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docs/zh/sensor/airspeed.md
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@@ -11,8 +11,8 @@ For fixed-wing flight it is the airspeed that guarantees lift — not ground spe
Recommended digital airspeed sensors include:
- Based on [Pitot tube](https://en.wikipedia.org/wiki/Pitot_tube)
- I2C MEAS Spec series (e.g. [MS4525DO](https://www.te.com/usa-en/product-CAT-BLPS0002.html), [MS5525](https://www.te.com/usa-en/product-CAT-BLPS0003.html))
- [mRo I2C Airspeed Sensor JST-GH MS4525DO](https://store.3dr.com/mro-i2c-airspeed-sensor-jst-gh-ms4525do/) (3DR store)
- I2C MEAS Spec series (e.g. [MS4525DO](https://www.te.com/en/product-20003581-00.html), [MS5525](https://www.te.com/usa-en/product-CAT-BLPS0003.html))
- [mRo I2C Airspeed Sensor JST-GH MS4525DO](https://store.3dr.com/airspeed-sensor-jst-gh-ms4525do/) (3DR store)
- [Digital Differential Airspeed Sensor Kit - MS4525DO](https://store-drotek.com/793-digital-differential-airspeed-sensor-kit-.html) (Drotek).
- [Holybro Digital Air Speed Sensor - MS4525DO](https://holybro.com/collections/sensors/products/digital-air-speed-sensor-ms4525do)
- [Holybro Digital Air Speed Sensor - MS5525DSO](https://holybro.com/collections/sensors/products/digital-air-speed-sensor-ms5525dso)
docs/zh/sensor/airspeed_tfslot.md
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![TFSLOT and TFSLOT WITH TFASPDIMU02 board](../../assets/hardware/sensors/airspeed/tsflot_compose.jpg)
[TFSLOT](https://github.com/ThunderFly-aerospace/TFSLOT01) is an airspeed sensor based on venturi effects.
In the basic configuration, the TFSLOT is equipped with the [TFASPDIMU02](https://github.com/ThunderFly-aerospace/TFASPDIMU02) sensor board, which contains a differential pressure sensor ([Sensirion SDP3x series](https://sensirion.com/products/catalog/?filter_series=d1816d53-f5c8-47e3-ab47-818c3fd54259)) and a 9-axis motion tracking sensor ([ICM-20948](https://invensense.tdk.com/products/motion-tracking/9-axis/icm-20948/)).
In the basic configuration, the TFSLOT is equipped with the [TFASPDIMU02](https://github.com/ThunderFly-aerospace/TFASPDIMU02) sensor board, which contains a differential pressure sensor ([Sensirion SDP3x series](https://sensirion.com/products/catalog?filter_series=d1816d53-f5c8-47e3-ab47-818c3fd54259)) and a 9-axis motion tracking sensor ([ICM-20948](https://invensense.tdk.com/products/motion-tracking/9-axis/icm-20948/)).
The IMU unit can be used as an external compass.
- This design brings several advantages when used on small-scale and slow-flying UAVs.
docs/zh/sensor/grf_lidar.md
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# Lightware GRF250/GRF500 Gimbal Lidar
LightWare [GRF250](https://lightwarelidar.com/shop/grf-250/) and [GRF500](https://lightwarelidar.com/shop/grf-500/) are small and light Lidar modules with a range of 250m and 500m, respectively.
![LightWare GRF250 Gimbal Lidar](../../assets/hardware/sensors/lidar_lightware/grf_500.png)
:::info
The Lidar driver is not included in the default build of PX4.
You will need to [create and use a custom build](#add-the-driver-to-the-px4-build).
:::
## 购买渠道
Order these modules from:
- [GRF250](https://lightwarelidar.com/shop/grf-250/)
- [GRF500](https://lightwarelidar.com/shop/grf-500/)
## 硬件安装
The rangefinder can be connected to any unused serial port, such as `TELEM2`.
[Parameter Configuration](#parameter-configuration) explains how to configure the port to use and the other properties of the rangefinder.
## PX4 Setup
### Add the Driver to the PX4 Build
The [lightware_grf_serial](../modules/modules_driver_distance_sensor.md#lightware-grf-serial) driver for this Lidar is not included in PX4 firmware by default.
In order to use these modules you will first need to update the firmware configuration to add the driver, and then build the firmware.
