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docs(i18n): PX4 guide translations (Crowdin) - uk (#27268)

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docs/uk/SUMMARY.md
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- [Стандартна конфігурація](config/index.md)
- [OEM Configuration](advanced_config/oem.md)
- [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)
docs/uk/advanced/parameters_and_configurations.md
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This process is the same as for [events metadata](../concept/events_interface.md#publishing-event-metadata-to-a-gcs).
For more information see [PX4 Metadata (Translation & Publication)](../advanced/px4_metadata.md)
## Read-Only Parameters
Integrators who productize PX4 can lock down parameters so that end users cannot change safety-critical or product-defining settings.
This works in two phases:
1. **Build time** — a YAML file in the board directory declares _which_ parameters are read-only.
2. **Run time** — `param lock` in the startup script activates enforcement.
Before the lock, all parameters (including those on the read-only list) can be freely set by startup scripts (`rc.board_defaults`, airframe scripts, `config.txt`, etc.).
After the lock, any attempt to modify a read-only parameter is rejected.
### Налаштування
Create `boards/<vendor>/<board>/readonly_params.yaml` with the following format:
```yaml
# mode: 'block' = listed params are read-only (all others writable)
# mode: 'allow' = only listed params are writable (all others read-only)
mode: block
parameters:
- SYS_AUTOSTART
- SYS_AUTOCONFIG
- BAT1_N_CELLS
```
The two modes are:
- **`block`**: The listed parameters are read-only; all other parameters remain writable.
- **`allow`**: Only the listed parameters are writable; all others become read-only.
All parameter names in the list are validated at build time — the build will fail if any listed parameter does not exist in the firmware.
Boards without this file have no read-only enforcement (fully backward compatible).
### Locking
The `param lock` command is called in `rcS` after all startup scripts have finished setting parameters.
Before this call, startup scripts can freely use `param set-default` and `param set` on any parameter, including those on the read-only list.
After `param lock`, the read-only list is enforced.
To set a specific locked value, use `param set-default` in a board startup script (e.g. `rc.board_defaults`) to set the desired default _before_ the lock activates.
### Enforcement (after lock)
Read-only parameters are enforced at all entry points:
- **`param set`** and **`param set-default`** shell commands return an error.
- **MAVLink PARAM_SET** returns a `MAV_PARAM_ERROR_READ_ONLY` error to the GCS.
- **`param_set()`**, **`param_set_default_value()`** C API calls return `PX4_ERROR`.
- **`param reset`** silently skips read-only parameters (since `param_reset_all` loops over all params).
- **`param import`** / **`param load`** from file silently skips read-only parameters.
### Примітки
- The read-only list is compiled into firmware as a `constexpr` array, so there is zero runtime overhead when the list is empty.
- If no `readonly_params.yaml` file exists for a board, `param lock` is a no-op.
## Подальша інформація
- [Finding/Updating Parameters](../advanced_config/parameters.md)
docs/uk/advanced_config/advanced_flight_controller_orientation_leveling.md
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Позитивні кути збільшуються в протипротивна годинниковій стрілці (CCW) напрямку, від'ємні кути збільшуються в напрямку за годинниковою стрілкою (CW).
- [SENS_BOARD_Z_OFF](../advanced_config/parameter_reference.md#SENS_BOARD_Z_OFF): Поворот, у градусах, навколо осі Z PX4FMU або вісі Yaw.
Позитивні кути збільшуються в протипротивна годинниковій стрілці (CCW) напрямку, від'ємні кути збільшуються в напрямку за годинниковою стрілкою (CW).
## Дивіться також
- [OEM/Factory Configuration](../advanced_config/oem.md)
docs/uk/advanced_config/bootloader_update.md
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@@ -208,3 +208,7 @@ This example explains how you can use [QGC Bootloader Update](#qgc-bootloader-up
Плати, які не є частиною серії [Pixhawk](../flight_controller/pixhawk_series.md), матимуть власні механізми оновлення завантажувача.
Для плат, які передвстановлені за допомогою Betaflight, дивіться [Flash пусковика на системи Betaflight](bootloader_update_from_betaflight.md).
## Дивіться також
- [OEM/Factory Configuration](../advanced_config/oem.md)
docs/uk/advanced_config/compass_power_compensation.md
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Додатково, параметри компенсації для кожної вісі кожного компасу повинні бути встановлені.
![comp params](../../assets/advanced_config/comp_params.png)
## Дивіться також
- [OEM/Factory Configuration](../advanced_config/oem.md)
docs/uk/advanced_config/imu_factory_calibration.md
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## Подальша інформація
- [Посібник користувача з QGroundControl > Датчики](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/setup_view/sensors_px4.html)
- [OEM/Factory Configuration](../advanced_config/oem.md)
docs/uk/advanced_config/index.md
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- [Finding/Updating Parameters](../advanced_config/parameters.md)
- [Повний довідник параметрів](../advanced_config/parameter_reference.md)
## Feature configuration
## 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)
@@ -17,13 +17,9 @@ This topic lists configuration topics that are not particularly vehicle specific
## OEM/Factory Calibration
- [Заводське калібрування IMU](../advanced_config/imu_factory_calibration.md)
- [Термокомпенсація датчика](../advanced_config/sensor_thermal_calibration.md)
- [Компенсація живлення компаса](../advanced_config/compass_power_compensation.md)
- [Розширена орієнтація контролера](../advanced_config/advanced_flight_controller_orientation_leveling.md)
- [Накопичення статичного тиску](../advanced_config/static_pressure_buildup.md)
- [OEM/Factory Configuration](../advanced_config/oem.md)
## Serial port/Ethernet configuration
## Serial port/Ethernet Configuration
- [Налаштування послідовних портів](../peripherals/serial_configuration.md)
- [Телеметрія MAVLink (OSD/GCS)](../peripherals/mavlink_peripherals.md)
docs/uk/advanced_config/oem.md
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# OEM/Factory Configuration
This topic lists configuration and calibration topics that are more relevant to manufacturers/OEMs (though is some cases individual developers may find some relevant).
- [IMU Factory Calibration](../advanced_config/imu_factory_calibration.md)
- [Sensor Thermal Compensation](../advanced_config/sensor_thermal_calibration.md)
- [Компенсація живлення компаса](../advanced_config/compass_power_compensation.md)
- [Розширена орієнтація контролера](../advanced_config/advanced_flight_controller_orientation_leveling.md)
- [Static Pressure Buildup](../advanced_config/static_pressure_buildup.md)
- [Оновлення бутлоадера](../advanced_config/bootloader_update.md)
## Дивіться також
- [Стандартна конфігурація](../config/README.md) - налаштування основних датчиків/функцій, необхідних для більшості апаратів PX4.
- [Advanced Configuration](../advanced_config/index.md)
- Конфігурація/налаштування апарату:
- [Конфігурація/налаштування мультикоптера](../config_mc/index.md)
- [Конфігурація/налаштування гелікоптера](../config_heli/index.md)
- [Конфігурація/налаштування літака (з нерухомим крилом)](../config_fw/index.md)
- [Конфігурація/налаштування VTOL](../config_vtol/index.md)
docs/uk/advanced_config/sensor_thermal_calibration.md
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Корекція теплового зсуву (за допомогою параметрів калібрування) виконується в [модулі датчиків](../modules/modules_system.md#sensors).
Еталонна температура віднімається від виміряної температури, щоб отримати дельта-температуру, де:
```
```txt
delta = measured_temperature - reference_temperature
```
Потім дельта-температура використовується для розрахунку зсуву, де:
```
```txt
offset = X0 + X1*delta + X2*delta**2 + ... + Xn*delta**n
```
Зсув і температурний масштабний коефіцієнт потім використовуються для корекції вимірювання датчика, де:
```
```txt
corrected_measurement = (raw_measurement - offset) * scale_factor
```
@@ -198,3 +198,7 @@ corrected_measurement = (raw_measurement - offset) * scale_factor
[^2]: Для калібрування зсувів датчика барометричного тиску потрібен стабільний тиск повітря. The air pressure will change slowly due to weather and inside buildings can change rapidly due to external wind fluctuations and HVAC system operation.
[^3]: Слід бути обережним під час нагрівання холодної дошки, щоб уникнути утворення конденсату на дошці, який за певних обставин може спричинити її пошкодження.
## Дивіться також
- [OEM/Factory Configuration](../advanced_config/oem.md)
docs/uk/advanced_config/static_pressure_buildup.md
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Даний підхід працює добре, якщо зв'язок між помилкою, спричиненою статичним тиском, та швидкістю змінюється лінійно.
Якщо у транспортного засобу є складніша аеродинамічна модель, цей метод буде менш ефективним.
:::
## Дивіться також
- [OEM/Factory Configuration](../advanced_config/oem.md)
docs/uk/config/compass.md
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1. [Complete](#complete-calibration): This calibration is required after installing the autopilot on an airframe for the first time or when the configuration of the vehicle has changed significantly.
Воно компенсує впливи твердого та м'якого заліза, оцінюючи зміщення та коефіцієнт масштабу для кожної вісі.
2. [Partial](#partial-quick-calibration): This calibration can be performed as a routine when preparing the vehicle for a flight, after changing the payload, or simply when the compass rose seems inaccurate.
Цей тип калібрування лише оцінює зміщення для компенсації ефекту твердого заліза.
This type of calibration only estimates the offsets to compensate for a hard-iron effect.
3. [Large vehicle](#large-vehicle-calibration): This calibration can be performed when the vehicle is too large or heavy to perform a complete calibration.
Цей тип калібрування лише оцінює зміщення для компенсації ефекту твердого заліза.
This type of calibration only estimates the offsets to compensate for a hard-iron effect.
## Виконання калібрування
@@ -97,28 +97,78 @@ Notes:
<Badge type="tip" text="PX4 v1.15" />
This calibration process leverages external knowledge of vehicle's orientation and location, and a World Magnetic Model (WMM) to calibrate the hard iron biases.
