diff --git a/docs/uk/SUMMARY.md b/docs/uk/SUMMARY.md index 4fcb44b0c2..4b048a6cf0 100644 --- a/docs/uk/SUMMARY.md +++ b/docs/uk/SUMMARY.md @@ -487,6 +487,7 @@ - [Plugins](sim_gazebo_gz/plugins.md) - [Gazebo Models Repository](sim_gazebo_gz/gazebo_models.md) - [Багатотранспортний Sim](sim_gazebo_gz/multi_vehicle_simulation.md) + - [SIH Simulation](sim_sih/index.md) - [Симуляція Gazebo Classic](sim_gazebo_classic/index.md) - [Vehicles](sim_gazebo_classic/vehicles.md) - [Worlds](sim_gazebo_classic/worlds.md) @@ -586,6 +587,8 @@ - [DistanceSensorModeChangeRequest](msg_docs/DistanceSensorModeChangeRequest.md) - [DronecanNodeStatus](msg_docs/DronecanNodeStatus.md) - [Ekf2Timestamps](msg_docs/Ekf2Timestamps.md) + - [EscEepromRead](msg_docs/EscEepromRead.md) + - [EscEepromWrite](msg_docs/EscEepromWrite.md) - [EscReport](msg_docs/EscReport.md) - [EscStatus](msg_docs/EscStatus.md) - [EstimatorAidSource1d](msg_docs/EstimatorAidSource1d.md) @@ -776,6 +779,7 @@ - [VehicleLocalPositionV0](msg_docs/VehicleLocalPositionV0.md) - [VehicleStatusV0](msg_docs/VehicleStatusV0.md) - [VehicleStatusV1](msg_docs/VehicleStatusV1.md) + - [VehicleStatusV2](msg_docs/VehicleStatusV2.md) - [MAVLink Messaging](mavlink/index.md) - [Adding Messages](mavlink/adding_messages.md) - [Streaming Messages](mavlink/streaming_messages.md) @@ -870,8 +874,9 @@ - [Multi-Vehicle Sim with JMAVSim](sim_jmavsim/multi_vehicle.md) - [JSBSim Simulation](sim_jsbsim/index.md) - [AirSim Simulation](sim_airsim/index.md) - - [HITL Simulation](simulation/hitl.md) - - [Simulation-In-Hardware](sim_sih/index.md) + - [Hardware Simulation](simulation/hardware.md) + - [HITL Simulation](simulation/hitl.md) + - [SIH on Hardware](sim_sih/hardware.md) - [Multi-vehicle simulation](simulation/multi-vehicle-simulation.md) - [Тестування платформи та CI](test_and_ci/index.md) - [Польотні тести](test_and_ci/test_flights.md) @@ -927,6 +932,7 @@ - [Translation](contribute/translation.md) - [Термінологія/Нотація](contribute/notation.md) - [Ліцензії](contribute/licenses.md) + - [SBOM](contribute/sbom.md) - [Релізи](releases/index.md) - [Release Process](releases/release_process.md) diff --git a/docs/uk/advanced/pps_time_sync.md b/docs/uk/advanced/pps_time_sync.md index 0723024409..8ebe70f643 100644 --- a/docs/uk/advanced/pps_time_sync.md +++ b/docs/uk/advanced/pps_time_sync.md @@ -91,7 +91,7 @@ For FMUv6S, you need to route the PPS signal separately: For ARK FMUv6X on the Jetson carrier board: -1. Connect your GNSS module using either the 10-pin or 6-pin GPS connector: [ARK PAB GPS1 Interface](../flight_controller/ark_pab#gps1) +1. Connect your GNSS module using either the 10-pin or 6-pin GPS connector: [ARK PAB GPS1 Interface](../flight_controller/ark_pab.md#gps1) 2. Connect the PPS signal to the **FMU_CAP** pin: [ARK PAB ADIO Interface](../flight_controller/ark_pab.md#adio) ## Перевірка diff --git a/docs/uk/advanced_config/bootloader_update.md b/docs/uk/advanced_config/bootloader_update.md index faed8e2e0e..a343e85212 100644 --- a/docs/uk/advanced_config/bootloader_update.md +++ b/docs/uk/advanced_config/bootloader_update.md @@ -169,7 +169,7 @@ PX4 boards up to FMUv5X (before STM32H7) used the [PX4 bootloader](https://githu ## Оновлення завантажувача FMUv2 Якщо _QGroundControl_ встановлює ціль FMUv2 (див. консоль під час встановлення), і у вас є новіша плата, вам може знадобитися оновити завантажувальник, щоб мати доступ до всієї пам'яті на вашому контролері польоту. -This example explains how you can use [QGC Bootloader Update](qgc-bootloader-update-sys-bl-update) to update the bootloader. +This example explains how you can use [QGC Bootloader Update](#qgc-bootloader-update-sys-bl-update) to update the bootloader. :::info Ранні контролери польоту FMUv2 [Pixhawk-series](../flight_controller/pixhawk_series.md#fmu_versions) мали [апаратну проблему](../flight_controller/silicon_errata.md#fmuv2-pixhawk-silicon-errata), яка обмежувала їх використання 1 Мб флеш-пам’яті. diff --git a/docs/uk/advanced_config/prearm_arm_disarm.md b/docs/uk/advanced_config/prearm_arm_disarm.md index 56f2f5ab9e..39c851588c 100644 --- a/docs/uk/advanced_config/prearm_arm_disarm.md +++ b/docs/uk/advanced_config/prearm_arm_disarm.md @@ -93,6 +93,28 @@ The button should be held down for one second to arm (when disarmed) or disarm ( | [COM_DISARM_LAND](../advanced_config/parameter_reference.md#COM_DISARM_LAND) | Час очікування для автоматичного відбрасування після приземлення. За замовчуванням: 2с (значення -1, щоб вимкнути). | | [COM_DISARM_PRFLT](../advanced_config/parameter_reference.md#COM_DISARM_PRFLT) | Час очікування для автоматичного відбрасування, якщо занадто повільно підйом. За замовчуванням: 10с (<=0, щоб вимкнути). | +## Auto-Arming on Boot + +The vehicle can be configured to arm automatically on boot once all preflight checks pass, +using the `COM_ARM_ON_BOOT` parameter. For safety, PX4 enforces a minimum 5-second delay after boot before attempting to arm. + +Once armed this way, the vehicle will not re-arm automatically after a manual disarm. + +:::info +The parameter value is read once at boot. +Changing it while the system is running has no effect until the next reboot. +::: + +:::warning +Use with caution. +A vehicle that arms automatically can spin up motors and actuators without any operator gesture. +Ensure the vehicle is in a safe state before powering on. +::: + +| Параметр | Опис | +| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------- | +| [COM_ARM_ON_BOOT](../advanced_config/parameter_reference.md#COM_ARM_ON_BOOT) | Arm automatically once preflight checks pass after boot. Default: `0` (Disabled). | + ## Pre-Arm Checks To reduce accidents, vehicles are only allowed to arm certain conditions are met (some of which are configurable). diff --git a/docs/uk/can/index.md b/docs/uk/can/index.md index 14ebfa20ff..15172383c3 100644 --- a/docs/uk/can/index.md +++ b/docs/uk/can/index.md @@ -38,7 +38,7 @@ Devices within a network are connected in a _daisy-chain_ in any order (this dif :::warning Don't connect each CAN peripheral to a separate CAN port! -Unlike UARTs, CAN peripherals are designed to be daisy chained, with additional ports such as `CAN2` used for [redundancy](redundancy). +Unlike UARTs, CAN peripherals are designed to be daisy chained, with additional ports such as `CAN2` used for [redundancy](#redundancy). ::: На обох кінцях ланцюга між двома лініями передачі даних слід під’єднати термінальний резистор 120 Ом. @@ -84,7 +84,7 @@ You only _need_ one CAN port to support an arbitrary number of CAN devices using Don't connect each CAN peripheral to a separate CAN port! ::: -Generally you'll daisy all CAN peripherals off a single port, and if there is more than one CAN port, use the second one for [redundancy](redundancy). +Generally you'll daisy all CAN peripherals off a single port, and if there is more than one CAN port, use the second one for [redundancy](#redundancy). If three are three ports, you might use the remaining network for devices that support another CAN protocol. The documentation for your flight controller should indicate which ports are supported/enabled. diff --git a/docs/uk/config_mc/filter_tuning.md b/docs/uk/config_mc/filter_tuning.md index 3ab0c42919..c1c961cf4e 100644 --- a/docs/uk/config_mc/filter_tuning.md +++ b/docs/uk/config_mc/filter_tuning.md @@ -76,13 +76,13 @@ You might have to adjust the per-motor pole count (`DSHOT_MOT_POL1`–`DSHOT_MOT The following parameters should be set to enable and configure dynamic notch filters: -| Параметр | Опис | -| ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------- | -| [IMU_GYRO_DNF_EN](../advanced_config/parameter_reference.md#IMU_GYRO_DNF_EN) | Enable IMU gyro dynamic notch filtering. `0`: ESC RPM, `1`: Onboard FFT. | -| [IMU_GYRO_FFT_EN](../advanced_config/parameter_reference.md#IMU_GYRO_FFT_EN) | Enable onboard FFT (required if `IMU_GYRO_DNF_EN` is set to `1`). | -| [IMU_GYRO_DNF_MIN](../advanced_config/parameter_reference.md#IMU_GYRO_DNF_MIN) | Minimum dynamic notch frequency in Hz. | -| [IMU_GYRO_DNF_BW](../advanced_config/parameter_reference.md#IMU_GYRO_DNF_BW) | Bandwidth for each notch filter in Hz. | -| [IMU_GYRO_DNF_HMC](../advanced_config/parameter_reference.md#IMU_GYRO_NF0_BW) | Number of harmonics to filter. | +| Параметр | Опис | +| -------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------- | +| [IMU_GYRO_DNF_EN](../advanced_config/parameter_reference.md#IMU_GYRO_DNF_EN) | Enable IMU gyro dynamic notch filtering. `0`: ESC RPM, `1`: Onboard FFT. | +| [IMU_GYRO_FFT_EN](../advanced_config/parameter_reference.md#IMU_GYRO_FFT_EN) | Enable onboard FFT (required if `IMU_GYRO_DNF_EN` is set to `1`). | +| [IMU_GYRO_DNF_MIN](../advanced_config/parameter_reference.md#IMU_GYRO_DNF_MIN) | Minimum dynamic notch frequency in Hz. | +| [IMU_GYRO_DNF_BW](../advanced_config/parameter_reference.md#IMU_GYRO_DNF_BW) | Bandwidth for each notch filter in Hz. | +| [IMU_GYRO_DNF_HMC](../advanced_config/parameter_reference.md#IMU_GYRO_NF0_BW) | Number of harmonics to filter. | ### Low-pass Filter diff --git a/docs/uk/contribute/sbom.md b/docs/uk/contribute/sbom.md new file mode 100644 index 0000000000..4c1887d9c0 --- /dev/null +++ b/docs/uk/contribute/sbom.md @@ -0,0 +1,226 @@ +# Software Bill of Materials (SBOM) + +PX4 generates a [Software Bill of Materials](https://ntia.gov/SBOM) for every firmware build in [SPDX 2.3](https://spdx.github.io/spdx-spec/v2.3/) JSON format. + +## Why SBOM? + +- **Regulatory compliance**: The EU Cyber Resilience Act (CRA) requires SBOMs for products with digital elements (reporting obligations begin in September 2026). +- **Supply chain transparency**: SBOMs enumerate every component compiled into firmware, enabling users and integrators to audit dependencies. +- **NTIA minimum elements**: Each SBOM satisfies all seven [NTIA required fields](https://www.ntia.gov/report/2021/minimum-elements-software-bill-materials-sbom): supplier, component name, version, unique identifier, dependency relationship, author, and timestamp. + +## Format + +PX4 uses SPDX 2.3 JSON. +SPDX is the Linux Foundation's own standard (ISO/IEC 5962), aligning with PX4's position as a Dronecode/LF project. +Zephyr RTOS also uses SPDX. + +Each SBOM contains: + +- **Primary package**: The PX4 firmware for a specific board target, marked with `primaryPackagePurpose: FIRMWARE`. +- **Git submodules**: All third-party libraries included via git submodules (~33 packages), with SPDX license identifiers and commit hashes. +- **Python build dependencies**: Packages from `Tools/setup/requirements.txt` marked as `BUILD_DEPENDENCY_OF` the firmware. +- **Board-specific modules**: Internal PX4 modules compiled for the target board. +- **Compiler**: The C compiler used for the build. + +Typical SBOM size: 70-100 packages, ~500 lines, ~20 KB JSON. + +## Generation + +SBOMs are generated automatically as part of every CMake build. +The output file is: + +```txt +build//.sbom.spdx.json +``` + +Наприклад: + +```txt +build/px4_fmu-v6x_default/px4_fmu-v6x_default.sbom.spdx.json +``` + +The generator script is `Tools/ci/generate_sbom.py`. +It requires PyYAML (`pyyaml`) for loading license overrides. + +### CMake Integration + +The `sbom` CMake target is included in the default `ALL` target. +The relevant CMake module is `cmake/sbom.cmake`. + +### Disabling SBOM Generation + +Set the environment variable before building. +This is checked at CMake configure time, so a clean build or reconfigure is required: + +```sh +PX4_SBOM_DISABLE=1 make px4_fmu-v6x_default +``` + +If the build directory already exists, force a reconfigure: + +```sh +PX4_SBOM_DISABLE=1 cmake -B build/px4_fmu-v6x_default . +``` + +### Manual Generation + +You can also run the generator directly: + +```sh +python3 Tools/ci/generate_sbom.py \ + --source-dir . \ + --board px4_fmu-v6x_default \ + --modules-file build/px4_fmu-v6x_default/config_module_list.txt \ + --compiler arm-none-eabi-gcc \ + --output build/px4_fmu-v6x_default/px4_fmu-v6x_default.sbom.spdx.json +``` + +## Artifacts + +SBOMs are available in: + +| Location | Path | +| --------------- | ---------------------------------------- | +| Build directory | `build//.sbom.spdx.json` | +| GitHub Releases | Alongside `.px4` firmware files | +| S3 | Same directory as firmware artifacts | + +## Validation + +Validate an SBOM against the SPDX JSON schema: + +```sh +python3 -c " +import json +doc = json.load(open('build/px4_sitl_default/px4_sitl_default.sbom.spdx.json')) +assert doc['spdxVersion'] == 'SPDX-2.3' +assert doc['dataLicense'] == 'CC0-1.0' +assert len(doc['packages']) > 0 +print(f'Valid: {len(doc[\"packages\"])} packages') +" +``` + +For full schema validation, use the [SPDX online validator](https://tools.spdx.org/app/validate/) or the `spdx-tools` CLI. + +## License Detection + +Submodule licenses are identified through a combination of auto-detection and manual overrides. + +### Auto-Detection + +The generator reads the first 100 lines of each submodule's LICENSE or COPYING file +and matches keywords against known patterns. +Copyleft licenses (GPL, LGPL, AGPL) are checked before permissive ones +to prevent false positives. + +Supported patterns include: + +| SPDX Identifier | Matched Keywords | +| ----------------------------- | ------------------------------------------------------------------ | +| GPL-3.0-only | "GNU GENERAL PUBLIC LICENSE", "Version 3" | +| GPL-2.0-only | "GNU GENERAL PUBLIC LICENSE", "Version 2" | +| LGPL-3.0-only | "GNU LESSER GENERAL PUBLIC LICENSE", "Version 3" | +| LGPL-2.1-only | "GNU Lesser General Public License", "Version 2.1" | +| AGPL-3.0-only | "GNU AFFERO GENERAL PUBLIC LICENSE", "Version 3" | +| Apache-2.0 | "Apache License", "Version 2.0" | +| MIT | "Permission is hereby granted" | +| BSD-3-Clause | "Redistribution and use", "Neither the name" | +| BSD-2-Clause | "Redistribution and use", "THIS SOFTWARE IS PROVIDED" | +| ISC | "Permission to use, copy, modify, and/or distribute" | +| EPL-2.0 | "Eclipse Public License", "2.0" | +| Unlicense | "The Unlicense", "unlicense.org" | + +If no pattern matches, the license is set to `NOASSERTION`. + +### Override File + +When auto-detection fails or returns the wrong result, +add an entry to `Tools/ci/license-overrides.yaml`: + +```yaml +overrides: + src/lib/crypto/libtomcrypt: + license: "Unlicense" + comment: "Public domain dedication. Functionally equivalent to Unlicense." +``` + +Each entry maps a submodule path to its correct SPDX license identifier. +The optional `comment` field is emitted as `licenseComments` in the SBOM, +providing context for auditors reviewing complex licensing situations +(dual licenses, composite LICENSE files, public domain dedications). + +### Copyleft Guardrail + +The `--verify-licenses` command flags submodules with copyleft licenses +(GPL, LGPL, AGPL) in a dedicated warning section. +This is informational only and does not cause a failure. +It helps maintainers track copyleft obligations when adding new submodules. + +### Platform Filtering + +Submodules under `platforms/nuttx/` are excluded from POSIX and QURT SBOMs. +The `--platform` argument (set automatically by CMake via `${PX4_PLATFORM}`) +controls which platform-specific submodules are included. +This ensures SITL builds do not list NuttX RTOS packages. + +### Перевірка + +Run the verify command to check detection for all submodules: + +```sh +python3 Tools/ci/generate_sbom.py --verify-licenses --source-dir . +``` + +This prints each submodule with its detected license, any override, and the final value. +It exits non-zero if any checked-out submodule resolves to `NOASSERTION` without an override. +Copyleft warnings are printed after the main table. + +### Adding a New Submodule + +1. Add the submodule normally. +2. Run `--verify-licenses` to confirm the license is detected. +3. If detection fails, add an override to `Tools/ci/license-overrides.yaml`. +4. If the license is not in the SPDX list, use `LicenseRef-`. + +### EU CRA Compliance + +The EU Cyber Resilience Act requires SBOMs for products with digital elements. +The goal is zero `NOASSERTION` licenses in shipped firmware SBOMs. +Every submodule should have either a detected or overridden license. +The `--verify-licenses` check enforces this in CI. + +## What's in an SBOM + +This section is for integrators, compliance teams, and anyone reviewing SBOM artifacts. + +### Where to Find SBOMs + +| Location | Path | +| --------------- | ---------------------------------------- | +| Build directory | `build//.sbom.spdx.json` | +| GitHub Releases | Alongside `.px4` firmware files | +| S3 | Same directory as firmware artifacts | + +### Reading the JSON + +Each SBOM is a single JSON document following SPDX 2.3. +Key fields: + +- **`packages`**: Array of all components. Each has `name`, `versionInfo`, `licenseConcluded`, and `SPDXID`. +- **`relationships`**: How packages relate. `CONTAINS` means a submodule is compiled into firmware. `BUILD_DEPENDENCY_OF` means a tool used only during build. +- **`licenseConcluded`**: The SPDX license identifier determined for that package. +- **`licenseComments`**: Free-text explanation for complex cases (dual licenses, composite files, public domain). +- **`externalRefs`**: Package URLs (purls) linking to GitHub repos or PyPI. + +### Understanding NOASSERTION + +`NOASSERTION` means no license could be determined. +For submodules, this happens when: + +- The submodule is not checked out (common in CI shallow clones). +- No LICENSE/COPYING file exists. +- The LICENSE file does not match any known pattern and no override is configured. + +For shipped firmware, `NOASSERTION` should be resolved by adding an override. +For build-only dependencies (Python packages), `NOASSERTION` is acceptable +since these are not compiled into the firmware binary. diff --git a/docs/uk/debug/gdb_debugging.md b/docs/uk/debug/gdb_debugging.md index cf234ec69f..277f7e1f8e 100644 --- a/docs/uk/debug/gdb_debugging.md +++ b/docs/uk/debug/gdb_debugging.md @@ -25,7 +25,7 @@ Developer <=> GDB <=> GDB Server <=> Debug Probe <=> SWD <=> PX4 Autopilot. - [SEGGER J-Link](probe_jlink.md): commercial probe, no built-in serial console, requires adapter. - [Black Magic Probe](probe_bmp.md): integrated GDB server and serial console, requires adapter. -- [STLink](probe_stlink): best value, integrated serial console, adapter must be soldered. +- [STLink](probe_stlink.md): best value, integrated serial console, adapter must be soldered. Рекомендуємо використовувати J-Link з адаптером налагодження Pixhawk або STLinkv3-MINIE зі спеціально спаяним кабелем. diff --git a/docs/uk/debug/swd_debug.md b/docs/uk/debug/swd_debug.md index 297b1edd61..6c434e5f23 100644 --- a/docs/uk/debug/swd_debug.md +++ b/docs/uk/debug/swd_debug.md @@ -5,7 +5,7 @@ PX4 runs on ARM Cortex-M microcontrollers, which contain dedicated hardware for Інтерфейс відладки SWD дозволяє прямий, низькорівневий, апаратний доступ до процесора мікроконтролера та периферійних пристроїв, тому він не залежить від будь-якого програмного забезпечення на пристрої. Отже, його можна використовувати для налагодження завантажувальних програм та операційних систем, таких як NuttX. -## Налагодження сигналів +## Debug Signals {#debug-signals} Чотири сигнали необхідні для відлагодження (в жирному шрифті), а решту лише рекомендується. @@ -29,7 +29,7 @@ SWO-пін може випромінювати дані профілювання ## Autopilot Debug Ports {#debug-ports} -Flight controllers commonly provide a single debug port that exposes both the [SWD Interface](#debug-signals) and [System Console](system_console). +Flight controllers commonly provide a single debug port that