0 | | +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------ | -------- | -------- | ---- | +| MESSAGE_VERSION | `uint32` | 0 | | ## Source Message @@ -32,16 +35,17 @@ Click here to see original file ```c # Fixed Wing Lateral Setpoint message +# # Used by the fw_lateral_longitudinal_control module # At least one of course, airspeed_direction, or lateral_acceleration must be finite. uint32 MESSAGE_VERSION = 0 -uint64 timestamp # time since system start (microseconds) +uint64 timestamp # [us] Time since system start -float32 course # [rad] [@range -pi, pi] Desired direction of travel over ground w.r.t (true) North. NAN if not controlled directly. -float32 airspeed_direction # [rad] [@range -pi, pi] Desired horizontal angle of airspeed vector w.r.t. (true) North. Same as vehicle heading if in the absence of sideslip. NAN if not controlled directly, takes precedence over course if finite. -float32 lateral_acceleration # [m/s^2] [FRD] Lateral acceleration setpoint. NAN if not controlled directly, used as feedforward if either course setpoint or airspeed_direction is finite. +float32 course # [rad] [@range -pi, pi] Desired direction of travel over ground w.r.t (true) North. NAN if not controlled directly. +float32 airspeed_direction # [rad] [@range -pi, pi] Desired horizontal angle of airspeed vector w.r.t. (true) North. Same as vehicle heading if in the absence of sideslip. NAN if not controlled directly, takes precedence over course if finite. +float32 lateral_acceleration # [m/s^2] [@frame FRD] Lateral acceleration setpoint. NAN if not controlled directly, used as feedforward if either course setpoint or airspeed_direction is finite. ``` ::: diff --git a/docs/uk/msg_docs/FixedWingLateralStatus.md b/docs/uk/msg_docs/FixedWingLateralStatus.md index 694d0b58f3..fd63176a7b 100644 --- a/docs/uk/msg_docs/FixedWingLateralStatus.md +++ b/docs/uk/msg_docs/FixedWingLateralStatus.md @@ -6,7 +6,7 @@ pageClass: is-wide-page Fixed Wing Lateral Status message. Published by the fw_lateral_longitudinal_control module to report the resultant lateral setpoint. -**TOPICS:** fixed_winglateral_status +**TOPICS:** fixed_wing_lateral_status ## Fields diff --git a/docs/uk/msg_docs/FixedWingLongitudinalSetpoint.md b/docs/uk/msg_docs/FixedWingLongitudinalSetpoint.md index 6f9514b496..4d34a51eed 100644 --- a/docs/uk/msg_docs/FixedWingLongitudinalSetpoint.md +++ b/docs/uk/msg_docs/FixedWingLongitudinalSetpoint.md @@ -4,26 +4,30 @@ pageClass: is-wide-page # FixedWingLongitudinalSetpoint (UORB message) -Fixed Wing Longitudinal Setpoint message. Used by the fw_lateral_longitudinal_control module. If pitch_direct and throttle_direct are not both finite, then the controller relies on altitude/height_rate and equivalent_airspeed to control vertical motion. If both altitude and height_rate are NAN, the controller maintains the current altitude. +Fixed Wing Longitudinal Setpoint message. -**TOPICS:** fixed_winglongitudinal_setpoint +Used by the fw_lateral_longitudinal_control module +If pitch_direct and throttle_direct are not both finite, then the controller relies on altitude/height_rate and equivalent_airspeed to control vertical motion. +If both altitude and height_rate are NAN, the controller maintains the current altitude. + +**TOPICS:** fixed_wing_longitudinal_setpoint ## Fields | Назва | Тип | Unit [Frame] | Range/Enum | Опис | | ---------------------------------------- | --------- | ---------------------------------------------------------------- | ------------------------------------------------------------------------------ | ------------------------------------------------------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp | `uint64` | us | | Time since system start | | altitude | `float32` | m | | Altitude setpoint AMSL, not controlled directly if NAN or if height_rate is finite | -| height_rate | `float32` | ENU | | Scalar height rate setpoint. NAN if not controlled directly | +| height_rate | `float32` | m/s [ENU] | | Scalar height rate setpoint. NAN if not controlled directly | | equivalent_airspeed | `float32` | m/s | [0 : inf] | Scalar equivalent airspeed setpoint. NAN if system default should be used | -| pitch_direct | `float32` | FRD | [-pi : pi] | NAN if not controlled, overrides total energy controller | +| pitch_direct | `float32` | rad [FRD] | [-pi : pi] | NAN if not controlled, overrides total energy controller | | throttle_direct | `float32` | norm | [0 : 1] | NAN if not controlled, overrides total energy controller | ## Constants -| Назва | Тип | Значення | Опис | -| -------------------------------------------------------------------- | -------- | -------- | ---- | -| MESSAGE_VERSION | `uint32` | 0 | | +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------ | -------- | -------- | ---- | +| MESSAGE_VERSION | `uint32` | 0 | | ## Source Message @@ -34,19 +38,20 @@ Click here to see original file ```c # Fixed Wing Longitudinal Setpoint message +# # Used by the fw_lateral_longitudinal_control module # If pitch_direct and throttle_direct are not both finite, then the controller relies on altitude/height_rate and equivalent_airspeed to control vertical motion. # If both altitude and height_rate are NAN, the controller maintains the current altitude. uint32 MESSAGE_VERSION = 0 -uint64 timestamp # time since system start (microseconds) +uint64 timestamp # [us] Time since system start -float32 altitude # [m] Altitude setpoint AMSL, not controlled directly if NAN or if height_rate is finite -float32 height_rate # [m/s] [ENU] Scalar height rate setpoint. NAN if not controlled directly -float32 equivalent_airspeed # [m/s] [@range 0, inf] Scalar equivalent airspeed setpoint. NAN if system default should be used -float32 pitch_direct # [rad] [@range -pi, pi] [FRD] NAN if not controlled, overrides total energy controller -float32 throttle_direct # [norm] [@range 0,1] NAN if not controlled, overrides total energy controller +float32 altitude # [m] Altitude setpoint AMSL, not controlled directly if NAN or if height_rate is finite +float32 height_rate # [m/s] [@frame ENU] Scalar height rate setpoint. NAN if not controlled directly +float32 equivalent_airspeed # [m/s] [@range 0, inf] Scalar equivalent airspeed setpoint. NAN if system default should be used +float32 pitch_direct # [rad] [@range -pi, pi] [@frame FRD] NAN if not controlled, overrides total energy controller +float32 throttle_direct # [norm] [@range 0,1] NAN if not controlled, overrides total energy controller ``` ::: diff --git a/docs/uk/msg_docs/FixedWingRunwayControl.md b/docs/uk/msg_docs/FixedWingRunwayControl.md index 3843f72858..d0ae616f4c 100644 --- a/docs/uk/msg_docs/FixedWingRunwayControl.md +++ b/docs/uk/msg_docs/FixedWingRunwayControl.md @@ -6,7 +6,7 @@ pageClass: is-wide-page Auxiliary control fields for fixed-wing runway takeoff/landing. -**TOPICS:** fixed_wingrunway_control +**TOPICS:** fixed_wing_runway_control ## Fields @@ -19,12 +19,12 @@ Auxiliary control fields for fixed-wing runway takeoff/landing. ## Constants -| Назва | Тип | Значення | Опис | -| ------------------------------------------------------------------------------------------------------------------------------ | ------- | -------- | -------------------------------------------------------------------------------- | -| STATE_THROTTLE_RAMP | `uint8` | 0 | ramping up throttle | -| STATE_CLAMPED_TO_RUNWAY | `uint8` | 1 | clamped to runway, controlling yaw directly (wheel or rudder) | -| STATE_CLIMBOUT | `uint8` | 2 | climbout to safe height before navigation | -| STATE_FLYING | `uint8` | 3 | navigate freely | +| Назва | Тип | Значення | Опис | +| ---------------------------------------------------------------------------------------------------------------------------- | ------- | -------- | -------------------------------------------------------------------------------- | +| STATE_THROTTLE_RAMP | `uint8` | 0 | ramping up throttle | +| STATE_CLAMPED_TO_RUNWAY | `uint8` | 1 | clamped to runway, controlling yaw directly (wheel or rudder) | +| STATE_CLIMBOUT | `uint8` | 2 | climbout to safe height before navigation | +| STATE_FLYING | `uint8` | 3 | navigate freely | ## Source Message diff --git a/docs/uk/msg_docs/FlightPhaseEstimation.md b/docs/uk/msg_docs/FlightPhaseEstimation.md index 2a898f54b9..f0d97a6c06 100644 --- a/docs/uk/msg_docs/FlightPhaseEstimation.md +++ b/docs/uk/msg_docs/FlightPhaseEstimation.md @@ -4,7 +4,7 @@ pageClass: is-wide-page # FlightPhaseEstimation (повідомлення UORB) -**TOPICS:** flight_phaseestimation +**TOPICS:** flight_phase_estimation ## Fields @@ -15,12 +15,12 @@ pageClass: is-wide-page ## Constants -| Назва | Тип | Значення | Опис | -| --------------------------------------------------------------------------------------------------- | ------- | -------- | ------------------------------- | -| FLIGHT_PHASE_UNKNOWN | `uint8` | 0 | vehicle flight phase is unknown | -| FLIGHT_PHASE_LEVEL | `uint8` | 1 | Vehicle is in level flight | -| FLIGHT_PHASE_DESCEND | `uint8` | 2 | vehicle is in descend | -| FLIGHT_PHASE_CLIMB | `uint8` | 3 | vehicle is climbing | +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------------------------------------- | ------- | -------- | ------------------------------- | +| FLIGHT_PHASE_UNKNOWN | `uint8` | 0 | vehicle flight phase is unknown | +| FLIGHT_PHASE_LEVEL | `uint8` | 1 | Vehicle is in level flight | +| FLIGHT_PHASE_DESCEND | `uint8` | 2 | vehicle is in descend | +| FLIGHT_PHASE_CLIMB | `uint8` | 3 | vehicle is climbing | ## Source Message diff --git a/docs/uk/msg_docs/FollowTargetEstimator.md b/docs/uk/msg_docs/FollowTargetEstimator.md index df4a781847..220880b739 100644 --- a/docs/uk/msg_docs/FollowTargetEstimator.md +++ b/docs/uk/msg_docs/FollowTargetEstimator.md @@ -4,7 +4,7 @@ pageClass: is-wide-page # FollowTargetEstimator (UORB message) -**TOPICS:** follow_targetestimator +**TOPICS:** follow_target_estimator ## Fields diff --git a/docs/uk/msg_docs/FollowTargetStatus.md b/docs/uk/msg_docs/FollowTargetStatus.md index d2820f5c90..4bcb73a290 100644 --- a/docs/uk/msg_docs/FollowTargetStatus.md +++ b/docs/uk/msg_docs/FollowTargetStatus.md @@ -4,7 +4,7 @@ pageClass: is-wide-page # FollowTargetStatus (повідомлення UORB) -**TOPICS:** follow_targetstatus +**TOPICS:** follow_target_status ## Fields diff --git a/docs/uk/msg_docs/FuelTankStatus.md b/docs/uk/msg_docs/FuelTankStatus.md index 3908246f79..fced3efcf0 100644 --- a/docs/uk/msg_docs/FuelTankStatus.md +++ b/docs/uk/msg_docs/FuelTankStatus.md @@ -4,7 +4,7 @@ pageClass: is-wide-page # FuelTankStatus (UORB message) -**TOPICS:** fuel_tankstatus +**TOPICS:** fuel_tank_status ## Fields @@ -22,11 +22,11 @@ pageClass: is-wide-page ## Constants -| Назва | Тип | Значення | Опис | -| -------------------------------------------------------------------------------------------------------------------------- | ------- | -------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -| MAV_FUEL_TYPE_UNKNOWN | `uint8` | 0 | fuel type not specified. Fuel levels are normalized (i.e., maximum is 1, and other levels are relative to 1). | -| MAV_FUEL_TYPE_LIQUID | `uint8` | 1 | represents generic liquid fuels, such as gasoline or diesel. Fuel levels are measured in millilitres (ml), and flow rates in millilitres per second (ml/s). | -| MAV_FUEL_TYPE_GAS | `uint8` | 2 | represents a gas fuel, such as hydrogen, methane, or propane. Fuel levels are in kilo-Pascal (kPa), and flow rates are in milliliters per second (ml/s). | +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------------------------------------------------------------ | ------- | -------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| MAV_FUEL_TYPE_UNKNOWN | `uint8` | 0 | fuel type not specified. Fuel levels are normalized (i.e., maximum is 1, and other levels are relative to 1). | +| MAV_FUEL_TYPE_LIQUID | `uint8` | 1 | represents generic liquid fuels, such as gasoline or diesel. Fuel levels are measured in millilitres (ml), and flow rates in millilitres per second (ml/s). | +| MAV_FUEL_TYPE_GAS | `uint8` | 2 | represents a gas fuel, such as hydrogen, methane, or propane. Fuel levels are in kilo-Pascal (kPa), and flow rates are in milliliters per second (ml/s). | ## Source Message diff --git a/docs/uk/msg_docs/GeneratorStatus.md b/docs/uk/msg_docs/GeneratorStatus.md index 3a0562b865..b80362f319 100644 --- a/docs/uk/msg_docs/GeneratorStatus.md +++ b/docs/uk/msg_docs/GeneratorStatus.md @@ -25,31 +25,31 @@ pageClass: is-wide-page ## Constants -| Назва | Тип | Значення | Опис | -| ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | -------- | -------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -| STATUS_FLAG_OFF | `uint64` | 1 | Generator is off. | -| STATUS_FLAG_READY | `uint64` | 2 | Generator is ready to start generating power. | -| STATUS_FLAG_GENERATING | `uint64` | 4 | Generator is generating power. | -| STATUS_FLAG_CHARGING | `uint64` | 8 | Generator is charging the batteries (generating enough power to charge and provide the load). | -| STATUS_FLAG_REDUCED_POWER | `uint64` | 16 | Generator is operating at a reduced maximum power. | -| STATUS_FLAG_MAXPOWER | `uint64` | 32 | Generator is providing the maximum output. | -| STATUS_FLAG_OVERTEMP_WARNING | `uint64` | 64 | Generator is near the maximum operating temperature, cooling is insufficient. | -| STATUS_FLAG_OVERTEMP_FAULT | `uint64` | 128 | Generator hit the maximum operating temperature and shutdown. | -| STATUS_FLAG_ELECTRONICS_OVERTEMP_WARNING | `uint64` | 256 | Power electronics are near the maximum operating temperature, cooling is insufficient. | -| STATUS_FLAG_ELECTRONICS_OVERTEMP_FAULT | `uint64` | 512 | Power electronics hit the maximum operating temperature and shutdown. | -| STATUS_FLAG_ELECTRONICS_FAULT | `uint64` | 1024 | Power electronics experienced a fault and shutdown. | -| STATUS_FLAG_POWERSOURCE_FAULT | `uint64` | 2048 | The power source supplying the generator failed e.g. mechanical generator stopped, tether is no longer providing power, solar cell is in shade, hydrogen reaction no longer happening. | -| STATUS_FLAG_COMMUNICATION_WARNING | `uint64` | 4096 | Generator controller having communication problems. | -| STATUS_FLAG_COOLING_WARNING | `uint64` | 8192 | Power electronic or generator cooling system error. | -| STATUS_FLAG_POWER_RAIL_FAULT | `uint64` | 16384 | Generator controller power rail experienced a fault. | -| STATUS_FLAG_OVERCURRENT_FAULT | `uint64` | 32768 | Generator controller exceeded the overcurrent threshold and shutdown to prevent damage. | -| STATUS_FLAG_BATTERY_OVERCHARGE_CURRENT_FAULT | `uint64` | 65536 | Generator controller detected a high current going into the batteries and shutdown to prevent battery damage. | -| STATUS_FLAG_OVERVOLTAGE_FAULT | `uint64` | 131072 | Generator controller exceeded it's overvoltage threshold and shutdown to prevent it exceeding the voltage rating. | -| STATUS_FLAG_BATTERY_UNDERVOLT_FAULT | `uint64` | 262144 | Batteries are under voltage (generator will not start). | -| STATUS_FLAG_START_INHIBITED | `uint64` | 524288 | Generator start is inhibited by e.g. a safety switch. | -| STATUS_FLAG_MAINTENANCE_REQUIRED | `uint64` | 1048576 | Generator requires maintenance. | -| STATUS_FLAG_WARMING_UP | `uint64` | 2097152 | Generator is not ready to generate yet. | -| STATUS_FLAG_IDLE | `uint64` | 4194304 | Generator is idle. | +| Назва | Тип | Значення | Опис | +| ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | -------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| STATUS_FLAG_OFF | `uint64` | 1 | Generator is off. | +| STATUS_FLAG_READY | `uint64` | 2 | Generator is ready to start generating power. | +| STATUS_FLAG_GENERATING | `uint64` | 4 | Generator is generating power. | +| STATUS_FLAG_CHARGING | `uint64` | 8 | Generator is charging the batteries (generating enough power to charge and provide the load). | +| STATUS_FLAG_REDUCED_POWER | `uint64` | 16 | Generator is operating at a reduced maximum power. | +| STATUS_FLAG_MAXPOWER | `uint64` | 32 | Generator is providing the maximum output. | +| STATUS_FLAG_OVERTEMP_WARNING | `uint64` | 64 | Generator is near the maximum operating temperature, cooling is insufficient. | +| STATUS_FLAG_OVERTEMP_FAULT | `uint64` | 128 | Generator hit the maximum operating temperature and shutdown. | +| STATUS_FLAG_ELECTRONICS_OVERTEMP_WARNING | `uint64` | 256 | Power electronics are near the maximum operating temperature, cooling is insufficient. | +| STATUS_FLAG_ELECTRONICS_OVERTEMP_FAULT | `uint64` | 512 | Power electronics hit the maximum operating temperature and shutdown. | +| STATUS_FLAG_ELECTRONICS_FAULT | `uint64` | 1024 | Power electronics experienced a fault and shutdown. | +| STATUS_FLAG_POWERSOURCE_FAULT | `uint64` | 2048 | The power source supplying the generator failed e.g. mechanical generator stopped, tether is no longer providing power, solar cell is in shade, hydrogen reaction no longer happening. | +| STATUS_FLAG_COMMUNICATION_WARNING | `uint64` | 4096 | Generator controller having communication problems. | +| STATUS_FLAG_COOLING_WARNING | `uint64` | 8192 | Power electronic or generator cooling system error. | +| STATUS_FLAG_POWER_RAIL_FAULT | `uint64` | 16384 | Generator controller power rail experienced a fault. | +| STATUS_FLAG_OVERCURRENT_FAULT | `uint64` | 32768 | Generator controller exceeded the overcurrent threshold and shutdown to prevent damage. | +| STATUS_FLAG_BATTERY_OVERCHARGE_CURRENT_FAULT | `uint64` | 65536 | Generator controller detected a high current going into the batteries and shutdown to prevent battery damage. | +| STATUS_FLAG_OVERVOLTAGE_FAULT | `uint64` | 131072 | Generator controller exceeded it's overvoltage threshold and shutdown to prevent it exceeding the voltage rating. | +| STATUS_FLAG_BATTERY_UNDERVOLT_FAULT | `uint64` | 262144 | Batteries are under voltage (generator will not start). | +| STATUS_FLAG_START_INHIBITED | `uint64` | 524288 | Generator start is inhibited by e.g. a safety switch. | +| STATUS_FLAG_MAINTENANCE_REQUIRED | `uint64` | 1048576 | Generator requires maintenance. | +| STATUS_FLAG_WARMING_UP | `uint64` | 2097152 | Generator is not ready to generate yet. | +| STATUS_FLAG_IDLE | `uint64` | 4194304 | Generator is idle. | ## Source Message diff --git a/docs/uk/msg_docs/GeofenceResult.md b/docs/uk/msg_docs/GeofenceResult.md index 8c27e83dee..bcc6c18106 100644 --- a/docs/uk/msg_docs/GeofenceResult.md +++ b/docs/uk/msg_docs/GeofenceResult.md @@ -18,14 +18,14 @@ pageClass: is-wide-page ## Constants -\| Name | Type | Value | Description | -\| ------------------------------------------------------- | ------- | ----- | ------------------------------- | ------ | -\| GF_ACTION_NONE | `uint8` | 0 | no action on geofence violation | -\| GF_ACTION_WARN | `uint8` | 1 | critical mavlink message | -\| GF_ACTION_LOITER | `uint8` | 2 | switch to AUTO | LOITER | -\| GF_ACTION_RTL | `uint8` | 3 | switch to AUTO | RTL | -\| GF_ACTION_TERMINATE | `uint8` | 4 | flight termination | -\| GF_ACTION_LAND | `uint8` | 5 | switch to AUTO | LAND | +\| Name | Type | Value | Description | +\| ----------------------------------------------------- | ------- | ----- | ------------------------------- | ------ | +\| GF_ACTION_NONE | `uint8` | 0 | no action on geofence violation | +\| GF_ACTION_WARN | `uint8` | 1 | critical mavlink message | +\| GF_ACTION_LOITER | `uint8` | 2 | switch to AUTO | LOITER | +\| GF_ACTION_RTL | `uint8` | 3 | switch to AUTO | RTL | +\| GF_ACTION_TERMINATE | `uint8` | 4 | flight termination | +\| GF_ACTION_LAND | `uint8` | 5 | switch to AUTO | LAND | ## Source Message diff --git a/docs/uk/msg_docs/GeofenceStatus.md b/docs/uk/msg_docs/GeofenceStatus.md index 8d28fc8ee5..28f229fb7d 100644 --- a/docs/uk/msg_docs/GeofenceStatus.md +++ b/docs/uk/msg_docs/GeofenceStatus.md @@ -16,10 +16,10 @@ pageClass: is-wide-page ## Constants -| Назва | Тип | Значення | Опис | -| --------------------------------------------------------------------------------------------- | ------- | -------- | ---- | -| GF_STATUS_LOADING | `uint8` | 0 | | -| GF_STATUS_READY | `uint8` | 1 | | +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------------------------------- | ------- | -------- | ---- | +| GF_STATUS_LOADING | `uint8` | 0 | | +| GF_STATUS_READY | `uint8` | 1 | | ## Source Message diff --git a/docs/uk/msg_docs/GimbalControls.md b/docs/uk/msg_docs/GimbalControls.md index 693d3a3c83..a133967608 100644 --- a/docs/uk/msg_docs/GimbalControls.md +++ b/docs/uk/msg_docs/GimbalControls.md @@ -16,11 +16,11 @@ pageClass: is-wide-page ## Constants -| Назва | Тип | Значення | Опис | -| ------------------------------------------------------------ | ------- | -------- | ---- | -| INDEX_ROLL | `uint8` | 0 | | -| INDEX_PITCH | `uint8` | 1 | | -| INDEX_YAW | `uint8` | 2 | | +| Назва | Тип | Значення | Опис | +| ---------------------------------------------------------- | ------- | -------- | ---- | +| INDEX_ROLL | `uint8` | 0 | | +| INDEX_PITCH | `uint8` | 1 | | +| INDEX_YAW | `uint8` | 2 | | ## Source Message diff --git a/docs/uk/msg_docs/GimbalDeviceAttitudeStatus.md b/docs/uk/msg_docs/GimbalDeviceAttitudeStatus.md index 796fbf9b25..9b4ae4ee3a 100644 --- a/docs/uk/msg_docs/GimbalDeviceAttitudeStatus.md +++ b/docs/uk/msg_docs/GimbalDeviceAttitudeStatus.md @@ -4,7 +4,7 @@ pageClass: is-wide-page # GimbalDeviceAttitudeStatus (повідомлення UORB) -**TOPICS:** gimbal_deviceattitude_status +**TOPICS:** gimbal_device_attitude_status ## Fields @@ -26,15 +26,15 @@ pageClass: is-wide-page ## Constants -| Назва | Тип | Значення | Опис | -| -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | -------- | ---- | -| DEVICE_FLAGS_RETRACT | `uint16` | 1 | | -| DEVICE_FLAGS_NEUTRAL | `uint16` | 2 | | -| DEVICE_FLAGS_ROLL_LOCK | `uint16` | 4 | | -| DEVICE_FLAGS_PITCH_LOCK | `uint16` | 8 | | -| DEVICE_FLAGS_YAW_LOCK | `uint16` | 16 | | -| DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME | `uint16` | 32 | | -| DEVICE_FLAGS_YAW_IN_EARTH_FRAME | `uint16` | 64 | | +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | -------- | -------- | ---- | +| DEVICE_FLAGS_RETRACT | `uint16` | 1 | | +| DEVICE_FLAGS_NEUTRAL | `uint16` | 2 | | +| DEVICE_FLAGS_ROLL_LOCK | `uint16` | 4 | | +| DEVICE_FLAGS_PITCH_LOCK | `uint16` | 8 | | +| DEVICE_FLAGS_YAW_LOCK | `uint16` | 16 | | +| DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME | `uint16` | 32 | | +| DEVICE_FLAGS_YAW_IN_EARTH_FRAME | `uint16` | 64 | | ## Source Message diff --git a/docs/uk/msg_docs/GimbalDeviceInformation.md b/docs/uk/msg_docs/GimbalDeviceInformation.md index 4617e7a707..1161d195ab 100644 --- a/docs/uk/msg_docs/GimbalDeviceInformation.md +++ b/docs/uk/msg_docs/GimbalDeviceInformation.md @@ -4,7 +4,7 @@ pageClass: is-wide-page # GimbalDeviceInformation (повідомлення UORB) -**TOPICS:** gimbal_deviceinformation +**TOPICS:** gimbal_device_information ## Fields @@ -29,20 +29,20 @@ pageClass: is-wide-page ## Constants -| Назва | Тип | Значення | Опис | -| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | -------- | ---- | -| GIMBAL_DEVICE_CAP_FLAGS_HAS_RETRACT | `uint32` | 1 | | -| GIMBAL_DEVICE_CAP_FLAGS_HAS_NEUTRAL | `uint32` | 2 | | -| GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_AXIS | `uint32` | 4 | | -| GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_FOLLOW | `uint32` | 8 | | -| GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_LOCK | `uint32` | 16 | | -| GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_AXIS | `uint32` | 32 | | -| GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_FOLLOW | `uint32` | 64 | | -| GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_LOCK | `uint32` | 128 | | -| GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_AXIS | `uint32` | 256 | | -| GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_FOLLOW | `uint32` | 512 | | -| GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_LOCK | `uint32` | 1024 | | -| GIMBAL_DEVICE_CAP_FLAGS_SUPPORTS_INFINITE_YAW | `uint32` | 2048 | | +| Назва | Тип | Значення | Опис | +| --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | -------- | ---- | +| GIMBAL_DEVICE_CAP_FLAGS_HAS_RETRACT | `uint32` | 1 | | +| GIMBAL_DEVICE_CAP_FLAGS_HAS_NEUTRAL | `uint32` | 2 | | +| GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_AXIS | `uint32` | 4 | | +| GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_FOLLOW | `uint32` | 8 | | +| GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_LOCK | `uint32` | 16 | | +| GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_AXIS | `uint32` | 32 | | +| GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_FOLLOW | `uint32` | 64 | | +| GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_LOCK | `uint32` | 128 | | +| GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_AXIS | `uint32` | 256 | | +| GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_FOLLOW | `uint32` | 512 | | +| GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_LOCK | `uint32` | 1024 | | +| GIMBAL_DEVICE_CAP_FLAGS_SUPPORTS_INFINITE_YAW | `uint32` | 2048 | | ## Source Message diff --git a/docs/uk/msg_docs/GimbalDeviceSetAttitude.md b/docs/uk/msg_docs/GimbalDeviceSetAttitude.md index fc8535333c..38c55185eb 100644 --- a/docs/uk/msg_docs/GimbalDeviceSetAttitude.md +++ b/docs/uk/msg_docs/GimbalDeviceSetAttitude.md @@ -4,7 +4,7 @@ pageClass: is-wide-page # GimbalDeviceSetAttitude (повідомлення UORB) -**TOPICS:** gimbal_deviceset_attitude +**TOPICS:** gimbal_device_set_attitude ## Fields @@ -21,13 +21,13 @@ pageClass: is-wide-page ## Constants -| Назва | Тип | Значення | Опис | -| ----------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | -------- | ---- | -| GIMBAL_DEVICE_FLAGS_RETRACT | `uint32` | 1 | | -| GIMBAL_DEVICE_FLAGS_NEUTRAL | `uint32` | 2 | | -| GIMBAL_DEVICE_FLAGS_ROLL_LOCK | `uint32` | 4 | | -| GIMBAL_DEVICE_FLAGS_PITCH_LOCK | `uint32` | 8 | | -| GIMBAL_DEVICE_FLAGS_YAW_LOCK | `uint32` | 16 | | +| Назва | Тип | Значення | Опис | +| --------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | -------- | ---- | +| GIMBAL_DEVICE_FLAGS_RETRACT | `uint32` | 1 | | +| GIMBAL_DEVICE_FLAGS_NEUTRAL | `uint32` | 2 | | +| GIMBAL_DEVICE_FLAGS_ROLL_LOCK | `uint32` | 4 | | +| GIMBAL_DEVICE_FLAGS_PITCH_LOCK | `uint32` | 8 | | +| GIMBAL_DEVICE_FLAGS_YAW_LOCK | `uint32` | 16 | | ## Source Message diff --git a/docs/uk/msg_docs/GimbalManagerInformation.md b/docs/uk/msg_docs/GimbalManagerInformation.md index 1c6a0686f5..6d0eb39f03 100644 --- a/docs/uk/msg_docs/GimbalManagerInformation.md +++ b/docs/uk/msg_docs/GimbalManagerInformation.md @@ -4,7 +4,7 @@ pageClass: is-wide-page # GimbalManagerInformation (повідомлення UORB) -**TOPICS:** gimbal_managerinformation +**TOPICS:** gimbal_manager_information ## Fields @@ -22,22 +22,22 @@ pageClass: is-wide-page ## Constants -| Назва | Тип | Значення | Опис | -| ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | -------- | -------- | ---- | -| GIMBAL_MANAGER_CAP_FLAGS_HAS_RETRACT | `uint32` | 1 | | -| GIMBAL_MANAGER_CAP_FLAGS_HAS_NEUTRAL | `uint32` | 2 | | -| GIMBAL_MANAGER_CAP_FLAGS_HAS_ROLL_AXIS | `uint32` | 4 | | -| GIMBAL_MANAGER_CAP_FLAGS_HAS_ROLL_FOLLOW | `uint32` | 8 | | -| GIMBAL_MANAGER_CAP_FLAGS_HAS_ROLL_LOCK | `uint32` | 16 | | -| GIMBAL_MANAGER_CAP_FLAGS_HAS_PITCH_AXIS | `uint32` | 32 | | -| GIMBAL_MANAGER_CAP_FLAGS_HAS_PITCH_FOLLOW | `uint32` | 64 | | -| GIMBAL_MANAGER_CAP_FLAGS_HAS_PITCH_LOCK | `uint32` | 128 | | -| GIMBAL_MANAGER_CAP_FLAGS_HAS_YAW_AXIS | `uint32` | 256 | | -| GIMBAL_MANAGER_CAP_FLAGS_HAS_YAW_FOLLOW | `uint32` | 512 | | -| GIMBAL_MANAGER_CAP_FLAGS_HAS_YAW_LOCK | `uint32` | 1024 | | -| GIMBAL_MANAGER_CAP_FLAGS_SUPPORTS_INFINITE_YAW | `uint32` | 2048 | | -| GIMBAL_MANAGER_CAP_FLAGS_CAN_POINT_LOCATION_LOCAL | `uint32` | 65536 | | -| GIMBAL_MANAGER_CAP_FLAGS_CAN_POINT_LOCATION_GLOBAL | `uint32` | 131072 | | +| Назва | Тип | Значення | Опис | +| ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | -------- | ---- | +| GIMBAL_MANAGER_CAP_FLAGS_HAS_RETRACT | `uint32` | 1 | | +| GIMBAL_MANAGER_CAP_FLAGS_HAS_NEUTRAL | `uint32` | 2 | | +| GIMBAL_MANAGER_CAP_FLAGS_HAS_ROLL_AXIS | `uint32` | 4 | | +| GIMBAL_MANAGER_CAP_FLAGS_HAS_ROLL_FOLLOW | `uint32` | 8 | | +| GIMBAL_MANAGER_CAP_FLAGS_HAS_ROLL_LOCK | `uint32` | 16 | | +| GIMBAL_MANAGER_CAP_FLAGS_HAS_PITCH_AXIS | `uint32` | 32 | | +| GIMBAL_MANAGER_CAP_FLAGS_HAS_PITCH_FOLLOW | `uint32` | 64 | | +| GIMBAL_MANAGER_CAP_FLAGS_HAS_PITCH_LOCK | `uint32` | 128 | | +| GIMBAL_MANAGER_CAP_FLAGS_HAS_YAW_AXIS | `uint32` | 256 | | +| GIMBAL_MANAGER_CAP_FLAGS_HAS_YAW_FOLLOW | `uint32` | 512 | | +| GIMBAL_MANAGER_CAP_FLAGS_HAS_YAW_LOCK | `uint32` | 1024 | | +| GIMBAL_MANAGER_CAP_FLAGS_SUPPORTS_INFINITE_YAW | `uint32` | 2048 | | +| GIMBAL_MANAGER_CAP_FLAGS_CAN_POINT_LOCATION_LOCAL | `uint32` | 65536 | | +| GIMBAL_MANAGER_CAP_FLAGS_CAN_POINT_LOCATION_GLOBAL | `uint32` | 131072 | | ## Source Message diff --git a/docs/uk/msg_docs/GimbalManagerSetAttitude.md b/docs/uk/msg_docs/GimbalManagerSetAttitude.md index 1c36cefefd..77f830e5cd 100644 --- a/docs/uk/msg_docs/GimbalManagerSetAttitude.md +++ b/docs/uk/msg_docs/GimbalManagerSetAttitude.md @@ -4,7 +4,7 @@ pageClass: is-wide-page # GimbalManagerSetAttitude (повідомлення UORB) -**TOPICS:** gimbal_managerset_attitude +**TOPICS:** gimbal_manager_set_attitude ## Fields @@ -24,14 +24,14 @@ pageClass: is-wide-page ## Constants -| Назва | Тип | Значення | Опис | -| ------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | -------- | ---- | -| GIMBAL_MANAGER_FLAGS_RETRACT | `uint32` | 1 | | -| GIMBAL_MANAGER_FLAGS_NEUTRAL | `uint32` | 2 | | -| GIMBAL_MANAGER_FLAGS_ROLL_LOCK | `uint32` | 4 | | -| GIMBAL_MANAGER_FLAGS_PITCH_LOCK | `uint32` | 8 | | -| GIMBAL_MANAGER_FLAGS_YAW_LOCK | `uint32` | 16 | | -| ORB_QUEUE_LENGTH | `uint8` | 2 | | +| Назва | Тип | Значення | Опис | +| ----------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | -------- | ---- | +| GIMBAL_MANAGER_FLAGS_RETRACT | `uint32` | 1 | | +| GIMBAL_MANAGER_FLAGS_NEUTRAL | `uint32` | 2 | | +| GIMBAL_MANAGER_FLAGS_ROLL_LOCK | `uint32` | 4 | | +| GIMBAL_MANAGER_FLAGS_PITCH_LOCK | `uint32` | 8 | | +| GIMBAL_MANAGER_FLAGS_YAW_LOCK | `uint32` | 16 | | +| ORB_QUEUE_LENGTH | `uint8` | 2 | | ## Source Message diff --git a/docs/uk/msg_docs/GimbalManagerSetManualControl.md b/docs/uk/msg_docs/GimbalManagerSetManualControl.md index 837c6f4e80..8891a55ada 100644 --- a/docs/uk/msg_docs/GimbalManagerSetManualControl.md +++ b/docs/uk/msg_docs/GimbalManagerSetManualControl.md @@ -4,7 +4,7 @@ pageClass: is-wide-page # GimbalManagerSetManualControl (повідомлення UORB) -**TOPICS:** gimbal_managerset_manualcontrol +**TOPICS:** gimbal_manager_set_manual_control ## Fields @@ -24,13 +24,13 @@ pageClass: is-wide-page ## Constants -| Назва | Тип | Значення | Опис | -| ------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | -------- | ---- | -| GIMBAL_MANAGER_FLAGS_RETRACT | `uint32` | 1 | | -| GIMBAL_MANAGER_FLAGS_NEUTRAL | `uint32` | 2 | | -| GIMBAL_MANAGER_FLAGS_ROLL_LOCK | `uint32` | 4 | | -| GIMBAL_MANAGER_FLAGS_PITCH_LOCK | `uint32` | 8 | | -| GIMBAL_MANAGER_FLAGS_YAW_LOCK | `uint32` | 16 | | +| Назва | Тип | Значення | Опис | +| ----------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | -------- | ---- | +| GIMBAL_MANAGER_FLAGS_RETRACT | `uint32` | 1 | | +| GIMBAL_MANAGER_FLAGS_NEUTRAL | `uint32` | 2 | | +| GIMBAL_MANAGER_FLAGS_ROLL_LOCK | `uint32` | 4 | | +| GIMBAL_MANAGER_FLAGS_PITCH_LOCK | `uint32` | 8 | | +| GIMBAL_MANAGER_FLAGS_YAW_LOCK | `uint32` | 16 | | ## Source Message diff --git a/docs/uk/msg_docs/GimbalManagerStatus.md b/docs/uk/msg_docs/GimbalManagerStatus.md index f7f47c8bfe..b75bafaaa5 100644 --- a/docs/uk/msg_docs/GimbalManagerStatus.md +++ b/docs/uk/msg_docs/GimbalManagerStatus.md @@ -4,7 +4,7 @@ pageClass: is-wide-page # GimbalManagerStatus (UORB message) -**TOPICS:** gimbal_managerstatus +**TOPICS:** gimbal_manager_status ## Fields diff --git a/docs/uk/msg_docs/GotoSetpoint.md b/docs/uk/msg_docs/GotoSetpoint.md index 1478a1a028..5521f03b1e 100644 --- a/docs/uk/msg_docs/GotoSetpoint.md +++ b/docs/uk/msg_docs/GotoSetpoint.md @@ -4,7 +4,13 @@ pageClass: is-wide-page # GotoSetpoint (повідомлення UORB) -Position and (optional) heading setpoints with corresponding speed constraints. Setpoints are intended as inputs to position and heading smoothers, respectively. Setpoints do not need to be kinematically consistent. Optional heading setpoints may be specified as controlled by the respective flag. Unset optional setpoints are not controlled. Unset optional constraints default to vehicle specifications. +Position and (optional) heading setpoints with corresponding speed constraints. + +Setpoints are intended as inputs to position and heading smoothers, respectively. +Setpoints do not need to be kinematically consistent. +Optional heading setpoints may be specified as controlled by the respective flag. +Unset optional setpoints are not controlled. +Unset optional constraints default to vehicle specifications. **TOPICS:** goto_setpoint @@ -12,22 +18,22 @@ Position and (optional) heading setpoints with corresponding speed constraints. | Назва | Тип | Unit [Frame] | Range/Enum | Опис | | ----------------------------------------------------------------------------------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| положення | `float32[3]` | m | | NED local world frame | +| timestamp | `uint64` | us | | Time since system start | +| положення | `float32[3]` | m [NED] | | NED local world frame | | flag_control_heading | `bool` | | | true if heading is to be controlled | | heading | `float32` | | | (optional) [rad] [-pi,pi] from North | | flag_set_max_horizontal_speed | `bool` | | | true if setting a non-default horizontal speed limit | -| max_horizontal_speed | `float32` | | | (optional) [m/s] maximum speed (absolute) in the NE-plane | +| max_horizontal_speed | `float32` | m/s | | (optional) Maximum speed (absolute) in the NE-plane | | flag_set_max_vertical_speed | `bool` | | | true if setting a non-default vertical speed limit | -| max_vertical_speed | `float32` | | | (optional) [m/s] maximum speed (absolute) in the D-axis | +| max_vertical_speed | `float32` | m/s | | (optional) Maximum speed (absolute) in the D-axis | | flag_set_max_heading_rate | `bool` | | | true if setting a non-default heading rate limit | -| max_heading_rate | `float32` | | | (optional) [rad/s] maximum heading rate (absolute) | +| max_heading_rate | `float32` | rad/s | | (optional) Maximum heading rate (absolute) | ## Constants -| Назва | Тип | Значення | Опис | -| -------------------------------------------------------------------- | -------- | -------- | ---- | -| MESSAGE_VERSION | `uint32` | 0 | | +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------ | -------- | -------- | ---- | +| MESSAGE_VERSION | `uint32` | 0 | | ## Source Message @@ -38,31 +44,32 @@ Click here to see original file ```c # Position and (optional) heading setpoints with corresponding speed constraints -# Setpoints are intended as inputs to position and heading smoothers, respectively -# Setpoints do not need to be kinematically consistent -# Optional heading setpoints may be specified as controlled by the respective flag -# Unset optional setpoints are not controlled -# Unset optional constraints default to vehicle specifications +# +# Setpoints are intended as inputs to position and heading smoothers, respectively. +# Setpoints do not need to be kinematically consistent. +# Optional heading setpoints may be specified as controlled by the respective flag. +# Unset optional setpoints are not controlled. +# Unset optional constraints default to vehicle specifications. uint32 MESSAGE_VERSION = 0 -uint64 timestamp # time since system start (microseconds) +uint64 timestamp # [us] Time since system start # setpoints -float32[3] position # [m] NED local world frame +float32[3] position # [m] [@frame NED] NED local world frame bool flag_control_heading # true if heading is to be controlled float32 heading # (optional) [rad] [-pi,pi] from North # constraints bool flag_set_max_horizontal_speed # true if setting a non-default horizontal speed limit -float32 max_horizontal_speed # (optional) [m/s] maximum speed (absolute) in the NE-plane +float32 max_horizontal_speed # [m/s] (optional) Maximum speed (absolute) in the NE-plane bool flag_set_max_vertical_speed # true if setting a non-default vertical speed limit -float32 max_vertical_speed # (optional) [m/s] maximum speed (absolute) in the D-axis +float32 max_vertical_speed # [m/s] (optional) Maximum speed (absolute) in the D-axis bool flag_set_max_heading_rate # true if setting a non-default heading rate limit -float32 max_heading_rate # (optional) [rad/s] maximum heading rate (absolute) +float32 max_heading_rate # [rad/s] (optional) Maximum heading rate (absolute) ``` ::: diff --git a/docs/uk/msg_docs/GpioConfig.md b/docs/uk/msg_docs/GpioConfig.md index 5b72d81018..df2d001e5a 100644 --- a/docs/uk/msg_docs/GpioConfig.md +++ b/docs/uk/msg_docs/GpioConfig.md @@ -20,19 +20,19 @@ GPIO configuration. ## Constants -| Назва | Тип | Значення | Опис | -| ---------------------------------------------------------------------------------------------------------- | -------- | -------- | ------ | -| INPUT | `uint32` | 0 | 0x0000 | -| OUTPUT | `uint32` | 1 | 0x0001 | -| PULLUP | `uint32` | 16 | 0x0010 | -| PULLDOWN | `uint32` | 32 | 0x0020 | -| OPENDRAIN | `uint32` | 256 | 0x0100 | -| INPUT_FLOATING | `uint32` | 0 | 0x0000 | -| INPUT_PULLUP | `uint32` | 16 | 0x0010 | -| INPUT_PULLDOWN | `uint32` | 32 | 0x0020 | -| OUTPUT_PUSHPULL | `uint32` | 0 | 0x0000 | -| OUTPUT_OPENDRAIN | `uint32` | 256 | 0x0100 | -| OUTPUT_OPENDRAIN_PULLUP | `uint32` | 272 | 0x0110 | +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------------------------------------------- | -------- | -------- | ------ | +| INPUT | `uint32` | 0 | 0x0000 | +| OUTPUT | `uint32` | 1 | 0x0001 | +| PULLUP | `uint32` | 16 | 0x0010 | +| PULLDOWN | `uint32` | 32 | 0x0020 | +| OPENDRAIN | `uint32` | 256 | 0x0100 | +| INPUT_FLOATING | `uint32` | 0 | 0x0000 | +| INPUT_PULLUP | `uint32` | 16 | 0x0010 | +| INPUT_PULLDOWN | `uint32` | 32 | 0x0020 | +| OUTPUT_PUSHPULL | `uint32` | 0 | 0x0000 | +| OUTPUT_OPENDRAIN | `uint32` | 256 | 0x0100 | +| OUTPUT_OPENDRAIN_PULLUP | `uint32` | 272 | 0x0110 | ## Source Message diff --git a/docs/uk/msg_docs/GpioIn.md b/docs/uk/msg_docs/GpioIn.md index 5668bf5547..6b3aee789c 100644 --- a/docs/uk/msg_docs/GpioIn.md +++ b/docs/uk/msg_docs/GpioIn.md @@ -18,9 +18,9 @@ GPIO mask and state. ## Constants -| Назва | Тип | Значення | Опис | -| ---------------------------------------------------------------- | ------- | -------- | ---- | -| MAX_INSTANCES | `uint8` | 8 | | +| Назва | Тип | Значення | Опис | +| -------------------------------------------------------------- | ------- | -------- | ---- | +| MAX_INSTANCES | `uint8` | 8 | | ## Source Message diff --git a/docs/uk/msg_docs/GpsDump.md b/docs/uk/msg_docs/GpsDump.md index b06ba27ad0..419ccbdadd 100644 --- a/docs/uk/msg_docs/GpsDump.md +++ b/docs/uk/msg_docs/GpsDump.md @@ -20,11 +20,11 @@ This message is used to dump the raw gps communication to the log. ## Constants -| Назва | Тип | Значення | Опис | -| ------------------------------------------------------------------------------------------- | ------- | -------- | ---- | -| INSTANCE_MAIN | `uint8` | 0 | | -| INSTANCE_SECONDARY | `uint8` | 1 | | -| ORB_QUEUE_LENGTH | `uint8` | 16 | | +| Назва | Тип | Значення | Опис | +| ----------------------------------------------------------------------------------------- | ------- | -------- | ---- | +| INSTANCE_MAIN | `uint8` | 0 | | +| INSTANCE_SECONDARY | `uint8` | 1 | | +| ORB_QUEUE_LENGTH | `uint8` | 16 | | ## Source Message diff --git a/docs/uk/msg_docs/GpsInjectData.md b/docs/uk/msg_docs/GpsInjectData.md index 74ae8e5d73..cba0a60a61 100644 --- a/docs/uk/msg_docs/GpsInjectData.md +++ b/docs/uk/msg_docs/GpsInjectData.md @@ -4,7 +4,7 @@ pageClass: is-wide-page # GpsInjectData (повідомлення UORB) -**TOPICS:** gps_injectdata +**TOPICS:** gps_inject_data ## Fields @@ -18,10 +18,10 @@ pageClass: is-wide-page ## Constants -| Назва | Тип | Значення | Опис | -| ------------------------------------------------------------------------------------------- | ------- | -------- | ---- | -| ORB_QUEUE_LENGTH | `uint8` | 8 | | -| MAX_INSTANCES | `uint8` | 2 | | +| Назва | Тип | Значення | Опис | +| ----------------------------------------------------------------------------------------- | ------- | -------- | ---- | +| ORB_QUEUE_LENGTH | `uint8` | 8 | | +| MAX_INSTANCES | `uint8` | 2 | | ## Source Message diff --git a/docs/uk/msg_docs/Gripper.md