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New Crowdin translations - zh-CN (#25256)
Co-authored-by: Crowdin Bot <support+bot@crowdin.com>
This commit is contained in:
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@@ -194,7 +194,6 @@
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- [Discontinued Autopilots/Vehicles](flight_controller/autopilot_discontinued.md)
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- [Drotek Dropix (FMUv2)](flight_controller/dropix.md)
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- [Omnibus F4 SD](flight_controller/omnibus_f4_sd.md)
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- [BetaFPV Beta75X 2S Brushless Whoop](complete_vehicles_mc/betafpv_beta75x.md)
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- [Bitcraze Crazyflie 2.0 ](complete_vehicles_mc/crazyflie2.md)
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- [Aerotenna OcPoC-Zynq Mini](flight_controller/ocpoc_zynq.md)
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- [CUAV X7](flight_controller/cuav_x7.md)
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@@ -209,8 +208,6 @@
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- [mRo AUAV-X2](flight_controller/auav_x2.md)
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- [NXP RDDRONE-FMUK66 FMU](flight_controller/nxp_rddrone_fmuk66.md)
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- [3DR Pixhawk 1](flight_controller/pixhawk.md)
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- [Snapdragon Flight](flight_controller/snapdragon_flight.md)
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- [Intel® Aero RTF Drone](complete_vehicles_mc/intel_aero.md)
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- [Pixhawk Autopilot Bus (PAB) & Carriers](flight_controller/pixhawk_autopilot_bus.md)
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- [ARK Electronics Pixhawk Autopilot Bus Carrier](flight_controller/ark_pab.md)
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- [Mounting the Flight Controller](assembly/mount_and_orient_controller.md)
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@@ -305,7 +302,6 @@
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- [Zubax Telega](dronecan/zubax_telega.md)
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- [PX4 Sapog ESC Firmware](dronecan/sapog.md)
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- [Holybro Kotleta](dronecan/holybro_kotleta.md)
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- [Zubax Orel](dronecan/zubax_orel.md)
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- [Vertiq](peripherals/vertiq.md)
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- [VESC](peripherals/vesc.md)
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@@ -12,8 +12,6 @@ Moving the compass away from power-carrying cables is the easiest and most effec
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The process is demonstrated for a multicopter, but is equally valid for other vehicle types.
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:::
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<a id="when"></a>
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## 本节补偿方法可用的前提
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只有当下述的全部条件都满足时才建议采用功率补偿：
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@@ -26,8 +24,6 @@ The process is demonstrated for a multicopter, but is equally valid for other ve
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3. 无人机的线缆都是固定的或不会移动的（当通电的线缆能够移动会导致计算出的补偿参数失效）。
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<a id="how"></a>
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## 如何实现罗盘补偿
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1. 确保无人机运行在支持电源补偿的固件版本上（当前的Master版，或v1.11.0之后的版本）。
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@@ -14,9 +14,7 @@ Any subsequent standard calibration will therefore update `TC_*` parameters and
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Releases up to PX4 v1.14, do not support thermal calibration of the magnetometer.
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:::
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<a id="test_setup"></a>
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## 测试设置/最佳实践
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## Test Setup/Best Practice {#test_setup}
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The [calibration procedures](#calibration_procedures) described in the following sections are ideally run in an _environmental chamber_ (a temperature and humidity controlled environment) as the board is heated from the lowest to the highest operating/calibration temperature.
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Before starting the calibration, the board is first _cold soaked_ (cooled to the minimum temperature and allowed to reach equilibrium).
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@@ -46,9 +44,7 @@ The bag/silica is to prevent condensation from forming on the board.
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To check the status of the onboard thermal calibration use the MAVlink console (or NuttX console) to check the reported internal temp from the sensor.
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:::
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<a id="calibration_procedures"></a>
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## 校准过程
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## Calibration Procedures {#calibration_procedures}
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PX4 支持两种校准过程：
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@@ -57,9 +53,7 @@ PX4 支持两种校准过程：
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The offboard approach is more complex and slower, but requires less knowledge of the test setup and is easier to validate.
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<a id="onboard_calibration"></a>
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### 板载校准过程
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### Onboard Calibration Procedure {#onboard_calibration}
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Onboard calibration is run entirely on the device. It require knowledge of the amount of temperature rise that is achievable with the test setup.
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@@ -76,9 +70,7 @@ To perform and onboard calibration:
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9. Perform a 6-point accel calibration via the system console using `commander calibrate accel` or via _QGroundControl_. 如果首次设置电路板，则还需要执行陀螺仪和磁力计校准。
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10. 在任何传感器校准之后的首次飞行之前，电路板必须重新上电，因为校准带来的突然的偏移变化可能会扰乱导航估计器，并且某些参数直到下次启动时才会被使用它们的算法加载。
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<a id="offboard_calibration"></a>
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### 板外校准过程
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### Offboard Calibration Procedure {#offboard_calibration}
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Offboard calibration is run on a development computer using data collected during the calibration test. This method provides a way to visually check the quality of data and curve fit.
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@@ -114,9 +106,7 @@ To perform an offboard calibration:
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12. Power the board and perform a normal accelerometer sensor calibration using _QGroundControl_. 重要的是，此步骤在飞控板处于校准温度范围内进行。 此步骤后的首次飞行之前，应重新启动电路板，因为突然的偏置变化会扰乱导航估计器，并且某些参数直到下次启动时才会被使用它们的算法加载。
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<a id="implementation"></a>
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## 实施细节
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## Implementation Detail {#implementation}
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Calibration refers to the process of measuring the change in sensor value across a range of internal temperatures, and performing a polynomial fit on the data to calculate a set of coefficients (stored as parameters) that can be used to correct the sensor data. Compensation refers to the process of using the internal temperature to calculate an offset that is subtracted from the sensor reading to correct for changing offset with temperature
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@@ -145,7 +135,6 @@ Where:
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- `instance`: is an integer 0,1 or 2 allowing for calibration of up to three sensors of the same `type`.
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- `cal_name`: is a string identifying the calibration value. 它具有可能的值如下：
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- `Xn`: Polynomial coefficient where n is the order of the coefficient, e.g. `X3 * (temperature - reference temperature)**3`.
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- `SCL`: scale factor.
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- `TREF`: reference temperature (deg C).
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@@ -445,9 +445,7 @@ Airspeed data will be used when it exceeds the threshold set by a positive value
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Fixed-wing platforms can take advantage of an assumed sideslip observation of zero to improve wind speed estimation and also enable wind speed estimation without an airspeed sensor.
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This is enabled by setting the [EKF2_FUSE_BETA](../advanced_config/parameter_reference.md#EKF2_FUSE_BETA) parameter to 1.
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<a id="mc_wind_estimation_using_drag"></a>
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### 基于阻力比力的多旋翼风场估计
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### Multicopter Wind Estimation using Drag Specific Forces {#mc_wind_estimation_using_drag}
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多旋翼平台可以利用沿 X 和 Y 机体轴的空速和阻力之间的关系来估计风速的北/东分量。
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This can be enabled using [EKF2_DRAG_CTRL](../advanced_config/parameter_reference.md#EKF2_DRAG_CTRL).
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@@ -56,9 +56,7 @@ A flow diagram showing the phases can be found in [landing phases flow Diagram](
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Precision landing can be used in missions, during the landing phase in _Return mode_, or by entering the _Precision Land_ mode.
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<a id="mission"></a>
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### Mission Precision Landing
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### Mission Precision Landing {#mission}
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Precision landing can be initiated as part of a [mission](../flying/missions.md) using [MAV_CMD_NAV_LAND](https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_LAND) with `param2` set appropriately:
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@@ -110,9 +110,7 @@ The other radio is connected to your ground station computer or mobile device (u
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<a id="sd_card"></a>
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## SD 卡
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## SD Card (Optional) {#sd_card}
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An [SD card](../getting_started/px4_basic_concepts.md#sd-cards-removable-memory) is inserted in the factory (you do not need to do anything).
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@@ -110,9 +110,7 @@ The other radio is connected to your ground station computer or mobile device (u
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<a id="sd_card"></a>
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## SD 卡
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## SD Card (Optional) {#sd_card}
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An [SD card](../getting_started/px4_basic_concepts.md#sd-cards-removable-memory) is inserted in the factory (you do not need to do anything).
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@@ -147,9 +147,7 @@ The vehicle-based radio should be connected to the **TELEM1** port as shown belo
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<a id="sd_card"></a>
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## SD 卡
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## SD Card (Optional) {#sd_card}
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SD cards are highly recommended as they are needed to [log and analyse flight details](../getting_started/flight_reporting.md), to run missions, and to use UAVCAN-bus hardware.
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Insert the card (included in Pixhawk 4 kit) into _Pixhawk 4_ as shown below.
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@@ -193,4 +191,4 @@ QuadPlane specific configuration is covered here: [QuadPlane VTOL Configuration]
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- [Pixhawk 4](../flight_controller/pixhawk4.md) (Overview page)
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- [Pixhawk 4 Technical Data Sheet](https://github.com/PX4/PX4-Autopilot/blob/main/docs/assets/flight_controller/pixhawk4/pixhawk4_technical_data_sheet.pdf)
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- [Pixhawk 4 Pinouts](https://cdn.shopify.com/s/files/1/0604/5905/7341/files/Pixhawk4-Pinouts.pdf) (Holybro)
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- [Pixhawk 4 Quick Start Guide (Holybro)](https://holybro.com/manual/Pixhawk4-quickstartguide.pdf)
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- [Pixhawk 4 Quick Start Guide (Holybro)](https://cdn.shopify.com/s/files/1/0604/5905/7341/files/Pixhawk4-quickstartguide.pdf)
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@@ -52,7 +52,7 @@ You can press the safety switch again to enable safety and disarm the vehicle (t
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## 电源
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Connect the output of the _PM02D Power Module_ (PM board) that comes with the Standard Set to one of the **POWER** port of _Pixhawk 5X_ using the 6-wire cable.
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The PM02D and Power ports on the Pixhawk 5X uses the 6 circuit [2.00mm Pitch CLIK-Mate Wire-to-Board PCB Receptacle](https://www.molex.com/molex/products/part-detail/pcb_receptacles/5024430670) & [Housing](https://www.molex.com/molex/products/part-detail/crimp_housings/5024390600).
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The PM02D and Power ports on the Pixhawk 5X uses the 6 circuit [2.00mm Pitch CLIK-Mate Wire-to-Board PCB Receptacle](https://www.molex.com/en-us/products/part-detail/5024430670) & [Housing](https://www.molex.com/molex/products/part-detail/crimp_housings/5024390600).
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The PM02D Power Module supports **2~6S** battery, the board input should be connected to your LiPo battery. Note that the PM board does not supply power to the + and - pins of **FMU PWM OUT** and **I/O PWM OUT**.
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@@ -65,7 +65,7 @@ You can press the safety switch again to enable safety and disarm the vehicle (t
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## 电源
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Connect the output of the _PM02D Power Module_ (PM board) that comes with the Standard Set to one of the **POWER** port of _Pixhawk 6X_ using the 6-wire cable.
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The PM02D and Power ports on the Pixhawk 6X uses the 6 circuit [2.00mm Pitch CLIK-Mate Wire-to-Board PCB Receptacle](https://www.molex.com/molex/products/part-detail/pcb_receptacles/5024430670) & [Housing](https://www.molex.com/molex/products/part-detail/crimp_housings/5024390600).