exposes both the [SWD Interface](#debug-signals) and [System Console](system_console.md). The [Pixhawk Connector Standards](#pixhawk-standard-debug-ports) formalize the port that must be used in each FMU version. However there are still many boards that use different pinouts or connectors, so we recommend you check the [documentation for your autopilot](../flight_controller/index.md) to confirm port location and pinout. @@ -91,7 +91,7 @@ There FMU and Pixhawk versions are (only) consistent after FMUv5X. ### Pixhawk Debug Mini -The [Pixhawk Connector Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf) defines the _Pixhawk Debug Mini_, a _6-Pin SH Debug Port_ that provides access to both SWD pins and the [System Console](system_console). +The [Pixhawk Connector Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf) defines the _Pixhawk Debug Mini_, a _6-Pin SH Debug Port_ that provides access to both SWD pins and the [System Console](system_console.md). Це використовується в FMUv4 та FMUv5. @@ -122,7 +122,7 @@ You can connect to the debug port using a [cable like this one](https://www.digi ### Порти відладки Pixhawk Full -The [Pixhawk Connector Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf) defines _Pixhawk Debug Full_, a _10-Pin SH Debug Port_ that provides access to both SWD pins and the [System Console](system_console). +The [Pixhawk Connector Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf) defines _Pixhawk Debug Full_, a _10-Pin SH Debug Port_ that provides access to both SWD pins and the [System Console](system_console.md). This essentially moves the solder pads from beside the [Pixhawk Debug Mini](#pixhawk-debug-mini) into the connector, and also adds an SWO pin. Цей порт вказаний для використання в FMUv5x, FMUv6, FMUv6x. @@ -154,14 +154,14 @@ You can connect to the debug port using a [cable like this one](https://www.digi ## Debug Probes for PX4 Hardware {#debug-probes} -Flight controllers commonly provide a [single debug port](#autopilot-debug-ports) that exposes both the [SWD Interface](#debug-signals) and [System Console](system_console). +Flight controllers commonly provide a [single debug port](#autopilot-debug-ports) that exposes both the [SWD Interface](#debug-signals) and [System Console](system_console.md). Є кілька зондів відлагодження, які були перевірені та підтримуються для підключення до одного або обох цих інтерфейсів: - [SEGGER J-Link](../debug/probe_jlink.md): commercial probe, no built-in serial console, requires adapter. - [Black Magic Probe](../debug/probe_bmp.md): integrated GDB server and serial console, requires adapter. -- [STLink](../debug/probe_stlink): best value, integrated serial console, adapter must be soldered. -- [MCU-Link](../debug/probe_mculink): best value, integrated serial console, requires adapter. +- [STLink](../debug/probe_stlink.md): best value, integrated serial console, adapter must be soldered. +- [MCU-Link](../debug/probe_mculink.md): best value, integrated serial console, requires adapter. Адаптер для підключення до роз'єму відладки може поставлятися разом із вашим контролером польоту або відлагоджувальним зондом. Інші варіанти наведено нижче. @@ -199,7 +199,7 @@ Some SWD [debug probes](#debug-probes) come with adapters/cables for connecting ### Адаптери, специфічні для плати -Some manufacturers provide cables to make it easy to connect the SWD interface and [System Console](../debug/system_console). +Some manufacturers provide cables to make it easy to connect the SWD interface and [System Console](../debug/system_console.md). - [CUAV V5nano](../flight_controller/cuav_v5_nano.md#debug_port) and [CUAV V5+](../flight_controller/cuav_v5_plus.md#debug-port) include this debug cable: @@ -213,7 +213,7 @@ Some manufacturers provide cables to make it easy to connect the SWD interface a - Підключіть контакт VREF, якщо його підтримує засіб відлагодження. - Підключіть залишкові контакти, якщо вони є. -See the [STLinkv3-MINIE](probe_stlink) for a guide on how to solder a custom cable. +See the [STLinkv3-MINIE](probe_stlink.md) for a guide on how to solder a custom cable. :::tip Where possible, we highly recommend that you create or obtain an adapter board rather than custom cables for connecting to SWD/JTAG debuggers and computers. diff --git a/docs/uk/dev_setup/building_px4.md b/docs/uk/dev_setup/building_px4.md index db8c8fbf7e..76f219b6e4 100644 --- a/docs/uk/dev_setup/building_px4.md +++ b/docs/uk/dev_setup/building_px4.md @@ -282,7 +282,7 @@ make [VENDOR_][MODEL][_VARIANT] [VIEWER_MODEL_DEBUGGER_WORLD] - **VENDOR:** The manufacturer of the board: `px4`, `aerotenna`, `airmind`, `atlflight`, `auav`, `beaglebone`, `intel`, `nxp`, etc. The vendor name for Pixhawk series boards is `px4`. - **MODEL:** The _board model_ "model": `sitl`, `fmu-v2`, `fmu-v3`, `fmu-v4`, `fmu-v5`, `navio2`, etc. -- **VARIANT:** Indicates particular configurations: e.g. `bootloader`, `cyphal`, which contain components that are not present in the `default` configuration. +- **VARIANT:** Indicates particular configurations: e.g. `bootloader`, `cyphal`, `sih`, which add or remove components to/from the `default` configuration. Most commonly this is `default`, and may be omitted. :::tip diff --git a/docs/uk/dev_setup/dev_env_linux_arch.md b/docs/uk/dev_setup/dev_env_linux_arch.md index 4f8fb10602..dfcaf0a1ae 100644 --- a/docs/uk/dev_setup/dev_env_linux_arch.md +++ b/docs/uk/dev_setup/dev_env_linux_arch.md @@ -1,7 +1,7 @@ # Середовище розробки Arch Linux :::warning -This development environment is [community supported and maintained](../advanced/community_supported_dev_env). +This development environment is [community supported and maintained](../advanced/community_supported_dev_env.md). Це може працювати або не працювати з поточними версіями PX4. Дивіться [Встановлення інструментарію](../dev_setup/dev_env.md) для інформації про середовища та інструменти, що підтримуються основною командою розробників. diff --git a/docs/uk/dronecan/ark_rtk_gps.md b/docs/uk/dronecan/ark_rtk_gps.md index 41d35ac26b..1385f628a8 100644 --- a/docs/uk/dronecan/ark_rtk_gps.md +++ b/docs/uk/dronecan/ark_rtk_gps.md @@ -84,7 +84,7 @@ You need to set necessary [DroneCAN](index.md) parameters and define offsets if - Enable GPS yaw fusion by setting bit 3 of [EKF2_GPS_CTRL](../advanced_config/parameter_reference.md#EKF2_GPS_CTRL) to true. - Enable GPS blending to ensure the heading is always published by setting [SENS_GPS_MASK](../advanced_config/parameter_reference.md#SENS_GPS_MASK) to 7 (all three bits checked). -- If using [Moving Baseline & GPS Heading](#setting-up-moving-baseline--gps-heading), set [SENS_GPS_PRIME](../advanced_config/parameter_reference.md#SENS_GPS_PRIME) to the CAN node ID of the _Moving Base_ module. The moving base is preferred because the rover receiver in a moving baseline configuration can experience degraded navigation rate and increased data latency when corrections are intermittent. +- If using [Moving Baseline & GPS Heading](#setting-up-moving-baseline-gps-heading), set [SENS_GPS_PRIME](../advanced_config/parameter_reference.md#SENS_GPS_PRIME) to the CAN node ID of the _Moving Base_ module. The moving base is preferred because the rover receiver in a moving baseline configuration can experience degraded navigation rate and increased data latency when corrections are intermittent. - Enable [UAVCAN_SUB_GPS](../advanced_config/parameter_reference.md#UAVCAN_SUB_GPS), [UAVCAN_SUB_MAG](../advanced_config/parameter_reference.md#UAVCAN_SUB_MAG), and [UAVCAN_SUB_BARO](../advanced_config/parameter_reference.md#UAVCAN_SUB_BARO). - The parameters [SENS_GPS0_OFFX](../advanced_config/parameter_reference.md#SENS_GPS0_OFFX), [SENS_GPS0_OFFY](../advanced_config/parameter_reference.md#SENS_GPS0_OFFY) and [SENS_GPS0_OFFZ](../advanced_config/parameter_reference.md#SENS_GPS0_OFFZ) can be set to account for the offset of the ARK RTK GPS from the vehicles centre of gravity. diff --git a/docs/uk/dronecan/escs.md b/docs/uk/dronecan/escs.md index 9b1d1b748b..d645e95423 100644 --- a/docs/uk/dronecan/escs.md +++ b/docs/uk/dronecan/escs.md @@ -5,7 +5,7 @@ PX4 supports DroneCAN compliant ESCs. ## Supported ESC :::info -[Supported ESCs](../peripherals/esc_motors#supported-esc) in _ESCs & Motors_ may include additional devices that are not listed below. +[Supported ESCs](../peripherals/esc_motors.md#supported-esc) in _ESCs & Motors_ may include additional devices that are not listed below. ::: The following articles have specific hardware/firmware information: diff --git a/docs/uk/flight_controller/ark_v6x.md b/docs/uk/flight_controller/ark_v6x.md index 1805a410bd..def83e76f8 100644 --- a/docs/uk/flight_controller/ark_v6x.md +++ b/docs/uk/flight_controller/ark_v6x.md @@ -5,7 +5,7 @@ PX4 не розробляє цей (або будь-який інший) авт Contact the [manufacturer](https://arkelectron.com/contact-us/) for hardware support or compliance issues. ::: -The USA-built [ARKV6X](\(https://arkelectron.gitbook.io/ark-documentation/flight-controllers/arkv6x\)) flight controller is based on the [FMUV6X and Pixhawk Autopilot Bus open source standards](https://github.com/pixhawk/Pixhawk-Standards). +The USA-built [ARKV6X](https://arkelectron.gitbook.io/ark-documentation/flight-controllers/arkv6x) flight controller is based on the [FMUV6X and Pixhawk Autopilot Bus open source standards](https://github.com/pixhawk/Pixhawk-Standards). Завдяки потрійній синхронізації IMU можливе узагальнення даних, голосування та фільтрація. The Pixhawk Autopilot Bus (PAB) form factor enables the ARKV6X to be used on any [PAB-compatible carrier board](../flight_controller/pixhawk_autopilot_bus.md), such as the [ARK Pixhawk Autopilot Bus Carrier](../flight_controller/ark_pab.md). diff --git a/docs/uk/flight_modes_fw/takeoff.md b/docs/uk/flight_modes_fw/takeoff.md index e66bbe0a31..f2b7354659 