b/docs/uk/msg_docs/Gripper.md index 7b9ff1d2cd..4a8bbcd089 100644 --- a/docs/uk/msg_docs/Gripper.md +++ b/docs/uk/msg_docs/Gripper.md @@ -17,10 +17,10 @@ pageClass: is-wide-page ## Constants -| Назва | Тип | Значення | Опис | -| -------------------------------------------------------------------- | ------ | -------- | ---- | -| COMMAND_GRAB | `int8` | 0 | | -| COMMAND_RELEASE | `int8` | 1 | | +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------ | ------ | -------- | ---- | +| COMMAND_GRAB | `int8` | 0 | | +| COMMAND_RELEASE | `int8` | 1 | | ## Source Message diff --git a/docs/uk/msg_docs/HeaterStatus.md b/docs/uk/msg_docs/HeaterStatus.md index 6fa6d20326..4549571607 100644 --- a/docs/uk/msg_docs/HeaterStatus.md +++ b/docs/uk/msg_docs/HeaterStatus.md @@ -25,10 +25,10 @@ pageClass: is-wide-page ## Constants -| Назва | Тип | Значення | Опис | -| ---------------------------------------------------------- | ------- | -------- | ---- | -| MODE_GPIO | `uint8` | 1 | | -| MODE_PX4IO | `uint8` | 2 | | +| Назва | Тип | Значення | Опис | +| -------------------------------------------------------- | ------- | -------- | ---- | +| MODE_GPIO | `uint8` | 1 | | +| MODE_PX4IO | `uint8` | 2 | | ## Source Message diff --git a/docs/uk/msg_docs/HomePosition.md b/docs/uk/msg_docs/HomePosition.md index 855140c375..6d9c9c66fc 100644 --- a/docs/uk/msg_docs/HomePosition.md +++ b/docs/uk/msg_docs/HomePosition.md @@ -30,9 +30,9 @@ pageClass: is-wide-page ## Constants -| Назва | Тип | Значення | Опис | -| -------------------------------------------------------------------- | -------- | -------- | ---- | -| MESSAGE_VERSION | `uint32` | 1 | | +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------ | -------- | -------- | ---- | +| MESSAGE_VERSION | `uint32` | 1 | | ## Source Message diff --git a/docs/uk/msg_docs/HomePositionV0.md b/docs/uk/msg_docs/HomePositionV0.md index 296e57679b..adb22847a5 100644 --- a/docs/uk/msg_docs/HomePositionV0.md +++ b/docs/uk/msg_docs/HomePositionV0.md @@ -6,7 +6,7 @@ pageClass: is-wide-page Домашнє GPS положення в координатах WGS84. -**TOPICS:** home_positionv0 +**TOPICS:** home_position_v0 ## Fields @@ -28,9 +28,9 @@ pageClass: is-wide-page ## Constants -| Назва | Тип | Значення | Опис | -| -------------------------------------------------------------------- | -------- | -------- | ---- | -| MESSAGE_VERSION | `uint32` | 0 | | +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------ | -------- | -------- | ---- | +| MESSAGE_VERSION | `uint32` | 0 | | ## Source Message diff --git a/docs/uk/msg_docs/HoverThrustEstimate.md b/docs/uk/msg_docs/HoverThrustEstimate.md index 0659284f2a..d72f9d1ccb 100644 --- a/docs/uk/msg_docs/HoverThrustEstimate.md +++ b/docs/uk/msg_docs/HoverThrustEstimate.md @@ -4,7 +4,7 @@ pageClass: is-wide-page # HoverThrustEstimate (повідомлення UORB) -**TOPICS:** hover_thrustestimate +**TOPICS:** hover_thrust_estimate ## Fields diff --git a/docs/uk/msg_docs/InputRc.md b/docs/uk/msg_docs/InputRc.md index 2a17aae0ca..c187f86eab 100644 --- a/docs/uk/msg_docs/InputRc.md +++ b/docs/uk/msg_docs/InputRc.md @@ -28,26 +28,26 @@ pageClass: is-wide-page ## Constants -| Назва | Тип | Значення | Опис | -| ------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | -------- | -------------------------------------------------------------------------------------------------------------------------------- | -| RC_INPUT_SOURCE_UNKNOWN | `uint8` | 0 | | -| RC_INPUT_SOURCE_PX4FMU_PPM | `uint8` | 1 | | -| RC_INPUT_SOURCE_PX4IO_PPM | `uint8` | 2 | | -| RC_INPUT_SOURCE_PX4IO_SPEKTRUM | `uint8` | 3 | | -| RC_INPUT_SOURCE_PX4IO_SBUS | `uint8` | 4 | | -| RC_INPUT_SOURCE_PX4IO_ST24 | `uint8` | 5 | | -| RC_INPUT_SOURCE_MAVLINK | `uint8` | 6 | | -| RC_INPUT_SOURCE_QURT | `uint8` | 7 | | -| RC_INPUT_SOURCE_PX4FMU_SPEKTRUM | `uint8` | 8 | | -| RC_INPUT_SOURCE_PX4FMU_SBUS | `uint8` | 9 | | -| RC_INPUT_SOURCE_PX4FMU_ST24 | `uint8` | 10 | | -| RC_INPUT_SOURCE_PX4FMU_SUMD | `uint8` | 11 | | -| RC_INPUT_SOURCE_PX4FMU_DSM | `uint8` | 12 | | -| RC_INPUT_SOURCE_PX4IO_SUMD | `uint8` | 13 | | -| RC_INPUT_SOURCE_PX4FMU_CRSF | `uint8` | 14 | | -| RC_INPUT_SOURCE_PX4FMU_GHST | `uint8` | 15 | | -| RC_INPUT_MAX_CHANNELS | `uint8` | 18 | Maximum number of R/C input channels in the system. S.Bus has up to 18 channels. | -| RSSI_MAX | `int8` | 100 | | +| Назва | Тип | Значення | Опис | +| ----------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | -------- | -------------------------------------------------------------------------------------------------------------------------------- | +| RC_INPUT_SOURCE_UNKNOWN | `uint8` | 0 | | +| RC_INPUT_SOURCE_PX4FMU_PPM | `uint8` | 1 | | +| RC_INPUT_SOURCE_PX4IO_PPM | `uint8` | 2 | | +| RC_INPUT_SOURCE_PX4IO_SPEKTRUM | `uint8` | 3 | | +| RC_INPUT_SOURCE_PX4IO_SBUS | `uint8` | 4 | | +| RC_INPUT_SOURCE_PX4IO_ST24 | `uint8` | 5 | | +| RC_INPUT_SOURCE_MAVLINK | `uint8` | 6 | | +| RC_INPUT_SOURCE_QURT | `uint8` | 7 | | +| RC_INPUT_SOURCE_PX4FMU_SPEKTRUM | `uint8` | 8 | | +| RC_INPUT_SOURCE_PX4FMU_SBUS | `uint8` | 9 | | +| RC_INPUT_SOURCE_PX4FMU_ST24 | `uint8` | 10 | | +| RC_INPUT_SOURCE_PX4FMU_SUMD | `uint8` | 11 | | +| RC_INPUT_SOURCE_PX4FMU_DSM | `uint8` | 12 | | +| RC_INPUT_SOURCE_PX4IO_SUMD | `uint8` | 13 | | +| RC_INPUT_SOURCE_PX4FMU_CRSF | `uint8` | 14 | | +| RC_INPUT_SOURCE_PX4FMU_GHST | `uint8` | 15 | | +| RC_INPUT_MAX_CHANNELS | `uint8` | 18 | Maximum number of R/C input channels in the system. S.Bus has up to 18 channels. | +| RSSI_MAX | `int8` | 100 | | ## Source Message diff --git a/docs/uk/msg_docs/InternalCombustionEngineControl.md b/docs/uk/msg_docs/InternalCombustionEngineControl.md index baa5b42ef9..c41be0444c 100644 --- a/docs/uk/msg_docs/InternalCombustionEngineControl.md +++ b/docs/uk/msg_docs/InternalCombustionEngineControl.md @@ -4,7 +4,7 @@ pageClass: is-wide-page # InternalCombustionEngineControl (UORB message) -**TOPICS:** internal_combustionengine_control +**TOPICS:** internal_combustion_engine_control ## Fields diff --git a/docs/uk/msg_docs/InternalCombustionEngineStatus.md b/docs/uk/msg_docs/InternalCombustionEngineStatus.md index 7301386016..0387faa670 100644 --- a/docs/uk/msg_docs/InternalCombustionEngineStatus.md +++ b/docs/uk/msg_docs/InternalCombustionEngineStatus.md @@ -4,7 +4,7 @@ pageClass: is-wide-page # InternalCombustionEngineStatus (повідомлення UORB) -**TOPICS:** internal_combustionengine_status +**TOPICS:** internal_combustion_engine_status ## Fields @@ -36,36 +36,36 @@ pageClass: is-wide-page ## Constants -| Назва | Тип | Значення | Опис | -| --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | -------- | -------------------------------------------------------------------------------------- | -| STATE_STOPPED | `uint8` | 0 | The engine is not running. This is the default state. | -| STATE_STARTING | `uint8` | 1 | The engine is starting. This is a transient state. | -| STATE_RUNNING | `uint8` | 2 | The engine is running normally. | -| STATE_FAULT | `uint8` | 3 | The engine can no longer function. | -| FLAG_GENERAL_ERROR | `uint32` | 1 | General error. | -| FLAG_CRANKSHAFT_SENSOR_ERROR_SUPPORTED | `uint32` | 2 | Error of the crankshaft sensor. This flag is optional. | -| FLAG_CRANKSHAFT_SENSOR_ERROR | `uint32` | 4 | | -| FLAG_TEMPERATURE_SUPPORTED | `uint32` | 8 | Temperature levels. These flags are optional | -| FLAG_TEMPERATURE_BELOW_NOMINAL | `uint32` | 16 | Under-temperature warning | -| FLAG_TEMPERATURE_ABOVE_NOMINAL | `uint32` | 32 | Over-temperature warning | -| FLAG_TEMPERATURE_OVERHEATING | `uint32` | 64 | Critical overheating | -| FLAG_TEMPERATURE_EGT_ABOVE_NOMINAL | `uint32` | 128 | Exhaust gas over-temperature warning | -| FLAG_FUEL_PRESSURE_SUPPORTED | `uint32` | 256 | Fuel pressure. These flags are optional | -| FLAG_FUEL_PRESSURE_BELOW_NOMINAL | `uint32` | 512 | Under-pressure warning | -| FLAG_FUEL_PRESSURE_ABOVE_NOMINAL | `uint32` | 1024 | Over-pressure warning | -| FLAG_DETONATION_SUPPORTED | `uint32` | 2048 | Detonation warning. This flag is optional. | -| FLAG_DETONATION_OBSERVED | `uint32` | 4096 | Detonation condition observed warning | -| FLAG_MISFIRE_SUPPORTED | `uint32` | 8192 | Misfire warning. This flag is optional. | -| FLAG_MISFIRE_OBSERVED | `uint32` | 16384 | Misfire condition observed warning | -| FLAG_OIL_PRESSURE_SUPPORTED | `uint32` | 32768 | Oil pressure. These flags are optional | -| FLAG_OIL_PRESSURE_BELOW_NOMINAL | `uint32` | 65536 | Under-pressure warning | -| FLAG_OIL_PRESSURE_ABOVE_NOMINAL | `uint32` | 131072 | Over-pressure warning | -| FLAG_DEBRIS_SUPPORTED | `uint32` | 262144 | Debris warning. This flag is optional | -| FLAG_DEBRIS_DETECTED | `uint32` | 524288 | Detection of debris warning | -| SPARK_PLUG_SINGLE | `uint8` | 0 | | -| SPARK_PLUG_FIRST_ACTIVE | `uint8` | 1 | | -| SPARK_PLUG_SECOND_ACTIVE | `uint8` | 2 | | -| SPARK_PLUG_BOTH_ACTIVE | `uint8` | 3 | | +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | -------- | -------------------------------------------------------------------------------------- | +| STATE_STOPPED | `uint8` | 0 | The engine is not running. This is the default state. | +| STATE_STARTING | `uint8` | 1 | The engine is starting. This is a transient state. | +| STATE_RUNNING | `uint8` | 2 | The engine is running normally. | +| STATE_FAULT | `uint8` | 3 | The engine can no longer function. | +| FLAG_GENERAL_ERROR | `uint32` | 1 | General error. | +| FLAG_CRANKSHAFT_SENSOR_ERROR_SUPPORTED | `uint32` | 2 | Error of the crankshaft sensor. This flag is optional. | +| FLAG_CRANKSHAFT_SENSOR_ERROR | `uint32` | 4 | | +| FLAG_TEMPERATURE_SUPPORTED | `uint32` | 8 | Temperature levels. These flags are optional | +| FLAG_TEMPERATURE_BELOW_NOMINAL | `uint32` | 16 | Under-temperature warning | +| FLAG_TEMPERATURE_ABOVE_NOMINAL | `uint32` | 32 | Over-temperature warning | +| FLAG_TEMPERATURE_OVERHEATING | `uint32` | 64 | Critical overheating | +| FLAG_TEMPERATURE_EGT_ABOVE_NOMINAL | `uint32` | 128 | Exhaust gas over-temperature warning | +| FLAG_FUEL_PRESSURE_SUPPORTED | `uint32` | 256 | Fuel pressure. These flags are optional | +| FLAG_FUEL_PRESSURE_BELOW_NOMINAL | `uint32` | 512 | Under-pressure warning | +| FLAG_FUEL_PRESSURE_ABOVE_NOMINAL | `uint32` | 1024 | Over-pressure warning | +| FLAG_DETONATION_SUPPORTED | `uint32` | 2048 | Detonation warning. This flag is optional. | +| FLAG_DETONATION_OBSERVED | `uint32` | 4096 | Detonation condition observed warning | +| FLAG_MISFIRE_SUPPORTED | `uint32` | 8192 | Misfire warning. This flag is optional. | +| FLAG_MISFIRE_OBSERVED | `uint32` | 16384 | Misfire condition observed warning | +| FLAG_OIL_PRESSURE_SUPPORTED | `uint32` | 32768 | Oil pressure. These flags are optional | +| FLAG_OIL_PRESSURE_BELOW_NOMINAL | `uint32` | 65536 | Under-pressure warning | +| FLAG_OIL_PRESSURE_ABOVE_NOMINAL | `uint32` | 131072 | Over-pressure warning | +| FLAG_DEBRIS_SUPPORTED | `uint32` | 262144 | Debris warning. This flag is optional | +| FLAG_DEBRIS_DETECTED | `uint32` | 524288 | Detection of debris warning | +| SPARK_PLUG_SINGLE | `uint8` | 0 | | +| SPARK_PLUG_FIRST_ACTIVE | `uint8` | 1 | | +| SPARK_PLUG_SECOND_ACTIVE | `uint8` | 2 | | +| SPARK_PLUG_BOTH_ACTIVE | `uint8` | 3 | | ## Source Message diff --git a/docs/uk/msg_docs/LandingGear.md b/docs/uk/msg_docs/LandingGear.md index f0c15eed06..11180579c0 100644 --- a/docs/uk/msg_docs/LandingGear.md +++ b/docs/uk/msg_docs/LandingGear.md @@ -15,11 +15,11 @@ pageClass: is-wide-page ## Constants -| Назва | Тип | Значення | Опис | -| -------------------------------------------------------- | ------ | -------- | ---------------------- | -| GEAR_UP | `int8` | 1 | landing gear up | -| GEAR_DOWN | `int8` | -1 | landing gear down | -| GEAR_KEEP | `int8` | 0 | keep the current state | +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------ | ------ | -------- | ---------------------- | +| GEAR_UP | `int8` | 1 | landing gear up | +| GEAR_DOWN | `int8` | -1 | landing gear down | +| GEAR_KEEP | `int8` | 0 | keep the current state | ## Source Message diff --git a/docs/uk/msg_docs/LandingGearWheel.md b/docs/uk/msg_docs/LandingGearWheel.md index 26e1624ab1..e30a8e8845 100644 --- a/docs/uk/msg_docs/LandingGearWheel.md +++ b/docs/uk/msg_docs/LandingGearWheel.md @@ -4,7 +4,7 @@ pageClass: is-wide-page # LandingGearWheel (повідомлення UORB) -**TOPICS:** landing_gearwheel +**TOPICS:** landing_gear_wheel ## Fields diff --git a/docs/uk/msg_docs/LandingTargetInnovations.md b/docs/uk/msg_docs/LandingTargetInnovations.md index ce64d93f7f..c7a02a8335 100644 --- a/docs/uk/msg_docs/LandingTargetInnovations.md +++ b/docs/uk/msg_docs/LandingTargetInnovations.md @@ -4,7 +4,7 @@ pageClass: is-wide-page # LandingTargetInnovations (повідомлення UORB) -**TOPICS:** landing_targetinnovations +**TOPICS:** landing_target_innovations ## Fields diff --git a/docs/uk/msg_docs/LandingTargetPose.md b/docs/uk/msg_docs/LandingTargetPose.md index a139207aee..547cbd1857 100644 --- a/docs/uk/msg_docs/LandingTargetPose.md +++ b/docs/uk/msg_docs/LandingTargetPose.md @@ -6,7 +6,7 @@ pageClass: is-wide-page Relative position of precision land target in navigation (body fixed, north aligned, NED) and inertial (world fixed, north aligned, NED) frames. -**TOPICS:** landing_targetpose +**TOPICS:** landing_target_pose ## Fields diff --git a/docs/uk/msg_docs/LateralControlConfiguration.md b/docs/uk/msg_docs/LateralControlConfiguration.md index 34f132856e..d02c38a8a6 100644 --- a/docs/uk/msg_docs/LateralControlConfiguration.md +++ b/docs/uk/msg_docs/LateralControlConfiguration.md @@ -4,22 +4,24 @@ pageClass: is-wide-page # LateralControlConfiguration (UORB message) -Fixed Wing Lateral Control Configuration message. Used by the fw_lateral_longitudinal_control module to constrain FixedWingLateralSetpoint messages. +Fixed Wing Lateral Control Configuration message. -**TOPICS:** lateral_controlconfiguration +Used by the fw_lateral_longitudinal_control module to constrain FixedWingLateralSetpoint messages. + +**TOPICS:** lateral_control_configuration ## Fields | Назва | Тип | Unit [Frame] | Range/Enum | Опис | | ----------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | ----------------------------------------------------------------------------------------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| lateral_accel_max | `float32` | m/s^2 | | currently maps to a maximum roll angle, accel_max = tan(roll_max) \* GRAVITY | +| timestamp | `uint64` | us | | Time since system start | +| lateral_accel_max | `float32` | m/s^2 | | Currently maps to a maximum roll angle, accel_max = tan(roll_max) \* GRAVITY | ## Constants -| Назва | Тип | Значення | Опис | -| -------------------------------------------------------------------- | -------- | -------- | ---- | -| MESSAGE_VERSION | `uint32` | 0 | | +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------ | -------- | -------- | ---- | +| MESSAGE_VERSION | `uint32` | 0 | | ## Source Message @@ -30,13 +32,14 @@ Click here to see original file ```c # Fixed Wing Lateral Control Configuration message +# # Used by the fw_lateral_longitudinal_control module to constrain FixedWingLateralSetpoint messages. uint32 MESSAGE_VERSION = 0 -uint64 timestamp # time since system start (microseconds) +uint64 timestamp # [us] Time since system start -float32 lateral_accel_max # [m/s^2] currently maps to a maximum roll angle, accel_max = tan(roll_max) * GRAVITY +float32 lateral_accel_max # [m/s^2] Currently maps to a maximum roll angle, accel_max = tan(roll_max) * GRAVITY ``` ::: diff --git a/docs/uk/msg_docs/LaunchDetectionStatus.md b/docs/uk/msg_docs/LaunchDetectionStatus.md index b19d12d773..a5c73e80ad 100644 --- a/docs/uk/msg_docs/LaunchDetectionStatus.md +++ b/docs/uk/msg_docs/LaunchDetectionStatus.md @@ -6,22 +6,23 @@ pageClass: is-wide-page Status of the launch detection state machine (fixed-wing only). -**TOPICS:** launch_detectionstatus +**TOPICS:** launch_detection_status ## Fields -| Назва | Тип | Unit [Frame] | Range/Enum | Опис | -| ---------------------------------------------------------------- | -------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| launch_detection_state | `uint8` | | | | +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ------------------------------------------------------------------------------------------------ | -------- | ---------------------------------------------------------------- | ---------- | -------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| launch_detection_state | `uint8` | | | | +| selected_control_surface_disarmed | `bool` | | | flag indicating whether selected actuators should kept disarmed (have to be configured in control allocation) | ## Constants -| Назва | Тип | Значення | Опис | -| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | -------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -| STATE_WAITING_FOR_LAUNCH | `uint8` | 0 | waiting for launch | -| STATE_LAUNCH_DETECTED_DISABLED_MOTOR | `uint8` | 1 | launch detected, but keep motor(s) disabled (e.g. because it can't spin freely while on catapult) | -| STATE_FLYING | `uint8` | 2 | launch detected, use normal takeoff/flying configuration | +| Назва | Тип | Значення | Опис | +| --------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | -------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| STATE_WAITING_FOR_LAUNCH | `uint8` | 0 | waiting for launch | +| STATE_LAUNCH_DETECTED_DISABLED_MOTOR | `uint8` | 1 | launch detected, but keep motor(s) disabled (e.g. because it can't spin freely while on catapult) | +| STATE_FLYING | `uint8` | 2 | launch detected, use normal takeoff/flying configuration | ## Source Message @@ -40,6 +41,8 @@ uint8 STATE_LAUNCH_DETECTED_DISABLED_MOTOR = 1 # launch detected, but keep moto uint8 STATE_FLYING = 2 # launch detected, use normal takeoff/flying configuration uint8 launch_detection_state + +bool selected_control_surface_disarmed # [-] flag indicating whether selected actuators should kept disarmed (have to be configured in control allocation) ``` ::: diff --git a/docs/uk/msg_docs/LedControl.md b/docs/uk/msg_docs/LedControl.md index de36da51ab..93af6135f5 100644 --- a/docs/uk/msg_docs/LedControl.md +++ b/docs/uk/msg_docs/LedControl.md @@ -21,27 +21,27 @@ pageClass: is-wide-page ## Constants -| Назва | Тип | Значення | Опис | -| --------------------------------------------------------------------------------------------- | ------- | -------- | ------------------------------------------------------------------------------------------------------------------------------------------------ | -| COLOR_OFF | `uint8` | 0 | this is only used in the drivers | -| COLOR_RED | `uint8` | 1 | | -| COLOR_GREEN | `uint8` | 2 | | -| COLOR_BLUE | `uint8` | 3 | | -| COLOR_YELLOW | `uint8` | 4 | | -| COLOR_PURPLE | `uint8` | 5 | | -| COLOR_AMBER | `uint8` | 6 | | -| COLOR_CYAN | `uint8` | 7 | | -| COLOR_WHITE | `uint8` | 8 | | -| MODE_OFF | `uint8` | 0 | turn LED off | -| MODE_ON | `uint8` | 1 | turn LED on | -| MODE_DISABLED | `uint8` | 2 | disable this priority (switch to lower priority setting) | -| MODE_BLINK_SLOW | `uint8` | 3 | | -| MODE_BLINK_NORMAL | `uint8` | 4 | | -| MODE_BLINK_FAST | `uint8` | 5 | | -| MODE_BREATHE | `uint8` | 6 | continuously increase & decrease brightness (solid color if driver does not support it) | -| MODE_FLASH | `uint8` | 7 | two fast blinks (on/off) with timing as in MODE_BLINK_FAST and then off for a while | -| MAX_PRIORITY | `uint8` | 2 | maximum priority (minimum is 0) | -| ORB_QUEUE_LENGTH | `uint8` | 8 | needs to match BOARD_MAX_LEDS | +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------------------------------- | ------- | -------- | ------------------------------------------------------------------------------------------------------------------------------------------------ | +| COLOR_OFF | `uint8` | 0 | this is only used in the drivers | +| COLOR_RED | `uint8` | 1 | | +| COLOR_GREEN | `uint8` | 2 | | +| COLOR_BLUE | `uint8` | 3 | | +| COLOR_YELLOW | `uint8` | 4 | | +| COLOR_PURPLE | `uint8` | 5 | | +| COLOR_AMBER | `uint8` | 6 | | +| COLOR_CYAN | `uint8` | 7 | | +| COLOR_WHITE | `uint8` | 8 | | +| MODE_OFF | `uint8` | 0 | turn LED off | +| MODE_ON | `uint8` | 1 | turn LED on | +| MODE_DISABLED | `uint8` | 2 | disable this priority (switch to lower priority setting) | +| MODE_BLINK_SLOW | `uint8` | 3 | | +| MODE_BLINK_NORMAL | `uint8` | 4 | | +| MODE_BLINK_FAST | `uint8` | 5 | | +| MODE_BREATHE | `uint8` | 6 | continuously increase & decrease brightness (solid color if driver does not support it) | +| MODE_FLASH | `uint8` | 7 | two fast blinks (on/off) with timing as in MODE_BLINK_FAST and then off for a while | +| MAX_PRIORITY | `uint8` | 2 | maximum priority (minimum is 0) | +| ORB_QUEUE_LENGTH | `uint8` | 8 | needs to match BOARD_MAX_LEDS | ## Source Message diff --git a/docs/uk/msg_docs/LogMessage.md b/docs/uk/msg_docs/LogMessage.md index 4b24ffa4be..0870cf6e4d 100644 --- a/docs/uk/msg_docs/LogMessage.md +++ b/docs/uk/msg_docs/LogMessage.md @@ -18,9 +18,9 @@ A logging message, output with PX4_WARN, PX4_ERR, PX4_INFO. ## Constants -| Назва | Тип | Значення | Опис | -| ------------------------------------------------------------------------------------------- | ------- | -------- | ---- | -| ORB_QUEUE_LENGTH | `uint8` | 4 | | +| Назва | Тип | Значення | Опис | +| ----------------------------------------------------------------------------------------- | ------- | -------- | ---- | +| ORB_QUEUE_LENGTH | `uint8` | 4 | | ## Source Message diff --git a/docs/uk/msg_docs/LoggerStatus.md b/docs/uk/msg_docs/LoggerStatus.md index 7267934916..0cbcf11138 100644 --- a/docs/uk/msg_docs/LoggerStatus.md +++ b/docs/uk/msg_docs/LoggerStatus.md @@ -24,13 +24,13 @@ pageClass: is-wide-page ## Constants -| Назва | Тип | Значення | Опис | -| ------------------------------------------------------------------------------------------------- | ------- | -------- | -------------------------------------------------------------------------------------------- | -| LOGGER_TYPE_FULL | `uint8` | 0 | Normal, full size log | -| LOGGER_TYPE_MISSION | `uint8` | 1 | reduced mission log (e.g. for geotagging) | -| BACKEND_FILE | `uint8` | 1 | | -| BACKEND_MAVLINK | `uint8` | 2 | | -| BACKEND_ALL | `uint8` | 3 | | +| Назва | Тип | Значення | Опис | +| ----------------------------------------------------------------------------------------------- | ------- | -------- | -------------------------------------------------------------------------------------------- | +| LOGGER_TYPE_FULL | `uint8` | 0 | Normal, full size log | +| LOGGER_TYPE_MISSION | `uint8` | 1 | reduced mission log (e.g. for geotagging) | +| BACKEND_FILE | `uint8` | 1 | | +| BACKEND_MAVLINK | `uint8` | 2 | | +| BACKEND_ALL | `uint8` | 3 | | ## Source Message diff --git a/docs/uk/msg_docs/LongitudinalControlConfiguration.md b/docs/uk/msg_docs/LongitudinalControlConfiguration.md index 56a4a1f3a4..b94efb64dc 100644 --- a/docs/uk/msg_docs/LongitudinalControlConfiguration.md +++ b/docs/uk/msg_docs/LongitudinalControlConfiguration.md @@ -4,30 +4,33 @@ pageClass: is-wide-page # LongitudinalControlConfiguration (UORB message) -Fixed Wing Longitudinal Control Configuration message. Used by the fw_lateral_longitudinal_control module and TECS to constrain FixedWingLongitudinalSetpoint messages. and configure the resultant setpoints. +Fixed Wing Longitudinal Control Configuration message. -**TOPICS:** longitudinal_controlconfiguration +Used by the fw_lateral_longitudinal_control module and TECS to constrain FixedWingLongitudinalSetpoint messages +and configure the resultant setpoints. + +**TOPICS:** longitudinal_control_configuration ## Fields | Назва | Тип | Unit [Frame] | Range/Enum | Опис | | ------------------------------------------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ------------------------------------------------------------------------------ | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| pitch_min | `float32` | rad | [-pi : pi] | defaults to FW_P_LIM_MIN if NAN. | -| pitch_max | `float32` | rad | [-pi : pi] | defaults to FW_P_LIM_MAX if NAN. | -| throttle_min | `float32` | norm | [0 : 1] | deaults to FW_THR_MIN if NAN. | -| throttle_max | `float32` | norm | [0 : 1] | defaults to FW_THR_MAX if NAN. | -| climb_rate_target | `float32` | m/s | | target climbrate to change altitude. Defaults to FW_T_CLIMB_MAX if NAN. Not used if height_rate is directly set in FixedWingLongitudinalSetpoint. | -| sink_rate_target | `float32` | m/s | | target sinkrate to change altitude. Defaults to FW_T_SINK_MAX if NAN. Not used if height_rate is directly set in FixedWingLongitudinalSetpoint. | -| speed_weight | `float32` | | [0 : 2] | , 0=pitch controls altitude only, 2=pitch controls airspeed only | -| enforce_low_height_condition | `bool` | boolean | | if true, the altitude controller is configured with an alternative timeconstant for tighter altitude tracking | -| disable_underspeed_protection | `bool` | boolean | | if true, underspeed handling is disabled in the altitude controller | +| timestamp | `uint64` | us | | Time since system start | +| pitch_min | `float32` | rad | [-pi : pi] | Defaults to FW_P_LIM_MIN if NAN. | +| pitch_max | `float32` | rad | [-pi : pi] | Defaults to FW_P_LIM_MAX if NAN. | +| throttle_min | `float32` | norm | [0 : 1] | Defaults to FW_THR_MIN if NAN. | +| throttle_max | `float32` | norm | [0 : 1] | Defaults to FW_THR_MAX if NAN. | +| climb_rate_target | `float32` | m/s | | Target climbrate to change altitude. Defaults to FW_T_CLIMB_MAX if NAN. Not used if height_rate is directly set in FixedWingLongitudinalSetpoint. | +| sink_rate_target | `float32` | m/s | | Target sinkrate to change altitude. Defaults to FW_T_SINK_MAX if NAN. Not used if height_rate is directly set in FixedWingLongitudinalSetpoint. | +| speed_weight | `float32` | | [0 : 2] | 0=pitch controls altitude only, 2=pitch controls airspeed only | +| enforce_low_height_condition | `bool` | | | If true, the altitude controller is configured with an alternative timeconstant for tighter altitude tracking | +| disable_underspeed_protection | `bool` | | | If true, underspeed handling is disabled in the altitude controller | ## Constants -| Назва | Тип | Значення | Опис | -| -------------------------------------------------------------------- | -------- | -------- | ---- | -| MESSAGE_VERSION | `uint32` | 0 | | +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------ | -------- | -------- | ---- | +| MESSAGE_VERSION | `uint32` | 0 | | ## Source Message @@ -38,22 +41,23 @@ Click here to see original file ```c # Fixed Wing Longitudinal Control Configuration message +# # Used by the fw_lateral_longitudinal_control module and TECS to constrain FixedWingLongitudinalSetpoint messages # and configure the resultant setpoints. uint32 MESSAGE_VERSION = 0 -uint64 timestamp # time since system start (microseconds) +uint64 timestamp # [us] Time since system start -float32 pitch_min # [rad][@range -pi, pi] defaults to FW_P_LIM_MIN if NAN. -float32 pitch_max # [rad][@range -pi, pi] defaults to FW_P_LIM_MAX if NAN. -float32 throttle_min # [norm] [@range 0,1] deaults to FW_THR_MIN if NAN. -float32 throttle_max # [norm] [@range 0,1] defaults to FW_THR_MAX if NAN. -float32 climb_rate_target # [m/s] target climbrate to change altitude. Defaults to FW_T_CLIMB_MAX if NAN. Not used if height_rate is directly set in FixedWingLongitudinalSetpoint. -float32 sink_rate_target # [m/s] target sinkrate to change altitude. Defaults to FW_T_SINK_MAX if NAN. Not used if height_rate is directly set in FixedWingLongitudinalSetpoint. -float32 speed_weight # [@range 0,2], 0=pitch controls altitude only, 2=pitch controls airspeed only -bool enforce_low_height_condition # [boolean] if true, the altitude controller is configured with an alternative timeconstant for tighter altitude tracking -bool disable_underspeed_protection # [boolean] if true, underspeed handling is disabled in the altitude controller +float32 pitch_min # [rad] [@range -pi, pi] Defaults to FW_P_LIM_MIN if NAN. +float32 pitch_max # [rad] [@range -pi, pi] Defaults to FW_P_LIM_MAX if NAN. +float32 throttle_min # [norm] [@range 0,1] Defaults to FW_THR_MIN if NAN. +float32 throttle_max # [norm] [@range 0,1] Defaults to FW_THR_MAX if NAN. +float32 climb_rate_target # [m/s] Target climbrate to change altitude. Defaults to FW_T_CLIMB_MAX if NAN. Not used if height_rate is directly set in FixedWingLongitudinalSetpoint. +float32 sink_rate_target # [m/s] Target sinkrate to change altitude. Defaults to FW_T_SINK_MAX if NAN. Not used if height_rate is directly set in FixedWingLongitudinalSetpoint. +float32 speed_weight # [-] [@range 0,2] 0=pitch controls altitude only, 2=pitch controls airspeed only +bool enforce_low_height_condition # If true, the altitude controller is configured with an alternative timeconstant for tighter altitude tracking +bool disable_underspeed_protection # If true, underspeed handling is disabled in the altitude controller ``` ::: diff --git a/docs/uk/msg_docs/MagWorkerData.md b/docs/uk/msg_docs/MagWorkerData.md index acd9753f80..f97b55d4e4 100644 --- a/docs/uk/msg_docs/MagWorkerData.md +++ b/docs/uk/msg_docs/MagWorkerData.md @@ -4,7 +4,7 @@ pageClass: is-wide-page # MagWorkerData (UORB message) -**TOPICS:** mag_workerdata +**TOPICS:** mag_worker_data ## Fields @@ -23,9 +23,9 @@ pageClass: is-wide-page ## Constants -| Назва | Тип | Значення | Опис | -| ------------------------------------------------------ | ------- | -------- | ---- | -| MAX_MAGS | `uint8` | 4 | | +| Назва | Тип | Значення | Опис | +| ---------------------------------------------------- | ------- | -------- | ---- | +| MAX_MAGS | `uint8` | 4 | | ## Source Message diff --git a/docs/uk/msg_docs/MagnetometerBiasEstimate.md b/docs/uk/msg_docs/MagnetometerBiasEstimate.md index c31b62b822..6962a6479b 100644 --- a/docs/uk/msg_docs/MagnetometerBiasEstimate.md +++ b/docs/uk/msg_docs/MagnetometerBiasEstimate.md @@ -4,7 +4,7 @@ pageClass: is-wide-page # MagnetometerBiasEstimate (UORB message) -**TOPICS:** magnetometer_biasestimate +**TOPICS:** magnetometer_bias_estimate ## Fields diff --git a/docs/uk/msg_docs/ManualControlSetpoint.md b/docs/uk/msg_docs/ManualControlSetpoint.md index 4097d7f05a..f46dd21c4a 100644 --- a/docs/uk/msg_docs/ManualControlSetpoint.md +++ b/docs/uk/msg_docs/ManualControlSetpoint.md @@ -30,17 +30,17 @@ pageClass: is-wide-page ## Constants -| Назва | Тип | Значення | Опис | -| ------------------------------------------------------------------------------------------- | -------- | -------- | ---------------------------------------------------------------- | -| MESSAGE_VERSION | `uint32` | 0 | | -| SOURCE_UNKNOWN | `uint8` | 0 | | -| SOURCE_RC | `uint8` | 1 | radio control (input_rc) | -| SOURCE_MAVLINK_0 | `uint8` | 2 | mavlink instance 0 | -| SOURCE_MAVLINK_1 | `uint8` | 3 | mavlink instance 1 | -| SOURCE_MAVLINK_2 | `uint8` | 4 | mavlink instance 2 | -| SOURCE_MAVLINK_3 | `uint8` | 5 | mavlink instance 3 | -| SOURCE_MAVLINK_4 | `uint8` | 6 | mavlink instance 4 | -| SOURCE_MAVLINK_5 | `uint8` | 7 | mavlink instance 5 | +| Назва | Тип | Значення | Опис | +| ----------------------------------------------------------------------------------------- | -------- | -------- | ---------------------------------------------------------------- | +| MESSAGE_VERSION | `uint32` | 0 | | +| SOURCE_UNKNOWN | `uint8` | 0 | | +| SOURCE_RC | `uint8` | 1 | radio control (input_rc) | +| SOURCE_MAVLINK_0 | `uint8` | 2 | mavlink instance 0 | +| SOURCE_MAVLINK_1 | `uint8` | 3 | mavlink instance 1 | +| SOURCE_MAVLINK_2 | `uint8` | 4 | mavlink instance 2 | +| SOURCE_MAVLINK_3 | `uint8` | 5 | mavlink instance 3 | +| SOURCE_MAVLINK_4 | `uint8` | 6 | mavlink instance 4 | +| SOURCE_MAVLINK_5 | `uint8` | 7 | mavlink instance 5 | ## Source Message diff --git a/docs/uk/msg_docs/ManualControlSwitches.md b/docs/uk/msg_docs/ManualControlSwitches.md index 67b16ae32b..b25def95e4 100644 --- a/docs/uk/msg_docs/ManualControlSwitches.md +++ b/docs/uk/msg_docs/ManualControlSwitches.md @@ -4,7 +4,7 @@ pageClass: is-wide-page # ManualControlSwitches (UORB message) -**TOPICS:** manual_controlswitches +**TOPICS:** manual_control_switches ## Fields @@ -29,20 +29,20 @@ pageClass: is-wide-page ## Constants -| Назва | Тип | Значення | Опис | -| --------------------------------------------------------------------------------------------- | ------- | -------- | ---------------------------------------------------- | -| SWITCH_POS_NONE | `uint8` | 0 | switch is not mapped | -| SWITCH_POS_ON | `uint8` | 1 | switch activated (value = 1) | -| SWITCH_POS_MIDDLE | `uint8` | 2 | middle position (value = 0) | -| SWITCH_POS_OFF | `uint8` | 3 | switch not activated (value = -1) | -| MODE_SLOT_NONE | `uint8` | 0 | no mode slot assigned | -| MODE_SLOT_1 | `uint8` | 1 | mode slot 1 selected | -| MODE_SLOT_2 | `uint8` | 2 | mode slot 2 selected | -| MODE_SLOT_3 | `uint8` | 3 | mode slot 3 selected | -| MODE_SLOT_4 | `uint8` | 4 | mode slot 4 selected | -| MODE_SLOT_5 | `uint8` | 5 | mode slot 5 selected | -| MODE_SLOT_6 | `uint8` | 6 | mode slot 6 selected | -| MODE_SLOT_NUM | `uint8` | 6 | number of slots | +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------------------------------- | ------- | -------- | ---------------------------------------------------- | +| SWITCH_POS_NONE | `uint8` | 0 | switch is not mapped | +| SWITCH_POS_ON | `uint8` | 1 | switch activated (value = 1) | +| SWITCH_POS_MIDDLE | `uint8` | 2 | middle position (value = 0) | +| SWITCH_POS_OFF | `uint8` | 3 | switch not activated (value = -1) | +| MODE_SLOT_NONE | `uint8` | 0 | no mode slot assigned | +| MODE_SLOT_1 | `uint8` | 1 | mode slot 1 selected | +| MODE_SLOT_2 | `uint8` | 2 | mode slot 2 selected | +| MODE_SLOT_3 | `uint8` | 3 | mode slot 3 selected | +| MODE_SLOT_4 | `uint8` | 4 | mode slot 4 selected | +| MODE_SLOT_5 | `uint8` | 5 | mode slot 5 selected | +| MODE_SLOT_6 | `uint8` | 6 | mode slot 6 selected | +| MODE_SLOT_NUM | `uint8` | 6 | number of slots | ## Source Message diff --git a/docs/uk/msg_docs/MavlinkLog.md b/docs/uk/msg_docs/MavlinkLog.md index fcd74d3766..da1c7ef458 100644 --- a/docs/uk/msg_docs/MavlinkLog.md +++ b/docs/uk/msg_docs/MavlinkLog.md @@ -16,9 +16,9 @@ pageClass: is-wide-page ## Constants -| Назва | Тип | Значення | Опис | -| ------------------------------------------------------------------------------------------- | ------- | -------- | ---- | -| ORB_QUEUE_LENGTH | `uint8` | 8 | | +| Назва | Тип | Значення | Опис | +| ----------------------------------------------------------------------------------------- | ------- | -------- | ---- | +| ORB_QUEUE_LENGTH | `uint8` | 8 | | ## Source Message diff --git a/docs/uk/msg_docs/MavlinkTunnel.md b/docs/uk/msg_docs/MavlinkTunnel.md index 46bd317a62..346feb7abb 100644 --- a/docs/uk/msg_docs/MavlinkTunnel.md +++ b/docs/uk/msg_docs/MavlinkTunnel.md @@ -21,19 +21,19 @@ MAV_TUNNEL_PAYLOAD_TYPE enum. ## Constants -| Назва | Тип | Значення | Опис | -| ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | ------- | -------- | ---------------------------------------- | -| MAV_TUNNEL_PAYLOAD_TYPE_UNKNOWN | `uint8` | 0 | Encoding of payload unknown | -| MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED0 | `uint8` | 200 | Registered for STorM32 gimbal controller | -| MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED1 | `uint8` | 201 | Registered for STorM32 gimbal controller | -| MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED2 | `uint8` | 202 | Registered for STorM32 gimbal controller | -| MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED3 | `uint8` | 203 | Registered for STorM32 gimbal controller | -| MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED4 | `uint8` | 204 | Registered for STorM32 gimbal controller | -| MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED5 | `uint8` | 205 | Registered for STorM32 gimbal controller | -| MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED6 | `uint8` | 206 | Registered for STorM32 gimbal controller | -| MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED7 | `uint8` | 207 | Registered for STorM32 gimbal controller | -| MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED8 | `uint8` | 208 | Registered for STorM32 gimbal controller | -| MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED9 | `uint8` | 209 | Registered for STorM32 gimbal controller | +| Назва | Тип | Значення | Опис | +| ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | -------- | ---------------------------------------- | +| MAV_TUNNEL_PAYLOAD_TYPE_UNKNOWN | `uint8` | 0 | Encoding of payload unknown | +| MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED0 | `uint8` | 200 | Registered for STorM32 gimbal controller | +| MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED1 | `uint8` | 201 | Registered for STorM32 gimbal controller | +| MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED2 | `uint8` | 202 | Registered for STorM32 gimbal controller | +| MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED3 | `uint8` | 203 | Registered for STorM32 gimbal controller | +| MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED4 | `uint8` | 204 | Registered for STorM32 gimbal controller | +| MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED5 | `uint8` | 205 | Registered for STorM32 gimbal controller | +| MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED6 | `uint8` | 206 | Registered for STorM32 gimbal controller | +| MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED7 | `uint8` | 207 | Registered for STorM32 gimbal controller | +| MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED8 | `uint8` | 208 | Registered for STorM32 gimbal controller | +| MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED9 | `uint8` | 209 | Registered for STorM32 gimbal controller | ## Source Message diff --git a/docs/uk/msg_docs/MessageFormatRequest.md b/docs/uk/msg_docs/MessageFormatRequest.md index 3441e06d5f..8d2a57208b 100644 --- a/docs/uk/msg_docs/MessageFormatRequest.md +++ b/docs/uk/msg_docs/MessageFormatRequest.md @@ -4,7 +4,7 @@ pageClass: is-wide-page # MessageFormatRequest (UORB message) -**TOPICS:** message_formatrequest +**TOPICS:** message_format_request ## Fields @@ -16,9 +16,9 @@ pageClass: is-wide-page ## Constants -| Назва | Тип | Значення | Опис | -| --------------------------------------------------------------------------------------------------------- | -------- | -------- | --------------------------------------------------------------------------------------------------------------------------------------------------- | -| LATEST_PROTOCOL_VERSION | `uint16` | 1 | Current version of this protocol. Increase this whenever the MessageFormatRequest or MessageFormatResponse changes. | +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------------------------------------------- | -------- | -------- | --------------------------------------------------------------------------------------------------------------------------------------------------- | +| LATEST_PROTOCOL_VERSION | `uint16` | 1 | Current version of this protocol. Increase this whenever the MessageFormatRequest or MessageFormatResponse changes. | ## Source Message diff --git a/docs/uk/msg_docs/MessageFormatResponse.md b/docs/uk/msg_docs/MessageFormatResponse.md index 4a92cbb530..74cff8625f 100644 --- a/docs/uk/msg_docs/MessageFormatResponse.md +++ b/docs/uk/msg_docs/MessageFormatResponse.md @@ -4,7 +4,7 @@ pageClass: is-wide-page # MessageFormatResponse (UORB message) -**TOPICS:** message_formatresponse +**TOPICS:** message_format_response ## Fields diff --git a/docs/uk/msg_docs/ModeCompleted.md b/docs/uk/msg_docs/ModeCompleted.md index a0fbade04a..7e1b79cc71 100644 --- a/docs/uk/msg_docs/ModeCompleted.md +++ b/docs/uk/msg_docs/ModeCompleted.md @@ -18,11 +18,11 @@ pageClass: is-wide-page ## Constants -| Назва | Тип | Значення | Опис | -| --------------------------------------------------------------------------------------------------- | -------- | -------- | ---------------------------------------------- | -| MESSAGE_VERSION | `uint32` | 0 | | -| RESULT_SUCCESS | `uint8` | 0 | | -| RESULT_FAILURE_OTHER | `uint8` | 100 | Mode failed (generic error) | +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------------------------------------- | -------- | -------- | ---------------------------------------------- | +| MESSAGE_VERSION | `uint32` | 0 | | +| RESULT_SUCCESS | `uint8` | 0 | | +| RESULT_FAILURE_OTHER | `uint8` | 100 | Mode failed (generic error) | ## Source Message diff --git