diff --git a/docs/zh/SUMMARY.md b/docs/zh/SUMMARY.md index 94743b94f7..61f7ec05a6 100644 --- a/docs/zh/SUMMARY.md +++ b/docs/zh/SUMMARY.md @@ -194,7 +194,6 @@ - [Discontinued Autopilots/Vehicles](flight_controller/autopilot_discontinued.md) - [Drotek Dropix (FMUv2)](flight_controller/dropix.md) - [Omnibus F4 SD](flight_controller/omnibus_f4_sd.md) - - [BetaFPV Beta75X 2S Brushless Whoop](complete_vehicles_mc/betafpv_beta75x.md) - [Bitcraze Crazyflie 2.0 ](complete_vehicles_mc/crazyflie2.md) - [Aerotenna OcPoC-Zynq Mini](flight_controller/ocpoc_zynq.md) - [CUAV X7](flight_controller/cuav_x7.md) @@ -209,8 +208,6 @@ - [mRo AUAV-X2](flight_controller/auav_x2.md) - [NXP RDDRONE-FMUK66 FMU](flight_controller/nxp_rddrone_fmuk66.md) - [3DR Pixhawk 1](flight_controller/pixhawk.md) - - [Snapdragon Flight](flight_controller/snapdragon_flight.md) - - [Intel® Aero RTF Drone](complete_vehicles_mc/intel_aero.md) - [Pixhawk Autopilot Bus (PAB) & Carriers](flight_controller/pixhawk_autopilot_bus.md) - [ARK Electronics Pixhawk Autopilot Bus Carrier](flight_controller/ark_pab.md) - [Mounting the Flight Controller](assembly/mount_and_orient_controller.md) @@ -305,7 +302,6 @@ - [Zubax Telega](dronecan/zubax_telega.md) - [PX4 Sapog ESC Firmware](dronecan/sapog.md) - [Holybro Kotleta](dronecan/holybro_kotleta.md) - - [Zubax Orel](dronecan/zubax_orel.md) - [Vertiq](peripherals/vertiq.md) - [VESC](peripherals/vesc.md) diff --git a/docs/zh/advanced_config/compass_power_compensation.md b/docs/zh/advanced_config/compass_power_compensation.md index 1e7b5ce821..35b987cde5 100644 --- a/docs/zh/advanced_config/compass_power_compensation.md +++ b/docs/zh/advanced_config/compass_power_compensation.md @@ -12,8 +12,6 @@ Moving the compass away from power-carrying cables is the easiest and most effec The process is demonstrated for a multicopter, but is equally valid for other vehicle types. ::: - - ## 本节补偿方法可用的前提 只有当下述的全部条件都满足时才建议采用功率补偿： @@ -26,8 +24,6 @@ The process is demonstrated for a multicopter, but is equally valid for other ve 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）。 - - ## 如何实现罗盘补偿 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）。 diff --git a/docs/zh/advanced_config/sensor_thermal_calibration.md b/docs/zh/advanced_config/sensor_thermal_calibration.md index 21c088158d..3a43b02555 100644 --- a/docs/zh/advanced_config/sensor_thermal_calibration.md +++ b/docs/zh/advanced_config/sensor_thermal_calibration.md @@ -14,9 +14,7 @@ Any subsequent standard calibration will therefore update `TC_*` parameters and Releases up to PX4 v1.14, do not support thermal calibration of the magnetometer. ::: - - -## 测试设置/最佳实践 +## Test Setup/Best Practice {#test_setup} 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. Before starting the calibration, the board is first _cold soaked_ (cooled to the minimum temperature and allowed to reach equilibrium). @@ -46,9 +44,7 @@ The bag/silica is to prevent condensation from forming on the board. 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. ::: - - -## 校准过程 +## Calibration Procedures {#calibration_procedures} PX4 支持两种校准过程： @@ -57,9 +53,7 @@ PX4 支持两种校准过程： The offboard approach is more complex and slower, but requires less knowledge of the test setup and is easier to validate. - - -### 板载校准过程 +### Onboard Calibration Procedure {#onboard_calibration} Onboard calibration is run entirely on the device. It require knowledge of the amount of temperature rise that is achievable with the test setup. @@ -76,9 +70,7 @@ To perform and onboard calibration: 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。 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。 - - -### 板外校准过程 +### Offboard Calibration Procedure {#offboard_calibration} 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. @@ -114,9 +106,7 @@ To perform an offboard calibration: 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。 - - -## 实施细节 +## Implementation Detail {#implementation} 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 @@ -145,7 +135,6 @@ Where: - `instance`: is an integer 0,1 or 2 allowing for calibration of up to three sensors of the same `type`. - `cal_name`: is a string identifying the calibration value. 它具有可能的值如下： - - `Xn`: Polynomial coefficient where n is the order of the coefficient, e.g. `X3 * (temperature - reference temperature)**3`. - `SCL`: scale factor. - `TREF`: reference temperature (deg C). diff --git a/docs/zh/advanced_config/tuning_the_ecl_ekf.md b/docs/zh/advanced_config/tuning_the_ecl_ekf.md index f6d74eaded..ba875b161b 100644 --- a/docs/zh/advanced_config/tuning_the_ecl_ekf.md +++ b/docs/zh/advanced_config/tuning_the_ecl_ekf.md @@ -445,9 +445,7 @@ Airspeed data will be used when it exceeds the threshold set by a positive value 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. This is enabled by setting the [EKF2_FUSE_BETA](../advanced_config/parameter_reference.md#EKF2_FUSE_BETA) parameter to 1. - - -### 基于阻力比力的多旋翼风场估计 +### Multicopter Wind Estimation using Drag Specific Forces {#mc_wind_estimation_using_drag} 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。 This can be enabled using [EKF2_DRAG_CTRL](../advanced_config/parameter_reference.md#EKF2_DRAG_CTRL). diff --git a/docs/zh/advanced_features/precland.md b/docs/zh/advanced_features/precland.md index 12af37e646..821d15a25c 100644 --- a/docs/zh/advanced_features/precland.md +++ b/docs/zh/advanced_features/precland.md @@ -56,9 +56,7 @@ A flow diagram showing the phases can be found in [landing phases flow Diagram]( Precision landing can be used in missions, during the landing phase in _Return mode_, or by entering the _Precision Land_ mode. - - -### Mission Precision Landing +### Mission Precision Landing {#mission} 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: diff --git a/docs/zh/assembly/quick_start_cuav_v5_nano.md b/docs/zh/assembly/quick_start_cuav_v5_nano.md index 0153fb6d5c..a1b1f7b0ce 100644 --- a/docs/zh/assembly/quick_start_cuav_v5_nano.md +++ b/docs/zh/assembly/quick_start_cuav_v5_nano.md @@ -110,9 +110,7 @@ The other radio is connected to your ground station computer or mobile device (u ![quickstart](../../assets/flight_controller/cuav_v5_nano/connection/v5_nano_quickstart_07.png) - - -## SD 卡 +## SD Card (Optional) {#sd_card} 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). diff --git a/docs/zh/assembly/quick_start_cuav_v5_plus.md b/docs/zh/assembly/quick_start_cuav_v5_plus.md index 9353e0403c..cbc78581de 100644 --- a/docs/zh/assembly/quick_start_cuav_v5_plus.md +++ b/docs/zh/assembly/quick_start_cuav_v5_plus.md @@ -110,9 +110,7 @@ The other radio is connected to your ground station computer or mobile device (u ![V5+ AutoPilot](../../assets/flight_controller/cuav_v5_plus/connection/v5+_quickstart_06.png) - - -## SD 卡 +## SD Card (Optional) {#sd_card} 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). diff --git a/docs/zh/assembly/quick_start_pixhawk4.md b/docs/zh/assembly/quick_start_pixhawk4.md index b7f29f6ac6..3cfc0bbd9c 100644 --- a/docs/zh/assembly/quick_start_pixhawk4.md +++ b/docs/zh/assembly/quick_start_pixhawk4.md @@ -147,9 +147,7 @@ The vehicle-based radio should be connected to the **TELEM1** port as shown belo ![Pixhawk 4/Telemetry Radio](../../assets/flight_controller/pixhawk4/pixhawk4_telemetry_radio.jpg) - - -## SD 卡 +## SD Card (Optional) {#sd_card} 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. Insert the card (included in Pixhawk 4 kit) into _Pixhawk 4_ as shown below. @@ -193,4 +191,4 @@ QuadPlane specific configuration is covered here: [QuadPlane VTOL Configuration] - [Pixhawk 4](../flight_controller/pixhawk4.md) (Overview page) - [Pixhawk 4 Technical Data Sheet](https://github.com/PX4/PX4-Autopilot/blob/main/docs/assets/flight_controller/pixhawk4/pixhawk4_technical_data_sheet.pdf) - [Pixhawk 4 Pinouts](https://cdn.shopify.com/s/files/1/0604/5905/7341/files/Pixhawk4-Pinouts.pdf) (Holybro) -- [Pixhawk 4 Quick Start Guide (Holybro)](https://holybro.com/manual/Pixhawk4-quickstartguide.pdf) +- [Pixhawk 4 Quick Start Guide (Holybro)](https://cdn.shopify.com/s/files/1/0604/5905/7341/files/Pixhawk4-quickstartguide.pdf) diff --git a/docs/zh/assembly/quick_start_pixhawk5x.md b/docs/zh/assembly/quick_start_pixhawk5x.md index 8a534d59e6..7a2bcd3501 100644 --- a/docs/zh/assembly/quick_start_pixhawk5x.md +++ b/docs/zh/assembly/quick_start_pixhawk5x.md @@ -52,7 +52,7 @@ You can press the safety switch again to enable safety and disarm the vehicle (t ## 电源 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. -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). +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). 