This calibration process leverages external knowledge of the vehicle's orientation and location, along with a World Magnetic Model (WMM), to calibrate hard-iron biases.
It is designed for large or heavy vehicles where full-axis rotation is impractical.
1. Ensure GNSS Fix.
This is required to find the expected Earth magnetic field in WMM tables.
2. Align the vehicle to face True North.
Be as accurate as possible for best results.
3. Open the [QGroundControl MAVLink Console](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/analyze_view/mavlink_console.html) and send the following command:
The calibration accepts an optional heading argument (<Badge type="tip" text="PX4 v1.18" />), allowing you to specify the vehicle's current true heading.
This means you can perform a valid magnetometer calibration while the vehicle is pointed in any direction, not just North.
:::tip
The [complete calibration](#complete-calibration) is more reliable, and should be used if you can physically rotate the vehicle through all required orientations.
If the large vehicle calibration fails (magnetometer readings are inconsistent, or if yaw is unstable or incorrect) you will need to [recalibrate](#recalibration) using the complete calibration.
:::
:::details
Implementation details
This implementation replaces an earlier version (PX4 v1.15 - PX4 v1.17) that required the vehicle to be facing True North.
The calibration process:
- Computes hard-iron bias offsets by comparing the expected Earth magnetic field vector (based on location and heading from WMM) with the measured field from the magnetometer(s).
- Adjusts magnetometer offset parameters so the heading estimate aligns correctly without requiring full 3-axis rotation.
- The calibration is applied immediately.
Offsets persist once parameters are saved (typically on disarm or reboot).
:::
#### Передумови
- Obtain a valid GNSS fix (required for World Magnetic Model lookup).
- Виберіть місце подалеку від великих металевих об'єктів або магнітних полів.
- If using an external compass, ensure it is [mounted](../assembly/mount_gps_compass.md) as far as possible from other electronics.
#### Procedure
1. **Ensure GNSS Fix.**
This is required to look up the expected Earth magnetic field from WMM tables.
2. **Align the vehicle to a known heading.**
This can be True North (0°), or any other known heading relative to True North.
3. Open the [QGroundControl MAVLink Console](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/analyze_view/mavlink_console.html) and run:
```sh
commander calibrate mag quick
commander calibrate mag quick [heading]
```
Notes:
| Параметр | Опис |
| --------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------- |
| `heading` (optional) | True heading of the vehicle in degrees (0–359). Defaults to 0° (North) if omitted. |
- This method is specifically designed for vehicles where full rotation is impractical or impossible.
If full rotation is possible, use the [complete calibration](#complete-calibration) instead.
- The vehicle doesn't need to be exactly levelled as this is automatically compensated using the tilt estimate.
**Examples:**
| Vehicle Facing | Команда |
| ----------------------------------- | ----------------------------------- |
| North (0°) | `commander calibrate mag quick` |
| East (90°) | `commander calibrate mag quick 90` |
| South (180°) | `commander calibrate mag quick 180` |
| Southwest (225°) | `commander calibrate mag quick 225` |
:::info Примітки
- The vehicle doesn't need to be exactly level.
Tilt is automatically compensated using the attitude estimate.
- This calibration can also be triggered using the MAVLink command [MAV_CMD_FIXED_MAG_CAL_YAW](https://mavlink.io/en/messages/common.html#MAV_CMD_FIXED_MAG_CAL_YAW).
## Перевірка
:::
Після завершення калібрування перевірте, щоб індикатор напрямку та напрямок стрілки на карті були стабільними і відповідали орієнтації транспортного засобу при його повороті, наприклад, на головні сторони.
#### Перевірка
After calibration:
1. Check that the heading indicator in QGroundControl is stable.
2. Rotate the vehicle to cardinal directions (N/E/S/W) and verify the compass heading matches.
3. If using multiple magnetometers, confirm the correct sensor priority is set.
## Recalibration
@@ -146,7 +196,7 @@ Recalibrate the compass when:
## Додаткова калібрування/конфігурація
The process above will autodetect, [set default rotations](../advanced_config/parameter_reference.md#SENS_MAG_AUTOROT), calibrate, and prioritise, all available magnetometers.
The processes above will autodetect, [set default rotations](../advanced_config/parameter_reference.md#SENS_MAG_AUTOROT), calibrate, and prioritise, all available magnetometers.
If external magnetometers are available, internal magnetometers are disabled.
Додаткова конфігурація компаса, як правило, не повинна бути потрібною.
docs/uk/config/safety.md
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@@ -462,7 +462,6 @@ These parameters can be used to set conditions that prevent arming.
| <a id="COM_ARM_BAT_MIN"></a>[COM_ARM_BAT_MIN](../advanced_config/parameter_reference.md#COM_ARM_BAT_MIN) | Minimum battery level for arming. `0`: Disabled (default). Values: `0`-`0.9`, |
| <a id="COM_ARM_WO_GPS"></a>[COM_ARM_WO_GPS](../advanced_config/parameter_reference.md#COM_ARM_WO_GPS) | Enable arming without GPS. `0`: Disabled, `1`: Enabled (default). |
| <a id="COM_ARM_MIS_REQ"></a>[COM_ARM_MIS_REQ](../advanced_config/parameter_reference.md#COM_ARM_MIS_REQ) | Require valid mission to arm. `0`: Disabled (default), `1`: Enabled . |
| <a id="COM_ARM_SDCARD"></a>[COM_ARM_SDCARD](../advanced_config/parameter_reference.md#COM_ARM_SDCARD) | Require SD card to arm. `0`: Disabled (default), `1`: Warning, `2`: Enabled. |
| <a id="COM_ARM_AUTH_REQ"></a>[COM_ARM_AUTH_REQ](../advanced_config/parameter_reference.md#COM_ARM_AUTH_REQ) | Requires arm authorisation from an external (MAVLink) system. Flag to allow arming (at all). `1`: Enabled, `0`: Disabled (default). Associated configuration parameters are prefixed with `COM_ARM_AUTH_`. |
| <a id="COM_ARM_ODID"></a>[COM_ARM_ODID](../advanced_config/parameter_reference.md#COM_ARM_ODID) | Remote ID arming check and in-flight failsafe. `0`: Disabled (default), `1`: Warning only, `2`: Error only, `3`: Return, `4`: Land, `5`: Terminate. See [Remote ID Failsafe](#remote-id-failsafe). |
docs/uk/config_mc/pid_tuning_guide_multicopter.md
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@@ -65,7 +65,7 @@ The derivative term (**D**) is on the feedback path in order to avoid an effect
Для додаткової інформації дивіться:
- [Not all PID controllers are the same](https://www.controleng.com/not-all-pid-controllers-are-the-same/) (www.controleng.com)
- [PID controller > Standard versus parallel (ideal) PID form](https://en.wikipedia.org/wiki/PID_controller#Standard_versus_parallel_\(ideal\)_form) (Wikipedia)
- [PID controller > Standard versus parallel (ideal) PID form](https://en.wikipedia.org/wiki/PID_controller#Standard_versus_parallel_(ideal)_form) (Wikipedia)
:::
docs/uk/config_mc/pid_tuning_guide_multicopter_basic.md
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@@ -41,7 +41,7 @@ The testing procedure for each controller (rate, attitude, velocity/position) an
## Передумови
- You have selected the closest matching [default frame configuration](../config/airframe.md) for your vehicle.
Це повинно дати вам транспортний засіб, який вже літає.
This should give you a vehicle that already flies.
- You should have done an [ESC calibration](../advanced_config/esc_calibration.md).
@@ -50,13 +50,13 @@ The testing procedure for each controller (rate, attitude, velocity/position) an
This can be tested in [Acro mode](../flight_modes_mc/acro.md) or in [Stabilized mode](../flight_modes_mc/manual_stabilized.md):
- Видаліть пропелери
- Збройте транспортний засіб і знизьте оберти до мінімуму
- Нахиліть транспортний засіб у всі напрямки, близько 60 градусів
- Перевірте, чи не вимикаються мотори
- Remove propellers
- Arm the vehicle and lower the throttle to the minimum
- Tilt the vehicle to all directions, about 60 degrees
- Check that no motors turn off
- Використовуйте високошвидкісне телеметричне з'єднання, таке як WiFi, якщо це взагалі можливо (типовий телеметричний радіо з невеликим діапазоном не є достатньо швидким для отримання реального часу зворотнього зв'язку та графіків).
Це особливо важливо для регулятора швидкості.
- Use a high-rate telemetry link such as WiFi if at all possible (a typical low-range telemetry radio is not fast enough for real-time feedback and plots).
This is particularly important for the rate controller.
- Disable [MC_AIRMODE](../advanced_config/parameter_reference.md#MC_AIRMODE) before tuning a vehicle (there is an options for this in the PID tuning screen).
@@ -65,9 +65,9 @@ Poorly tuned vehicles are likely to be unstable, and easy to crash.
Make sure to have assigned a [Kill switch](../config/safety.md#emergency-switches).
:::
## Параметри налаштування
## Tuning Procedure
Параметри налаштування такі:
The tuning procedure is:
1. Arm the vehicle, takeoff, and hover (typically in [Position mode](../flight_modes_mc/position.md)).
@@ -82,12 +82,12 @@ Make sure to have assigned a [Kill switch](../config/safety.md#emergency-switche
::: info
For PWM, power-based and (some) UAVCAN speed controllers, the control signal to thrust relationship may not be linear.
Як результат, оптимальне налаштування при потужності утримання може бути не ідеальним, коли транспортний засіб працює на вищій потужності.
As a result, the optimal tuning at hover thrust may not be ideal when the vehicle is operating at higher thrust.
Значення кривої тяги може бути використане для компенсації цієї нелинійності:
The thrust curve value can be used to compensate for this non-linearity:
- For PWM controllers, 0.3 is a good default (which may benefit from [further tuning](../config_mc/pid_tuning_guide_multicopter.md#thrust-curve)).
