Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-05-20 20:03:54 +08:00
Code Issues Actions 8 Packages Projects Releases Wiki Activity

New Crowdin translations - ko

Browse Source
This commit is contained in:
Crowdin Bot
2025-08-03 00:10:58 +00:00
committed by Hamish Willee
parent cb0ecd12b3
commit 40797895fd
8 changed files with 176 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files
docs/ko/SUMMARY.md
+1
View File
@@ -280,6 +280,7 @@
- [Trimble MB-Two](gps_compass/rtk_gps_trimble_mb_two.md)
- [CubePilot Here+ (Discontined)](gps_compass/rtk_gps_hex_hereplus.md)
- [INS (Inertial Navigation/GNSS)](sensor/inertial_navigation_systems.md)
- [InertialLabs](sensor/inertiallabs.md)
- [VectorNav](sensor/vectornav.md)
- [광류 센서](sensor/optical_flow.md)
- [ARK Flow](dronecan/ark_flow.md)
docs/ko/modules/modules_controller.md
+24
View File
@@ -186,6 +186,30 @@ mc_att_control <command> [arguments...]
status print status info
```
## mc_nn_control
Source: [modules/mc_nn_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/mc_nn_control)
### 설명
Multicopter Neural Network Control module.
This module is an end-to-end neural network control system for multicopters.
It takes in 15 input values and outputs 4 control actions.
Inputs: [pos_err(3), att(6), vel(3), ang_vel(3)]
Outputs: [Actuator motors(4)]
### Usage {#mc_nn_control_usage}
```
mc_nn_control <command> [arguments...]
Commands:
start
stop
status print status info
```
## mc_pos_control
Source: [modules/mc_pos_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/mc_pos_control)
docs/ko/modules/modules_driver_ins.md
+45
View File
@@ -1,5 +1,50 @@
# Modules Reference: Ins (Driver)
## ilabs
Source: [drivers/ins/ilabs](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/ins/ilabs)
### 설명
Serial bus driver for the ILabs sensors.
Most boards are configured to enable/start the driver on a specified UART using the SENS_ILABS_CFG.
After that you can use the ILABS_MODE parameter to config outputs:
- Only raw sensor output (the default).
- Sensor output and INS data such as position and velocity estimates.
Setup/usage information: https://docs.px4.io/main/en/sensor/ilabs.html
### 예
Attempt to start driver on a specified serial device.
```
ilabs start -d /dev/ttyS1
```
Stop driver
```
ilabs stop
```
### Usage {#ilabs_usage}
```
ilabs <command> [arguments...]
Commands:
start Start driver
-d <val> Serial device
status Driver status
stop Stop driver
status Print driver status
```
## vectornav
Source: [drivers/ins/vectornav](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/ins/vectornav)
docs/ko/modules/modules_system.md
+1 -1
View File
@@ -146,7 +146,7 @@ commander <command> [arguments...]
pair
lockdown
termination
on|off Turn lockdown on or off
set_ekf_origin
docs/ko/peripherals/gripper.md
+1 -1
View File
@@ -38,7 +38,7 @@ MAVLink applications, such as ground stations, can also control the gripper usin
PX4 gripper support is tied to the package delivery feature, which must be enabled and configured in order to be able to use a gripper.
1. Set [PD_GRIPPER_EN](../advanced_config/parameter_reference.md#PD_GRIPPER_EN) parameter to 1 (reboot required after change).
1. Ensure your board has the Payload Deliverer module enabled: CONFIG_MODULES_PAYLOAD_DELIVERER.
2. Set [PD_GRIPPER_TYPE](../advanced_config/parameter_reference.md#PD_GRIPPER_TYPE) to match your gripper.
For example, set to `Servo` for a [Servo Gripper](gripper_servo.md).
docs/ko/sensor/inertial_navigation_systems.md
+1
View File
@@ -6,6 +6,7 @@ However PX4 can also use some INS devices as either sources of raw data, or as a
Systems that can be used in this way include:
- [InertialLabs](../sensor/inertiallabs.md)
- [VectorNav](../sensor/vectornav.md): IMU/AHRS, GNSS/INS, Dual GNSS/INS systems that can be used as an external INS or as a source of raw sensor data.
## Glossary
docs/ko/sensor/inertiallabs.md
+102
View File
@@ -0,0 +1,102 @@
# Inertial Labs INS (All sensors, including INS-U/INS-DU)
Inertial Labs designs and develops [IMU](https://inertiallabs.com/products/imu-inertial-measurement-units/), [AHRS](https://inertiallabs.com/products/ahrs/), [GNSS/INS](https://inertiallabs.com/products/ins-inertial-navigation-systems/) and [other](https://inertiallabs.com/) solutions.
A universal protocol is used for [all Inertial Labs sensors](https://inertiallabs.com/).
![INS-U](../../assets/hardware/sensors/inertial/ilabs-ins-u.png)
Benefits to PX4 users:
- Higher accuracy heading, pitch, and roll estimates
- More robust and reliable GNSS positioning
- Improved positioning and attitude performance in GNSS-contested environments
- Performance under challenging dynamic conditions (e.g. catapult launches, VTOL operations, high-g or high angular rate operations)
- Work in different spoofing and jamming conditions
PX4 can use these in a mode that provides only raw sensor output (the default), or as an [external INS](../sensor/inertial_navigation_systems.md) that provides both sensor output and INS data such as position and velocity estimates.