a/docs/uk/msg_docs/NavigatorMissionItem.md b/docs/uk/msg_docs/NavigatorMissionItem.md index f4514dd297..0478e298bc 100644 --- a/docs/uk/msg_docs/NavigatorMissionItem.md +++ b/docs/uk/msg_docs/NavigatorMissionItem.md @@ -4,7 +4,7 @@ pageClass: is-wide-page # NavigatorMissionItem (UORB message) -**TOPICS:** navigator_missionitem +**TOPICS:** navigator_mission_item ## Fields diff --git a/docs/uk/msg_docs/NavigatorStatus.md b/docs/uk/msg_docs/NavigatorStatus.md index 3e0086ba8f..75525ee798 100644 --- a/docs/uk/msg_docs/NavigatorStatus.md +++ b/docs/uk/msg_docs/NavigatorStatus.md @@ -18,10 +18,10 @@ Current status of a Navigator mode. Можливі значення nav_state в ## Constants -| Назва | Тип | Значення | Опис | -| -------------------------------------------------------------- | ------- | -------- | --------------------------------------------------- | -| FAILURE_NONE | `uint8` | 0 | | -| FAILURE_HAGL | `uint8` | 1 | Target altitude exceeds maximum height above ground | +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------ | ------- | -------- | --------------------------------------------------- | +| FAILURE_NONE | `uint8` | 0 | | +| FAILURE_HAGL | `uint8` | 1 | Target altitude exceeds maximum height above ground | ## Source Message diff --git a/docs/uk/msg_docs/ObstacleDistance.md b/docs/uk/msg_docs/ObstacleDistance.md index de752880f8..e11f4c58de 100644 --- a/docs/uk/msg_docs/ObstacleDistance.md +++ b/docs/uk/msg_docs/ObstacleDistance.md @@ -23,15 +23,15 @@ pageClass: is-wide-page ## Constants -| Назва | Тип | Значення | Опис | -| -------------------------------------------------------------------------------------------------------------------------------------------- | ------- | -------- | ---- | -| MAV_FRAME_GLOBAL | `uint8` | 0 | | -| MAV_FRAME_LOCAL_NED | `uint8` | 1 | | -| MAV_FRAME_BODY_FRD | `uint8` | 12 | | -| MAV_DISTANCE_SENSOR_LASER | `uint8` | 0 | | -| MAV_DISTANCE_SENSOR_ULTRASOUND | `uint8` | 1 | | -| MAV_DISTANCE_SENSOR_INFRARED | `uint8` | 2 | | -| MAV_DISTANCE_SENSOR_RADAR | `uint8` | 3 | | +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------------------------------------------------------------------------------ | ------- | -------- | ---- | +| MAV_FRAME_GLOBAL | `uint8` | 0 | | +| MAV_FRAME_LOCAL_NED | `uint8` | 1 | | +| MAV_FRAME_BODY_FRD | `uint8` | 12 | | +| MAV_DISTANCE_SENSOR_LASER | `uint8` | 0 | | +| MAV_DISTANCE_SENSOR_ULTRASOUND | `uint8` | 1 | | +| MAV_DISTANCE_SENSOR_INFRARED | `uint8` | 2 | | +| MAV_DISTANCE_SENSOR_RADAR | `uint8` | 3 | | ## Source Message diff --git a/docs/uk/msg_docs/OffboardControlMode.md b/docs/uk/msg_docs/OffboardControlMode.md index 577e60c071..79a3118fef 100644 --- a/docs/uk/msg_docs/OffboardControlMode.md +++ b/docs/uk/msg_docs/OffboardControlMode.md @@ -6,7 +6,7 @@ pageClass: is-wide-page Off-board control mode. -**TOPICS:** offboard_controlmode +**TOPICS:** offboard_control_mode ## Fields diff --git a/docs/uk/msg_docs/OnboardComputerStatus.md b/docs/uk/msg_docs/OnboardComputerStatus.md index a432555f4e..b271a50d45 100644 --- a/docs/uk/msg_docs/OnboardComputerStatus.md +++ b/docs/uk/msg_docs/OnboardComputerStatus.md @@ -6,7 +6,7 @@ pageClass: is-wide-page ONBOARD_COMPUTER_STATUS message data. -**TOPICS:** onboard_computerstatus +**TOPICS:** onboard_computer_status ## Fields diff --git a/docs/uk/msg_docs/OpenDroneIdArmStatus.md b/docs/uk/msg_docs/OpenDroneIdArmStatus.md index 1d85568e59..9bafd98898 100644 --- a/docs/uk/msg_docs/OpenDroneIdArmStatus.md +++ b/docs/uk/msg_docs/OpenDroneIdArmStatus.md @@ -4,7 +4,7 @@ pageClass: is-wide-page # OpenDroneIdArmStatus (UORB message) -**TOPICS:** open_droneid_armstatus +**TOPICS:** open_drone_id_arm_status ## Fields diff --git a/docs/uk/msg_docs/OpenDroneIdOperatorId.md b/docs/uk/msg_docs/OpenDroneIdOperatorId.md index 1b5b11ac79..8c7d140048 100644 --- a/docs/uk/msg_docs/OpenDroneIdOperatorId.md +++ b/docs/uk/msg_docs/OpenDroneIdOperatorId.md @@ -4,7 +4,7 @@ pageClass: is-wide-page # OpenDroneIdOperatorId (UORB message) -**TOPICS:** open_droneid_operatorid +**TOPICS:** open_drone_id_operator_id ## Fields diff --git a/docs/uk/msg_docs/OpenDroneIdSelfId.md b/docs/uk/msg_docs/OpenDroneIdSelfId.md index cb2f0cae80..66169b2cf5 100644 --- a/docs/uk/msg_docs/OpenDroneIdSelfId.md +++ b/docs/uk/msg_docs/OpenDroneIdSelfId.md @@ -4,7 +4,7 @@ pageClass: is-wide-page # OpenDroneIdSelfId (UORB message) -**TOPICS:** open_droneid_selfid +**TOPICS:** open_drone_id_self_id ## Fields diff --git a/docs/uk/msg_docs/OpenDroneIdSystem.md b/docs/uk/msg_docs/OpenDroneIdSystem.md index c899b8b4e5..e750d9fcdb 100644 --- a/docs/uk/msg_docs/OpenDroneIdSystem.md +++ b/docs/uk/msg_docs/OpenDroneIdSystem.md @@ -4,7 +4,7 @@ pageClass: is-wide-page # OpenDroneIdSystem (UORB message) -**TOPICS:** open_droneid_system +**TOPICS:** open_drone_id_system ## Fields diff --git a/docs/uk/msg_docs/OrbTestLarge.md b/docs/uk/msg_docs/OrbTestLarge.md index fc87d53530..ad335b4624 100644 --- a/docs/uk/msg_docs/OrbTestLarge.md +++ b/docs/uk/msg_docs/OrbTestLarge.md @@ -4,7 +4,7 @@ pageClass: is-wide-page # OrbTestLarge (повідомлення UORB) -**TOPICS:** orb_testlarge +**TOPICS:** orb_test_large ## Fields diff --git a/docs/uk/msg_docs/OrbTestMedium.md b/docs/uk/msg_docs/OrbTestMedium.md index abc66d468e..30fe74931f 100644 --- a/docs/uk/msg_docs/OrbTestMedium.md +++ b/docs/uk/msg_docs/OrbTestMedium.md @@ -16,9 +16,9 @@ pageClass: is-wide-page ## Constants -| Назва | Тип | Значення | Опис | -| ------------------------------------------------------------------------------------------- | ------- | -------- | ---- | -| ORB_QUEUE_LENGTH | `uint8` | 16 | | +| Назва | Тип | Значення | Опис | +| ----------------------------------------------------------------------------------------- | ------- | -------- | ---- | +| ORB_QUEUE_LENGTH | `uint8` | 16 | | ## Source Message diff --git a/docs/uk/msg_docs/OrbitStatus.md b/docs/uk/msg_docs/OrbitStatus.md index 1965efea4e..eeb6d28db0 100644 --- a/docs/uk/msg_docs/OrbitStatus.md +++ b/docs/uk/msg_docs/OrbitStatus.md @@ -22,14 +22,14 @@ ORBIT_YAW_BEHAVIOUR. ## Constants -| Назва | Тип | Значення | Опис | -| -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | -------- | ---- | -| ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TO_CIRCLE_CENTER | `uint8` | 0 | | -| ORBIT_YAW_BEHAVIOUR_HOLD_INITIAL_HEADING | `uint8` | 1 | | -| ORBIT_YAW_BEHAVIOUR_UNCONTROLLED | `uint8` | 2 | | -| ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TANGENT_TO_CIRCLE | `uint8` | 3 | | -| ORBIT_YAW_BEHAVIOUR_RC_CONTROLLED | `uint8` | 4 | | -| ORBIT_YAW_BEHAVIOUR_UNCHANGED | `uint8` | 5 | | +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | ------- | -------- | ---- | +| ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TO_CIRCLE_CENTER | `uint8` | 0 | | +| ORBIT_YAW_BEHAVIOUR_HOLD_INITIAL_HEADING | `uint8` | 1 | | +| ORBIT_YAW_BEHAVIOUR_UNCONTROLLED | `uint8` | 2 | | +| ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TANGENT_TO_CIRCLE | `uint8` | 3 | | +| ORBIT_YAW_BEHAVIOUR_RC_CONTROLLED | `uint8` | 4 | | +| ORBIT_YAW_BEHAVIOUR_UNCHANGED | `uint8` | 5 | | ## Source Message diff --git a/docs/uk/msg_docs/ParameterResetRequest.md b/docs/uk/msg_docs/ParameterResetRequest.md index a8561069aa..d1aea3f4b7 100644 --- a/docs/uk/msg_docs/ParameterResetRequest.md +++ b/docs/uk/msg_docs/ParameterResetRequest.md @@ -6,7 +6,7 @@ pageClass: is-wide-page ParameterResetRequest : Used by the primary to reset one or all parameter value(s) on the remote. -**TOPICS:** parameter_resetrequest +**TOPICS:** parameter_reset_request ## Fields @@ -18,9 +18,9 @@ ParameterResetRequest : Used by the primary to reset one or all parameter value( ## Constants -| Назва | Тип | Значення | Опис | -| ------------------------------------------------------------------------------------------- | ------- | -------- | ---- | -| ORB_QUEUE_LENGTH | `uint8` | 4 | | +| Назва | Тип | Значення | Опис | +| ----------------------------------------------------------------------------------------- | ------- | -------- | ---- | +| ORB_QUEUE_LENGTH | `uint8` | 4 | | ## Source Message diff --git a/docs/uk/msg_docs/ParameterSetUsedRequest.md b/docs/uk/msg_docs/ParameterSetUsedRequest.md index cab7fd68c2..fd26f6e4e9 100644 --- a/docs/uk/msg_docs/ParameterSetUsedRequest.md +++ b/docs/uk/msg_docs/ParameterSetUsedRequest.md @@ -6,7 +6,7 @@ pageClass: is-wide-page ParameterSetUsedRequest : Used by a remote to update the used flag for a parameter on the primary. -**TOPICS:** parameter_setused_request +**TOPICS:** parameter_set_used_request ## Fields @@ -17,9 +17,9 @@ ParameterSetUsedRequest : Used by a remote to update the used flag for a paramet ## Constants -| Назва | Тип | Значення | Опис | -| ------------------------------------------------------------------------------------------- | ------- | -------- | ---- | -| ORB_QUEUE_LENGTH | `uint8` | 64 | | +| Назва | Тип | Значення | Опис | +| ----------------------------------------------------------------------------------------- | ------- | -------- | ---- | +| ORB_QUEUE_LENGTH | `uint8` | 64 | | ## Source Message diff --git a/docs/uk/msg_docs/ParameterSetValueRequest.md b/docs/uk/msg_docs/ParameterSetValueRequest.md index 71365d6507..69540d404c 100644 --- a/docs/uk/msg_docs/ParameterSetValueRequest.md +++ b/docs/uk/msg_docs/ParameterSetValueRequest.md @@ -19,9 +19,9 @@ ParameterSetValueRequest : Used by a remote or primary to update the value for a ## Constants -| Назва | Тип | Значення | Опис | -| ------------------------------------------------------------------------------------------- | ------- | -------- | ---- | -| ORB_QUEUE_LENGTH | `uint8` | 32 | | +| Назва | Тип | Значення | Опис | +| ----------------------------------------------------------------------------------------- | ------- | -------- | ---- | +| ORB_QUEUE_LENGTH | `uint8` | 32 | | ## Source Message diff --git a/docs/uk/msg_docs/ParameterSetValueResponse.md b/docs/uk/msg_docs/ParameterSetValueResponse.md index 3f09e4ea8c..77010b5479 100644 --- a/docs/uk/msg_docs/ParameterSetValueResponse.md +++ b/docs/uk/msg_docs/ParameterSetValueResponse.md @@ -18,9 +18,9 @@ ParameterSetValueResponse : Response to a set value request by either primary or ## Constants -| Назва | Тип | Значення | Опис | -| ------------------------------------------------------------------------------------------- | ------- | -------- | ---- | -| ORB_QUEUE_LENGTH | `uint8` | 4 | | +| Назва | Тип | Значення | Опис | +| ----------------------------------------------------------------------------------------- | ------- | -------- | ---- | +| ORB_QUEUE_LENGTH | `uint8` | 4 | | ## Source Message diff --git a/docs/uk/msg_docs/PositionControllerLandingStatus.md b/docs/uk/msg_docs/PositionControllerLandingStatus.md index 0be7fbf0eb..d1e70e3918 100644 --- a/docs/uk/msg_docs/PositionControllerLandingStatus.md +++ b/docs/uk/msg_docs/PositionControllerLandingStatus.md @@ -4,7 +4,7 @@ pageClass: is-wide-page # PositionControllerLandingStatus (UORB message) -**TOPICS:** position_controllerlanding_status +**TOPICS:** position_controller_landing_status ## Fields @@ -17,13 +17,13 @@ pageClass: is-wide-page ## Constants -| Назва | Тип | Значення | Опис | -| --------------------------------------------------------------------------------------------------------- | ------- | -------- | ------------------------------------------------------------------------------------------------------------------------------------ | -| NOT_ABORTED | `uint8` | 0 | | -| ABORTED_BY_OPERATOR | `uint8` | 1 | | -| TERRAIN_NOT_FOUND | `uint8` | 2 | FW_LND_ABORT (1 << 0) | -| TERRAIN_TIMEOUT | `uint8` | 3 | FW_LND_ABORT (1 << 1) | -| UNKNOWN_ABORT_CRITERION | `uint8` | 4 | | +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------------------------------------------- | ------- | -------- | ------------------------------------------------------------------------------------------------------------------------------------ | +| NOT_ABORTED | `uint8` | 0 | | +| ABORTED_BY_OPERATOR | `uint8` | 1 | | +| TERRAIN_NOT_FOUND | `uint8` | 2 | FW_LND_ABORT (1 << 0) | +| TERRAIN_TIMEOUT | `uint8` | 3 | FW_LND_ABORT (1 << 1) | +| UNKNOWN_ABORT_CRITERION | `uint8` | 4 | | ## Source Message diff --git a/docs/uk/msg_docs/PositionControllerStatus.md b/docs/uk/msg_docs/PositionControllerStatus.md index 78bab1a3c6..cdde8f53c6 100644 --- a/docs/uk/msg_docs/PositionControllerStatus.md +++ b/docs/uk/msg_docs/PositionControllerStatus.md @@ -4,7 +4,7 @@ pageClass: is-wide-page # PositionControllerStatus (UORB message) -**TOPICS:** position_controllerstatus +**TOPICS:** position_controller_status ## Fields diff --git a/docs/uk/msg_docs/PositionSetpoint.md b/docs/uk/msg_docs/PositionSetpoint.md index c6b3cb23bb..af318bf176 100644 --- a/docs/uk/msg_docs/PositionSetpoint.md +++ b/docs/uk/msg_docs/PositionSetpoint.md @@ -35,16 +35,16 @@ this file is only used in the position_setpoint triple as a dependency. ## Constants -| Назва | Тип | Значення | Опис | -| --------------------------------------------------------------------------------------------------------- | ------- | -------- | --------------------------------------------------------------------------- | -| SETPOINT_TYPE_POSITION | `uint8` | 0 | position setpoint | -| SETPOINT_TYPE_VELOCITY | `uint8` | 1 | velocity setpoint | -| SETPOINT_TYPE_LOITER | `uint8` | 2 | loiter setpoint | -| SETPOINT_TYPE_TAKEOFF | `uint8` | 3 | takeoff setpoint | -| SETPOINT_TYPE_LAND | `uint8` | 4 | land setpoint, altitude must be ignored, descend until landing | -| SETPOINT_TYPE_IDLE | `uint8` | 5 | do nothing, switch off motors or keep at idle speed (MC) | -| LOITER_TYPE_ORBIT | `uint8` | 0 | Circular pattern | -| LOITER_TYPE_FIGUREEIGHT | `uint8` | 1 | Pattern resembling an 8 | +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------------------------------------------- | ------- | -------- | --------------------------------------------------------------------------- | +| SETPOINT_TYPE_POSITION | `uint8` | 0 | position setpoint | +| SETPOINT_TYPE_VELOCITY | `uint8` | 1 | velocity setpoint | +| SETPOINT_TYPE_LOITER | `uint8` | 2 | loiter setpoint | +| SETPOINT_TYPE_TAKEOFF | `uint8` | 3 | takeoff setpoint | +| SETPOINT_TYPE_LAND | `uint8` | 4 | land setpoint, altitude must be ignored, descend until landing | +| SETPOINT_TYPE_IDLE | `uint8` | 5 | do nothing, switch off motors or keep at idle speed (MC) | +| LOITER_TYPE_ORBIT | `uint8` | 0 | Circular pattern | +| LOITER_TYPE_FIGUREEIGHT | `uint8` | 1 | Pattern resembling an 8 | ## Source Message diff --git a/docs/uk/msg_docs/PositionSetpointTriplet.md b/docs/uk/msg_docs/PositionSetpointTriplet.md index c8fcead679..c8482d7fe6 100644 --- a/docs/uk/msg_docs/PositionSetpointTriplet.md +++ b/docs/uk/msg_docs/PositionSetpointTriplet.md @@ -6,7 +6,7 @@ pageClass: is-wide-page Глобальний набір точки встановлення у форматі координат WGS84. Ось наступні три способи вказівань (або просто наступні два або один). -**TOPICS:** position_setpointtriplet +**TOPICS:** position_setpoint_triplet ## Fields diff --git a/docs/uk/msg_docs/PowerButtonState.md b/docs/uk/msg_docs/PowerButtonState.md index 42f9ee30dc..49d8fc30c8 100644 --- a/docs/uk/msg_docs/PowerButtonState.md +++ b/docs/uk/msg_docs/PowerButtonState.md @@ -6,7 +6,7 @@ pageClass: is-wide-page power button state notification message. -**TOPICS:** power_buttonstate +**TOPICS:** power_button_state ## Fields @@ -17,12 +17,12 @@ power button state notification message. ## Constants -| Назва | Тип | Значення | Опис | -| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | -------- | ------------------------------------------------------------------------------------------ | -| PWR_BUTTON_STATE_IDEL | `uint8` | 0 | Button went up without meeting shutdown button down time (delete event) | -| PWR_BUTTON_STATE_DOWN | `uint8` | 1 | Button went Down | -| PWR_BUTTON_STATE_UP | `uint8` | 2 | Button went Up | -| PWR_BUTTON_STATE_REQUEST_SHUTDOWN | `uint8` | 3 | Button went Up after meeting shutdown button down time | +| Назва | Тип | Значення | Опис | +| --------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | -------- | ------------------------------------------------------------------------------------------ | +| PWR_BUTTON_STATE_IDEL | `uint8` | 0 | Button went up without meeting shutdown button down time (delete event) | +| PWR_BUTTON_STATE_DOWN | `uint8` | 1 | Button went Down | +| PWR_BUTTON_STATE_UP | `uint8` | 2 | Button went Up | +| PWR_BUTTON_STATE_REQUEST_SHUTDOWN | `uint8` | 3 | Button went Up after meeting shutdown button down time | ## Source Message diff --git a/docs/uk/msg_docs/PurePursuitStatus.md b/docs/uk/msg_docs/PurePursuitStatus.md index 9d4a1fb10f..c803722e9b 100644 --- a/docs/uk/msg_docs/PurePursuitStatus.md +++ b/docs/uk/msg_docs/PurePursuitStatus.md @@ -6,7 +6,7 @@ pageClass: is-wide-page Pure pursuit status. -**TOPICS:** pure_pursuitstatus +**TOPICS:** pure_pursuit_status ## Fields diff --git a/docs/uk/msg_docs/QshellReq.md b/docs/uk/msg_docs/QshellReq.md index b755c7e26c..30c1adcc55 100644 --- a/docs/uk/msg_docs/QshellReq.md +++ b/docs/uk/msg_docs/QshellReq.md @@ -17,9 +17,9 @@ pageClass: is-wide-page ## Constants -| Назва | Тип | Значення | Опис | -| ---------------------------------------------------------- | -------- | -------- | ---- | -| MAX_STRLEN | `uint32` | 100 | | +| Назва | Тип | Значення | Опис | +| -------------------------------------------------------- | -------- | -------- | ---- | +| MAX_STRLEN | `uint32` | 100 | | ## Source Message diff --git a/docs/uk/msg_docs/RaptorInput.md b/docs/uk/msg_docs/RaptorInput.md index 61b245273c..9156c2716b 100644 --- a/docs/uk/msg_docs/RaptorInput.md +++ b/docs/uk/msg_docs/RaptorInput.md @@ -23,10 +23,10 @@ Raptor Input. ## Constants -| Назва | Тип | Значення | Опис | -| -------------------------------------------------------------------- | -------- | -------- | ---------------------------------------------------------------- | -| MESSAGE_VERSION | `uint32` | 0 | | -| ACTION_DIM | `uint8` | 4 | Policy output dimensionality (for quadrotors) | +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------ | -------- | -------- | ---------------------------------------------------------------- | +| MESSAGE_VERSION | `uint32` | 0 | | +| ACTION_DIM | `uint8` | 4 | Policy output dimensionality (for quadrotors) | ## Source Message diff --git a/docs/uk/msg_docs/RaptorStatus.md b/docs/uk/msg_docs/RaptorStatus.md index 1571ee94b6..3cff868bc9 100644 --- a/docs/uk/msg_docs/RaptorStatus.md +++ b/docs/uk/msg_docs/RaptorStatus.md @@ -39,16 +39,16 @@ Raptor Status. ## Constants -| Назва | Тип | Значення | Опис | -| ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | -------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -| MESSAGE_VERSION | `uint32` | 0 | | -| EXIT_REASON_NONE | `uint8` | 0 | No exit reason => Raptor control step was executed (actuator_motors should have been published) | -| EXIT_REASON_NO_ANGULAR_VELOCITY_UPDATE | `uint8` | 1 | We synchronize the control onto the input observation with the highest update frequency, which is vehicle_angular_velocity. If there was no update, we do not need to execute the policy again | -| EXIT_REASON_NOT_ALL_OBSERVATIONS_SET | `uint8` | 2 | We can not execute the policy if not all observations are available | -| EXIT_REASON_ANGULAR_VELOCITY_STALE | `uint8` | 3 | If OBSERVATION_TIMEOUT_ANGULAR_VELOCITY is exceeded, we treat the vehicle_angular_velocity as stale and can not run the policy | -| EXIT_REASON_LOCAL_POSITION_STALE | `uint8` | 4 | If OBSERVATION_TIMEOUT_LOCAL_POSITION is exceeded, we treat the vehicle_local_position as stale and can not run the policy | -| EXIT_REASON_ATTITUDE_STALE | `uint8` | 5 | If OBSERVATION_TIMEOUT_ATTITUDE is exceeded, we treat the vehicle_attitude as stale and can not run the policy | -| EXIT_REASON_EXECUTOR_STATUS_SOURCE_NOT_CONTROL | `uint8` | 6 | The executor that runs the policy can run in oversampling mode, where it decides if the policy should be ran based on the timestamp and not based on fixed synchronization onto the vehicle_angular_velocity. In this case the executor can decide to skip running the policy if the interval is too small, in which case this flag is set. | +| Назва | Тип | Значення | Опис | +| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | -------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| MESSAGE_VERSION | `uint32` | 0 | | +| EXIT_REASON_NONE | `uint8` | 0 | No exit reason => Raptor control step was executed (actuator_motors should have been published) | +| EXIT_REASON_NO_ANGULAR_VELOCITY_UPDATE | `uint8` | 1 | We synchronize the control onto the input observation with the highest update frequency, which is vehicle_angular_velocity. If there was no update, we do not need to execute the policy again | +| EXIT_REASON_NOT_ALL_OBSERVATIONS_SET | `uint8` | 2 | We can not execute the policy if not all observations are available | +| EXIT_REASON_ANGULAR_VELOCITY_STALE | `uint8` | 3 | If OBSERVATION_TIMEOUT_ANGULAR_VELOCITY is exceeded, we treat the vehicle_angular_velocity as stale and can not run the policy | +| EXIT_REASON_LOCAL_POSITION_STALE | `uint8` | 4 | If OBSERVATION_TIMEOUT_LOCAL_POSITION is exceeded, we treat the vehicle_local_position as stale and can not run the policy | +| EXIT_REASON_ATTITUDE_STALE | `uint8` | 5 | If OBSERVATION_TIMEOUT_ATTITUDE is exceeded, we treat the vehicle_attitude as stale and can not run the policy | +| EXIT_REASON_EXECUTOR_STATUS_SOURCE_NOT_CONTROL | `uint8` | 6 | The executor that runs the policy can run in oversampling mode, where it decides if the policy should be ran based on the timestamp and not based on fixed synchronization onto the vehicle_angular_velocity. In this case the executor can decide to skip running the policy if the interval is too small, in which case this flag is set. | ## Source Message diff --git a/docs/uk/msg_docs/RateCtrlStatus.md b/docs/uk/msg_docs/RateCtrlStatus.md index 7a18bafbe2..b952edc1aa 100644 --- a/docs/uk/msg_docs/RateCtrlStatus.md +++ b/docs/uk/msg_docs/RateCtrlStatus.md @@ -4,7 +4,7 @@ pageClass: is-wide-page # RateCtrlStatus (UORB message) -**TOPICS:** rate_ctrlstatus +**TOPICS:** rate_ctrl_status ## Fields diff --git a/docs/uk/msg_docs/RcChannels.md b/docs/uk/msg_docs/RcChannels.md index c67d76b026..270bd8452d 100644 --- a/docs/uk/msg_docs/RcChannels.md +++ b/docs/uk/msg_docs/RcChannels.md @@ -21,39 +21,39 @@ pageClass: is-wide-page ## Constants -| Назва | Тип | Значення | Опис | -| ------------------------------------------------------------------------------------------------------------------------------------ | ------- | -------- | ---- | -| FUNCTION_THROTTLE | `uint8` | 0 | | -| FUNCTION_ROLL | `uint8` | 1 | | -| FUNCTION_PITCH | `uint8` | 2 | | -| FUNCTION_YAW | `uint8` | 3 | | -| FUNCTION_RETURN | `uint8` | 4 | | -| FUNCTION_LOITER | `uint8` | 5 | | -| FUNCTION_OFFBOARD | `uint8` | 6 | | -| FUNCTION_FLAPS | `uint8` | 7 | | -| FUNCTION_AUX_1 | `uint8` | 8 | | -| FUNCTION_AUX_2 | `uint8` | 9 | | -| FUNCTION_AUX_3 | `uint8` | 10 | | -| FUNCTION_AUX_4 | `uint8` | 11 | | -| FUNCTION_AUX_5 | `uint8` | 12 | | -| FUNCTION_AUX_6 | `uint8` | 13 | | -| FUNCTION_PARAM_1 | `uint8` | 14 | | -| FUNCTION_PARAM_2 | `uint8` | 15 | | -| FUNCTION_PARAM_3_5 | `uint8` | 16 | | -| FUNCTION_KILLSWITCH | `uint8` | 17 | | -| FUNCTION_TRANSITION | `uint8` | 18 | | -| FUNCTION_GEAR | `uint8` | 19 | | -| FUNCTION_ARMSWITCH | `uint8` | 20 | | -| FUNCTION_FLTBTN_SLOT_1 | `uint8` | 21 | | -| FUNCTION_FLTBTN_SLOT_2 | `uint8` | 22 | | -| FUNCTION_FLTBTN_SLOT_3 | `uint8` | 23 | | -| FUNCTION_FLTBTN_SLOT_4 | `uint8` | 24 | | -| FUNCTION_FLTBTN_SLOT_5 | `uint8` | 25 | | -| FUNCTION_FLTBTN_SLOT_6 | `uint8` | 26 | | -| FUNCTION_ENGAGE_MAIN_MOTOR | `uint8` | 27 | | -| FUNCTION_PAYLOAD_POWER | `uint8` | 28 | | -| FUNCTION_TERMINATION | `uint8` | 29 | | -| FUNCTION_FLTBTN_SLOT_COUNT | `uint8` | 6 | | +| Назва | Тип | Значення | Опис | +| ---------------------------------------------------------------------------------------------------------------------------------- | ------- | -------- | ---- | +| FUNCTION_THROTTLE | `uint8` | 0 | | +| FUNCTION_ROLL | `uint8` | 1 | | +| FUNCTION_PITCH | `uint8` | 2 | | +| FUNCTION_YAW | `uint8` | 3 | | +| FUNCTION_RETURN | `uint8` | 4 | | +| FUNCTION_LOITER | `uint8` | 5 | | +| FUNCTION_OFFBOARD | `uint8` | 6 | | +| FUNCTION_FLAPS | `uint8` | 7 | | +| FUNCTION_AUX_1 | `uint8` | 8 | | +| FUNCTION_AUX_2 | `uint8` | 9 | | +| FUNCTION_AUX_3 | `uint8` | 10 | | +| FUNCTION_AUX_4 | `uint8` | 11 | | +| FUNCTION_AUX_5 | `uint8` | 12 | | +| FUNCTION_AUX_6 | `uint8` | 13 | | +| FUNCTION_PARAM_1 | `uint8` | 14 | | +| FUNCTION_PARAM_2 | `uint8` | 15 | | +| FUNCTION_PARAM_3_5 | `uint8` | 16 | | +| FUNCTION_KILLSWITCH | `uint8` | 17 | | +| FUNCTION_TRANSITION | `uint8` | 18 | | +| FUNCTION_GEAR | `uint8` | 19 | | +| FUNCTION_ARMSWITCH | `uint8` | 20 | | +| FUNCTION_FLTBTN_SLOT_1 | `uint8` | 21 | | +| FUNCTION_FLTBTN_SLOT_2 | `uint8` | 22 | | +| FUNCTION_FLTBTN_SLOT_3 | `uint8` | 23 | | +| FUNCTION_FLTBTN_SLOT_4 | `uint8` | 24 | | +| FUNCTION_FLTBTN_SLOT_5 | `uint8` | 25 | | +| FUNCTION_FLTBTN_SLOT_6 | `uint8` | 26 | | +| FUNCTION_ENGAGE_MAIN_MOTOR | `uint8` | 27 | | +| FUNCTION_PAYLOAD_POWER | `uint8` | 28 | | +| FUNCTION_TERMINATION | `uint8` | 29 | | +| FUNCTION_FLTBTN_SLOT_COUNT | `uint8` | 6 | | ## Source Message diff --git a/docs/uk/msg_docs/RcParameterMap.md b/docs/uk/msg_docs/RcParameterMap.md index f8221f20c4..8978eeb8cb 100644 --- a/docs/uk/msg_docs/RcParameterMap.md +++ b/docs/uk/msg_docs/RcParameterMap.md @@ -4,7 +4,7 @@ pageClass: is-wide-page # RcParameterMap (UORB message) -**TOPICS:** rc_parametermap +**TOPICS:** rc_parameter_map ## Fields @@ -21,10 +21,10 @@ pageClass: is-wide-page ## Constants -| Назва | Тип | Значення | Опис | -| -------------------------------------------------------------------------------------------------------------------- | ------- | -------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | -| RC_PARAM_MAP_NCHAN | `uint8` | 3 | This limit is also hardcoded in the enum RC_CHANNELS_FUNCTION in rc_channels.h | -| PARAM_ID_LEN | `uint8` | 16 | corresponds to MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN | +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------------------------------------------------------ | ------- | -------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | +| RC_PARAM_MAP_NCHAN | `uint8` | 3 | This limit is also hardcoded in the enum RC_CHANNELS_FUNCTION in rc_channels.h | +| PARAM_ID_LEN | `uint8` | 16 | corresponds to MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN | ## Source Message diff --git a/docs/uk/msg_docs/RegisterExtComponentReply.md b/docs/uk/msg_docs/RegisterExtComponentReply.md index 8637164989..3863499e03 100644 --- a/docs/uk/msg_docs/RegisterExtComponentReply.md +++ b/docs/uk/msg_docs/RegisterExtComponentReply.md @@ -4,7 +4,7 @@ pageClass: is-wide-page # RegisterExtComponentReply (UORB message) -**TOPICS:** register_extcomponent_reply +**TOPICS:** register_ext_component_reply ## Fields @@ -22,10 +22,10 @@ pageClass: is-wide-page ## Constants -| Назва | Тип | Значення | Опис | -| ------------------------------------------------------------------------------------------- | -------- | -------- | ---- | -| MESSAGE_VERSION | `uint32` | 1 | | -| ORB_QUEUE_LENGTH | `uint8` | 2 | | +| Назва | Тип | Значення | Опис | +| ----------------------------------------------------------------------------------------- | -------- | -------- | ---- | +| MESSAGE_VERSION | `uint32` | 1 | | +| ORB_QUEUE_LENGTH | `uint8` | 2 | | ## Source Message diff --git a/docs/uk/msg_docs/RegisterExtComponentReplyV0.md b/docs/uk/msg_docs/RegisterExtComponentReplyV0.md index 702ea517d2..7c2af9fe7e 100644 --- a/docs/uk/msg_docs/RegisterExtComponentReplyV0.md +++ b/docs/uk/msg_docs/RegisterExtComponentReplyV0.md @@ -4,7 +4,7 @@ pageClass: is-wide-page # RegisterExtComponentReplyV0 (UORB message) -**TOPICS:** register_extcomponent_replyv0 +**TOPICS:** register_ext_component_reply_v0 ## Fields @@ -21,10 +21,10 @@ pageClass: is-wide-page ## Constants -| Назва | Тип | Значення | Опис | -| ------------------------------------------------------------------------------------------- | -------- | -------- | ---- | -| MESSAGE_VERSION | `uint32` | 0 | | -| ORB_QUEUE_LENGTH | `uint8` | 2 | | +| Назва | Тип | Значення | Опис | +| ----------------------------------------------------------------------------------------- | -------- | -------- | ---- | +| MESSAGE_VERSION | `uint32` | 0 | | +| ORB_QUEUE_LENGTH | `uint8` | 2 | | ## Source Message diff --git a/docs/uk/msg_docs/RegisterExtComponentRequest.md b/docs/uk/msg_docs/RegisterExtComponentRequest.md index 95e2c41846..633218124e 100644 --- a/docs/uk/msg_docs/RegisterExtComponentRequest.md +++ b/docs/uk/msg_docs/RegisterExtComponentRequest.md @@ -6,7 +6,7 @@ pageClass: is-wide-page Request to register an external component. -**TOPICS:** register_extcomponent_request +**TOPICS:** register_ext_component_request ## Fields @@ -26,11 +26,11 @@ Request to register an external component. ## Constants -| Назва | Тип | Значення | Опис | -| ----------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | -------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -| MESSAGE_VERSION | `uint32` | 1 | | -| LATEST_PX4_ROS2_API_VERSION | `uint16` | 1 | API version compatibility. Increase this on a breaking semantic change. Changes to any message field are detected separately and do not require an API version change. | -| ORB_QUEUE_LENGTH | `uint8` | 2 | | +| Назва | Тип | Значення | Опис | +| --------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | -------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| MESSAGE_VERSION | `uint32` | 1 | | +| LATEST_PX4_ROS2_API_VERSION | `uint16` | 1 | API version compatibility. Increase this on a breaking semantic change. Changes to any message field are detected separately and do not require an API version change. | +| ORB_QUEUE_LENGTH | `uint8` | 2 | | ## Source Message diff --git a/docs/uk/msg_docs/RegisterExtComponentRequestV0.md b/docs/uk/msg_docs/RegisterExtComponentRequestV0.md index a7968cc80d..09c8671ac2 100644 --- a/docs/uk/msg_docs/RegisterExtComponentRequestV0.md +++ b/docs/uk/msg_docs/RegisterExtComponentRequestV0.md @@ -6,7 +6,7 @@ pageClass: is-wide-page Request to register an external component. -**TOPICS:** register_extcomponent_requestv0 +**TOPICS:** register_ext_component_request_v0 ## Fields @@ -25,11 +25,11 @@ Request to register an external component. ## Constants -| Назва | Тип | Значення | Опис | -| ----------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | -------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -| MESSAGE_VERSION | `uint32` | 0 | | -| LATEST_PX4_ROS2_API_VERSION | `uint16` | 1 | API version compatibility. Increase this on a breaking semantic change. Changes to any message field are detected separately and do not require an API version change. | -| ORB_QUEUE_LENGTH | `uint8` | 2 | | +| Назва | Тип | Значення | Опис | +| --------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | -------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| MESSAGE_VERSION | `uint32` | 0 | | +| LATEST_PX4_ROS2_API_VERSION | `uint16` | 1 | API version compatibility. Increase this on a breaking semantic change. Changes to any message field are detected separately and do not require an API version change. | +| ORB_QUEUE_LENGTH | `uint8` | 2 | | ## Source Message diff --git a/docs/uk/msg_docs/RoverAttitudeSetpoint.md b/docs/uk/msg_docs/RoverAttitudeSetpoint.md index ed0dd961e4..3b4d0676f5 100644 --- a/docs/uk/msg_docs/RoverAttitudeSetpoint.md +++ b/docs/uk/msg_docs/RoverAttitudeSetpoint.md @@ -6,7 +6,7 @@ pageClass: is-wide-page Rover Attitude Setpoint. -**TOPICS:** rover_attitudesetpoint +**TOPICS:** rover_attitude_setpoint ## Fields diff --git a/docs/uk/msg_docs/RoverAttitudeStatus.md b/docs/uk/msg_docs/RoverAttitudeStatus.md index 189f32e279..499bc02edb 100644 --- a/docs/uk/msg_docs/RoverAttitudeStatus.md +++ b/docs/uk/msg_docs/RoverAttitudeStatus.md @@ -6,7 +6,7 @@ pageClass: is-wide-page Rover Attitude Status. -**TOPICS:** rover_attitudestatus +**TOPICS:** rover_attitude_status ## Fields diff --git a/docs/uk/msg_docs/RoverPositionSetpoint.md b/docs/uk/msg_docs/RoverPositionSetpoint.md index 82f726026d..ff03dd395f 100644 --- a/docs/uk/msg_docs/RoverPositionSetpoint.md +++ b/docs/uk/msg_docs/RoverPositionSetpoint.md @@ -6,7 +6,7 @@ pageClass: is-wide-page Rover Position Setpoint. -**TOPICS:** rover_positionsetpoint +**TOPICS:** rover_position_setpoint ## Fields diff --git a/docs/uk/msg_docs/RoverRateSetpoint.md b/docs/uk/msg_docs/RoverRateSetpoint.md index 2db7c145fb..87d1035870 100644 --- a/docs/uk/msg_docs/RoverRateSetpoint.md +++ b/docs/uk/msg_docs/RoverRateSetpoint.md @@ -6,7 +6,7 @@ pageClass: is-wide-page Rover Rate setpoint. -**TOPICS:** rover_ratesetpoint +**TOPICS:** rover_rate_setpoint ## Fields diff --git a/docs/uk/msg_docs/RoverRateStatus.md b/docs/uk/msg_docs/RoverRateStatus.md index b5f35b0d9e..115ca78608 100644 --- a/docs/uk/msg_docs/RoverRateStatus.md +++ b/docs/uk/msg_docs/RoverRateStatus.md @@ -6,7 +6,7 @@ pageClass: is-wide-page Rover Rate Status. -**TOPICS:** rover_ratestatus +**TOPICS:** rover_rate_status ## Fields diff --git a/docs/uk/msg_docs/RoverSpeedSetpoint.md b/docs/uk/msg_docs/RoverSpeedSetpoint.md index 82f033e7bf..6927a5fc53 100644 --- a/docs/uk/msg_docs/RoverSpeedSetpoint.md +++ b/docs/uk/msg_docs/RoverSpeedSetpoint.md @@ -6,7 +6,7 @@ pageClass: is-wide-page Rover Speed Setpoint. -**TOPICS:** rover_speedsetpoint +**TOPICS:** rover_speed_setpoint ## Fields diff --git a/docs/uk/msg_docs/RoverSpeedStatus.md b/docs/uk/msg_docs/RoverSpeedStatus.md index 6184ecd469..019e3a8fc3 100644 --- a/docs/uk/msg_docs/RoverSpeedStatus.md +++ b/docs/uk/msg_docs/RoverSpeedStatus.md @@ -6,7 +6,7 @@ pageClass: is-wide-page Rover Velocity Status. -**TOPICS:** rover_speedstatus +**TOPICS:** rover_speed_status ## Fields diff --git a/docs/uk/msg_docs/RoverSteeringSetpoint.md b/docs/uk/msg_docs/RoverSteeringSetpoint.md index bd9207cb3d..7fdd9107b1 100644 --- a/docs/uk/msg_docs/RoverSteeringSetpoint.md +++ b/docs/uk/msg_docs/RoverSteeringSetpoint.md @@ -6,7 +6,7 @@ pageClass: is-wide-page Rover Steering setpoint. -**TOPICS:** rover_steeringsetpoint +**TOPICS:** rover_steering_setpoint ## Fields diff --git a/docs/uk/msg_docs/RoverThrottleSetpoint.md b/docs/uk/msg_docs/RoverThrottleSetpoint.md index 66ac614829..98b6ec4ec0 100644 --- a/docs/uk/msg_docs/RoverThrottleSetpoint.md +++ b/docs/uk/msg_docs/RoverThrottleSetpoint.md @@ -6,7 +6,7 @@ pageClass: is-wide-page Rover Throttle setpoint. -**TOPICS:** rover_throttlesetpoint +**TOPICS:** rover_throttle_setpoint ## Fields diff --git a/docs/uk/msg_docs/RtlStatus.md b/docs/uk/msg_docs/RtlStatus.md index ac671fb244..ed12f9e0e1 100644 --- a/docs/uk/msg_docs/RtlStatus.md +++ b/docs/uk/msg_docs/RtlStatus.md @@ -19,13 +19,13 @@ pageClass: is-wide-page ## Constants -| Назва | Тип | Значення | Опис | -| ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | ------- | -------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -| RTL_STATUS_TYPE_NONE | `uint8` | 0 | pending if evaluation can't pe performed currently e.g. when it is still loading the safe points | -| RTL_STATUS_TYPE_DIRECT_SAFE_POINT | `uint8` | 1 | chosen to directly go to a safe point or home position | -| RTL_STATUS_TYPE_DIRECT_MISSION_LAND | `uint8` | 2 | going straight to the beginning of the mission landing | -| RTL_STATUS_TYPE_FOLLOW_MISSION | `uint8` | 3 | Following the mission from start index to mission landing. Start index is current WP if in Mission mode, and closest WP otherwise. | -| RTL_STATUS_TYPE_FOLLOW_MISSION_REVERSE | `uint8` | 4 | Following the mission in reverse from start index to the beginning of the mission. Start index is previous WP if in Mission mode, and closest WP otherwise. | +| Назва | Тип | Значення | Опис | +| ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | -------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| RTL_STATUS_TYPE_NONE | `uint8` | 0 | pending if evaluation can't pe performed currently e.g. when it is still loading the safe points | +| RTL_STATUS_TYPE_DIRECT_SAFE_POINT | `uint8` | 1 | chosen to directly go to a safe point or home position | +| RTL_STATUS_TYPE_DIRECT_MISSION_LAND | `uint8` | 2 | going straight to the beginning of the mission landing | +| RTL_STATUS_TYPE_FOLLOW_MISSION | `uint8` | 3 | Following the mission from start index to mission landing. Start index is current WP if in Mission mode, and closest WP otherwise. | +| RTL_STATUS_TYPE_FOLLOW_MISSION_REVERSE | `uint8` | 4 | Following the mission in reverse from start index to the beginning of the mission. Start index is previous WP if in Mission mode, and closest WP otherwise. | ## Source Message diff --git a/docs/uk/msg_docs/RtlTimeEstimate.md b/docs/uk/msg_docs/RtlTimeEstimate.md index e70839b593..8f825b892c 100644 --- a/docs/uk/msg_docs/RtlTimeEstimate.md +++ b/docs/uk/msg_docs/RtlTimeEstimate.md @@ -4,7 +4,7 @@ pageClass: is-wide-page # RtlTimeEstimate (UORB message) -**TOPICS:** rtl_timeestimate +**TOPICS:** rtl_time_estimate ## Fields diff --git a/docs/uk/msg_docs/SatelliteInfo.md b/docs/uk/msg_docs/SatelliteInfo.md index 01262913a4..f62a55be04 100644 --- a/docs/uk/msg_docs/SatelliteInfo.md +++ b/docs/uk/msg_docs/SatelliteInfo.md @@ -21,9 +21,9 @@ pageClass: is-wide-page ## Constants -| Назва | Тип | Значення | Опис | -| ------------------------------------------------------------------------------------------------------------------------------ | ------- | -------- | ---- | -| SAT_INFO_MAX_SATELLITES | `uint8` | 40 | | +| Назва | Тип | Значення | Опис | +| ---------------------------------------------------------------------------------------------------------------------------- | ------- | -------- | ---- | +| SAT_INFO_MAX_SATELLITES | `uint8` | 40 | | ## Source Message diff --git a/docs/uk/msg_docs/SensorAccel.md b/docs/uk/msg_docs/SensorAccel.md index 895fee5d7d..2ab0cf9964 100644 --- a/docs/uk/msg_docs/SensorAccel.md +++ b/docs/uk/msg_docs/SensorAccel.md @@ -23,9 +23,9 @@ pageClass: is-wide-page ## Constants -| Назва | Тип | Значення | Опис | -| ------------------------------------------------------------------------------------------- | ------- | -------- | ---- | -| ORB_QUEUE_LENGTH | `uint8` | 8 | | +| Назва | Тип | Значення | Опис | +| ----------------------------------------------------------------------------------------- | ------- | -------- | ---- | +| ORB_QUEUE_LENGTH | `uint8` | 8 | | ## Source Message diff --git a/docs/uk/msg_docs/SensorAccelFifo.md b/docs/uk/msg_docs/SensorAccelFifo.md index f9ed2f4296..c420dbe7d5 100644 --- a/docs/uk/msg_docs/SensorAccelFifo.md +++ b/docs/uk/msg_docs/SensorAccelFifo.md @@ -4,7 +4,7 @@ pageClass: is-wide-page # SensorAccelFifo (UORB message) -**TOPICS:** sensor_accelfifo +**TOPICS:** sensor_accel_fifo ## Fields diff --git a/docs/uk/msg_docs/SensorBaro.md b/docs/uk/msg_docs/SensorBaro.md index f666fd9eee..613f2d5f4c 100644 --- a/docs/uk/msg_docs/SensorBaro.md +++ b/docs/uk/msg_docs/SensorBaro.md @@ -24,9 +24,9 @@ The information is published in the `SCALED_PRESSURE_n` MAVLink messages (along ## Constants -| Назва | Тип | Значення | Опис | -| ------------------------------------------------------------------------------------------- | ------- | -------- | ---- | -| ORB_QUEUE_LENGTH | `uint8` | 4 | | +| Назва | Тип | Значення | Опис | +| ----------------------------------------------------------------------------------------- | ------- | -------- | ---- | +| ORB_QUEUE_LENGTH | `uint8` | 4 | | ## Source Message diff --git a/docs/uk/msg_docs/SensorCombined.md b/docs/uk/msg_docs/SensorCombined.md index 90145da660..d044dfaf50 100644 --- a/docs/uk/msg_docs/SensorCombined.md +++ b/docs/uk/msg_docs/SensorCombined.md @@ -25,12 +25,12 @@ pageClass: is-wide-page ## Constants -| Назва | Тип | Значення | Опис | -| --------------------------------------------------------------------------------------------------------------- | ------- | ---------- | ----------------------------------------------------------------------------------------------------------------------------------------- | -| RELATIVE_TIMESTAMP_INVALID | `int32` | 2147483647 | (0x7fffffff) If one of the relative timestamps is set to this value, it means the associated sensor values are invalid | -| CLIPPING_X | `uint8` | 1 | | -| CLIPPING_Y | `uint8` | 2 | | -| CLIPPING_Z | `uint8` | 4 | | +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------------------------------------------------- | ------- | ---------- | ----------------------------------------------------------------------------------------------------------------------------------------- | +| RELATIVE_TIMESTAMP_INVALID | `int32` | 2147483647 | (0x7fffffff) If one of the relative timestamps is set to this value, it means the associated sensor values are invalid | +| CLIPPING_X | `uint8` | 1 | | +| CLIPPING_Y | `uint8` | 2 | | +| CLIPPING_Z | `uint8` | 4 | | ## Source Message diff --git a/docs/uk/msg_docs/SensorGnssRelative.md b/docs/uk/msg_docs/SensorGnssRelative.md index 4e5ed52e70..a459d0098e 100644 --- a/docs/uk/msg_docs/SensorGnssRelative.md +++ b/docs/uk/msg_docs/SensorGnssRelative.md @@ -6,7 +6,7 @@ pageClass: is-wide-page Інформація про відносне позиціонування GNSS в рамці NED. NED кадр визначається як локальна топологічна система на задній станції. -**TOPICS:** sensor_gnssrelative +**TOPICS:** sensor_gnss_relative ## Fields diff --git a/docs/uk/msg_docs/SensorGnssStatus.md b/docs/uk/msg_docs/SensorGnssStatus.md index d2acc1278e..f4cbac9a04 100644 --- a/docs/uk/msg_docs/SensorGnssStatus.md +++ b/docs/uk/msg_docs/SensorGnssStatus.md @@ -6,7 +6,7 @@ pageClass: is-wide-page Gnss quality indicators. -**TOPICS:** sensor_gnssstatus +**TOPICS:** sensor_gnss_status ## Fields diff --git a/docs/uk/msg_docs/SensorGps.md b/docs/uk/msg_docs/SensorGps.md index c01d04fba7..eee4f9468a 100644 --- a/docs/uk/msg_docs/SensorGps.md +++ b/docs/uk/msg_docs/SensorGps.md @@ -52,39 +52,39 @@ pageClass: is-wide-page ## Constants -| Назва | Тип | Значення | Опис | -| ------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | -------- | ---------------------------------------------------------- | -| FIX_TYPE_NONE | `uint8` | 1 | Value 0 is also valid to represent no fix. | -| FIX_TYPE_2D | `uint8` | 2 | | -| FIX_TYPE_3D | `uint8` | 3 | | -| FIX_TYPE_RTCM_CODE_DIFFERENTIAL | `uint8` | 4 | | -| FIX_TYPE_RTK_FLOAT | `uint8` | 5 | | -| FIX_TYPE_RTK_FIXED | `uint8` | 6 | | -| FIX_TYPE_EXTRAPOLATED | `uint8` | 8 | | -| JAMMING_STATE_UNKNOWN | `uint8` | 0 | default | -| JAMMING_STATE_OK | `uint8` | 1 | | -| JAMMING_STATE_MITIGATED | `uint8` | 2 | | -| JAMMING_STATE_DETECTED | `uint8` | 3 | | -| SPOOFING_STATE_UNKNOWN | `uint8` | 0 | default | -| SPOOFING_STATE_OK | `uint8` | 1 | | -| SPOOFING_STATE_MITIGATED | `uint8` | 2 | | -| SPOOFING_STATE_DETECTED | `uint8` | 3 | | -| AUTHENTICATION_STATE_UNKNOWN | `uint8` | 0 | default | -| AUTHENTICATION_STATE_INITIALIZING | `uint8` | 1 | | -| AUTHENTICATION_STATE_ERROR | `uint8` | 2 | | -| AUTHENTICATION_STATE_OK | `uint8` | 3 | | -| AUTHENTICATION_STATE_DISABLED | `uint8` | 4 | | -| SYSTEM_ERROR_OK | `uint32` | 0 | default | -| SYSTEM_ERROR_INCOMING_CORRECTIONS | `uint32` | 1 | | -| SYSTEM_ERROR_CONFIGURATION | `uint32` | 2 | | -| SYSTEM_ERROR_SOFTWARE | `uint32` | 4 | | -| SYSTEM_ERROR_ANTENNA | `uint32` | 8 | | -| SYSTEM_ERROR_EVENT_CONGESTION | `uint32` | 16 | | -| SYSTEM_ERROR_CPU_OVERLOAD | `uint32` | 32 | | -| SYSTEM_ERROR_OUTPUT_CONGESTION | `uint32` | 64 | | -| RTCM_MSG_USED_UNKNOWN | `uint8` | 0 | | -| RTCM_MSG_USED_NOT_USED | `uint8` | 1 | | -| RTCM_MSG_USED_USED | `uint8` | 2 | | +| Назва | Тип | Значення | Опис | +| ----------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | -------- | ---------------------------------------------------------- | +| FIX_TYPE_NONE | `uint8` | 1 | Value 0 is also valid to represent no fix. | +| FIX_TYPE_2D | `uint8` | 2 | | +| FIX_TYPE_3D | `uint8` | 3 | | +| FIX_TYPE_RTCM_CODE_DIFFERENTIAL | `uint8` | 4 | | +| FIX_TYPE_RTK_FLOAT | `uint8` | 5 | | +| FIX_TYPE_RTK_FIXED | `uint8` | 6 | | +| FIX_TYPE_EXTRAPOLATED | `uint8` | 8 | | +| JAMMING_STATE_UNKNOWN | `uint8` | 0 | default | +| JAMMING_STATE_OK | `uint8` | 1 | | +| JAMMING_STATE_MITIGATED | `uint8` | 2 | | +| JAMMING_STATE_DETECTED | `uint8` | 3 | | +| SPOOFING_STATE_UNKNOWN | `uint8` | 0 | default | +| SPOOFING_STATE_OK | `uint8` | 1 | | +| SPOOFING_STATE_MITIGATED | `uint8` | 2 | | +| SPOOFING_STATE_DETECTED | `uint8` | 3 | | +| AUTHENTICATION_STATE_UNKNOWN | `uint8` | 0 | default | +| AUTHENTICATION_STATE_INITIALIZING | `uint8` | 1 | | +| AUTHENTICATION_STATE_ERROR | `uint8` | 2 | | +| AUTHENTICATION_STATE_OK | `uint8` | 3 | | +| AUTHENTICATION_STATE_DISABLED | `uint8` | 4 | | +| SYSTEM_ERROR_OK | `uint32` | 0 | default | +| SYSTEM_ERROR_INCOMING_CORRECTIONS | `uint32` | 1 | | +| SYSTEM_ERROR_CONFIGURATION | `uint32` | 2 | | +| SYSTEM_ERROR_SOFTWARE | `uint32` | 4 | | +| SYSTEM_ERROR_ANTENNA | `uint32` | 8 | | +| SYSTEM_ERROR_EVENT_CONGESTION | `uint32` | 16 | | +| SYSTEM_ERROR_CPU_OVERLOAD | `uint32` | 32 | | +| SYSTEM_ERROR_OUTPUT_CONGESTION | `uint32` | 64 | | +| RTCM_MSG_USED_UNKNOWN | `uint8` | 0 | | +| RTCM_MSG_USED_NOT_USED | `uint8` | 1 | | +| RTCM_MSG_USED_USED | `uint8` | 2 | | ## Source Message diff --git a/docs/uk/msg_docs/SensorGyro.md b/docs/uk/msg_docs/SensorGyro.md index 673216cd7c..c8a7aa29ff 100644 --- a/docs/uk/msg_docs/SensorGyro.md +++ b/docs/uk/msg_docs/SensorGyro.md @@ -23,9 +23,9 @@ pageClass: is-wide-page ## Constants -| Назва | Тип | Значення | Опис | -| ------------------------------------------------------------------------------------------- | ------- | -------- | ---- | -| ORB_QUEUE_LENGTH | `uint8` | 8 | | +| Назва | Тип | Значення | Опис | +| ----------------------------------------------------------------------------------------- | ------- | -------- | ---- | +| ORB_QUEUE_LENGTH | `uint8` | 8 | | ## Source Message diff --git a/docs/uk/msg_docs/SensorGyroFft.md b/docs/uk/msg_docs/SensorGyroFft.md index 58a1c0d701..d407024df1 100644 --- a/docs/uk/msg_docs/SensorGyroFft.md +++ b/docs/uk/msg_docs/SensorGyroFft.md @@ -4,7 +4,7 @@ pageClass: is-wide-page # SensorGyroFft (UORB message) -**TOPICS:** sensor_gyrofft +**TOPICS:** sensor_gyro_fft ## Fields diff --git a/docs/uk/msg_docs/SensorGyroFifo.md b/docs/uk/msg_docs/SensorGyroFifo.md index a0cde80bb2..981577a76c 100644 --- a/docs/uk/msg_docs/SensorGyroFifo.md +++ b/docs/uk/msg_docs/SensorGyroFifo.md @@ -4,7 +4,7 @@ pageClass: is-wide-page # SensorGyroFifo (UORB message) -**TOPICS:** sensor_gyrofifo +**TOPICS:** sensor_gyro_fifo ## Fields @@ -22,9 +22,9 @@ pageClass: is-wide-page ## Constants -| Назва | Тип | Значення | Опис | -| ------------------------------------------------------------------------------------------- | ------- | -------- | ---- | -| ORB_QUEUE_LENGTH | `uint8` | 4 | | +| Назва | Тип | Значення | Опис | +| ----------------------------------------------------------------------------------------- | ------- | -------- | ---- | +| ORB_QUEUE_LENGTH | `uint8` | 4 | | ## Source Message diff --git a/docs/uk/msg_docs/SensorMag.md b/docs/uk/msg_docs/SensorMag.md index 171c0d9990..18eb238d0b 100644 --- a/docs/uk/msg_docs/SensorMag.md +++ b/docs/uk/msg_docs/SensorMag.md @@ -21,9 +21,9 @@ pageClass: is-wide-page ## Constants -| Назва | Тип | Значення | Опис | -| ------------------------------------------------------------------------------------------- | ------- | -------- | ---- | -| ORB_QUEUE_LENGTH | `uint8` | 4 | | +| Назва | Тип | Значення | Опис | +| ----------------------------------------------------------------------------------------- | ------- | -------- | ---- | +| ORB_QUEUE_LENGTH | `uint8` | 4 | | ## Source Message diff --git a/docs/uk/msg_docs/SensorOpticalFlow.md b/docs/uk/msg_docs/SensorOpticalFlow.md index 0a8968bb7b..d9acccbeb0 100644 --- a/docs/uk/msg_docs/SensorOpticalFlow.md +++ b/docs/uk/msg_docs/SensorOpticalFlow.md @@ -4,7 +4,7 @@ pageClass: is-wide-page # SensorOpticalFlow (повідомлення UORB) -**TOPICS:** sensor_opticalflow +**TOPICS:** sensor_optical_flow ## Fields @@ -28,12 +28,12 @@ pageClass: is-wide-page ## Constants -| Назва | Тип | Значення | Опис | -| ------------------------------------------------------------------------------------------------- | ------- | -------- | ---- | -| MODE_UNKNOWN | `uint8` | 0 | | -| MODE_BRIGHT | `uint8` | 1 | | -| MODE_LOWLIGHT | `uint8` | 2 | | -| MODE_SUPER_LOWLIGHT | `uint8` | 3 | | +| Назва | Тип | Значення | Опис | +| ----------------------------------------------------------------------------------------------- | ------- | -------- | ---- | +| MODE_UNKNOWN | `uint8` | 0 | | +| MODE_BRIGHT | `uint8` | 1 | | +| MODE_LOWLIGHT | `uint8` | 2 | | +| MODE_SUPER_LOWLIGHT | `uint8` | 3 | | ## Source Message diff --git a/docs/uk/msg_docs/SensorPreflightMag.md b/docs/uk/msg_docs/SensorPreflightMag.md index 931d5f18af..f4b1de646b 100644 --- a/docs/uk/msg_docs/SensorPreflightMag.md +++ b/docs/uk/msg_docs/SensorPreflightMag.md @@ -6,7 +6,7 @@ pageClass: is-wide-page Метрики перевірки сенсорів перед польотом. The topic will not be updated when the vehicle is armed. -**TOPICS:** sensor_preflightmag +**TOPICS:** sensor_preflight_mag ## Fields diff --git a/docs/uk/msg_docs/SensorsStatus.md b/docs/uk/msg_docs/SensorsStatus.md index 853a81decd..16703b8b07 100644 --- a/docs/uk/msg_docs/SensorsStatus.md +++ b/docs/uk/msg_docs/SensorsStatus.md @@ -4,7 +4,7 @@ pageClass: is-wide-page # SensorsStatus (повідомлення UORB) -Метрики перевірки датчика. Це значення буде нульовим для датчика, який є первинним або незаповненим. +Метрики перевірки датчика. This will be zero for a sensor that's primary or unpopulated. **TOPICS:** sensors_status_baro sensors_status_mag diff --git a/docs/uk/msg_docs/SensorsStatusImu.md b/docs/uk/msg_docs/SensorsStatusImu.md index d9fd0b090c..d4d8beb01d 100644 --- a/docs/uk/msg_docs/SensorsStatusImu.md +++ b/docs/uk/msg_docs/SensorsStatusImu.md @@ -4,9 +4,9 @@ pageClass: is-wide-page # SensorsStatusImu (повідомлення UORB) -Метрики перевірки датчика. Це значення буде нульовим для датчика, який є первинним або незаповненим. +Метрики перевірки датчика. This will be zero for a sensor that's primary or unpopulated. -**TOPICS:** sensors_statusimu +**TOPICS:** sensors_status_imu ## Fields diff --git a/docs/uk/msg_docs/SystemPower.md b/docs/uk/msg_docs/SystemPower.md index 665b2546c8..48dcbd8e69 100644 --- a/docs/uk/msg_docs/SystemPower.md +++ b/docs/uk/msg_docs/SystemPower.md @@ -27,16 +27,16 @@ pageClass: is-wide-page ## Constants -| Назва | Тип | Значення | Опис | -| ------------------------------------------------------------------------------------------------- | ------- | -------- | ---- | -| BRICK1_VALID_SHIFTS | `uint8` | 0 | | -| BRICK1_VALID_MASK | `uint8` | 1 | | -| BRICK2_VALID_SHIFTS | `uint8` | 1 | | -| BRICK2_VALID_MASK | `uint8` | 2 | | -| BRICK3_VALID_SHIFTS | `uint8` | 2 | | -| BRICK3_VALID_MASK | `uint8` | 4 | | -| BRICK4_VALID_SHIFTS | `uint8` | 3 | | -| BRICK4_VALID_MASK | `uint8` | 8 | | +| Назва | Тип | Значення | Опис | +| ----------------------------------------------------------------------------------------------- | ------- | -------- | ---- | +| BRICK1_VALID_SHIFTS | `uint8` | 0 | | +| BRICK1_VALID_MASK | `uint8` | 1 | | +| BRICK2_VALID_SHIFTS | `uint8` | 1 | | +| BRICK2_VALID_MASK | `uint8` | 2 | | +| BRICK3_VALID_SHIFTS | `uint8` | 2 | | +| BRICK3_VALID_MASK | `uint8` | 4 | | +| BRICK4_VALID_SHIFTS | `uint8` | 3 | | +| BRICK4_VALID_MASK | `uint8` | 8 | | ## Source Message diff --git a/docs/uk/msg_docs/TakeoffStatus.md b/docs/uk/msg_docs/TakeoffStatus.md index ecdc3d1b91..f7e1fbe997 100644 --- a/docs/uk/msg_docs/TakeoffStatus.md +++ b/docs/uk/msg_docs/TakeoffStatus.md @@ -18,14 +18,14 @@ Status of the takeoff state machine currently just available for multicopters. ## Constants -| Назва | Тип | Значення | Опис | -| ------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | -------- | ---- | -| TAKEOFF_STATE_UNINITIALIZED | `uint8` | 0 | | -| TAKEOFF_STATE_DISARMED | `uint8` | 1 | | -| TAKEOFF_STATE_SPOOLUP | `uint8` | 2 | | -| TAKEOFF_STATE_READY_FOR_TAKEOFF | `uint8` | 3 | | -| TAKEOFF_STATE_RAMPUP | `uint8` | 4 | | -| TAKEOFF_STATE_FLIGHT | `uint8` | 5 | | +| Назва | Тип | Значення | Опис | +| ----------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | -------- | ---- | +| TAKEOFF_STATE_UNINITIALIZED | `uint8` | 0 | | +| TAKEOFF_STATE_DISARMED | `uint8` | 1 | | +| TAKEOFF_STATE_SPOOLUP | `uint8` | 2 | | +| TAKEOFF_STATE_READY_FOR_TAKEOFF | `uint8` | 3 | | +| TAKEOFF_STATE_RAMPUP | `uint8` | 4 | | +| TAKEOFF_STATE_FLIGHT | `uint8` | 5 | | ## Source Message diff --git a/docs/uk/msg_docs/TaskStackInfo.md b/docs/uk/msg_docs/TaskStackInfo.md index d42a5796a4..2189c2181d 100644 --- a/docs/uk/msg_docs/TaskStackInfo.md +++ b/docs/uk/msg_docs/TaskStackInfo.md @@ -6,7 +6,7 @@ pageClass: is-wide-page stack information for a single running process. -**TOPICS:** task_stackinfo +**TOPICS:** task_stack_info ## Fields @@ -18,9 +18,9 @@ stack information for a single running process. ## Constants -| Назва | Тип | Значення | Опис | -| ------------------------------------------------------------------------------------------- | ------- | -------- | ---- | -| ORB_QUEUE_LENGTH | `uint8` | 2 | | +| Назва | Тип | Значення | Опис | +| ----------------------------------------------------------------------------------------- | ------- | -------- | ---- | +| ORB_QUEUE_LENGTH | `uint8` | 2 | | ## Source Message diff --git a/docs/uk/msg_docs/TelemetryStatus.md b/docs/uk/msg_docs/TelemetryStatus.md index 5d1aa59ca3..8aeb7813e9 100644 --- a/docs/uk/msg_docs/TelemetryStatus.md +++ b/docs/uk/msg_docs/TelemetryStatus.md @@ -36,6 +36,7 @@ pageClass: is-wide-page | heartbeat_type_onboard_controller | `bool` | | | MAV_TYPE_ONBOARD_CONTROLLER | | heartbeat_type_gimbal | `bool` | | | MAV_TYPE_GIMBAL | | heartbeat_type_adsb | `bool` | | | MAV_TYPE_ADSB | +| heartbeat_type_flarm | `bool` | | | MAV_TYPE_FLARM | | heartbeat_type_camera | `bool` | | | MAV_TYPE_CAMERA | | heartbeat_type_parachute | `bool` | | | MAV_TYPE_PARACHUTE | | heartbeat_type_open_drone_id | `bool` | | | MAV_TYPE_ODID | @@ -51,14 +52,14 @@ pageClass: is-wide-page ## Constants -| Назва | Тип | Значення | Опис | -| ---------------------------------------------------------------------------------------------------------------------------------- | -------- | -------- | ------------------------------------------------------------------ | -| LINK_TYPE_GENERIC | `uint8` | 0 | | -| LINK_TYPE_UBIQUITY_BULLET | `uint8` | 1 | | -| LINK_TYPE_WIRE | `uint8` | 2 | | -| LINK_TYPE_USB | `uint8` | 3 | | -| LINK_TYPE_IRIDIUM | `uint8` | 4 | | -| HEARTBEAT_TIMEOUT_US | `uint64` | 2500000 | Heartbeat timeout (tolerate missing 1 + jitter) | +| Назва | Тип | Значення | Опис | +| -------------------------------------------------------------------------------------------------------------------------------- | -------- | -------- | ------------------------------------------------------------------ | +| LINK_TYPE_GENERIC | `uint8` | 0 | | +| LINK_TYPE_UBIQUITY_BULLET | `uint8` | 1 | | +| LINK_TYPE_WIRE | `uint8` | 2 | | +| LINK_TYPE_USB | `uint8` | 3 | | +| LINK_TYPE_IRIDIUM | `uint8` | 4 | | +| HEARTBEAT_TIMEOUT_US | `uint64` | 2500000 | Heartbeat timeout (tolerate missing 1 + jitter) | ## Source Message @@ -113,6 +114,7 @@ bool heartbeat_type_gcs # MAV_TYPE_GCS bool heartbeat_type_onboard_controller # MAV_TYPE_ONBOARD_CONTROLLER bool heartbeat_type_gimbal # MAV_TYPE_GIMBAL bool heartbeat_type_adsb # MAV_TYPE_ADSB +bool heartbeat_type_flarm # MAV_TYPE_FLARM bool heartbeat_type_camera # MAV_TYPE_CAMERA bool heartbeat_type_parachute # MAV_TYPE_PARACHUTE bool heartbeat_type_open_drone_id # MAV_TYPE_ODID diff --git a/docs/uk/msg_docs/TiltrotorExtraControls.md b/docs/uk/msg_docs/TiltrotorExtraControls.md index ee72fdae11..6f8fb44c7d 100644 --- a/docs/uk/msg_docs/TiltrotorExtraControls.md +++ b/docs/uk/msg_docs/TiltrotorExtraControls.md @@ -4,7 +4,7 @@ pageClass: is-wide-page # TiltrotorExtraControls (UORB message) -**TOPICS:** tiltrotor_extracontrols +**TOPICS:** tiltrotor_extra_controls ## Fields diff --git a/docs/uk/msg_docs/TimesyncStatus.md b/docs/uk/msg_docs/TimesyncStatus.md index 61c38e61e9..72691c5dc8 100644 --- a/docs/uk/msg_docs/TimesyncStatus.md +++ b/docs/uk/msg_docs/TimesyncStatus.md @@ -19,11 +19,11 @@ pageClass: is-wide-page ## Constants -| Назва | Тип | Значення | Опис | -| --------------------------------------------------------------------------------------------------------- | ------- | -------- | ---- | -| SOURCE_PROTOCOL_UNKNOWN | `uint8` | 0 | | -| SOURCE_PROTOCOL_MAVLINK | `uint8` | 1 | | -| SOURCE_PROTOCOL_DDS | `uint8` | 2 | | +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------------------------------------------- | ------- | -------- | ---- | +| SOURCE_PROTOCOL_UNKNOWN | `uint8` | 0 | | +| SOURCE_PROTOCOL_MAVLINK | `uint8` | 1 | | +| SOURCE_PROTOCOL_DDS | `uint8` | 2 | | ## Source Message diff --git a/docs/uk/msg_docs/TrajectorySetpoint.md b/docs/uk/msg_docs/TrajectorySetpoint.md index 91e3d1380e..276876882b 100644 --- a/docs/uk/msg_docs/TrajectorySetpoint.md +++ b/docs/uk/msg_docs/TrajectorySetpoint.md @@ -22,9 +22,9 @@ Trajectory setpoint in NED frame. Input to PID position controller. Потріб ## Constants -| Назва | Тип | Значення | Опис | -| -------------------------------------------------------------------- | -------- | -------- | ---- | -| MESSAGE_VERSION | `uint32` | 0 | | +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------ | -------- | -------- | ---- | +| MESSAGE_VERSION | `uint32` | 0 | | ## Source Message diff --git a/docs/uk/msg_docs/TransponderReport.md b/docs/uk/msg_docs/TransponderReport.md index da15f55a06..69f57c5218 100644 --- a/docs/uk/msg_docs/TransponderReport.md +++ b/docs/uk/msg_docs/TransponderReport.md @@ -28,37 +28,37 @@ pageClass: is-wide-page ## Constants -| Назва | Тип | Значення | Опис | -| ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | -------- | -------- | ---- | -| PX4_ADSB_FLAGS_VALID_COORDS | `uint16` | 1 | | -| PX4_ADSB_FLAGS_VALID_ALTITUDE | `uint16` | 2 | | -| PX4_ADSB_FLAGS_VALID_HEADING | `uint16` | 4 | | -| PX4_ADSB_FLAGS_VALID_VELOCITY | `uint16` | 8 | | -| PX4_ADSB_FLAGS_VALID_CALLSIGN | `uint16` | 16 | | -| PX4_ADSB_FLAGS_VALID_SQUAWK | `uint16` | 32 | | -| PX4_ADSB_FLAGS_RETRANSLATE | `uint16` | 256 | | -| ADSB_EMITTER_TYPE_NO_INFO | `uint16` | 0 | | -| ADSB_EMITTER_TYPE_LIGHT | `uint16` | 1 | | -| ADSB_EMITTER_TYPE_SMALL | `uint16` | 2 | | -| ADSB_EMITTER_TYPE_LARGE | `uint16` | 3 | | -| ADSB_EMITTER_TYPE_HIGH_VORTEX_LARGE | `uint16` | 4 | | -| ADSB_EMITTER_TYPE_HEAVY | `uint16` | 5 | | -| ADSB_EMITTER_TYPE_HIGHLY_MANUV | `uint16` | 6 | | -| ADSB_EMITTER_TYPE_ROTOCRAFT | `uint16` | 7 | | -| ADSB_EMITTER_TYPE_UNASSIGNED | `uint16` | 8 | | -| ADSB_EMITTER_TYPE_GLIDER | `uint16` | 9 | | -| ADSB_EMITTER_TYPE_LIGHTER_AIR | `uint16` | 10 | | -| ADSB_EMITTER_TYPE_PARACHUTE | `uint16` | 11 | | -| ADSB_EMITTER_TYPE_ULTRA_LIGHT | `uint16` | 12 | | -| ADSB_EMITTER_TYPE_UNASSIGNED2 | `uint16` | 13 | | -| ADSB_EMITTER_TYPE_UAV | `uint16` | 14 | | -| ADSB_EMITTER_TYPE_SPACE | `uint16` | 15 | | -| ADSB_EMITTER_TYPE_UNASSGINED3 | `uint16` | 16 | | -| ADSB_EMITTER_TYPE_EMERGENCY_SURFACE | `uint16` | 17 | | -| ADSB_EMITTER_TYPE_SERVICE_SURFACE | `uint16` | 18 | | -| ADSB_EMITTER_TYPE_POINT_OBSTACLE | `uint16` | 19 | | -| ADSB_EMITTER_TYPE_ENUM_END | `uint16` | 20 | | -| ORB_QUEUE_LENGTH | `uint8` | 16 | | +| Назва | Тип | Значення | Опис | +| ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | -------- | ---- | +| PX4_ADSB_FLAGS_VALID_COORDS | `uint16` | 1 | | +| PX4_ADSB_FLAGS_VALID_ALTITUDE | `uint16` | 2 | | +| PX4_ADSB_FLAGS_VALID_HEADING | `uint16` | 4 | | +| PX4_ADSB_FLAGS_VALID_VELOCITY | `uint16` | 8 | | +| PX4_ADSB_FLAGS_VALID_CALLSIGN | `uint16` | 16 | | +| PX4_ADSB_FLAGS_VALID_SQUAWK | `uint16` | 32 | | +| PX4_ADSB_FLAGS_RETRANSLATE | `uint16` | 256 | | +| ADSB_EMITTER_TYPE_NO_INFO | `uint16` | 0 | | +| ADSB_EMITTER_TYPE_LIGHT | `uint16` | 1 | | +| ADSB_EMITTER_TYPE_SMALL | `uint16` | 2 | | +| ADSB_EMITTER_TYPE_LARGE | `uint16` | 3 | | +| ADSB_EMITTER_TYPE_HIGH_VORTEX_LARGE | `uint16` | 4 | | +| ADSB_EMITTER_TYPE_HEAVY | `uint16` | 5 | | +| ADSB_EMITTER_TYPE_HIGHLY_MANUV | `uint16` | 6 | | +| ADSB_EMITTER_TYPE_ROTOCRAFT | `uint16` | 7 | | +| ADSB_EMITTER_TYPE_UNASSIGNED | `uint16` | 8 | | +| ADSB_EMITTER_TYPE_GLIDER | `uint16` | 9 | | +| ADSB_EMITTER_TYPE_LIGHTER_AIR | `uint16` | 10 | | +| ADSB_EMITTER_TYPE_PARACHUTE | `uint16` | 11 | | +| ADSB_EMITTER_TYPE_ULTRA_LIGHT | `uint16` | 12 | | +| ADSB_EMITTER_TYPE_UNASSIGNED2 | `uint16` | 13 | | +| ADSB_EMITTER_TYPE_UAV | `uint16` | 14 | | +| ADSB_EMITTER_TYPE_SPACE | `uint16` | 15 | | +| ADSB_EMITTER_TYPE_UNASSGINED3 | `uint16` | 16 | | +| ADSB_EMITTER_TYPE_EMERGENCY_SURFACE | `uint16` | 17 | | +| ADSB_EMITTER_TYPE_SERVICE_SURFACE | `uint16` | 18 | | +| ADSB_EMITTER_TYPE_POINT_OBSTACLE | `uint16` | 19 | | +| ADSB_EMITTER_TYPE_ENUM_END | `uint16` | 20 | | +| ORB_QUEUE_LENGTH | `uint8` | 16 | | ## Source Message diff --git a/docs/uk/msg_docs/TuneControl.md b/docs/uk/msg_docs/TuneControl.md index a52b2dab06..c9bb6fb193 100644 --- a/docs/uk/msg_docs/TuneControl.md +++ b/docs/uk/msg_docs/TuneControl.md @@ -22,33 +22,33 @@ This message is used to control the tunes, when the tune_id is set to CUSTOM. th ## Constants -| Назва | Тип | Значення | Опис | -| ------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | -------- | ---- | -| TUNE_ID_STOP | `uint8` | 0 | | -| TUNE_ID_STARTUP | `uint8` | 1 | | -| TUNE_ID_ERROR | `uint8` | 2 | | -| TUNE_ID_NOTIFY_POSITIVE | `uint8` | 3 | | -| TUNE_ID_NOTIFY_NEUTRAL | `uint8` | 4 | | -| TUNE_ID_NOTIFY_NEGATIVE | `uint8` | 5 | | -| TUNE_ID_ARMING_WARNING | `uint8` | 6 | | -| TUNE_ID_BATTERY_WARNING_SLOW | `uint8` | 7 | | -| TUNE_ID_BATTERY_WARNING_FAST | `uint8` | 8 | | -| TUNE_ID_GPS_WARNING | `uint8` | 9 | | -| TUNE_ID_ARMING_FAILURE | `uint8` | 10 | | -| TUNE_ID_PARACHUTE_RELEASE | `uint8` | 11 | | -| TUNE_ID_SINGLE_BEEP | `uint8` | 12 | | -| TUNE_ID_HOME_SET | `uint8` | 13 | | -| TUNE_ID_SD_INIT | `uint8` | 14 | | -| TUNE_ID_SD_ERROR | `uint8` | 15 | | -| TUNE_ID_PROG_PX4IO | `uint8` | 16 | | -| TUNE_ID_PROG_PX4IO_OK | `uint8` | 17 | | -| TUNE_ID_PROG_PX4IO_ERR | `uint8` | 18 | | -| TUNE_ID_POWER_OFF | `uint8` | 19 | | -| NUMBER_OF_TUNES | `uint8` | 20 | | -| VOLUME_LEVEL_MIN | `uint8` | 0 | | -| VOLUME_LEVEL_DEFAULT | `uint8` | 20 | | -| VOLUME_LEVEL_MAX | `uint8` | 100 | | -| ORB_QUEUE_LENGTH | `uint8` | 4 | | +| Назва | Тип | Значення | Опис | +| ----------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | -------- | ---- | +| TUNE_ID_STOP | `uint8` | 0 | | +| TUNE_ID_STARTUP | `uint8` | 1 | | +| TUNE_ID_ERROR | `uint8` | 2 | | +| TUNE_ID_NOTIFY_POSITIVE | `uint8` | 3 | | +| TUNE_ID_NOTIFY_NEUTRAL | `uint8` | 4 | | +| TUNE_ID_NOTIFY_NEGATIVE | `uint8` | 5 | | +| TUNE_ID_ARMING_WARNING | `uint8` | 6 | | +| TUNE_ID_BATTERY_WARNING_SLOW | `uint8` | 7 | | +| TUNE_ID_BATTERY_WARNING_FAST | `uint8` | 8 | | +| TUNE_ID_GPS_WARNING | `uint8` | 9 | | +| TUNE_ID_ARMING_FAILURE | `uint8` | 10 | | +| TUNE_ID_PARACHUTE_RELEASE | `uint8` | 11 | | +| TUNE_ID_SINGLE_BEEP | `uint8` | 12 | | +| TUNE_ID_HOME_SET | `uint8` | 13 | | +| TUNE_ID_SD_INIT | `uint8` | 14 | | +| TUNE_ID_SD_ERROR | `uint8` | 15 | | +| TUNE_ID_PROG_PX4IO | `uint8` | 16 | | +| TUNE_ID_PROG_PX4IO_OK | `uint8` | 17 | | +| TUNE_ID_PROG_PX4IO_ERR | `uint8` | 18 | | +| TUNE_ID_POWER_OFF | `uint8` | 19 | | +| NUMBER_OF_TUNES | `uint8` | 20 | | +| VOLUME_LEVEL_MIN | `uint8` | 0 | | +| VOLUME_LEVEL_DEFAULT | `uint8` | 20 | | +| VOLUME_LEVEL_MAX | `uint8` | 100 | | +| ORB_QUEUE_LENGTH | `uint8` | 4 | | ## Source Message diff --git a/docs/uk/msg_docs/UavcanParameterRequest.md b/docs/uk/msg_docs/UavcanParameterRequest.md index f068ce116a..513e8d2eab 100644 --- a/docs/uk/msg_docs/UavcanParameterRequest.md +++ b/docs/uk/msg_docs/UavcanParameterRequest.md @@ -6,7 +6,7 @@ pageClass: is-wide-page UAVCAN-MAVLink parameter bridge request type. -**TOPICS:** uavcan_parameterrequest +**TOPICS:** uavcan_parameter_request ## Fields @@ -23,16 +23,16 @@ UAVCAN-MAVLink parameter bridge request type. ## Constants -| Назва | Тип | Значення | Опис | -| ------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | -------- | ------------------------------------------------------------------------------------------------------------------------------------------ | -| MESSAGE_TYPE_PARAM_REQUEST_READ | `uint8` | 20 | MAVLINK_MSG_ID_PARAM_REQUEST_READ | -| MESSAGE_TYPE_PARAM_REQUEST_LIST | `uint8` | 21 | MAVLINK_MSG_ID_PARAM_REQUEST_LIST | -| MESSAGE_TYPE_PARAM_SET | `uint8` | 23 | MAVLINK_MSG_ID_PARAM_SET | -| NODE_ID_ALL | `uint8` | 0 | MAV_COMP_ID_ALL | -| PARAM_TYPE_UINT8 | `uint8` | 1 | MAV_PARAM_TYPE_UINT8 | -| PARAM_TYPE_INT64 | `uint8` | 8 | MAV_PARAM_TYPE_INT64 | -| PARAM_TYPE_REAL32 | `uint8` | 9 | MAV_PARAM_TYPE_REAL32 | -| ORB_QUEUE_LENGTH | `uint8` | 4 | | +| Назва | Тип | Значення | Опис | +| ----------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | -------- | ------------------------------------------------------------------------------------------------------------------------------------------ | +| MESSAGE_TYPE_PARAM_REQUEST_READ | `uint8` | 20 | MAVLINK_MSG_ID_PARAM_REQUEST_READ | +| MESSAGE_TYPE_PARAM_REQUEST_LIST | `uint8` | 21 | MAVLINK_MSG_ID_PARAM_REQUEST_LIST | +| MESSAGE_TYPE_PARAM_SET | `uint8` | 23 | MAVLINK_MSG_ID_PARAM_SET | +| NODE_ID_ALL | `uint8` | 0 | MAV_COMP_ID_ALL | +| PARAM_TYPE_UINT8 | `uint8` | 1 | MAV_PARAM_TYPE_UINT8 | +| PARAM_TYPE_INT64 | `uint8` | 8 | MAV_PARAM_TYPE_INT64 | +| PARAM_TYPE_REAL32 | `uint8` | 9 | MAV_PARAM_TYPE_REAL32 | +| ORB_QUEUE_LENGTH | `uint8` | 4 | | ## Source Message diff --git a/docs/uk/msg_docs/UavcanParameterValue.md b/docs/uk/msg_docs/UavcanParameterValue.md index 4e77fab3d8..73bacccf3f 100644 --- a/docs/uk/msg_docs/UavcanParameterValue.md +++ b/docs/uk/msg_docs/UavcanParameterValue.md @@ -6,7 +6,7 @@ pageClass: is-wide-page UAVCAN-MAVLink parameter bridge response type. -**TOPICS:** uavcan_parametervalue +**TOPICS:** uavcan_parameter_value ## Fields diff --git a/docs/uk/msg_docs/UlogStream.md b/docs/uk/msg_docs/UlogStream.md index 08e9606c69..25dadb8bdc 100644 --- a/docs/uk/msg_docs/UlogStream.md +++ b/docs/uk/msg_docs/UlogStream.md @@ -21,10 +21,10 @@ pageClass: is-wide-page ## Constants -| Назва | Тип | Значення | Опис | -| ------------------------------------------------------------------------------------------- | ------- | -------- | ------------------------------------------------------------------------------------ | -| FLAGS_NEED_ACK | `uint8` | 1 | if set, this message requires to be acked. | -| ORB_QUEUE_LENGTH | `uint8` | 16 | TODO: we might be able to reduce this if mavlink polled on the topic | +| Назва | Тип | Значення | Опис | +| ----------------------------------------------------------------------------------------- | ------- | -------- | ------------------------------------------------------------------------------------ | +| FLAGS_NEED_ACK | `uint8` | 1 | if set, this message requires to be acked. | +| ORB_QUEUE_LENGTH | `uint8` | 16 | TODO: we might be able to reduce this if mavlink polled on the topic | ## Source Message diff --git a/docs/uk/msg_docs/UlogStreamAck.md b/docs/uk/msg_docs/UlogStreamAck.md index e01165ef0a..7359f78a69 100644 --- a/docs/uk/msg_docs/UlogStreamAck.md +++ b/docs/uk/msg_docs/UlogStreamAck.md @@ -6,7 +6,7 @@ pageClass: is-wide-page Ack a previously sent ulog_stream message that had. the NEED_ACK flag set. -**TOPICS:** ulog_streamack +**TOPICS:** ulog_stream_ack ## Fields @@ -17,10 +17,10 @@ Ack a previously sent ulog_stream message that had. the NEED_ACK flag set. ## Constants -| Назва | Тип | Значення | Опис | -| ------------------------------------------------------------------------------------- | ------- | -------- | ------------------------------------------------------------------------------------------------------------------------ | -| ACK_TIMEOUT | `int32` | 50 | timeout waiting for an ack until we retry to send the message [ms] | -| ACK_MAX_TRIES | `int32` | 50 | maximum amount of tries to (re-)send a message, each time waiting ACK_TIMEOUT ms | +| Назва | Тип | Значення | Опис | +| ----------------------------------------------------------------------------------- | ------- | -------- | ------------------------------------------------------------------------------------------------------------------------ | +| ACK_TIMEOUT | `int32` | 50 | timeout waiting for an ack until we retry to send the message [ms] | +| ACK_MAX_TRIES | `int32` | 50 | maximum amount of tries to (re-)send a message, each time waiting ACK_TIMEOUT ms | ## Source Message diff --git a/docs/uk/msg_docs/UnregisterExtComponent.md b/docs/uk/msg_docs/UnregisterExtComponent.md index 12a87efab3..3e90ce448e 100644 --- a/docs/uk/msg_docs/UnregisterExtComponent.md +++ b/docs/uk/msg_docs/UnregisterExtComponent.md @@ -4,7 +4,7 @@ pageClass: is-wide-page # UnregisterExtComponent (UORB message) -**TOPICS:** unregister_extcomponent +**TOPICS:** unregister_ext_component ## Fields @@ -18,9 +18,9 @@ pageClass: is-wide-page ## Constants -| Назва | Тип | Значення | Опис | -| -------------------------------------------------------------------- | -------- | -------- | ---- | -| MESSAGE_VERSION | `uint32` | 0 | | +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------ | -------- | -------- | ---- | +| MESSAGE_VERSION | `uint32` | 0 | | ## Source Message diff --git a/docs/uk/msg_docs/VehicleAirData.md b/docs/uk/msg_docs/VehicleAirData.md index 97b6e35b7d..35614ebce3 100644 --- a/docs/uk/msg_docs/VehicleAirData.md +++ b/docs/uk/msg_docs/VehicleAirData.md @@ -9,7 +9,7 @@ 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. -**TOPICS:** vehicle_airdata +**TOPICS:** vehicle_air_data ## Fields diff --git a/docs/uk/msg_docs/VehicleAngularAccelerationSetpoint.md b/docs/uk/msg_docs/VehicleAngularAccelerationSetpoint.md index 12fd5dc934..94df7a0b8f 100644 --- a/docs/uk/msg_docs/VehicleAngularAccelerationSetpoint.md +++ b/docs/uk/msg_docs/VehicleAngularAccelerationSetpoint.md @@ -4,7 +4,7 @@ pageClass: is-wide-page # VehicleAngularAccelerationSetpoint (Повідомлення UORB) -**TOPICS:** vehicle_angularacceleration_setpoint +**TOPICS:** vehicle_angular_acceleration_setpoint ## Fields diff --git a/docs/uk/msg_docs/VehicleAngularVelocity.md b/docs/uk/msg_docs/VehicleAngularVelocity.md index edc0b66901..db027b7668 100644 --- a/docs/uk/msg_docs/VehicleAngularVelocity.md +++ b/docs/uk/msg_docs/VehicleAngularVelocity.md @@ -17,9 +17,9 @@ pageClass: is-wide-page ## Constants -| Назва | Тип | Значення | Опис | -| -------------------------------------------------------------------- | -------- | -------- | ---- | -| MESSAGE_VERSION | `uint32` | 0 | | +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------ | -------- | -------- | ---- | +| MESSAGE_VERSION | `uint32` | 0 | | ## Source Message diff --git a/docs/uk/msg_docs/VehicleAttitude.md b/docs/uk/msg_docs/VehicleAttitude.md index 7d6fb0df77..4dfe58a81c 100644 --- a/docs/uk/msg_docs/VehicleAttitude.md +++ b/docs/uk/msg_docs/VehicleAttitude.md @@ -20,9 +20,9 @@ This is similar to the mavlink message ATTITUDE_QUATERNION, but for onboard use. ## Constants -| Назва | Тип | Значення | Опис | -| -------------------------------------------------------------------- | -------- | -------- | ---- | -| MESSAGE_VERSION | `uint32` | 0 | | +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------ | -------- | -------- | ---- | +| MESSAGE_VERSION | `uint32` | 0 | | ## Source Message diff --git a/docs/uk/msg_docs/VehicleAttitudeSetpoint.md b/docs/uk/msg_docs/VehicleAttitudeSetpoint.md index b1481f6d51..5db60e3d47 100644 --- a/docs/uk/msg_docs/VehicleAttitudeSetpoint.md +++ b/docs/uk/msg_docs/VehicleAttitudeSetpoint.md @@ -17,9 +17,9 @@ pageClass: is-wide-page ## Constants -| Назва | Тип | Значення | Опис | -| -------------------------------------------------------------------- | -------- | -------- | ---- | -| MESSAGE_VERSION | `uint32` | 1 | | +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------ | -------- | -------- | ---- | +| MESSAGE_VERSION | `uint32` | 1 | | ## Source Message diff --git a/docs/uk/msg_docs/VehicleAttitudeSetpointV0.md b/docs/uk/msg_docs/VehicleAttitudeSetpointV0.md index 1918696cf4..98ef4303cd 100644 --- a/docs/uk/msg_docs/VehicleAttitudeSetpointV0.md +++ b/docs/uk/msg_docs/VehicleAttitudeSetpointV0.md @@ -19,9 +19,9 @@ pageClass: is-wide-page ## Constants -| Назва | Тип | Значення | Опис | -| -------------------------------------------------------------------- | -------- | -------- | ---- | -| MESSAGE_VERSION | `uint32` | 0 | | +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------ | -------- | -------- | ---- | +| MESSAGE_VERSION | `uint32` | 0 | | ## Source Message diff --git a/docs/uk/msg_docs/VehicleCommand.md b/docs/uk/msg_docs/VehicleCommand.md index 81832aaf10..66bb2dce6e 100644 --- a/docs/uk/msg_docs/VehicleCommand.md +++ b/docs/uk/msg_docs/VehicleCommand.md @@ -1490,34 +1490,34 @@ Change mode by specifying nav_state directly. ### ORBIT_YAW_BEHAVIOUR {#ORBIT_YAW_BEHAVIOUR} -| Назва | Тип | Значення | Опис | -| -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | -------- | ---- | -| ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TO_CIRCLE_CENTER | `uint8` | 0 | | -| ORBIT_YAW_BEHAVIOUR_HOLD_INITIAL_HEADING | `uint8` | 1 | | -| ORBIT_YAW_BEHAVIOUR_UNCONTROLLED | `uint8` | 2 | | -| ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TANGENT_TO_CIRCLE | `uint8` | 3 | | -| ORBIT_YAW_BEHAVIOUR_RC_CONTROLLED | `uint8` | 4 | | -| ORBIT_YAW_BEHAVIOUR_UNCHANGED | `uint8` | 5 | | +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | ------- | -------- | ---- | +| ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TO_CIRCLE_CENTER | `uint8` | 0 | | +| ORBIT_YAW_BEHAVIOUR_HOLD_INITIAL_HEADING | `uint8` | 1 | | +| ORBIT_YAW_BEHAVIOUR_UNCONTROLLED | `uint8` | 2 | | +| ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TANGENT_TO_CIRCLE | `uint8` | 3 | | +| ORBIT_YAW_BEHAVIOUR_RC_CONTROLLED | `uint8` | 4 | | +| ORBIT_YAW_BEHAVIOUR_UNCHANGED | `uint8` | 5 | | ### VEHICLE_ROI {#VEHICLE_ROI} -| Назва | Тип | Значення | Опис | -| ------------------------------------------------------------------------------------------------------------------------ | ------- | -------- | -------------------------------------------- | -| VEHICLE_ROI_NONE | `uint8` | 0 | No region of interest. | -| VEHICLE_ROI_WPNEXT | `uint8` | 1 | Point toward next MISSION. | -| VEHICLE_ROI_WPINDEX | `uint8` | 2 | Point toward given MISSION. | -| VEHICLE_ROI_LOCATION | `uint8` | 3 | Point toward fixed location. | -| VEHICLE_ROI_TARGET | `uint8` | 4 | Point toward target. | -| VEHICLE_ROI_ENUM_END | `uint8` | 5 | | +| Назва | Тип | Значення | Опис | +| ---------------------------------------------------------------------------------------------------------------------- | ------- | -------- | -------------------------------------------- | +| VEHICLE_ROI_NONE | `uint8` | 0 | No region of interest. | +| VEHICLE_ROI_WPNEXT | `uint8` | 1 | Point toward next MISSION. | +| VEHICLE_ROI_WPINDEX | `uint8` | 2 | Point toward given MISSION. | +| VEHICLE_ROI_LOCATION | `uint8` | 3 | Point toward fixed location. | +| VEHICLE_ROI_TARGET | `uint8` | 4 | Point toward target. | +| VEHICLE_ROI_ENUM_END | `uint8` | 5 | | ### SPEED_TYPE {#SPEED_TYPE} -| Назва | Тип | Значення | Опис | -| -------------------------------------------------------------------------------------------------------------------------------- | ------- | -------- | ---- | -| SPEED_TYPE_AIRSPEED | `uint8` | 0 | | -| SPEED_TYPE_GROUNDSPEED | `uint8` | 1 | | -| SPEED_TYPE_CLIMB_SPEED | `uint8` | 2 | | -| SPEED_TYPE_DESCEND_SPEED | `uint8` | 3 | | +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------------------------------------------------------------------ | ------- | -------- | ---- | +| SPEED_TYPE_AIRSPEED | `uint8` | 0 | | +| SPEED_TYPE_GROUNDSPEED | `uint8` | 1 | | +| SPEED_TYPE_CLIMB_SPEED | `uint8` | 2 | | +| SPEED_TYPE_DESCEND_SPEED | `uint8` | 3 | | ### MAV_MOUNT_MODE {#MAV_MOUNT_MODE} @@ -1526,50 +1526,50 @@ Change mode by specifying nav_state directly. ## Constants -| Назва | Тип | Значення | Опис | -| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | -------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------ | -| MESSAGE_VERSION | `uint32` | 0 | | -| PREFLIGHT_CALIBRATION_TEMPERATURE_CALIBRATION | `uint16` | 3 | Param value for VEHICLE_CMD_PREFLIGHT_CALIBRATION to start temperature calibration. | -| VEHICLE_MOUNT_MODE_RETRACT | `uint8` | 0 | Load and keep safe position (Roll,Pitch,Yaw) from permanent memory and stop stabilization. | -| VEHICLE_MOUNT_MODE_NEUTRAL | `uint8` | 1 | Load and keep neutral position (Roll,Pitch,Yaw) from permanent memory. | -| VEHICLE_MOUNT_MODE_MAVLINK_TARGETING | `uint8` | 2 | Load neutral position and start MAVLink Roll,Pitch,Yaw control with stabilization. | -| VEHICLE_MOUNT_MODE_RC_TARGETING | `uint8` | 3 | Load neutral position and start RC Roll,Pitch,Yaw control with stabilization. | -| VEHICLE_MOUNT_MODE_GPS_POINT | `uint8` | 4 | Load neutral position and start to point to Lat,Lon,Alt. | -| VEHICLE_MOUNT_MODE_ENUM_END | `uint8` | 5 | | -| PARACHUTE_ACTION_DISABLE | `uint8` | 0 | | -| PARACHUTE_ACTION_ENABLE | `uint8` | 1 | | -| PARACHUTE_ACTION_RELEASE | `uint8` | 2 | | -| FAILURE_UNIT_SENSOR_GYRO | `uint8` | 0 | | -| FAILURE_UNIT_SENSOR_ACCEL | `uint8` | 1 | | -| FAILURE_UNIT_SENSOR_MAG | `uint8` | 2 | | -| FAILURE_UNIT_SENSOR_BARO | `uint8` | 3 | | -| FAILURE_UNIT_SENSOR_GPS | `uint8` | 4 | | -| FAILURE_UNIT_SENSOR_OPTICAL_FLOW | `uint8` | 5 | | -| FAILURE_UNIT_SENSOR_VIO | `uint8` | 6 | | -| FAILURE_UNIT_SENSOR_DISTANCE_SENSOR | `uint8` | 7 | | -| FAILURE_UNIT_SENSOR_AIRSPEED | `uint8` | 8 | | -| FAILURE_UNIT_SYSTEM_BATTERY | `uint8` | 100 | | -| FAILURE_UNIT_SYSTEM_MOTOR | `uint8` | 101 | | -| FAILURE_UNIT_SYSTEM_SERVO | `uint8` | 102 | | -| FAILURE_UNIT_SYSTEM_AVOIDANCE | `uint8` | 103 | | -| FAILURE_UNIT_SYSTEM_RC_SIGNAL | `uint8` | 104 | | -| FAILURE_UNIT_SYSTEM_MAVLINK_SIGNAL | `uint8` | 105 | | -| FAILURE_TYPE_OK | `uint8` | 0 | | -| FAILURE_TYPE_OFF | `uint8` | 1 | | -| FAILURE_TYPE_STUCK | `uint8` | 2 | | -| FAILURE_TYPE_GARBAGE | `uint8` | 3 | | -| FAILURE_TYPE_WRONG | `uint8` | 4 | | -| FAILURE_TYPE_SLOW | `uint8` | 5 | | -| FAILURE_TYPE_DELAYED | `uint8` | 6 | | -| FAILURE_TYPE_INTERMITTENT | `uint8` | 7 | | -| ARMING_ACTION_DISARM | `int8` | 0 | | -| ARMING_ACTION_ARM | `int8` | 1 | | -| GRIPPER_ACTION_RELEASE | `uint8` | 0 | | -| GRIPPER_ACTION_GRAB | `uint8` | 1 | | -| SAFETY_OFF | `uint8` | 0 | | -| SAFETY_ON | `uint8` | 1 | | -| ORB_QUEUE_LENGTH | `uint8` | 8 | | -| COMPONENT_MODE_EXECUTOR_START | `uint16` | 1000 | | +| Назва | Тип | Значення | Опис | +| --------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | -------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------ | +| MESSAGE_VERSION | `uint32` | 0 | | +| PREFLIGHT_CALIBRATION_TEMPERATURE_CALIBRATION | `uint16` | 3 | Param value for VEHICLE_CMD_PREFLIGHT_CALIBRATION to start temperature calibration. | +| VEHICLE_MOUNT_MODE_RETRACT | `uint8` | 0 | Load and keep safe position (Roll,Pitch,Yaw) from permanent memory and stop stabilization. | +| VEHICLE_MOUNT_MODE_NEUTRAL | `uint8` | 1 | Load and keep neutral position (Roll,Pitch,Yaw) from permanent memory. | +| VEHICLE_MOUNT_MODE_MAVLINK_TARGETING | `uint8` | 2 | Load neutral position and start MAVLink Roll,Pitch,Yaw control with stabilization. | +| VEHICLE_MOUNT_MODE_RC_TARGETING | `uint8` | 3 | Load neutral position and start RC Roll,Pitch,Yaw control with stabilization. | +| VEHICLE_MOUNT_MODE_GPS_POINT | `uint8` | 4 | Load neutral position and start to point to Lat,Lon,Alt. | +| VEHICLE_MOUNT_MODE_ENUM_END | `uint8` | 5 | | +| PARACHUTE_ACTION_DISABLE | `uint8` | 0 | | +| PARACHUTE_ACTION_ENABLE | `uint8` | 1 | | +| PARACHUTE_ACTION_RELEASE | `uint8` | 2 | | +| FAILURE_UNIT_SENSOR_GYRO | `uint8` | 0 | | +| FAILURE_UNIT_SENSOR_ACCEL | `uint8` | 1 | | +| FAILURE_UNIT_SENSOR_MAG | `uint8` | 2 | | +| FAILURE_UNIT_SENSOR_BARO | `uint8` | 3 | | +| FAILURE_UNIT_SENSOR_GPS | `uint8` | 4 | | +| FAILURE_UNIT_SENSOR_OPTICAL_FLOW | `uint8` | 5 | | +| FAILURE_UNIT_SENSOR_VIO | `uint8` | 6 | | +| FAILURE_UNIT_SENSOR_DISTANCE_SENSOR | `uint8` | 7 | | +| FAILURE_UNIT_SENSOR_AIRSPEED | `uint8` | 8 | | +| FAILURE_UNIT_SYSTEM_BATTERY | `uint8` | 100 | | +| FAILURE_UNIT_SYSTEM_MOTOR | `uint8` | 101 | | +| FAILURE_UNIT_SYSTEM_SERVO | `uint8` | 102 | | +| FAILURE_UNIT_SYSTEM_AVOIDANCE | `uint8` | 103 | | +| FAILURE_UNIT_SYSTEM_RC_SIGNAL | `uint8` | 104 | | +| FAILURE_UNIT_SYSTEM_MAVLINK_SIGNAL | `uint8` | 105 | | +| FAILURE_TYPE_OK | `uint8` | 0 | | +| FAILURE_TYPE_OFF | `uint8` | 1 | | +| FAILURE_TYPE_STUCK | `uint8` | 2 | | +| FAILURE_TYPE_GARBAGE | `uint8` | 3 | | +| FAILURE_TYPE_WRONG | `uint8` | 4 | | +| FAILURE_TYPE_SLOW | `uint8` | 5 | | +| FAILURE_TYPE_DELAYED | `uint8` | 6 | | +| FAILURE_TYPE_INTERMITTENT | `uint8` | 7 | | +| ARMING_ACTION_DISARM | `int8` | 0 | | +| ARMING_ACTION_ARM | `int8` | 1 | | +| GRIPPER_ACTION_RELEASE | `uint8` | 0 | | +| GRIPPER_ACTION_GRAB | `uint8` | 1 | | +| SAFETY_OFF | `uint8` | 0 | | +| SAFETY_ON | `uint8` | 1 | | +| ORB_QUEUE_LENGTH | `uint8` | 8 | | +| COMPONENT_MODE_EXECUTOR_START | `uint16` | 1000 | | ## Source Message diff --git a/docs/uk/msg_docs/VehicleCommandAck.md b/docs/uk/msg_docs/VehicleCommandAck.md index 871e43fa1f..c5bcc8c4cd 100644 --- a/docs/uk/msg_docs/VehicleCommandAck.md +++ b/docs/uk/msg_docs/VehicleCommandAck.md @@ -4,42 +4,55 @@ pageClass: is-wide-page # VehicleCommandAck (повідомлення UORB) -Повідомлення uORB підтвердження команди автомобіля. Used for acknowledging the vehicle command being received. Follows the MAVLink COMMAND_ACK message definition. +Vehicle Command Acknowledgement uORB message. -**TOPICS:** vehicle_commandack +Used for acknowledging the vehicle command being received. +Follows the MAVLink COMMAND_ACK message definition + +**TOPICS:** vehicle_command_ack ## Fields -| Назва | Тип | Unit [Frame] | Range/Enum | Опис | -| ------------------------------------- | -------- | ---------------------------------------------------------------- | ---------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| command | `uint32` | | | Command that is being acknowledged | -| result | `uint8` | | | Command result | -| result_param1 | `uint8` | | | Also used as progress[%], it can be set with the reason why the command was denied, or the progress percentage when result is MAV_RESULT_IN_PROGRESS | -| result_param2 | `int32` | | | Additional parameter of the result, example: which parameter of MAV_CMD_NAV_WAYPOINT caused it to be denied. | -| target_system | `uint8` | | | | -| target_component | `uint16` | | | Target component / mode executor | -| from_external | `bool` | | | Indicates if the command came from an external source | +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ------------------------------------- | -------- | ------------------------------------------------------------------------------------------ | ----------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | us | | time since system start | +| command | `uint32` | | | Command that is being acknowledged | +| result | `uint8` | | [VEHICLE_CMD_RESULT](#VEHICLE_CMD_RESULT) | Command result | +| result_param1 | `uint8` | | | Can be set with the reason why the command was denied, or the progress percentage when result is MAV_RESULT_IN_PROGRESS (%) | +| result_param2 | `int32` | enum ARM_AUTH_DENIED_REASON | | Additional parameter of the result, example: which parameter of MAV_CMD_NAV_WAYPOINT caused it to be denied, or what ARM_AUTH_DENIED_REASON | +| target_system | `uint8` | | | Target system | +| target_component | `uint16` | | | Target component / mode executor | +| from_external | `bool` | | | Indicates if the command came from an external source | + +## Enums + +### VEHICLE_CMD_RESULT {#VEHICLE_CMD_RESULT} + +| Назва | Тип | Значення | Опис | +| -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | -------- | ------------------------------------------------------------------------- | +| VEHICLE_CMD_RESULT_ACCEPTED | `uint8` | 0 | Command ACCEPTED and EXECUTED | +| VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED | `uint8` | 1 | Command TEMPORARY REJECTED/DENIED | +| VEHICLE_CMD_RESULT_DENIED | `uint8` | 2 | Command PERMANENTLY DENIED | +| VEHICLE_CMD_RESULT_UNSUPPORTED | `uint8` | 3 | Command UNKNOWN/UNSUPPORTED | +| VEHICLE_CMD_RESULT_FAILED | `uint8` | 4 | Command executed, but failed | +| VEHICLE_CMD_RESULT_IN_PROGRESS | `uint8` | 5 | Command being executed | +| VEHICLE_CMD_RESULT_CANCELLED | `uint8` | 6 | Command Canceled | +| VEHICLE_CMD_RESULT_COMMAND_LONG_ONLY | `uint8` | 7 | Command is only accepted when sent as a COMMAND_LONG | +| VEHICLE_CMD_RESULT_COMMAND_INT_ONLY | `uint8` | 8 | Command is only accepted when sent as a COMMAND_INT | +| VEHICLE_CMD_RESULT_UNSUPPORTED_MAV_FRAME | `uint8` | 9 | Command does not support specified frame | ## Constants -| Назва | Тип | Значення | Опис | -| --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | -------- | --------------------------------- | -| MESSAGE_VERSION | `uint32` | 0 | | -| VEHICLE_CMD_RESULT_ACCEPTED | `uint8` | 0 | Command ACCEPTED and EXECUTED | -| VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED | `uint8` | 1 | Command TEMPORARY REJECTED/DENIED | -| VEHICLE_CMD_RESULT_DENIED | `uint8` | 2 | Command PERMANENTLY DENIED | -| VEHICLE_CMD_RESULT_UNSUPPORTED | `uint8` | 3 | Command UNKNOWN/UNSUPPORTED | -| VEHICLE_CMD_RESULT_FAILED | `uint8` | 4 | Command executed, but failed | -| VEHICLE_CMD_RESULT_IN_PROGRESS | `uint8` | 5 | Command being executed | -| VEHICLE_CMD_RESULT_CANCELLED | `uint8` | 6 | Command Canceled | -| ARM_AUTH_DENIED_REASON_GENERIC | `uint16` | 0 | | -| ARM_AUTH_DENIED_REASON_NONE | `uint16` | 1 | | -| ARM_AUTH_DENIED_REASON_INVALID_WAYPOINT | `uint16` | 2 | | -| ARM_AUTH_DENIED_REASON_TIMEOUT | `uint16` | 3 | | -| ARM_AUTH_DENIED_REASON_AIRSPACE_IN_USE | `uint16` | 4 | | -| ARM_AUTH_DENIED_REASON_BAD_WEATHER | `uint16` | 5 | | -| ORB_QUEUE_LENGTH | `uint8` | 8 | | +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | -------- | ---- | +| MESSAGE_VERSION | `uint32` | 1 | | +| ORB_QUEUE_LENGTH | `uint8` | 8 | | +| ARM_AUTH_DENIED_REASON_GENERIC | `uint16` | 0 | | +| ARM_AUTH_DENIED_REASON_NONE | `uint16` | 1 | | +| ARM_AUTH_DENIED_REASON_INVALID_WAYPOINT | `uint16` | 2 | | +| ARM_AUTH_DENIED_REASON_TIMEOUT | `uint16` | 3 | | +| ARM_AUTH_DENIED_REASON_AIRSPACE_IN_USE | `uint16` | 4 | | +| ARM_AUTH_DENIED_REASON_BAD_WEATHER | `uint16` | 5 | | ## Source Message @@ -49,23 +62,35 @@ pageClass: is-wide-page Click here to see original file ```c -# Vehicle Command Ackonwledgement uORB message. +# Vehicle Command Acknowledgement uORB message. +# # Used for acknowledging the vehicle command being received. # Follows the MAVLink COMMAND_ACK message definition -uint32 MESSAGE_VERSION = 0 +uint32 MESSAGE_VERSION = 1 -uint64 timestamp # time since system start (microseconds) +uint64 timestamp # [us] time since system start -# Result cases. This follows the MAVLink MAV_RESULT enum definition -uint8 VEHICLE_CMD_RESULT_ACCEPTED = 0 # Command ACCEPTED and EXECUTED | -uint8 VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED = 1 # Command TEMPORARY REJECTED/DENIED | -uint8 VEHICLE_CMD_RESULT_DENIED = 2 # Command PERMANENTLY DENIED | -uint8 VEHICLE_CMD_RESULT_UNSUPPORTED = 3 # Command UNKNOWN/UNSUPPORTED | -uint8 VEHICLE_CMD_RESULT_FAILED = 4 # Command executed, but failed | -uint8 VEHICLE_CMD_RESULT_IN_PROGRESS = 5 # Command being executed | -uint8 VEHICLE_CMD_RESULT_CANCELLED = 6 # Command Canceled +uint8 ORB_QUEUE_LENGTH = 8 +uint32 command # [-] Command that is being acknowledged + +uint8 result # [@enum VEHICLE_CMD_RESULT] Command result +# VEHICLE_CMD_RESULT Result cases. Follows the MAVLink MAV_RESULT enum definition +uint8 VEHICLE_CMD_RESULT_ACCEPTED = 0 # Command ACCEPTED and EXECUTED +uint8 VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED = 1 # Command TEMPORARY REJECTED/DENIED +uint8 VEHICLE_CMD_RESULT_DENIED = 2 # Command PERMANENTLY DENIED +uint8 VEHICLE_CMD_RESULT_UNSUPPORTED = 3 # Command UNKNOWN/UNSUPPORTED +uint8 VEHICLE_CMD_RESULT_FAILED = 4 # Command executed, but failed +uint8 VEHICLE_CMD_RESULT_IN_PROGRESS = 5 # Command being executed +uint8 VEHICLE_CMD_RESULT_CANCELLED = 6 # Command Canceled +uint8 VEHICLE_CMD_RESULT_COMMAND_LONG_ONLY = 7 # Command is only accepted when sent as a COMMAND_LONG +uint8 VEHICLE_CMD_RESULT_COMMAND_INT_ONLY = 8 # Command is only accepted when sent as a COMMAND_INT +uint8 VEHICLE_CMD_RESULT_UNSUPPORTED_MAV_FRAME = 9 # Command does not support specified frame + +uint8 result_param1 # [-] Can be set with the reason why the command was denied, or the progress percentage when result is MAV_RESULT_IN_PROGRESS (%) + +int32 result_param2 # [enum ARM_AUTH_DENIED_REASON] Additional parameter of the result, example: which parameter of MAV_CMD_NAV_WAYPOINT caused it to be denied, or what ARM_AUTH_DENIED_REASON # Arming denied specific cases uint16 ARM_AUTH_DENIED_REASON_GENERIC = 0 uint16 ARM_AUTH_DENIED_REASON_NONE = 1 @@ -74,16 +99,10 @@ uint16 ARM_AUTH_DENIED_REASON_TIMEOUT = 3 uint16 ARM_AUTH_DENIED_REASON_AIRSPACE_IN_USE = 4 uint16 ARM_AUTH_DENIED_REASON_BAD_WEATHER = 5 -uint8 ORB_QUEUE_LENGTH = 8 +uint8 target_system # [-] Target system +uint16 target_component # Target component / mode executor -uint32 command # Command that is being acknowledged -uint8 result # Command result -uint8 result_param1 # Also used as progress[%], it can be set with the reason why the command was denied, or the progress percentage when result is MAV_RESULT_IN_PROGRESS -int32 result_param2 # Additional parameter of the result, example: which parameter of MAV_CMD_NAV_WAYPOINT caused it to be denied. -uint8 target_system -uint16 target_component # Target component / mode executor - -bool from_external # Indicates if the command came from an external source +bool from_external # Indicates if the command came from an external source ``` ::: diff --git a/docs/uk/msg_docs/VehicleCommandAckV0.md b/docs/uk/msg_docs/VehicleCommandAckV0.md new file mode 100644 index 0000000000..9c31766d0f --- /dev/null +++ b/docs/uk/msg_docs/VehicleCommandAckV0.md @@ -0,0 +1,89 @@ +--- +pageClass: is-wide-page +--- + +# VehicleCommandAckV0 (UORB message) + +Vehicle Command Ackonwledgement uORB message. Used for acknowledging the vehicle command being received. Follows the MAVLink COMMAND_ACK message definition. + +**TOPICS:** vehicle_command_ack_v0 + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ------------------------------------- | -------- | ---------------------------------------------------------------- | ---------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| command | `uint32` | | | Command that is being acknowledged | +| result | `uint8` | | | Command result | +| result_param1 | `uint8` | | | Also used as progress[%], it can be set with the reason why the command was denied, or the progress percentage when result is MAV_RESULT_IN_PROGRESS | +| result_param2 | `int32` | | | Additional parameter of the result, example: which parameter of MAV_CMD_NAV_WAYPOINT caused it to be denied. | +| target_system | `uint8` | | | | +| target_component | `uint16` | | | Target component / mode executor | +| from_external | `bool` | | | Indicates if the command came from an external source | + +## Constants + +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | -------- | --------------------------------- | +| MESSAGE_VERSION | `uint32` | 0 | | +| VEHICLE_CMD_RESULT_ACCEPTED | `uint8` | 0 | Command ACCEPTED and EXECUTED | +| VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED | `uint8` | 1 | Command TEMPORARY REJECTED/DENIED | +| VEHICLE_CMD_RESULT_DENIED | `uint8` | 2 | Command PERMANENTLY DENIED | +| VEHICLE_CMD_RESULT_UNSUPPORTED | `uint8` | 3 | Command UNKNOWN/UNSUPPORTED | +| VEHICLE_CMD_RESULT_FAILED | `uint8` | 4 | Command executed, but failed | +| VEHICLE_CMD_RESULT_IN_PROGRESS | `uint8` | 5 | Command being executed | +| VEHICLE_CMD_RESULT_CANCELLED | `uint8` | 6 | Command Canceled | +| ARM_AUTH_DENIED_REASON_GENERIC | `uint16` | 0 | | +| ARM_AUTH_DENIED_REASON_NONE | `uint16` | 1 | | +| ARM_AUTH_DENIED_REASON_INVALID_WAYPOINT | `uint16` | 2 | | +| ARM_AUTH_DENIED_REASON_TIMEOUT | `uint16` | 3 | | +| ARM_AUTH_DENIED_REASON_AIRSPACE_IN_USE | `uint16` | 4 | | +| ARM_AUTH_DENIED_REASON_BAD_WEATHER | `uint16` | 5 | | +| ORB_QUEUE_LENGTH | `uint8` | 8 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/VehicleCommandAckV0.msg) + +:::details +Click here to see original file + +```c +# Vehicle Command Ackonwledgement uORB message. +# Used for acknowledging the vehicle command being received. +# Follows the MAVLink COMMAND_ACK message definition + +uint32 MESSAGE_VERSION = 0 + +uint64 timestamp # time since system start (microseconds) + +# Result cases. This follows the MAVLink MAV_RESULT enum definition +uint8 VEHICLE_CMD_RESULT_ACCEPTED = 0 # Command ACCEPTED and EXECUTED | +uint8 VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED = 1 # Command TEMPORARY REJECTED/DENIED | +uint8 VEHICLE_CMD_RESULT_DENIED = 2 # Command PERMANENTLY DENIED | +uint8 VEHICLE_CMD_RESULT_UNSUPPORTED = 3 # Command UNKNOWN/UNSUPPORTED | +uint8 VEHICLE_CMD_RESULT_FAILED = 4 # Command executed, but failed | +uint8 VEHICLE_CMD_RESULT_IN_PROGRESS = 5 # Command being executed | +uint8 VEHICLE_CMD_RESULT_CANCELLED = 6 # Command Canceled + +# Arming denied specific cases +uint16 ARM_AUTH_DENIED_REASON_GENERIC = 0 +uint16 ARM_AUTH_DENIED_REASON_NONE = 1 +uint16 ARM_AUTH_DENIED_REASON_INVALID_WAYPOINT = 2 +uint16 ARM_AUTH_DENIED_REASON_TIMEOUT = 3 +uint16 ARM_AUTH_DENIED_REASON_AIRSPACE_IN_USE = 4 +uint16 ARM_AUTH_DENIED_REASON_BAD_WEATHER = 5 + +uint8 ORB_QUEUE_LENGTH = 8 + +uint32 command # Command that is being acknowledged +uint8 result # Command result +uint8 result_param1 # Also used as progress[%], it can be set with the reason why the command was denied, or the progress percentage when result is MAV_RESULT_IN_PROGRESS +int32 result_param2 # Additional parameter of the result, example: which parameter of MAV_CMD_NAV_WAYPOINT caused it to be denied. +uint8 target_system +uint16 target_component # Target component / mode executor + +bool from_external # Indicates if the command came from an external source +``` + +::: diff --git a/docs/uk/msg_docs/VehicleControlMode.md b/docs/uk/msg_docs/VehicleControlMode.md index c0a28c1c59..1821f46f01 100644 --- a/docs/uk/msg_docs/VehicleControlMode.md +++ b/docs/uk/msg_docs/VehicleControlMode.md @@ -29,9 +29,9 @@ pageClass: is-wide-page ## Constants -| Назва | Тип | Значення | Опис | -| -------------------------------------------------------------------- | -------- | -------- | ---- | -| MESSAGE_VERSION | `uint32` | 0 | | +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------ | -------- | -------- | ---- | +| MESSAGE_VERSION | `uint32` | 0 | | ## Source Message diff --git a/docs/uk/msg_docs/VehicleGlobalPosition.md b/docs/uk/msg_docs/VehicleGlobalPosition.md index 81349e8c6c..4e9593bc6b 100644 --- a/docs/uk/msg_docs/VehicleGlobalPosition.md +++ b/docs/uk/msg_docs/VehicleGlobalPosition.md @@ -6,7 +6,7 @@ pageClass: is-wide-page Об'єднана глобальна позиція в WGS84. This struct contains global position estimation. It is not the raw GPS. measurement (@see vehicle_gps_position). This topic is usually published by the position. estimator, which will take more sources of information into account than just GPS,. e.g. control inputs of the vehicle in a Kalman-filter implementation. -**TOPICS:** vehicle_global_position vehicle_global_position_groundtruth external_ins_global_position estimator_global_position aux_global_position +**TOPICS:** vehicle_global_position vehicle_global_position_groundtruth external_ins_global_position estimator_global_position ## Fields @@ -33,9 +33,9 @@ pageClass: is-wide-page ## Constants -| Назва | Тип | Значення | Опис | -| -------------------------------------------------------------------- | -------- | -------- | ---- | -| MESSAGE_VERSION | `uint32` | 0 | | +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------ | -------- | -------- | ---- | +| MESSAGE_VERSION | `uint32` | 0 | | ## Source Message @@ -81,7 +81,6 @@ bool dead_reckoning # True if this position is estimated through dead-reckoning # TOPICS vehicle_global_position vehicle_global_position_groundtruth external_ins_global_position # TOPICS estimator_global_position -# TOPICS aux_global_position ``` ::: diff --git a/docs/uk/msg_docs/VehicleGlobalPositionV0.md b/docs/uk/msg_docs/VehicleGlobalPositionV0.md new file mode 100644 index 0000000000..5b7bc51385 --- /dev/null +++ b/docs/uk/msg_docs/VehicleGlobalPositionV0.md @@ -0,0 +1,86 @@ +--- +pageClass: is-wide-page +--- + +# VehicleGlobalPositionV0 (UORB message) + +Об'єднана глобальна позиція в WGS84. This struct contains global position estimation. It is not the raw GPS. measurement (@see vehicle_gps_position). This topic is usually published by the position. estimator, which will take more sources of information into account than just GPS,. e.g. control inputs of the vehicle in a Kalman-filter implementation. + +**TOPICS:** vehicle_global_position vehicle_global_position_groundtruth external_ins_global_position estimator_global_position + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ------------------------------------------------------------------------------------ | --------- | ---------------------------------------------------------------- | ---------- | ---------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) | +| lat | `float64` | | | Latitude, (degrees) | +| lon | `float64` | | | Longitude, (degrees) | +| alt | `float32` | | | Altitude AMSL, (meters) | +| alt_ellipsoid | `float32` | | | Altitude above ellipsoid, (meters) | +| lat_lon_valid | `bool` | | | | +| alt_valid | `bool` | | | | +| delta_alt | `float32` | | | Reset delta for altitude | +| delta_terrain | `float32` | | | Reset delta for terrain | +| lat_lon_reset_counter | `uint8` | | | Counter for reset events on horizontal position coordinates | +| alt_reset_counter | `uint8` | | | Counter for reset events on altitude | +| terrain_reset_counter | `uint8` | | | Counter for reset events on terrain | +| eph | `float32` | | | Standard deviation of horizontal position error, (metres) | +| epv | `float32` | | | Standard deviation of vertical position error, (metres) | +| terrain_alt | `float32` | | | Terrain altitude WGS84, (metres) | +| terrain_alt_valid | `bool` | | | Terrain altitude estimate is valid | +| dead_reckoning | `bool` | | | True if this position is estimated through dead-reckoning | + +## Constants + +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------ | -------- | -------- | ---- | +| MESSAGE_VERSION | `uint32` | 0 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/VehicleGlobalPositionV0.msg) + +:::details +Click here to see original file + +```c +# Fused global position in WGS84. +# This struct contains global position estimation. It is not the raw GPS +# measurement (@see vehicle_gps_position). This topic is usually published by the position +# estimator, which will take more sources of information into account than just GPS, +# e.g. control inputs of the vehicle in a Kalman-filter implementation. +# + +uint32 MESSAGE_VERSION = 0 + +uint64 timestamp # time since system start (microseconds) +uint64 timestamp_sample # the timestamp of the raw data (microseconds) + +float64 lat # Latitude, (degrees) +float64 lon # Longitude, (degrees) +float32 alt # Altitude AMSL, (meters) +float32 alt_ellipsoid # Altitude above ellipsoid, (meters) + +bool lat_lon_valid +bool alt_valid + +float32 delta_alt # Reset delta for altitude +float32 delta_terrain # Reset delta for terrain +uint8 lat_lon_reset_counter # Counter for reset events on horizontal position coordinates +uint8 alt_reset_counter # Counter for reset events on altitude +uint8 terrain_reset_counter # Counter for reset events on terrain + +float32 eph # Standard deviation of horizontal position error, (metres) +float32 epv # Standard deviation of vertical position error, (metres) + +float32 terrain_alt # Terrain altitude WGS84, (metres) +bool terrain_alt_valid # Terrain altitude estimate is valid + +bool dead_reckoning # True if this position is estimated through dead-reckoning + +# TOPICS vehicle_global_position vehicle_global_position_groundtruth external_ins_global_position +# TOPICS estimator_global_position +``` + +::: diff --git a/docs/uk/msg_docs/VehicleImu.md b/docs/uk/msg_docs/VehicleImu.md index d18db63ada..58426f92e6 100644 --- a/docs/uk/msg_docs/VehicleImu.md +++ b/docs/uk/msg_docs/VehicleImu.md @@ -27,11 +27,11 @@ pageClass: is-wide-page ## Constants -| Назва | Тип | Значення | Опис | -| ---------------------------------------------------------- | ------- | -------- | ---- | -| CLIPPING_X | `uint8` | 1 | | -| CLIPPING_Y | `uint8` | 2 | | -| CLIPPING_Z | `uint8` | 4 | | +| Назва | Тип | Значення | Опис | +| -------------------------------------------------------- | ------- | -------- | ---- | +| CLIPPING_X | `uint8` | 1 | | +| CLIPPING_Y | `uint8` | 2 | | +| CLIPPING_Z | `uint8` | 4 | | ## Source Message diff --git a/docs/uk/msg_docs/VehicleImuStatus.md b/docs/uk/msg_docs/VehicleImuStatus.md index 9e53a2a312..9393287a3c 100644 --- a/docs/uk/msg_docs/VehicleImuStatus.md +++ b/docs/uk/msg_docs/VehicleImuStatus.md @@ -4,7 +4,7 @@ pageClass: is-wide-page # VehicleImuStatus (повідомлення UORB) -**TOPICS:** vehicle_imustatus +**TOPICS:** vehicle_imu_status ## Fields diff --git a/docs/uk/msg_docs/VehicleLandDetected.md b/docs/uk/msg_docs/VehicleLandDetected.md index 56f92f660d..418b19cba9 100644 --- a/docs/uk/msg_docs/VehicleLandDetected.md +++ b/docs/uk/msg_docs/VehicleLandDetected.md @@ -4,7 +4,7 @@ pageClass: is-wide-page # VehicleLandDetected (повідомлення UORB) -**TOPICS:** vehicle_landdetected +**TOPICS:** vehicle_land_detected ## Fields @@ -26,9 +26,9 @@ pageClass: is-wide-page ## Constants -| Назва | Тип | Значення | Опис | -| -------------------------------------------------------------------- | -------- | -------- | ---- | -| MESSAGE_VERSION | `uint32` | 0 | | +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------ | -------- | -------- | ---- | +| MESSAGE_VERSION | `uint32` | 0 | | ## Source Message diff --git a/docs/uk/msg_docs/VehicleLocalPosition.md b/docs/uk/msg_docs/VehicleLocalPosition.md index 2d387eba15..d3395dffb2 100644 --- a/docs/uk/msg_docs/VehicleLocalPosition.md +++ b/docs/uk/msg_docs/VehicleLocalPosition.md @@ -68,12 +68,12 @@ Fused local position in NED. The coordinate system origin is the vehicle positio ## Constants -| Назва | Тип | Значення | Опис | -| -------------------------------------------------------------------------------------------------------------------------------- | -------- | -------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | -| MESSAGE_VERSION | `uint32` | 1 | | -| DIST_BOTTOM_SENSOR_NONE | `uint8` | 0 | | -| DIST_BOTTOM_SENSOR_RANGE | `uint8` | 1 | (1 << 0) a range sensor is used to estimate dist_bottom field | -| DIST_BOTTOM_SENSOR_FLOW | `uint8` | 2 | (1 << 1) a flow sensor is used to estimate dist_bottom field (mostly fixed-wing use case) | +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------------------------------------------------------------------ | -------- | -------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | +| MESSAGE_VERSION | `uint32` | 1 | | +| DIST_BOTTOM_SENSOR_NONE | `uint8` | 0 | | +| DIST_BOTTOM_SENSOR_RANGE | `uint8` | 1 | (1 << 0) a range sensor is used to estimate dist_bottom field | +| DIST_BOTTOM_SENSOR_FLOW | `uint8` | 2 | (1 << 1) a flow sensor is used to estimate dist_bottom field (mostly fixed-wing use case) | ## Source Message diff --git a/docs/uk/msg_docs/VehicleLocalPositionSetpoint.md b/docs/uk/msg_docs/VehicleLocalPositionSetpoint.md index 6bc878001a..a3cd039857 100644 --- a/docs/uk/msg_docs/VehicleLocalPositionSetpoint.md +++ b/docs/uk/msg_docs/VehicleLocalPositionSetpoint.md @@ -6,7 +6,7 @@ pageClass: is-wide-page Local position setpoint in NED frame. Telemetry of PID position controller to monitor tracking. NaN means the state was not controlled. -**TOPICS:** vehicle_localposition_setpoint +**TOPICS:** vehicle_local_position_setpoint ## Fields diff --git a/docs/uk/msg_docs/VehicleLocalPositionV0.md b/docs/uk/msg_docs/VehicleLocalPositionV0.md index 0085af22c9..bcc377356d 100644 --- a/docs/uk/msg_docs/VehicleLocalPositionV0.md +++ b/docs/uk/msg_docs/VehicleLocalPositionV0.md @@ -67,12 +67,12 @@ Fused local position in NED. The coordinate system origin is the vehicle positio ## Constants -| Назва | Тип | Значення | Опис | -| -------------------------------------------------------------------------------------------------------------------------------- | -------- | -------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | -| MESSAGE_VERSION | `uint32` | 0 | | -| DIST_BOTTOM_SENSOR_NONE | `uint8` | 0 | | -| DIST_BOTTOM_SENSOR_RANGE | `uint8` | 1 | (1 << 0) a range sensor is used to estimate dist_bottom field | -| DIST_BOTTOM_SENSOR_FLOW | `uint8` | 2 | (1 << 1) a flow sensor is used to estimate dist_bottom field (mostly fixed-wing use case) | +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------------------------------------------------------------------ | -------- | -------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | +| MESSAGE_VERSION | `uint32` | 0 | | +| DIST_BOTTOM_SENSOR_NONE | `uint8` | 0 | | +| DIST_BOTTOM_SENSOR_RANGE | `uint8` | 1 | (1 << 0) a range sensor is used to estimate dist_bottom field | +| DIST_BOTTOM_SENSOR_FLOW | `uint8` | 2 | (1 << 1) a flow sensor is used to estimate dist_bottom field (mostly fixed-wing use case) | ## Source Message diff --git a/docs/uk/msg_docs/VehicleOdometry.md b/docs/uk/msg_docs/VehicleOdometry.md index 83cace64f0..3b1cec6482 100644 --- a/docs/uk/msg_docs/VehicleOdometry.md +++ b/docs/uk/msg_docs/VehicleOdometry.md @@ -32,26 +32,26 @@ Fits ROS REP 147 for aerial vehicles ### POSE_FRAME {#POSE_FRAME} -| Назва | Тип | Значення | Опис | -| ----------------------------------------------------------------------------------------------- | ------- | -------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------- | -| POSE_FRAME_UNKNOWN | `uint8` | 0 | Unknown frame | -| POSE_FRAME_NED | `uint8` | 1 | North-East-Down (NED) navigation frame. Aligned with True North. | -| POSE_FRAME_FRD | `uint8` | 2 | Forward-Right-Down (FRD) frame. Constant arbitrary heading offset from True North. Z is down. | +| Назва | Тип | Значення | Опис | +| --------------------------------------------------------------------------------------------- | ------- | -------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| POSE_FRAME_UNKNOWN | `uint8` | 0 | Unknown frame | +| POSE_FRAME_NED | `uint8` | 1 | North-East-Down (NED) navigation frame. Aligned with True North. | +| POSE_FRAME_FRD | `uint8` | 2 | Forward-Right-Down (FRD) frame. Constant arbitrary heading offset from True North. Z is down. | ### VELOCITY_FRAME {#VELOCITY_FRAME} -| Назва | Тип | Значення | Опис | -| ------------------------------------------------------------------------------------------------------------------------------ | ------- | -------- | ------------------------------------------------------------------------------------------------------------------------------------------------------- | -| VELOCITY_FRAME_UNKNOWN | `uint8` | 0 | Unknown frame | -| VELOCITY_FRAME_NED | `uint8` | 1 | NED navigation frame at current position. | -| VELOCITY_FRAME_FRD | `uint8` | 2 | FRD navigation frame at current position. Constant arbitrary heading offset from True North. Z is down. | -| VELOCITY_FRAME_BODY_FRD | `uint8` | 3 | FRD body-fixed frame | +| Назва | Тип | Значення | Опис | +| ---------------------------------------------------------------------------------------------------------------------------- | ------- | -------- | ------------------------------------------------------------------------------------------------------------------------------------------------------- | +| VELOCITY_FRAME_UNKNOWN | `uint8` | 0 | Unknown frame | +| VELOCITY_FRAME_NED | `uint8` | 1 | NED navigation frame at current position. | +| VELOCITY_FRAME_FRD | `uint8` | 2 | FRD navigation frame at current position. Constant arbitrary heading offset from True North. Z is down. | +| VELOCITY_FRAME_BODY_FRD | `uint8` | 3 | FRD body-fixed frame | ## Constants -| Назва | Тип | Значення | Опис | -| -------------------------------------------------------------------- | -------- | -------- | ---- | -| MESSAGE_VERSION | `uint32` | 0 | | +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------ | -------- | -------- | ---- | +| MESSAGE_VERSION | `uint32` | 0 | | ## Source Message diff --git a/docs/uk/msg_docs/VehicleOpticalFlow.md b/docs/uk/msg_docs/VehicleOpticalFlow.md index b3662a263f..0b3d931378 100644 --- a/docs/uk/msg_docs/VehicleOpticalFlow.md +++ b/docs/uk/msg_docs/VehicleOpticalFlow.md @@ -6,7 +6,7 @@ pageClass: is-wide-page Оптичний потік в кадрі тіла XYZ в одиницях SI. -**TOPICS:** vehicle_opticalflow +**TOPICS:** vehicle_optical_flow ## Fields diff --git a/docs/uk/msg_docs/VehicleRatesSetpoint.md b/docs/uk/msg_docs/VehicleRatesSetpoint.md index be37193266..66ac32c7b2 100644 --- a/docs/uk/msg_docs/VehicleRatesSetpoint.md +++ b/docs/uk/msg_docs/VehicleRatesSetpoint.md @@ -4,7 +4,7 @@ pageClass: is-wide-page # VehicleRatesSetpoint (повідомлення UORB) -**TOPICS:** vehicle_ratessetpoint +**TOPICS:** vehicle_rates_setpoint ## Fields @@ -19,9 +19,9 @@ pageClass: is-wide-page ## Constants -| Назва | Тип | Значення | Опис | -| -------------------------------------------------------------------- | -------- | -------- | ---- | -| MESSAGE_VERSION | `uint32` | 0 | | +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------ | -------- | -------- | ---- | +| MESSAGE_VERSION | `uint32` | 0 | | ## Source Message diff --git a/docs/uk/msg_docs/VehicleRoi.md b/docs/uk/msg_docs/VehicleRoi.md index 1d01fa88f2..7f78801914 100644 --- a/docs/uk/msg_docs/VehicleRoi.md +++ b/docs/uk/msg_docs/VehicleRoi.md @@ -23,14 +23,14 @@ Vehicle Region Of Interest (ROI). ## Constants -| Назва | Тип | Значення | Опис | -| ----------------------------------------------------------------------------------- | ------- | -------- | ---------------------------------------------- | -| ROI_NONE | `uint8` | 0 | No region of interest | -| ROI_WPNEXT | `uint8` | 1 | Point toward next MISSION with optional offset | -| ROI_WPINDEX | `uint8` | 2 | Point toward given MISSION | -| ROI_LOCATION | `uint8` | 3 | Point toward fixed location | -| ROI_TARGET | `uint8` | 4 | Point toward target | -| ROI_ENUM_END | `uint8` | 5 | | +| Назва | Тип | Значення | Опис | +| --------------------------------------------------------------------------------- | ------- | -------- | ---------------------------------------------- | +| ROI_NONE | `uint8` | 0 | No region of interest | +| ROI_WPNEXT | `uint8` | 1 | Point toward next MISSION with optional offset | +| ROI_WPINDEX | `uint8` | 2 | Point toward given MISSION | +| ROI_LOCATION | `uint8` | 3 | Point toward fixed location | +| ROI_TARGET | `uint8` | 4 | Point toward target | +| ROI_ENUM_END | `uint8` | 5 | | ## Source Message diff --git a/docs/uk/msg_docs/VehicleStatus.md b/docs/uk/msg_docs/VehicleStatus.md index e37a7cefb9..c7d07907c4 100644 --- a/docs/uk/msg_docs/VehicleStatus.md +++ b/docs/uk/msg_docs/VehicleStatus.md @@ -22,6 +22,7 @@ Encodes the system state of the vehicle published by commander. | nav_state_user_intention | `uint8` | | | Mode that the user selected (might be different from nav_state in a failsafe situation) | | nav_state | `uint8` | | | Currently active mode | | executor_in_charge | `uint8` | | | Current mode executor in charge (0=Autopilot) | +| nav_state_display | `uint8` | | | User-visible nav state sent via MAVLink (executor state if active, otherwise nav_state) | | valid_nav_states_mask | `uint32` | | | Bitmask for all valid nav_state values | | can_set_nav_states_mask | `uint32` | | | Bitmask for all modes that a user can select | | failure_detector_status | `uint16` | | | | @@ -48,77 +49,78 @@ Encodes the system state of the vehicle published by commander. | open_drone_id_system_healthy | `bool` | | | | | parachute_system_present | `bool` | | | | | parachute_system_healthy | `bool` | | | | +| traffic_avoidance_system_present | `bool` | | | | | rc_calibration_in_progress | `bool` | | | | | calibration_enabled | `bool` | | | | | pre_flight_checks_pass | `bool` | | | true if all checks necessary to arm pass | ## Constants -| Назва | Тип | Значення | Опис | -| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | -------- | ----------------------------------------------------------------------------- | -| MESSAGE_VERSION | `uint32` | 1 | | -| ARMING_STATE_DISARMED | `uint8` | 1 | | -| ARMING_STATE_ARMED | `uint8` | 2 | | -| ARM_DISARM_REASON_STICK_GESTURE | `uint8` | 1 | | -| ARM_DISARM_REASON_RC_SWITCH | `uint8` | 2 | | -| ARM_DISARM_REASON_COMMAND_INTERNAL | `uint8` | 3 | | -| ARM_DISARM_REASON_COMMAND_EXTERNAL | `uint8` | 4 | | -| ARM_DISARM_REASON_MISSION_START | `uint8` | 5 | | -| ARM_DISARM_REASON_LANDING | `uint8` | 6 | | -| ARM_DISARM_REASON_PREFLIGHT_INACTION | `uint8` | 7 | | -| ARM_DISARM_REASON_KILL_SWITCH | `uint8` | 8 | | -| ARM_DISARM_REASON_RC_BUTTON | `uint8` | 13 | | -| ARM_DISARM_REASON_FAILSAFE | `uint8` | 14 | | -| NAVIGATION_STATE_MANUAL | `uint8` | 0 | Manual mode | -| NAVIGATION_STATE_ALTCTL | `uint8` | 1 | Altitude control mode | -| NAVIGATION_STATE_POSCTL | `uint8` | 2 | Position control mode | -| NAVIGATION_STATE_AUTO_MISSION | `uint8` | 3 | Auto mission mode | -| NAVIGATION_STATE_AUTO_LOITER | `uint8` | 4 | Auto loiter mode | -| NAVIGATION_STATE_AUTO_RTL | `uint8` | 5 | Auto return to launch mode | -| NAVIGATION_STATE_POSITION_SLOW | `uint8` | 6 | | -| NAVIGATION_STATE_FREE5 | `uint8` | 7 | | -| NAVIGATION_STATE_ALTITUDE_CRUISE | `uint8` | 8 | Altitude with Cruise mode | -| NAVIGATION_STATE_FREE3 | `uint8` | 9 | | -| NAVIGATION_STATE_ACRO | `uint8` | 10 | Acro mode | -| NAVIGATION_STATE_FREE2 | `uint8` | 11 | | -| NAVIGATION_STATE_DESCEND | `uint8` | 12 | Descend mode (no position control) | -| NAVIGATION_STATE_TERMINATION | `uint8` | 13 | Termination mode | -| NAVIGATION_STATE_OFFBOARD | `uint8` | 14 | | -| NAVIGATION_STATE_STAB | `uint8` | 15 | Stabilized mode | -| NAVIGATION_STATE_FREE1 | `uint8` | 16 | | -| NAVIGATION_STATE_AUTO_TAKEOFF | `uint8` | 17 | Takeoff | -| NAVIGATION_STATE_AUTO_LAND | `uint8` | 18 | Land | -| NAVIGATION_STATE_AUTO_FOLLOW_TARGET | `uint8` | 19 | Auto Follow | -| NAVIGATION_STATE_AUTO_PRECLAND | `uint8` | 20 | Precision land with landing target | -| NAVIGATION_STATE_ORBIT | `uint8` | 21 | Orbit in a circle | -| NAVIGATION_STATE_AUTO_VTOL_TAKEOFF | `uint8` | 22 | Takeoff, transition, establish loiter | -| NAVIGATION_STATE_EXTERNAL1 | `uint8` | 23 | | -| NAVIGATION_STATE_EXTERNAL2 | `uint8` | 24 | | -| NAVIGATION_STATE_EXTERNAL3 | `uint8` | 25 | | -| NAVIGATION_STATE_EXTERNAL4 | `uint8` | 26 | | -| NAVIGATION_STATE_EXTERNAL5 | `uint8` | 27 | | -| NAVIGATION_STATE_EXTERNAL6 | `uint8` | 28 | | -| NAVIGATION_STATE_EXTERNAL7 | `uint8` | 29 | | -| NAVIGATION_STATE_EXTERNAL8 | `uint8` | 30 | | -| NAVIGATION_STATE_MAX | `uint8` | 31 | | -| FAILURE_NONE | `uint16` | 0 | | -| FAILURE_ROLL | `uint16` | 1 | (1 << 0) | -| FAILURE_PITCH | `uint16` | 2 | (1 << 1) | -| FAILURE_ALT | `uint16` | 4 | (1 << 2) | -| FAILURE_EXT | `uint16` | 8 | (1 << 3) | -| FAILURE_ARM_ESC | `uint16` | 16 | (1 << 4) | -| FAILURE_BATTERY | `uint16` | 32 | (1 << 5) | -| FAILURE_IMBALANCED_PROP | `uint16` | 64 | (1 << 6) | -| FAILURE_MOTOR | `uint16` | 128 | (1 << 7) | -| HIL_STATE_OFF | `uint8` | 0 | | -| HIL_STATE_ON | `uint8` | 1 | | -| VEHICLE_TYPE_UNSPECIFIED | `uint8` | 0 | | -| VEHICLE_TYPE_ROTARY_WING | `uint8` | 1 | | -| VEHICLE_TYPE_FIXED_WING | `uint8` | 2 | | -| VEHICLE_TYPE_ROVER | `uint8` | 3 | | -| FAILSAFE_DEFER_STATE_DISABLED | `uint8` | 0 | | -| FAILSAFE_DEFER_STATE_ENABLED | `uint8` | 1 | | -| FAILSAFE_DEFER_STATE_WOULD_FAILSAFE | `uint8` | 2 | Failsafes deferred, but would trigger a failsafe | +| Назва | Тип | Значення | Опис | +| --------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | -------- | ----------------------------------------------------------------------------- | +| MESSAGE_VERSION | `uint32` | 2 | | +| ARMING_STATE_DISARMED | `uint8` | 1 | | +| ARMING_STATE_ARMED | `uint8` | 2 | | +| ARM_DISARM_REASON_STICK_GESTURE | `uint8` | 1 | | +| ARM_DISARM_REASON_RC_SWITCH | `uint8` | 2 | | +| ARM_DISARM_REASON_COMMAND_INTERNAL | `uint8` | 3 | | +| ARM_DISARM_REASON_COMMAND_EXTERNAL | `uint8` | 4 | | +| ARM_DISARM_REASON_MISSION_START | `uint8` | 5 | | +| ARM_DISARM_REASON_LANDING | `uint8` | 6 | | +| ARM_DISARM_REASON_PREFLIGHT_INACTION | `uint8` | 7 | | +| ARM_DISARM_REASON_KILL_SWITCH | `uint8` | 8 | | +| ARM_DISARM_REASON_RC_BUTTON | `uint8` | 13 | | +| ARM_DISARM_REASON_FAILSAFE | `uint8` | 14 | | +| NAVIGATION_STATE_MANUAL | `uint8` | 0 | Manual mode | +| NAVIGATION_STATE_ALTCTL | `uint8` | 1 | Altitude control mode | +| NAVIGATION_STATE_POSCTL | `uint8` | 2 | Position control mode | +| NAVIGATION_STATE_AUTO_MISSION | `uint8` | 3 | Auto mission mode | +| NAVIGATION_STATE_AUTO_LOITER | `uint8` | 4 | Auto loiter mode | +| NAVIGATION_STATE_AUTO_RTL | `uint8` | 5 | Auto return to launch mode | +| NAVIGATION_STATE_POSITION_SLOW | `uint8` | 6 | | +| NAVIGATION_STATE_FREE5 | `uint8` | 7 | | +| NAVIGATION_STATE_ALTITUDE_CRUISE | `uint8` | 8 | Altitude with Cruise mode | +| NAVIGATION_STATE_FREE3 | `uint8` | 9 | | +| NAVIGATION_STATE_ACRO | `uint8` | 10 | Acro mode | +| NAVIGATION_STATE_FREE2 | `uint8` | 11 | | +| NAVIGATION_STATE_DESCEND | `uint8` | 12 | Descend mode (no position control) | +| NAVIGATION_STATE_TERMINATION | `uint8` | 13 | Termination mode | +| NAVIGATION_STATE_OFFBOARD | `uint8` | 14 | | +| NAVIGATION_STATE_STAB | `uint8` | 15 | Stabilized mode | +| NAVIGATION_STATE_FREE1 | `uint8` | 16 | | +| NAVIGATION_STATE_AUTO_TAKEOFF | `uint8` | 17 | Takeoff | +| NAVIGATION_STATE_AUTO_LAND | `uint8` | 18 | Land | +| NAVIGATION_STATE_AUTO_FOLLOW_TARGET | `uint8` | 19 | Auto Follow | +| NAVIGATION_STATE_AUTO_PRECLAND | `uint8` | 20 | Precision land with landing target | +| NAVIGATION_STATE_ORBIT | `uint8` | 21 | Orbit in a circle | +| NAVIGATION_STATE_AUTO_VTOL_TAKEOFF | `uint8` | 22 | Takeoff, transition, establish loiter | +| NAVIGATION_STATE_EXTERNAL1 | `uint8` | 23 | | +| NAVIGATION_STATE_EXTERNAL2 | `uint8` | 24 | | +| NAVIGATION_STATE_EXTERNAL3 | `uint8` | 25 | | +| NAVIGATION_STATE_EXTERNAL4 | `uint8` | 26 | | +| NAVIGATION_STATE_EXTERNAL5 | `uint8` | 27 | | +| NAVIGATION_STATE_EXTERNAL6 | `uint8` | 28 | | +| NAVIGATION_STATE_EXTERNAL7 | `uint8` | 29 | | +| NAVIGATION_STATE_EXTERNAL8 | `uint8` | 30 | | +| NAVIGATION_STATE_MAX | `uint8` | 31 | | +| FAILURE_NONE | `uint16` | 0 | | +| FAILURE_ROLL | `uint16` | 1 | (1 << 0) | +| FAILURE_PITCH | `uint16` | 2 | (1 << 1) | +| FAILURE_ALT | `uint16` | 4 | (1 << 2) | +| FAILURE_EXT | `uint16` | 8 | (1 << 3) | +| FAILURE_ARM_ESC | `uint16` | 16 | (1 << 4) | +| FAILURE_BATTERY | `uint16` | 32 | (1 << 5) | +| FAILURE_IMBALANCED_PROP | `uint16` | 64 | (1 << 6) | +| FAILURE_MOTOR | `uint16` | 128 | (1 << 7) | +| HIL_STATE_OFF | `uint8` | 0 | | +| HIL_STATE_ON | `uint8` | 1 | | +| VEHICLE_TYPE_UNSPECIFIED | `uint8` | 0 | | +| VEHICLE_TYPE_ROTARY_WING | `uint8` | 1 | | +| VEHICLE_TYPE_FIXED_WING | `uint8` | 2 | | +| VEHICLE_TYPE_ROVER | `uint8` | 3 | | +| FAILSAFE_DEFER_STATE_DISABLED | `uint8` | 0 | | +| FAILSAFE_DEFER_STATE_ENABLED | `uint8` | 1 | | +| FAILSAFE_DEFER_STATE_WOULD_FAILSAFE | `uint8` | 2 | Failsafes deferred, but would trigger a failsafe | ## Source Message @@ -130,7 +132,7 @@ Click here to see original file ```c # Encodes the system state of the vehicle published by commander -uint32 MESSAGE_VERSION = 1 +uint32 MESSAGE_VERSION = 2 uint64 timestamp # time since system start (microseconds) @@ -193,6 +195,7 @@ uint8 NAVIGATION_STATE_EXTERNAL8 = 30 uint8 NAVIGATION_STATE_MAX = 31 uint8 executor_in_charge # Current mode executor in charge (0=Autopilot) +uint8 nav_state_display # User-visible nav state sent via MAVLink (executor state if active, otherwise nav_state) uint32 valid_nav_states_mask # Bitmask for all valid nav_state values uint32 can_set_nav_states_mask # Bitmask for all modes that a user can select @@ -256,6 +259,8 @@ bool open_drone_id_system_healthy bool parachute_system_present bool parachute_system_healthy +bool traffic_avoidance_system_present + bool rc_calibration_in_progress bool calibration_enabled diff --git a/docs/uk/msg_docs/VehicleStatusV0.md b/docs/uk/msg_docs/VehicleStatusV0.md index e155e098f5..a5f5caae0c 100644 --- a/docs/uk/msg_docs/VehicleStatusV0.md +++ b/docs/uk/msg_docs/VehicleStatusV0.md @@ -6,7 +6,7 @@ pageClass: is-wide-page Encodes the system state of the vehicle published by commander. -**TOPICS:** vehicle_statusv0 +**TOPICS:** vehicle_status_v0 ## Fields @@ -56,76 +56,76 @@ Encodes the system state of the vehicle published by commander. ## Constants -| Назва | Тип | Значення | Опис | -| -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | -------- | ----------------------------------------------------------------------------- | -| MESSAGE_VERSION | `uint32` | 0 | | -| ARMING_STATE_DISARMED | `uint8` | 1 | | -| ARMING_STATE_ARMED | `uint8` | 2 | | -| ARM_DISARM_REASON_TRANSITION_TO_STANDBY | `uint8` | 0 | | -| ARM_DISARM_REASON_STICK_GESTURE | `uint8` | 1 | | -| ARM_DISARM_REASON_RC_SWITCH | `uint8` | 2 | | -| ARM_DISARM_REASON_COMMAND_INTERNAL | `uint8` | 3 | | -| ARM_DISARM_REASON_COMMAND_EXTERNAL | `uint8` | 4 | | -| ARM_DISARM_REASON_MISSION_START | `uint8` | 5 | | -| ARM_DISARM_REASON_SAFETY_BUTTON | `uint8` | 6 | | -| ARM_DISARM_REASON_AUTO_DISARM_LAND | `uint8` | 7 | | -| ARM_DISARM_REASON_AUTO_DISARM_PREFLIGHT | `uint8` | 8 | | -| ARM_DISARM_REASON_KILL_SWITCH | `uint8` | 9 | | -| ARM_DISARM_REASON_LOCKDOWN | `uint8` | 10 | | -| ARM_DISARM_REASON_FAILURE_DETECTOR | `uint8` | 11 | | -| ARM_DISARM_REASON_SHUTDOWN | `uint8` | 12 | | -| ARM_DISARM_REASON_UNIT_TEST | `uint8` | 13 | | -| NAVIGATION_STATE_MANUAL | `uint8` | 0 | Manual mode | -| NAVIGATION_STATE_ALTCTL | `uint8` | 1 | Altitude control mode | -| NAVIGATION_STATE_POSCTL | `uint8` | 2 | Position control mode | -| NAVIGATION_STATE_AUTO_MISSION | `uint8` | 3 | Auto mission mode | -| NAVIGATION_STATE_AUTO_LOITER | `uint8` | 4 | Auto loiter mode | -| NAVIGATION_STATE_AUTO_RTL | `uint8` | 5 | Auto return to launch mode | -| NAVIGATION_STATE_POSITION_SLOW | `uint8` | 6 | | -| NAVIGATION_STATE_FREE5 | `uint8` | 7 | | -| NAVIGATION_STATE_FREE4 | `uint8` | 8 | | -| NAVIGATION_STATE_FREE3 | `uint8` | 9 | | -| NAVIGATION_STATE_ACRO | `uint8` | 10 | Acro mode | -| NAVIGATION_STATE_FREE2 | `uint8` | 11 | | -| NAVIGATION_STATE_DESCEND | `uint8` | 12 | Descend mode (no position control) | -| NAVIGATION_STATE_TERMINATION | `uint8` | 13 | Termination mode | -| NAVIGATION_STATE_OFFBOARD | `uint8` | 14 | | -| NAVIGATION_STATE_STAB | `uint8` | 15 | Stabilized mode | -| NAVIGATION_STATE_FREE1 | `uint8` | 16 | | -| NAVIGATION_STATE_AUTO_TAKEOFF | `uint8` | 17 | Takeoff | -| NAVIGATION_STATE_AUTO_LAND | `uint8` | 18 | Land | -| NAVIGATION_STATE_AUTO_FOLLOW_TARGET | `uint8` | 19 | Auto Follow | -| NAVIGATION_STATE_AUTO_PRECLAND | `uint8` | 20 | Precision land with landing target | -| NAVIGATION_STATE_ORBIT | `uint8` | 21 | Orbit in a circle | -| NAVIGATION_STATE_AUTO_VTOL_TAKEOFF | `uint8` | 22 | Takeoff, transition, establish loiter | -| NAVIGATION_STATE_EXTERNAL1 | `uint8` | 23 | | -| NAVIGATION_STATE_EXTERNAL2 | `uint8` | 24 | | -| NAVIGATION_STATE_EXTERNAL3 | `uint8` | 25 | | -| NAVIGATION_STATE_EXTERNAL4 | `uint8` | 26 | | -| NAVIGATION_STATE_EXTERNAL5 | `uint8` | 27 | | -| NAVIGATION_STATE_EXTERNAL6 | `uint8` | 28 | | -| NAVIGATION_STATE_EXTERNAL7 | `uint8` | 29 | | -| NAVIGATION_STATE_EXTERNAL8 | `uint8` | 30 | | -| NAVIGATION_STATE_MAX | `uint8` | 31 | | -| FAILURE_NONE | `uint16` | 0 | | -| FAILURE_ROLL | `uint16` | 1 | (1 << 0) | -| FAILURE_PITCH | `uint16` | 2 | (1 << 1) | -| FAILURE_ALT | `uint16` | 4 | (1 << 2) | -| FAILURE_EXT | `uint16` | 8 | (1 << 3) | -| FAILURE_ARM_ESC | `uint16` | 16 | (1 << 4) | -| FAILURE_BATTERY | `uint16` | 32 | (1 << 5) | -| FAILURE_IMBALANCED_PROP | `uint16` | 64 | (1 << 6) | -| FAILURE_MOTOR | `uint16` | 128 | (1 << 7) | -| HIL_STATE_OFF | `uint8` | 0 | | -| HIL_STATE_ON | `uint8` | 1 | | -| VEHICLE_TYPE_UNKNOWN | `uint8` | 0 | | -| VEHICLE_TYPE_ROTARY_WING | `uint8` | 1 | | -| VEHICLE_TYPE_FIXED_WING | `uint8` | 2 | | -| VEHICLE_TYPE_ROVER | `uint8` | 3 | | -| VEHICLE_TYPE_AIRSHIP | `uint8` | 4 | | -| FAILSAFE_DEFER_STATE_DISABLED | `uint8` | 0 | | -| FAILSAFE_DEFER_STATE_ENABLED | `uint8` | 1 | | -| FAILSAFE_DEFER_STATE_WOULD_FAILSAFE | `uint8` | 2 | Failsafes deferred, but would trigger a failsafe | +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | -------- | -------- | ----------------------------------------------------------------------------- | +| MESSAGE_VERSION | `uint32` | 0 | | +| ARMING_STATE_DISARMED | `uint8` | 1 | | +| ARMING_STATE_ARMED | `uint8` | 2 | | +| ARM_DISARM_REASON_TRANSITION_TO_STANDBY | `uint8` | 0 | | +| ARM_DISARM_REASON_STICK_GESTURE | `uint8` | 1 | | +| ARM_DISARM_REASON_RC_SWITCH | `uint8` | 2 | | +| ARM_DISARM_REASON_COMMAND_INTERNAL | `uint8` | 3 | | +| ARM_DISARM_REASON_COMMAND_EXTERNAL | `uint8` | 4 | | +| ARM_DISARM_REASON_MISSION_START | `uint8` | 5 | | +| ARM_DISARM_REASON_SAFETY_BUTTON | `uint8` | 6 | | +| ARM_DISARM_REASON_AUTO_DISARM_LAND | `uint8` | 7 | | +| ARM_DISARM_REASON_AUTO_DISARM_PREFLIGHT | `uint8` | 8 | | +| ARM_DISARM_REASON_KILL_SWITCH | `uint8` | 9 | | +| ARM_DISARM_REASON_LOCKDOWN | `uint8` | 10 | | +| ARM_DISARM_REASON_FAILURE_DETECTOR | `uint8` | 11 | | +| ARM_DISARM_REASON_SHUTDOWN | `uint8` | 12 | | +| ARM_DISARM_REASON_UNIT_TEST | `uint8` | 13 | | +| NAVIGATION_STATE_MANUAL | `uint8` | 0 | Manual mode | +| NAVIGATION_STATE_ALTCTL | `uint8` | 1 | Altitude control mode | +| NAVIGATION_STATE_POSCTL | `uint8` | 2 | Position control mode | +| NAVIGATION_STATE_AUTO_MISSION | `uint8` | 3 | Auto mission mode | +| NAVIGATION_STATE_AUTO_LOITER | `uint8` | 4 | Auto loiter mode | +| NAVIGATION_STATE_AUTO_RTL | `uint8` | 5 | Auto return to launch mode | +| NAVIGATION_STATE_POSITION_SLOW | `uint8` | 6 | | +| NAVIGATION_STATE_FREE5 | `uint8` | 7 | | +| NAVIGATION_STATE_FREE4 | `uint8` | 8 | | +| NAVIGATION_STATE_FREE3 | `uint8` | 9 | | +| NAVIGATION_STATE_ACRO | `uint8` | 10 | Acro mode | +| NAVIGATION_STATE_FREE2 | `uint8` | 11 | | +| NAVIGATION_STATE_DESCEND | `uint8` | 12 | Descend mode (no position control) | +| NAVIGATION_STATE_TERMINATION | `uint8` | 13 | Termination mode | +| NAVIGATION_STATE_OFFBOARD | `uint8` | 14 | | +| NAVIGATION_STATE_STAB | `uint8` | 15 | Stabilized mode | +| NAVIGATION_STATE_FREE1 | `uint8` | 16 | | +| NAVIGATION_STATE_AUTO_TAKEOFF | `uint8` | 17 | Takeoff | +| NAVIGATION_STATE_AUTO_LAND | `uint8` | 18 | Land | +| NAVIGATION_STATE_AUTO_FOLLOW_TARGET | `uint8` | 19 | Auto Follow | +| NAVIGATION_STATE_AUTO_PRECLAND | `uint8` | 20 | Precision land with landing target | +| NAVIGATION_STATE_ORBIT | `uint8` | 21 | Orbit in a circle | +| NAVIGATION_STATE_AUTO_VTOL_TAKEOFF | `uint8` | 22 | Takeoff, transition, establish loiter | +| NAVIGATION_STATE_EXTERNAL1 | `uint8` | 23 | | +| NAVIGATION_STATE_EXTERNAL2 | `uint8` | 24 | | +| NAVIGATION_STATE_EXTERNAL3 | `uint8` | 25 | | +| NAVIGATION_STATE_EXTERNAL4 | `uint8` | 26 | | +| NAVIGATION_STATE_EXTERNAL5 | `uint8` | 27 | | +| NAVIGATION_STATE_EXTERNAL6 | `uint8` | 28 | | +| NAVIGATION_STATE_EXTERNAL7 | `uint8` | 29 | | +| NAVIGATION_STATE_EXTERNAL8 | `uint8` | 30 | | +| NAVIGATION_STATE_MAX | `uint8` | 31 | | +| FAILURE_NONE | `uint16` | 0 | | +| FAILURE_ROLL | `uint16` | 1 | (1 << 0) | +| FAILURE_PITCH | `uint16` | 2 | (1 << 1) | +| FAILURE_ALT | `uint16` | 4 | (1 << 2) | +| FAILURE_EXT | `uint16` | 8 | (1 << 3) | +| FAILURE_ARM_ESC | `uint16` | 16 | (1 << 4) | +| FAILURE_BATTERY | `uint16` | 32 | (1 << 5) | +| FAILURE_IMBALANCED_PROP | `uint16` | 64 | (1 << 6) | +| FAILURE_MOTOR | `uint16` | 128 | (1 << 7) | +| HIL_STATE_OFF | `uint8` | 0 | | +| HIL_STATE_ON | `uint8` | 1 | | +| VEHICLE_TYPE_UNKNOWN | `uint8` | 0 | | +| VEHICLE_TYPE_ROTARY_WING | `uint8` | 1 | | +| VEHICLE_TYPE_FIXED_WING | `uint8` | 2 | | +| VEHICLE_TYPE_ROVER | `uint8` | 3 | | +| VEHICLE_TYPE_AIRSHIP | `uint8` | 4 | | +| FAILSAFE_DEFER_STATE_DISABLED | `uint8` | 0 | | +| FAILSAFE_DEFER_STATE_ENABLED | `uint8` | 1 | | +| FAILSAFE_DEFER_STATE_WOULD_FAILSAFE | `uint8` | 2 | Failsafes deferred, but would trigger a failsafe | ## Source Message diff --git a/docs/uk/msg_docs/VehicleStatusV1.md b/docs/uk/msg_docs/VehicleStatusV1.md new file mode 100644 index 0000000000..394657e460 --- /dev/null +++ b/docs/uk/msg_docs/VehicleStatusV1.md @@ -0,0 +1,287 @@ +--- +pageClass: is-wide-page +--- + +# VehicleStatusV1 (UORB message) + +Encodes the system state of the vehicle published by commander. + +**TOPICS:** vehicle_status_v1 + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ---------------------------------------------------------------------------------------------------------------- | -------- | ---------------------------------------------------------------- | --------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | us | | Time since system start | +| armed_time | `uint64` | us | | Arming timestamp | +| takeoff_time | `uint64` | us | | Takeoff timestamp | +| arming_state | `uint8` | | | | +| latest_arming_reason | `uint8` | | | | +| latest_disarming_reason | `uint8` | | | | +| nav_state_timestamp | `uint64` | | | Time when current nav_state activated | +| nav_state_user_intention | `uint8` | | | Mode that the user selected (might be different from nav_state in a failsafe situation) | +| nav_state | `uint8` | | [NAVIGATION_STATE](#NAVIGATION_STATE) | Currently active mode | +| executor_in_charge | `uint8` | | | Current mode executor in charge (0=Autopilot) | +| valid_nav_states_mask | `uint32` | | | Bitmask for all valid nav_state values | +| can_set_nav_states_mask | `uint32` | | | Bitmask for all modes that a user can select | +| failure_detector_status | `uint16` | | [FAILURE](#FAILURE) | | +| hil_state | `uint8` | enum HIL_STATE | | | +| vehicle_type | `uint8` | | [VEHICLE_TYPE](#VEHICLE_TYPE) | | +| failsafe | `bool` | | | true if system is in failsafe state (e.g.:RTL, Hover, Terminate, ...) | +| failsafe_and_user_took_over | `bool` | | | true if system is in failsafe state but the user took over control | +| failsafe_defer_state | `uint8` | | [FAILSAFE_DEFER_STATE](#FAILSAFE_DEFER_STATE) | | +| gcs_connection_lost | `bool` | | | datalink to GCS lost | +| gcs_connection_lost_counter | `uint8` | | | counts unique GCS connection lost events | +| high_latency_data_link_lost | `bool` | | | Set to true if the high latency data link (eg. RockBlock Iridium 9603 telemetry module) is lost | +| is_vtol | `bool` | | | True if the system is VTOL capable | +| is_vtol_tailsitter | `bool` | | | True if the system performs a 90° pitch down rotation during transition from MC to FW | +| in_transition_mode | `bool` | | | True if VTOL is doing a transition | +| in_transition_to_fw | `bool` | | | True if VTOL is doing a transition from MC to FW | +| system_type | `uint8` | | | system type, contains mavlink MAV_TYPE | +| system_id | `uint8` | | | system id, contains MAVLink's system ID field | +| component_id | `uint8` | | | subsystem / component id, contains MAVLink's component ID field | +| safety_button_available | `bool` | | | Set to true if a safety button is connected | +| safety_off | `bool` | | | Set to true if safety is off | +| power_input_valid | `bool` | | | Set if input power is valid | +| usb_connected | `bool` | | | Set to true (never cleared) once telemetry received from usb link | +| open_drone_id_system_present | `bool` | | | | +| open_drone_id_system_healthy | `bool` | | | | +| parachute_system_present | `bool` | | | | +| parachute_system_healthy | `bool` | | | | +| rc_calibration_in_progress | `bool` | | | | +| calibration_enabled | `bool` | | | | +| pre_flight_checks_pass | `bool` | | | true if all checks necessary to arm pass | + +## Enums + +### NAVIGATION_STATE {#NAVIGATION_STATE} + +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | -------- | ----------------------------------------------------- | +| NAVIGATION_STATE_MANUAL | `uint8` | 0 | Manual mode | +| NAVIGATION_STATE_ALTCTL | `uint8` | 1 | Altitude control mode | +| NAVIGATION_STATE_POSCTL | `uint8` | 2 | Position control mode | +| NAVIGATION_STATE_AUTO_MISSION | `uint8` | 3 | Auto mission mode | +| NAVIGATION_STATE_AUTO_LOITER | `uint8` | 4 | Auto loiter mode | +| NAVIGATION_STATE_AUTO_RTL | `uint8` | 5 | Auto return to launch mode | +| NAVIGATION_STATE_POSITION_SLOW | `uint8` | 6 | | +| NAVIGATION_STATE_FREE5 | `uint8` | 7 | | +| NAVIGATION_STATE_ALTITUDE_CRUISE | `uint8` | 8 | Altitude with Cruise mode | +| NAVIGATION_STATE_FREE3 | `uint8` | 9 | | +| NAVIGATION_STATE_ACRO | `uint8` | 10 | Acro mode | +| NAVIGATION_STATE_FREE2 | `uint8` | 11 | | +| NAVIGATION_STATE_DESCEND | `uint8` | 12 | Descend mode (no position control) | +| NAVIGATION_STATE_TERMINATION | `uint8` | 13 | Termination mode | +| NAVIGATION_STATE_OFFBOARD | `uint8` | 14 | | +| NAVIGATION_STATE_STAB | `uint8` | 15 | Stabilized mode | +| NAVIGATION_STATE_FREE1 | `uint8` | 16 | | +| NAVIGATION_STATE_AUTO_TAKEOFF | `uint8` | 17 | Takeoff | +| NAVIGATION_STATE_AUTO_LAND | `uint8` | 18 | Land | +| NAVIGATION_STATE_AUTO_FOLLOW_TARGET | `uint8` | 19 | Auto Follow | +| NAVIGATION_STATE_AUTO_PRECLAND | `uint8` | 20 | Precision land with landing target | +| NAVIGATION_STATE_ORBIT | `uint8` | 21 | Orbit in a circle | +| NAVIGATION_STATE_AUTO_VTOL_TAKEOFF | `uint8` | 22 | Takeoff, transition, establish loiter | +| NAVIGATION_STATE_EXTERNAL1 | `uint8` | 23 | | +| NAVIGATION_STATE_EXTERNAL2 | `uint8` | 24 | | +| NAVIGATION_STATE_EXTERNAL3 | `uint8` | 25 | | +| NAVIGATION_STATE_EXTERNAL4 | `uint8` | 26 | | +| NAVIGATION_STATE_EXTERNAL5 | `uint8` | 27 | | +| NAVIGATION_STATE_EXTERNAL6 | `uint8` | 28 | | +| NAVIGATION_STATE_EXTERNAL7 | `uint8` | 29 | | +| NAVIGATION_STATE_EXTERNAL8 | `uint8` | 30 | | +| NAVIGATION_STATE_MAX | `uint8` | 31 | | + +### FAILURE {#FAILURE} + +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------------------------------------------- | -------- | -------- | ----------------------------------------------------------------------------- | +| FAILURE_NONE | `uint16` | 0 | | +| FAILURE_ROLL | `uint16` | 1 | (1 << 0) | +| FAILURE_PITCH | `uint16` | 2 | (1 << 1) | +| FAILURE_ALT | `uint16` | 4 | (1 << 2) | +| FAILURE_EXT | `uint16` | 8 | (1 << 3) | +| FAILURE_ARM_ESC | `uint16` | 16 | (1 << 4) | +| FAILURE_BATTERY | `uint16` | 32 | (1 << 5) | +| FAILURE_IMBALANCED_PROP | `uint16` | 64 | (1 << 6) | +| FAILURE_MOTOR | `uint16` | 128 | (1 << 7) | + +### VEHICLE_TYPE {#VEHICLE_TYPE} + +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------------------------------------------------------------------ | ------- | -------- | ---- | +| VEHICLE_TYPE_UNSPECIFIED | `uint8` | 0 | | +| VEHICLE_TYPE_ROTARY_WING | `uint8` | 1 | | +| VEHICLE_TYPE_FIXED_WING | `uint8` | 2 | | +| VEHICLE_TYPE_ROVER | `uint8` | 3 | | + +### FAILSAFE_DEFER_STATE {#FAILSAFE_DEFER_STATE} + +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | -------- | ------------------------------------------------ | +| FAILSAFE_DEFER_STATE_DISABLED | `uint8` | 0 | | +| FAILSAFE_DEFER_STATE_ENABLED | `uint8` | 1 | | +| FAILSAFE_DEFER_STATE_WOULD_FAILSAFE | `uint8` | 2 | Failsafes deferred, but would trigger a failsafe | + +## Constants + +| Назва | Тип | Значення | Опис | +| --------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | -------- | ---- | +| MESSAGE_VERSION | `uint32` | 1 | | +| ARMING_STATE_DISARMED | `uint8` | 1 | | +| ARMING_STATE_ARMED | `uint8` | 2 | | +| ARM_DISARM_REASON_STICK_GESTURE | `uint8` | 1 | | +| ARM_DISARM_REASON_RC_SWITCH | `uint8` | 2 | | +| ARM_DISARM_REASON_COMMAND_INTERNAL | `uint8` | 3 | | +| ARM_DISARM_REASON_COMMAND_EXTERNAL | `uint8` | 4 | | +| ARM_DISARM_REASON_MISSION_START | `uint8` | 5 | | +| ARM_DISARM_REASON_LANDING | `uint8` | 6 | | +| ARM_DISARM_REASON_PREFLIGHT_INACTION | `uint8` | 7 | | +| ARM_DISARM_REASON_KILL_SWITCH | `uint8` | 8 | | +| ARM_DISARM_REASON_RC_BUTTON | `uint8` | 13 | | +| ARM_DISARM_REASON_FAILSAFE | `uint8` | 14 | | +| HIL_STATE_OFF | `uint8` | 0 | | +| HIL_STATE_ON | `uint8` | 1 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/VehicleStatusV1.msg) + +:::details +Click here to see original file + +```c +# Encodes the system state of the vehicle published by commander + +uint32 MESSAGE_VERSION = 1 + +uint64 timestamp # [us] Time since system start + +uint64 armed_time # [us] Arming timestamp +uint64 takeoff_time # [us] Takeoff timestamp + +uint8 arming_state +uint8 ARMING_STATE_DISARMED = 1 +uint8 ARMING_STATE_ARMED = 2 + +uint8 latest_arming_reason +uint8 latest_disarming_reason +uint8 ARM_DISARM_REASON_STICK_GESTURE = 1 +uint8 ARM_DISARM_REASON_RC_SWITCH = 2 +uint8 ARM_DISARM_REASON_COMMAND_INTERNAL = 3 +uint8 ARM_DISARM_REASON_COMMAND_EXTERNAL = 4 +uint8 ARM_DISARM_REASON_MISSION_START = 5 +uint8 ARM_DISARM_REASON_LANDING = 6 +uint8 ARM_DISARM_REASON_PREFLIGHT_INACTION = 7 +uint8 ARM_DISARM_REASON_KILL_SWITCH = 8 +uint8 ARM_DISARM_REASON_RC_BUTTON = 13 +uint8 ARM_DISARM_REASON_FAILSAFE = 14 + +uint64 nav_state_timestamp # Time when current nav_state activated + +uint8 nav_state_user_intention # Mode that the user selected (might be different from nav_state in a failsafe situation) + +uint8 nav_state # [@enum NAVIGATION_STATE] Currently active mode +uint8 NAVIGATION_STATE_MANUAL = 0 # Manual mode +uint8 NAVIGATION_STATE_ALTCTL = 1 # Altitude control mode +uint8 NAVIGATION_STATE_POSCTL = 2 # Position control mode +uint8 NAVIGATION_STATE_AUTO_MISSION = 3 # Auto mission mode +uint8 NAVIGATION_STATE_AUTO_LOITER = 4 # Auto loiter mode +uint8 NAVIGATION_STATE_AUTO_RTL = 5 # Auto return to launch mode +uint8 NAVIGATION_STATE_POSITION_SLOW = 6 +uint8 NAVIGATION_STATE_FREE5 = 7 +uint8 NAVIGATION_STATE_ALTITUDE_CRUISE = 8 # Altitude with Cruise mode +uint8 NAVIGATION_STATE_FREE3 = 9 +uint8 NAVIGATION_STATE_ACRO = 10 # Acro mode +uint8 NAVIGATION_STATE_FREE2 = 11 +uint8 NAVIGATION_STATE_DESCEND = 12 # Descend mode (no position control) +uint8 NAVIGATION_STATE_TERMINATION = 13 # Termination mode +uint8 NAVIGATION_STATE_OFFBOARD = 14 +uint8 NAVIGATION_STATE_STAB = 15 # Stabilized mode +uint8 NAVIGATION_STATE_FREE1 = 16 +uint8 NAVIGATION_STATE_AUTO_TAKEOFF = 17 # Takeoff +uint8 NAVIGATION_STATE_AUTO_LAND = 18 # Land +uint8 NAVIGATION_STATE_AUTO_FOLLOW_TARGET = 19 # Auto Follow +uint8 NAVIGATION_STATE_AUTO_PRECLAND = 20 # Precision land with landing target +uint8 NAVIGATION_STATE_ORBIT = 21 # Orbit in a circle +uint8 NAVIGATION_STATE_AUTO_VTOL_TAKEOFF = 22 # Takeoff, transition, establish loiter +uint8 NAVIGATION_STATE_EXTERNAL1 = 23 +uint8 NAVIGATION_STATE_EXTERNAL2 = 24 +uint8 NAVIGATION_STATE_EXTERNAL3 = 25 +uint8 NAVIGATION_STATE_EXTERNAL4 = 26 +uint8 NAVIGATION_STATE_EXTERNAL5 = 27 +uint8 NAVIGATION_STATE_EXTERNAL6 = 28 +uint8 NAVIGATION_STATE_EXTERNAL7 = 29 +uint8 NAVIGATION_STATE_EXTERNAL8 = 30 +uint8 NAVIGATION_STATE_MAX = 31 + +uint8 executor_in_charge # [-] Current mode executor in charge (0=Autopilot) + +uint32 valid_nav_states_mask # [-] Bitmask for all valid nav_state values +uint32 can_set_nav_states_mask # [-] Bitmask for all modes that a user can select + +# Bitmask of detected failures +uint16 failure_detector_status # [@enum FAILURE] +uint16 FAILURE_NONE = 0 +uint16 FAILURE_ROLL = 1 # (1 << 0) +uint16 FAILURE_PITCH = 2 # (1 << 1) +uint16 FAILURE_ALT = 4 # (1 << 2) +uint16 FAILURE_EXT = 8 # (1 << 3) +uint16 FAILURE_ARM_ESC = 16 # (1 << 4) +uint16 FAILURE_BATTERY = 32 # (1 << 5) +uint16 FAILURE_IMBALANCED_PROP = 64 # (1 << 6) +uint16 FAILURE_MOTOR = 128 # (1 << 7) + +uint8 hil_state # [enum HIL_STATE] +uint8 HIL_STATE_OFF = 0 +uint8 HIL_STATE_ON = 1 + +# Current vehicle locomotion method. A vehicle can have different methods (e.g. VTOL transitions from RW to FW method) +uint8 vehicle_type # [@enum VEHICLE_TYPE] +uint8 VEHICLE_TYPE_UNSPECIFIED = 0 +uint8 VEHICLE_TYPE_ROTARY_WING = 1 +uint8 VEHICLE_TYPE_FIXED_WING = 2 +uint8 VEHICLE_TYPE_ROVER = 3 + +uint8 FAILSAFE_DEFER_STATE_DISABLED = 0 +uint8 FAILSAFE_DEFER_STATE_ENABLED = 1 +uint8 FAILSAFE_DEFER_STATE_WOULD_FAILSAFE = 2 # Failsafes deferred, but would trigger a failsafe + +bool failsafe # true if system is in failsafe state (e.g.:RTL, Hover, Terminate, ...) +bool failsafe_and_user_took_over # true if system is in failsafe state but the user took over control +uint8 failsafe_defer_state # [@enum FAILSAFE_DEFER_STATE] + +# Link loss +bool gcs_connection_lost # datalink to GCS lost +uint8 gcs_connection_lost_counter # counts unique GCS connection lost events +bool high_latency_data_link_lost # Set to true if the high latency data link (eg. RockBlock Iridium 9603 telemetry module) is lost + +# VTOL flags +bool is_vtol # True if the system is VTOL capable +bool is_vtol_tailsitter # True if the system performs a 90° pitch down rotation during transition from MC to FW +bool in_transition_mode # True if VTOL is doing a transition +bool in_transition_to_fw # True if VTOL is doing a transition from MC to FW + +# MAVLink identification +uint8 system_type # system type, contains mavlink MAV_TYPE +uint8 system_id # system id, contains MAVLink's system ID field +uint8 component_id # subsystem / component id, contains MAVLink's component ID field + +bool safety_button_available # Set to true if a safety button is connected +bool safety_off # Set to true if safety is off + +bool power_input_valid # Set if input power is valid +bool usb_connected # Set to true (never cleared) once telemetry received from usb link + +bool open_drone_id_system_present +bool open_drone_id_system_healthy + +bool parachute_system_present +bool parachute_system_healthy + +bool rc_calibration_in_progress +bool calibration_enabled + +bool pre_flight_checks_pass # true if all checks necessary to arm pass +``` + +::: diff --git a/docs/uk/msg_docs/VtolVehicleStatus.md b/docs/uk/msg_docs/VtolVehicleStatus.md index ced3fee553..bf469cc0b5 100644 --- a/docs/uk/msg_docs/VtolVehicleStatus.md +++ b/docs/uk/msg_docs/VtolVehicleStatus.md @@ -6,7 +6,7 @@ pageClass: is-wide-page VEHICLE_VTOL_STATE, should match 1:1 MAVLinks's MAV_VTOL_STATE. -**TOPICS:** vtol_vehiclestatus +**TOPICS:** vtol_vehicle_status ## Fields @@ -18,14 +18,14 @@ VEHICLE_VTOL_STATE, should match 1:1 MAVLinks's MAV_VTOL_STATE. ## Constants -| Назва | Тип | Значення | Опис | -| ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | -------- | -------- | ---- | -| MESSAGE_VERSION | `uint32` | 0 | | -| VEHICLE_VTOL_STATE_UNDEFINED | `uint8` | 0 | | -| VEHICLE_VTOL_STATE_TRANSITION_TO_FW | `uint8` | 1 | | -| VEHICLE_VTOL_STATE_TRANSITION_TO_MC | `uint8` | 2 | | -| VEHICLE_VTOL_STATE_MC | `uint8` | 3 | | -| VEHICLE_VTOL_STATE_FW | `uint8` | 4 | | +| Назва | Тип | Значення | Опис | +| ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | -------- | ---- | +| MESSAGE_VERSION | `uint32` | 0 | | +| VEHICLE_VTOL_STATE_UNDEFINED | `uint8` | 0 | | +| VEHICLE_VTOL_STATE_TRANSITION_TO_FW | `uint8` | 1 | | +| VEHICLE_VTOL_STATE_TRANSITION_TO_MC | `uint8` | 2 | | +| VEHICLE_VTOL_STATE_MC | `uint8` | 3 | | +| VEHICLE_VTOL_STATE_FW | `uint8` | 4 | | ## Source Message diff --git a/docs/uk/msg_docs/Vtx.md b/docs/uk/msg_docs/Vtx.md index 2668dd7a27..64c45c39a4 100644 --- a/docs/uk/msg_docs/Vtx.md +++ b/docs/uk/msg_docs/Vtx.md @@ -24,20 +24,20 @@ pageClass: is-wide-page ## Constants -| Назва | Тип | Значення | Опис | -| ------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | -------- | ----------------------------------------- | -| BAND_NAME_LENGTH | `uint8` | 12 | | -| POWER_LABEL_LENGTH | `uint8` | 4 | | -| PROTOCOL_NONE | `uint8` | 0 | No protocol is detected, usually an error | -| PROTOCOL_SMART_AUDIO_V1 | `uint8` | 10 | | -| PROTOCOL_SMART_AUDIO_V2 | `uint8` | 20 | | -| PROTOCOL_SMART_AUDIO_V2_1 | `uint8` | 21 | | -| PROTOCOL_TRAMP | `uint8` | 100 | | -| DEVICE_UNKNOWN | `uint8` | 0 | | -| DEVICE_PEAK_THOR_T67 | `uint8` | 20 | | -| DEVICE_RUSH_MAX_SOLO | `uint8` | 40 | | -| MODE_NORMAL | `uint8` | 0 | | -| MODE_PIT | `uint8` | 1 | | +| Назва | Тип | Значення | Опис | +| ----------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | -------- | ----------------------------------------- | +| BAND_NAME_LENGTH | `uint8` | 12 | | +| POWER_LABEL_LENGTH | `uint8` | 4 | | +| PROTOCOL_NONE | `uint8` | 0 | No protocol is detected, usually an error | +| PROTOCOL_SMART_AUDIO_V1 | `uint8` | 10 | | +| PROTOCOL_SMART_AUDIO_V2 | `uint8` | 20 | | +| PROTOCOL_SMART_AUDIO_V2_1 | `uint8` | 21 | | +| PROTOCOL_TRAMP | `uint8` | 100 | | +| DEVICE_UNKNOWN | `uint8` | 0 | | +| DEVICE_PEAK_THOR_T67 | `uint8` | 20 | | +| DEVICE_RUSH_MAX_SOLO | `uint8` | 40 | | +| MODE_NORMAL | `uint8` | 0 | | +| MODE_PIT | `uint8` | 1 | | ## Source Message diff --git a/docs/uk/msg_docs/Wind.md b/docs/uk/msg_docs/Wind.md index d2d542be9b..c90274aa9f 100644 --- a/docs/uk/msg_docs/Wind.md +++ b/docs/uk/msg_docs/Wind.md @@ -28,9 +28,9 @@ Published by the navigation filter (EKF2) for use by other flight modules and li ## Constants -| Назва | Тип | Значення | Опис | -| -------------------------------------------------------------------- | -------- | -------- | ---- | -| MESSAGE_VERSION | `uint32` | 0 | | +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------ | -------- | -------- | ---- | +| MESSAGE_VERSION | `uint32` | 0 | | ## Source Message diff --git a/docs/uk/msg_docs/YawEstimatorStatus.md b/docs/uk/msg_docs/YawEstimatorStatus.md index f45e7c22b4..110ccae163 100644 --- a/docs/uk/msg_docs/YawEstimatorStatus.md +++ b/docs/uk/msg_docs/YawEstimatorStatus.md @@ -4,7 +4,7 @@ pageClass: is-wide-page # YawEstimatorStatus (повідомлення UORB) -**TOPICS:** yaw_estimatorstatus +**TOPICS:** yaw_estimator_status ## Fields diff --git a/docs/uk/msg_docs/index.md b/docs/uk/msg_docs/index.md index 6ffa67c21e..b79bcc06e9 100644 --- a/docs/uk/msg_docs/index.md +++ b/docs/uk/msg_docs/index.md @@ -18,15 +18,16 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m - [AirspeedValidated](AirspeedValidated.md) — Validated airspeed. - [ArmingCheckReply](ArmingCheckReply.md) — Arming check reply. - [ArmingCheckRequest](ArmingCheckRequest.md) — Arming check request. +- [AuxGlobalPosition](AuxGlobalPosition.md) — Auxiliary global position. - [BatteryStatus](BatteryStatus.md) — Battery status. - [ConfigOverrides](ConfigOverrides.md) — Configurable overrides by (external) modes or mode executors. - [Event](Event.md) — Events interface. -- [FixedWingLateralSetpoint](FixedWingLateralSetpoint.md) — Fixed Wing Lateral Setpoint message. Used by the fw_lateral_longitudinal_control module. At least one of course, airspeed_direction, or lateral_acceleration must be finite. -- [FixedWingLongitudinalSetpoint](FixedWingLongitudinalSetpoint.md) — Fixed Wing Longitudinal Setpoint message. Used by the fw_lateral_longitudinal_control module. If pitch_direct and throttle_direct are not both finite, then the controller relies on altitude/height_rate and equivalent_airspeed to control vertical motion. If both altitude and height_rate are NAN, the controller maintains the current altitude. -- [GotoSetpoint](GotoSetpoint.md) — Position and (optional) heading setpoints with corresponding speed constraints. Setpoints are intended as inputs to position and heading smoothers, respectively. Setpoints do not need to be kinematically consistent. Optional heading setpoints may be specified as controlled by the respective flag. Unset optional setpoints are not controlled. Unset optional constraints default to vehicle specifications. +- [FixedWingLateralSetpoint](FixedWingLateralSetpoint.md) — Fixed Wing Lateral Setpoint message. +- [FixedWingLongitudinalSetpoint](FixedWingLongitudinalSetpoint.md) — Fixed Wing Longitudinal Setpoint message. +- [GotoSetpoint](GotoSetpoint.md) — Position and (optional) heading setpoints with corresponding speed constraints. - [HomePosition](HomePosition.md) — GPS home position in WGS84 coordinates. -- [LateralControlConfiguration](LateralControlConfiguration.md) — Fixed Wing Lateral Control Configuration message. Used by the fw_lateral_longitudinal_control module to constrain FixedWingLateralSetpoint messages. -- [LongitudinalControlConfiguration](LongitudinalControlConfiguration.md) — Fixed Wing Longitudinal Control Configuration message. Used by the fw_lateral_longitudinal_control module and TECS to constrain FixedWingLongitudinalSetpoint messages. and configure the resultant setpoints. +- [LateralControlConfiguration](LateralControlConfiguration.md) — Fixed Wing Lateral Control Configuration message. +- [LongitudinalControlConfiguration](LongitudinalControlConfiguration.md) — Fixed Wing Longitudinal Control Configuration message. - [ManualControlSetpoint](ManualControlSetpoint.md) - [ModeCompleted](ModeCompleted.md) — Mode completion result, published by an active mode. Можливі значення nav_state визначені в повідомленні VehicleStatus. Note that this is not always published (e.g. when a user switches modes or on. failsafe activation). - [RaptorInput](RaptorInput.md) — Raptor Input. @@ -39,7 +40,7 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m - [VehicleAttitude](VehicleAttitude.md) — This is similar to the mavlink message ATTITUDE_QUATERNION, but for onboard use. The quaternion uses the Hamilton convention, and the order is q(w, x, y, z). - [VehicleAttitudeSetpoint](VehicleAttitudeSetpoint.md) - [VehicleCommand](VehicleCommand.md) — Vehicle Command uORB message. Використовується для управління місією / дією / тощо. Follows the MAVLink COMMAND_INT / COMMAND_LONG definition. -- [VehicleCommandAck](VehicleCommandAck.md) — Vehicle Command Ackonwledgement uORB message. Used for acknowledging the vehicle command being received. Follows the MAVLink COMMAND_ACK message definition. +- [VehicleCommandAck](VehicleCommandAck.md) — Vehicle Command Acknowledgement uORB message. - [VehicleControlMode](VehicleControlMode.md) - [VehicleGlobalPosition](VehicleGlobalPosition.md) — Fused global position in WGS84. This struct contains global position estimation. It is not the raw GPS. measurement (@see vehicle_gps_position). This topic is usually published by the position. estimator, which will take more sources of information into account than just GPS,. e.g. control inputs of the vehicle in a Kalman-filter implementation. - [VehicleLandDetected](VehicleLandDetected.md) @@ -224,8 +225,8 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m - [SensorSelection](SensorSelection.md) — Sensor ID's for the voted sensors output on the sensor_combined topic. Will be updated on startup of the sensor module and when sensor selection changes. - [SensorTemp](SensorTemp.md) - [SensorUwb](SensorUwb.md) — UWB distance contains the distance information measured by an ultra-wideband positioning system,. such as Pozyx or NXP Rddrone. -- [SensorsStatus](SensorsStatus.md) — Sensor check metrics. Це значення буде нульовим для датчика, який є первинним або незаповненим. -- [SensorsStatusImu](SensorsStatusImu.md) — Sensor check metrics. Це значення буде нульовим для датчика, який є первинним або незаповненим. +- [SensorsStatus](SensorsStatus.md) — Sensor check metrics. This will be zero for a sensor that's primary or unpopulated. +- [SensorsStatusImu](SensorsStatusImu.md) — Sensor check metrics. This will be zero for a sensor that's primary or unpopulated. - [SystemPower](SystemPower.md) - [TakeoffStatus](TakeoffStatus.md) — Status of the takeoff state machine currently just available for multicopters. - [TaskStackInfo](TaskStackInfo.md) — stack information for a single running process. @@ -267,5 +268,8 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m - [RegisterExtComponentReplyV0](RegisterExtComponentReplyV0.md) - [RegisterExtComponentRequestV0](RegisterExtComponentRequestV0.md) — Request to register an external component. - [VehicleAttitudeSetpointV0](VehicleAttitudeSetpointV0.md) +- [VehicleCommandAckV0](VehicleCommandAckV0.md) — Vehicle Command Ackonwledgement uORB message. Used for acknowledging the vehicle command being received. Follows the MAVLink COMMAND_ACK message definition. +- [VehicleGlobalPositionV0](VehicleGlobalPositionV0.md) — Fused global position in WGS84. This struct contains global position estimation. It is not the raw GPS. measurement (@see vehicle_gps_position). This topic is usually published by the position. estimator, which will take more sources of information into account than just GPS,. e.g. control inputs of the vehicle in a Kalman-filter implementation. - [VehicleLocalPositionV0](VehicleLocalPositionV0.md) — Fused local position in NED. The coordinate system origin is the vehicle position at the time when the EKF2-module was started. - [VehicleStatusV0](VehicleStatusV0.md) — Encodes the system state of the vehicle published by commander. +- [VehicleStatusV1](VehicleStatusV1.md) — Encodes the system state of the vehicle published by commander. diff --git a/docs/uk/neural_networks/mc_neural_network_control.md b/docs/uk/neural_networks/mc_neural_network_control.md index 53339f5ee3..a6f0d712df 100644 --- a/docs/uk/neural_networks/mc_neural_network_control.md +++ b/docs/uk/neural_networks/mc_neural_network_control.md @@ -17,7 +17,7 @@ Note that after training the network you will need to update and rebuild PX4. TLFM is a mature inference library intended for use on embedded devices. It has support for several architectures, so there is a high likelihood that you can build it for the board you want to use. -If not, there are other possible NN frameworks, such as [Eigen](https://eigen.tuxfamily.org/index.php?title=Main_Page) and [Executorch](https://pytorch.org/executorch-overview). +If not, there are other possible NN frameworks, such as [Eigen](https://eigen.tuxfamily.org/index.php?title=Main_Page) and [Executorch](https://docs.pytorch.org/executorch/stable/intro-overview.html). This document explains how you can include the module in your PX4 build, and provides a broad overview of how it works. The other documents in the section provide more information about the integration, allowing you to replace the NN with a version trained on different data, or even to replace the TLFM library altogether. diff --git a/docs/uk/neural_networks/nn_module_utilities.md b/docs/uk/neural_networks/nn_module_utilities.md index c41a520cf6..a6888fa50b 100644 --- a/docs/uk/neural_networks/nn_module_utilities.md +++ b/docs/uk/neural_networks/nn_module_utilities.md @@ -41,7 +41,7 @@ This only works for some flight controllers, so you might have to use an RC cont This specifies what you want to create, you can read more about this in the [Control Interface](../ros2/px4_ros2_control_interface.md). In this case we register an arming check and a mode. 2. Wait for a [RegisterExtComponentReply](../msg_docs/RegisterExtComponentReply.md). - This will give feedback on wether the mode registration was successful, and what the mode and arming check id is for the new mode. + This will give feedback on whether the mode registration was successful, and what the mode and arming check id is for the new mode. 3. [Optional] With the mode id, publish a [VehicleControlMode](../msg_docs/VehicleControlMode.md) message on the `config_control_setpoints` topic. Here you can configure what other modules run in parallel. The example controller replaces everything, so it turns off allocation. @@ -71,7 +71,7 @@ For these messages to be saved in your logs you need to include `debug` in the [ The module has two includes for measuring the inference times. The first one is a driver that works on the actual flight controller units, but a second one, `chrono`, is loaded for SITL testing. -Which timing library is included and used is based on wether PX4 is built with NUTTX or not. +Which timing library is included and used is based on whether PX4 is built with NUTTX or not. ## Changing the setpoint diff --git a/docs/uk/neural_networks/raptor.md b/docs/uk/neural_networks/raptor.md index 5568790267..86990b4776 100644 --- a/docs/uk/neural_networks/raptor.md +++ b/docs/uk/neural_networks/raptor.md @@ -1,6 +1,6 @@ # RAPTOR: A Neural Network Module for Adaptive Quadrotor Control - + :::warning This is an experimental module. diff --git a/docs/uk/payloads/generic_actuator_control.md b/docs/uk/payloads/generic_actuator_control.md index 4d1f9c6e66..c01437a02b 100644 --- a/docs/uk/payloads/generic_actuator_control.md +++ b/docs/uk/payloads/generic_actuator_control.md @@ -68,7 +68,7 @@ ## MAVSDK (приклад скрипту) -Наступний [MAVSDK](https://mavsdk.mavlink.io/main/en/index.html) [приклад коду](https://github.com/mavlink/MAVSDK/blob/main/examples/set_actuator/set_actuator.cpp) показує, як ініціювати випуск корисного навантаження за допомогою методу [`set_actuator()`](https://mavsdk.mavlink.io/main/en/cpp/api_reference/classmavsdk_1_1_action.html#classmavsdk_1_1_action_1ad30beac27f05c62dcf6a3d0928b86e4c) плагіну MAVSDK Action. +The following [MAVSDK](https://mavsdk.mavlink.io/main/en/index.html) [example code](https://github.com/mavlink/MAVSDK/blob/main/cpp/examples/set_actuator/set_actuator.cpp) shows how to trigger payload release using the MAVSDK Action plugin's [`set_actuator()`](https://mavsdk.mavlink.io/main/en/cpp/api_reference/classmavsdk_1_1_action.html#classmavsdk_1_1_action_1ad30beac27f05c62dcf6a3d0928b86e4c) method. Значення індексів в `set_actuator()` зіставляються з виводами корисного навантаження MAVLink, визначених для вашого планера. diff --git a/docs/uk/peripherals/adsb_flarm.md b/docs/uk/peripherals/adsb_flarm.md index 5a6c9d8c01..aa473407ba 100644 --- a/docs/uk/peripherals/adsb_flarm.md +++ b/docs/uk/peripherals/adsb_flarm.md @@ -1,6 +1,6 @@ # Приймачі ADS-B/FLARM/UTM: Уникнення повітряного трафіку -PX4 supports simple air traffic avoidance in [missions](../flying/missions.md) using [ADS-B](https://en.wikipedia.org/wiki/Automatic_dependent_surveillance_%E2%80%93_broadcast), [FLARM](https://en.wikipedia.org/wiki/FLARM), or [UTM](https://www.faa.gov/uas/research_development/traffic_management) transponders that use the standard MAVLink interfaces. +PX4 supports simple air traffic avoidance in [missions](../flying/missions.md) using [ADS-B](https://en.wikipedia.org/wiki/Automatic_dependent_surveillance_%E2%80%93_broadcast), [FLARM](https://en.wikipedia.org/wiki/FLARM), or [UTM](https://www.faa.gov/uas/advanced_operations/traffic_management) transponders that use the standard MAVLink interfaces. If a potential collision is detected, PX4 can _warn_, immediately [land](../flight_modes_mc/land.md), or [return](../flight_modes_mc/return.md) (depending on the value of [NAV_TRAFF_AVOID](#NAV_TRAFF_AVOID)). @@ -53,7 +53,7 @@ The TX and RX on the flight controller must be connected to the RX and TX on the ### Конфігурація порту -The recievers are configured in the same way as any other [MAVLink Peripheral](../peripherals/mavlink_peripherals.md). +The receivers are configured in the same way as any other [MAVLink Peripheral](../peripherals/mavlink_peripherals.md). The only _specific_ setup is that the port baud rate must be set to 57600 and the a low-bandwidth profile (`MAV_X_MODE`). Assuming you have connected the device to the TELEM2 port, [set the parameters](../advanced_config/parameters.md) as shown: @@ -74,10 +74,27 @@ You will now find a new parameter called [SER_TEL2_BAUD](../advanced_config/para | Параметр | Опис | | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | [NAV_TRAFF_AVOID](../advanced_config/parameter_reference.md#NAV_TRAFF_AVOID) | Увімкніть режим уникнення трафіку, вказавши відповідь уникнення. 