- Для контролерів на основі RPM використовуйте 1 (додаткове налаштування не потрібно, оскільки вони мають квадратичну криву тяги).
- For RPM-based controllers, use 1 (no further tuning is required as these have a quadratic thrust curve).
For more information see the [detailed PID tuning guide](../config_mc/pid_tuning_guide_multicopter.md#thrust-curve).
@@ -105,18 +105,21 @@ Make sure to have assigned a [Kill switch](../config/safety.md#emergency-switche
10. Rapidly move the _roll stick_ full range and observe the step response on the plots.
:::tip
Stop tracking to enable easier inspection of the plots.
Це відбувається автоматично, коли ви збільшуєте/панорамуєте.
This happens automatically when you zoom/pan.
Use the **Start** button to restart the plots, and **Clear** to reset them.
:::
11. Modify the three PID values using the sliders (for roll rate-tuning these affect `MC_ROLLRATE_K`, `MC_ROLLRATE_I`, `MC_ROLLRATE_D`) and observe the step response again.
Значення зберігаються на транспортний засіб, як тільки переміщуються слайдери.
The values are saved to the vehicle as soon as the sliders are moved.
::: info
The goal is for the _Response_ curve to match the _Setpoint_ curve as closely as possible (i.e. a fast response without overshoots).
:::
The PID values can be adjusted as follows:
- P (пропорційне) або К підсилення:
- збільште це для більшої реакції
- зменшити, якщо відповідь перевищує і / або коливається (до певної міри збільшення значення D також допомагає).
docs/uk/debug/eclipse_jlink.md
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@@ -115,7 +115,7 @@ Task-aware debugging (also known as [thread-aware debugging](https://www.segger.
make px4_fmu-v5_default boardguiconfig
```
(See [PX4 Menuconfig Setup](../hardware/porting_guide_config.md#px4-menuconfig-setup) for more information) on using the config tools).
(See [PX4 Menuconfig Setup](../hardware/porting_guide_config.md#px4-menuconfig-setup) for more information on using the config tools).
- Ensure that the _Enable TCBinfo struct for debug_ is selected as shown:
![NuttX: Menuconfig: CONFIG_DEBUG_TCBINFO](../../assets/debug/nuttx_tcb_task_aware.png)
docs/uk/dev_setup/dev_env_windows_cygwin_packager_setup.md
+3 -3
View File
@@ -33,7 +33,7 @@ This topic explains how to construct and extend the development environment used
1. Make sure you have [Git for Windows](https://git-scm.com/download/win) installed.
2. Клонуйте репозиторій https://github.com/PX4/windows-toolchain туди куди ви хочете встановити інструментарій. Default location and naming is achieved by opening the `Git Bash` and executing:
2. Clone the repository <https://github.com/PX4/windows-toolchain> to the location you want to install the toolchain. Default location and naming is achieved by opening the `Git Bash` and executing:
```sh
cd /c/
@@ -53,13 +53,13 @@ This topic explains how to construct and extend the development environment used
The toolchain gets maintained and hence these instructions might not cover every detail of all the future changes.
:::
1. Create the _folders_: \*\*C:\PX4\*\*, \*\*C:\PX4\toolchain\*\* and \*\*C:\PX4\home\*\*
1. Create the _folders_: **C:\PX4**, **C:\PX4\toolchain** and **C:\PX4\home**
2. Download the _Cygwin installer_ file [setup-x86_64.exe](https://cygwin.com/setup-x86_64.exe) from the [official Cygwin website](https://cygwin.com/install.html)
3. Запустіть завантажений файл встановлювача
4. У майстрі оберіть встановлення в теку: \*\*C:\PX4\toolchain\cygwin64\*\*
4. In the wizard choose to install into the folder: **C:\PX4\toolchain\cygwin64**
5. Оберіть для встановлення стандартні основні пакети Cygwin і найновішу версію додаткових пакетів:
docs/uk/dev_setup/dev_env_windows_vm.md
+8 -6
View File
@@ -57,12 +57,14 @@ Allocate as many CPU cores and memory resources to the VM as possible.
Запам'ятайте, всі налаштування потрібні тільки для використання у вашій основній операційній системі, тому можна вимкнути будь-який режим збереження екрана та функції безпеки локальні робочої станції, що не збільшують ризик мережевої атаки.
10. Once the new VM is booted up make sure you install _VMWare tools drivers and tools extension_ inside your guest system.
Це підвищить продуктивність та зручність користування віртуальною машиною:
- Значно поліпшена продуктивність графіки
- Належна підтримка використання апаратного забезпечення, наприклад розподілу портів USB (важливо для завантаження прошивок), прокручування коліщатком миші, підтримка звуку
- Адаптація роздільної здатності дисплею гостя до розміру вікна емулятора
- Спільний доступ до буфера обміну з основної ОС
- Спільний доступ до файлів з основної ОС
This will enhance performance and usability of your VM usage:
- Significantly enhanced graphics performance
- Proper support for hardware device usage like USB port allocation (important for target upload), proper mouse wheel scrolling, sound support
- Guest display resolution adaption to the window size
- Clipboard sharing to host system
- File sharing to host system
11. Continue with [PX4 environment setup for Linux](../dev_setup/dev_env_linux.md)
docs/uk/flight_controller/beaglebone_blue.md
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@@ -21,7 +21,7 @@ _BeagleBone Blue_ images can be found here:
- [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).
Other useful information can be found in the [FAQ](https://github.com/beagleboard/beaglebone-blue/wiki/Frequently-Asked-Questions-\(FAQ\)).
Other useful information can be found in the [FAQ](https://github.com/beagleboard/beaglebone-blue/wiki/Frequently-Asked-Questions-(FAQ)).
:::tip
Optionally you can update to a realtime kernel, and if you do, re-check if _librobotcontrol_ works properly with the realtime kernel.
docs/uk/flight_modes/offboard.md
+7 -7
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@@ -363,13 +363,13 @@ Rover MAVLink setpoints are gated by the MAVLink parameter [MAV_FWDEXTSP](../adv
_Offboard mode_ is affected by the following parameters:
| Параметр | Опис |
| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="COM_OF_LOSS_T"></a>[COM_OF_LOSS_T](../advanced_config/parameter_reference.md#COM_OF_LOSS_T) | Time-out (in seconds) to wait when offboard connection is lost before triggering offboard lost failsafe (`COM_OBL_RC_ACT`) |
| <a id="COM_OBL_RC_ACT"></a>[COM_OBL_RC_ACT](../advanced_config/parameter_reference.md#COM_OBL_RC_ACT) | Flight mode to switch to if offboard control is lost (Values are - `0`: _Position_, `1`: _Altitude_, `2`: _Manual_, `3`: \*Return, `4`: \*Land\*). |
| <a id="COM_RC_OVERRIDE"></a>[COM_RC_OVERRIDE](../advanced_config/parameter_reference.md#COM_RC_OVERRIDE) | Controls whether stick movement on a multicopter (or VTOL in MC mode) causes a mode change to [Position mode](../flight_modes_mc/position.md). За замовчуванням це неможливо ввімкнути в режимі автопілоту. |
| <a id="COM_RC_STICK_OV"></a>[COM_RC_STICK_OV](../advanced_config/parameter_reference.md#COM_RC_STICK_OV) | Кількість рухів стиків, яка викликає перехід у [режим Положення](../flight_modes_mc/position.md) (якщо [COM_RC_OVERRIDE](#COM_RC_OVERRIDE) увімкнено). |
| <a id="COM_RCL_EXCEPT"></a>[COM_RCL_EXCEPT](../advanced_config/parameter_reference.md#COM_RCL_EXCEPT) | Вкажіть режими, в яких втрата радіокерування ігнорується, а запобіжний алгоритм не виконуватиметься. Set bit `2` to ignore RC loss in Offboard mode. |
| Параметр | Опис |
| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="COM_OF_LOSS_T"></a>[COM_OF_LOSS_T](../advanced_config/parameter_reference.md#COM_OF_LOSS_T) | Time-out (in seconds) to wait when offboard connection is lost before triggering offboard lost failsafe (`COM_OBL_RC_ACT`) |
| <a id="COM_OBL_RC_ACT"></a>[COM_OBL_RC_ACT](../advanced_config/parameter_reference.md#COM_OBL_RC_ACT) | Flight mode to switch to if offboard control is lost (Values are - `0`: _Position_, `1`: _Altitude_, `2`: _Manual_, `3`: _Return_, `4`: _Land_). |
| <a id="COM_RC_OVERRIDE"></a>[COM_RC_OVERRIDE](../advanced_config/parameter_reference.md#COM_RC_OVERRIDE) | Controls whether stick movement on a multicopter (or VTOL in MC mode) causes a mode change to [Position mode](../flight_modes_mc/position.md). За замовчуванням це неможливо ввімкнути в режимі автопілоту. |
| <a id="COM_RC_STICK_OV"></a>[COM_RC_STICK_OV](../advanced_config/parameter_reference.md#COM_RC_STICK_OV) | Кількість рухів стиків, яка викликає перехід у [режим Положення](../flight_modes_mc/position.md) (якщо [COM_RC_OVERRIDE](#COM_RC_OVERRIDE) увімкнено). |
| <a id="COM_RCL_EXCEPT"></a>[COM_RCL_EXCEPT](../advanced_config/parameter_reference.md#COM_RCL_EXCEPT) | Вкажіть режими, в яких втрата радіокерування ігнорується, а запобіжний алгоритм не виконуватиметься. Set bit `2` to ignore RC loss in Offboard mode. |
## Ресурси Розробника
docs/uk/frames_plane/reptile_dragon_2.md
+1 -1
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@@ -1,6 +1,6 @@
# Reptile Dragon 2 (RD2) Збірка
The Reptile Dragon 2 is a twin motor RC airplane specifically designed for efficient FPV [(first person view)](https://en.wikipedia.org/wiki/First-person_view_\(radio_control\)) flying.