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The PM02D and Power ports on the Pixhawk 6X uses the 6 circuit [2.00mm Pitch CLIK-Mate Wire-to-Board PCB Receptacle](https://www.molex.com/en-us/products/part-detail/5024430670) & [Housing](https://www.molex.com/molex/products/part-detail/crimp_housings/5024390600).
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The PM02D Power Module supports **2~6S** battery, the board input should be connected to your LiPo battery. Note that the PM board does not supply power to the + and - pins of **FMU PWM OUT** and **I/O PWM OUT**.
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@@ -118,7 +118,7 @@ The camera trigger driver supports several backends - each for a specific applic
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| 1 | Enables the GPIO interface. The AUX outputs are pulsed high or low (depending on the `TRIG_POLARITY` parameter) every [TRIG_INTERVAL](../advanced_config/parameter_reference.md#TRIG_INTERVAL) duration. This can be used to trigger most standard machine vision cameras directly. Note that on PX4FMU series hardware (Pixhawk, Pixracer, etc.), the signal level on the AUX pins is 3.3v. |
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| 2 | Enables the Seagull MAP2 interface. This allows the use of the [Seagull MAP2](https://www.seagulluav.com/product/seagull-map2/) to interface to a multitude of supported cameras. Pin/Channel 1 (camera trigger) and Pin/Channel 2 (mode selector) of the MAP2 should be connected to the lower and higher mapped [camera trigger pins](#trigger-output-pin-configuration). Using Seagull MAP2, PX4 also supports automatic power control and keep-alive functionalities of Sony Multiport cameras like the QX-1. |
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| 3 | This mode enables MAVLink cameras that used the legacy [MAVLink interface listed above](#mavlink-command-interface). The messages are automatically emitted on the MAVLink `onboard` channel when found in missions. PX4 emits the `CAMERA_TRIGGER` MAVLink message when a camera is triggered, by default to the `onboard` channel (if this is not used, custom stream will need to be enabled). [Simple MAVLink cameras](../camera/mavlink_v1_camera.md) explains this use case in more detail. |
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| 4 | Enables the generic PWM interface. This allows the use of [infrared triggers](https://hobbyking.com/en_us/universal-remote-control-infrared-shutter-ir-rc-1g.html) or servos to trigger your camera. |
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| 4 | Enables the generic PWM interface. This allows the use of [infrared triggers](https://www.seagulluav.com/product/seagull-ir/) or servos to trigger your camera. |
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### Trigger Output Pin Configuration
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@@ -54,8 +54,8 @@ They are in no way guaranteed to be plug and play with your companion computer.
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Popular stereo cameras include:
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- [Intel® RealSense™ Depth Camera D435](https://www.intelrealsense.com/depth-camera-d435/)
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- [Intel® RealSense™ Depth Camera D415](https://www.intelrealsense.com/depth-camera-d415/)
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- [Intel® RealSense™ Depth Camera D435](https://realsenseai.com/stereo-depth-cameras/stereo-depth-camera-d435/)
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- [Intel® RealSense™ Depth Camera D415](https://realsenseai.com/stereo-depth-cameras/stereo-depth-camera-d415/)
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- [DUO MLX](https://duo3d.com/product/duo-minilx-lv1)
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### VIO Cameras/Sensors
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@@ -38,7 +38,7 @@ The main hardware documentation is here: https://wiki.bitcraze.io/projects:crazy
|
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- [Crazyflie 2.0](https://store.bitcraze.io/collections/kits/products/crazyflie-2-0).
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- [Crazyradio PA 2.4 GHz USB dongle](https://store.bitcraze.io/products/crazyradio-pa): used for wireless communication between _QGroundControl_ and Crazyflie 2.0.
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- [Breakout deck](https://store.bitcraze.io/collections/decks/products/breakout-deck): breakout expansion board for connecting new peripherals.
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- [Flow deck](https://store.bitcraze.io/collections/decks/products/flow-deck): contains an optical flow sensor to measure movements of the ground and a distance sensor to measure the distance to the ground.
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- [Flow deck](https://store.bitcraze.io/products/flow-deck): contains an optical flow sensor to measure movements of the ground and a distance sensor to measure the distance to the ground.
|
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This will be useful for precise altitude and position control.
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- [Z-ranger deck](https://store.bitcraze.io/collections/decks/products/z-ranger-deck) has the same distance sensor as the Flow deck to measure the distance to the ground.
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This will be useful for precise altitude control.
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@@ -234,7 +234,7 @@ This is the rate at which Joystick commands are sent from QGroundControl to Craz
|
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Crazyflie 2.0 is able to fly with precise control in [Stabilized mode](../flight_modes_mc/manual_stabilized.md), [Altitude mode](../flight_modes_mc/altitude.md) and [Position mode](../flight_modes_mc/position.md).
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- You will need the [Z-ranger deck](https://store.bitcraze.io/collections/decks/products/z-ranger-deck) to fly in _Altitude_ mode.
|
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If you also want to fly in the _Position_ mode, it is recommended you buy the [Flow deck](https://store.bitcraze.io/collections/decks/products/flow-deck) which also has the integrated Z-ranger sensor.
|
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If you also want to fly in the _Position_ mode, it is recommended you buy the [Flow deck](https://store.bitcraze.io/products/flow-deck) which also has the integrated Z-ranger sensor.
|
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- The onboard barometer is highly susceptible to any external wind disturbances including those created by Crazyflie's own propellers. Hence, we isolated the barometer with a piece of foam, and then mounted the distance sensor on top of it as shown below:
|
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@@ -266,7 +266,7 @@ Since the onboard barometer is highly susceptible to wind disturbances created b
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|
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## Position Control
|
||||
|
||||
With [Flow deck](https://store.bitcraze.io/collections/decks/products/flow-deck), you can fly Crazyflie 2.0 in _Position mode_.
|
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With [Flow deck](https://store.bitcraze.io/products/flow-deck), you can fly Crazyflie 2.0 in _Position mode_.
|
||||
Unlike [PX4FLOW](../sensor/px4flow.md), the flow deck does not house a gyro, hence the onboard gyro is used for flow fusion to find the local position estimates.
|
||||
Moreover, the flow deck shares the same SPI bus as the SD card deck, therefore logging at high rate on SD card is not recommended when flying in _Position mode_.
|
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|
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|
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@@ -12,7 +12,7 @@ Crazyflie 2.1 is only able to fly in [Stabilized mode](../flight_modes_mc/manual
|
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:::
|
||||
|
||||
The Crazyflie line of micro quads was created by Bitcraze AB.
|
||||
An overview of the Crazyflie 2.1 can be [found here](https://www.bitcraze.io/products/crazyflie-2-1/).
|
||||
An overview of the Crazyflie 2.1 can be [found here](https://www.bitcraze.io/products/crazyflie-2-1-brushless/).
|
||||
|
||||
|
||||
|
||||
@@ -42,7 +42,7 @@ Useful peripheral hardware includes:
|
||||
|
||||
- [Crazyradio PA 2.4 GHz USB dongle](https://store.bitcraze.io/products/crazyradio-pa): Wireless communication between _QGroundControl_ and Crazyflie 2.0
|
||||
- [Breakout deck](https://store.bitcraze.io/collections/decks/products/breakout-deck): Breakout expansion board for connecting new peripherals.
|
||||
- [Flow deck v2](https://store.bitcraze.io/collections/decks/products/flow-deck-v2): Optical flow sensor and a distance sensor for altitude and position control.
|
||||
- [Flow deck v2](https://store.bitcraze.io/products/flow-deck-v2): Optical flow sensor and a distance sensor for altitude and position control.
|
||||
- [Z-ranger deck v2](https://store.bitcraze.io/collections/decks/products/z-ranger-deck-v2): Distance sensor for altitude control (same sensor as the Flow deck).
|
||||
- [Multi-ranger deck](https://store.bitcraze.io/collections/decks/products/multi-ranger-deck) Multi-direction object detection
|
||||
- [Buzzer deck](https://store.bitcraze.io/collections/decks/products/buzzer-deck) Audio feedback on system events, like low battery or charging completed.
|
||||
|
||||
@@ -46,7 +46,7 @@ PX4将这个转换逻辑区分开，这个逻辑被称为从姿态/角速率控
|
||||
The driver defines a parameter prefix, e.g. `PWM_MAIN` that the library then uses for configuration.
|
||||
Its main task is to select from the input topics and assign the right data to the outputs based on the user set `<param_prefix>_FUNCx` parameter values.
|
||||
For example if `PWM_MAIN_FUNC3` is set to **Motor 2**, the 3rd output is set to the 2nd motor from `actuator_motors`.
|
||||
- output functions are defined under [src/lib/mixer_module/output_functions.yaml](https://github.com/PX4/PX4-Autopilot/tree/main/src/lib/mixer_module/output_functions.yaml).
|
||||
- output functions are defined under [src/lib/mixer_module/output_functions.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/lib/mixer_module/output_functions.yaml).
|
||||
- if you want to control an output from MAVLink, set the relevant output function to **Offboard Actuator Set x**, and then send the [MAV_CMD_DO_SET_ACTUATOR](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_SET_ACTUATOR) MAVLink command.
|
||||
|
||||
## 添加新构型或输出函数
|
||||
|
||||
@@ -379,7 +379,7 @@ The following functions can only be applied to FMU outputs:
|
||||
Enabled when [`PPS_CAP_ENABLE==0`](../advanced_config/parameter_reference.md#PPS_CAP_ENABLE)
|
||||
|
||||
:::info
|
||||
The functions are defined in source at [/src/lib/mixer_module/output_functions.yaml](https://github.com/PX4/PX4-Autopilot/tree/main/src/lib/mixer_module/output_functions.yaml).
|
||||
The functions are defined in source at [/src/lib/mixer_module/output_functions.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/lib/mixer_module/output_functions.yaml).
|
||||
This list is correct at PX4 v1.15.
|
||||
:::
|
||||
|
||||
|
||||
@@ -69,7 +69,7 @@ The video below shows most of the calibration process (it uses an older version
|
||||
|
||||
## 技术支持
|
||||
|
||||
If you need help with the configuration you can ask for help on the [QGroundControl Support forum](https://discuss.px4.io//c/qgroundcontrol/qgroundcontrol-usage).
|
||||
If you need help with the configuration you can ask for help on the [QGroundControl Support forum](https://discuss.px4.io/c/qgroundcontrol/qgroundcontrol-usage/18).
|
||||
|
||||
## See Also
|
||||
|
||||
|
||||
@@ -64,7 +64,7 @@ The derivative term (**D**) is on the feedback path in order to avoid an effect
|
||||
:::tip
|
||||
有关详细信息，请参阅︰
|
||||
|
||||
- [Not all PID controllers are the same](https://www.controleng.com/articles/not-all-pid-controllers-are-the-same/) (www.controleng.com)
|
||||
- [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)
|
||||
|
||||
:::
|
||||
|
||||
@@ -104,9 +104,9 @@ The debug port definition includes the following solder pads (on board next to c
|
||||
| 2 | GPIO1 | +3.3V |
|
||||
| 3 | GPIO2 | +3.3V |
|
||||
|
||||
The socket is a _6-pin JST SH_ - Digikey number: [BM06B-SRSS-TBT(LF)(SN)](https://www.digikey.com/products/en?keywords=455-2875-1-ND) (vertical mount), [SM06B-SRSS-TBT(LF)(SN)](https://www.digikey.com/products/en?keywords=455-1806-1-ND)(side mount).