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**. diff --git a/docs/zh/assembly/quick_start_pixhawk6x.md b/docs/zh/assembly/quick_start_pixhawk6x.md index b6ae5a519a..cfa0767476 100644 --- a/docs/zh/assembly/quick_start_pixhawk6x.md +++ b/docs/zh/assembly/quick_start_pixhawk6x.md @@ -65,7 +65,7 @@ You can press the safety switch again to enable safety and disarm the vehicle (t ## 电源 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. -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). +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). 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**. diff --git a/docs/zh/camera/fc_connected_camera.md b/docs/zh/camera/fc_connected_camera.md index b3298c2c6c..8645b80e94 100644 --- a/docs/zh/camera/fc_connected_camera.md +++ b/docs/zh/camera/fc_connected_camera.md @@ -118,7 +118,7 @@ The camera trigger driver supports several backends - each for a specific applic | 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. | | 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. | | 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. | -| 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. | +| 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. | ### Trigger Output Pin Configuration diff --git a/docs/zh/companion_computer/companion_computer_peripherals.md b/docs/zh/companion_computer/companion_computer_peripherals.md index 693221e4ee..f7f27f2328 100644 --- a/docs/zh/companion_computer/companion_computer_peripherals.md +++ b/docs/zh/companion_computer/companion_computer_peripherals.md @@ -54,8 +54,8 @@ They are in no way guaranteed to be plug and play with your companion computer. Popular stereo cameras include: -- [Intel® RealSense™ Depth Camera D435](https://www.intelrealsense.com/depth-camera-d435/) -- [Intel® RealSense™ Depth Camera D415](https://www.intelrealsense.com/depth-camera-d415/) +- [Intel® RealSense™ Depth Camera D435](https://realsenseai.com/stereo-depth-cameras/stereo-depth-camera-d435/) +- [Intel® RealSense™ Depth Camera D415](https://realsenseai.com/stereo-depth-cameras/stereo-depth-camera-d415/) - [DUO MLX](https://duo3d.com/product/duo-minilx-lv1) ### VIO Cameras/Sensors diff --git a/docs/zh/complete_vehicles_mc/crazyflie2.md b/docs/zh/complete_vehicles_mc/crazyflie2.md index 1110afc8b6..57e7af9c1d 100644 --- a/docs/zh/complete_vehicles_mc/crazyflie2.md +++ b/docs/zh/complete_vehicles_mc/crazyflie2.md @@ -38,7 +38,7 @@ The main hardware documentation is here: https://wiki.bitcraze.io/projects:crazy - [Crazyflie 2.0](https://store.bitcraze.io/collections/kits/products/crazyflie-2-0). - [Crazyradio PA 2.4 GHz USB dongle](https://store.bitcraze.io/products/crazyradio-pa): used for 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](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. +- [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. This will be useful for precise altitude and position control. - [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. This will be useful for precise altitude control. @@ -234,7 +234,7 @@ This is the rate at which Joystick commands are sent from QGroundControl to Craz 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). - You will need the [Z-ranger deck](https://store.bitcraze.io/collections/decks/products/z-ranger-deck) to fly in _Altitude_ mode. - 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. + 