The Reptile Dragon 2 is a twin motor RC airplane specifically designed for efficient FPV [(first person view)](https://en.wikipedia.org/wiki/First-person_view_(radio_control)) flying.
Будучи специфічним для FPV, RD2 оптимізований для легкого монтажу камер, сенсорів, логічної електроніки, великих батарей, антен та інших компонентів навантаження, які можуть бути знайдені на типовому літаку FPV.
Цей акцент на корисне навантаження робить цей літак ідеальним кандидатом для установки PX4.
docs/uk/frames_plane/turbo_timber_evolution.md
+1 -1
View File
@@ -32,7 +32,7 @@ This model is designed to excel at [STOL](https://en.wikipedia.org/wiki/STOL) fl
- Легкий доступ до USB-порту Pixhawk та роз'єму для налагодження
- [First Person View (FPV)](https://en.wikipedia.org/wiki/First-person_view_\(radio_control\)) with camera pan mount
- [First Person View (FPV)](https://en.wikipedia.org/wiki/First-person_view_(radio_control)) with camera pan mount
- Аеродинамічні дані надаються крилом, яке має навісний пітот-статичний модуль
docs/uk/middleware/dds_topics.md
+198 -198
View File
@@ -96,210 +96,210 @@ They are not build into the module, and hence are neither published or subscribe
:::details
See messages
- [IrlockReport](../msg_docs/IrlockReport.md)
- [FailureDetectorStatus](../msg_docs/FailureDetectorStatus.md)
- [MissionResult](../msg_docs/MissionResult.md)
- [SensorSelection](../msg_docs/SensorSelection.md)
- [Event](../msg_docs/Event.md)
- [MountOrientation](../msg_docs/MountOrientation.md)
- [NeuralControl](../msg_docs/NeuralControl.md)
- [VehicleAttitudeSetpointV0](../msg_docs/VehicleAttitudeSetpointV0.md)
- [DifferentialPressure](../msg_docs/DifferentialPressure.md)
- [EstimatorGpsStatus](../msg_docs/EstimatorGpsStatus.md)
- [LedControl](../msg_docs/LedControl.md)
- [RtlStatus](../msg_docs/RtlStatus.md)
- [Rpm](../msg_docs/Rpm.md)
- [QshellReq](../msg_docs/QshellReq.md)
- [ArmingCheckReplyV0](../msg_docs/ArmingCheckReplyV0.md)
- [OrbTest](../msg_docs/OrbTest.md)
- [VehicleImuStatus](../msg_docs/VehicleImuStatus.md)
- [OrbitStatus](../msg_docs/OrbitStatus.md)
- [BatteryInfo](../msg_docs/BatteryInfo.md)
- [RegisterExtComponentReplyV0](../msg_docs/RegisterExtComponentReplyV0.md)
- [HeaterStatus](../msg_docs/HeaterStatus.md)
- [VehicleAngularVelocity](../msg_docs/VehicleAngularVelocity.md)
- [DeviceInformation](../msg_docs/DeviceInformation.md)
- [VehicleLocalPositionV0](../msg_docs/VehicleLocalPositionV0.md)
- [PowerButtonState](../msg_docs/PowerButtonState.md)
- [SensorAirflow](../msg_docs/SensorAirflow.md)
- [TrajectorySetpoint6dof](../msg_docs/TrajectorySetpoint6dof.md)
- [VehicleStatusV0](../msg_docs/VehicleStatusV0.md)
- [HealthReport](../msg_docs/HealthReport.md)
- [FollowTargetEstimator](../msg_docs/FollowTargetEstimator.md)
- [InternalCombustionEngineControl](../msg_docs/InternalCombustionEngineControl.md)
- [AirspeedWind](../msg_docs/AirspeedWind.md)
- [SensorGnssRelative](../msg_docs/SensorGnssRelative.md)
- [VehicleImu](../msg_docs/VehicleImu.md)
- [VehicleStatusV3](../msg_docs/VehicleStatusV3.md)
- [NormalizedUnsignedSetpoint](../msg_docs/NormalizedUnsignedSetpoint.md)
- [EstimatorSelectorStatus](../msg_docs/EstimatorSelectorStatus.md)
- [ActuatorTest](../msg_docs/ActuatorTest.md)
- [CanInterfaceStatus](../msg_docs/CanInterfaceStatus.md)
- [VehicleOpticalFlowVel](../msg_docs/VehicleOpticalFlowVel.md)
- [VehicleStatusV1](../msg_docs/VehicleStatusV1.md)
- [SensorGnssStatus](../msg_docs/SensorGnssStatus.md)
- [PwmInput](../msg_docs/PwmInput.md)
- [RcParameterMap](../msg_docs/RcParameterMap.md)
- [VehicleConstraints](../msg_docs/VehicleConstraints.md)
- [SystemPower](../msg_docs/SystemPower.md)
- [Ekf2Timestamps](../msg_docs/Ekf2Timestamps.md)
- [InternalCombustionEngineStatus](../msg_docs/InternalCombustionEngineStatus.md)
- [UavcanParameterValue](../msg_docs/UavcanParameterValue.md)
- [EstimatorEventFlags](../msg_docs/EstimatorEventFlags.md)
- [DebugVect](../msg_docs/DebugVect.md)
- [FollowTarget](../msg_docs/FollowTarget.md)
- [TiltrotorExtraControls](../msg_docs/TiltrotorExtraControls.md)
- [TuneControl](../msg_docs/TuneControl.md)
- [PositionSetpoint](../msg_docs/PositionSetpoint.md)
- [ParameterSetUsedRequest](../msg_docs/ParameterSetUsedRequest.md)
- [SensorAccelFifo](../msg_docs/SensorAccelFifo.md)
- [EventV0](../msg_docs/EventV0.md)
- [AutotuneAttitudeControlStatus](../msg_docs/AutotuneAttitudeControlStatus.md)
- [SensorTemp](../msg_docs/SensorTemp.md)
- [OpenDroneIdSelfId](../msg_docs/OpenDroneIdSelfId.md)
- [FollowTargetStatus](../msg_docs/FollowTargetStatus.md)
- [VehicleGlobalPositionV0](../msg_docs/VehicleGlobalPositionV0.md)
- [LandingGearWheel](../msg_docs/LandingGearWheel.md)
- [SensorsStatus](../msg_docs/SensorsStatus.md)
- [HomePositionV0](../msg_docs/HomePositionV0.md)
- [ParameterUpdate](../msg_docs/ParameterUpdate.md)
- [EstimatorInnovations](../msg_docs/EstimatorInnovations.md)
- [ButtonEvent](../msg_docs/ButtonEvent.md)
- [RaptorInput](../msg_docs/RaptorInput.md)
- [VehicleOpticalFlow](../msg_docs/VehicleOpticalFlow.md)
- [GpioConfig](../msg_docs/GpioConfig.md)
- [SensorMag](../msg_docs/SensorMag.md)
- [LogMessage](../msg_docs/LogMessage.md)
- [GeofenceResult](../msg_docs/GeofenceResult.md)
- [LoggerStatus](../msg_docs/LoggerStatus.md)
- [RcChannels](../msg_docs/RcChannels.md)
- [MagWorkerData](../msg_docs/MagWorkerData.md)
- [IridiumsbdStatus](../msg_docs/IridiumsbdStatus.md)
- [SensorGyroFifo](../msg_docs/SensorGyroFifo.md)
- [GeofenceStatus](../msg_docs/GeofenceStatus.md)
- [UlogStreamAck](../msg_docs/UlogStreamAck.md)
- [Airspeed](../msg_docs/Airspeed.md)
- [ActuatorArmed](../msg_docs/ActuatorArmed.md)
- [ParameterSetValueResponse](../msg_docs/ParameterSetValueResponse.md)
- [SensorPreflightMag](../msg_docs/SensorPreflightMag.md)
- [GimbalManagerStatus](../msg_docs/GimbalManagerStatus.md)
- [GimbalDeviceSetAttitude](../msg_docs/GimbalDeviceSetAttitude.md)
- [GimbalManagerInformation](../msg_docs/GimbalManagerInformation.md)
- [EstimatorBias](../msg_docs/EstimatorBias.md)
- [TecsStatus](../msg_docs/TecsStatus.md)
- [GimbalControls](../msg_docs/GimbalControls.md)
- [Mission](../msg_docs/Mission.md)
- [GainCompression](../msg_docs/GainCompression.md)
- [ConfigOverridesV0](../msg_docs/ConfigOverridesV0.md)
- [Ping](../msg_docs/Ping.md)
- [ActuatorControlsStatus](../msg_docs/ActuatorControlsStatus.md)
- [CellularStatus](../msg_docs/CellularStatus.md)
- [DronecanNodeStatus](../msg_docs/DronecanNodeStatus.md)
- [EscEepromWrite](../msg_docs/EscEepromWrite.md)
- [MagnetometerBiasEstimate](../msg_docs/MagnetometerBiasEstimate.md)
- [FixedWingLateralGuidanceStatus](../msg_docs/FixedWingLateralGuidanceStatus.md)
- [OrbTestMedium](../msg_docs/OrbTestMedium.md)
- [PositionControllerStatus](../msg_docs/PositionControllerStatus.md)
- [EscReport](../msg_docs/EscReport.md)
- [SensorGyro](../msg_docs/SensorGyro.md)
- [DatamanRequest](../msg_docs/DatamanRequest.md)
- [FixedWingLateralStatus](../msg_docs/FixedWingLateralStatus.md)
- [GeneratorStatus](../msg_docs/GeneratorStatus.md)
- [SensorAccel](../msg_docs/SensorAccel.md)
- [RangingBeacon](../msg_docs/RangingBeacon.md)
- [RegisterExtComponentRequestV1](../msg_docs/RegisterExtComponentRequestV1.md)
- [GpsDump](../msg_docs/GpsDump.md)
- [GimbalManagerSetManualControl](../msg_docs/GimbalManagerSetManualControl.md)
- [Vtx](../msg_docs/Vtx.md)
- [VehicleStatusV2](../msg_docs/VehicleStatusV2.md)
- [InputRc](../msg_docs/InputRc.md)
- [DebugKeyValue](../msg_docs/DebugKeyValue.md)
- [VehicleMagnetometer](../msg_docs/VehicleMagnetometer.md)
- [OpenDroneIdSystem](../msg_docs/OpenDroneIdSystem.md)
- [RoverAttitudeStatus](../msg_docs/RoverAttitudeStatus.md)
- [GpsInjectData](../msg_docs/GpsInjectData.md)
- [TaskStackInfo](../msg_docs/TaskStackInfo.md)