The mode is configurable using a parameter.
## 구매처
[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.
## 하드웨어 설정
### 배선
Connect the sensor to any unused flight controller serial interface, such as a spare `GPS` or `TELEM`.
### 장착
The Inertial Labs sensors can be mounted in any orientation.
You can set offsets for coordinate axes in the sensor-configuration software that is provided with your sensor.
## 펌웨어 설정
### PX4 설정
To use the Inertial Labs driver:
1. Build the firmware with the [ilabs](../modules/modules_driver_ins.md#ilabs) module.
The module is included by default for many boards.
You can check by searching for the keys `CONFIG_COMMON_INS` (all INS drivers) and `CONFIG_DRIVERS_INS_ILABS` (ilabs driver) in the [default.px4board](https://github.com/PX4/PX4-Autopilot/blob/main/boards/px4/fmu-v6c/default.px4board#L25) configuration file for your target board.
If it is not present, you can add the key to your `default.px4board` file, or include it using the [kconfig board configuration](../hardware/porting_guide_config.md#px4-board-configuration-kconfig): Drivers -> INS -> ilabs.
2. [Set the parameter](../advanced_config/parameters.md) [SENS_ILABS_CFG](../advanced_config/parameter_reference.md#SENS_ILABS_CFG) to the hardware port connected to the sensor, such as a spare `GPS` or `TELEM`.
Make sure that nothing else is configured to use the port (for more information see [Serial Port Configuration](../peripherals/serial_configuration.md)).
3. Restart PX4.
4. Configure driver as either an external INS or to provide raw data:
- For external INS, set [ILABS_MODE](../advanced_config/parameter_reference.md#ILABS_MODE) to `INS`.
- For raw inertial sensors, set [ILABS_MODE](../advanced_config/parameter_reference.md#ILABS_MODE) to `Sensors Only`.
You can then prioritize inertial labs sensors using [CAL_GYROn_PRIO](../advanced_config/parameter_reference.md#CAL_GYRO0_PRIO), [CAL_ACCn_PRIO](../advanced_config/parameter_reference.md#CAL_ACC0_PRIO), [CAL_BAROn_PRIO](../advanced_config/parameter_reference.md#CAL_BARO0_PRIO), [CAL_MAGn_PRIO](../advanced_config/parameter_reference.md#CAL_MAG0_PRIO), where `n` is the instance number of the IMU component (0, 1, etc.).
::: tip
In most cases the external IMU is the highest-numbered.
You can get a list of the IMU components available using [`uorb top -1`](../middleware/uorb.md#uorb-top-command), you can differentiate between them using the [`listener`](../modules/modules_command.md#listener) command and looking through the data, or just the rates.
:::
5. Restart PX4.
Once enabled, the module will be detected on boot.
## Inertial Labs Sensor Configuration
Perform sensor configuration according to the Interface Control Document (ICD) that comes with each device.
The sensor-configuration software allows you to set the baurate and the data format, and you can also adjust the orientation axes if the sensor wasn't oriented in the normal way.
This process is usually short and takes a few minutes, depending on the sensor and the installation conditions on the vehicle.
## Published Data
These uORB topics are published:
- [sensor_accel](../msg_docs/SensorAccel.md)
- [sensor_gyro](../msg_docs/SensorGyro.md)
- [sensor_mag](../msg_docs/SensorMag.md)
- [sensor_baro](../msg_docs/SensorBaro.md)
- [sensor_gps](../msg_docs/SensorGps.md)
If enabled as an external INS, publishes:
- [vehicle_local_position](../msg_docs/VehicleLocalPosition.md)
- [vehicle_global_positon](../msg_docs/VehicleGlobalPosition.md)
- [vehicle_attitude](../msg_docs/VehicleAttitude.md)
If enabled as external sensor only:
- `external_ins_local_position`
- `external_ins_global_position`
- `external_ins_attitude`
:::tip
Published topics can be viewed using the `listener` command.
:::
docs/ko/sensor/rangefinders.md
+1 -1
View File
@@ -17,7 +17,7 @@ There may also be other DroneCAN rangefinders than those listed here.
### ARK Flow & AKR Flow MR
[ARK Flow](../dronecan/ark_flow.md) and [ARK Flow](../dronecan/ark_flow_mr.md) are open-source Time-of-Flight (ToF) and optical flow sensor modules, which are capable of measuring distances from 8cm to 30m and from 8cm to 50m, respectively.
[ARK Flow](../dronecan/ark_flow.md) and [ARK Flow MR](../dronecan/ark_flow_mr.md) are open-source Time-of-Flight (ToF) and optical flow sensor modules, which are capable of measuring distances from 8cm to 30m and from 8cm to 50m, respectively.
CAN1 포트를 통해 비행 콘트롤러에 연결할 수 있으므로, CAN2 포트를 통해 추가 센서를 연결할 수 있습니다.
It supports [DroneCAN](../dronecan/index.md), runs [PX4 DroneCAN Firmware](../dronecan/px4_cannode_fw.md), and is packed into a tiny form factor.