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. - 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: ![Crazyflie barometer](../../assets/flight_controller/crazyflie/crazyflie_barometer.jpg) @@ -266,7 +266,7 @@ Since the onboard barometer is highly susceptible to wind disturbances created b ## Position Control -With [Flow deck](https://store.bitcraze.io/collections/decks/products/flow-deck), you can fly Crazyflie 2.0 in _Position mode_. +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_. diff --git a/docs/zh/complete_vehicles_mc/crazyflie21.md b/docs/zh/complete_vehicles_mc/crazyflie21.md index 8f62dc64f1..3002164a54 100644 --- a/docs/zh/complete_vehicles_mc/crazyflie21.md +++ b/docs/zh/complete_vehicles_mc/crazyflie21.md @@ -12,7 +12,7 @@ Crazyflie 2.1 is only able to fly in [Stabilized mode](../flight_modes_mc/manual ::: 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/). ![Crazyflie2 Image](../../assets/flight_controller/crazyflie21/crazyflie_2.1.jpg) @@ -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. diff --git a/docs/zh/concept/control_allocation.md b/docs/zh/concept/control_allocation.md index b6bb58c08c..78d019360c 100644 --- a/docs/zh/concept/control_allocation.md +++ b/docs/zh/concept/control_allocation.md @@ -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 `_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 diff --git a/docs/zh/config/actuators.md b/docs/zh/config/actuators.md index 937cacbeec..298f878b1b 100644 --- a/docs/zh/config/actuators.md +++ b/docs/zh/config/actuators.md @@ -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. ::: diff --git a/docs/zh/config/index.md b/docs/zh/config/index.md index e87096c01d..d0b6df774f 100644 --- a/docs/zh/config/index.md +++ b/docs/zh/config/index.md @@ -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 diff --git a/docs/zh/config_mc/pid_tuning_guide_multicopter.md b/docs/zh/config_mc/pid_tuning_guide_multicopter.md index 713d0ff6f0..2a061a75dc 100644 --- a/docs/zh/config_mc/pid_tuning_guide_multicopter.md +++ b/docs/zh/config_mc/pid_tuning_guide_multicopter.md @@ -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) ::: diff --git a/docs/zh/debug/swd_debug.md b/docs/zh/debug/swd_debug.md index 197d1dae0d..5ee9797221 100644 --- a/docs/zh/debug/swd_debug.md +++ b/docs/zh/debug/swd_debug.md @@ -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). ![6-pin JST SH Cable](../../assets/debug/cable_6pin_jst_sh.jpg) @@ -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). diff --git a/docs/zh/dev_airframes/adding_a_new_frame.md b/docs/zh/dev_airframes/adding_a_new_frame.md index 71060dd55a..6681de2605 100644 --- a/docs/zh/dev_airframes/adding_a_new_frame.md +++ b/docs/zh/dev_airframes/adding_a_new_frame.md @@ -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)). diff --git a/docs/zh/dev_setup/dev_env_windows_cygwin_packager_setup.md b/docs/zh/dev_setup/dev_env_windows_cygwin_packager_setup.md index 2ac7d3c134..fef641a137 100644 --- a/docs/zh/dev_setup/dev_env_windows_cygwin_packager_setup.md +++ b/docs/zh/dev_setup/dev_env_windows_cygwin_packager_setup.md @@ -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. diff --git a/docs/zh/dronecan/ark_mosaic__rtk_gps.md b/docs/zh/dronecan/ark_mosaic__rtk_gps.md index 405ffd3699..24193f8de8 100644 --- a/docs/zh/dronecan/ark_mosaic__rtk_gps.md +++ b/docs/zh/dronecan/ark_mosaic__rtk_gps.md @@ -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 diff --git a/docs/zh/dronecan/cuav_can_pmu.md b/docs/zh/dronecan/cuav_can_pmu.md index 2bdf7ab230..97b8ab2be0 100644 --- a/docs/zh/dronecan/cuav_can_pmu.md +++ b/docs/zh/dronecan/cuav_can_pmu.md @@ -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 diff --git a/docs/zh/dronecan/escs.md b/docs/zh/dronecan/escs.md index 44b4a4acc3..9742e3739e 100644 --- a/docs/zh/dronecan/escs.md +++ b/docs/zh/dronecan/escs.md @@ -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) diff --git a/docs/zh/dronecan/index.md b/docs/zh/dronecan/index.md index 7cd375613e..7e056d7be2 100644 --- a/docs/zh/dronecan/index.md +++ b/docs/zh/dronecan/index.md @@ -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): 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): 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 diff --git a/docs/zh/dronecan/sapog.md b/docs/zh/dronecan/sapog.md index 6dffe73f52..98688d3b90 100644 --- a/docs/zh/dronecan/sapog.md +++ b/docs/zh/dronecan/sapog.md @@ -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) diff --git a/docs/zh/dronecan/zubax_telega.md b/docs/zh/dronecan/zubax_telega.md index e34d355d71..e474538246 100644 --- a/docs/zh/dronecan/zubax_telega.md +++ b/docs/zh/dronecan/zubax_telega.md @@ -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 diff --git a/docs/zh/flight_controller/ark_fpv.md b/docs/zh/flight_controller/ark_fpv.md index 759460db6e..0b2d4a33b7 100644 --- a/docs/zh/flight_controller/ark_fpv.md +++ b/docs/zh/flight_controller/ark_fpv.md @@ -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 diff --git a/docs/zh/flight_controller/ark_v6x.md b/docs/zh/flight_controller/ark_v6x.md index ffd8b35fda..d03215834f 100644 --- a/docs/zh/flight_controller/ark_v6x.md +++ b/docs/zh/flight_controller/ark_v6x.md @@ -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 diff --git a/docs/zh/flight_controller/autopilot_discontinued.md b/docs/zh/flight_controller/autopilot_discontinued.md index 3dd2692fd3..18d11d1f96 100644 --- a/docs/zh/flight_controller/autopilot_discontinued.md +++ b/docs/zh/flight_controller/autopilot_discontinued.md @@ -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) diff --git a/docs/zh/flight_controller/cuav_v5_plus.md b/docs/zh/flight_controller/cuav_v5_plus.md index 446193ccdf..29f628ead0 100644 --- a/docs/zh/flight_controller/cuav_v5_plus.md +++ b/docs/zh/flight_controller/cuav_v5_plus.md @@ -65,8 +65,6 @@ This flight controller is [manufacturer supported](../flight_controller/autopilo ## 购买渠道 - - [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) diff --git a/docs/zh/flight_controller/mro_control_zero_f7.md b/docs/zh/flight_controller/mro_control_zero_f7.md index 599aad1bbd..f17ce6a8f4 100644 --- a/docs/zh/flight_controller/mro_control_zero_f7.md +++ b/docs/zh/flight_controller/mro_control_zero_f7.md @@ -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 ![mro swd port](../../assets/flight_controller/mro_control_zero_f7/mro_control_zero_f7_swd.jpg) -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. ![tc2030 idc nl cable](../../assets/flight_controller/mro_control_zero_f7/tc2030_idc_nl.jpg) diff --git a/docs/zh/flight_controller/nxp_mr_vmu_rt1176.md b/docs/zh/flight_controller/nxp_mr_vmu_rt1176.md index 57e852a836..06436027d7 100644 --- a/docs/zh/flight_controller/nxp_mr_vmu_rt1176.md +++ b/docs/zh/flight_controller/nxp_mr_vmu_rt1176.md @@ -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 diff --git a/docs/zh/flight_controller/nxp_rddrone_fmuk66.md b/docs/zh/flight_controller/nxp_rddrone_fmuk66.md index b93c4373a8..3e6eecaef6 100644 --- a/docs/zh/flight_controller/nxp_rddrone_fmuk66.md +++ b/docs/zh/flight_controller/nxp_rddrone_fmuk66.md @@ -45,21 +45,21 @@ Telemetry radios ([HGD-TELEM433](https://www.nxp.com/part/HGD-TELEM433) and [HGD ![RDDRONE-FMUK66 FMU Kit](../../assets/flight_controller/nxp_rddrone_fmuk66/rddrone_fmu66_kit_img_contents.jpg) -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). +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). ## 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) ::: ## Payloads diff --git a/docs/zh/peripherals/parachute.md b/docs/zh/peripherals/parachute.md index eda6401c7c..234d2b8f9e 100644 --- a/docs/zh/peripherals/parachute.md +++ b/docs/zh/peripherals/parachute.md @@ -67,7 +67,7 @@ You then need to ensure that the parachute pin will be set to a value that will The output is automatically set to the maximum PWM value when a failsafe is triggered. ::: info - For the spring-loaded launcher from [Fruity Chutes](https://fruitychutes.com/buyachute/drone-and-uav-parachute-recovery-c-21/harrier-drone-parachute-launcher-c-21_33/) the