- [FixedWingRunwayControl](../msg_docs/FixedWingRunwayControl.md)
- [SensorsStatusImu](../msg_docs/SensorsStatusImu.md)
- [VehicleAirData](../msg_docs/VehicleAirData.md)
- [PpsCapture](../msg_docs/PpsCapture.md)
- [CameraStatus](../msg_docs/CameraStatus.md)
- [SensorGyroFft](../msg_docs/SensorGyroFft.md)
- [ParameterResetRequest](../msg_docs/ParameterResetRequest.md)
- [EstimatorBias3d](../msg_docs/EstimatorBias3d.md)
- [PowerMonitor](../msg_docs/PowerMonitor.md)
- [GimbalManagerSetAttitude](../msg_docs/GimbalManagerSetAttitude.md)
- [EstimatorStates](../msg_docs/EstimatorStates.md)
- [FlightPhaseEstimation](../msg_docs/FlightPhaseEstimation.md)
- [SensorUwb](../msg_docs/SensorUwb.md)
- [EscStatus](../msg_docs/EscStatus.md)
- [RegisterExtComponentRequestV0](../msg_docs/RegisterExtComponentRequestV0.md)
- [TakeoffStatus](../msg_docs/TakeoffStatus.md)
- [EstimatorAidSource1d](../msg_docs/EstimatorAidSource1d.md)
- [UavcanParameterRequest](../msg_docs/UavcanParameterRequest.md)
- [EstimatorSensorBias](../msg_docs/EstimatorSensorBias.md)
- [SatelliteInfo](../msg_docs/SatelliteInfo.md)
- [MavlinkLog](../msg_docs/MavlinkLog.md)
- [VehicleCommandAckV0](../msg_docs/VehicleCommandAckV0.md)
- [VehicleAcceleration](../msg_docs/VehicleAcceleration.md)
- [BatteryStatusV0](../msg_docs/BatteryStatusV0.md)
- [CameraTrigger](../msg_docs/CameraTrigger.md)
- [ActuatorOutputs](../msg_docs/ActuatorOutputs.md)
- [EstimatorAidSource2d](../msg_docs/EstimatorAidSource2d.md)
- [EstimatorFusionControl](../msg_docs/EstimatorFusionControl.md)
- [ActionRequest](../msg_docs/ActionRequest.md)
- [DebugArray](../msg_docs/DebugArray.md)
- [AirspeedValidatedV0](../msg_docs/AirspeedValidatedV0.md)
- [RtlTimeEstimate](../msg_docs/RtlTimeEstimate.md)
- [DebugValue](../msg_docs/DebugValue.md)
- [NavigatorMissionItem](../msg_docs/NavigatorMissionItem.md)
- [ArmingCheckRequestV0](../msg_docs/ArmingCheckRequestV0.md)
- [DistanceSensorModeChangeRequest](../msg_docs/DistanceSensorModeChangeRequest.md)
- [FuelTankStatus](../msg_docs/FuelTankStatus.md)
- [PurePursuitStatus](../msg_docs/PurePursuitStatus.md)
- [EscEepromRead](../msg_docs/EscEepromRead.md)
- [UlogStream](../msg_docs/UlogStream.md)
- [VehicleAngularAccelerationSetpoint](../msg_docs/VehicleAngularAccelerationSetpoint.md)
- [CameraCapture](../msg_docs/CameraCapture.md)
- [NavigatorStatus](../msg_docs/NavigatorStatus.md)
- [RoverRateStatus](../msg_docs/RoverRateStatus.md)
- [DatamanResponse](../msg_docs/DatamanResponse.md)
- [PositionControllerLandingStatus](../msg_docs/PositionControllerLandingStatus.md)
- [WheelEncoders](../msg_docs/WheelEncoders.md)
- [FigureEightStatus](../msg_docs/FigureEightStatus.md)
- [GpioOut](../msg_docs/GpioOut.md)
- [RateCtrlStatus](../msg_docs/RateCtrlStatus.md)
- [SensorHygrometer](../msg_docs/SensorHygrometer.md)
- [RaptorStatus](../msg_docs/RaptorStatus.md)
- [Px4ioStatus](../msg_docs/Px4ioStatus.md)
- [VehicleLocalPositionSetpoint](../msg_docs/VehicleLocalPositionSetpoint.md)
- [RadioStatus](../msg_docs/RadioStatus.md)
- [SensorBaro](../msg_docs/SensorBaro.md)
- [YawEstimatorStatus](../msg_docs/YawEstimatorStatus.md)
- [SensorCorrection](../msg_docs/SensorCorrection.md)
- [Gripper](../msg_docs/Gripper.md)
- [LandingTargetPose](../msg_docs/LandingTargetPose.md)
- [EstimatorStatus](../msg_docs/EstimatorStatus.md)
- [GpioRequest](../msg_docs/GpioRequest.md)
- [QshellRetval](../msg_docs/QshellRetval.md)
- [OrbTestLarge](../msg_docs/OrbTestLarge.md)
- [ActuatorServosTrim](../msg_docs/ActuatorServosTrim.md)
- [VehicleRoi](../msg_docs/VehicleRoi.md)
- [GpioIn](../msg_docs/GpioIn.md)
- [HoverThrustEstimate](../msg_docs/HoverThrustEstimate.md)
- [RoverSpeedStatus](../msg_docs/RoverSpeedStatus.md)
- [LaunchDetectionStatus](../msg_docs/LaunchDetectionStatus.md)
- [ParameterSetValueRequest](../msg_docs/ParameterSetValueRequest.md)
- [OpenDroneIdOperatorId](../msg_docs/OpenDroneIdOperatorId.md)
- [Cpuload](../msg_docs/Cpuload.md)
- [ControlAllocatorStatus](../msg_docs/ControlAllocatorStatus.md)
- [VehicleAirData](../msg_docs/VehicleAirData.md)
- [OpenDroneIdArmStatus](../msg_docs/OpenDroneIdArmStatus.md)
- [LandingTargetInnovations](../msg_docs/LandingTargetInnovations.md)
- [TrajectorySetpoint6dof](../msg_docs/TrajectorySetpoint6dof.md)
- [SensorAccel](../msg_docs/SensorAccel.md)
- [DebugKeyValue](../msg_docs/DebugKeyValue.md)
- [SensorGyro](../msg_docs/SensorGyro.md)
- [ArmingCheckRequestV0](../msg_docs/ArmingCheckRequestV0.md)
- [EstimatorAidSource2d](../msg_docs/EstimatorAidSource2d.md)
- [LoggerStatus](../msg_docs/LoggerStatus.md)
- [SensorsStatusImu](../msg_docs/SensorsStatusImu.md)
- [PwmInput](../msg_docs/PwmInput.md)
- [UlogStream](../msg_docs/UlogStream.md)
- [VehicleStatusV1](../msg_docs/VehicleStatusV1.md)
- [TecsStatus](../msg_docs/TecsStatus.md)
- [GimbalManagerInformation](../msg_docs/GimbalManagerInformation.md)
- [OpenDroneIdOperatorId](../msg_docs/OpenDroneIdOperatorId.md)
- [VehicleAngularAccelerationSetpoint](../msg_docs/VehicleAngularAccelerationSetpoint.md)
- [EstimatorAidSource3d](../msg_docs/EstimatorAidSource3d.md)
- [GimbalManagerSetAttitude](../msg_docs/GimbalManagerSetAttitude.md)
- [InputRc](../msg_docs/InputRc.md)
- [RateCtrlStatus](../msg_docs/RateCtrlStatus.md)
- [MagnetometerBiasEstimate](../msg_docs/MagnetometerBiasEstimate.md)
- [AirspeedValidatedV0](../msg_docs/AirspeedValidatedV0.md)
- [FlightPhaseEstimation](../msg_docs/FlightPhaseEstimation.md)
- [PositionControllerLandingStatus](../msg_docs/PositionControllerLandingStatus.md)
- [ParameterSetValueResponse](../msg_docs/ParameterSetValueResponse.md)
- [MissionResult](../msg_docs/MissionResult.md)
- [OpenDroneIdSystem](../msg_docs/OpenDroneIdSystem.md)
- [PurePursuitStatus](../msg_docs/PurePursuitStatus.md)
- [Px4ioStatus](../msg_docs/Px4ioStatus.md)
- [VehicleCommandAckV0](../msg_docs/VehicleCommandAckV0.md)
- [SystemPower](../msg_docs/SystemPower.md)
- [VelocityLimits](../msg_docs/VelocityLimits.md)
- [AdcReport](../msg_docs/AdcReport.md)
- [GimbalDeviceInformation](../msg_docs/GimbalDeviceInformation.md)
- [GeofenceStatus](../msg_docs/GeofenceStatus.md)
- [ActuatorServosTrim](../msg_docs/ActuatorServosTrim.md)
- [SensorAccelFifo](../msg_docs/SensorAccelFifo.md)
- [SensorBaro](../msg_docs/SensorBaro.md)
- [DebugVect](../msg_docs/DebugVect.md)
- [DatamanRequest](../msg_docs/DatamanRequest.md)
- [GainCompression](../msg_docs/GainCompression.md)
- [VehicleStatusV2](../msg_docs/VehicleStatusV2.md)
- [SensorTemp](../msg_docs/SensorTemp.md)
- [SensorCorrection](../msg_docs/SensorCorrection.md)
- [DeviceInformation](../msg_docs/DeviceInformation.md)
- [OrbTest](../msg_docs/OrbTest.md)
- [ArmingCheckReplyV0](../msg_docs/ArmingCheckReplyV0.md)
- [FailureDetectorStatus](../msg_docs/FailureDetectorStatus.md)
- [DronecanNodeStatus](../msg_docs/DronecanNodeStatus.md)
- [QshellReq](../msg_docs/QshellReq.md)
- [DistanceSensorModeChangeRequest](../msg_docs/DistanceSensorModeChangeRequest.md)
- [UavcanParameterRequest](../msg_docs/UavcanParameterRequest.md)
- [VehicleImuStatus](../msg_docs/VehicleImuStatus.md)
- [MavlinkTunnel](../msg_docs/MavlinkTunnel.md)
- [YawEstimatorStatus](../msg_docs/YawEstimatorStatus.md)
- [Airspeed](../msg_docs/Airspeed.md)
- [LandingTargetInnovations](../msg_docs/LandingTargetInnovations.md)
- [NavigatorStatus](../msg_docs/NavigatorStatus.md)
- [PowerButtonState](../msg_docs/PowerButtonState.md)
- [EscStatus](../msg_docs/EscStatus.md)
- [LedControl](../msg_docs/LedControl.md)
- [GpioOut](../msg_docs/GpioOut.md)
- [GimbalManagerStatus](../msg_docs/GimbalManagerStatus.md)
- [ParameterSetUsedRequest](../msg_docs/ParameterSetUsedRequest.md)
- [SensorUwb](../msg_docs/SensorUwb.md)
- [FollowTargetStatus](../msg_docs/FollowTargetStatus.md)
- [Vtx](../msg_docs/Vtx.md)