0: Вимкнути, 1: Лише попередження, 2: Режим повернення, 3: Режим посадки. | -| [NAV_TRAFF_A_HOR](../advanced_config/parameter_reference.md#NAV_TRAFF_A_HOR) | Горизонтальний радіус циліндра навколо транспортного засобу, який визначає його повітряний простір (тобто повітряний простір на земельній площині). | +| [NAV_TRAFF_A_HOR](../advanced_config/parameter_reference.md#NAV_TRAFF_A_HOR) | Horizontal radius of cylinder around the vehicle that defines its airspace (i.e. the airspace in the ground plane). | | [NAV_TRAFF_A_VER](../advanced_config/parameter_reference.md#NAV_TRAFF_A_VER) | Vertical height above and below vehicle of the cylinder that defines its airspace (also see [NAV_TRAFF_A_HOR](#NAV_TRAFF_A_HOR)). | | [NAV_TRAFF_COLL_T](../advanced_config/parameter_reference.md#NAV_TRAFF_COLL_T) | Поріг часу зіткнення. Уникнення буде викликати якщо передбачуваний час, поки зіткнення не знизиться нижче цієї вартості (орієнтовний час ґрунтується на відносній швидкості руху та UAV). | +### Arming Check + +PX4 can be configured to check for the presence of a traffic avoidance system (ADSB or FLARM transponder) before arming. +This ensures that a traffic avoidance system is connected and functioning before flight. + +The check is configured using the [COM_ARM_TRAFF](../advanced_config/parameter_reference.md#COM_ARM_TRAFF) parameter: + +| Значення | Опис | +| -------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------- | +| 0 | Disabled (default). No check is performed. | +| 1 | Warning only. A warning is issued if no traffic avoidance system is detected, but arming is allowed. | +| 2 | Enforce for all modes. Arming is denied if no traffic avoidance system is detected, regardless of flight mode. | +| 3 | Enforce for mission modes only. Arming is denied if no traffic avoidance system is detected and a mission mode is planned. | + +When a traffic avoidance system is detected, the system tracks its presence with a 3-second timeout. +If the system is lost or regained, corresponding events are logged ("Traffic avoidance system lost" / "Traffic avoidance system regained"). + ## Імплементація ### ADSB/FLARM @@ -131,7 +148,7 @@ By default `run_fake_traffic()` publishes a number of traffic messages (it calls :::details Information about the test methods -The relevent methods are defined in [AdsbConflict.cpp](https://github.com/PX4/PX4-Autopilot/blob/main/src/lib/adsb/AdsbConflict.cpp#L342C1-L342C1). +The relevant methods are defined in [AdsbConflict.cpp](https://github.com/PX4/PX4-Autopilot/blob/main/src/lib/adsb/AdsbConflict.cpp#L342C1-L342C1). #### `run_fake_traffic()` method diff --git a/docs/uk/peripherals/dshot.md b/docs/uk/peripherals/dshot.md index 711bfca89d..9878b01ac3 100644 --- a/docs/uk/peripherals/dshot.md +++ b/docs/uk/peripherals/dshot.md @@ -56,7 +56,7 @@ See [here](../modules/modules_driver.md#dshot) for a full reference of the suppo Найважливіші з них: -- Make a motor connected to to FMU output pin 1 beep (helps with identifying motors) +- Make a motor connected to FMU output pin 1 beep (helps with identifying motors) ```sh dshot beep1 -m 1 diff --git a/docs/uk/peripherals/esc_motors.md b/docs/uk/peripherals/esc_motors.md index 6fb60c6709..29b2063a8b 100644 --- a/docs/uk/peripherals/esc_motors.md +++ b/docs/uk/peripherals/esc_motors.md @@ -11,7 +11,7 @@ The following list is non-exhaustive. | ESC Device | Протоколи | Firmwares | Примітки | | ------------------------------ | ------------------------------------ | ------------------------ | ----------------------------------------------------- | -| [ARK 4IN1 ESC] | [Dshot], [PWM] | [AM32] | Has versions with/without connnectors | +| [ARK 4IN1 ESC] | [Dshot], [PWM] | [AM32] | Has versions with/without connectors | | [Holybro Kotleta 20] | [DroneCAN], [PWM] | [PX4 Sapog ESC Firmware] | | | [Vertiq Motor & ESC modules] | [Dshot], [OneShot], Multishot, [PWM] | Vertiq firmware | Larger modules support DroneCAN, ESC and Motor in one | | [RaccoonLab CAN PWM ESC nodes] | [DroneCAN], Cyphal | | Cyphal and DroneCAN notes for PWM ESC | diff --git a/docs/uk/peripherals/frsky_telemetry.md b/docs/uk/peripherals/frsky_telemetry.md index ddd8432ec4..1b68706062 100644 --- a/docs/uk/peripherals/frsky_telemetry.md +++ b/docs/uk/peripherals/frsky_telemetry.md @@ -166,7 +166,7 @@ D-Port receivers transmit the following messages (from [here](https://github.com ## FrSky телеметрія Receivers -Pixhawk/PX4 підтримує D (старий) та S (новий) телеметрію FrSky. Таблиця нижче всі FrSky приймачі, які підтримують телеметрію через D/S.PORT (теоретично всі вони повинні працювати). +Pixhawk/PX4 підтримує D (старий) та S (новий) телеметрію FrSky. The table below lists 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). Серії R та G не були протестовані / перевірені тестовою командою, але повинні працювати. @@ -213,8 +213,8 @@ You will need connectors that are appropriate for your autopilot (e.g. _JST-GH c Pixracer включає електроніку для перетворення сигналів S.PORT і UART, але для інших плат вам знадобиться адаптер UART на S.PORT. Ці можна отримати з: -- [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](https://www.getfpv.com/frsky-smart-port-converter-cable.html), [unmannedtechshop.co.uk](https://www.unmannedtechshop.co.uk/frsky-smart-port-converter-spc/) +- [FrSky FUL-1](https://www.frsky-rc.com/product/ful-1/): [unmannedtech.co.uk](https://www.unmannedtechshop.co.uk/products/frsky-transmitter-receiver-upgrade-adapter-ful-1) +- SPC: [getfpv.com](https://www.getfpv.com/frsky-smart-port-converter-cable.html), [unmannedtechshop.co.uk](https://www.unmannedtechshop.co.uk/products/frsky-smart-port-converter-spc) Додаткова інформація про з'єднання для різних плат подається нижче. diff --git a/docs/uk/peripherals/pwm_escs_and_servo.md b/docs/uk/peripherals/pwm_escs_and_servo.md index ce55fbb288..40215a80d3 100644 --- a/docs/uk/peripherals/pwm_escs_and_servo.md +++ b/docs/uk/peripherals/pwm_escs_and_servo.md @@ -66,7 +66,7 @@ On an opto-isolated ESC **without** BEC, the +5V line might need to be connected PWM motors and servos are configured using the [Actuator Configuration](../config/actuators.md) screen in QGroundControl. -After assigning outputs and basic calibration, you may then wish to peform an [ESC Calibration](../advanced_config/esc_calibration.md). +After assigning outputs and basic calibration, you may then wish to perform an [ESC Calibration](../advanced_config/esc_calibration.md). Additional PX4 PWM configuration parameters can be found here: [PWM Outputs](../advanced_config/parameter_reference.md#pwm-outputs). diff --git a/docs/uk/peripherals/remote_id.md b/docs/uk/peripherals/remote_id.md index 162dd32d26..f594c54d93 100644 --- a/docs/uk/peripherals/remote_id.md +++ b/docs/uk/peripherals/remote_id.md @@ -157,7 +157,7 @@ To only allow arming when a Remote ID is ready, [set](../advanced_config/paramet Інтегратори повинні перевірити, що модуль віддаленого ідентифікатора транслює правильну інформацію, таку як місцезнаходження БПЛА, ідентифікатор, ідентифікатор оператора та інше. Це найлегше зробити за допомогою стороннього додатку на вашому мобільному пристрої: -- [Drone Scanner](https://github.com/dronetag/drone-scanner) (Google Play or Apple App store) +- [Drone Scanner](https://help.dronetag.com/drone-scanner/) (Google Play or Apple App store) - [OpenDroneID OSM](https://play.google.com/store/apps/details?id=org.opendroneid.android_osm&hl=en&gl=US) (Google Play) ## Імплементація diff --git a/docs/uk/peripherals/serial_configuration.md b/docs/uk/peripherals/serial_configuration.md index 87c5bf2c1c..a3de0cf328 100644 --- a/docs/uk/peripherals/serial_configuration.md +++ b/docs/uk/peripherals/serial_configuration.md @@ -109,7 +109,7 @@ These port mappings can be disabled by setting the associated configuration para This is configured by default as a MAVLink port the onboard profile (for companion computers). The configuration for MAVLink is unique to this port (it doesn't use the `MAV_X_CONFIG` parameters). - - [SYS_USB_AUTO](../advanced_config/parameter_reference.md#SYS_USB_AUTO) sets whether the port is set to no partiular protocol, autodetects the protocol, or sets the comms link to MAVLink. + - [SYS_USB_AUTO](../advanced_config/parameter_reference.md#SYS_USB_AUTO) sets whether the port is set to no particular protocol, autodetects the protocol, or sets the comms link to MAVLink. - [USB_MAV_MODE](../advanced_config/parameter_reference.md#USB_MAV_MODE) sets the MAVLink profile that is used if MAVLink is set or detected. Інші порти, як правило, за замовчуванням не мають призначених функцій (вимкнені). diff --git a/docs/uk/peripherals/vertiq.md b/docs/uk/peripherals/vertiq.md index 7321ccd086..c86ff89ffb 100644 --- a/docs/uk/peripherals/vertiq.md +++ b/docs/uk/peripherals/vertiq.md @@ -6,7 +6,7 @@ Vertiq виготовляє високоефективні пропульсив ![Vertiq Module Lineup](../../assets/peripherals/esc_vertiq/vertiq_esc_lineup.jpg) -All Vertiq modules support traditional [PWM input, DShot, OneShot, and Multishot communication protocols](https://iqmotion.readthedocs.io/en/latest/communication_protocols/hobby_protocol.html). Vertiq's larger modules also support [DroneCAN control](https://iqmotion.readthedocs.io/en/latest/communication_protocols/dronecan_protocol.html). +All Vertiq modules support traditional [PWM input, DShot, OneShot, and Multishot communication protocols](https://iqmotion.readthedocs.io/en/latest/communication_protocols/timer_based_protocol.html). Vertiq's larger modules also support [DroneCAN control](https://iqmotion.readthedocs.io/en/latest/communication_protocols/dronecan_protocol.html). ## Де купити @@ -38,6 +38,18 @@ Instructions for integrating the motor/ESC using with DroneCAN can be found in [ Ці інструкції допоможуть вам налаштувати правильні параметри для активації драйверів DroneCAN контролера польоту, встановити правильні конфігураційні параметри для зв'язку з модулями Vertiq на шині DroneCAN, налаштування ESC та перевірку того, що ваш контролер польоту може належним чином керувати вашими модулями по протоколу DroneCAN. +#### LED Configuration for Vertiq Modules + +:::info +This configuration is only required if you have the optional [Vertiq LED module add-on](https://www.vertiq.co/add-ons). +Standard Vertiq ESC modules do not include LEDs. +::: + +Vertiq LED Add-on modules have two LEDs per ESC (RGB for status, White for anti-collision). +See [DroneCAN Lights](../dronecan/lights.md) for configuration instructions. + +The `light_id` for each LED is calculated as: `esc_index × 3 + BASE_ID`, where `BASE_ID` is 1 for RGB and 2 for White. + ### Конфігурація DShot/PWM Instructions for integrating the motor/ESC using PWM and DShot can be found in [PWM and DShot Control with a Flight Controller](https://iqmotion.readthedocs.io/en/latest/tutorials/pwm_control_flight_controller.html). diff --git a/docs/uk/power_module/index.md b/docs/uk/power_module/index.md index b79d5e4d60..c2c8e0a73b 100644 --- a/docs/uk/power_module/index.md +++ b/docs/uk/power_module/index.md @@ -13,7 +13,7 @@ The PX4 battery/power module configuration (via the ADC interface) is covered in For easiest assembly use a power module or PDB recommended by your FC manufacturer, and sized for your power requirements. The Pixhawk connector standard requires that the VCC line must provide at least 2.5A continuous current and default to 5.3V. -In in practice flight controllers may have different recommendations or preferences, so if you don't (or can't) use a recommended module, check that the module matches your FC's requirements. +In practice flight controllers may have different recommendations or preferences, so if you don't (or can't) use a recommended module, check that the module matches your FC's requirements. ::: This section provides information about a number of power modules and power distribution boards (see FC manufacturer docs for more options): diff --git a/docs/uk/releases/1.12.md b/docs/uk/releases/1.12.md index c2791aa3fe..30b877eb98 100644 --- a/docs/uk/releases/1.12.md +++ b/docs/uk/releases/1.12.md @@ -28,7 +28,7 @@ - **RTL Trigger based on remaining flight range ([PR#16399](https://github.com/PX4/PX4-Autopilot/pull/16399))** - Обчислює час до дому, у режимі RTL, враховуючи швидкість руху автомобіля, швидкість вітру та відстань/напрямок до пункту призначення -- **Pre-emptive geofence breach ([PR#16400](https://github.com/PX4/PX4-Autopilot/pull/16400))** +- **Preemptive geofence breach ([PR#16400](https://github.com/PX4/PX4-Autopilot/pull/16400))** - Triggers a breach if the _predicted_ current trajectory will result in a breach, allowing the vehicle to be re-routed to a safe hold position. - **Airframe Scripts** - Синтаксис для встановлення значень за замовчуванням було змінено, і власні сценарії потребують оновлення @@ -128,7 +128,7 @@ ### NuttX -Nuttx was upgraded from [8.2+ to NuttX 10.10.0+](https://github.com/apache/incubator-nuttx/compare/nuttx-8.2..nuttx-10.0.1) (@ [904a602c74dc08a100b5c2bd490807de19e73e10](https://github.com/apache/incubator-nuttx/commit/904a602c74dc08a100b5c2bd490807de19e73e10)) +Nuttx was upgraded from [8.2+ to NuttX 10.10.0+](https://github.com/apache/nuttx/compare/nuttx-8.2..nuttx-10.0.1) (@ [904a602c74dc08a100b5c2bd490807de19e73e10](https://github.com/apache/nuttx/commit/904a602c74dc08a100b5c2bd490807de19e73e10)) - **SDCARD performance:** Results in better performance on H7 Targets - [**BACKPORT**] stm32:SDIO:Use 250 Ms Data path timeout, regardless of Card Clock frequency diff --git a/docs/uk/releases/1.14.md b/docs/uk/releases/1.14.md index 0118ab0be6..6fedc0cdce 100644 --- a/docs/uk/releases/1.14.md +++ b/docs/uk/releases/1.14.md @@ -51,10 +51,10 @@ The new [Failsafe State Machine Simulation](../config/safety_simulation.md) allo ### Новий Gazebo -Given [the recent changes](https://discourse.ros.org/t/a-new-era-for-gazebo-cross-post/25012) by the Open Robotics simulation team, we are introducing name changes for our gazebo simulations, mirroring Open Robotics naming scheme, starting with v1.14: +Given [the recent changes](https://discourse.openrobotics.org/t/a-new-era-for-gazebo-cross-post/25012) by the Open Robotics simulation team, we are introducing name changes for our gazebo simulations, mirroring Open Robotics naming scheme, starting with v1.14: -- [Ignition Gazebo](https://docs.px4.io/v1.13/en/simulation/ignition_gazebo.html) to [Gazebo](../sim_gazebo_gz/index.md) -- [Gazebo](https://docs.px4.io/v1.13/en/simulation/gazebo.html) to [Gazebo Classic](../sim_gazebo_classic/index.md). +- [Ignition Gazebo](https://docs.px4.io/v1.13/en/simulation/ignition_gazebo) to [Gazebo](../sim_gazebo_gz/index.md) +- [Gazebo](https://docs.px4.io/v1.13/en/simulation/gazebo) to [Gazebo Classic](../sim_gazebo_classic/index.md). Most importantly this affects the PX4 build target names as well: @@ -63,7 +63,7 @@ Most importantly this affects the PX4 build target names as well: ### Покращений інтерфейс ROS 2 за допомогою uXRCE-DDS -We updated the ROS 2 interface, replacing [Fast-RTPS](https://docs.px4.io/v1.13/en/middleware/micrortps.html) with [uXRCE-DDS](../ros2/user_guide.md), resulting in an improved experience across the board. +We updated the ROS 2 interface, replacing [Fast-RTPS](https://docs.px4.io/v1.13/en/middleware/micrortps) with [uXRCE-DDS](../ros2/user_guide.md), resulting in an improved experience across the board. The change also avoids the need for `_rtps` build targets, enabling the interface on even more targets by default. ## Інструкції для оновлення @@ -85,7 +85,7 @@ For users upgrading from previous versions, please take a moment to review the f 3. Користувачам Fast-RTPS потрібно перенести свій код на новий інтерфейс uXRCE-DDS. Код програми повинен вимагати лише незначних модифікацій. Це включає (мінімально): -Modifying topic names to match the new naming pattern, which changed from `fmu//out` to `fmu/out/`, and [Adusting the QoS settings](../ros2/user_guide.md#ros-2-subscriber-qos-settings). +Modifying topic names to match the new naming pattern, which changed from `fmu//out` to `fmu/out/`, and [Adjusting the QoS settings](../ros2/user_guide.md#ros-2-subscriber-qos-settings). For more information see [Fast-RTPS to uXRCE-DDS Migration Guidelines](../middleware/uxrce_dds.md#fast-rtps-to-uxrce-dds-migration-guidelines) @@ -102,7 +102,7 @@ For more information see [Fast-RTPS to uXRCE-DDS Migration Guidelines](../middle - Failsafe state machine rewrite and [web simulation](../config/safety_simulation.md) - Improved preflight failure check reporting (requires QGC [v4.2.0](https://github.com/mavlink/qgroundcontrol/releases/tag/v4.2.0) or later): [PX4-Autopilot#20030](https://github.com/PX4/PX4-Autopilot/pull/20030) and [qgroundcontrol#10362](https://github.com/mavlink/qgroundcontrol/pull/10362) -- [Package delivery in mission](../advanced/package_delivery.md): For package delivery applications, inital support for payload delivery in mission for gripper actuator was added +- [Package delivery in mission](../advanced/package_delivery.md): For package delivery applications, initial support for payload delivery in mission for gripper actuator was added - Manual control setpoint message redefinition: `manual_control_setpoint.x`, `y`, `z`, `w` -> `roll`, `pitch`, `yaw`, `throttle`; `throttle scale [0,1] -> [-1,1]` - [PX4-Autopilot#15949](https://github.com/PX4/PX4-Autopilot/pull/15949) - Default motor PWM configuration - [PX4-Autopilot#21800](https://github.com/PX4/PX4-Autopilot/pull/21800) - Fix PWM/Oneshot calibration - [PX4-Autopilot#21726](https://github.com/PX4/PX4-Autopilot/pull/21726) @@ -135,7 +135,7 @@ For more information see [Fast-RTPS to uXRCE-DDS Migration Guidelines](../middle - [Gazebo-classic] Додавання моделі Омнікоптера: До Gazebo SITL була додана повністю актована модель омнідирекціонального транспортного засобу - https://github.com/PX4/PX4-SITL_gazebo-classic/pull/866 - [Gazebo-classic] Addition of Advanced liftdrag plugin: Advanced liftdrag plugin that models nonlinear aerodynamics based on AVL - [PX4-SITL_gazebo-classic#901](https://github.com/PX4/PX4-SITL_gazebo-classic/pull/901) - [Gazebo-classic] Addition of Safe landing world: Addition of safe landing world, for testing safe landing - [PX4-SITL_gazebo-classic#93](https://github.com/PX4/PX4-SITL_gazebo-classic/pull/93) -- [Gazebo-classic] Depricated Ubuntu Bionic reated tests: Removed testing due to EOL of Ubuntu Bionic - [PX4-SITL_gazebo-classic#974](https://github.com/PX4/PX4-SITL_gazebo-classic/pull/974) +- [Gazebo-classic] Deprecated Ubuntu Bionic reated tests: Removed testing due to EOL of Ubuntu Bionic - [PX4-SITL_gazebo-classic#974](https://github.com/PX4/PX4-SITL_gazebo-classic/pull/974) - [SIH] Самостійні симуляції датчиків у дереві: Здатність симулювати датчики у дереві, яке було частиною SIH, тепер є самостійним модулем датчика. Sensors include magnetometer, GPS, Barometer, Airspeed - [PX4-Autopilot#20137](https://github.com/PX4/PX4-Autopilot/pull/20137), https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/simulation/sensor_airspeed_sim - [SIH] Впровадження відмов для імітації акумулятора - https://github.com/PX4/PX4-Autopilot/commit/ebc1d7544e8146788c9e7cf5e8b64f60199240e4 diff --git a/docs/uk/releases/1.15.md b/docs/uk/releases/1.15.md index d974126659..caadc9d253 100644 --- a/docs/uk/releases/1.15.md +++ b/docs/uk/releases/1.15.md @@ -79,7 +79,7 @@ Please continue reading for [upgrade instructions](#upgrade-guide). - Correct way of describing the quaternion uncertainty using Lie group theory - Use Joseph stabilized covariance update algorithm for better covariance stability and allow use of "consider states" (inactive states with non-zero variance) ([PX4-Autopilot#22770](https://github.com/PX4/PX4-Autopilot/pull/22770)) - Covariance prediction, measurement jacobians, state struct and covariance index auto-generated using SymForce -- Manual position update throught MAVLink (`MAV_CMD_EXTERNAL_POSITION_ESTIMATE`) +- Manual position update through MAVLink (`MAV_CMD_EXTERNAL_POSITION_ESTIMATE`) - Add Auxiliary Global Position (AGP) fusion (for e.g.: external map matching vision algorithm) **Mag:** diff --git a/docs/uk/releases/1.16.md b/docs/uk/releases/1.16.md index a60af13c90..c0b9b84434 100644 --- a/docs/uk/releases/1.16.md +++ b/docs/uk/releases/1.16.md @@ -57,7 +57,7 @@ Please continue reading for [upgrade instructions](#upgrade-guide). - [Voltage-based estimation with load compensation](../config/battery.md#voltage-based-estimation-with-load-compensation) now uses a real-time estimate of the internal resistance of the battery to compensate voltage drops under load (with increased current), providing a better capacity estimate than with the raw measured voltage. - Thrust-based load compensation has been removed (along with the `BATn_V_LOAD_DROP` parameters, where `n` is the battery number). -- The [Position (GNSS) loss failsafe](../config/safety.md#position-gnss-loss-failsafe) configurable delay (`COM_POS_FS_DELAY`) has been removed. +- The [Position (GNSS) loss failsafe](../config/safety.md#position-loss-failsafe) configurable delay (`COM_POS_FS_DELAY`) has been removed. The failsafe will now trigger 1 second after position has been lost. ([PX4-Autopilot#24063](https://github.com/PX4/PX4-Autopilot/pull/24063)). - [Log Encryption](../dev_log/log_encryption.md) now generates an encrypted log that contains the public-key-encrypted symmetric key that can be used to decrypt it, instead of putting the key into a separate file. @@ -160,7 +160,7 @@ Please continue reading for [upgrade instructions](#upgrade-guide). - mavlink_ftp: handle relative paths correctly. ([PX4-Autopilot#22980](https://github.com/PX4/PX4-Autopilot/pull/22980)) - Parameter to always start mavlink stream via USB. ([PX4-Autopilot#22234](https://github.com/PX4/PX4-Autopilot/pull/22234)) - Refactor: MAVLink message handling in one function, reference instead of pointer to main instance ([PX4-Autopilo#23219](https://github.com/PX4/PX4-Autopilot/pull/22234)) -- mavlink log handler rewrite for improved effeciency ([PX4-Autopilo#23219](https://github.com/PX4/PX4-Autopilot/pull/22234)) +- mavlink log handler rewrite for improved efficiency ([PX4-Autopilo#23219](https://github.com/PX4/PX4-Autopilot/pull/22234)) ### Мульти-Ротор diff --git a/docs/uk/releases/1.17.md b/docs/uk/releases/1.17.md index 5b388e69e0..b0e6026728 100644 --- a/docs/uk/releases/1.17.md +++ b/docs/uk/releases/1.17.md @@ -9,11 +9,11 @@ const { site } = useData();
-

This page is on a release branch, and hence probably out of date. See the latest version.

+

This page is on a release branch, and hence probably out of date. See the latest version.

-This contains changes to PX4 planned for PX4 v1.17 (since the last major release [PX v1.16](../releases/1.16.md)). +This contains changes in PX4 v1.17 (since the last major release [PX v1.16](../releases/1.16.md)). :::warning PX4 v1.17 is in alpha/beta testing. @@ -57,7 +57,7 @@ Please continue reading for [upgrade instructions](#upgrade-guide). --> -- [MC Neural Network Module](../advanced/neural_networkss.md) +- [MC Neural Network Module](../advanced/neural_networks.md) ### Оцінки diff --git a/docs/uk/releases/index.md b/docs/uk/releases/index.md index c88cbfe0e1..7326bf48b2 100644 --- a/docs/uk/releases/index.md +++ b/docs/uk/releases/index.md @@ -3,7 +3,7 @@ Перелік PX4 реліз, вони містять список змін, що відбулися в кожному релізі, пояснення включених функцій, виправлень, застарілих та оновлень. - [main](../releases/main.md) (changes planned for v1.18 or later) -- [v1.17](../releases/1.17.md) (changes planned for v1.17, since v1.16) +- [v1.17](../releases/1.17.md) (changes in v1.17, since v1.16) - [v1.16](../releases/1.16.md) - [v1.15](../releases/1.15.md) - [v1.14](../releases/1.14.md) diff --git a/docs/uk/releases/main.md b/docs/uk/releases/main.md index 835589598a..2fd71a7b7a 100644 --- a/docs/uk/releases/main.md +++ b/docs/uk/releases/main.md @@ -9,7 +9,7 @@ const { site } = useData();
-

This page is on a release branch, and hence probably out of date. See the latest version.

+

This page is on a release branch, and hence probably out of date. See the latest version.

@@ -41,6 +41,7 @@ Please continue reading for [upgrade instructions](#upgrade-guide). ### Загальні - [QGroundControl Bootloader Update](../advanced_config/bootloader_update.md#qgc-bootloader-update-sys-bl-update) via the [SYS_BL_UPDATE](../advanced_config/parameter_reference.md#SYS_BL_UPDATE) parameter has been re-enabled after being broken for a number of releases. ([PX4-Autopilot#25032: build: romf: fix generation of rc.board_bootloader_upgrade](https://github.com/PX4/PX4-Autopilot/pull/25032)). +- [Feature: Allow prioritization of manual control inputs based on their instance number in ascending or descending order](../config/manual_control.md#px4-configuration). ([PX4-Autopilot#25602: Ascending and descending manual control input priorities](https://github.com/PX4/PX4-Autopilot/pull/25602)). ### Управління diff --git a/docs/uk/releases/release_process.md b/docs/uk/releases/release_process.md index 68c57e38c2..72c912808f 100644 --- a/docs/uk/releases/release_process.md +++ b/docs/uk/releases/release_process.md @@ -41,11 +41,20 @@ A new release cycle begins immediately after a stable release is published. This Release notes are built incrementally in [`main.md`](../releases/main.md), which accumulates changes as they land on `main`. Before creating the release branch: 1. Rename `main.md` to the version-specific file (e.g., `docs/en/releases/1.18.md`) + 2. Add the new file to `SUMMARY.md` and `releases/index.md` + 3. Reset `main.md` to a clean template for the next release cycle + 4. Verify that documentation for all included contributions is complete + 5. Search for instances of `main (planned for:` and replace with the release version now that it is known. - So, for example `` is replaced with `` + So, for example `` is replaced with ``. + + Note that once the name of the next version is confirmed, badges may use the second form (e.g. ``. + +6. Search for instances of ``. + Remove this for features that are considered core and/or stable. :::tip Community members are encouraged to document changes as they are merged into `main`. This distributes the documentation workload and ensures changes are captured while they're fresh. @@ -195,7 +204,7 @@ The release vote takes place during the [Weekly Community Q&A Call](../contribut - Present the release status and test results - **Vote 1:** Core maintainers vote on whether to publish the release - **Vote 2:** Decide the name/number of the next release version -- The call happens Wednesdays at 17:00 CET on [Discord](https://discord.gg/BDYmr6FA6Q) +- The call happens Wednesdays at 17:00 CET on [Discord](https://discord.com/invite/BDYmr6FA6Q) ### 8. Create and Push Release Tag @@ -254,7 +263,7 @@ Review and finalize the release notes that have been developed throughout the re Announce the release through official channels: - [PX4 Discuss Forum](https://discuss.px4.io/) -- [PX4 Discord](https://discord.gg/dronecode) +- [PX4 Discord](https://discord.com/invite/dronecode) - Social media (Twitter/X, LinkedIn) - Dronecode newsletter diff --git a/docs/uk/robotics/index.md b/docs/uk/robotics/index.md index eaf2d9b53f..c83007ef5d 100644 --- a/docs/uk/robotics/index.md +++ b/docs/uk/robotics/index.md @@ -4,7 +4,7 @@ API дронів дозволяють вам писати код для керу Наприклад, ви можете створити нові "розумні" режими польоту, або власні режими геозон, або інтегрувати нове обладнання. Drone APIs allow you to do this using high level instructions in your programming language of choice, and the code can then run on-vehicle in a [companion computer](../companion_computer/index.md), or from a ground station. -Under the the hood the APIs communicate with PX4 using [MAVLink](../middleware/mavlink.md) or [uXRCE-DDS](../middleware/uxrce_dds.md). +Under the hood the APIs communicate with PX4 using [MAVLink](../middleware/mavlink.md) or [uXRCE-DDS](../middleware/uxrce_dds.md). PX4 підтримує наступні інструменти SDK/робототехніки: @@ -66,7 +66,7 @@ Upgrade to ROS 2 for existing projects as soon as possible. DroneKit-Python is a MAVLink API written in Python. It is not optimised for use with PX4, and has not be maintained for some years. -Legacy docs for using PX4 and DroneKit can be found here: [PX4 v1.12 > DroneKit](https://docs.px4.io/v1.12/en/robotics/dronekit.html). +Legacy docs for using PX4 and DroneKit can be found here: [PX4 v1.12 > DroneKit](https://docs.px4.io/v1.12/en/robotics/dronekit). :::tip [MAVSDK](https://mavsdk.mavlink.io/) is the recommended MAVLink API for use with PX4. diff --git a/docs/uk/ros/external_position_estimation.md b/docs/uk/ros/external_position_estimation.md index eec881c1c5..d27c1038b8 100644 --- a/docs/uk/ros/external_position_estimation.md +++ b/docs/uk/ros/external_position_estimation.md @@ -189,7 +189,7 @@ To use MoCap data with EKF2 you will have to [remap](https://wiki.ros.org/roslau The `geometry_msgs/PoseStamped` topic is most common as MoCap doesn't usually have associated covariances to the data. - If you get data through a `nav_msgs/Odometry` ROS message then you will need to remap it to `/mavros/odometry/out`, making sure to update the `frame_id` and `child_frame_id` accordingly. - 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 you need to make sure that the `twist` portion of the `nav_msgs/Odometry` message is **expressed in body frame**, **not in inertial frame!!!!!**. +- Note that if you are sending odometry data to PX4 using `child_frame_id = base_link`, 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!!!!!**. ### Референсні системи координат та ROS @@ -253,7 +253,7 @@ This might break the _tf_ tree. ### OptiTrack MoCap -The following steps explain how to feed position estimates from an [OptiTrack](https://optitrack.com/applications/robotics/) system to PX4. +The following steps explain how to feed position estimates from an [OptiTrack](https://optitrack.com/applications/robotics) system to PX4. Припускається, що система MoCap налаштована. See [this video](https://www.youtube.com/watch?v=cNZaFEghTBU) for a tutorial on the calibration process. diff --git a/docs/uk/ros/mavros_custom_messages.md b/docs/uk/ros/mavros_custom_messages.md index 73b88d186e..c679062345 100644 --- a/docs/uk/ros/mavros_custom_messages.md +++ b/docs/uk/ros/mavros_custom_messages.md @@ -14,7 +14,7 @@ This article has been tested against: ## Встановлення MAVROS -Follow _Source Installation_ instructions from [mavlink/mavros](https://github.com/mavlink/mavros/blob/master/mavros/index.md) to install "ROS Kinetic". +Follow _Source Installation_ instructions from [mavlink/mavros](https://github.com/mavlink/mavros/blob/master/mavros/README.md) to install "ROS Kinetic". ## MAVROS diff --git a/docs/uk/ros/ros1.md b/docs/uk/ros/ros1.md index 43d328b414..d2480d7995 100644 --- a/docs/uk/ros/ros1.md +++ b/docs/uk/ros/ros1.md @@ -21,7 +21,7 @@ This version of ROS uses the [MAVROS](../ros/mavros_installation.md) package to - [ROS Installation on RPi](../ros/raspberrypi_installation.md) - [External Position Estimation (Vision/Motion based)](../ros/external_position_estimation.md) -## Further Infomration +## Подальша інформація - [XTDrone](https://github.com/robin-shaun/XTDrone/blob/master/README.en.md) - ROS + PX4 simulation environment for computer vision. The [XTDrone Manual](https://www.yuque.com/xtdrone/manual_en) has everything you need to get started! diff --git a/docs/uk/ros2/index.md b/docs/uk/ros2/index.md index 29c299e8b7..a449eddadb 100644 --- a/docs/uk/ros2/index.md +++ b/docs/uk/ros2/index.md @@ -36,9 +36,9 @@ To use the [ROS 2](../ros2/user_guide.md) over XRCE-DDS effectively, you must (a - [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 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 Multi Vehicle Simulation](../ros2/multi_vehicle.md): Instructions for connecting to multipole PX4 simulations via single ROS 2 agent. -- [PX4 ROS 2 Interface Library](../ros2/px4_ros2_interface_lib.md): A C++ library that simplies interacting with PX4 from ROS 2. - Can be used to create and register flight modes wrtten using ROS2 and send position estimates from ROS2 applications such as a VIO system. -- [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. +- [PX4 ROS 2 Interface Library](../ros2/px4_ros2_interface_lib.md): A C++ library that simplifies interacting with PX4 from ROS 2. + Can be used to create and register flight modes written using ROS2 and send position estimates from ROS2 applications such as a VIO system. +- [ROS 2 Message Translation Node](../ros2/px4_ros2_msg_translation_node.md): A ROS 2 message translation node that enables communication between PX4 and ROS 2 applications that were compiled with different sets of messages versions. ## Подальша інформація diff --git a/docs/uk/ros2/offboard_control.md b/docs/uk/ros2/offboard_control.md index 2a6b62079d..869f95b6f5 100644 --- a/docs/uk/ros2/offboard_control.md +++ b/docs/uk/ros2/offboard_control.md @@ -143,7 +143,7 @@ After 10 cycles `publish_vehicle_command()` is called to change to offboard mode The implementations of the `publish_offboard_control_mode()` and `publish_trajectory_setpoint()` methods are shown below. These publish the [OffboardControlMode](../msg_docs/OffboardControlMode.md) and [TrajectorySetpoint](../msg_docs/TrajectorySetpoint.md) messages to PX4 (respectively). -The `OffboardControlMode` is required in order to inform PX4 of the _type_ of offboard control behing used. +The `OffboardControlMode` is required in order to inform PX4 of the _type_ of offboard control being used. Here we're only using _position control_, so the `position` field is set to `true` and all the other fields are set to `false`. ```cpp diff --git a/docs/uk/ros2/px4_ros2_interface_lib.md b/docs/uk/ros2/px4_ros2_interface_lib.md index 821c9b554b..78c7da4b24 100644 --- a/docs/uk/ros2/px4_ros2_interface_lib.md +++ b/docs/uk/ros2/px4_ros2_interface_lib.md @@ -7,6 +7,10 @@ На момент написання цієї статті, деякі частини бібліотеки інтерфейсу PX4 ROS 2 є експериментальними і, отже, можуть бути змінені. ::: +:::info +When using `rmw_zenoh`, the PX4 ROS 2 Interface Library requires ROS 2 Jazzy or later, and is not compatible with ROS 2 Humble or earlier. +::: + The [PX4 ROS 2 Interface Library](https://github.com/Auterion/px4-ros2-interface-lib) is a C++ library (with Python bindings) that simplifies controlling and interacting with PX4 from ROS 2. The library provides three high-level interfaces for developers: diff --git a/docs/uk/ros2/px4_ros2_msg_translation_node.md b/docs/uk/ros2/px4_ros2_msg_translation_node.md index 5407586db8..86ff60c6b2 100644 --- a/docs/uk/ros2/px4_ros2_msg_translation_node.md +++ b/docs/uk/ros2/px4_ros2_msg_translation_node.md @@ -105,7 +105,7 @@ For example, the following implements a minimal subscriber and publisher node th #include // Template function to get the message version suffix -// The correct message version is directly inferred from the message defintion +// The correct message version is directly inferred from the message definition template std::string getMessageNameVersion() { if (T::MESSAGE_VERSION == 0) return ""; diff --git a/docs/uk/ros2/px4_ros2_navigation_interface.md b/docs/uk/ros2/px4_ros2_navigation_interface.md index a946973966..918fbc6e23 100644 --- a/docs/uk/ros2/px4_ros2_navigation_interface.md +++ b/docs/uk/ros2/px4_ros2_navigation_interface.md @@ -104,7 +104,7 @@ Для надсилання вимірювання позиції ви заповнюєте структуру позиції з виміряними значеннями. Потім викликаєте функцію оновлення інтерфейсу з цією структурою як аргументом. -Для базового прикладу, як користуватися цим інтерфейсом, ознайомтеся з [examples](https://github.com/Auterion/px4-ros2-interface-lib/tree/main/examples/cpp/navigation) в `Auterion/px4-rosface-lib` репозиторію, наприклад [examples/cpp/navigation/local_navigation](https://github.com/Auterion/px4-ros2-interface-lib/b/main/examples/cpp/navigation/local_navigation/inclation/inclde/local_localation.hppation.hpp) або examples/cpps/cppation/globation](https://github.com/Auter/intertere-face-face-face-facb/mainb/mppation/mppation/example/example/navigation/navigation/navigation/navig/navigation/navigation/navig/navig/navig/navighblob/navig +For a basic example of how to use this interface, check out the [examples](https://github.com/Auterion/px4-ros2-interface-lib/tree/main/examples/cpp/navigation) in the `Auterion/px4-ros2-interface-lib` repository, such as [examples/cpp/navigation/local_navigation](https://github.com/Auterion/px4-ros2-interface-lib/blob/main/examples/cpp/navigation/local_navigation/include/local_navigation.hpp) or [examples/cpp/navigation/global_navigation](https://github.com/Auterion/px4-ros2-interface-lib/blob/main/examples/cpp/navigation/global_navigation/include/global_navigation.hpp). ### Оновлення локальної позиції @@ -223,7 +223,7 @@ private: ### -Спочатку переконайтеся, що параметр PX4 [`EKF2_EV_CTRL`](../advanced_config/parameter_reference.md#EKF2_EV_CTRL) налаштований належним чином для ефективного використання зовнішніх локальних вимірів, встановивши відповідні біти в `true`: +First ensure that the PX4 [`EKF2_AGP_CTRLn`](../advanced_config/parameter_reference.md#EKF2_AGP0_CTRL) parameters are properly configured to fuse external global measurements, by setting the appropriate bits to `true`: - 0: Дані горизонтальної позиції - 1: Дані вертикальної позиції diff --git a/docs/uk/ros2/user_guide.md b/docs/uk/ros2/user_guide.md index 2f5ff0d4c0..910171082e 100644 --- a/docs/uk/ros2/user_guide.md +++ b/docs/uk/ros2/user_guide.md @@ -9,7 +9,7 @@ From PX4 v1.14, ROS 2 uses [uXRCE-DDS](../middleware/uxrce_dds.md) middleware, r The [migration guide](../middleware/uxrce_dds.md#fast-rtps-to-uxrce-dds-migration-guidelines) explains what you need to do in order to migrate ROS 2 apps from PX4 v1.13 to PX4 v1.14. -If you're still working on PX4 v1.13, please follow the instructions in the [PX4 v1.13 Docs](https://docs.px4.io/v1.13/en/ros/ros2_comm.html). +If you're still working on PX4 v1.13, please follow the instructions in the [PX4 v1.13 Docs](https://docs.px4.io/v1.13/en/ros/ros2_comm). @@ -137,7 +137,7 @@ To install ROS 2 and its dependencies: 2. Some Python dependencies must also be installed (using **`pip`** or **`apt`**): ```sh - pip install --user -U empy==3.3.4 pyros-genmsg setuptools + pip install --user -U empty==3.3.4 pyros-genmsg setuptools ``` ### Setup Micro XRCE-DDS Agent & Client diff --git a/docs/uk/sensor/airspeed.md b/docs/uk/sensor/airspeed.md index 35847149c3..f361f81e97 100644 --- a/docs/uk/sensor/airspeed.md +++ b/docs/uk/sensor/airspeed.md @@ -11,8 +11,8 @@ Airspeed sensors are _highly recommended_ for fixed-wing and VTOL frames. Рекомендовані цифрові сенсори швидкості в повітрі включають: - Based on [Pitot tube](https://en.wikipedia.org/wiki/Pitot_tube) - - I2C MEAS Spec series (e.g. [MS4525DO](https://www.te.com/usa-en/product-CAT-BLPS0002.html), [MS5525](https://www.te.com/usa-en/product-CAT-BLPS0003.html)) - - [mRo I2C Airspeed Sensor JST-GH MS4525DO](https://store.3dr.com/mro-i2c-airspeed-sensor-jst-gh-ms4525do/) (3DR store) + - I2C MEAS Spec series (e.g. [MS4525DO](https://www.te.com/en/product-20003581-00.html), [MS5525](https://www.te.com/usa-en/product-CAT-BLPS0003.html)) + - [mRo I2C Airspeed Sensor JST-GH MS4525DO](https://store.3dr.com/airspeed-sensor-jst-gh-ms4525do/) (3DR store) - [Digital Differential Airspeed Sensor Kit - MS4525DO](https://store-drotek.com/793-digital-differential-airspeed-sensor-kit-.html) (Drotek). - [Holybro Digital Air Speed Sensor - MS4525DO](https://holybro.com/collections/sensors/products/digital-air-speed-sensor-ms4525do) - [Holybro Digital Air Speed Sensor - MS5525DSO](https://holybro.com/collections/sensors/products/digital-air-speed-sensor-ms5525dso) diff --git a/docs/uk/sensor/airspeed_tfslot.md b/docs/uk/sensor/airspeed_tfslot.md index f97c594f13..a0531471d3 100644 --- a/docs/uk/sensor/airspeed_tfslot.md +++ b/docs/uk/sensor/airspeed_tfslot.md @@ -5,7 +5,7 @@ ![TFSLOT and TFSLOT WITH TFASPDIMU02 board](../../assets/hardware/sensors/airspeed/tsflot_compose.jpg) [TFSLOT](https://github.com/ThunderFly-aerospace/TFSLOT01) is an airspeed sensor based on venturi effects. -In the basic configuration, the TFSLOT is equipped with the [TFASPDIMU02](https://github.com/ThunderFly-aerospace/TFASPDIMU02) sensor board, which contains a differential pressure sensor ([Sensirion SDP3x series](https://sensirion.com/products/catalog/?filter_series=d1816d53-f5c8-47e3-ab47-818c3fd54259)) and a 9-axis motion tracking sensor ([ICM-20948](https://invensense.tdk.com/products/motion-tracking/9-axis/icm-20948/)). +In the basic configuration, the TFSLOT is equipped with the [TFASPDIMU02](https://github.com/ThunderFly-aerospace/TFASPDIMU02) sensor board, which contains a differential pressure sensor ([Sensirion SDP3x series](https://sensirion.com/products/catalog?filter_series=d1816d53-f5c8-47e3-ab47-818c3fd54259)) and a 9-axis motion tracking sensor ([ICM-20948](https://invensense.tdk.com/products/motion-tracking/9-axis/icm-20948/)). Одиницю IMU можна використовувати як зовнішній компас. - Цей дизайн має кілька переваг при використанні на невеликих і повільних безпілотних літальних апаратах. diff --git a/docs/uk/sensor/grf_lidar.md b/docs/uk/sensor/grf_lidar.md new file mode 100644 index 0000000000..e83fed6a1b --- /dev/null +++ b/docs/uk/sensor/grf_lidar.md @@ -0,0 +1,69 @@ +# Lightware GRF250/GRF500 Gimbal Lidar + +LightWare [GRF250](https://lightwarelidar.com/shop/grf-250/) and [GRF500](https://lightwarelidar.com/shop/grf-500/) are small and light Lidar modules with a range of 250m and 500m, respectively. + +![LightWare GRF250 Gimbal Lidar](../../assets/hardware/sensors/lidar_lightware/grf_500.png) + +:::info +The Lidar driver is not included in the default build of PX4. +You will need to [create and use a custom build](#add-the-driver-to-the-px4-build). +::: + +## Де купити + +Order these modules from: + +- [GRF250](https://lightwarelidar.com/shop/grf-250/) +- [GRF500](https://lightwarelidar.com/shop/grf-500/) + +## Налаштування програмного забезпечення + +The rangefinder can be connected to any unused serial port, such as `TELEM2`. +[Parameter Configuration](#parameter-configuration) explains how to configure the port to use and the other properties of the rangefinder. + +## Налаштування PX4 + +### Add the Driver to the PX4 Build + +The [lightware_grf_serial](../modules/modules_driver_distance_sensor.md#lightware-grf-serial) driver