1. Update the firmware configuration. You can use either of the following options:
- Menuconfig:
1. Install and open [menuconfig](../hardware/porting_guide_config.md#px4-menuconfig-setup)
2. In [menuconfig](../hardware/porting_guide_config.md#px4-menuconfig-setup), navigate to **Drivers > Distance sensors**
3. Select/Enable `lightware_grf_serial`
4. Save the configuration
- Manually update `default.px4` to include the configuration key:
1. Open the `default.px4board` config file that corresponds to the board you want to build for.
For example, to add the driver to `fmu-v6x` boards you would update [/boards/px4/fmu-v6x/default.px4board ](https://github.com/PX4/PX4-Autopilot/blob/main/boards/px4/fmu-v6x/default.px4board)
2. Add the following line and save the file:
```txt
CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_GRF_SERIAL=y
```
2. [Build PX4](../dev_setup/building_px4.md) for your flight controller target and upload the new firmware.
### Parameter Configuration
You will need to configure PX4 to indicate the serial port to which the sensor is connected (as per [Serial Port Configuration](../peripherals/serial_configuration.md)) and also the orientation and other properties of the sensor.
The [parameters to change](../advanced_config/parameters.md) are listed in the table.
| 参数 | 描述 |
| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------ |
| <a id="SENS_EN_GRF_CFG"></a>[SENS_EN_GRF_CFG](../advanced_config/parameter_reference.md#SENS_EN_GRF_CFG) | Set to the serial port the sensor is connected to. |
| <a id="GRF_RATE_CFG"></a>[GRF_RATE_CFG](../advanced_config/parameter_reference.md#GRF_RATE_CFG) | Set the update rate. |
| <a id="GRF_SENS_MODEL"></a>[GRF_SENS_MODEL](../advanced_config/parameter_reference.md#GRF_SENS_MODEL) | Set the sensor model to use. |
## 测试
You can confirm that the sensor is correctly configured by connecting QGroundControl, and observing that [DISTANCE_SENSOR](https://mavlink.io/en/messages/common.html#DISTANCE_SENSOR) is present in the [MAVLink Inspector](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/analyze_view/mavlink_inspector.html).
Moving the sensor around at various distances from a surface will have the `current_distance` value change.
## 故障处理
If you are having problems with connecting to the sensor you may need to unassign a the default serial port. [Unassign Default Serial Port](../peripherals/serial_configuration.md)
docs/zh/sensor/inertial_navigation_systems.md
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## 更多信息
- [What is an Inertial Navigation System?](https://www.vectornav.com/resources/inertial-navigation-articles/what-is-an-ins) (VectorNav)
- [Inertial Navigation Primer](https://www.vectornav.com/resources/inertial-navigation-primer) (VectorNav)
docs/zh/sensor/inertiallabs.md
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[Get technical support or send requests to sales team](https://inertiallabs.com/inertial-labs-inc/contact-inertial-labs-team/).
Recommended sensors:
- [INS-U GNSS/INS](https://inertiallabs.com/ins-u-datasheet): Recommended for fixed-wing systems without hovering, where static heading is not necessary.
- [INS-DU DUAL GNSS/INS](https://inertiallabs.com/ins-du-datasheet): Recommended for multicopter systems where hovering and low dynamics requires the use of static heading.
- [INS-U GNSS/INS](https://inertiallabs.com/wp-content/uploads/2026/01/INS-U_INS-U-OEM_Datasheet_REV2.18_JAN2026.pdf): Recommended for fixed-wing systems without hovering, where static heading is not necessary.
- [INS-DU DUAL GNSS/INS](https://inertiallabs.com/wp-content/uploads/2025/12/INS-DU_INS-DU-OEM_Datasheet_REV1.00_DEC2025.pdf): Recommended for multicopter systems where hovering and low dynamics requires the use of static heading.
## 硬件安装
docs/zh/sensor/lidar_lite.md
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## 购买渠道
- [LIDAR-Lite v3](https://buy.garmin.com/en-AU/AU/p/557294) (5cm - 40m)
- [LIDAR-Lite v3](https://www.garmin.com/en-AU/p/557294/) (5cm - 40m)
## 针脚定义
docs/zh/sensor/microstrain.md
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The driver currently supports the following hardware:
- [`MicroStrain CV7-AR`](https://www.hbkworld.com/en/products/transducers/inertial-sensors/vertical-reference-units--vru-/3dm-cv7-ar): Inertial Measurement Unit (IMU) and Vertical Reference Unit (VRU)
- [`MicroStrain CV7-AHRS`](https://www.hbkworld.com/en/products/transducers/inertial-sensors/attitude-and-heading-reference-systems--ahrs-/3dm-cv7-ahrs): Inertial Measurement Unit (IMU) and Attitude Heading Reference System (AHRS)
- [`MicroStrain CV7-INS`](https://www.hbkworld.com/en/products/transducers/inertial-sensors/inertial-navigation-systems--ins-/3dm-cv7-ins): Inertial Measurement Unit (IMU) and Inertial Navigation System (INS).