- [GpsDump](../msg_docs/GpsDump.md)
- [ButtonEvent](../msg_docs/ButtonEvent.md)
- [Ekf2Timestamps](../msg_docs/Ekf2Timestamps.md)
- [VehicleLocalPositionV0](../msg_docs/VehicleLocalPositionV0.md)
- [ParameterSetValueRequest](../msg_docs/ParameterSetValueRequest.md)
- [EstimatorInnovations](../msg_docs/EstimatorInnovations.md)
- [RadioStatus](../msg_docs/RadioStatus.md)
- [ActuatorArmed](../msg_docs/ActuatorArmed.md)
- [DebugValue](../msg_docs/DebugValue.md)
- [Ping](../msg_docs/Ping.md)
- [HoverThrustEstimate](../msg_docs/HoverThrustEstimate.md)
- [EstimatorEventFlags](../msg_docs/EstimatorEventFlags.md)
- [SensorAirflow](../msg_docs/SensorAirflow.md)
- [TakeoffStatus](../msg_docs/TakeoffStatus.md)
- [AirspeedWind](../msg_docs/AirspeedWind.md)
- [EscEepromWrite](../msg_docs/EscEepromWrite.md)
- [CameraTrigger](../msg_docs/CameraTrigger.md)
- [Mission](../msg_docs/Mission.md)
- [FigureEightStatus](../msg_docs/FigureEightStatus.md)
- [ActuatorControlsStatus](../msg_docs/ActuatorControlsStatus.md)
- [EstimatorStatus](../msg_docs/EstimatorStatus.md)
- [RoverSpeedStatus](../msg_docs/RoverSpeedStatus.md)
- [CameraCapture](../msg_docs/CameraCapture.md)
- [AdcReport](../msg_docs/AdcReport.md)
- [EstimatorSensorBias](../msg_docs/EstimatorSensorBias.md)
- [GpioRequest](../msg_docs/GpioRequest.md)
- [UavcanParameterValue](../msg_docs/UavcanParameterValue.md)
- [RcParameterMap](../msg_docs/RcParameterMap.md)
- [RtlTimeEstimate](../msg_docs/RtlTimeEstimate.md)
- [CellularStatus](../msg_docs/CellularStatus.md)
- [OpenDroneIdSelfId](../msg_docs/OpenDroneIdSelfId.md)
- [EscEepromRead](../msg_docs/EscEepromRead.md)
- [ParameterResetRequest](../msg_docs/ParameterResetRequest.md)
- [CanInterfaceStatus](../msg_docs/CanInterfaceStatus.md)
- [DifferentialPressure](../msg_docs/DifferentialPressure.md)
- [FollowTargetEstimator](../msg_docs/FollowTargetEstimator.md)
- [TuneControl](../msg_docs/TuneControl.md)
- [VehicleAngularVelocity](../msg_docs/VehicleAngularVelocity.md)
- [Gripper](../msg_docs/Gripper.md)
- [EstimatorBias3d](../msg_docs/EstimatorBias3d.md)
- [ActionRequest](../msg_docs/ActionRequest.md)
- [TiltrotorExtraControls](../msg_docs/TiltrotorExtraControls.md)
- [WheelEncoders](../msg_docs/WheelEncoders.md)
- [ParameterUpdate](../msg_docs/ParameterUpdate.md)
- [GimbalDeviceInformation](../msg_docs/GimbalDeviceInformation.md)
- [IridiumsbdStatus](../msg_docs/IridiumsbdStatus.md)
- [PpsCapture](../msg_docs/PpsCapture.md)
- [ControlAllocatorStatus](../msg_docs/ControlAllocatorStatus.md)
- [EscReport](../msg_docs/EscReport.md)
- [SatelliteInfo](../msg_docs/SatelliteInfo.md)
- [ManualControlSwitches](../msg_docs/ManualControlSwitches.md)
- [ConfigOverridesV0](../msg_docs/ConfigOverridesV0.md)
- [RegisterExtComponentRequestV1](../msg_docs/RegisterExtComponentRequestV1.md)
- [VehicleStatusV3](../msg_docs/VehicleStatusV3.md)
- [SensorMag](../msg_docs/SensorMag.md)
- [NormalizedUnsignedSetpoint](../msg_docs/NormalizedUnsignedSetpoint.md)
- [EstimatorGpsStatus](../msg_docs/EstimatorGpsStatus.md)
- [RoverRateStatus](../msg_docs/RoverRateStatus.md)
- [SensorSelection](../msg_docs/SensorSelection.md)
- [MountOrientation](../msg_docs/MountOrientation.md)
- [UlogStreamAck](../msg_docs/UlogStreamAck.md)
- [EstimatorFusionControl](../msg_docs/EstimatorFusionControl.md)
- [VehicleLocalPositionSetpoint](../msg_docs/VehicleLocalPositionSetpoint.md)
- [GeofenceResult](../msg_docs/GeofenceResult.md)
- [LaunchDetectionStatus](../msg_docs/LaunchDetectionStatus.md)
- [PowerMonitor](../msg_docs/PowerMonitor.md)
- [OrbTestLarge](../msg_docs/OrbTestLarge.md)
- [InternalCombustionEngineControl](../msg_docs/InternalCombustionEngineControl.md)
- [NavigatorMissionItem](../msg_docs/NavigatorMissionItem.md)
- [HealthReport](../msg_docs/HealthReport.md)
- [CameraStatus](../msg_docs/CameraStatus.md)
- [SensorGnssStatus](../msg_docs/SensorGnssStatus.md)
- [EstimatorSelectorStatus](../msg_docs/EstimatorSelectorStatus.md)
- [SensorGyroFifo](../msg_docs/SensorGyroFifo.md)
- [InternalCombustionEngineStatus](../msg_docs/InternalCombustionEngineStatus.md)
- [IrlockReport](../msg_docs/IrlockReport.md)
- [VehicleAcceleration](../msg_docs/VehicleAcceleration.md)
- [LandingGearWheel](../msg_docs/LandingGearWheel.md)
- [TaskStackInfo](../msg_docs/TaskStackInfo.md)
- [RegisterExtComponentRequestV0](../msg_docs/RegisterExtComponentRequestV0.md)
- [NeuralControl](../msg_docs/NeuralControl.md)
- [VehicleImu](../msg_docs/VehicleImu.md)
- [RaptorStatus](../msg_docs/RaptorStatus.md)
- [OrbTestMedium](../msg_docs/OrbTestMedium.md)
- [FixedWingLateralStatus](../msg_docs/FixedWingLateralStatus.md)
- [Rpm](../msg_docs/Rpm.md)
- [BatteryStatusV0](../msg_docs/BatteryStatusV0.md)
- [PositionControllerStatus](../msg_docs/PositionControllerStatus.md)
- [SensorHygrometer](../msg_docs/SensorHygrometer.md)
- [VehicleMagnetometer](../msg_docs/VehicleMagnetometer.md)
- [LandingTargetPose](../msg_docs/LandingTargetPose.md)
- [GpioConfig](../msg_docs/GpioConfig.md)
- [VehicleOpticalFlow](../msg_docs/VehicleOpticalFlow.md)
- [EstimatorBias](../msg_docs/EstimatorBias.md)
- [VehicleConstraints](../msg_docs/VehicleConstraints.md)
- [GimbalDeviceSetAttitude](../msg_docs/GimbalDeviceSetAttitude.md)
- [SensorsStatus](../msg_docs/SensorsStatus.md)
- [SensorGnssRelative](../msg_docs/SensorGnssRelative.md)
- [EstimatorStates](../msg_docs/EstimatorStates.md)
- [ActuatorTest](../msg_docs/ActuatorTest.md)
- [FixedWingRunwayControl](../msg_docs/FixedWingRunwayControl.md)
- [VehicleAttitudeSetpointV0](../msg_docs/VehicleAttitudeSetpointV0.md)
- [GpioIn](../msg_docs/GpioIn.md)
- [SensorPreflightMag](../msg_docs/SensorPreflightMag.md)
- [GimbalManagerSetManualControl](../msg_docs/GimbalManagerSetManualControl.md)
- [VehicleRoi](../msg_docs/VehicleRoi.md)
- [MagWorkerData](../msg_docs/MagWorkerData.md)
- [AutotuneAttitudeControlStatus](../msg_docs/AutotuneAttitudeControlStatus.md)
- [FollowTarget](../msg_docs/FollowTarget.md)
- [ActuatorOutputs](../msg_docs/ActuatorOutputs.md)
- [HomePositionV0](../msg_docs/HomePositionV0.md)
- [EstimatorAidSource1d](../msg_docs/EstimatorAidSource1d.md)
- [DebugArray](../msg_docs/DebugArray.md)
- [RoverAttitudeStatus](../msg_docs/RoverAttitudeStatus.md)
- [BatteryInfo](../msg_docs/BatteryInfo.md)
- [RcChannels](../msg_docs/RcChannels.md)
- [LogMessage](../msg_docs/LogMessage.md)
- [VehicleStatusV0](../msg_docs/VehicleStatusV0.md)
- [PositionSetpoint](../msg_docs/PositionSetpoint.md)
- [GimbalControls](../msg_docs/GimbalControls.md)
- [FixedWingLateralGuidanceStatus](../msg_docs/FixedWingLateralGuidanceStatus.md)
- [RtlStatus](../msg_docs/RtlStatus.md)
- [VehicleGlobalPositionV0](../msg_docs/VehicleGlobalPositionV0.md)
- [Cpuload](../msg_docs/Cpuload.md)
- [GpsInjectData](../msg_docs/GpsInjectData.md)
- [GeneratorStatus](../msg_docs/GeneratorStatus.md)
- [FuelTankStatus](../msg_docs/FuelTankStatus.md)
- [SensorGyroFft](../msg_docs/SensorGyroFft.md)
- [OrbitStatus](../msg_docs/OrbitStatus.md)
- [DatamanResponse](../msg_docs/DatamanResponse.md)
- [EventV0](../msg_docs/EventV0.md)
- [RegisterExtComponentReplyV0](../msg_docs/RegisterExtComponentReplyV0.md)
- [RangingBeacon](../msg_docs/RangingBeacon.md)
- [Event](../msg_docs/Event.md)
- [VehicleOpticalFlowVel](../msg_docs/VehicleOpticalFlowVel.md)
- [QshellRetval](../msg_docs/QshellRetval.md)
- [RaptorInput](../msg_docs/RaptorInput.md)
:::
docs/uk/middleware/zenoh.md
+40 -1
View File
@@ -60,7 +60,7 @@ For more information about key expressions, refer to the [rmw_zenoh design docum
Before setting up the Zenoh communication, first make sure that your firmware contains the driver that implements the [`zenoh` driver](../modules/modules_driver.md#zenoh), which provides the implementation of the _PX4 Zenoh-Pico Node_.