100644 --- a/docs/uk/flight_modes_fw/takeoff.md +++ b/docs/uk/flight_modes_fw/takeoff.md @@ -103,7 +103,7 @@ The _launch detector_ is affected by the following parameters: | Параметр | Опис | | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------- | | [FW_LAUN_DETCN_ON](../advanced_config/parameter_reference.md#FW_LAUN_DETCN_ON) | Увімкнути автоматичне визначення запуску. Якщо вимкнені двигуни обертаються при підготовці до польоту | -| [FW_LAUN_AC_THLD](../advanced_config/parameter_reference.md#FW_LAUN_AC_THLD) | Поріг прискорення (прискорення в напрямку руху тіла повинно бути вище цієї величини) | +| [FW_LAUN_AC_THLD](../advanced_config/parameter_reference.md#FW_LAUN_AC_THLD) | Acceleration threshold (norm of acceleration must be above this value) | | [FW_LAUN_AC_T](../advanced_config/parameter_reference.md#FW_LAUN_AC_T) | Час спрацьовування (прискорення повинно бути вище порогу на цю кількість секунд) | | [FW_LAUN_MOT_DEL](../advanced_config/parameter_reference.md#FW_LAUN_MOT_DEL) | Затримка від виявлення запуску до відкручування мотору | | [FW_LAUN_CS_LK_DY](../advanced_config/parameter_reference.md#FW_LAUN_CS_LK_DY) | Delay from launch detection to unlocking the control surfaces | diff --git a/docs/uk/flight_modes_rover/auto.md b/docs/uk/flight_modes_rover/auto.md index f1a79014ed..4a88acbd6a 100644 --- a/docs/uk/flight_modes_rover/auto.md +++ b/docs/uk/flight_modes_rover/auto.md @@ -13,14 +13,14 @@ The mission is typically created and uploaded with a Ground Control Station (GCS The following commands can be used in missions at time of writing (PX4 v1.16): -| QGC mission item | Команда | Опис | -| ------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------ | ----------------------------------------------------------------- | -| Mission start | [MAV_CMD_MISSION_START](MAV_CMD_MISSION_START) | Starts the mission. | -| Waypoint | [MAV_CMD_NAV_WAYPOINT](MAV_CMD_NAV_WAYPOINT) | Navigate to waypoint. | -| Return to launch | [MAV\_CMD\_NAV\_RETURN\_TO\_LAUNCH][MAV_CMD_NAV_RETURN_TO_LAUNCH] | Return to the launch location. | -| Change speed | [MAV\_CMD\_DO\_CHANGE\_SPEED][MAV_CMD_DO_CHANGE_SPEED] | Change the speed setpoint | -| Set launch location | [MAV_CMD_DO_SET_HOME](MAV_CMD_DO_SET_HOME) | Changes launch location to specified coordinates. | -| Jump to item (all) | [MAV\_CMD\_DO\_JUMP][MAV_CMD_DO_JUMP] (and other jump commands) | Jump to specified mission item. | +| QGC mission item | Команда | Опис | +| ------------------------------------- | ----------------------------------------------------------------- | ----------------------------------------------------------------- | +| Mission start | [MAV\_CMD\_MISSION\_START][MAV_CMD_MISSION_START] | Starts the mission. | +| Waypoint | [MAV\_CMD\_NAV\_WAYPOINT][MAV_CMD_NAV_WAYPOINT] | Navigate to waypoint. | +| Return to launch | [MAV\_CMD\_NAV\_RETURN\_TO\_LAUNCH][MAV_CMD_NAV_RETURN_TO_LAUNCH] | Return to the launch location. | +| Change speed | [MAV\_CMD\_DO\_CHANGE\_SPEED][MAV_CMD_DO_CHANGE_SPEED] | Change the speed setpoint | +| Set launch location | [MAV\_CMD\_DO\_SET\_HOME][MAV_CMD_DO_SET_HOME] | Changes launch location to specified coordinates. | +| Jump to item (all) | [MAV\_CMD\_DO\_JUMP][MAV_CMD_DO_JUMP] (and other jump commands) | Jump to specified mission item. | [MAV_CMD_MISSION_START]: https://mavlink.io/en/messages/common.html#MAV_CMD_MISSION_START [MAV_CMD_NAV_WAYPOINT]: https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_WAYPOINT diff --git a/docs/uk/frames_sub/bluerov2.md b/docs/uk/frames_sub/bluerov2.md index 8965333aa7..1d2d7adefb 100644 --- a/docs/uk/frames_sub/bluerov2.md +++ b/docs/uk/frames_sub/bluerov2.md @@ -33,14 +33,67 @@ the [Airframe Reference](../airframes/airframe_reference.md#vectored-6-dof-uuv): - **MAIN7:** motor 7 CCW, stern starboard vertical, propeller CW - **MAIN8:** motor 8 CCW, stern port vertical, propeller CCW +## Basic Control Axes + +For underwater vehicles, motion is defined in terms of body axes: + +- **Surge:** forward/back motion - translation along the body X axis. +- **Sway:** left/right motion - translation along the body Y axis. +- **Heave:** up/down motion - translation along the body Z axis. +- **Yaw:** rotation about the (vertical) body Z axis. + +### Stick Mapping (Mode 2) + +The mapping below illustrates the default joystick behavior: + +- **Pitch stick (forward/back):** surge +- **Roll stick (left/right):** sway +- **Throttle stick (up/down):** heave +- **Yaw stick (left/right):** yaw + +![RC Basic Commands](../../assets/flying/rc_mode2_mc_position_mode.png) + ## Manual Modes -| Режим | Опис | -| --------- | ---------------------------------------------------------------------------------------------------------------------------------------------------- | -| Manual | Direct manual control of yaw and thrust. | -| Acro | Manual control of yaw/thrust, but keeps roll/pitch zero | -| Altitude | Manual control of x/y thrust and yaw. Control of height with PID, manually controlled by user. Keeps roll/pitch zero | -| Положення | Controls x/y/z and yaw. Manually controlled by user. Keeps roll/pitch zero | +The following manual and assisted modes are currently supported on BlueROV2 Heavy: + +| Режим | Опис | +| ---------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| Manual | Direct manual control of thrust and yaw. | +| Stabilized | Manual control of thurst and yaw with roll/pitch stabilization. | +| Acro | Manual control of yaw-rate and direct thrust commands with roll/pitch stabilization. | +| Altitude | Manual control of x/y thrust and yaw. Control of height with PID, manually controlled by user. Keeps roll/pitch stabilized. | +| Положення | Controls x, y, z and yaw with position hold when sticks are released. Keeps roll/pitch stabilized. | + +## Joystick Stick Mode + +BlueROV2 supports two joystick mappings for manual control, selected using the +[UUV_STICK_MODE](../advanced_config/parameter_reference.md#UUV_STICK_MODE) parameter. + +By default, `UUV_STICK_MODE` is set to `0`, which enables the UUV stick mapping intended for vectored underwater vehicles. + +### UUV_STICK_MODE = 0 (default) + +This mode is intended for normal BlueROV2 operation. +In `Manual`, `Stabilized`, and `Acro` modes, the sticks command: + +- **Pitch stick:** surge - moving stick up -> moving forward, +X translation in body frame. +- **Roll stick:** sway - moving stick right -> moving sideways right, +Y translation in body frame. +- **Throttle stick:** heave - moving stick up -> moving upwards, -Z translation in body frame (note the Z axis points Down of the vehicle in PX4). +- **Yaw stick:** yaw - moving stick right -> yawing to the right, +Z rotation in body frame. + +In this mode, roll and pitch are kept level rather than commanded directly. + +### UUV_STICK_MODE = 1 + +This mode enables the legacy multicopter-style stick mapping for `Manual`, `Stabilized`, and `Acro` modes: + +- **Throttle stick:** surge - moving stick up -> moving forward, +X translation in body frame. +- **Roll stick:** roll - moving stick right -> rolling to the right side, +X rotation in body frame. +- **Pitch stick:** pitch - moving stick up -> pitching down, -X translation in body frame (note signs are switched to follow PX4 standard). +- **Yaw stick:** yaw - moving stick right -> yawing to the right, +Z rotation in body frame. + +This mode is mainly provided for compatibility with older setups and user preference. ## Конфігурація планера diff --git a/docs/uk/frames_sub/index.md b/docs/uk/frames_sub/index.md index a8e7fe59ca..aa1ef6725d 100644 --- a/docs/uk/frames_sub/index.md +++ b/docs/uk/frames_sub/index.md @@ -6,15 +6,15 @@ Support for UUVs is [experimental](../airframes/index.md#experimental-vehicles). Maintainer volunteers, [contribution](../contribute/index.md) of new features, new frame configurations, or other improvements would all be very welcome! -На момент написання він був протестований лише з використанням ROS у автономному режимі. +At time of writing manual and assisted manual modes are available for supported UUV frames, as well as ROS in offboard mode. Наступні функції не були реалізовані: -- Такі режими, як місії, утримання глибини, стабілізоване ручне керування тощо. +- Autonomous mission-style underwater workflows are still limited compared to aerial vehicles. - Підтримка BlueRobotics. ::: -PX4 має базову підтримку UUV. +PX4 has basic support for UUVs. For BlueROV2 Heavy, PX4 currently supports Manual, Stabilized, Acro, Altitude and Position modes. ## Підтримувані конструкції diff --git a/docs/uk/frames_vtol/index.md b/docs/uk/frames_vtol/index.md index c977fab89a..3aaf1df940 100644 --- a/docs/uk/frames_vtol/index.md +++ b/docs/uk/frames_vtol/index.md @@ -14,51 +14,52 @@ PX4 використовує термін VTOL для посилання на т ## Типи VTOL -PX4 підтримує три найважливіші/основні типи VTOL. +PX4 supports the three most important/main VTOL types: [Standard VTOL](standardvtol.md), [Tiltrotor](tiltrotor.md), and [Tailsitter](tailsitter.md). -
-
-
Tailsitter
-
- Ротори постійно в фіксованому положенні крила. - Злітає та сідає на хвіст. Уся транспортна засіб нахиляється вперед, щоб увійти в режим польоту вперед. - -
    -
  • Простий та надійний
    • -
  • Мінімальний набір приводів
    • -
  • Може бути важко контролювати, особливо на вітер
    • -
  • Компроміс між ефективністю у режимі гвинтокрилу та прямолітання, оскільки використовуються одні й ті ж приводи
    • -
-
-
-
-
Tiltrotor
- - Ротори обертаються на 90 градусів для переходу від багатокоптерного до орієнтації польоту вперед. - Злітає та сідає на живіт. -
- -
    -
  • Додаткові приводи для нахилу двигуна
    • -
  • Механічно складний механізм нахилу
    • -
  • Легше контролювати у режимі гвинтокрилу, ніж у режимі вертикального зльоту через більшу владу над керуванням
    • -
-
-
-
-
Standard VTOL