|
||||
The socket is a _6-pin JST SH_ - Digikey number: [BM06B-SRSS-TBT(LF)(SN)](https://www.digikey.com/en/products/detail/jst-sales-america-inc/BM06B-SRSS-TBT/1785724) (vertical mount), [SM06B-SRSS-TBT(LF)(SN)](https://www.digikey.com/en/products/detail/jst-sales-america-inc/SM06B-SRSS-TB/926712) (side mount).
|
||||
|
||||
You can connect to the debug port using a [cable like this one](https://www.digikey.com/products/en?keywords=A06SR06SR30K152A).
|
||||
You can connect to the debug port using a [cable like this one](https://www.digikey.com/en/products/detail/jst-sales-america-inc/A06SR06SR30K152A/6009379).
|
||||
|
||||
|
||||
|
||||
@@ -134,7 +134,7 @@ The pinout is as shown below (pins required for debugging are bold):
|
||||
|
||||
The GPIO1/2 pins are free pins that can be used to generate signals in software for timing analysis with a logic analyzer.
|
||||
|
||||
The socket is a _10-pin JST SH_ - Digikey number: [BM10B-SRSS-TB(LF)(SN)](https://www.digikey.com/products/en?keywords=455-1796-2-ND) (vertical mount) or [SM10B-SRSS-TB(LF)(SN)](https://www.digikey.com/products/en?keywords=455-1810-2-ND) (side mount).
|
||||
The socket is a _10-pin JST SH_ - Digikey number: [BM10B-SRSS-TB(LF)(SN)](https://www.digikey.com/en/products/detail/jst-sales-america-inc/BM10B-SRSS-TB/926702) (vertical mount) or [SM10B-SRSS-TB(LF)(SN)](https://www.digikey.com/en/products/detail/jst-sales-america-inc/BM10B-SRSS-TB/926702) (side mount).
|
||||
|
||||
You can connect to the debug port using a [cable like this one](https://www.digikey.com/products/en?keywords=A10SR10SR30K203A).
|
||||
|
||||
|
||||
@@ -26,7 +26,7 @@ The recommended process for developing a new frame configuration is:
|
||||
2. Configure the [geometry and actuator outputs](../config/actuators.md).
|
||||
3. Perform other [basic configuration](../config/index.md).
|
||||
4. Tune the vehicle.
|
||||
5. Run the [`param show-for-airframe`](../modules/modules_command.md#param) console command to list the parameter difference compared to the original generic airfame.
|
||||
5. Run the [`param show-for-airframe`](../modules/modules_command.md#param) console command to list the parameter difference compared to the original generic airframe.
|
||||
|
||||
Once you have the parameters you can create a new frame configuration file by copying the configuration file for the generic configuration, and appending the new parameters.
|
||||
|
||||
@@ -39,7 +39,7 @@ To add a frame configuration to firmware:
|
||||
1. Create a new config file in the [init.d/airframes](https://github.com/PX4/PX4-Autopilot/tree/main/ROMFS/px4fmu_common/init.d/airframes) folder.
|
||||
- Give it a short descriptive filename and prepend the filename with an unused autostart ID (for example, `1033092_superfast_vtol`).
|
||||
- Update the file with configuration parameters and apps (see section above).
|
||||
2. Add the name of the new frame config file to the [CMakeLists.txt](https://github.com/PX4/PX4-Autopilot/blob/main/ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt) in the relevant section for the type of vehicle
|
||||
2. Add the name of the new frame config file to the [CMakeLists.txt](https://github.com/PX4/PX4-Autopilot/blob/main/ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt) in the relevant section for the type of vehicle.
|
||||
3. [Build and upload](../dev_setup/building_px4.md) the software.
|
||||
|
||||
## How to add a Configuration to an SD Card
|
||||
@@ -65,6 +65,18 @@ The configuration file consists of several main blocks:
|
||||
New frame configuration files are only automatically added to the build system after a clean build (run `make clean`).
|
||||
:::
|
||||
|
||||
## Force Reset of Airframe Parameters on Update
|
||||
|
||||
To force a reset to the airframe defaults for all users of a specific airframe during update, increase the `PARAM_DEFAULTS_VER` variable in the airframe configuration.
|
||||
It starts at `1` in [rcS](https://github.com/PX4/PX4-Autopilot/blob/main/ROMFS/px4fmu_common/init.d/rcS#L40).
|
||||
Add `set PARAM_DEFAULTS_VER 2` in your airframe file, increasing the value with each future reset needed.
|
||||
|
||||
This value is compared to [SYS_PARAM_VER](https://github.com/PX4/PX4-Autopilot/pull/advanced_config/parameter_reference.md#SYS_PARAM_VER) during PX4 updates.
|
||||
If different, user-customized parameters are reset to defaults.
|
||||
|
||||
Note that system parameters primarily include those related to the vehicle airframe configuration.
|
||||
Parameters such as accumulating flight hours, RC and sensor calibrations, are preserved.
|
||||
|
||||
### Example - Generic Quadcopter Frame Config
|
||||
|
||||
The configuration file for a generic Quad X copter is shown below ([original file here](https://github.com/PX4/PX4-Autopilot/blob/main/ROMFS/px4fmu_common/init.d/airframes/4001_quad_x)).
|
||||
|
||||
@@ -26,7 +26,6 @@ Omissions:
|
||||
|
||||
- Simulation: Gazebo and ROS are not supported.
|
||||
- Only NuttX and JMAVSim/SITL builds are supported.
|
||||
- [Known problems](https://github.com/orgs/PX4/projects/6) (Also use to report issues).
|
||||
|
||||
### Shell Script Installation
|
||||
|
||||
@@ -95,7 +94,7 @@ The toolchain gets maintained and hence these instructions might not cover every
|
||||
|
||||
:::
|
||||
|
||||
6. Write up or copy the **batch scripts** [`run-console.bat`](https://github.com/MaEtUgR/PX4Toolchain/blob/master/run-console.bat) and [`setup-environment.bat`](https://github.com/PX4/PX4-windows-toolchain/blob/master/toolchain/scripts/setup-environment.bat).
|
||||
6. Write up or copy the **batch scripts** [`run-console.bat`](https://github.com/PX4/PX4-windows-toolchain/blob/master/run-console.bat) and [`setup-environment.bat`](https://github.com/PX4/PX4-windows-toolchain/blob/master/toolchain/scripts/setup-environment.bat).
|
||||
|
||||
The reason to start all the development tools through the prepared batch script is they preconfigure the starting program to use the local, portable Cygwin environment inside the toolchain's folder.
|
||||
This is done by always first calling the script [**setup-environment.bat**](https://github.com/PX4/PX4-windows-toolchain/blob/master/toolchain/scripts/setup-environment.bat) and the desired application like the console after that.
|
||||
@@ -111,11 +110,11 @@ The toolchain gets maintained and hence these instructions might not cover every
|
||||
```
|
||||
|
||||
::: info
|
||||
That's what [cygwin64/install-cygwin-python-packages.bat](https://github.com/MaEtUgR/PX4Toolchain/blob/master/toolchain/cygwin64/install-cygwin-python-packages.bat) does.
|
||||
That's what [cygwin64/install-cygwin-python-packages.bat](https://github.com/PX4/PX4-windows-toolchain/blob/master/toolchain/cygwin64/install-cygwin-python-packages.bat) does.
|
||||
|
||||
:::
|
||||
|
||||
8. Download the [**ARM GCC compiler**](https://developer.arm.com/open-source/gnu-toolchain/gnu-rm/downloads) as zip archive of the binaries for Windows and unpack the content to the folder `C:\PX4\toolchain\gcc-arm`.
|
||||
8. Download the [**ARM GCC compiler**](https://developer.arm.com/Tools%20and%20Software/GNU%20Toolchain) as zip archive of the binaries for Windows and unpack the content to the folder `C:\PX4\toolchain\gcc-arm`.
|
||||
|
||||
::: info
|
||||
This is what the toolchain does in: [gcc-arm/install-gcc-arm.bat](https://github.com/PX4/PX4-windows-toolchain/blob/master/toolchain/gcc-arm/install-gcc-arm.bat).
|
||||
@@ -124,7 +123,7 @@ The toolchain gets maintained and hence these instructions might not cover every
|
||||
|
||||
9. Install the JDK:
|
||||
|
||||
- Download Java 14 from [Oracle](https://www.oracle.com/java/technologies/downloads/) or [AdoptOpenJDK](https://adoptopenjdk.net/).
|
||||
- Download Java 14 from [Oracle](https://www.oracle.com/java/technologies/downloads/)
|
||||
- Because sadly there is no portable archive containing the binaries directly you have to install it.
|
||||
- Find the binaries and move/copy them to **C:\PX4\toolchain\jdk**.
|
||||
- You can uninstall the Kit from your Windows system again, we only needed the binaries for the toolchain.
|
||||
|
||||
@@ -12,7 +12,7 @@ Order this module from:
|
||||
|
||||
## Hardware Specifications
|
||||
|
||||
- [Open Source Schematic and BOM](https://github.com/ARK-Electronics/ARK_MosaicX5_GPS)
|
||||
- [Open Source Schematic and BOM](https://github.com/ARK-Electronics/ARK_MOSAIC-X5_GPS)
|
||||
- 传感器
|
||||
- [Septentrio Mosaic-X5 GPS](https://www.septentrio.com/en/products/gnss-receivers/gnss-receiver-modules/mosaic-x5)
|
||||
- Triple Band L1/L2/L5
|
||||
|
||||
@@ -9,7 +9,7 @@ It is recommended for use in large commercial vehicles, but might also be used f
|
||||
|
||||
## 购买渠道
|
||||
|
||||
- [CUAV store](https://store.cuav.net/index.php)
|
||||
- [CUAV store](https://store.cuav.net/)
|
||||
- [CUAV aliexpress ](https://www.aliexpress.com/item/4000369700535.html)
|
||||
|
||||
## Hardware Specifications
|
||||
|
||||
@@ -4,7 +4,6 @@ PX4 supports DroneCAN compliant ESCs.
|
||||
For more information, see the following articles for specific hardware/firmware:
|
||||
|
||||
- [PX4 Sapog ESC Firmware](sapog.md)
|
||||
- [Zubax Orel 20/21](zubax_orel.md)
|
||||
- [Holybro Kotleta 20](holybro_kotleta.md)
|
||||
- [Zubax Telega](zubax_telega.md)
|
||||
- [Vertiq](../peripherals/vertiq.md) (larger modules)
|
||||
|
||||
@@ -140,8 +140,8 @@ Sensor parameters may not exist (be visible in QGC) until you have enabled the a
|
||||
For example, [SENS_FLOW_MINHGT](../advanced_config/parameter_reference.md#SENS_FLOW_MINHGT) does not exist until [UAVCAN_SUB_FLOW](../advanced_config/parameter_reference.md#UAVCAN_SUB_FLOW) is enabled.