You can check if the module is present on your board by searching for the key `CONFIG_MODULES_ZENOH=y` in your board's `default.px4board` KConfig file.
You can check if the module is present on your board by searching for the key `CONFIG_MODULES_ZENOH=y` in your board's `default.px4board` [KConfig file](../hardware/porting_guide_config.md).
For example, you can see that the module is present in `px4_fmu-v6xrt` build targets from [/boards/px4/fmu-v6xrt/default.px4board](https://github.com/PX4/PX4-Autopilot/blob/main/boards/px4/fmu-v6xrt/default.px4board#L91).
If `CONFIG_MODULES_ZENOH=y` is not preset you can add this key to your board configuration and rebuild.
@@ -90,6 +90,11 @@ inclusion of the message type hash (RIHS01, as defined in REP-2016) in the Zenoh
Note that this will break compatibility with ROS 2 Jazzy and later.
:::
:::tip
Per-publisher option overrides can be enabled or disabled at compile time using the `CONFIG_ZENOH_PUB_OPTION_OVERRIDE` KConfig key.
When this is disabled, PX4 uses only global publisher option parameters, and per-publisher CLI/config overrides are not available.
:::
### 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.
@@ -133,6 +138,21 @@ This folder contains three key files:
- **`pub.csv`** – Maps **uORB topics to ROS2 topics** (used for publishing).
- **`sub.csv`** – Maps **ROS2 topics to uORB topics** (used for subscribing).
#### Publisher Options
Zenoh publisher behaviour can be controlled through global PX4 parameters:
- [ZENOH_PUB_CC](../advanced_config/parameter_reference.md#ZENOH_PUB_CC): congestion control (`Drop` or `Block`) - controls what happens when the transport path is congested. `Drop` prefers freshness/latency and may drop messages, while `Block` preserves delivery by applying backpressure to the publisher.
- [ZENOH_PUB_REL](../advanced_config/parameter_reference.md#ZENOH_PUB_REL): reliability (`Reliable` or `BestEffort`) - selects the Zenoh reliability mode used by the router path and seen by the underlying ROS 2 `rmw_zenoh` transport.
- [ZENOH_PUB_EXPR](../advanced_config/parameter_reference.md#ZENOH_PUB_EXPR): express mode (`Disabled` or `Enabled`) - when enabled, Zenoh does not wait to batch this operation with others. This usually reduces latency at the cost of higher bandwidth/overhead.
- [ZENOH_PUB_PRIO](../advanced_config/parameter_reference.md#ZENOH_PUB_PRIO): priority (`RealTime`, `InteractiveHigh`, `InteractiveLow`, `DataHigh`, `Data`, `DataLow`, `Background`) - sets relative message priority for routing/scheduling under load.
These are applied to all Zenoh publishers.
If `CONFIG_ZENOH_PUB_OPTION_OVERRIDE=y`, individual publishers can override one or more global publisher options.
Default configuration [dds_topics.yaml](../middleware/dds_topics.md) already provides overrides for several publishers.
Individual publisher options can be overriden through the mapping configuration shown in the next section
### 4. Modifying Topic Mappings
Zenoh topic mappings define how data flows between PX4's internal uORB topics and external ROS2 topics via Zenoh.
@@ -155,6 +175,25 @@ The main operations and their commands are:
zenoh config add publisher <zenoh_topic> <uorb_topic> [uorb_instance]
```
When `CONFIG_ZENOH_PUB_OPTION_OVERRIDE=y`, publisher options can also be passed:
```sh
zenoh config add publisher <zenoh_topic> <uorb_topic> [uorb_instance] [options]
```
Options are comma-separated `key=value` pairs:
- `cc=drop|block` (congestion control)
- `express=true|false` (batching behaviour)
- `prio=real_time|interactive_high|interactive_low|data_high|data|data_low|background` (priority)
- `rel=reliable|best_effort` (reliability)
Example:
```sh
zenoh config add publisher /fmu/out/vehicle_status vehicle_status 0 "cc=block,express=true,rel=best_effort"
```
- Subscribe to a Zenoh topic and forward it to a uORB topic:
```sh
docs/uk/modules/modules_command.md
+3
View File
@@ -453,6 +453,7 @@ param <command> [arguments...]
show Show parameter values
[-a] Show all parameters (not just used)
[-c] Show only changed params (unused too)
[-l] Show only locked (read-only) params
[-q] quiet mode, print only param value (name needs to be exact)
[<filter>] Filter by param name (wildcard at end allowed, eg. sys_*)
@@ -497,6 +498,8 @@ param <command> [arguments...]
find Show index of a param
<param> param name
lock Lock read-only params (reject future set/reset)
```
## payload_deliverer
docs/uk/modules/modules_driver.md
+2 -4
View File
@@ -1064,7 +1064,7 @@ px4io <command> [arguments...]
## rgbled
Source: [drivers/lights/rgbled_ncp5623c](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/lights/rgbled_ncp5623c)
Source: [drivers/lights/rgbled](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/lights/rgbled)
### Usage {#rgbled_usage}
@@ -1079,9 +1079,7 @@ rgbled <command> [arguments...]
[-f <val>] bus frequency in kHz
[-q] quiet startup (no message if no device found)
[-a <val>] I2C address
default: 57
[-o <val>] RGB PWM Assignment
default: 123
default: 85
stop
docs/uk/modules/modules_driver_adc.md
+24
View File
@@ -1,5 +1,29 @@
# Modules Reference: Adc (Driver)
## ADS7128
Source: [drivers/adc/ads7128](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/adc/ads7128)
### Usage {#ADS7128_usage}
```
ADS7128 <command> [arguments...]
Commands:
start
[-I] Internal I2C bus(es)
[-X] External I2C bus(es)
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
(default=1))
[-f <val>] bus frequency in kHz
[-q] quiet startup (no message if no device found)
[-a <val>] I2C address
default: 16
stop
status print status info
```
## TLA2528
Source: [drivers/adc/tla2528](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/adc/tla2528)
docs/uk/msg_docs/BatteryStatus.md
+4 -4
View File
@@ -44,9 +44,9 @@ Battery instance information is also logged and streamed in MAVLink telemetry.