-
- Окремі ротори/керування польотом для багтороторника та прямого польоту. Злітає та сідає на живіт. - -
    -
  • Додаткова вага від окремих систем пропульсії для гвинтового/впередового польоту
    • -
  • Найлегше керувати завдяки присвяченим активаторам підйому/переміщення вперед
    • -
  • Може зависити
    • -
  • Паливні двигуни для просування вперед можуть бути використані
    • -
-
-
-
+:::: tabs + +:::tab Standard VTOL + +Окремі ротори/керування польотом для багтороторника та прямого польоту. +Злітає та сідає на живіт. + +![Vertical Technologies: Deltaquad](../../assets/airframes/vtol/vertical_technologies_deltaquad/hero_small.png) + +- Додаткова вага від окремих систем пропульсії для гвинтового/впередового польоту +- Найлегше керувати завдяки присвяченим активаторам підйому/переміщення вперед +- Може зависити +- Fuel engines can be used for forward flight propulsion + +::: + +:::tab Tailsitter + +Ротори постійно в фіксованому положенні крила. +Злітає та сідає на хвіст. Уся транспортна засіб нахиляється вперед, щоб увійти в режим польоту вперед. + +![wingtraone](../../assets/airframes/vtol/wingtraone/hero.jpg) + +- Простий та надійний +- Мінімальний набір приводів +- Може бути важко контролювати, особливо на вітер +- Компроміс між ефективністю у режимі гвинтокрилу та прямолітання, оскільки використовуються одні й ті ж приводи + +::: + +:::tab Tiltrotor + +Ротори обертаються на 90 градусів для переходу від багатокоптерного до орієнтації польоту вперед. +Злітає та сідає на живіт. + +![Eflight Confvergence](../../assets/airframes/vtol/eflite_convergence_pixfalcon/hero.jpg) + +- Додаткові приводи для нахилу двигуна +- Механічно складний механізм нахилу +- Легше контролювати у режимі гвинтокрилу, ніж у режимі вертикального зльоту через більшу владу над керуванням + +::: + +:::: Загалом, зі збільшенням механічної складності літаки стають легшими у керуванні, але збільшується вартість та вага. Кожен тип має переваги й недоліки, і є успішні комерційні проекти, що ґрунтуються на них. @@ -126,7 +127,7 @@ VTOL Control & Airspeed Fault Detection (PX4 Developer Summit 2019) -### Tailsitter +### Tailsitter {#tailsitter_video} [UAV Works VALAQ Patrol Tailsitter](https://www.valaqpatrol.com/valaq_patrol_technical_data/) @@ -136,7 +137,7 @@ VTOL Control & Airspeed Fault Detection (PX4 Developer Summit 2019) -### Tiltrotor +### Tiltrotor {#tiltrotor_video} [Convergence Tiltrotor](../frames_vtol/vtol_tiltrotor_eflite_convergence_pixfalcon.md) diff --git a/docs/uk/frames_vtol/tailsitter.md b/docs/uk/frames_vtol/tailsitter.md index d0d43e5ec1..9518661446 100644 --- a/docs/uk/frames_vtol/tailsitter.md +++ b/docs/uk/frames_vtol/tailsitter.md @@ -89,35 +89,36 @@ This section contains videos that are specific to Tailsitter VTOL (videos that a ## Галерея -
-
-
WingtraOne
-
- wingtraone -
-
-
-
Skypull
-
- -
-
-
-
TBS Caipiroshka
-
- -
-
-
-
Woshark
-
- -
-
-
-
UAV Works VALAQ Patrol Tailsitter
-
- -
-
-
+:::: tabs + +:::tab WingtraOne +[WingtraOne](https://wingtra.com/mapping-drone-fast-accurate-surveying/) + +![Wingtra: WingtraOne VTOL Duo Tailsitter](../../assets/airframes/vtol/wingtraone/hero.jpg) +::: + +:::tab Skypull +[Skypull](https://www.skypull.technology/) + +![Skypull SP-1 VTOL QuadTailsitter](../../assets/airframes/vtol/skypull/skypull_sp1.jpg) +::: + +:::tab TBS Caipiroshka +[TBS Caipiroshka](../frames_vtol/vtol_tailsitter_caipiroshka_pixracer.md) + +![TBS Caipiroshka](../../assets/airframes/vtol/caipiroshka/caipiroshka.jpg) +::: + +:::tab Woshark +[Woshark](http://uav-cas.ac.cn/WOSHARK/) + +![Woshark](../../assets/airframes/vtol/xdwgood_ax1800/hero.jpg) +::: + +:::tab VALAQ Patrol Tailsitter +[UAV Works VALAQ Patrol Tailsitter](https://www.valaqpatrol.com/valaq_patrol_technical_data/) + +!["UAV Works VALAQ Patrol Tailsitte](../../assets/airframes/vtol/uav_works_valaq_patrol/hero.jpg) +::: + +:::: diff --git a/docs/uk/middleware/dds_topics.md b/docs/uk/middleware/dds_topics.md index dd186b7d35..0dce3591e6 100644 --- a/docs/uk/middleware/dds_topics.md +++ b/docs/uk/middleware/dds_topics.md @@ -96,205 +96,206 @@ They are not build into the module, and hence are neither published or subscribe :::details See messages -- [AdcReport](../msg_docs/AdcReport.md) -- [ManualControlSwitches](../msg_docs/ManualControlSwitches.md) -- [MountOrientation](../msg_docs/MountOrientation.md) -- [AutotuneAttitudeControlStatus](../msg_docs/AutotuneAttitudeControlStatus.md) -- [EstimatorEventFlags](../msg_docs/EstimatorEventFlags.md) -- [InternalCombustionEngineStatus](../msg_docs/InternalCombustionEngineStatus.md) - [VehicleGlobalPositionV0](../msg_docs/VehicleGlobalPositionV0.md) -- [ActuatorControlsStatus](../msg_docs/ActuatorControlsStatus.md) -- [GpsDump](../msg_docs/GpsDump.md) -- [FlightPhaseEstimation](../msg_docs/FlightPhaseEstimation.md) -- [ActuatorArmed](../msg_docs/ActuatorArmed.md) -- [EstimatorStates](../msg_docs/EstimatorStates.md) -- [EscStatus](../msg_docs/EscStatus.md) -- [SensorGnssRelative](../msg_docs/SensorGnssRelative.md) -- [SensorTemp](../msg_docs/SensorTemp.md) -- [VehicleImu](../msg_docs/VehicleImu.md) -- [IridiumsbdStatus](../msg_docs/IridiumsbdStatus.md) -- [LandingGearWheel](../msg_docs/LandingGearWheel.md) -- [OrbitStatus](../msg_docs/OrbitStatus.md) -- [GainCompression](../msg_docs/GainCompression.md) -- [VehicleRoi](../msg_docs/VehicleRoi.md) -- [Vtx](../msg_docs/Vtx.md) -- [Px4ioStatus](../msg_docs/Px4ioStatus.md) -- [EscEepromRead](../msg_docs/EscEepromRead.md) -- [DebugArray](../msg_docs/DebugArray.md) -- [FollowTarget](../msg_docs/FollowTarget.md) -- [ButtonEvent](../msg_docs/ButtonEvent.md) -- [ArmingCheckReplyV0](../msg_docs/ArmingCheckReplyV0.md) -- [VehicleAttitudeSetpointV0](../msg_docs/VehicleAttitudeSetpointV0.md) -- [GimbalDeviceInformation](../msg_docs/GimbalDeviceInformation.md) -- [CanInterfaceStatus](../msg_docs/CanInterfaceStatus.md) -- [MavlinkLog](../msg_docs/MavlinkLog.md) -- [PowerMonitor](../msg_docs/PowerMonitor.md) -- [TecsStatus](../msg_docs/TecsStatus.md) -- [OpenDroneIdSelfId](../msg_docs/OpenDroneIdSelfId.md) -- [SensorAccel](../msg_docs/SensorAccel.md) -- [RaptorStatus](../msg_docs/RaptorStatus.md) -- [VehicleStatusV1](../msg_docs/VehicleStatusV1.md) -- [SensorAccelFifo](../msg_docs/SensorAccelFifo.md) - [CameraStatus](../msg_docs/CameraStatus.md) -- [RcParameterMap](../msg_docs/RcParameterMap.md) -- [UavcanParameterValue](../msg_docs/UavcanParameterValue.md) -- [DifferentialPressure](../msg_docs/DifferentialPressure.md) -- [SensorHygrometer](../msg_docs/SensorHygrometer.md) -- [BatteryStatusV0](../msg_docs/BatteryStatusV0.md) -- [CameraTrigger](../msg_docs/CameraTrigger.md) -- [HomePositionV0](../msg_docs/HomePositionV0.md) -- [GeneratorStatus](../msg_docs/GeneratorStatus.md) -- [TiltrotorExtraControls](../msg_docs/TiltrotorExtraControls.md) -- [GimbalManagerSetManualControl](../msg_docs/GimbalManagerSetManualControl.md) -- [EstimatorAidSource3d](../msg_docs/EstimatorAidSource3d.md) -- [PwmInput](../msg_docs/PwmInput.md) -- [MagnetometerBiasEstimate](../msg_docs/MagnetometerBiasEstimate.md) -- [SensorGyroFifo](../msg_docs/SensorGyroFifo.md) -- [OrbTestMedium](../msg_docs/OrbTestMedium.md) -- [NormalizedUnsignedSetpoint](../msg_docs/NormalizedUnsignedSetpoint.md) -- [SensorsStatusImu](../msg_docs/SensorsStatusImu.md) -- [GpsInjectData](../msg_docs/GpsInjectData.md) -- [FollowTargetEstimator](../msg_docs/FollowTargetEstimator.md) -- [EstimatorAidSource2d](../msg_docs/EstimatorAidSource2d.md) -- [MissionResult](../msg_docs/MissionResult.md) -- [VehicleImuStatus](../msg_docs/VehicleImuStatus.md) -- [VehicleLocalPositionV0](../msg_docs/VehicleLocalPositionV0.md) -- [InputRc](../msg_docs/InputRc.md) -- [LandingTargetPose](../msg_docs/LandingTargetPose.md) -- [VehicleAngularAccelerationSetpoint](../msg_docs/VehicleAngularAccelerationSetpoint.md) -- [NavigatorMissionItem](../msg_docs/NavigatorMissionItem.md) -- [LoggerStatus](../msg_docs/LoggerStatus.md) -- [OpenDroneIdOperatorId](../msg_docs/OpenDroneIdOperatorId.md) -- [ActuatorServosTrim](../msg_docs/ActuatorServosTrim.md) -- [RaptorInput](../msg_docs/RaptorInput.md) -- [OpenDroneIdSystem](../msg_docs/OpenDroneIdSystem.md) -- [ActuatorTest](../msg_docs/ActuatorTest.md) -- [RegisterExtComponentRequestV0](../msg_docs/RegisterExtComponentRequestV0.md) -- [EstimatorSensorBias](../msg_docs/EstimatorSensorBias.md) -- [SensorGnssStatus](../msg_docs/SensorGnssStatus.md) -- [VehicleStatusV0](../msg_docs/VehicleStatusV0.md) -- [GimbalDeviceSetAttitude](../msg_docs/GimbalDeviceSetAttitude.md) -- [ConfigOverridesV0](../msg_docs/ConfigOverridesV0.md) -- [UavcanParameterRequest](../msg_docs/UavcanParameterRequest.md) -- [SatelliteInfo](../msg_docs/SatelliteInfo.md) -- [SystemPower](../msg_docs/SystemPower.md) -- [ParameterUpdate](../msg_docs/ParameterUpdate.md) -- [LaunchDetectionStatus](../msg_docs/LaunchDetectionStatus.md) -- [RadioStatus](../msg_docs/RadioStatus.md) -- [QshellRetval](../msg_docs/QshellRetval.md) -- [PositionSetpoint](../msg_docs/PositionSetpoint.md) -- [Gripper](../msg_docs/Gripper.md) -- [EscReport](../msg_docs/EscReport.md) -- [DebugKeyValue](../msg_docs/DebugKeyValue.md) -- [SensorGyroFft](../msg_docs/SensorGyroFft.md) -- [TaskStackInfo](../msg_docs/TaskStackInfo.md) -- [VehicleOpticalFlow](../msg_docs/VehicleOpticalFlow.md) -- [BatteryInfo](../msg_docs/BatteryInfo.md) -- [ParameterSetValueRequest](../msg_docs/ParameterSetValueRequest.md) -- [PositionControllerStatus](../msg_docs/PositionControllerStatus.md) -- [GeofenceResult](../msg_docs/GeofenceResult.md) -- [DistanceSensorModeChangeRequest](../msg_docs/DistanceSensorModeChangeRequest.md) -- [EstimatorStatus](../msg_docs/EstimatorStatus.md) -- [ArmingCheckRequestV0](../msg_docs/ArmingCheckRequestV0.md) -- [EstimatorInnovations](../msg_docs/EstimatorInnovations.md) -- [QshellReq](../msg_docs/QshellReq