- [`MicroStrain CV7-GNSS/INS`](https://www.hbkworld.com/en/products/transducers/inertial-sensors/inertial-navigation-systems--ins-/3dm-cv7-gnss-ins): Inertial Measurement Unit (IMU) and Inertial Navigation System (INS) combined with dual multiband (GNSS) receivers.
- [`MicroStrain CV7-AR`](https://www.hbkworld.com/en/products/transducers/inertial-sensors/vertical-reference/3dm-cv7-ar): Inertial Measurement Unit (IMU) and Vertical Reference Unit (VRU)
- [`MicroStrain CV7-AHRS`](https://www.hbkworld.com/en/products/transducers/inertial-sensors/attitude-and-heading/3dm-cv7-ahrs): Inertial Measurement Unit (IMU) and Attitude Heading Reference System (AHRS)
- [`MicroStrain CV7-INS`](https://www.hbkworld.com/en/products/transducers/inertial-sensors/navigation/3dm-cv7-ins): Inertial Measurement Unit (IMU) and Inertial Navigation System (INS).
- [`MicroStrain CV7-GNSS/INS`](https://www.hbkworld.com/en/products/transducers/inertial-sensors/navigation/3dm-cv7-gnss-ins): Inertial Measurement Unit (IMU) and Inertial Navigation System (INS) combined with dual multiband (GNSS) receivers.
PX4 can use these sensors to provide raw IMU data for EKF2 or to replace EKF2 as an external INS.
For more information, including user manuals and datasheets, please refer to the sensors product page.
@@ -18,7 +18,7 @@ For more information, including user manuals and datasheets, please refer to the
## 购买渠道
MicroStrain sensors can be purchased through HBK's official [MicroStrain product page](https://www.hbkworld.com/en/products/transducers/inertial-sensors) or through authorized distributors globally.
For large orders, custom requirements, or technical inquiries, reach out directly to [sales](https://www.hbkworld.com/en/contact-us/contact-sales-microstrain)
For large orders, custom requirements, or technical inquiries, reach out directly to [sales](https://www.hbkworld.com/en/contact-us)
## 硬件安装
docs/zh/sensor/optical_flow.md
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### Other Cameras/Sensors
It is also possible to use a board/quad that has an integrated camera.
For this the [Optical Flow repo](https://github.com/PX4/OpticalFlow) can be used (see also [snap_cam](https://github.com/PX4/snap_cam)).
For this the [Optical Flow repo](https://github.com/PX4/PX4-OpticalFlow) can be used (see also [snap_cam](https://github.com/PX4/snap_cam)).
## Range Finders
docs/zh/sensor/px4flow.md
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PX4 不支持 PX4 v1.13 的 PX4Flow [光流](../sensor/optical_flow.md)传感器（它不适用于当前固件）。
PX4可以使用旧的 PX4Flow 固件。
文档已被删除（如果需要, 请参阅[v1.13中的 PX4Flow 的旧文档](https://docs.px4.io/v1.13/en/sensor/px4flow.html)）。
Documentation has been removed (if needed, see [Legacy Docs for PX4Flow in v1.13](https://docs.px4.io/v1.13/en/sensor/px4flow)).
docs/zh/sensor/rangefinders.md
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### MaxBotix I2CXL-MaxSonar-EZ
The MaxBotix [I2CXL-MaxSonar-EZ](https://www.maxbotix.com/product-category/i2cxl-maxsonar-ez-products) range has a number of relatively short-ranged sonar based rangefinders that are suitable for assisted takeoff/landing and collision avoidance.
The MaxBotix [I2CXL-MaxSonar-EZ](https://maxbotix.com/collections/i2cxl-maxsonar-ez-products) range has a number of relatively short-ranged sonar based rangefinders that are suitable for assisted takeoff/landing and collision avoidance.
这些可以使用 I2C 端口连接。
The rangefinders are enabled using the parameter [SENS_EN_MB12XX](../advanced_config/parameter_reference.md#SENS_EN_MB12XX).