|
||||
:::
|
||||
|
||||
For example, to use a connected DroneCAN smart battery you would enable the [UAVCAN_SUB_BAT](../advanced_config/parameter_reference.md#UAVCAN_SUB_BAT) parameter, which would subscribe PX4 to receive [BatteryInfo](https://dronecan.github.io/Specification/1._Introduction//7._List_of_standard_data_types/#batteryinfo) DroneCAN messages.
|
||||
If using a peripheral that needs to know if PX4 is armed, you would need to set the [UAVCAN_PUB_ARM](../advanced_config/parameter_reference.md#UAVCAN_PUB_ARM) parameter so that PX4 starts publishing [ArmingStatus](https://dronecan.github.io/Specification/1._Introduction//7._List_of_standard_data_types/#armingstatus) messages.
|
||||
For example, to use a connected DroneCAN smart battery you would enable the [UAVCAN_SUB_BAT](../advanced_config/parameter_reference.md#UAVCAN_SUB_BAT) parameter, which would subscribe PX4 to receive [BatteryInfo](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#batteryinfo) DroneCAN messages.
|
||||
If using a peripheral that needs to know if PX4 is armed, you would need to set the [UAVCAN_PUB_ARM](../advanced_config/parameter_reference.md#UAVCAN_PUB_ARM) parameter so that PX4 starts publishing [ArmingStatus](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#armingstatus) messages.
|
||||
|
||||
The parameter names are prefixed with `UAVCAN_SUB_` and `UAVCAN_PUB_` to indicate whether they enable PX4 subscribing or publishing.
|
||||
The remainder of the name indicates the specific message/feature being set.
|
||||
@@ -165,7 +165,7 @@ The DroneCAN sensor parameters/subscriptions that you can enable are (in PX4 v1.
|
||||
- [UAVCAN_SUB_DPRES](../advanced_config/parameter_reference.md#UAVCAN_SUB_DPRES): Differential pressure
|
||||
- [UAVCAN_SUB_FLOW](../advanced_config/parameter_reference.md#UAVCAN_SUB_FLOW): Optical flow
|
||||
- [UAVCAN_SUB_GPS](../advanced_config/parameter_reference.md#UAVCAN_SUB_GPS): GPS
|
||||
- [UAVCAN_SUB_GPS_R](../advanced_config/parameter_reference.md#UAVCAN_SUB_GPS_R)<Badge type="tip" text="PX4 v1.15" />: Subscribes to GNSS relative message ([RelPosHeading](https://dronecan.github.io/Specification/1._Introduction//7._List_of_standard_data_types/#relposheading)).
|
||||
- [UAVCAN_SUB_GPS_R](../advanced_config/parameter_reference.md#UAVCAN_SUB_GPS_R)<Badge type="tip" text="PX4 v1.15" />: Subscribes to GNSS relative message ([RelPosHeading](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#relposheading)).
|
||||
Only used for logging in PX4 v1.15.
|
||||
- [UAVCAN_SUB_HYGRO](../advanced_config/parameter_reference.md#UAVCAN_SUB_HYGRO): Hygrometer
|
||||
- [UAVCAN_SUB_ICE](../advanced_config/parameter_reference.md#UAVCAN_SUB_ICE): Internal combustion engine (ICE).
|
||||
@@ -201,15 +201,15 @@ Position of rover is established using RTCM messages from the RTK base module (t
|
||||
PX4 DroneCAN parameters:
|
||||
|
||||
- [UAVCAN_PUB_RTCM](../advanced_config/parameter_reference.md#UAVCAN_PUB_RTCM):
|
||||
- Makes PX4 publish RTCM messages ([RTCMStream](https://dronecan.github.io/Specification/1._Introduction//7._List_of_standard_data_types/#rtcmstream)) to the bus (which it gets from the RTK base module via QGC).
|
||||
- Makes PX4 publish RTCM messages ([RTCMStream](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#rtcmstream)) to the bus (which it gets from the RTK base module via QGC).
|
||||
|
||||
Rover module parameters (also [set using QGC](#qgc-cannode-parameter-configuration)):
|
||||
|
||||
- [CANNODE_SUB_RTCM](../advanced_config/parameter_reference.md#CANNODE_SUB_RTCM) tells the rover that it should subscribe to [RTCMStream](https://dronecan.github.io/Specification/1._Introduction//7._List_of_standard_data_types/#rtcmstream) RTCM messages on the bus (from the moving base).
|
||||
- [CANNODE_SUB_RTCM](../advanced_config/parameter_reference.md#CANNODE_SUB_RTCM) tells the rover that it should subscribe to [RTCMStream](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#rtcmstream) RTCM messages on the bus (from the moving base).
|
||||
|
||||
:::info
|
||||
You could instead use [UAVCAN_PUB_MBD](../advanced_config/parameter_reference.md#UAVCAN_PUB_MBD) and [CANNODE_SUB_MBD](../advanced_config/parameter_reference.md#CANNODE_SUB_MBD), which also publish RTCM messages (these are newer).
|
||||
Using the [RTCMStream](https://dronecan.github.io/Specification/1._Introduction//7._List_of_standard_data_types/#rtcmstream) message means that you can implement moving base (see below) at the same time.
|
||||
Using the [RTCMStream](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#rtcmstream) message means that you can implement moving base (see below) at the same time.
|
||||
:::
|
||||
|
||||
##### Rover and Moving Base
|
||||
@@ -219,8 +219,8 @@ In this setup the vehicle has a _moving base_ RTK GPS and a _rover_ RTK GPS.
|
||||
|
||||
These parameters can be [set on moving base and rover RTK CAN nodes](#qgc-cannode-parameter-configuration), respectively:
|
||||
|
||||
- [CANNODE_PUB_MBD](../advanced_config/parameter_reference.md#CANNODE_PUB_MBD) causes a moving base GPS unit to publish [MovingBaselineData](https://dronecan.github.io/Specification/1._Introduction//7._List_of_standard_data_types/#movingbaselinedata)RTCM messages onto the bus (for the rover)
|
||||
- [CANNODE_SUB_MBD](../advanced_config/parameter_reference.md#CANNODE_SUB_MBD) tells the rover that it should subscribe to [MovingBaselineData](https://dronecan.github.io/Specification/1._Introduction//7._List_of_standard_data_types/#movingbaselinedata) RTCM messages on the bus (from the moving base).
|
||||
- [CANNODE_PUB_MBD](../advanced_config/parameter_reference.md#CANNODE_PUB_MBD) causes a moving base GPS unit to publish [MovingBaselineData](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#movingbaselinedata)RTCM messages onto the bus (for the rover)
|
||||
- [CANNODE_SUB_MBD](../advanced_config/parameter_reference.md#CANNODE_SUB_MBD) tells the rover that it should subscribe to [MovingBaselineData](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#movingbaselinedata) RTCM messages on the bus (from the moving base).
|
||||
|
||||
For PX4 you will also need to set [GPS_YAW_OFFSET](../advanced_config/parameter_reference.md#GPS_YAW_OFFSET) to indicate the relative position of the moving base and rover: 0 if your Rover is in front of your Moving Base, 90 if Rover is right of Moving Base, 180 if Rover is behind Moving Base, or 270 if Rover is left of Moving Base.
|
||||
|
||||
@@ -270,7 +270,7 @@ If the rangefinder is connected via DroneCAN (whether inbuilt or separate), you
|
||||
|
||||
PX4 DroneCAN parameters:
|
||||
|
||||
- [UAVCAN_PUB_ARM](../advanced_config/parameter_reference.md#UAVCAN_PUB_ARM) ([Arming Status](https://dronecan.github.io/Specification/1._Introduction//7._List_of_standard_data_types/#armingstatus)): Publish when using DroneCAN components that require the PX4 arming status as a precondition for use.
|
||||
- [UAVCAN_PUB_ARM](../advanced_config/parameter_reference.md#UAVCAN_PUB_ARM) ([Arming Status](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#armingstatus)): Publish when using DroneCAN components that require the PX4 arming status as a precondition for use.
|
||||
|
||||
### ESC & Servos
|
||||
|
||||
|
||||
@@ -104,4 +104,4 @@ See [DroneCAN Troubleshooting](index.md#troubleshooting)
|
||||
|
||||
- [PX4/Sapog](https://github.com/PX4/sapog#px4-sapog) (Github)
|
||||
- [Sapog v2 Reference Manual](https://files.zubax.com/products/io.px4.sapog/Sapog_v2_Reference_Manual.pdf)
|
||||
- [Using Sapog based ESC with PX4](https://kb.zubax.com/display/MAINKB/Using+Sapog-based+ESC+with+PX4) (Zubax KB)
|
||||
- [Using Telega-based controllers with PX4 autopilots](https://wiki.zubax.com/public/telega/telega-v0-legacy/Using-Telega-based-controllers-with-PX4-autopilots) (Zubax KB)
|
||||
|
||||
@@ -15,9 +15,9 @@ Questions on this matter should be addressed to: [support@zubax.com](mailto:supp
|
||||
|
||||
## 购买渠道
|
||||
|
||||
- [Zubax Myxa](https://shop.zubax.com/products/zubax-myxa): High-end PMSM/BLDC motor controller (FOC ESC) for light unmanned aircraft and watercraft.
|
||||
- [Zubax Mitochondrik](https://shop.zubax.com/products/mitochondrik): Integrated sensorless PMSM/BLDC motor controller chip (used in ESCs and integrated drives)
|
||||
- [Zubax Komar](https://shop.zubax.com/products/zubax-ad0510-komar-esc?variant=32931555868771): Open hardware reference design for Mitochondrik
|
||||
- [Zubax AmpDrive AD0505A/B "Myxa" ESC](https://shop.zubax.com/products/zubax-myxa): High-end PMSM/BLDC motor controller (FOC ESC) for light unmanned aircraft and watercraft.
