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New Crowdin translations - uk (#25163)
Co-authored-by: Crowdin Bot <support+bot@crowdin.com>
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@@ -23,10 +23,11 @@ The Desktop computer is only used to display the virtual vehicle.
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### Сумісність
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- SIH is compatible with all PX4 supported boards except those based on FMUv2.
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- SIH для квадрокоптера підтримується з версії PX4 v1.9.
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- SIH для фіксованих крил (літака) та VTOL-конвертоплана підтримується з версії PX4 v1.13.
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- SIH for MC quadrotor is supported from PX4 v1.9.
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- SIH for FW (airplane) and VTOL tailsitter are supported from PX4 v1.13.
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- SIH як SITL (без апаратного забезпечення) з версії PX4 v1.14.
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- SIH for Standard VTOL from PX4 v1.16.
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- SIH for MC Hexacopter X from `main` (expected to be PX4 v1.17).
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### Переваги
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@@ -43,12 +44,90 @@ SIH provides several benefits over HITL:
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To run the SIH, you will need a:
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- [Flight controller](../flight_controller/index.md), such as a Pixhawk-series board
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- [Flight controller](../flight_controller/index.md), such as a Pixhawk-series board.
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::: info
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From PX4 v1.14 you can run [SIH "as SITL"](#sih-as-sitl-no-fc), in which case a flight controller is not required.
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:::
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- [Manual controller](../getting_started/px4_basic_concepts.md#manual-control): either a [radio control system](../getting_started/rc_transmitter_receiver.md) or a [joystick](../config/joystick.md).
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- QGroundControl for flying the vehicle via GCS.
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- Development computer for visualizing the virtual vehicle (optional).
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From PX4 v1.14 you can run SIH "as SITL", in which case a flight controller is not required.
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## Check if SIH is in Firmware
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The modules required for SIH are built into most PX4 firmware by default.
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These include: [`pwm_out_sim`](../modules/modules_driver.md#pwm-out-sim), [`sensor_baro_sim`](../modules/modules_system.md#sensor-baro-sim), [`sensor_gps_sim`](../modules/modules_system.md#sensor-gps-sim) and [`sensor_mag_sim`](../modules/modules_system.md#sensor-mag-sim).
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To check that these are present on your flight controller:
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1. Запустіть QGroundControl.
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2. Open **Analyze Tools > Mavlink Console**.
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3. Enter the following commands in the console:
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```sh
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pwm_out_sim status
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```
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```sh
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sensor_baro_sim status
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```
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```sh
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sensor_gps_sim status
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```
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```sh
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sensor_mag_sim status
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```
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::: tip
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Note that when using SIH on real hardware you do not need to additionally enable the modules using their corresponding parameters ([SENS_EN_GPSSIM](../advanced_config/parameter_reference.md#SENS_EN_GPSSIM), [SENS_EN_BAROSIM](../advanced_config/parameter_reference.md#SENS_EN_BAROSIM), [SENS_EN_MAGSIM](../advanced_config/parameter_reference.md#SENS_EN_MAGSIM)).
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:::
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4. If a valid status is returned you can start using SIH.
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If any of the returned values above are `nsh: MODULENAME: command not found`, then you don't have the module installed.
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In this case you will have to add them to your board configuration and then rebuild and install the firmware.
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### Adding SIH to the Firmware
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Add the following key to the configuration file for your flight controller to include all the required modules (for an example see [boards/px4/fmu-v6x/default.px4board](https://github.com/PX4/PX4-Autopilot/blob/main/boards/px4/fmu-v6x/default.px4board)).
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Then re-build the firmware and flash it to the board.
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```text
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CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
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```
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:::details
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What does this do?
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This installs the dependencies in [simulator_sih/Kconfig](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/simulation/simulator_sih/Kconfig).
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It is equivalent to:
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```text
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CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
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CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y
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CONFIG_MODULES_SIMULATION_SENSOR_GPS_SIM=y
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CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y
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```
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:::
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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**.
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For example, to update the fmu-v6x configuration you would use:
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```sh
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make px4_fmu-v6x boardconfig
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```
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After uploading, check that the required modules are present.
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## Starting SIH
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@@ -58,7 +137,7 @@ To set up/start SIH:
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2. Відкрийте QGroundControl і зачекайте, поки контролер польоту також завантажиться та підключиться.
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3. Open [Vehicle Setup > Airframe](../config/airframe.md) then select the desired frame:
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- [SIH Quadcopter X](../airframes/airframe_reference.md#copter_simulation_sih_quadcopter_x)
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- SIH Hexacopter X currently only has an airframe for SITL to safe flash so on flight control hardware it has to be manually configured equivalently.
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- **SIH Hexacopter X** (currently only has an airframe for SITL to safe flash so on flight control hardware it has to be manually configured equivalently).
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- [SIH plane AERT](../airframes/airframe_reference.md#plane_simulation_sih_plane_aert)
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- [SIH Tailsitter Duo](../airframes/airframe_reference.md#vtol_simulation_sih_tailsitter_duo)
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- [SIH Standard VTOL QuadPlane](../airframes/airframe_reference.md#vtol_simulation_sih_standard_vtol_quadplane)
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@@ -116,7 +195,6 @@ In this case you don't need the flight controller hardware.
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1. Install the [PX4 Development toolchain](../dev_setup/dev_env.md).
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2. Виконайте відповідну команду make для кожного типу транспортного засобу (в корені репозиторію PX4-Autopilot):
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- Quadcopter
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```sh
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@@ -242,7 +320,7 @@ For specific examples see the `_sihsim_` airframes in [ROMFS/px4fmu_common/init.
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Динамічні моделі для різних транспортних засобів:
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- Quadcopter: [pdf report](https://github.com/PX4/PX4-user_guide/raw/main/assets/simulation/SIH_dynamic_model.pdf).
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- Quadcopter: [pdf report](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/simulation/SIH_dynamic_model.pdf).
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- Hexacopter: Equivalent to the Quadcopter but with a symmetric hexacopter x actuation setup.
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- Fixed-wing: Inspired by the PhD thesis: "Dynamics modeling of agile fixed-wing unmanned aerial vehicles." Khan, Waqas, supervised by Nahon, Meyer, McGill University, PhD thesis, 2016.
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- Tailsitter: Inspired by the master's thesis: "Modeling and control of a flying wing tailsitter unmanned aerial vehicle." Chiappinelli, Romain, supervised by Nahon, Meyer, McGill University, Masters thesis, 2018.
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@@ -257,7 +335,9 @@ SIH спочатку був розроблений компанією Coriolis g
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The airplane model and tailsitter models were added by Altitude R&D inc.
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Обидві ці компанії знаходяться в Канаді:
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- Coriolis g developped a new type of Vertical Takeoff and Landing (VTOL) vehicles based on passive coupling systems;
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- Coriolis g developed a new type of Vertical Takeoff and Landing (VTOL) vehicles based on passive coupling systems;
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- [Altitude R&D](https://www.altitude-rd.com/) is specialized in dynamics, control, and real-time simulation (today relocated in Zurich).
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Симулятор випущений безкоштовно під ліцензією BSD.
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<!-- original author: @romain-chiap -->
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