for this Lidar is not included in PX4 firmware by default. +In order to use these modules you will first need to update the firmware configuration to add the driver, and then build the firmware. + +1. Update the firmware configuration. You can use either of the following options: + - Menuconfig: + 1. Install and open [menuconfig](../hardware/porting_guide_config.md#px4-menuconfig-setup) + 2. In [menuconfig](../hardware/porting_guide_config.md#px4-menuconfig-setup), navigate to **Drivers > Distance sensors** + 3. Select/Enable `lightware_grf_serial` + 4. Save the configuration + + - Manually update `default.px4` to include the configuration key: + 1. Open the `default.px4board` config file that corresponds to the board you want to build for. + For example, to add the driver to `fmu-v6x` boards you would update [/boards/px4/fmu-v6x/default.px4board ](https://github.com/PX4/PX4-Autopilot/blob/main/boards/px4/fmu-v6x/default.px4board) + 2. Add the following line and save the file: + + ```txt + CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_GRF_SERIAL=y + ``` + +2. [Build PX4](../dev_setup/building_px4.md) for your flight controller target and upload the new firmware. + +### Налаштування параметрів + +You will need to configure PX4 to indicate the serial port to which the sensor is connected (as per [Serial Port Configuration](../peripherals/serial_configuration.md)) and also the orientation and other properties of the sensor. + +The [parameters to change](../advanced_config/parameters.md) are listed in the table. + +| Параметр | Опис | +| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------ | +| [SENS_EN_GRF_CFG](../advanced_config/parameter_reference.md#SENS_EN_GRF_CFG) | Set to the serial port the sensor is connected to. | +| [GRF_RATE_CFG](../advanced_config/parameter_reference.md#GRF_RATE_CFG) | Set the update rate. | +| [GRF_SENS_MODEL](../advanced_config/parameter_reference.md#GRF_SENS_MODEL) | Set the sensor model to use. | + +## Тестування + +You can confirm that the sensor is correctly configured by connecting QGroundControl, and observing that [DISTANCE_SENSOR](https://mavlink.io/en/messages/common.html#DISTANCE_SENSOR) is present in the [MAVLink Inspector](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/analyze_view/mavlink_inspector.html). + +Moving the sensor around at various distances from a surface will have the `current_distance` value change. + +## Усунення проблем + +If you are having problems with connecting to the sensor you may need to unassign a the default serial port. [Unassign Default Serial Port](../peripherals/serial_configuration.md) diff --git a/docs/uk/sensor/inertial_navigation_systems.md b/docs/uk/sensor/inertial_navigation_systems.md index 6dd786584c..5732d3734a 100644 --- a/docs/uk/sensor/inertial_navigation_systems.md +++ b/docs/uk/sensor/inertial_navigation_systems.md @@ -49,5 +49,4 @@ INS є навігаційним пристроєм, який використо ## Подальша інформація -- [Що таке інерційна навігаційна система?](https://www.vectornav.com/resources/inertial-navigation-articles/what-is-an-ins) (VectorNav) - [Посібник з інерціальної навігації](https://www.vectornav.com/resources/inertial-navigation-primer) (VectorNav) diff --git a/docs/uk/sensor/inertiallabs.md b/docs/uk/sensor/inertiallabs.md index e7e3c6e4b3..2847434065 100644 --- a/docs/uk/sensor/inertiallabs.md +++ b/docs/uk/sensor/inertiallabs.md @@ -21,8 +21,8 @@ The mode is configurable using a parameter. [Get technical support or send requests to sales team](https://inertiallabs.com/inertial-labs-inc/contact-inertial-labs-team/). Recommended sensors: -- [INS-U GNSS/INS](https://inertiallabs.com/ins-u-datasheet): Recommended for fixed-wing systems without hovering, where static heading is not necessary. -- [INS-DU DUAL GNSS/INS](https://inertiallabs.com/ins-du-datasheet): Recommended for multicopter systems where hovering and low dynamics requires the use of static heading. +- [INS-U GNSS/INS](https://inertiallabs.com/wp-content/uploads/2026/01/INS-U_INS-U-OEM_Datasheet_REV2.18_JAN2026.pdf): Recommended for fixed-wing systems without hovering, where static heading is not necessary. +- [INS-DU DUAL GNSS/INS](https://inertiallabs.com/wp-content/uploads/2025/12/INS-DU_INS-DU-OEM_Datasheet_REV1.00_DEC2025.pdf): Recommended for multicopter systems where hovering and low dynamics requires the use of static heading. ## Налаштування програмного забезпечення diff --git a/docs/uk/sensor/lidar_lite.md b/docs/uk/sensor/lidar_lite.md index dbbfeeff08..85a1f009c0 100644 --- a/docs/uk/sensor/lidar_lite.md +++ b/docs/uk/sensor/lidar_lite.md @@ -6,7 +6,7 @@ LIDAR-Lite це компактний, високопродуктивний оп ## Де купити -- [LIDAR-Lite v3](https://buy.garmin.com/en-AU/AU/p/557294) (5cm - 40m) +- [LIDAR-Lite v3](https://www.garmin.com/en-AU/p/557294/) (5cm - 40m) ## Схема розташування виводів diff --git a/docs/uk/sensor/microstrain.md b/docs/uk/sensor/microstrain.md index 7503f30629..57292c45a9 100644 --- a/docs/uk/sensor/microstrain.md +++ b/docs/uk/sensor/microstrain.md @@ -7,10 +7,10 @@ Widely used across industries like aerospace, robotics, industrial automation, a The driver currently supports the following hardware: -- [`MicroStrain CV7-AR`](https://www.hbkworld.com/en/products/transducers/inertial-sensors/vertical-reference-units--vru-/3dm-cv7-ar): Inertial Measurement Unit (IMU) and Vertical Reference Unit (VRU) -- [`MicroStrain CV7-AHRS`](https://www.hbkworld.com/en/products/transducers/inertial-sensors/attitude-and-heading-reference-systems--ahrs-/3dm-cv7-ahrs): Inertial Measurement Unit (IMU) and Attitude Heading Reference System (AHRS) -- [`MicroStrain CV7-INS`](https://www.hbkworld.com/en/products/transducers/inertial-sensors/inertial-navigation-systems--ins-/3dm-cv7-ins): Inertial Measurement Unit (IMU) and Inertial Navigation System (INS). -- [`MicroStrain CV7-GNSS/INS`](https://www.hbkworld.com/en/products/transducers/inertial-sensors/inertial-navigation-systems--ins-/3dm-cv7-gnss-ins): Inertial Measurement Unit (IMU) and Inertial Navigation System (INS) combined with dual multiband (GNSS) receivers. +- [`MicroStrain CV7-AR`](https://www.hbkworld.com/en/products/transducers/inertial-sensors/vertical-reference/3dm-cv7-ar): Inertial Measurement Unit (IMU) and Vertical Reference Unit (VRU) +- [`MicroStrain CV7-AHRS`](https://www.hbkworld.com/en/products/transducers/inertial-sensors/attitude-and-heading/3dm-cv7-ahrs): Inertial Measurement Unit (IMU) and Attitude Heading Reference System (AHRS) +- [`MicroStrain CV7-INS`](https://www.hbkworld.com/en/products/transducers/inertial-sensors/navigation/3dm-cv7-ins): Inertial Measurement Unit (IMU) and Inertial Navigation System (INS). +- [`MicroStrain CV7-GNSS/INS`](https://www.hbkworld.com/en/products/transducers/inertial-sensors/navigation/3dm-cv7-gnss-ins): Inertial Measurement Unit (IMU) and Inertial Navigation System (INS) combined with dual multiband (GNSS) receivers. PX4 can use these sensors to provide raw IMU data for EKF2 or to replace EKF2 as an external INS. For more information, including user manuals and datasheets, please refer to the sensors product page. @@ -18,7 +18,7 @@ For more information, including user manuals and datasheets, please refer to the ## Де купити MicroStrain sensors can be purchased through HBK's official [MicroStrain product page](https://www.hbkworld.com/en/products/transducers/inertial-sensors) or through authorized distributors globally. -For large orders, custom requirements, or technical inquiries, reach out directly to [sales](https://www.hbkworld.com/en/contact-us/contact-sales-microstrain) +For large orders, custom requirements, or technical inquiries, reach out directly to [sales](https://www.hbkworld.com/en/contact-us) ## Налаштування програмного забезпечення diff --git a/docs/uk/sensor/optical_flow.md b/docs/uk/sensor/optical_flow.md index 8f301d4ad7..e104d8e440 100644 --- a/docs/uk/sensor/optical_flow.md +++ b/docs/uk/sensor/optical_flow.md @@ -71,7 +71,7 @@ An all-in-one design that simplifies installation, with an onboard infrared LED ### Інші Камери/Сенсори Також можна використовувати дошку/квадрокоптер, яка має вбудовану камеру. -For this the [Optical Flow repo](https://github.com/PX4/OpticalFlow) can be used (see also [snap_cam](https://github.com/PX4/snap_cam)). +For this the [Optical Flow repo](https://github.com/PX4/PX4-OpticalFlow) can be used (see also [snap_cam](https://github.com/PX4/snap_cam)). ## Далекомір diff --git a/docs/uk/sensor/px4flow.md b/docs/uk/sensor/px4flow.md index 419d38bbec..b9159f35f5 100644 --- a/docs/uk/sensor/px4flow.md +++ b/docs/uk/sensor/px4flow.md @@ -5,4 +5,4 @@ PX4 does not support the PX4Flow [optical flow](../sensor/optical_flow.md) sensor from PX4 v1.13 (it doesn't work with current firmware). PX4 може працювати зі старішою прошивкою PX4Flow. -Documentation has been removed (if needed, see [Legacy Docs for PX4Flow in v1.13](https://docs.px4.io/v1.13/en/sensor/px4flow.html)). +Documentation has been removed (if needed, see [Legacy Docs for PX4Flow in v1.13](https://docs.px4.io/v1.13/en/sensor/px4flow)). diff --git a/docs/uk/sensor/rangefinders.md b/docs/uk/sensor/rangefinders.md index e5280bf30a..b1b3450d32 100644 --- a/docs/uk/sensor/rangefinders.md +++ b/docs/uk/sensor/rangefinders.md @@ -93,7 +93,7 @@ It comes with a JST GHR 4 pin connector that is compatible with the I2C port on ### MaxBotix I2CXL-MaxSonar-EZ -The MaxBotix [I2CXL-MaxSonar-EZ](https://www.maxbotix.com/product-category/i2cxl-maxsonar-ez-products) range has a number of relatively short-ranged sonar based rangefinders that are suitable for assisted takeoff/landing and collision avoidance. +The MaxBotix [I2CXL-MaxSonar-EZ](https://maxbotix.com/collections/i2cxl-maxsonar-ez-products) range has a number of relatively short-ranged sonar based rangefinders that are suitable for assisted takeoff/landing and collision avoidance. Ці можуть бути підключені за допомогою порту I2C. The rangefinders are enabled using the parameter [SENS_EN_MB12XX](../advanced_config/parameter_reference.md#SENS_EN_MB12XX). @@ -163,7 +163,7 @@ Features: - [VL53L1CBV0FY-1](https://www.st.com/resource/en/datasheet/vl53l1.pdf) sensor - Input voltage sensor -- CAN connectors: 2 [UCANPHY Micro (JST-GH 4)](https://raccoonlabdev.github.io/docs/guide/wires/). +- CAN connectors: 2 [UCANPHY Micro (JST-GH 4)](https://docs.raccoonlab.co/guide/wires/). ## Configuration/Setup {#configuration} diff --git a/docs/uk/sensor/sbgecom.md b/docs/uk/sensor/sbgecom.md index 4e65d0243c..bc9be0427f 100644 --- a/docs/uk/sensor/sbgecom.md +++ b/docs/uk/sensor/sbgecom.md @@ -2,7 +2,7 @@ [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. +PX4 supports [all SBG Systems products](https://www.sbg-systems.com/) 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) @@ -17,7 +17,7 @@ SBG Systems products provide a range of benefits to PX4 users and can be integra 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/). +The driver supports [all SBG Systems products](https://www.sbg-systems.com/). Зокрема, рекомендуємо наступні системи: - **Pulse:** Recommended for fixed-wing systems without hovering, where static heading is not necessary. @@ -151,5 +151,5 @@ and, if configured as an INS, publishes: ## Характеристики обладнання -- [Product Briefs](https://www.sbg-systems.com/products/) +- [Product Briefs](https://www.sbg-systems.com/) - [Datasheets](https://www.sbg-systems.com/contact/#products) diff --git a/docs/uk/sensor/sf45_rotating_lidar.md b/docs/uk/sensor/sf45_rotating_lidar.md index a4137666d4..d52fda64b2 100644 --- a/docs/uk/sensor/sf45_rotating_lidar.md +++ b/docs/uk/sensor/sf45_rotating_lidar.md @@ -12,7 +12,7 @@ You will need to [create and use a custom build](#add-the-driver-to-the-px4-buil ## LightWare Studio Setup -In the [LightWare Studio](https://www.lightwarelidar.com/resources-software) app set following values: +In the [LightWare Studio](https://lightwarelidar.com/resources-software/) app set following values: | Параметр | Опис | | --------- | ------ | diff --git a/docs/uk/sensor/sfxx_lidar.md b/docs/uk/sensor/sfxx_lidar.md index 98becf2484..9f7428d015 100644 --- a/docs/uk/sensor/sfxx_lidar.md +++ b/docs/uk/sensor/sfxx_lidar.md @@ -9,14 +9,14 @@ LightWare розробляє широкий спектр легких, зага Наступні моделі підтримуються PX4 та можуть бути підключені до шини I2C або Serial (таблиці нижче показують, яку шину можна використовувати для кожної моделі). -| Модель | Range (m) | Шина | Опис | -| ------------------------------------------------------- | ---------------------------- | -------------------- | ------------------------------------------------------------------------------------------------------------- | -| [SF11/C](https://lightwarelidar.com/shop/sf11-c-100-m/) | 100 | Серійна або I2C шина | | -| [LW20/C](https://lightware.co.za/products/lw20-c-100-m) | 100 | Шина I2C | Водонепроникний (IP67) з сервоприводом для додатків з детекцією та уникненням перешкод | -| [SF30/D](https://lightwarelidar.com/shop/sf30-d-200-m/) | 200 | Шина I2C | Waterproofed (IP67) | -| [SF45/B](../sensor/sf45_rotating_lidar.md) | 50 | Серія | Rotary Lidar (Used for [Collision Prevention](../computer_vision/collision_prevention.md)) | -| [GRF250](https://lightwarelidar.com/shop/grf-250/) | 250 | I2C | Gimbal Range Finder | -| [GRF500](https://lightwarelidar.com/shop/grf-500/) | 500 | I2C | Gimbal Range Finder | +| Модель | Range (m) | Шина | Опис | +| ---------------------------------------------------------- | ---------------------------- | -------------------- | ------------------------------------------------------------------------------------------------------------- | +| [SF11/C](https://lightwarelidar.com/shop/sf11-c-100-m/) | 100 | Серійна або I2C шина | | +| [LW20/C](https://lightwarelidar.com/products/lw20-c-100-m) | 100 | Шина I2C | Водонепроникний (IP67) з сервоприводом для додатків з детекцією та уникненням перешкод | +| [SF30/D](https://lightwarelidar.com/shop/sf30-d-200-m/) | 200 | Шина I2C | Waterproofed (IP67) | +| [SF45/B](../sensor/sf45_rotating_lidar.md) | 50 | Серія | Rotary Lidar (Used for [Collision Prevention](../computer_vision/collision_prevention.md)) | +| [GRF250](../sensor/grf_lidar.md) | 250 | Серійна або I2C шина | Gimbal Range Finder | +| [GRF500](../sensor/grf_lidar.md) | 500 | Серійна або I2C шина | Gimbal Range Finder | :::details Discontinued diff --git a/docs/uk/sensor/teraranger.md b/docs/uk/sensor/teraranger.md index daf0723f8b..3ba1216056 100644 --- a/docs/uk/sensor/teraranger.md +++ b/docs/uk/sensor/teraranger.md @@ -1,12 +1,17 @@ -# Дальніміри TeraRanger +# TeraRanger Rangefinders (Discontinued) + +:::warning +TeraRanger Evo sensors were discontinued by Terabee in May 2024. +Limited stock may still be available from third-party resellers such as [Tribotix](https://tribotix.com/product/teraranger-evo-60m/). +::: TeraRanger надає ряд легких сенсорів вимірювання відстані на основі інфрачервоної технології часу польоту (ToF). Вони зазвичай швидші і мають більший діапазон, ніж ехолокатори, і менші та легші, ніж системи на основі лазера. PX4 підтримує: -- [TeraRanger Evo 60m](https://www.terabee.com/shop/lidar-tof-range-finders/teraranger-evo-60m/) (0.5 – 60 m) -- [TeraRanger Evo 600Hz](https://www.terabee.com/shop/lidar-tof-range-finders/teraranger-evo-600hz/) (0.75 - 8 m) +- [TeraRanger Evo 60m](https://tribotix.com/product/teraranger-evo-60m/) (0.5 – 60 m) +- [TeraRanger Evo 600Hz](https://tribotix.com/product/teraranger-evo-600hz/) (0.75 - 8 m) :::info PX4 also supports _TeraRanger One_ (I2C adapter required). diff --git a/docs/uk/sensor/thunderfly_tachometer.md b/docs/uk/sensor/thunderfly_tachometer.md index 5fe8e25ee3..609505db1d 100644 --- a/docs/uk/sensor/thunderfly_tachometer.md +++ b/docs/uk/sensor/thunderfly_tachometer.md @@ -31,7 +31,7 @@ The TFRPM01 sensor is open-source hardware commercially available from [ThunderF Датчики Холла (магнітно-оперовані) ідеально підходять для жорстких умов, де бруд, пил і вода можуть контактувати з відчуваним ротором. Багато різних датчиків ефекту Холла є комерційно доступними. -For example, a [55100 Miniature Flange Mounting Proximity Sensor](https://m.littelfuse.com/media?resourcetype=datasheets&itemid=6d69d457-770e-46ba-9998-012c5e0aedd7&filename=littelfuse-hall-effect-sensors-55100-datasheet) is a good choice. +For example, a [55100 Miniature Flange Mounting Proximity Sensor](https://www.littelfuse.com/assetdocs/littelfuse-hall-effect-sensors-55100-datasheet?assetguid=6d69d457-770e-46ba-9998-012c5e0aedd7) is a good choice. ![Example of Hall effect probe](../../assets/hardware/sensors/tfrpm/hall_probe.jpg) @@ -90,7 +90,7 @@ pcf8583 status ``` Якщо драйвер працює, порт I²C буде надруковано разом з іншими основними параметрами запущеного екземпляру. -Якщо драйвер не працює, його можна запустити за допомогою процедури, описаної вище. +If the driver is not running it can be started using theprocedure described above. The [listener](../modules/modules_command.md#listener) command allows you to monitor RPM UORB messages from the running driver. diff --git a/docs/uk/sensor/vectornav.md b/docs/uk/sensor/vectornav.md index c5544fdd56..0751e65574 100644 --- a/docs/uk/sensor/vectornav.md +++ b/docs/uk/sensor/vectornav.md @@ -42,7 +42,7 @@ PX4 може використовувати це як [зовнішній INS] ( Якщо використовується продукт з підтримкою GNSS, антена GNSS повинна бути жорстко монтуватися щодо інерційного датчика та мати необмежений вид на небо. Якщо використовується продукт з підтримкою двоканальної ГНСС (VN-3X0), друга антена повинна бути жорстко змонтована щодо первинної антени та інерціального датчика з неперешкодженим видом на небо. -Для отримання додаткових вимог і рекомендацій щодо монтажу, див. відповідний [Керівний початок роботи](https://www.vectornav.com/resources/quick-start-guides). +For more mounting requirements and recommendations, see the relevant [Quick Start Guide](https://www.vectornav.com/resources/technical-documentation/quick-start-guides). ## Конфігурація прошивки @@ -82,7 +82,7 @@ PX4 може використовувати це як [зовнішній INS] ( ## Конфігурація VectorNav -Визначення для всіх команд та реєстрів, на які посилаються в цьому розділі, можна знайти в відповідному [VectorNav ICD](https://www.vectornav.com/resources/interface-control-documents). +Definitions for all commands and registers referenced in this section can be found in the respective [VectorNav ICD](https://www.vectornav.com/resources/technical-documentation/interface-control-documents). Під час ініціалізації PX4 налаштовує пристрій VectorNav наступним чином: @@ -137,5 +137,5 @@ PX4 може використовувати це як [зовнішній INS] ( ## Характеристики обладнання -- [Короткі описи продуктів](https://www.vectornav.com/resources/product-briefs) -- [Документи з даними](https://www.vectornav.com/resources/datasheets) +- [Product Briefs](https://www.vectornav.com/resources/product-information/product-briefs) +- [Datasheets](https://www.vectornav.com/resources/technical-documentation/datasheets) diff --git a/docs/uk/sensor_bus/translator_tfi2cadt.md b/docs/uk/sensor_bus/translator_tfi2cadt.md index 596035c247..63e97dda33 100644 --- a/docs/uk/sensor_bus/translator_tfi2cadt.md +++ b/docs/uk/sensor_bus/translator_tfi2cadt.md @@ -13,7 +13,7 @@ The module has an input and an output side and a sensor is connected to the mast :::info [TFI2CADT01](https://github.com/ThunderFly-aerospace/TFI2CADT01) is designed as open-source hardware with GPLv3 license. -It is commercially available from [ThunderFly](https://www.thunderfly.cz/) company or from [Tindie eshop](https://www.tindie.com/products/26353/). +It is commercially available from [ThunderFly](https://www.thunderfly.cz/) company or from [Tindie eshop](https://www.tindie.com/products/thunderfly/tfi2cadt01-pixhawk-i2c-address-translator/). ::: ## Метод перетворення адрес @@ -30,7 +30,7 @@ TFI2CADT01 виконує операцію XOR на викликаній адр The tachometer sensor [TFRPM01](../sensor/thunderfly_tachometer.md) can be set to two different addresses using a solder jumper. If the autopilot has three buses, only 6 sensors can be connected and no bus remains free (2 available addresses \* 3 I2C ports). У деяких мультикоптерах або рішеннях VTOL є необхідність вимірювати оберти хвилину RPM 8 або більше елементів. -The [TFI2CADT01](https://www.tindie.com/products/26353/) is highly recommended in this case. +The [TFI2CADT01](https://www.tindie.com/products/thunderfly/tfi2cadt01-pixhawk-i2c-address-translator/) is highly recommended in this case. ![Multiple sensors](../../assets/peripherals/i2c_tfi2cadt/tfi2cadt01_multi_tfrpm01.jpg) diff --git a/docs/uk/sim_gazebo_classic/index.md b/docs/uk/sim_gazebo_classic/index.md index d4a131c6ae..4a081864c3 100644 --- a/docs/uk/sim_gazebo_classic/index.md +++ b/docs/uk/sim_gazebo_classic/index.md @@ -347,7 +347,7 @@ The video below shows that the location of the environment is aligned with the w For extended development sessions it might be more convenient to start Gazebo Classic and PX4 separately or even from within an IDE. -In addition to the existing cmake targets that run `sitl_run.sh` with parameters for px4 to load the correct model it creates a launcher targets named `px4_` that is a thin wrapper around original sitl px4 app. +In addition to the existing cmake targets that run `sitl_run.sh` with parameters for PX4 to load the correct model it creates a launcher targets named `px4_` that is a thin wrapper around original sitl PX4 app. This thin wrapper simply embeds app arguments like current working directories and the path to the model file. To start Gazebo Classic and PX4 separately: @@ -368,7 +368,7 @@ To start Gazebo Classic and PX4 separately: - Start the debug session directly from IDE -This approach significantly reduces the debug cycle time because simulator is always running in background and you only re-run the px4 process which is very light. +This approach significantly reduces the debug cycle time because simulator is always running in background and you only re-run the PX4 process which is very light. ## Simulated Survey Camera diff --git a/docs/uk/sim_gazebo_gz/gazebo_models.md b/docs/uk/sim_gazebo_gz/gazebo_models.md index 0bbaa35775..d4dc771188 100644 --- a/docs/uk/sim_gazebo_gz/gazebo_models.md +++ b/docs/uk/sim_gazebo_gz/gazebo_models.md @@ -44,8 +44,8 @@ python simulation-gazebo --overwrite Там введіть "resource spawner" та у "Fuel resources" додайте власника "px4". Ви можете перетягнути будь-яку PX4 модель у вашу симуляцію. - :::info - Ці моделі взяті з вебсервера, який називається [Gazebo Fuel](https://app.gazebosim.org/dashboard), що по суті діє як онлайн база всіх світів та типів моделей, які можуть бути запущені у Gazebo. + ::: info + These models are taken from an web-server called [Gazebo Fuel](https://app.gazebosim.org/PX4), which essentially acts as an online database for all types of models and worlds that can be launched in Gazebo. ::: diff --git a/docs/uk/sim_gazebo_gz/index.md b/docs/uk/sim_gazebo_gz/index.md index e2f0cd5637..71486775ac 100644 --- a/docs/uk/sim_gazebo_gz/index.md +++ b/docs/uk/sim_gazebo_gz/index.md @@ -5,7 +5,7 @@ Gazebo was previously known as "Gazebo Ignition" (while _Gazebo Classic_ was pre See the [official blog post](https://www.openrobotics.org/blog/2022/4/6/a-new-era-for-gazebo) for more information. ::: -[Gazebo](https://gazebosim.org/home) is an open source robotics simulator. +[Gazebo](https://gazebosim.org/docs/latest/getstarted/) is an open source robotics simulator. It supersedes the older [Gazebo Classic](../sim_gazebo_classic/index.md) simulator, and is the only supported version of Gazebo for Ubuntu 22.04 and onwards. **Supported Vehicles:** Quadrotor, Plane, VTOL, Rover @@ -303,7 +303,7 @@ where `ARGS` is a list of environment variables including: - `PX4_GZ_FOLLOW_OFFSET_X`, `PX4_GZ_FOLLOW_OFFSET_Y`, `PX4_GZ_FOLLOW_OFFSET_Z`: Set the relative offset of the follow camera to the vehicle. -The PX4 Gazebo worlds and and models databases [can be found on GitHub here](https://github.com/PX4/PX4-gazebo-models). +The PX4 Gazebo worlds and models databases [can be found on GitHub here](https://github.com/PX4/PX4-gazebo-models). :::info `gz_env.sh.in` is compiled and made available in `$PX4_DIR/build/px4_sitl_default/rootfs/gz_env.sh` diff --git a/docs/uk/sim_gazebo_gz/tools_avl_automation.md b/docs/uk/sim_gazebo_gz/tools_avl_automation.md index 80e32b4bb8..9d68a55902 100644 --- a/docs/uk/sim_gazebo_gz/tools_avl_automation.md +++ b/docs/uk/sim_gazebo_gz/tools_avl_automation.md @@ -121,7 +121,7 @@ The parameters have not been verified by an expert, so you should check them in | CYa | CYa | dCy/da (нахил бічної сили відносно кута атаки) | | Cla | Cell | dCl/da (нахил моменту крену відносно кута атаки) | | Cma | Cema | dCm/da (нахил моменту тангажу відносно кута атаки - до звалювання) | -| Cna | Cena | dCn/da (нахил моменту рискання відносно кута атаки) | +| Can | Cena | dCn/da (нахил моменту рискання відносно кута атаки) | | CLb | CLb | dCL/dbeta (нахил коефіцієнту сили підйому відносно кута ковзання) | | CYb | CYb | dCY/dbeta (нахил бічної сили відносно кута ковзання) | | Clb | Cell | dCl/dbeta (нахил моменту крену відносно кута ковзання) | diff --git a/docs/uk/sim_gazebo_gz/vehicles.md b/docs/uk/sim_gazebo_gz/vehicles.md index 1660045bed..513903b423 100644 --- a/docs/uk/sim_gazebo_gz/vehicles.md +++ b/docs/uk/sim_gazebo_gz/vehicles.md @@ -8,7 +8,7 @@ Supported vehicle types include: mutirotor, VTOL, Plane, Rover. :::warning See [Gazebo Classic Vehicles](../sim_gazebo_classic/vehicles.md) for vehicles that work with the older [Gazebo "Classic" simulation](../sim_gazebo_classic/index.md). -Note that vehicle models are not interchangable between the two versions of the simulator: the vehicles on this page only work with (new) [Gazebo](../sim_gazebo_gz/index.md). +Note that vehicle models are not interchangeable between the two versions of the simulator: the vehicles on this page only work with (new) [Gazebo](../sim_gazebo_gz/index.md). ::: ## Мультикоптер diff --git a/docs/uk/sim_gazebo_gz/worlds.md b/docs/uk/sim_gazebo_gz/worlds.md index c9d3636fb6..db74f136b0 100644 --- a/docs/uk/sim_gazebo_gz/worlds.md +++ b/docs/uk/sim_gazebo_gz/worlds.md @@ -104,4 +104,4 @@ The PX4 toolchain will automatically spawn a world that has the same name as the Світи певних моделей: -- [Aruco world](#aruco): Default world with an [ArUco marker](https://docs.opencv.org/4.x/d5/dae/tutorial_aruco_detection.html) that can be used with with [x500_mono_cam_down](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-monocular-camera-down-facing) for testing [precision landing](../advanced_features/precland.md). +- [Aruco world](#aruco): Default world with an [ArUco marker](https://docs.opencv.org/4.x/d5/dae/tutorial_aruco_detection.html) that can be used with [x500_mono_cam_down](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-monocular-camera-down-facing) for testing [precision landing](../advanced_features/precland.md). diff --git a/docs/uk/sim_jmavsim/index.md b/docs/uk/sim_jmavsim/index.md index 2b92535f04..50af0cc712 100644 --- a/docs/uk/sim_jmavsim/index.md +++ b/docs/uk/sim_jmavsim/index.md @@ -310,7 +310,7 @@ sudo gedit /etc/java-8-openjdk/accessibility.properties та закоментуйте рядок, вказаний нижче: ```sh -#assistive_technologies=org.GNOME.Acessibility.AtkWrapper +#assistive_technologies=org.GNOME.Accessibility.AtkWrapper ``` For more info, check [this GitHub issue](https://github.com/PX4/PX4-Autopilot/issues/9557). diff --git a/docs/uk/sim_sih/index.md b/docs/uk/sim_sih/index.md index e94df82509..534dcb3d20 100644 --- a/docs/uk/sim_sih/index.md +++ b/docs/uk/sim_sih/index.md @@ -121,7 +121,7 @@ CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y ::: -As an alterative to updating configuration files manually, you can use the following command to launch a GUI configuration tool, and interactively enable the required modules at the path: **modules > Simulation > simulator_sih**. +As an alternative to updating configuration files manually, you can use the following command to launch a GUI configuration tool, and interactively enable the required modules at the path: **modules > Simulation > simulator_sih**. For example, to update the fmu-v6x configuration you would use: ```sh @@ -130,7 +130,7 @@ make px4_fmu-v6x boardconfig After uploading, check that the required modules are present. -:::note +:::info To use rover in SIH you must use the [rover build](../config_rover/index.md#flashing-the-rover-build) or add the rover modules to your board configuration. ::: @@ -326,7 +326,7 @@ For SIH as SITL (no FC): - `param set-default SENS_EN_MAGSIM 1` - `param set-default SENS_EN_ARSPDSIM 1` (if it is a fixed-wing or VTOL airframe with airspeed sensor) -For specific examples see the `_sihsim_` airframes in [ROMFS/px4fmu_common/init.d-posix/airframes](https://github.com/PX4/PX4-Autopilot/blob/main/ROMFS/px4fmu_common/init.d-posix/airframes/) (SIH as SITL) and [ROMFS/px4fmu_common/init.d/airframes](https://github.com/PX4/PX4-Autopilot/tree/main/ROMFS/px4fmu_common/init.d/airframes) (SIH on FC). +For specific examples see the `_sihsim_` airframes in [ROMFS/px4fmu_common/init.d-posix/airframes](https://github.com/PX4/PX4-Autopilot/tree/main/ROMFS/px4fmu_common/init.d-posix/airframes) (SIH as SITL) and [ROMFS/px4fmu_common/init.d/airframes](https://github.com/PX4/PX4-Autopilot/tree/main/ROMFS/px4fmu_common/init.d/airframes) (SIH on FC). ## Controlling Actuators in SIH diff --git a/docs/uk/simulation/hitl.md b/docs/uk/simulation/hitl.md index ab003d2c37..5fce58c8a6 100644 --- a/docs/uk/simulation/hitl.md +++ b/docs/uk/simulation/hitl.md @@ -104,18 +104,18 @@ make px4_fmu-v6x boardconfig 2. Select a [compatible airframe](#compatible_airframe) you want to test. Then click **Apply and Restart** on top-right of the _Airframe Setup_ page. -3. При необхідності відкалібруйте пульт РК або джойстик. +3. Calibrate your [Manual Controller](../config/manual_control.md) (RC or Joystick), if needed. 4. Налаштування UDP 1. Under the _General_ tab of the settings menu, uncheck all _AutoConnect_ boxes except for **UDP**. ![QGC Auto-connect settings for HITL](../../assets/gcs/qgc_hitl_autoconnect.png) -5. (Необов'язково) Налаштуйте джойстик та запобіжник відмови. - Set the following [parameters](../advanced_config/parameters.md) in order to use a joystick instead of an RC remote control transmitter: +5. (Optional) Configure your manual controller priority and failsafe: - - [COM_RC_IN_MODE](../advanced_config/parameter_reference.md#COM_RC_IN_MODE) to "Joystick/No RC Checks". Це дозволить керування джойстиком та відключить перевірки пульту РК. - - [NAV_RCL_ACT](../advanced_config/parameter_reference.md#NAV_RCL_ACT) to "Disabled". Це гарантує, що ніякі дії запобігання відмові не будуть перешкоджати коли не виконується HITL з радіо керуванням. + - [Enable a mode in `COM_RC_IN_MODE` that enables and prioritises the controllers you want to use](../config/manual_control.md#px4-configuration). + The default `RC or MAVLink keep first` should work if you plan to only have a Joystick (no RC). + - You can set [NAV_RCL_ACT](../advanced_config/parameter_reference.md#NAV_RCL_ACT) to disable manual control loss failsafe while flying in a simulation. :::tip The _QGroundControl User Guide_ also has instructions on [Joystick](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/setup_view/joystick.html) and [Virtual Joystick](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/settings_view/virtual_joystick.html) setup. @@ -137,7 +137,7 @@ Make sure _QGroundControl_ is not running! 1. Build PX4 with [Gazebo Classic](../sim_gazebo_classic/index.md) (in order to build the Gazebo Classic plugins). ```sh - cd + cd DONT_RUN=1 make px4_sitl_default gazebo-classic ``` diff --git a/docs/uk/simulation/index.md b/docs/uk/simulation/index.md index 2f0e51f38f..94878a1ff3 100644 --- a/docs/uk/simulation/index.md +++ b/docs/uk/simulation/index.md @@ -67,7 +67,7 @@ A SITL build of PX4 uses [SimulatorMavlink.cpp](https://github.com/PX4/PX4-Autop -PX4 directly uses the [Gazebo API](https://gazebosim.org/docs) to interface with [Gazebo](../sim_gazebo_gz/index.md) and MAVlink is not required. +PX4 directly uses the [Gazebo API](https://gazebosim.org/docs/) to interface with [Gazebo](../sim_gazebo_gz/index.md) and MAVlink is not required. ## Порти UDP PX4 MAVLink за замовчуванням @@ -213,7 +213,7 @@ For setup information see the _QGroundControl User Guide_: PX4 supports capture of both still images and video from within the [Gazebo Classic](../sim_gazebo_classic/index.md) simulated environment. This can be enabled/set up as described in [Gazebo Glassic > Video Streaming](../sim_gazebo_classic/index.md#video-streaming). -The simulated camera is a gazebo classic plugin that implements the [MAVLink Camera Protocol](https://mavlink.io/en/protocol/camera.html) . +The simulated camera is a gazebo classic plugin that implements the [MAVLink Camera Protocol](https://mavlink.io/en/services/camera.html) . PX4 connects/integrates with this camera in _exactly the same way_ as it would with any other MAVLink camera: 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 diff --git a/docs/uk/smart_batteries/index.md b/docs/uk/smart_batteries/index.md index 4cda07347c..71c6e6295a 100644 --- a/docs/uk/smart_batteries/index.md +++ b/docs/uk/smart_batteries/index.md @@ -1,7 +1,7 @@ # Розумні акумулятори Розумні батареї надають більш точну (і часто більш детальну) інформацію про стан батареї, ніж автопілот може оцінити для «тупих» батарей. -Це дозволяє забезпечити більш надійне сповіщення про умови випадкового відмовлення при плануванні польоту. +This allows for more reliable flight planning notification of failure conditions. Інформація може включати деякі з наступного: залишковий заряд, час до розряду (оцінений), напругу на елементах (оцінена максимальна/мінімальна, поточна напруга тощо), температуру, струми, інформацію про несправності, виробника батареї, хімічний склад тощо. PX4 підтримує (принаймні) наступні розумні батарейки: diff --git a/docs/uk/smart_batteries/rotoye_batmon.md b/docs/uk/smart_batteries/rotoye_batmon.md index 43f79d30c7..4b907a03de 100644 --- a/docs/uk/smart_batteries/rotoye_batmon.md +++ b/docs/uk/smart_batteries/rotoye_batmon.md @@ -1,6 +1,6 @@ # Rotoye Batmon -[Rotoye Batmon](https://rotoye.com/batmon/) is a kit for adding smart battery functionality to off-the-shelf Lithium-Ion and LiPo batteries. +[Rotoye Batmon](https://shop.rotoye.com/batmon/) is a kit for adding smart battery functionality to off-the-shelf Lithium-Ion and LiPo batteries. Його можна придбати як самостійний пристрій або як частину заводсько зібраної розумної батареї. ![Rotoye Batmon Board](../../assets/hardware/smart_batteries/rotoye_batmon/smart-battery-rotoye.jpg) @@ -9,7 +9,7 @@ ## Де купити -[Rotoye Store](https://rotoye.com/batmon/): Batmon kits, custom smart-batteries, and accessories +[Rotoye Store](https://shop.rotoye.com/batmon/): Batmon kits, custom smart-batteries, and accessories ## Проведення/Підключення @@ -50,7 +50,3 @@ In _QGroundControl_: batt_smbus start -X -b 1 -a 11 # External bus 1, address 0x0b batt_smbus start -X -b 1 -a 12 # External bus 1, address 0x0c ``` - -## Подальша інформація - -[Quick Start Guide](https://rotoye.com/batmon-tutorial/) (Rotoye) diff --git a/docs/uk/software_update/stm32_bootloader.md b/docs/uk/software_update/stm32_bootloader.md index 8dc025f0d0..3e22534a0c 100644 --- a/docs/uk/software_update/stm32_bootloader.md +++ b/docs/uk/software_update/stm32_bootloader.md @@ -62,7 +62,7 @@ arm-none-eabi-gdb ### -These instructions are for the [J-Link GDB server](https://www.segger.com/jlink-gdb-server.html). +These instructions are for the [J-Link GDB server](https://www.segger.com/products/debug-probes/j-link/tools/j-link-gdb-server/about-j-link-gdb-server/). #### Вимоги diff --git a/docs/uk/telemetry/cuav_p8_radio.md b/docs/uk/telemetry/cuav_p8_radio.md index ec273c3399..814191477b 100644 --- a/docs/uk/telemetry/cuav_p8_radio.md +++ b/docs/uk/telemetry/cuav_p8_radio.md @@ -19,7 +19,7 @@ CUAV P8 Radio is a long range (>60km) and high data rate (375 Kbps) remote data ## Де купити -- [CUAV store](https://www.cuav.net/en/p8-2/) +- [CUAV store](https://www.cuav.net/en/p8-en/) - [CUAV alibaba](https://www.alibaba.com/product-detail/Free-shipping-CUAV-UAV-P8-Radio_1600324379418.html?spm=a2747.manage.0.0.2dca71d2bY4B0M) ## Конфігурація PX4 @@ -61,6 +61,6 @@ CUAV P8 Radio does not support power supply from the flight controller, it needs ## Докладніше -[P8 manual](http://manual.cuav.net/data-transmission/p8-radio/p8-user-manual-en.pdf) +[P8 manual](https://manual.cuav.net/data-transmission/p8-radio/p8_user_manual_cn.pdf) [CUAV P8 Radio](https://doc.cuav.net/data-transmission/p8-radio/en/) (Official Guide) diff --git a/docs/uk/telemetry/jfi_telemetry.md b/docs/uk/telemetry/jfi_telemetry.md index d6ec2f083c..b64098de16 100644 --- a/docs/uk/telemetry/jfi_telemetry.md +++ b/docs/uk/telemetry/jfi_telemetry.md @@ -94,7 +94,7 @@ If you want to change the baud rate: ### One-to-many (1:N) Setups For one-to-many (1:N) setups a higher baud rate is _highly recommended_ to ensure stable data reception. -All J.Fi devices should be set to the same baud rate (although communication may work even when when devices use different baud rates). +All J.Fi devices should be set to the same baud rate (although communication may work even when devices use different baud rates). This should be changed in both PX4 and the J.Fi modules as explained in the previous section. You will also need to make sure that all vehicles on the MAVLink network are assigned a unique **System ID** ([MAV_SYS_ID](../advanced_config/parameter_reference.md#MAV_SYS_ID)). diff --git a/docs/uk/test_and_ci/integration_testing_mavsdk.md b/docs/uk/test_and_ci/integration_testing_mavsdk.md index d08ff03367..a8937a36cb 100644 --- a/docs/uk/test_and_ci/integration_testing_mavsdk.md +++ b/docs/uk/test_and_ci/integration_testing_mavsdk.md @@ -7,7 +7,7 @@ PX4 can be tested end to end to using integration tests based on [MAVSDK](https: Інструкції нижче пояснюють, як налаштувати та запустити тести локально. -:::note +:::info This is the recommended integration test framework for PX4. ::: diff --git a/docs/uk/test_and_ci/integration_testing_ros1_mavros.md b/docs/uk/test_and_ci/integration_testing_ros1_mavros.md index 4ca05494ec..8235b8d5d0 100644 --- a/docs/uk/test_and_ci/integration_testing_ros1_mavros.md +++ b/docs/uk/test_and_ci/integration_testing_ros1_mavros.md @@ -9,7 +9,7 @@ It should be used only for new test cases that _require_ ROS 1. [MAVSDK Integration Testing](../test_and_ci/integration_testing_mavsdk.md) is preferred when writing new tests. ::: -:::note +:::info All PX4 integration tests are executed automatically by our [Continuous Integration](../test_and_ci/continous_integration.md) system. ::: diff --git a/docs/uk/test_and_ci/test_flights.md b/docs/uk/test_and_ci/test_flights.md index 103549e361..abf026170e 100644 --- a/docs/uk/test_and_ci/test_flights.md +++ b/docs/uk/test_and_ci/test_flights.md @@ -7,7 +7,7 @@ const { site } = useData();
-

Ця сторінка може бути застарілою. Переглянути останню версію.

+

This page may be out of date. See the latest version.

diff --git a/docs/uk/test_and_ci/unit_tests.md b/docs/uk/test_and_ci/unit_tests.md index f72444d986..ba17be0263 100644 --- a/docs/uk/test_and_ci/unit_tests.md +++ b/docs/uk/test_and_ci/unit_tests.md @@ -141,7 +141,7 @@ It can be run directly in a debugger, however be careful to only run one test pe } ``` - `OPTION` can be `OPT_NOALLTEST`,`OPT_NOJIGTEST` or `0` and is considered if within px4 shell one of the two commands are called: + `OPTION` can be `OPT_NOALLTEST`,`OPT_NOJIGTEST` or `0` and is considered if within PX4 shell one of the two commands are called: ```sh pxh> tests all diff --git a/docs/uk/test_cards/mc_02_full_autonomous.md b/docs/uk/test_cards/mc_02_full_autonomous.md index 3653f83193..3685ab02d7 100644 --- a/docs/uk/test_cards/mc_02_full_autonomous.md +++ b/docs/uk/test_cards/mc_02_full_autonomous.md @@ -54,7 +54,7 @@ Plan a mission on the ground. Ensure the mission has - Зліт повинен бути плавним, коли газ піднято - Місія має бути завантажена при першій спробі - Дрон повинен автоматично злетіти після ввімкнення автоматичного режиму -- Vehicle shoud adjust height to RTL altitude before returning home +- Vehicle should adjust height to RTL altitude before returning home - Після посадки, коптер не повинен підскакувати на землі