@@ -163,7 +163,7 @@ Features:
- [VL53L1CBV0FY-1](https://www.st.com/resource/en/datasheet/vl53l1.pdf) sensor
- Input voltage sensor
- CAN connectors: 2 [UCANPHY Micro (JST-GH 4)](https://raccoonlabdev.github.io/docs/guide/wires/).
- CAN connectors: 2 [UCANPHY Micro (JST-GH 4)](https://docs.raccoonlab.co/guide/wires/).
## Configuration/Setup {#configuration}
docs/zh/sensor/sbgecom.md
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[SBG-Systems](https://www.sbg-systems.com/) designs, manufactures, and support an extensive range of state-of-the-art inertial sensors such as Inertial Measurement Units (IMU), Attitude and Heading Reference Systems (AHRS), Inertial Navigation Systems with embedded GNSS (INS/GNSS), and so on.
PX4 supports [all SBG Systems products](https://www.sbg-systems.com/products/) and can use these as an [external INS](../sensor/inertial_navigation_systems.md) (bypassing/replacing the EKF2 estimator), or as a source of raw sensor data provided to the navigation estimator.
PX4 supports [all SBG Systems products](https://www.sbg-systems.com/) and can use these as an [external INS](../sensor/inertial_navigation_systems.md) (bypassing/replacing the EKF2 estimator), or as a source of raw sensor data provided to the navigation estimator.
![Ellipse](../../assets/hardware/sensors/inertial/ellipse-inertial-navigation-system.png)
@@ -17,7 +17,7 @@ SBG Systems products provide a range of benefits to PX4 users and can be integra
The sbgECom PX4 driver is streamlined to provide a simple plug-and-play architecture, removing engineering obstacles and allowing the acceleration of the design, development, and launch of platforms to keep pace with the rapid rate of innovation.
The driver supports [all SBG Systems products](https://www.sbg-systems.com/products/).
The driver supports [all SBG Systems products](https://www.sbg-systems.com/).
In particular the following systems are recommended:
- **Pulse:** Recommended for fixed-wing systems without hovering, where static heading is not necessary.
@@ -151,5 +151,5 @@ Published topics can be viewed using the `listener` command.
## Hardware Specifications
- [Product Briefs](https://www.sbg-systems.com/products/)
- [Product Briefs](https://www.sbg-systems.com/)
- [Datasheets](https://www.sbg-systems.com/contact/#products)
docs/zh/sensor/sf45_rotating_lidar.md
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## LightWare Studio Setup
In the [LightWare Studio](https://www.lightwarelidar.com/resources-software) app set following values:
In the [LightWare Studio](https://lightwarelidar.com/resources-software/) app set following values:
| 参数 | 描述 |
| --------- | ------ |
docs/zh/sensor/sfxx_lidar.md
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The following models are supported by PX4, and can be connected to either the I2C or Serial bus (the tables below indicates what bus can be used for each model).
| Model | Range (m) | Bus | 描述 |
| ------------------------------------------------------- | ---------------------------- | ----------------- | ------------------------------------------------------------------------------------------------------------- |
| [SF11/C](https://lightwarelidar.com/shop/sf11-c-100-m/) | 100 | Serial or I2C bus | |
| [LW20/C](https://lightware.co.za/products/lw20-c-100-m) | 100 | I2C bus | Waterproofed (IP67) with servo for sense-and-avoid applications |
| [SF30/D](https://lightwarelidar.com/shop/sf30-d-200-m/) | 200 | I2C bus | Waterproofed (IP67) |
| [SF45/B](../sensor/sf45_rotating_lidar.md) | 50 | Serial | Rotary Lidar (Used for [Collision Prevention](../computer_vision/collision_prevention.md)) |
| [GRF250](https://lightwarelidar.com/shop/grf-250/) | 250 | I2C | Gimbal Range Finder |
| [GRF500](https://lightwarelidar.com/shop/grf-500/) | 500 | I2C | Gimbal Range Finder |
| Model | Range (m) | Bus | 描述 |
| ---------------------------------------------------------- | ---------------------------- | ----------------- | ------------------------------------------------------------------------------------------------------------- |
| [SF11/C](https://lightwarelidar.com/shop/sf11-c-100-m/) | 100 | Serial or I2C bus | |
| [LW20/C](https://lightwarelidar.com/products/lw20-c-100-m) | 100 | I2C bus | Waterproofed (IP67) with servo for sense-and-avoid applications |
| [SF30/D](https://lightwarelidar.com/shop/sf30-d-200-m/) | 200 | I2C bus | Waterproofed (IP67) |
| [SF45/B](../sensor/sf45_rotating_lidar.md) | 50 | Serial | Rotary Lidar (Used for [Collision Prevention](../computer_vision/collision_prevention.md)) |
| [GRF250](../sensor/grf_lidar.md) | 250 | Serial or I2C | Gimbal Range Finder |
| [GRF500](../sensor/grf_lidar.md) | 500 | Serial or I2C | Gimbal Range Finder |
:::details
Discontinued
docs/zh/sensor/teraranger.md
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# TeraRanger 测距仪
# TeraRanger Rangefinders (Discontinued)
:::warning
TeraRanger Evo sensors were discontinued by Terabee in May 2024.
