New Crowdin translations - zh-CN

docs/zh/advanced_config/flight_termination.md

@@ -1,12 +1,33 @@
 # 飞行终止配置
 
-The _Flight termination_ [failsafe action](../config/safety.md#failsafe-actions) may be triggered by a [safety check](../config/safety.md) (e.g. RC Loss, geofence violation, etc. on any vehicle type or in any flight mode), or by the [Failure Detector](../config/safety.md#failure-detector).
+The _Flight termination_ [failsafe action](../config/safety.md#failsafe-actions) irreversibly turns off controllers and sets PWM values to their parameter configured failsafe values.
 
 :::info
-Flight termination may also be triggered from a ground station or companion computer using the MAVLink [MAV_CMD_DO_FLIGHTTERMINATION](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_FLIGHTTERMINATION) command.
-This is sent, for example, when you call the [MAVSDK Action plugin](https://mavsdk.mavlink.io/main/en/cpp/api_reference/classmavsdk_1_1_action.html#classmavsdk_1_1_action_1a47536c4a4bc8367ccd30a92eb09781c5) `terminate()` or `terminate_async()` methods.
+Flight termination differs from the [Kill action](../config/safety.html#kill-switch) in that it is permanent until after reboot.
 :::
 
+:::warning
+This is _not_ an independent _Flight Termination System_.
+如果断电或者自驾仪完全失控，失效保护设备则不会触发。
+:::
+
+## 综述
+
+### Termination Triggers
+
+Termination may be triggered by:
+
+- [Safety checks](../config/safety.md) for RC Loss, geofence violation, and so on (on any vehicle type or in any flight mode).
+- [Failure Detector](../config/safety.md#failure-detector) trigger
+- RC termination switch (mapped to an RC channel using [RC_MAP_TERM_SW](../advanced_config/parameter_reference.md#RC_MAP_TERM_SW)).
+- The MAVLink [MAV_CMD_DO_FLIGHTTERMINATION](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_FLIGHTTERMINATION) MAVLink command from a GCS or companion computer (see [MAVLink Trigger](#mavlink-trigger) below).
+
+飞行终止是无法取消的。
+在飞行终止触发后，您应尽快拔下电池。
+您需要在重启载具或重新上电后才能再次使用。
+
+### Termination Actions
+
 When _Flight termination_ is activated, PX4 simultaneously turns off all controllers and sets all PWM outputs to their failsafe values.
 
 根据所连接的设备，PWM 故障保护输出可以用来完成以下动作：
@@ -17,10 +38,6 @@ When _Flight termination_ is activated, PX4 simultaneously turns off all control
 - 触发一个可充气的装置，如安全气囊。
 - 触发警报。
 
-飞行终止是无法取消的。
-在飞行终止触发后，您应尽快拔下电池。
-您需要在重启载具或重新上电后才能再次使用。
-
 :::tip
 PX4 does not know what safety devices are attached - it just applies a predefined set of PWM values to its outputs.
 :::
@@ -30,11 +47,6 @@ Failsafe values are applied to all outputs on termination.
 无法配置电机或特定安全装置为独立的特定时间（或其他方式）触发。
 :::
 
-:::info
-This is _not_ an independent _Flight Termination System_.
-如果断电或者自驾仪完全失控，失效保护设备则不会触发。
-:::
-
 ## 硬件配置
 
 Any _safety device(s)_ (e.g. a [parachute](../peripherals/parachute.md)) that can be triggered by changing a PWM value can be used, and may be connected to any free PWM port (both MAIN and AUX).
@@ -70,6 +82,17 @@ The [Failure Detector](../config/safety.md#failure-detector) can also (optionall
 
 Finally, set the `PWM_AUX_FAILn` and `PWM_MAIN_FAILn` PWM values for any motors.
 
+:::info
+Flight termination via ATS only works if `drivers/pwm_input` is included in the firmware for your board.
+If not, you need to add it manually to your board configuration using [boardconfig](../hardware/porting_guide_config.md#px4-menuconfig-setup).
+:::
+
+## MAVLink Trigger
+
+The [MAV_CMD_DO_FLIGHTTERMINATION](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_FLIGHTTERMINATION) command can be used to trigger Flight termination from a ground station or companion computer.
+
+This is sent, for example, when you call the [MAVSDK Action plugin](https://mavsdk.mavlink.io/main/en/cpp/api_reference/classmavsdk_1_1_action.html#classmavsdk_1_1_action_1a47536c4a4bc8367ccd30a92eb09781c5) `terminate()` or `terminate_async()` methods.
+
 ## 逻辑图解
 
 下图显示了飞行终止的逻辑流程。