|
||||
- [Zubax BoolDrive BD1D50 "Mitochondrik"](https://shop.zubax.com/products/mitochondrik): Integrated sensorless PMSM/BLDC motor controller chip (used in ESCs and integrated drives)
|
||||
- [Zubax AmpDrive AD0510 "Komar" ESC](https://shop.zubax.com/products/zubax-ad0510-komar-esc): Open hardware reference design for Mitochondrik
|
||||
|
||||
## 硬件安装
|
||||
|
||||
|
||||
@@ -23,9 +23,9 @@ See the documentation [Ark Electronics GitBook](https://arkelectron.gitbook.io/a
|
||||
|
||||
## 传感器
|
||||
|
||||
- [Invensense IIM-42653 Industrial IMU](https://invensense.tdk.com/products/motion-tracking/6-axis/iim-42653/)
|
||||
- [Invensense IIM-42653 Industrial IMU](https://invensense.tdk.com/products/smartindustrial/iim-42653/)
|
||||
- [Bosch BMP390 Barometer](https://www.bosch-sensortec.com/products/environmental-sensors/pressure-sensors/bmp390/)
|
||||
- [ST IIS2MDC Magnetometer](https://www.st.com/en/magnetic-sensors/iis2mdc.html)
|
||||
- [ST IIS2MDC Magnetometer](https://www.st.com/en/mems-and-sensors/iis2mdc.html)
|
||||
|
||||
## Microprocessor
|
||||
|
||||
|
||||
@@ -25,7 +25,7 @@ Order From [Ark Electronics](https://arkelectron.com/product/arkv6x/) (US)
|
||||
- [Dual Invensense ICM-42688-P IMUs](https://invensense.tdk.com/products/motion-tracking/6-axis/icm-42688-p/)
|
||||
- [Invensense IIM-42652 Industrial IMU](https://invensense.tdk.com/products/smartindustrial/iim-42652/)
|
||||
- [Bosch BMP390 Barometer](https://www.bosch-sensortec.com/products/environmental-sensors/pressure-sensors/bmp390/)
|
||||
- [Bosch BMM150 Magnetometer](https://www.bosch-sensortec.com/products/motion-sensors/magnetometers/bmm150/)
|
||||
- [Bosch BMM150 Magnetometer](https://www.bosch-sensortec.com/media/boschsensortec/downloads/datasheets/bst-bmm150-ds001.pdf)
|
||||
|
||||
## Microprocessor
|
||||
|
||||
|
||||
@@ -26,6 +26,6 @@ They are listed because you may be using them in an existing drone, and because
|
||||
|
||||
## 整机
|
||||
|
||||
- [BetaFPV Beta75X 2S Brushless Whoop](../complete_vehicles_mc/betafpv_beta75x.md)
|
||||
- [Intel® Aero RTF Drone](../complete_vehicles_mc/intel_aero.md) ([Complete Vehicle](../complete_vehicles_mc/index.md))
|
||||
- [Qualcomm Snapdragon Flight](../flight_controller/snapdragon_flight.md) ([Complete Vehicle](../complete_vehicles_mc/index.md))
|
||||
- [BetaFPV Beta75X 2S Brushless Whoop](https://docs.px4.io/v1.14/en/complete_vehicles/betafpv_beta75x.html#betafpv-beta75x-2s-brushless-whoop) (circa PX4 v1.14)
|
||||
- [Intel® Aero RTF Drone](https://docs.px4.io/v1.12/en/complete_vehicles/intel_aero.html) (circa PX4 v1.12)
|
||||
- [Qualcomm Snapdragon Flight](https://docs.px4.io/v1.11/en/flight_controller/snapdragon_flight.html) (circa PX4 v1.11)
|
||||
|
||||
@@ -65,8 +65,6 @@ This flight controller is [manufacturer supported](../flight_controller/autopilo
|
||||
|
||||
## 购买渠道
|
||||
|
||||
<!-- [CUAV Store](https://store.cuav.net/index.php?id_product=95&id_product_attribute=0&rewrite=cuav-new-pixhack-v5-autopilot-m8n-gps-for-fpv-rc-drone-quadcopter-helicopter-flight-simulator-free-shipping-whole-sale&controller=product&id_lang=1) -->
|
||||
|
||||
[CUAV Aliexpress](https://www.aliexpress.com/item/32890380056.html?spm=a2g0o.detail.1000060.1.7a7233e7mLTlVl&gps-id=pcDetailBottomMoreThisSeller&scm=1007.13339.90158.0&scm_id=1007.13339.90158.0&scm-url=1007.13339.90158.0&pvid=d899bfab-a7ca-46e1-adf2-72ad1d649822) (International users)
|
||||
|
||||
[CUAV Taobao](https://item.taobao.com/item.htm?spm=a1z10.5-c.w4002-21303114052.37.a28f697aeYzQx9&id=594262853015) (China Mainland users)
|
||||
|
||||
@@ -29,8 +29,8 @@ This flight controller is [manufacturer supported](../flight_controller/autopilo
|
||||
- 传感器：
|
||||
- [Bosch BMI088](https://www.bosch-sensortec.com/products/motion-sensors/imus/bmi088/) 3-axis accelerometer/gyroscope (internally vibration dampened)
|
||||
- [Invensense ICM-20602](https://invensense.tdk.com/products/motion-tracking/6-axis/icm-20602/) 3-axis accelerometer/gyroscope
|
||||
- [Invensense ICM-20948](https://www.invensense.com/products/motion-tracking/9-axis/icm-20948/) 3-axis accelerometer/gyroscope/magnetometer
|
||||
- [Infineon DPS310 barometer](https://www.infineon.com/cms/en/product/sensor/pressure-sensors/pressure-sensors-for-iot/dps310/) (So smooth and NO more light sensitivity)
|
||||
- [Invensense ICM-20948](https://invensense.tdk.com/products/motion-tracking/9-axis/icm-20948/) 3-axis accelerometer/gyroscope/magnetometer
|
||||
- [Infineon DPS310 barometer](https://www.infineon.com/assets/row/public/documents/24/49/infineon-dps310-datasheet-en.pdf) - [Discontinued](https://www.infineon.com/part/DPS310) (So smooth and NO more light sensitivity)
|
||||
|
||||
- 接口：
|
||||
- 6x UART (serial ports total), 3x with HW flow control, 1x FRSky Telemetry (D or X types), 1x Console and 1x GPS+I2C
|
||||
@@ -92,7 +92,7 @@ The [SWD port](../debug/swd_debug.md) (JTAG) for FMU debugging is a TC2030 debug
|
||||
|
||||
|
||||
|
||||
You can use the [Tag Connect](https://www.tag-connect.com/) cable [TC2030 IDC NL](https://www.tag-connect.com/product/tc2030-idc-nl) below (with associated [retaining clip](https://www.tag-connect.com/product/tc2030-clip-retaining-clip-board-for-tc2030-nl-cables)) to attach to either a BlackMagic probe or a ST-LINK V2 debugger.
|
||||
You can use the [Tag Connect](https://www.tag-connect.com/) cable [TC2030 IDC NL](https://www.tag-connect.com/product/tc2030-idc-nl) below (with associated [retaining clip](https://www.tag-connect.com/product/tc2030-retaining-clip-board-3-pack)) to attach to either a BlackMagic probe or a ST-LINK V2 debugger.
|
||||
|
||||
|
||||
|
||||
|
||||
@@ -51,8 +51,8 @@ Similar variants will be available from our licensees.
|
||||
|
||||
## Key Design Points
|
||||
|
||||
- High performance [NXP i.MX RT1170 1GHz Crossover MCU](https://www.nxp.com/products/processors-and-microcontrollers/arm-microcontrollers/i-mx-rt-crossover-mcus/i-mx-rt1170-1-ghz-crossover-mcu-with-arm-cortex-cores:i.MX-RT1170) with Arm® Cortex® cores
|
||||
- Hardware secure element [NXP EdgeLock SE051](https://www.nxp.com/products/security-and-authentication/authentication/edgelock-se051-proven-easy-to-use-iot-security-solution-with-support-for-updatability-and-custom-applets:SE051).
|
||||
- High performance [NXP i.MX RT1170 1GHz Crossover MCU](https://www.nxp.com/products/i.MX-RT1170) with Arm® Cortex® cores
|
||||
- Hardware secure element [NXP EdgeLock SE051](https://www.nxp.com/products/SE051).
|
||||
This is an extension to the widely trusted EdgeLock SE050 Plug & Trust secure element family, supports applet updates in the field and delivers proven security certified to CC EAL 6+, with AVA_VAN.5 up to the OS level, for strong protection against the most recent attack scenarios.
|
||||
This can be used, for example, to securely store operator ID or certificates.
|
||||
- Modular flight controller: separated IMU, FMU, and Base system connected by a 100-pin & a 50-pin Pixhawk® Autopilot Bus connector.
|
||||
@@ -201,7 +201,7 @@ TBD
|
||||
|
||||
_MR-VMU-RT1176_ can be triple-redundant on the power supply if three power sources are supplied.
|
||||
The three power rails are: **POWER1**, **POWER2** and **USB**.
|
||||
The **POWER1** & **POWER2** ports on the MR-VMU-RT1176 uses the 6 circuit [2.00mm Pitch CLIK-Mate Wire-to-Board PCB Receptacle](https://www.molex.com/molex/products/part-detail/pcb_receptacles/5024430670).
|
||||
The **POWER1** & **POWER2** ports on the MR-VMU-RT1176 uses the 6 circuit [2.00mm Pitch CLIK-Mate Wire-to-Board PCB Receptacle](https://www.molex.com/en-us/products/part-detail/5024430670).
|
||||
|
||||
### Normal Operation Maximum Ratings
|
||||
|
||||
|
||||
@@ -45,21 +45,21 @@ Telemetry radios ([HGD-TELEM433](https://www.nxp.com/part/HGD-TELEM433) and [HGD
|
||||
|
||||
|
||||
|
||||
A "Lite" version RDDRONE-FMUK66L is also available which does not include the power module, GPS, Jlink or USB-TTL-3V3 console cable or SDCard.[Scroll down to see FMUK66L in the buy section of the FMUK66 buy page](https://www.nxp.com/design/designs/px4-robotic-drone-fmu-rddrone-fmuk66:RDDRONE-FMUK66#buy)
|
||||
A "Lite" version RDDRONE-FMUK66L is also available which does not include the power module, GPS, Jlink or USB-TTL-3V3 console cable or SDCard.[Scroll down to see FMUK66L in the buy section of the FMUK66 buy page](https://www.nxp.com/design/design-center/development-boards-and-designs/px4-robotic-drone-vehicle-flight-management-unit-vmu-fmu-rddrone-fmuk66:RDDRONE-FMUK66#buy)
|
||||
|
||||
Additional information can be found in the [Technical Data Sheet](https://www.nxp.com/design/designs/px4-robotic-drone-fmu-rddrone-fmuk66:RDDRONE-FMUK66). <!-- www.nxp.com/rddrone-fmuk66 -->
|
||||
Additional information can be found in the [Technical Data Sheet](https://www.nxp.com/design/design-center/development-boards-and-designs/px4-robotic-drone-vehicle-flight-management-unit-vmu-fmu-rddrone-fmuk66:RDDRONE-FMUK66). <!-- www.nxp.com/rddrone-fmuk66 -->
|
||||
|
||||
## 购买渠道
|
||||
|
||||
**RDDRONE-FMUK66** reference design kit may be purchased direct from NXP or from any of NXP's authorised worldwide network of [electronics distributors](https://www.nxp.com/support/sample-and-buy/distributor-network:DISTRIBUTORS).
|
||||
|
||||
- [Purchase Link](https://www.nxp.com/design/designs/px4-robotic-drone-fmu-rddrone-fmuk66:RDDRONE-FMUK66#buy) (www.nxp.com)
|
||||
- [Purchase Link](https://www.nxp.com/design/design-center/development-boards-and-designs/px4-robotic-drone-vehicle-flight-management-unit-vmu-fmu-rddrone-fmuk66:RDDRONE-FMUK66#buy) (www.nxp.com)
|
||||
- Telemetry radios are purchased separately depending on frequency band:
|
||||
- [HGD-TELEM433](https://www.nxp.com/part/HGD-TELEM433)
|
||||
- [HGD-TELEM915](https://www.nxp.com/part/HGD-TELEM915)
|
||||
|
||||
:::info
|
||||
_RDDRONE-FMUK66_ FMU is also included in the complete HoverGames drone kit: [KIT-HGDRONEK66](https://www.nxp.com/applications/solutions/industrial/aerospace-and-mobile-robotics/uavs-drones-and-rovers/nxp-hovergames-drone-kit-including-rddrone-fmuk66-and-peripherals:KIT-HGDRONEK66#buy)
|
||||
_RDDRONE-FMUK66_ FMU is also included in the complete HoverGames drone kit: [KIT-HGDRONEK66](https://www.nxp.com/design/design-center/development-boards-and-designs/nxp-hovergames-drone-kit-including-flight-controller-and-peripherals:KIT-HGDRONEK66#buy)
|
||||
:::
|
||||
|
||||
<!--
|
||||
|
||||
@@ -263,4 +263,4 @@ In addition to the [basic configuration](../config/index.md), the following para
|
||||
|
||||
## Further Info
|
||||
|
||||
[This page](https://blog.dronetrest.com/omnibus-f4-flight-controller-guide/) provides a good overview with pinouts and setup instructions.