Limited stock may still be available from third-party resellers such as [Tribotix](https://tribotix.com/product/teraranger-evo-60m/).
:::
TeraRanger provide a number of lightweight distance measurement sensor based on infrared Time-of-Flight (ToF) technology.
他们通常比声纳更快、范围更大、比基于激光的系统更小、更轻。
PX4 supports:
- [TeraRanger Evo 60m](https://www.terabee.com/shop/lidar-tof-range-finders/teraranger-evo-60m/) (0.5 – 60 m)
- [TeraRanger Evo 600Hz](https://www.terabee.com/shop/lidar-tof-range-finders/teraranger-evo-600hz/) (0.75 - 8 m)
- [TeraRanger Evo 60m](https://tribotix.com/product/teraranger-evo-60m/) (0.5 – 60 m)
- [TeraRanger Evo 600Hz](https://tribotix.com/product/teraranger-evo-600hz/) (0.75 - 8 m)
:::info
PX4 also supports _TeraRanger One_ (I2C adapter required).
docs/zh/sensor/thunderfly_tachometer.md
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Hall-Effect sensors (magnetically operated) are ideal for harsh environments, where dirt, dust, and water can contact the sensed rotor.
Many different hall effect sensors are commercially available.
For example, a [55100 Miniature Flange Mounting Proximity Sensor](https://m.littelfuse.com/media?resourcetype=datasheets&itemid=6d69d457-770e-46ba-9998-012c5e0aedd7&filename=littelfuse-hall-effect-sensors-55100-datasheet) is a good choice.
For example, a [55100 Miniature Flange Mounting Proximity Sensor](https://www.littelfuse.com/assetdocs/littelfuse-hall-effect-sensors-55100-datasheet?assetguid=6d69d457-770e-46ba-9998-012c5e0aedd7) is a good choice.
![Example of Hall effect probe](../../assets/hardware/sensors/tfrpm/hall_probe.jpg)
@@ -90,7 +90,7 @@ pcf8583 status
```
If the driver is running, the I²C port will be printed along with other basic parameters of the running instance.
If the driver is not running it can be started started using theprocedure described above.
If the driver is not running it can be started using theprocedure described above.
The [listener](../modules/modules_command.md#listener) command allows you to monitor RPM UORB messages from the running driver.
docs/zh/sensor/vectornav.md
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If using a GNSS-enabled product, the GNSS antenna must be mounted rigidly with respect to the inertial sensor and with an unobstructed sky view. If using a dual-GNSS-enabled product (VN-3X0), the secondary antenna must be mounted rigidly with respect to the primary antenna and the inertial sensor with an unobstructed sky view.
For more mounting requirements and recommendations, see the relevant [Quick Start Guide](https://www.vectornav.com/resources/quick-start-guides).
For more mounting requirements and recommendations, see the relevant [Quick Start Guide](https://www.vectornav.com/resources/technical-documentation/quick-start-guides).
## Firmware Configuration
@@ -82,7 +82,7 @@ IMU data should be published at 800Hz (400Hz if using VN-300).
## VectorNav Configuration
Definitions for all commands and registers referenced in this section can be found in the respective [VectorNav ICD](https://www.vectornav.com/resources/interface-control-documents).
Definitions for all commands and registers referenced in this section can be found in the respective [VectorNav ICD](https://www.vectornav.com/resources/technical-documentation/interface-control-documents).
Upon initialization, PX4 configures the VectorNav unit as follows:
@@ -137,5 +137,5 @@ Published topics can be viewed using the `listener` command.
## Hardware Specifications
- [Product Briefs](https://www.vectornav.com/resources/product-briefs)
- [Datasheets](https://www.vectornav.com/resources/datasheets)
- [Product Briefs](https://www.vectornav.com/resources/product-information/product-briefs)
- [Datasheets](https://www.vectornav.com/resources/technical-documentation/datasheets)