.md) -- [VehicleAcceleration](../msg_docs/VehicleAcceleration.md) -- [RoverAttitudeStatus](../msg_docs/RoverAttitudeStatus.md) -- [DatamanRequest](../msg_docs/DatamanRequest.md) -- [GeofenceStatus](../msg_docs/GeofenceStatus.md) -- [FuelTankStatus](../msg_docs/FuelTankStatus.md) -- [DebugValue](../msg_docs/DebugValue.md) -- [WheelEncoders](../msg_docs/WheelEncoders.md) -- [EstimatorBias](../msg_docs/EstimatorBias.md) -- [VelocityLimits](../msg_docs/VelocityLimits.md) -- [LandingTargetInnovations](../msg_docs/LandingTargetInnovations.md) -- [GimbalManagerSetAttitude](../msg_docs/GimbalManagerSetAttitude.md) -- [InternalCombustionEngineControl](../msg_docs/InternalCombustionEngineControl.md) -- [TrajectorySetpoint6dof](../msg_docs/TrajectorySetpoint6dof.md) -- [AirspeedWind](../msg_docs/AirspeedWind.md) -- [VehicleOpticalFlowVel](../msg_docs/VehicleOpticalFlowVel.md) -- [HoverThrustEstimate](../msg_docs/HoverThrustEstimate.md) -- [SensorCorrection](../msg_docs/SensorCorrection.md) -- [SensorsStatus](../msg_docs/SensorsStatus.md) -- [EstimatorGpsStatus](../msg_docs/EstimatorGpsStatus.md) -- [FixedWingLateralStatus](../msg_docs/FixedWingLateralStatus.md) -- [YawEstimatorStatus](../msg_docs/YawEstimatorStatus.md) -- [GimbalManagerInformation](../msg_docs/GimbalManagerInformation.md) -- [GpioRequest](../msg_docs/GpioRequest.md) -- [SensorSelection](../msg_docs/SensorSelection.md) -- [SensorUwb](../msg_docs/SensorUwb.md) -- [Ekf2Timestamps](../msg_docs/Ekf2Timestamps.md) -- [HealthReport](../msg_docs/HealthReport.md) -- [NavigatorStatus](../msg_docs/NavigatorStatus.md) -- [PositionControllerLandingStatus](../msg_docs/PositionControllerLandingStatus.md) -- [LedControl](../msg_docs/LedControl.md) -- [Event](../msg_docs/Event.md) -- [SensorMag](../msg_docs/SensorMag.md) -- [VehicleMagnetometer](../msg_docs/VehicleMagnetometer.md) -- [Rpm](../msg_docs/Rpm.md) -- [VehicleLocalPositionSetpoint](../msg_docs/VehicleLocalPositionSetpoint.md) -- [EscEepromWrite](../msg_docs/EscEepromWrite.md) -- [ControlAllocatorStatus](../msg_docs/ControlAllocatorStatus.md) -- [AirspeedValidatedV0](../msg_docs/AirspeedValidatedV0.md) -- [ActionRequest](../msg_docs/ActionRequest.md) -- [MavlinkTunnel](../msg_docs/MavlinkTunnel.md) -- [TakeoffStatus](../msg_docs/TakeoffStatus.md) -- [PowerButtonState](../msg_docs/PowerButtonState.md) -- [EstimatorSelectorStatus](../msg_docs/EstimatorSelectorStatus.md) -- [PurePursuitStatus](../msg_docs/PurePursuitStatus.md) -- [RtlStatus](../msg_docs/RtlStatus.md) -- [Airspeed](../msg_docs/Airspeed.md) -- [VehicleCommandAckV0](../msg_docs/VehicleCommandAckV0.md) -- [GimbalControls](../msg_docs/GimbalControls.md) -- [FixedWingRunwayControl](../msg_docs/FixedWingRunwayControl.md) -- [PpsCapture](../msg_docs/PpsCapture.md) -- [FailureDetectorStatus](../msg_docs/FailureDetectorStatus.md) -- [SensorBaro](../msg_docs/SensorBaro.md) +- [LandingGearWheel](../msg_docs/LandingGearWheel.md) - [UlogStreamAck](../msg_docs/UlogStreamAck.md) -- [DronecanNodeStatus](../msg_docs/DronecanNodeStatus.md) -- [FollowTargetStatus](../msg_docs/FollowTargetStatus.md) -- [ParameterSetUsedRequest](../msg_docs/ParameterSetUsedRequest.md) +- [RcParameterMap](../msg_docs/RcParameterMap.md) +- [Rpm](../msg_docs/Rpm.md) +- [EscStatus](../msg_docs/EscStatus.md) +- [SensorGyroFifo](../msg_docs/SensorGyroFifo.md) +- [SensorHygrometer](../msg_docs/SensorHygrometer.md) +- [RadioStatus](../msg_docs/RadioStatus.md) +- [PositionControllerStatus](../msg_docs/PositionControllerStatus.md) - [SensorAirflow](../msg_docs/SensorAirflow.md) +- [LedControl](../msg_docs/LedControl.md) +- [HealthReport](../msg_docs/HealthReport.md) +- [GimbalDeviceInformation](../msg_docs/GimbalDeviceInformation.md) +- [AutotuneAttitudeControlStatus](../msg_docs/AutotuneAttitudeControlStatus.md) +- [VehicleOpticalFlow](../msg_docs/VehicleOpticalFlow.md) +- [GpsInjectData](../msg_docs/GpsInjectData.md) +- [NeuralControl](../msg_docs/NeuralControl.md) +- [RateCtrlStatus](../msg_docs/RateCtrlStatus.md) +- [AirspeedValidatedV0](../msg_docs/AirspeedValidatedV0.md) +- [PositionSetpoint](../msg_docs/PositionSetpoint.md) +- [RtlStatus](../msg_docs/RtlStatus.md) +- [DebugValue](../msg_docs/DebugValue.md) +- [VehicleLocalPositionSetpoint](../msg_docs/VehicleLocalPositionSetpoint.md) +- [InternalCombustionEngineControl](../msg_docs/InternalCombustionEngineControl.md) +- [PpsCapture](../msg_docs/PpsCapture.md) +- [RcChannels](../msg_docs/RcChannels.md) +- [SensorMag](../msg_docs/SensorMag.md) +- [EstimatorAidSource3d](../msg_docs/EstimatorAidSource3d.md) +- [DeviceInformation](../msg_docs/DeviceInformation.md) +- [FollowTarget](../msg_docs/FollowTarget.md) +- [EstimatorEventFlags](../msg_docs/EstimatorEventFlags.md) +- [ControlAllocatorStatus](../msg_docs/ControlAllocatorStatus.md) +- [Mission](../msg_docs/Mission.md) +- [VehicleCommandAckV0](../msg_docs/VehicleCommandAckV0.md) +- [SensorGnssRelative](../msg_docs/SensorGnssRelative.md) +- [VehicleRoi](../msg_docs/VehicleRoi.md) +- [InputRc](../msg_docs/InputRc.md) +- [GimbalControls](../msg_docs/GimbalControls.md) +- [SystemPower](../msg_docs/SystemPower.md) +- [VehicleLocalPositionV0](../msg_docs/VehicleLocalPositionV0.md) +- [ActuatorTest](../msg_docs/ActuatorTest.md) +- [ParameterSetValueResponse](../msg_docs/ParameterSetValueResponse.md) +- [VehicleImu](../msg_docs/VehicleImu.md) +- [GimbalManagerSetManualControl](../msg_docs/GimbalManagerSetManualControl.md) +- [InternalCombustionEngineStatus](../msg_docs/InternalCombustionEngineStatus.md) +- [EstimatorInnovations](../msg_docs/EstimatorInnovations.md) +- [EstimatorSensorBias](../msg_docs/EstimatorSensorBias.md) +- [Cpuload](../msg_docs/Cpuload.md) +- [NormalizedUnsignedSetpoint](../msg_docs/NormalizedUnsignedSetpoint.md) +- [TuneControl](../msg_docs/TuneControl.md) +- [VehicleAcceleration](../msg_docs/VehicleAcceleration.md) +- [DebugVect](../msg_docs/DebugVect.md) +- [TecsStatus](../msg_docs/TecsStatus.md) +- [ButtonEvent](../msg_docs/ButtonEvent.md) +- [DebugArray](../msg_docs/DebugArray.md) +- [VelocityLimits](../msg_docs/VelocityLimits.md) +- [NavigatorMissionItem](../msg_docs/NavigatorMissionItem.md) +- [SensorUwb](../msg_docs/SensorUwb.md) +- [DebugKeyValue](../msg_docs/DebugKeyValue.md) +- [ParameterResetRequest](../msg_docs/ParameterResetRequest.md) +- [MavlinkLog](../msg_docs/MavlinkLog.md) +- [SensorsStatus](../msg_docs/SensorsStatus.md) +- [HomePositionV0](../msg_docs/HomePositionV0.md) +- [GimbalManagerInformation](../msg_docs/GimbalManagerInformation.md) +- [OrbTestLarge](../msg_docs/OrbTestLarge.md) +- [EventV0](../msg_docs/EventV0.md) +- [EstimatorStates](../msg_docs/EstimatorStates.md) +- [VehicleConstraints](../msg_docs/VehicleConstraints.md) +- [VehicleImuStatus](../msg_docs/VehicleImuStatus.md) +- [ArmingCheckRequestV0](../msg_docs/ArmingCheckRequestV0.md) +- [YawEstimatorStatus](../msg_docs/YawEstimatorStatus.md) +- [ActuatorArmed](../msg_docs/ActuatorArmed.md) +- [ManualControlSwitches](../msg_docs/ManualControlSwitches.md) +- [VehicleAirData](../msg_docs/VehicleAirData.md) +- [RegisterExtComponentReplyV0](../msg_docs/RegisterExtComponentReplyV0.md) +- [GimbalDeviceSetAttitude](../msg_docs/GimbalDeviceSetAttitude.md) +- [RoverRateStatus](../msg_docs/RoverRateStatus.md) +- [BatteryStatusV0](../msg_docs/BatteryStatusV0.md) +- [FailureDetectorStatus](../msg_docs/FailureDetectorStatus.md) +- [IridiumsbdStatus](../msg_docs/IridiumsbdStatus.md) +- [RtlTimeEstimate](../msg_docs/RtlTimeEstimate.md) +- [VehicleStatusV1](../msg_docs/VehicleStatusV1.md) +- [PurePursuitStatus](../msg_docs/PurePursuitStatus.md) +- [ActuatorServosTrim](../msg_docs/ActuatorServosTrim.md) +- [MagWorkerData](../msg_docs/MagWorkerData.md) +- [EstimatorAidSource1d](../msg_docs/EstimatorAidSource1d.md) +- [Vtx](../msg_docs/Vtx.md) +- [UavcanParameterRequest](../msg_docs/UavcanParameterRequest.md) +- [Gripper](../msg_docs/Gripper.md) +- [ParameterSetValueRequest](../msg_docs/ParameterSetValueRequest.md) +- [EstimatorGpsStatus](../msg_docs/EstimatorGpsStatus.md) +- [FigureEightStatus](../msg_docs/FigureEightStatus.md) +- [OpenDroneIdSystem](../msg_docs/OpenDroneIdSystem.md) +- [GeofenceResult](../msg_docs/GeofenceResult.md) +- [OpenDroneIdArmStatus](../msg_docs/OpenDroneIdArmStatus.md) +- [BatteryInfo](../msg_docs/BatteryInfo.md) +- [ActionRequest](../msg_docs/ActionRequest.md) +- [EstimatorStatus](../msg_docs/EstimatorStatus.md) +- [CanInterfaceStatus](../msg_docs/CanInterfaceStatus.md) +- [EstimatorBias](../msg_docs/EstimatorBias.md) +- [Px4ioStatus](../msg_docs/Px4ioStatus.md) +- [Ping](../msg_docs/Ping.md) +- [GainCompression](../msg_docs/GainCompression.md) +- [GimbalManagerSetAttitude](../msg_docs/GimbalManagerSetAttitude.md) +- [VehicleStatusV2](../msg_docs/VehicleStatusV2.md) +- [RaptorInput](../msg_docs/RaptorInput.md) +- [TakeoffStatus](../msg_docs/TakeoffStatus.md) +- [Event](../msg_docs/Event.md) - [GpioConfig](../msg_docs/GpioConfig.md) +- [OpenDroneIdOperatorId](../msg_docs/OpenDroneIdOperatorId.md) +- [RaptorStatus](../msg_docs/RaptorStatus.md) +- [GpioOut](../msg_docs/GpioOut.md) +- [SensorAccel](../msg_docs/SensorAccel.md) +- [SensorTemp](../msg_docs/SensorTemp.md) +- [ArmingCheckReplyV0](../msg_docs/ArmingCheckReplyV0.md) +- [PowerButtonState](../msg_docs/PowerButtonState.md) +- [OrbTest](../msg_docs/OrbTest.md) +- [OpenDroneIdSelfId](../msg_docs/OpenDroneIdSelfId.md) +- [SensorsStatusImu](../msg_docs/SensorsStatusImu.md) +- [DatamanRequest](../msg_docs/DatamanRequest.md) +- [EscEepromRead](../msg_docs/EscEepromRead.md) +- [OrbitStatus](../msg_docs/OrbitStatus.md) +- [SatelliteInfo](../msg_docs/SatelliteInfo.md) +- [VehicleMagnetometer](../msg_docs/VehicleMagnetometer.md) +- [CameraTrigger](../msg_docs/CameraTrigger.md) +- [QshellRetval](../msg_docs/QshellRetval.md) +- [NavigatorStatus](../msg_docs/NavigatorStatus.md) +- [CameraCapture](../msg_docs/CameraCapture.md) +- [TrajectorySetpoint6dof](../msg_docs/TrajectorySetpoint6dof.md) +- [DatamanResponse](../msg_docs/DatamanResponse.md) +- [SensorAccelFifo](../msg_docs/SensorAccelFifo.md) +- [ParameterUpdate](../msg_docs/ParameterUpdate.md) +- [SensorGnssStatus](../msg_docs/SensorGnssStatus.md) +- [TaskStackInfo](../msg_docs/TaskStackInfo.md) +- [GimbalManagerStatus](../msg_docs/GimbalManagerStatus.md) +- [AirspeedWind](../msg_docs/AirspeedWind.md) +- [PositionControllerLandingStatus](../msg_docs/PositionControllerLandingStatus.md) +- [PwmInput](../msg_docs/PwmInput.md) +- [GeofenceStatus](../msg_docs/GeofenceStatus.md) +- [IrlockReport](../msg_docs/IrlockReport.md) +- [QshellReq](../msg_docs/QshellReq.md) +- [FollowTargetEstimator](../msg_docs/FollowTargetEstimator.md) +- [ParameterSetUsedRequest](../msg_docs/ParameterSetUsedRequest.md) +- [ConfigOverridesV0](../msg_docs/ConfigOverridesV0.md) +- [SensorCorrection](../msg_docs/SensorCorrection.md) +- [CellularStatus](../msg_docs/CellularStatus.md) - [UlogStream](../msg_docs/UlogStream.md) - [GpioIn](../msg_docs/GpioIn.md) -- [TuneControl](../msg_docs/TuneControl.md) -- [MagWorkerData](../msg_docs/MagWorkerData.md) -- [EventV0](../msg_docs/EventV0.md) -- [ParameterSetValueResponse](../msg_docs/ParameterSetValueResponse.md) -- [SensorGyro](../msg_docs/SensorGyro.md) -- [VehicleAngularVelocity](../msg_docs/VehicleAngularVelocity.md) -- [HeaterStatus](../msg_docs/HeaterStatus.md) -- [Mission](../msg_docs/Mission.md) -- [GimbalManagerStatus](../msg_docs/GimbalManagerStatus.md) -- [RateCtrlStatus](../msg_docs/RateCtrlStatus.md) -- [VehicleConstraints](../msg_docs/VehicleConstraints.md) +- [SensorGyroFft](../msg_docs/SensorGyroFft.md) +- [WheelEncoders](../msg_docs/WheelEncoders.md) +- [EscReport](../msg_docs/EscReport.md) - [ActuatorOutputs](../msg_docs/ActuatorOutputs.md) -- [DeviceInformation](../msg_docs/DeviceInformation.md) -- [OpenDroneIdArmStatus](../msg_docs/OpenDroneIdArmStatus.md) -- [DatamanResponse](../msg_docs/DatamanResponse.md) -- [DebugVect](../msg_docs/DebugVect.md) -- [RoverSpeedStatus](../msg_docs/RoverSpeedStatus.md) -- [VehicleAirData](../msg_docs/VehicleAirData.md) -- [RtlTimeEstimate](../msg_docs/RtlTimeEstimate.md) -- [RegisterExtComponentReplyV0](../msg_docs/RegisterExtComponentReplyV0.md) -- [NeuralControl](../msg_docs/NeuralControl.md) -- [FixedWingLateralGuidanceStatus](../msg_docs/FixedWingLateralGuidanceStatus.md) -- [FigureEightStatus](../msg_docs/FigureEightStatus.md) -- [GpioOut](../msg_docs/GpioOut.md) -- [EstimatorAidSource1d](../msg_docs/EstimatorAidSource1d.md) +- [VehicleAttitudeSetpointV0](../msg_docs/VehicleAttitudeSetpointV0.md) +- [MissionResult](../msg_docs/MissionResult.md) - [LogMessage](../msg_docs/LogMessage.md) -- [Cpuload](../msg_docs/Cpuload.md) -- [EstimatorBias3d](../msg_docs/EstimatorBias3d.md) +- [LaunchDetectionStatus](../msg_docs/LaunchDetectionStatus.md) +- [PowerMonitor](../msg_docs/PowerMonitor.md) - [SensorPreflightMag](../msg_docs/SensorPreflightMag.md) -- [CameraCapture](../msg_docs/CameraCapture.md) -- [OrbTestLarge](../msg_docs/OrbTestLarge.md) -- [ParameterResetRequest](../msg_docs/ParameterResetRequest.md) -- [OrbTest](../msg_docs/OrbTest.md) -- [Ping](../msg_docs/Ping.md) -- [RoverRateStatus](../msg_docs/RoverRateStatus.md) -- [IrlockReport](../msg_docs/IrlockReport.md) -- [RcChannels](../msg_docs/RcChannels.md) -- [CellularStatus](../msg_docs/CellularStatus.md) +- [HeaterStatus](../msg_docs/HeaterStatus.md) +- [VehicleStatusV0](../msg_docs/VehicleStatusV0.md) +- [GpioRequest](../msg_docs/GpioRequest.md) +- [EstimatorBias3d](../msg_docs/EstimatorBias3d.md) +- [OrbTestMedium](../msg_docs/OrbTestMedium.md) +- [RoverSpeedStatus](../msg_docs/RoverSpeedStatus.md) +- [VehicleAngularVelocity](../msg_docs/VehicleAngularVelocity.md) +- [Ekf2Timestamps](../msg_docs/Ekf2Timestamps.md) +- [RegisterExtComponentRequestV0](../msg_docs/RegisterExtComponentRequestV0.md) +- [DifferentialPressure](../msg_docs/DifferentialPressure.md) +- [ActuatorControlsStatus](../msg_docs/ActuatorControlsStatus.md) +- [SensorBaro](../msg_docs/SensorBaro.md) +- [VehicleOpticalFlowVel](../msg_docs/VehicleOpticalFlowVel.md) +- [GpsDump](../msg_docs/GpsDump.md) +- [DistanceSensorModeChangeRequest](../msg_docs/DistanceSensorModeChangeRequest.md) +- [Airspeed](../msg_docs/Airspeed.md) +- [LoggerStatus](../msg_docs/LoggerStatus.md) +- [GeneratorStatus](../msg_docs/GeneratorStatus.md) +- [SensorGyro](../msg_docs/SensorGyro.md) +- [EstimatorSelectorStatus](../msg_docs/EstimatorSelectorStatus.md) +- [FixedWingRunwayControl](../msg_docs/FixedWingRunwayControl.md) +- [HoverThrustEstimate](../msg_docs/HoverThrustEstimate.md) +- [VehicleAngularAccelerationSetpoint](../msg_docs/VehicleAngularAccelerationSetpoint.md) +- [LandingTargetPose](../msg_docs/LandingTargetPose.md) +- [LandingTargetInnovations](../msg_docs/LandingTargetInnovations.md) +- [MountOrientation](../msg_docs/MountOrientation.md) +- [EscEepromWrite](../msg_docs/EscEepromWrite.md) +- [MagnetometerBiasEstimate](../msg_docs/MagnetometerBiasEstimate.md) +- [MavlinkTunnel](../msg_docs/MavlinkTunnel.md) +- [FollowTargetStatus](../msg_docs/FollowTargetStatus.md) +- [FixedWingLateralStatus](../msg_docs/FixedWingLateralStatus.md) +- [RoverAttitudeStatus](../msg_docs/RoverAttitudeStatus.md) +- [FuelTankStatus](../msg_docs/FuelTankStatus.md) +- [EstimatorAidSource2d](../msg_docs/EstimatorAidSource2d.md) +- [FlightPhaseEstimation](../msg_docs/FlightPhaseEstimation.md) +- [FixedWingLateralGuidanceStatus](../msg_docs/FixedWingLateralGuidanceStatus.md) +- [SensorSelection](../msg_docs/SensorSelection.md) +- [TiltrotorExtraControls](../msg_docs/TiltrotorExtraControls.md) +- [AdcReport](../msg_docs/AdcReport.md) +- [DronecanNodeStatus](../msg_docs/DronecanNodeStatus.md) +- [UavcanParameterValue](../msg_docs/UavcanParameterValue.md) ::: diff --git a/docs/uk/msg_docs/RtlStatus.md b/docs/uk/msg_docs/RtlStatus.md index ed12f9e0e1..08a2a622dd 100644 --- a/docs/uk/msg_docs/RtlStatus.md +++ b/docs/uk/msg_docs/RtlStatus.md @@ -8,14 +8,14 @@ pageClass: is-wide-page ## Fields -| Назва | Тип | Unit [Frame] | Range/Enum | Опис | -| --------------------------------------------------------------- | -------- | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| safe_points_id | `uint32` | | | unique ID of active set of safe_point_items | -| is_evaluation_pending | `bool` | | | flag if the RTL point needs reevaluation (e.g. new safe points available, but need loading). | -| has_vtol_approach | `bool` | | | flag if approaches are defined for current RTL_TYPE parameter setting | -| rtl_type | `uint8` | | | Type of RTL chosen | -| safe_point_index | `uint8` | | | index of the chosen safe point, if in RTL_STATUS_TYPE_DIRECT_SAFE_POINT mode | +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| --------------------------------------------------------------- | -------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| safe_points_id | `uint32` | | | unique ID of active set of safe_point_items | +| is_evaluation_pending | `bool` | | | flag if the RTL point needs reevaluation (e.g. new safe points available, but need loading). | +| has_vtol_approach | `bool` | | | flag if approaches are defined for current RTL_TYPE parameter setting | +| rtl_type | `uint8` | | | Type of RTL chosen | +| safe_point_index | `uint8` | | | index of the chosen safe point, UINT8_MAX if no rally point was chosen | ## Constants @@ -43,7 +43,7 @@ bool is_evaluation_pending # flag if the RTL point needs reevaluation (e. bool has_vtol_approach # flag if approaches are defined for current RTL_TYPE parameter setting uint8 rtl_type # Type of RTL chosen -uint8 safe_point_index # index of the chosen safe point, if in RTL_STATUS_TYPE_DIRECT_SAFE_POINT mode +uint8 safe_point_index # index of the chosen safe point, UINT8_MAX if no rally point was chosen uint8 RTL_STATUS_TYPE_NONE=0 # pending if evaluation can't pe performed currently e.g. when it is still loading the safe points uint8 RTL_STATUS_TYPE_DIRECT_SAFE_POINT=1 # chosen to directly go to a safe point or home position diff --git a/docs/uk/msg_docs/VehicleStatus.md b/docs/uk/msg_docs/VehicleStatus.md index c7d07907c4..17add5470e 100644 --- a/docs/uk/msg_docs/VehicleStatus.md +++ b/docs/uk/msg_docs/VehicleStatus.md @@ -25,7 +25,6 @@ Encodes the system state of the vehicle published by commander. | nav_state_display | `uint8` | | | User-visible nav state sent via MAVLink (executor state if active, otherwise nav_state) | | valid_nav_states_mask | `uint32` | | | Bitmask for all valid nav_state values | | can_set_nav_states_mask | `uint32` | | | Bitmask for all modes that a user can select | -| failure_detector_status | `uint16` | | | | | hil_state | `uint8` | | | | | vehicle_type | `uint8` | | | | | failsafe | `bool` | | | true if system is in failsafe state (e.g.:RTL, Hover, Terminate, ...) | @@ -56,71 +55,62 @@ Encodes the system state of the vehicle published by commander. ## Constants -| Назва | Тип | Значення | Опис | -| --------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | -------- | ----------------------------------------------------------------------------- | -| MESSAGE_VERSION | `uint32` | 2 | | -| ARMING_STATE_DISARMED | `uint8` | 1 | | -| ARMING_STATE_ARMED | `uint8` | 2 | | -| ARM_DISARM_REASON_STICK_GESTURE | `uint8` | 1 | | -| ARM_DISARM_REASON_RC_SWITCH | `uint8` | 2 | | -| ARM_DISARM_REASON_COMMAND_INTERNAL | `uint8` | 3 | | -| ARM_DISARM_REASON_COMMAND_EXTERNAL | `uint8` | 4 | | -| ARM_DISARM_REASON_MISSION_START | `uint8` | 5 | | -| ARM_DISARM_REASON_LANDING | `uint8` | 6 | | -| ARM_DISARM_REASON_PREFLIGHT_INACTION | `uint8` | 7 | | -| ARM_DISARM_REASON_KILL_SWITCH | `uint8` | 8 | | -| ARM_DISARM_REASON_RC_BUTTON | `uint8` | 13 | | -| ARM_DISARM_REASON_FAILSAFE | `uint8` | 