| warning | `uint8` | | [WARNING](#WARNING)[STATE](#STATE) | Current battery warning |
| faults | `uint16` | | [FAULT](#FAULT) | Smart battery supply status/fault flags (bitmask) for health indication |
| full_charge_capacity_wh | `float32` | Wh | | Compensated battery capacity |
| remaining_capacity_wh | `float32` | Wh | | Compensated battery capacity remaining |
| remaining_capacity_wh | `float32` | Wh | | Compensated battery capacity remaining (Invalid: NaN) |
| over_discharge_count | `uint16` | | | Number of battery overdischarge |
| nominal_voltage | `float32` | V | | Nominal voltage of the battery pack |
| nominal_voltage | `float32` | V | | Nominal voltage of the battery pack (Invalid: NaN) |
| internal_resistance_estimate | `float32` | Ohm | | Internal resistance per cell estimate |
| ocv_estimate | `float32` | V | | Open circuit voltage estimate |
| ocv_estimate_filtered | `float32` | V | | Filtered open circuit voltage estimate |
@@ -181,9 +181,9 @@ 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
float32 remaining_capacity_wh # [Wh] [@invalid NaN] Compensated battery capacity remaining
uint16 over_discharge_count # [-] Number of battery overdischarge
float32 nominal_voltage # [V] Nominal voltage of the battery pack
float32 nominal_voltage # [V] [@invalid NaN] Nominal voltage of the battery pack
float32 internal_resistance_estimate # [Ohm] Internal resistance per cell estimate
float32 ocv_estimate # [V] Open circuit voltage estimate
docs/uk/msg_docs/GimbalDeviceSetAttitude.md
+11 -7
View File
@@ -21,13 +21,15 @@ pageClass: is-wide-page
## Constants
| Назва | Тип | Значення | Опис |
| --------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | -------- | ---- |
| <a id="#GIMBAL_DEVICE_FLAGS_RETRACT"></a> GIMBAL_DEVICE_FLAGS_RETRACT | `uint32` | 1 | |
| <a id="#GIMBAL_DEVICE_FLAGS_NEUTRAL"></a> GIMBAL_DEVICE_FLAGS_NEUTRAL | `uint32` | 2 | |
| <a id="#GIMBAL_DEVICE_FLAGS_ROLL_LOCK"></a> GIMBAL_DEVICE_FLAGS_ROLL_LOCK | `uint32` | 4 | |
| <a id="#GIMBAL_DEVICE_FLAGS_PITCH_LOCK"></a> GIMBAL_DEVICE_FLAGS_PITCH_LOCK | `uint32` | 8 | |
| <a id="#GIMBAL_DEVICE_FLAGS_YAW_LOCK"></a> GIMBAL_DEVICE_FLAGS_YAW_LOCK | `uint32` | 16 | |
| Назва | Тип | Значення | Опис |
| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | -------- | ---- |
| <a id="#GIMBAL_DEVICE_FLAGS_RETRACT"></a> GIMBAL_DEVICE_FLAGS_RETRACT | `uint32` | 1 | |
| <a id="#GIMBAL_DEVICE_FLAGS_NEUTRAL"></a> GIMBAL_DEVICE_FLAGS_NEUTRAL | `uint32` | 2 | |
| <a id="#GIMBAL_DEVICE_FLAGS_ROLL_LOCK"></a> GIMBAL_DEVICE_FLAGS_ROLL_LOCK | `uint32` | 4 | |
| <a id="#GIMBAL_DEVICE_FLAGS_PITCH_LOCK"></a> GIMBAL_DEVICE_FLAGS_PITCH_LOCK | `uint32` | 8 | |
| <a id="#GIMBAL_DEVICE_FLAGS_YAW_LOCK"></a> GIMBAL_DEVICE_FLAGS_YAW_LOCK | `uint32` | 16 | |
| <a id="#GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME"></a> GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME | `uint32` | 32 | |
| <a id="#GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME"></a> GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME | `uint32` | 64 | |
## Source Message
@@ -48,6 +50,8 @@ uint32 GIMBAL_DEVICE_FLAGS_NEUTRAL = 2
uint32 GIMBAL_DEVICE_FLAGS_ROLL_LOCK = 4
uint32 GIMBAL_DEVICE_FLAGS_PITCH_LOCK = 8
uint32 GIMBAL_DEVICE_FLAGS_YAW_LOCK = 16
uint32 GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME = 32
uint32 GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME = 64
float32[4] q
docs/uk/peripherals/adsb_flarm.md
+18 -10
View File
@@ -18,7 +18,7 @@ PX4 traffic avoidance works with ADS-B or FLARM products that supply transponder
Будь-який з пристроїв може бути підключений до будь-якого вільного/не використаного послідовного порту на контролері польоту.
Most commonly they are connected to `TELEM2` (if this is not being use for some other purpose).
### PingRX
### PingRX Pro
Порт PingRX MAVLink використовує роз'єм-матинг JST ZHR-4 з роз'ємом, як показано нижче.
@@ -29,9 +29,17 @@ Most commonly they are connected to `TELEM2` (if this is not being use for some
| 3 (blk) | Power | +4 to 6V |
| 4 (blk) | GND | GND |
The PingRX comes with connector cable that can be attached directly to the TELEM2 port (DF13-6P) on an [mRo Pixhawk](../flight_controller/mro_pixhawk.md).
The PingRX comes with connector cable that can be attached directly to the `TELEM2` port (DF13-6P) on an [mRo Pixhawk](../flight_controller/mro_pixhawk.md).
Для інших портів або плат, вам доведеться отримати свій власний кабель.
The recommended port configuration for this receiver is:
| Параметр | Recommended Value |
| ------------------------------------------------------------------------------------------------------------------------------------------- | ----------------- |
| [MAV_X_CONFIG](../advanced_config/parameter_reference.md#MAV_1_CONFIG) | `TELEM 2` |
| [MAV_X_MODE](../advanced_config/parameter_reference.md#MAV_1_MODE) | uAvionix |
| [MAV_X_RADIO_CTL](../advanced_config/parameter_reference.md#MAV_1_RADIO_CTL) | Disabled |
## FLARM
FLARM has an on-board DF-13 6 Pin connector that has an identical pinout to the [mRo Pixhawk](../flight_controller/mro_pixhawk.md).
@@ -49,19 +57,19 @@ FLARM has an on-board DF-13 6 Pin connector that has an identical pinout to the
The TX and RX on the flight controller must be connected to the RX and TX on the FLARM, respectively.
:::
## Конфігурація програмного забезпечення
## Конфігурація PX4
### Конфігурація порту
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`).
The recommended configuration for most devices (unless they have device-specific configuration like PingRX) is to connect to `TELEM 2` and [set the parameters](../advanced_config/parameters.md) as shown:
Assuming you have connected the device to the TELEM2 port, [set the parameters](../advanced_config/parameters.md) as shown:
- [MAV_1_CONFIG](../advanced_config/parameter_reference.md#MAV_1_CONFIG) = TELEM 2
- [MAV_1_MODE](../advanced_config/parameter_reference.md#MAV_1_MODE) = Normal
- [MAV_1_RATE](../advanced_config/parameter_reference.md#MAV_1_RATE) = 0 (default sending rate for port).
- [MAV_1_FORWARD](../advanced_config/parameter_reference.md#MAV_1_FORWARD) = Enabled
| Параметр | Recommended Value |
| ------------------------------------------------------------------------------------------------------------------ | ---------------------------------------------------- |
| [MAV_X_CONFIG](../advanced_config/parameter_reference.md#MAV_1_CONFIG) | `TELEM 2` |
| [MAV_X_MODE](../advanced_config/parameter_reference.md#MAV_1_MODE) | Normal |
| [MAV_X_RATE](../advanced_config/parameter_reference.md#MAV_1_RATE) | 0 (default sending rate for port) |
| [MAV_X_FORWARD](../advanced_config/parameter_reference.md#MAV_1_FORWARD) | Enabled |
Перезавантажте пристрій.
docs/uk/ros/raspberrypi_installation.md
+7 -11
View File
@@ -19,25 +19,21 @@ If you want to download packages (e.g. `sudo apt-get install ros-indigo-ros-tuto
Перейдіть до свого catkin робочого простору (наприклад, ~/ros_catkin_ws) та змініть ім'я пакетів.
```sh
$ cd ~/ros_catkin_ws
$ rosinstall_generator ros_tutorials --rosdistro indigo --deps --wet-only --exclude roslisp --tar > indigo-custom_ros.rosinstall
cd ~/ros_catkin_ws
rosinstall_generator ros_tutorials --rosdistro indigo --deps --wet-only --exclude roslisp --tar > indigo-custom_ros.rosinstall
```
Далі, оновіть своє робоче середовище з wstool.
```sh
$ wstool merge -t src indigo-custom_ros.rosinstall
$ wstool update -t src
wstool merge -t src indigo-custom_ros.rosinstall
wstool update -t src
```
Далі (досі у вашому робочому середовищі).
```sh
$ source /opt/ros/indigo/setup.bash
$ source devel/setup.bash
$ catkin_make
source /opt/ros/indigo/setup.bash
source devel/setup.bash
catkin_make
```
docs/uk/ros2/user_guide.md
+1 -1
View File
@@ -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 empty==3.3.4 pyros-genmsg setuptools
pip install --user -U empy==3.3.4 pyros-genmsg setuptools
```
### Setup Micro XRCE-DDS Agent & Client
docs/uk/sensor/index.md
+1 -1
View File
@@ -41,7 +41,7 @@ PX4 _мінімально потребує_ гіроскоп, акселером
Дозволяє отримати більш точне фіксування позиції, ніж просто GPS, і може використовуватися усередині приміщень, коли сигнал GPS недоступний.
- [Тахометри (лічильники обертів)](../sensor/tachometers.md) — Використовується лише для реєстрації.
Інші варіанти включають:
Primarily for OEMs/Manufacturers:
- [Калібрування фабрики IMU/Компасу](../advanced_config/imu_factory_calibration.md) — Збереження налаштувань калібрування в постійну пам'ять.
- [Компенсація Температурних Датчиків](../advanced_config/sensor_thermal_calibration.md) — Компенсувати датчики для змін температури.
docs/uk/sim_gazebo_gz/vehicles.md
+5
View File
@@ -114,6 +114,11 @@ This model has a [gimbal](../advanced/gimbal_control.md) attached to the front w
The gimbal joints uses position control with a kinematic chain ZXY.
According to the file [Gimbal model.sdf file](https://github.com/PX4/PX4-gazebo-models/blob/main/models/gimbal/model.sdf):
- the default horizontal field of view is 2.0 rad ~= 115°
- the default vertical field of view is 0.8848 rad ~= 50.7°
![Quadrotor(x500) with gimbal (Front-facing) in Gazebo](../../assets/simulation/gazebo/vehicles/x500_gimbal.png).
```sh