|
||||
[This page](https://blog.unmanned.tech/omnibus-f4-flight-controller-guide/) provides a good overview with pinouts and setup instructions.
|
||||
|
||||
@@ -1,6 +1,6 @@
|
||||
# Pixfalcon Flight Controller (Discontinued)
|
||||
|
||||
<Badge type="info" text="Discontinued" />
|
||||
<Badge type="info" text="Discontinued" px4_current="v1.15" year="2024"/>
|
||||
|
||||
:::warning
|
||||
This flight controller has been [discontinued](../flight_controller/autopilot_experimental.md) and is no longer commercially available.
|
||||
@@ -34,14 +34,14 @@ The Pixfalcon autopilot (designed by [Holybro<sup>®</sup>](https://holybro.c
|
||||
|
||||
## 访问链接:
|
||||
|
||||
From distributor [Hobbyking<sup>®</sup>](https://hobbyking.com/en_us/pixfalcon-micro-px4-autopilot-plus-micro-m8n-gps-and-mega-pbd-power-module.html)
|
||||
No longer available.
|
||||
|
||||
Optional hardware:
|
||||
|
||||
- Optical flow: PX4 Flow unit from manufacturer [Holybro](https://holybro.com/products/px4flow)
|
||||
- Digital Airspeed sensor from manufacturer [Holybro](https://holybro.com/products/digital-air-speed-sensor-ms4525do) or distributor [Hobbyking](https://hobbyking.com/en_us/hkpilot-32-digital-air-speed-sensor-and-pitot-tube-set.html)
|
||||
- Digital Airspeed sensor from manufacturer [Holybro](https://holybro.com/products/digital-air-speed-sensor-ms4525do)
|
||||
- On screen display with integrated Telemetry:
|
||||
- [Hobbyking OSD + EU Telemetry (433 MHz)](https://hobbyking.com/en_us/micro-hkpilot-telemetry-radio-module-with-on-screen-display-osd-unit-433mhz.html)
|
||||
- Micro HKPilot Telemetry Radio Module with On Screen Display (OSD) unit - 433MHz. (Discontinued)
|
||||
- Pure Telemetry options:
|
||||
- [SIK Radios](../telemetry/sik_radio.md)
|
||||
|
||||
|
||||
@@ -323,7 +323,7 @@ make px4_fmu-v2_default
|
||||
|
||||
## Parts / Housings
|
||||
|
||||
- **ARM MINI JTAG (J6)**: 1.27 mm 10pos header (SHROUDED), for Black Magic Probe: FCI 20021521-00010D4LF ([Distrelec](https://www.distrelec.ch/en/minitek-127-straight-male-pcb-header-surface-mount-rows-10-contacts-27mm-pitch-amphenol-fci-20021521-00010d4lf/p/14352308), [Digi-Key](https://www.digikey.com/en/products/detail/20021521-00010T1LF/609-4054-ND/2414951),) or Samtec FTSH-105-01-F-DV-K (untested) or Harwin M50-3600542 ([Digikey](https://www.digikey.com/en/products/detail/harwin-inc/M50-3600542/2264370))
|
||||
- **ARM MINI JTAG (J6)**: 1.27 mm 10pos header (SHROUDED), for Black Magic Probe: FCI 20021521-00010D4LF ([Digi-Key](https://www.digikey.com/en/products/detail/20021521-00010T1LF/609-4054-ND/2414951),) or Samtec FTSH-105-01-F-DV-K (untested) or Harwin M50-3600542 ([Digikey](https://www.digikey.com/en/products/detail/harwin-inc/M50-3600542/2264370))
|
||||
- JTAG Adapter Option #1: [BlackMagic Probe](https://1bitsquared.com/products/black-magic-probe). Note, may come without cables (check with manufacturer).
|
||||
If so, you will need the **Samtec FFSD-05-D-06.00-01-N** cable ([Samtec sample service](https://www.samtec.com/products/ffsd-05-d-06.00-01-n) or [Digi-Key Link: SAM8218-ND](https://www.digikey.com/en/products/detail/samtec-inc/ffsd-05-d-06-00-01-n/1106577)) or [Tag Connect Ribbon](https://www.tag-connect.com/product/10-pin-cortex-ribbon-cable-4-length-with-50-mil-connectors) and a Mini-USB cable.
|
||||
- JTAG Adapter Option #2: [Digi-Key Link: ST-LINK/V2](https://www.digikey.com/product-detail/en/stmicroelectronics/ST-LINK-V2/497-10484-ND) / [ST USER MANUAL](https://www.st.com/resource/en/user_manual/dm00026748.pdf), needs an ARM Mini JTAG to 20pos adapter: [Digi-Key Link: 726-1193-ND](https://www.digikey.com/en/products/detail/texas-instruments/MDL-ADA2/1986451)
|
||||
|
||||
@@ -36,14 +36,7 @@ This autopilot is [supported](../flight_controller/autopilot_pixhawk_standard.md
|
||||
|
||||
## Where to buy
|
||||
|
||||
From [Drotek store](https://store.drotek.com/) (EU) :
|
||||
|
||||
- [Pixhawk 3 Pro (Pack)](https://store.drotek.com/autopilots/844-pixhawk-3-pro-pack.html)
|
||||
- [Pixhawk 3 Pro](https://store.drotek.com/autopilots/821-pixhawk-pro-autopilot-8944595120557.html)
|
||||
|
||||
From [readymaderc](https://www.readymaderc.com) (USA) :
|
||||
|
||||
- [Pixhawk 3 Pro](https://www.readymaderc.com/products/details/pixhawk-3-pro-flight-controller)
|
||||
No longer available.
|
||||
|
||||
## 编译固件
|
||||
|
||||
|
||||
@@ -1,5 +1,7 @@
|
||||
# Holybro Pixhawk 4 Mini (Discontinued)
|
||||
|
||||
<Badge type="info" text="Discontinued" px4_current="v1.15" year="2024"/>
|
||||
|
||||
:::warning
|
||||
PX4 does not manufacture this (or any) autopilot.
|
||||
Contact the [manufacturer](https://holybro.com/) for hardware support or compliance issues.
|
||||
@@ -29,20 +31,20 @@ This autopilot is [supported](../flight_controller/autopilot_pixhawk_standard.md
|
||||
- 气压计：MS5611
|
||||
- GPS：ublox Neo-M8N GPS/GLONASS 接收器；集成磁力计 IST8310
|
||||
- 接口：
|
||||
- 8 路 PWM 输出
|
||||
- FMU 上有 4 路专用 PWM/Capture 输入
|
||||
- 8 PWM outputs
|
||||
- 4 dedicated PWM/Capture inputs on FMU
|
||||
- CPPM专用的RC输入
|
||||
- 用于 Spektrum / DSM 与 有模拟 / PWM RSSI 的 S.Bus 的专用遥控输入
|
||||
- 3个通用串行口
|
||||
- 2 路 I2C 总线
|
||||
- 3 路 SPI 总线
|
||||
- 1 路 CAN 总线用于 CAN 电调
|
||||
- 2 I2C ports
|
||||
- 3 SPI buses
|
||||
- 1 CANBuses for CAN ESC
|
||||
- 电池电压 / 电流模拟输入口
|
||||
- 2 个模拟输入接口
|
||||
- 电源系统
|
||||
- Power 接口输入：4.75~5.5V
|
||||
- Power Brick Input: 4.75~5.5V
|
||||
- USB 电源输入：4.75~5.25V
|
||||
- 舵机轨道输入：0~24V
|
||||
- Servo Rail Input: 0~24V
|
||||
- 最大电流感应：120A
|
||||
- 重量和尺寸:
|
||||
- Weight: 37.2g
|
||||
@@ -54,7 +56,7 @@ Additional information can be found in the [_Pixhawk 4 Mini_ Technical Data Shee
|
||||
|
||||
## 购买渠道
|
||||
|
||||
Order from [Holybro](https://holybro.com/collections/autopilot-flight-controllers/products/pixhawk4-mini).
|
||||
No longer available.
|
||||
|
||||
## 接口
|
||||
|
||||
@@ -141,7 +143,7 @@ The pinout uses the standard [Pixhawk debug connector](https://github.com/pixhaw
|
||||
- [Telemetry Radio Modules](../telemetry/index.md)
|
||||
- [Rangefinders/Distance sensors](../sensor/rangefinders.md)
|
||||
|
||||
## 支持的平台
|
||||
## Supported Platforms
|
||||
|
||||
Motors and servos are connected to the **MAIN OUT** ports in the order specified for your vehicle in the [Airframe Reference](../airframes/airframe_reference.md).
|
||||
This reference lists the output port to motor/servo mapping for all supported air and ground frames (if your frame is not listed in the reference then use a "generic" airframe of the correct type).
|
||||
|
||||
@@ -156,7 +156,7 @@ Connector pin assignments are left to right (i.e. Pin 1 is the left-most pin).
|
||||
## 额定电压
|
||||
|
||||
_Pixhawk 5X_ can be triple-redundant on the power supply if three power sources are supplied. The three power rails are: **POWER1**, **POWER2** and **USB**.
|
||||
The **POWER1** & **POWER2** ports on the Pixhawk 5X uses the 6 circuit [2.00mm Pitch CLIK-Mate Wire-to-Board PCB Receptacle](https://www.molex.com/molex/products/part-detail/pcb_receptacles/5024430670).
|
||||
The **POWER1** & **POWER2** ports on the Pixhawk 5X uses the 6 circuit [2.00mm Pitch CLIK-Mate Wire-to-Board PCB Receptacle](https://www.molex.com/en-us/products/part-detail/5024430670).
|
||||
|
||||
**Normal Operation Maximum Ratings**
|
||||
|
||||
|
||||
@@ -36,8 +36,8 @@ The Pixhawk® 6X-RT is perfect for developers at corporate research labs, sta
|
||||
|
||||
## Key Design Points
|
||||
|
||||
- High performance [NXP i.MX RT1170 1GHz Crossover MCU](https://www.nxp.com/products/processors-and-microcontrollers/arm-microcontrollers/i-mx-rt-crossover-mcus/i-mx-rt1170-1-ghz-crossover-mcu-with-arm-cortex-cores:i.MX-RT1170) with Arm® Cortex® cores
|
||||
- Hardware secure element [NXP EdgeLock SE051](https://www.nxp.com/products/security-and-authentication/authentication/edgelock-se051-proven-easy-to-use-iot-security-solution-with-support-for-updatability-and-custom-applets:SE051) an extension to the widely trusted EdgeLock SE050 Plug & Trust secure element family, supports applet updates in the field and delivers proven security certified to CC EAL 6+, with AVA_VAN.5 up to the OS level, for strong protection against the most recent attack scenarios. E.g, to securely store operator ID or certificates.
