New Crowdin translations - zh-CN

2026-05-27 10:17:45 +08:00 · 2025-07-06 00:15:00 +00:00
parent 8aecc7e588
commit 588fd9d684
163 changed files with 796 additions and 674 deletions
@@ -22,7 +22,6 @@ PX4 支持多轴( [jMAVSim](../sim_jmavsim/index.md)或[Gazebo Classic](../sim_g
 | ---------------------------------------------------------------------------------------------------------------- | --------------- | -------------- | ------- |
 | [HIL Quadcopter X](../airframes/airframe_reference.md#copter_simulation_hil_quadcopter_x)                        | 1002            | Y              | Y       |
 | [HIL Standard VTOL QuadPlane](../airframes/airframe_reference.md#vtol_standard_vtol_hil_standard_vtol_quadplane) | 4001            | Y              |         |
-| [Generic Quadrotor x](../airframes/airframe_reference.md#copter_quadrotor_x_generic_quadcopter) copter           | 4011            | Y              | Y       |

 <a id="simulation_environment"></a>

@@ -34,7 +33,7 @@ The simulator acts as gateway to share MAVLink data between PX4 and _QGroundCont

 :::info
 The simulator can also be connected via UDP if the flight controller has networking support and uses a stable, low-latency connection (e.g. a wired Ethernet connection - WiFi is usually not sufficiently reliable).
-For example, this configuration has been tested with PX4 running on a Raspberry Pi connected via Ethernet to the computer (a startup configuration that includes the command for running jMAVSim can be found [here](https://github.com/PX4/PX4-Autopilot/blob/main/posix-configs/rpi/px4_hil.config)).
+For example, this configuration has been tested with PX4 running on a Raspberry Pi connected via Ethernet to the computer (a startup configuration that includes the command for running jMAVSim can be found in [px4_hil.config](https://github.com/PX4/PX4-Autopilot/blob/main/posix-configs/rpi/px4_hil.config)).
 :::

 The diagram below shows the simulation environment:
@@ -60,34 +59,59 @@ Core modules like commander and sensors have HITL modes at startup that bypass s

 ## 配置 HITL

+## Check if HITL is in Firmware
+
+The module required for HITL ([`pwm_out_sim`](../modules/modules_driver.md#pwm-out-sim)) is not built into all PX4 firmware by default.
+
+To check if the module is present on your Flight Controller:
+
+1. Open QGroundControl
+
+2. Open **Analyze Tools > Mavlink Console**.
+
+3. Type the following command in the console:
+
+   ```sh
+   pwm_out_sim status
+   ```
+
+4. If the returned value is `nsh: pwm_out_sim: command not found`, then you don't have the module installed.
+
+If `pwm_out_sim` is not present you will need to add it to the firmware in order to use HITL simulation.
+
+### Adding HITL modules to the Firmware
+
+Add the following key to the configuration file for your flight controller to include the required module (for an example see [boards/px4/fmu-v6x/default.px4board](https://github.com/PX4/PX4-Autopilot/blob/main/boards/px4/fmu-v6x/default.px4board)).
+Then re-build the firmware and flash it to the board.
+
+```text
+CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
+```
+
+You can alternatively use the following command to launch a GUI configuration tool, and interactively enable them at the path: **modules > Simulation > pwm_out_sim**.
+For example, to update fmu-v6x you would use:
+
+```sh
+make px4_fmu-v6x boardconfig
+```
+
 ### PX4 配置

 1. Connect the autopilot directly to _QGroundControl_ via USB.

-2. 激活 HITL 模式
-
-   1. Open **Setup > Safety** section.
-   2. Enable HITL mode by selecting **Enabled** from the _HITL Enabled_ list:
-
-      ![QGroundControl HITL configuration](../../assets/gcs/qgc_hitl_config.png)
-
-3. 选择机架
-
+2. 选择机架
   1. Open **Setup > Airframes**
   2. Select a [compatible airframe](#compatible_airframe) you want to test.
      Then click **Apply and Restart** on top-right of the _Airframe Setup_ page.

-      ![Select Airframe](../../assets/gcs/qgc_hil_config.png)
-
-4. 如有必要, 校准您的 RC 遥控器 或操纵杆。
-
-5. 设置 UDP
+3. 如有必要, 校准您的 RC 遥控器 或操纵杆。

+4. 设置 UDP
   1. Under the _General_ tab of the settings menu, uncheck all _AutoConnect_ boxes except for **UDP**.

      ![QGC Auto-connect settings for HITL](../../assets/gcs/qgc_hitl_autoconnect.png)

-6. (可选) 配置操纵杆和故障保护。
+5. (可选) 配置操纵杆和故障保护。
   Set the following [parameters](../advanced_config/parameters.md) in order to use a joystick instead of an RC remote control transmitter:

   - [COM_RC_IN_MODE](../advanced_config/parameter_reference.md#COM_RC_IN_MODE) to "Joystick/No RC Checks". 这允许操纵杆输入并禁用 RC 输入检查。