minimum PWM value should be between 700 and 1000ms, and the maximum value between 1800 and 2200ms. + For the spring-loaded launcher from [Fruity Chutes](https://fruitychutes.com/uav_rpv_drone_recovery_parachutes/drone_multicopter_quadcopter_recovery_parachutes#Harrier) the minimum PWM value should be between 700 and 1000ms, and the maximum value between 1800 and 2200ms. ::: diff --git a/docs/zh/releases/1.12.md b/docs/zh/releases/1.12.md index 29f244f904..c56534128d 100644 --- a/docs/zh/releases/1.12.md +++ b/docs/zh/releases/1.12.md @@ -54,8 +54,8 @@ The release includes new hardware support for the following boards, peripherals, - CUAV X7 / X7Pro - CUAV Nora - CUAV CAN GPS (Neo-3-2) -- SP Racing H7 Extreme ([Read more about this product on the manufacturers site](http://seriouslypro.com/spracingh7extreme)) -- Bitcraze Crazyflie v2.1 ([Read more about this product on the manufacturers site](https://www.bitcraze.io/products/crazyflie-2-1/)) +- SP Racing H7 Extreme ([Read more about this product on the manufacturers site](http://seriouslypro.com/products/spracingh7extreme)) +- Bitcraze Crazyflie v2.1 ([Read more about this product on the manufacturers site](https://www.bitcraze.io/products/crazyflie-2-1-brushless/)) - ARK CAN Flow ([Read more about this product on the manufacturers site](https://arkelectron.com/product/ark-flow/)) - mRo Ctrl Zero H7 (Experimental) ([Read more about this product on the manufacturers site](https://store.mrobotics.io/mRo-Control-Zero-F7-p/mro-ctrl-zero-f7.htm)) diff --git a/docs/zh/releases/main.md b/docs/zh/releases/main.md index f9accfbdaf..47f39e4554 100644 --- a/docs/zh/releases/main.md +++ b/docs/zh/releases/main.md @@ -80,7 +80,8 @@ Please continue reading for [upgrade instructions](#upgrade-guide). ### Fixed-wing -- TBD +- [Fixed Wing Takeoff mode](../flight_modes_fw/takeoff.md) will now keep climbing with level wings on position loss. + A target takeoff waypoint can be set to control takeoff course and loiter altitude. ([PX4-Autopilot#25083](https://github.com/PX4/PX4-Autopilot/pull/25083)). ### 无人车 diff --git a/docs/zh/ros/external_position_estimation.md b/docs/zh/ros/external_position_estimation.md index b39bcb5bf9..55a4b57f78 100644 --- a/docs/zh/ros/external_position_estimation.md +++ b/docs/zh/ros/external_position_estimation.md @@ -90,9 +90,7 @@ You can also disable GNSS, baro and range finder fusion using [EKF2_GPS_CTRL](.. Reboot the flight controller in order for parameter changes to take effect. ::: - - -#### 调参 EKF2_EV_DELAY +#### Tuning EKF2_EV_DELAY {#tuning-EKF2_EV_DELAY} [EKF2_EV_DELAY](../advanced_config/parameter_reference.md#EKF2_EV_DELAY) is the _Vision Position Estimator delay relative to IMU measurements_. @@ -171,9 +169,7 @@ VIO and MoCap systems have different ways of obtaining pose data, and have their The setup for specific systems is covered [below](#setup_specific_systems). When using external heading estimation, magnetic North is ignored and faked with a vector corresponding to world x axis (which can be placed freely during Vision/MoCap calibration). Yaw angle is therefore given with respect to local x. - - -### 将数据回传给 PX4 +### Relaying Pose Data to PX4 {#relaying_pose_data_to_px4} MAVROS has plugins to relay a visual estimation from a VIO or MoCap system using the following pipelines: @@ -253,13 +249,11 @@ When using the MAVROS _odom_ plugin, it is important that no other node is publi This might break the _tf_ tree. ::: - - -## 特定的系统设置 +## Specific System Setups {#setup_specific_systems} ### 光学跟踪 MoCap -The following steps explain how to feed position estimates from an [OptiTrack](https://optitrack.com/motion-capture-robotics/) system to PX4. +The following steps explain how to feed position estimates from an [OptiTrack](https://optitrack.com/applications/robotics/) system to PX4. It is assumed that the MoCap system is calibrated. See [this video](https://www.youtube.com/watch?v=cNZaFEghTBU) for a tutorial on the calibration process.