|
||||
- High performance [NXP i.MX RT1170 1GHz Crossover MCU](https://www.nxp.com/products/i.MX-RT1170) with Arm® Cortex® cores
|
||||
- Hardware secure element [NXP EdgeLock SE051](https://www.nxp.com/products/SE051) an extension to the widely trusted EdgeLock SE050 Plug & Trust secure element family, supports applet updates in the field and delivers proven security certified to CC EAL 6+, with AVA_VAN.5 up to the OS level, for strong protection against the most recent attack scenarios. E.g, to securely store operator ID or certificates.
|
||||
- Modular flight controller: separated IMU, FMU, and Base system connected by a 100-pin & a 50-pin Pixhawk® Autopilot Bus connector.
|
||||
- Redundancy: 3x IMU sensors & 2x Barometer sensors on separate buses
|
||||
- Triple redundancy domains: Completely isolated sensor domains with separate buses and separate power control
|
||||
@@ -173,7 +173,7 @@ Sample Wiring Diagram
|
||||
## 额定电压
|
||||
|
||||
_Pixhawk 6X-RT_ can be triple-redundant on the power supply if three power sources are supplied. The three power rails are: **POWER1**, **POWER2** and **USB**.
|
||||
The **POWER1** & **POWER2** ports on the Pixhawk 6X uses the 6 circuit [2.00mm Pitch CLIK-Mate Wire-to-Board PCB Receptacle](https://www.molex.com/molex/products/part-detail/pcb_receptacles/5024430670).
|
||||
The **POWER1** & **POWER2** ports on the Pixhawk 6X uses the 6 circuit [2.00mm Pitch CLIK-Mate Wire-to-Board PCB Receptacle](https://www.molex.com/en-us/products/part-detail/5024430670).
|
||||
|
||||
**Normal Operation Maximum Ratings**
|
||||
|
||||
|
||||
@@ -152,7 +152,6 @@ The Pixhawk® 6X is perfect for developers at corporate research labs, startu
|
||||
- CAN Bus has individual silent controls or ESC RX-MUX control
|
||||
|
||||
- 2 Power input ports with SMBus
|
||||
|
||||
- 1 AD & IO port
|
||||
- 2 个模拟输入接口
|
||||
- 1 PWM/Capture input
|
||||
@@ -205,7 +204,7 @@ Sample Wiring Diagram
|
||||
## 额定电压
|
||||
|
||||
_Pixhawk 6X_ can be triple-redundant on the power supply if three power sources are supplied. The three power rails are: **POWER1**, **POWER2** and **USB**.
|
||||
The **POWER1** & **POWER2** ports on the Pixhawk 6X uses the 6 circuit [2.00mm Pitch CLIK-Mate Wire-to-Board PCB Receptacle](https://www.molex.com/molex/products/part-detail/pcb_receptacles/5024430670).
|
||||
The **POWER1** & **POWER2** ports on the Pixhawk 6X uses the 6 circuit [2.00mm Pitch CLIK-Mate Wire-to-Board PCB Receptacle](https://www.molex.com/en-us/products/part-detail/5024430670).
|
||||
|
||||
**Normal Operation Maximum Ratings**
|
||||
|
||||
|
||||
@@ -165,7 +165,7 @@ The [Pixhawk 6X Wiring Quick Start](../assembly/quick_start_pixhawk6x.md) provid
|
||||
|
||||
_Pixhawk 6X Pro_ can be triple-redundant on the power supply if three power sources are supplied.
|
||||
The three power rails are: **POWER1**, **POWER2** and **USB**.
|
||||
The **POWER1** & **POWER2** ports on the Pixhawk 6X uses the 6 circuit [2.00mm Pitch CLIK-Mate Wire-to-Board PCB Receptacle](https://www.molex.com/molex/products/part-detail/pcb_receptacles/5024430670).
|
||||
The **POWER1** & **POWER2** ports on the Pixhawk 6X uses the 6 circuit [2.00mm Pitch CLIK-Mate Wire-to-Board PCB Receptacle](https://www.molex.com/en-us/products/part-detail/5024430670).
|
||||
|
||||
**Normal Operation Maximum Ratings**
|
||||
|
||||
|
||||
@@ -32,12 +32,12 @@ This autopilot is [supported](../flight_controller/autopilot_pixhawk_standard.md
|
||||
|
||||
## 购买渠道
|
||||
|
||||
Pixracer is available from the [mRobotics.io](https://store.mrobotics.io/mRo-PixRacer-R15-Official-p/m10023a.htm).
|
||||
Pixracer Pro is available from the [store.3dr.com](https://store.3dr.com/pixracer-pro/).
|
||||
|
||||
Accessories include:
|
||||
|
||||
- [Digital airspeed sensor](https://hobbyking.com/en_us/hkpilot-32-digital-air-speed-sensor-and-pitot-tube-set.html)
|
||||
- [Hobbyking<sup>®</sup> OSD + EU Telemetry (433 MHz)](https://hobbyking.com/en_us/micro-hkpilot-telemetry-radio-module-with-on-screen-display-osd-unit-433mhz.html)
|
||||
- Hobbyking<sup>®</sup> OSD + EU Telemetry (433 MHz) (Discontinued)
|
||||
|
||||
## Kit
|
||||
|
||||
|
||||
@@ -116,7 +116,7 @@ This autopilot is [supported](../flight_controller/autopilot_pixhawk_standard.md
|
||||
|
||||
_RaccoonLab FMUv6X_ can be triple-redundant on the power supply if three power sources are supplied.
|
||||
The three power rails are: **POWER1**, **POWER2** and **USB**.
|
||||
The **POWER1** & **POWER2** ports on the RaccoonLab FMUv6X uses the 6 circuit [2.00mm Pitch CLIK-Mate Wire-to-Board PCB Receptacle](https://www.molex.com/molex/products/part-detail/pcb_receptacles/5024430670).
|
||||
The **POWER1** & **POWER2** ports on the RaccoonLab FMUv6X uses the 6 circuit [2.00mm Pitch CLIK-Mate Wire-to-Board PCB Receptacle](https://www.molex.com/en-us/products/part-detail/5024430670).
|
||||
|
||||
**Normal Operation Maximum Ratings**
|
||||
|
||||
|
||||
@@ -14,7 +14,7 @@ It allows you to build PX4 and transfer to the RPi, or build natively.
|
||||
|
||||
## 操作系统映像
|
||||
|
||||
Use the preconfigured [Emlid Raspberry Pi OS image for Navio 2](https://docs.emlid.com/navio2/configuring-raspberry-pi).
|
||||
Use the preconfigured [Emlid Raspberry Pi OS image for Navio 2](https://docs.emlid.com/navio2/configuring-raspberry-pi/).
|
||||
The default image will have most of the setup procedures shown below already done.
|
||||
|
||||
:::warning
|
||||
|
||||
@@ -48,7 +48,7 @@ First install required package:
|
||||
sudo apt-get install crda
|
||||
```
|
||||
|
||||
Edit the file `/etc/default/crda` to change the correct WiFi region. [Reference List](https://www.arubanetworks.com/techdocs/InstantWenger_Mobile/Advanced/Content/Instant%20User%20Guide%20-%20volumes/Country_Codes_List.htm)
|
||||
Edit the file `/etc/default/crda` to change the correct WiFi region. [Reference List](https://arubanetworking.hpe.com/techdocs/InstantWenger_Mobile/Advanced/Content/Instant%20User%20Guide%20-%20volumes/Country_Codes_List.htm)
|
||||
|
||||
```sh
|
||||
sudo nano /etc/default/crda
|
||||
|
||||
@@ -83,7 +83,7 @@ Select the PX4 edition when purchasing!
|
||||
## Manual, Pinouts and Connection Diagrams
|
||||
|
||||
The manual with pinouts can be downloaded from [here](http://seriouslypro.com/files/SPRacingH7EXTREME-Manual-latest.pdf).
|
||||
See the [SPRacingH7EXTREME website](http://seriouslypro.com/spracingh7extreme) for other diagrams.
|
||||
See the [SPRacingH7EXTREME website](http://seriouslypro.com/products/spracingh7extreme) for other diagrams.
|
||||
|
||||
## Credits
|
||||
|
||||
|
||||
@@ -84,7 +84,7 @@ Before using offboard mode with ROS 2, please spend a few minutes understanding
|
||||
|
||||
### 旋翼机
|
||||
|
||||
- [px4_msgs::msg::TrajectorySetpoint](https://github.com/PX4/PX4-Autopilot/blob/main/msg/TrajectorySetpoint.msg)
|
||||
- [px4_msgs::msg::TrajectorySetpoint](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/TrajectorySetpoint.msg)
|
||||
- 支持以下输入组合：
|
||||
- Position setpoint (`position` different from `NaN`). Non-`NaN` values of velocity and acceleration are used as feedforward terms for the inner loop controllers.
|
||||
- Velocity setpoint (`velocity` different from `NaN` and `position` set to `NaN`). Non-`NaN` values acceleration are used as feedforward terms for the inner loop controllers.
|
||||
@@ -92,14 +92,14 @@ Before using offboard mode with ROS 2, please spend a few minutes understanding
|
||||
|
||||
- 所有值都是基于NED(北, 东, 地)坐标系，位置、速度和加速的单位分别为\[m\], \[m/s\] 和\[m/s^2\] 。
|
||||
|
||||
- [px4_msgs::msg::VehicleAttitudeSetpoint](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleAttitudeSetpoint.msg)
|
||||
- [px4_msgs::msg::VehicleAttitudeSetpoint](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleAttitudeSetpoint.msg)
|
||||
- 支持以下输入组合：
|
||||
- quaternion `q_d` + thrust setpoint `thrust_body`.
|
||||
Non-`NaN` values of `yaw_sp_move_rate` are used as feedforward terms expressed in Earth frame and in \[rad/s\].
|
||||
|
||||
- 姿态四元数表示无人机机体坐标系FRD(前、右、下) 与NED坐标系之间的旋转。 这个推力是在无人机体轴FRD坐标系下，并归一化为 \[-1, 1\] 。
|
||||
|
||||
- [px4_msgs::msg::VehicleRatesSetpoint](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleRatesSetpoint.msg)
|
||||
- [px4_msgs::msg::VehicleRatesSetpoint](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleRatesSetpoint.msg)
|
||||
- 支持以下输入组合：
|
||||
- `roll`, `pitch`, `yaw` and `thrust_body`.
|
||||
|
||||
@@ -114,7 +114,7 @@ Before using offboard mode with ROS 2, please spend a few minutes understanding
|
||||
- `xyz` for thrust and `xyz` for torque.
|
||||
- 所有值都在无人机体轴 FRD 坐标系中表示，并且归一化为\[-1, 1\]。
|
||||
|
||||
- [px4_msgs::msg::ActuatorMotors](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ActuatorMotors.msg) + [px4_msgs::msg::ActuatorServos](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ActuatorServos.msg)
|
||||
- [px4_msgs::msg::ActuatorMotors](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ActuatorMotors.msg) + [px4_msgs::msg::ActuatorServos](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ActuatorServos.msg)
|
||||
- 直接控制电机输出和/或伺服系统（舵机）输出。
|
||||
- Currently works at lower level than then `control_allocator` module. Do not publish these messages when not in offboard mode.
|
||||
- 所有值归一化为\[-1, 1\]。 For outputs that do not support negative values, negative entries map to `NaN`.
|
||||
|
||||
@@ -9,10 +9,10 @@ Vehicles are [hand or catapult launched](#catapult-hand-launch) by default, but
|
||||
::: info
|
||||
|
||||
- Mode is automatic - no user intervention is _required_ to control the vehicle.
|
||||
- Mode requires at least a valid local position estimate (does not require a global position).
|
||||
- Flying vehicles can't switch to this mode without valid local position.
|
||||
- Flying vehicles will failsafe if they lose the position estimate.
|
||||
- Disarmed vehicles can switch to mode without valid position estimate but can't arm.
|
||||
- Mode requires at least a valid altitude estimation.
|
||||
- Flying vehicles can't switch to this mode without valid altitude.
|
||||
- Flying vehicles will failsafe if they lose the altitude estimate.
|
||||
- Disarmed vehicles can switch to mode without valid altitude estimate but can't arm.
|
||||
- RC control switches can be used to change flight modes.
|
||||
- RC stick movement is ignored in catapult takeoff but can can be used to nudge the vehicle in runway takeoff.
|
||||
- The [Failure Detector](../config/safety.md#failure-detector) will automatically stop the engines if there is a problem on takeoff.
|
||||
@@ -26,39 +26,61 @@ Vehicles are [hand or catapult launched](#catapult-hand-launch) by default, but
|
||||
Takeoff mode (and [fixed wing mission takeoff](../flight_modes_fw/mission.md#mission-takeoff)) has two modalities: [catapult/hand-launch](#catapult-hand-launch) or [runway takeoff](#runway-takeoff) (hardware-dependent).
|
||||
The mode defaults to catapult/hand launch, but can be set to runway takeoff by setting [RWTO_TKOFF](#RWTO_TKOFF) to 1.
|
||||
|
||||
To use _Takeoff mode_ you first switch to the mode, and then arm the vehicle.
|
||||
To use _Takeoff mode_ you first switch to the mode, and then arm the vehicle (or send the [MAV_CMD_NAV_TAKEOFF](https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_TAKEOFF) command which does both).
|
||||
The acceleration of hand/catapult launch triggers the motors to start.
|
||||
For runway launch, motors ramp up automatically once the vehicle has been armed.
|
||||
|
||||
Irrespective of the modality, a flight path (starting point and takeoff course) and clearance altitude are defined:
|
||||
|
||||
- The starting point is the vehicle position when the takeoff mode is first entered.
|
||||
- The course is set to the vehicle heading on arming
|
||||
- The clearance altitude is set to [MIS_TAKEOFF_ALT](#MIS_TAKEOFF_ALT).
|
||||
- The course is set to the vehicle heading on arming by default.
|
||||
If a valid waypoint latitude/longitude is set the vehicle will instead track towards the waypoint.
|
||||
- The clearance altitude is set to [MIS_TAKEOFF_ALT](#MIS_TAKEOFF_ALT) by default.
|
||||
If a valid waypoint altitude is set is set the vehicle will instead use it as the clearance altitude.
|
||||
|
||||
On takeoff, the aircraft will follow line defined by the starting point and course, climbing at the maximum climb rate ([FW_T_CLMB_MAX](../advanced_config/parameter_reference.md#FW_T_CLMB_MAX)) until reaching the clearance altitude.
|
||||
By default, on takeoff the aircraft will follow the line defined by the starting point and course, climbing at the maximum climb rate ([FW_T_CLMB_MAX](../advanced_config/parameter_reference.md#FW_T_CLMB_MAX)) until reaching the clearance altitude.
|
||||
Reaching the clearance altitude causes the vehicle to enter [Hold mode](../flight_modes_fw/takeoff.md).
|
||||
|
||||
If a valid waypoint target is set, using `MAV_CMD_NAV_TAKEOFF` or the [VehicleCommand](../msg_docs/VehicleCommand.md) uORB topic, the vehicle will instead track towards the waypoint, and enter [Hold mode](../flight_modes_fw/takeoff.md) after reaching the waypoint altitude (within the acceptance radius).
|
||||
|
||||
:::tip
|
||||
If the local position is invalid or becomes invalid while executing the takeoff, the controller is not able to track a course setpoint and will instead proceed climbing while keeping the wings level until the clearance altitude is reached.
|
||||
:::
|
||||
|
||||
::: info
|
||||
|
||||
- Takeoff towards a target position was added in <Badge type="tip" text="main (planned for: PX4 v1.17)" />.
|
||||
- Holding wings level and ascending to clearance attitude when local position is invalid during takeoff was added in <Badge type="tip" text="main (planned for: PX4 v1.17)" />.
|
||||
- QGroundControl does not support `MAV_CMD_NAV_TAKEOFF` (at time of writing).
|
||||
|
||||
:::
|
||||
|
||||
### 参数
|
||||
|
||||
Parameters that affect both catapult/hand-launch and runway takeoffs:
|
||||
|
||||
| 参数 | 描述 |
|
||||
| -------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
|
||||
| <a id="MIS_TAKEOFF_ALT"></a>[MIS_TAKEOFF_ALT](../advanced_config/parameter_reference.md#MIS_TAKEOFF_ALT) | Minimum altitude setpoint above Home that the vehicle will climb to during takeoff. |
|
||||
| <a id="FW_TKO_AIRSPD"></a>[FW_TKO_AIRSPD](../advanced_config/parameter_reference.md#FW_TKO_AIRSPD) | Takeoff airspeed (is set to [FW_AIRSPD_MIN](../advanced_config/parameter_reference.md#FW_AIRSPD_MIN) if not defined by operator) |
|
||||
| <a id="FW_TKO_PITCH_MIN"></a>[FW_TKO_PITCH_MIN](../advanced_config/parameter_reference.md#FW_TKO_PITCH_MIN) | This is the minimum pitch angle setpoint during the climbout phase |
|
||||
| <a id="FW_T_CLMB_MAX"></a>[FW_T_CLMB_MAX](../advanced_config/parameter_reference.md#FW_T_CLMB_MAX) | Maximum climb rate. |
|
||||
| <a id="FW_FLAPS_TO_SCL"></a>[FW_FLAPS_TO_SCL](../advanced_config/parameter_reference.md#FW_FLAPS_TO_SCL) | Flaps setpoint during takeoff |
|
||||
| <a id="FW_AIRSPD_FLP_SC"></a>[FW_AIRSPD_FLP_SC](../advanced_config/parameter_reference.md#FW_AIRSPD_FLP_SC) | Factor applied to the minimum airspeed when flaps are fully deployed. Necessary if FW_TKO_AIRSPD is below FW_AIRSPD_MIN. |
|
||||
| 参数 | 描述 |
|
||||
| -------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
|
||||
| <a id="MIS_TAKEOFF_ALT"></a>[MIS\_TAKEOFF\_ALT][MIS_TAKEOFF_ALT] | This is the relative altitude (above launch altitude) the system will take off to if not otherwise specified. takeoff. |
|
||||
| <a id="FW_TKO_AIRSPD"></a>[FW\_TKO\_AIRSPD][FW_TKO_AIRSPD] | Takeoff airspeed (is set to [FW\_AIRSPD\_MIN][FW_AIRSPD_MIN] if not defined by operator) |
|
||||
| <a id="FW_TKO_PITCH_MIN"></a>[FW\_TKO\_PITCH\_MIN][FW_TKO_PITCH_MIN] | This is the minimum pitch angle setpoint during the climbout phase |
|
||||
| <a id="FW_T_CLMB_MAX"></a>[FW\_T\_CLMB\_MAX][FW_T_CLMB_MAX] | Climb rate setpoint during climbout to takeoff altitude. |
|
||||
| <a id="FW_FLAPS_TO_SCL"></a>[FW\_FLAPS\_TO\_SCL][FW_FLAPS_TO_SCL] | Flaps setpoint during takeoff |
|
||||
| <a id="FW_AIRSPD_FLP_SC"></a>[FW\_AIRSPD\_FLP\_SC][FW_AIRSPD_FLP_SC] | Factor applied to the minimum airspeed when flaps are fully deployed. Needed if [FW\_TKO\_AIRSPD](#FW_TKO_AIRSPD) is below [FW\_AIRSPD\_MIN][FW_AIRSPD_MIN]. |
|
||||
|
||||
[FW_AIRSPD_MIN]: ../advanced_config/parameter_reference.md#FW_AIRSPD_MIN
|
||||
[FW_FLAPS_TO_SCL]: ../advanced_config/parameter_reference.md#FW_FLAPS_TO_SCL
|
||||
[FW_AIRSPD_FLP_SC]: ../advanced_config/parameter_reference.md#FW_AIRSPD_FLP_SC
|
||||
[FW_TKO_AIRSPD]: ../advanced_config/parameter_reference.md#FW_TKO_AIRSPD
|
||||
[MIS_TAKEOFF_ALT]: ../advanced_config/parameter_reference.md#MIS_TAKEOFF_ALT
|
||||
[FW_TKO_PITCH_MIN]: ../advanced_config/parameter_reference.md#FW_TKO_PITCH_MIN
|
||||
[FW_T_CLMB_MAX]: ../advanced_config/parameter_reference.md#FW_T_CLMB_MAX
|
||||
|
||||
:::info
|
||||
The vehicle always respects normal FW max/min throttle settings during takeoff ([FW_THR_MIN](../advanced_config/parameter_reference.md#FW_THR_MIN), [FW_THR_MAX](../advanced_config/parameter_reference.md#FW_THR_MAX)).
|
||||
:::
|
||||
|
||||
<a id="hand_launch"></a>
|
||||
|
||||
## Catapult/Hand Launch
|
||||
## Catapult/Hand Launch {#hand_launch}
|
||||
|
||||
In _catapult/hand-launch mode_ the vehicle waits to detect launch (based on acceleration trigger).
|
||||
On launch it enables the motor(s) and climbs with the maximum climb rate [FW_T_CLMB_MAX](#FW_T_CLMB_MAX) while keeping the pitch setpoint above [FW_TKO_PITCH_MIN](#FW_TKO_PITCH_MIN).
|
||||
@@ -84,9 +106,7 @@ The _launch detector_ is affected by the following parameters:
|
||||
| <a id="FW_LAUN_AC_T"></a>[FW_LAUN_AC_T](../advanced_config/parameter_reference.md#FW_LAUN_AC_T) | Trigger time (acceleration must be above threshold for this amount of seconds) |
|
||||
| <a id="FW_LAUN_MOT_DEL"></a>[FW_LAUN_MOT_DEL](../advanced_config/parameter_reference.md#FW_LAUN_MOT_DEL) | Delay from launch detection to motor spin up |
|
||||
|
||||
<a id="runway_launch"></a>
|
||||
|
||||
## Runway Takeoff
|
||||
## Runway Takeoff {#runway_launch}
|
||||
|
||||
Runway takeoffs can be used by vehicles with landing gear and and steerable wheel (only).
|
||||
You will first need to enable the wheel controller using the parameter [FW_W_EN](#FW_W_EN).
|
||||
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user