14 | | -| NAVIGATION_STATE_MANUAL | `uint8` | 0 | Manual mode | -| NAVIGATION_STATE_ALTCTL | `uint8` | 1 | Altitude control mode | -| NAVIGATION_STATE_POSCTL | `uint8` | 2 | Position control mode | -| NAVIGATION_STATE_AUTO_MISSION | `uint8` | 3 | Auto mission mode | -| NAVIGATION_STATE_AUTO_LOITER | `uint8` | 4 | Auto loiter mode | -| NAVIGATION_STATE_AUTO_RTL | `uint8` | 5 | Auto return to launch mode | -| NAVIGATION_STATE_POSITION_SLOW | `uint8` | 6 | | -| NAVIGATION_STATE_FREE5 | `uint8` | 7 | | -| NAVIGATION_STATE_ALTITUDE_CRUISE | `uint8` | 8 | Altitude with Cruise mode | -| NAVIGATION_STATE_FREE3 | `uint8` | 9 | | -| NAVIGATION_STATE_ACRO | `uint8` | 10 | Acro mode | -| NAVIGATION_STATE_FREE2 | `uint8` | 11 | | -| NAVIGATION_STATE_DESCEND | `uint8` | 12 | Descend mode (no position control) | -| NAVIGATION_STATE_TERMINATION | `uint8` | 13 | Termination mode | -| NAVIGATION_STATE_OFFBOARD | `uint8` | 14 | | -| NAVIGATION_STATE_STAB | `uint8` | 15 | Stabilized mode | -| NAVIGATION_STATE_FREE1 | `uint8` | 16 | | -| NAVIGATION_STATE_AUTO_TAKEOFF | `uint8` | 17 | Takeoff | -| NAVIGATION_STATE_AUTO_LAND | `uint8` | 18 | Land | -| NAVIGATION_STATE_AUTO_FOLLOW_TARGET | `uint8` | 19 | Auto Follow | -| NAVIGATION_STATE_AUTO_PRECLAND | `uint8` | 20 | Precision land with landing target | -| NAVIGATION_STATE_ORBIT | `uint8` | 21 | Orbit in a circle | -| NAVIGATION_STATE_AUTO_VTOL_TAKEOFF | `uint8` | 22 | Takeoff, transition, establish loiter | -| NAVIGATION_STATE_EXTERNAL1 | `uint8` | 23 | | -| NAVIGATION_STATE_EXTERNAL2 | `uint8` | 24 | | -| NAVIGATION_STATE_EXTERNAL3 | `uint8` | 25 | | -| NAVIGATION_STATE_EXTERNAL4 | `uint8` | 26 | | -| NAVIGATION_STATE_EXTERNAL5 | `uint8` | 27 | | -| NAVIGATION_STATE_EXTERNAL6 | `uint8` | 28 | | -| NAVIGATION_STATE_EXTERNAL7 | `uint8` | 29 | | -| NAVIGATION_STATE_EXTERNAL8 | `uint8` | 30 | | -| NAVIGATION_STATE_MAX | `uint8` | 31 | | -| FAILURE_NONE | `uint16` | 0 | | -| FAILURE_ROLL | `uint16` | 1 | (1 << 0) | -| FAILURE_PITCH | `uint16` | 2 | (1 << 1) | -| FAILURE_ALT | `uint16` | 4 | (1 << 2) | -| FAILURE_EXT | `uint16` | 8 | (1 << 3) | -| FAILURE_ARM_ESC | `uint16` | 16 | (1 << 4) | -| FAILURE_BATTERY | `uint16` | 32 | (1 << 5) | -| FAILURE_IMBALANCED_PROP | `uint16` | 64 | (1 << 6) | -| FAILURE_MOTOR | `uint16` | 128 | (1 << 7) | -| HIL_STATE_OFF | `uint8` | 0 | | -| HIL_STATE_ON | `uint8` | 1 | | -| VEHICLE_TYPE_UNSPECIFIED | `uint8` | 0 | | -| VEHICLE_TYPE_ROTARY_WING | `uint8` | 1 | | -| VEHICLE_TYPE_FIXED_WING | `uint8` | 2 | | -| VEHICLE_TYPE_ROVER | `uint8` | 3 | | -| FAILSAFE_DEFER_STATE_DISABLED | `uint8` | 0 | | -| FAILSAFE_DEFER_STATE_ENABLED | `uint8` | 1 | | -| FAILSAFE_DEFER_STATE_WOULD_FAILSAFE | `uint8` | 2 | Failsafes deferred, but would trigger a failsafe | +| Назва | Тип | Значення | Опис | +| --------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | -------- | ----------------------------------------------------- | +| MESSAGE_VERSION | `uint32` | 3 | | +| ARMING_STATE_DISARMED | `uint8` | 1 | | +| ARMING_STATE_ARMED | `uint8` | 2 | | +| ARM_DISARM_REASON_STICK_GESTURE | `uint8` | 1 | | +| ARM_DISARM_REASON_RC_SWITCH | `uint8` | 2 | | +| ARM_DISARM_REASON_COMMAND_INTERNAL | `uint8` | 3 | | +| ARM_DISARM_REASON_COMMAND_EXTERNAL | `uint8` | 4 | | +| ARM_DISARM_REASON_MISSION_START | `uint8` | 5 | | +| ARM_DISARM_REASON_LANDING | `uint8` | 6 | | +| ARM_DISARM_REASON_PREFLIGHT_INACTION | `uint8` | 7 | | +| ARM_DISARM_REASON_KILL_SWITCH | `uint8` | 8 | | +| ARM_DISARM_REASON_RC_BUTTON | `uint8` | 13 | | +| ARM_DISARM_REASON_FAILSAFE | `uint8` | 14 | | +| NAVIGATION_STATE_MANUAL | `uint8` | 0 | Manual mode | +| NAVIGATION_STATE_ALTCTL | `uint8` | 1 | Altitude control mode | +| NAVIGATION_STATE_POSCTL | `uint8` | 2 | Position control mode | +| NAVIGATION_STATE_AUTO_MISSION | `uint8` | 3 | Auto mission mode | +| NAVIGATION_STATE_AUTO_LOITER | `uint8` | 4 | Auto loiter mode | +| NAVIGATION_STATE_AUTO_RTL | `uint8` | 5 | Auto return to launch mode | +| NAVIGATION_STATE_POSITION_SLOW | `uint8` | 6 | | +| NAVIGATION_STATE_FREE5 | `uint8` | 7 | | +| NAVIGATION_STATE_ALTITUDE_CRUISE | `uint8` | 8 | Altitude with Cruise mode | +| NAVIGATION_STATE_FREE3 | `uint8` | 9 | | +| NAVIGATION_STATE_ACRO | `uint8` | 10 | Acro mode | +| NAVIGATION_STATE_FREE2 | `uint8` | 11 | | +| NAVIGATION_STATE_DESCEND | `uint8` | 12 | Descend mode (no position control) | +| NAVIGATION_STATE_TERMINATION | `uint8` | 13 | Termination mode | +| NAVIGATION_STATE_OFFBOARD | `uint8` | 14 | | +| NAVIGATION_STATE_STAB | `uint8` | 15 | Stabilized mode | +| NAVIGATION_STATE_FREE1 | `uint8` | 16 | | +| NAVIGATION_STATE_AUTO_TAKEOFF | `uint8` | 17 | Takeoff | +| NAVIGATION_STATE_AUTO_LAND | `uint8` | 18 | Land | +| NAVIGATION_STATE_AUTO_FOLLOW_TARGET | `uint8` | 19 | Auto Follow | +| NAVIGATION_STATE_AUTO_PRECLAND | `uint8` | 20 | Precision land with landing target | +| NAVIGATION_STATE_ORBIT | `uint8` | 21 | Orbit in a circle | +| NAVIGATION_STATE_AUTO_VTOL_TAKEOFF | `uint8` | 22 | Takeoff, transition, establish loiter | +| NAVIGATION_STATE_EXTERNAL1 | `uint8` | 23 | | +| NAVIGATION_STATE_EXTERNAL2 | `uint8` | 24 | | +| NAVIGATION_STATE_EXTERNAL3 | `uint8` | 25 | | +| NAVIGATION_STATE_EXTERNAL4 | `uint8` | 26 | | +| NAVIGATION_STATE_EXTERNAL5 | `uint8` | 27 | | +| NAVIGATION_STATE_EXTERNAL6 | `uint8` | 28 | | +| NAVIGATION_STATE_EXTERNAL7 | `uint8` | 29 | | +| NAVIGATION_STATE_EXTERNAL8 | `uint8` | 30 | | +| NAVIGATION_STATE_MAX | `uint8` | 31 | | +| HIL_STATE_OFF | `uint8` | 0 | | +| HIL_STATE_ON | `uint8` | 1 | | +| VEHICLE_TYPE_UNSPECIFIED | `uint8` | 0 | | +| VEHICLE_TYPE_ROTARY_WING | `uint8` | 1 | | +| VEHICLE_TYPE_FIXED_WING | `uint8` | 2 | | +| VEHICLE_TYPE_ROVER | `uint8` | 3 | | +| FAILSAFE_DEFER_STATE_DISABLED | `uint8` | 0 | | +| FAILSAFE_DEFER_STATE_ENABLED | `uint8` | 1 | | +| FAILSAFE_DEFER_STATE_WOULD_FAILSAFE | `uint8` | 2 | Failsafes deferred, but would trigger a failsafe | ## Source Message @@ -132,7 +122,7 @@ Click here to see original file ```c # Encodes the system state of the vehicle published by commander -uint32 MESSAGE_VERSION = 2 +uint32 MESSAGE_VERSION = 3 uint64 timestamp # time since system start (microseconds) @@ -200,18 +190,6 @@ uint8 nav_state_display # User-visible nav state sent vi uint32 valid_nav_states_mask # Bitmask for all valid nav_state values uint32 can_set_nav_states_mask # Bitmask for all modes that a user can select -# Bitmask of detected failures -uint16 failure_detector_status -uint16 FAILURE_NONE = 0 -uint16 FAILURE_ROLL = 1 # (1 << 0) -uint16 FAILURE_PITCH = 2 # (1 << 1) -uint16 FAILURE_ALT = 4 # (1 << 2) -uint16 FAILURE_EXT = 8 # (1 << 3) -uint16 FAILURE_ARM_ESC = 16 # (1 << 4) -uint16 FAILURE_BATTERY = 32 # (1 << 5) -uint16 FAILURE_IMBALANCED_PROP = 64 # (1 << 6) -uint16 FAILURE_MOTOR = 128 # (1 << 7) - uint8 hil_state uint8 HIL_STATE_OFF = 0 uint8 HIL_STATE_ON = 1 diff --git a/docs/uk/msg_docs/VehicleStatusV2.md b/docs/uk/msg_docs/VehicleStatusV2.md new file mode 100644 index 0000000000..09f0d8d785 --- /dev/null +++ b/docs/uk/msg_docs/VehicleStatusV2.md @@ -0,0 +1,270 @@ +--- +pageClass: is-wide-page +--- + +# VehicleStatusV2 (UORB message) + +Encodes the system state of the vehicle published by commander. + +**TOPICS:** vehicle_status_v2 + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ---------------------------------------------------------------------------------------------------------------- | -------- | ---------------------------------------------------------------- | ---------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| armed_time | `uint64` | | | Arming timestamp (microseconds) | +| takeoff_time | `uint64` | | | Takeoff timestamp (microseconds) | +| arming_state | `uint8` | | | | +| latest_arming_reason | `uint8` | | | | +| latest_disarming_reason | `uint8` | | | | +| nav_state_timestamp | `uint64` | | | time when current nav_state activated | +| nav_state_user_intention | `uint8` | | | Mode that the user selected (might be different from nav_state in a failsafe situation) | +| nav_state | `uint8` | | | Currently active mode | +| executor_in_charge | `uint8` | | | Current mode executor in charge (0=Autopilot) | +| nav_state_display | `uint8` | | | User-visible nav state sent via MAVLink (executor state if active, otherwise nav_state) | +| valid_nav_states_mask | `uint32` | | | Bitmask for all valid nav_state values | +| can_set_nav_states_mask | `uint32` | | | Bitmask for all modes that a user can select | +| failure_detector_status | `uint16` | | | | +| hil_state | `uint8` | | | | +| vehicle_type | `uint8` | | | | +| failsafe | `bool` | | | true if system is in failsafe state (e.g.:RTL, Hover, Terminate, ...) | +| failsafe_and_user_took_over | `bool` | | | true if system is in failsafe state but the user took over control | +| failsafe_defer_state | `uint8` | | | one of FAILSAFE_DEFER_STATE_\* | +| gcs_connection_lost | `bool` | | | datalink to GCS lost | +| gcs_connection_lost_counter | `uint8` | | | counts unique GCS connection lost events | +| high_latency_data_link_lost | `bool` | | | Set to true if the high latency data link (eg. RockBlock Iridium 9603 telemetry module) is lost | +| is_vtol | `bool` | | | True if the system is VTOL capable | +| is_vtol_tailsitter | `bool` | | | True if the system performs a 90° pitch down rotation during transition from MC to FW | +| in_transition_mode | `bool` | | | True if VTOL is doing a transition | +| in_transition_to_fw | `bool` | | | True if VTOL is doing a transition from MC to FW | +| system_type | `uint8` | | | system type, contains mavlink MAV_TYPE | +| system_id | `uint8` | | | system id, contains MAVLink's system ID field | +| component_id | `uint8` | | | subsystem / component id, contains MAVLink's component ID field | +| safety_button_available | `bool` | | | Set to true if a safety button is connected | +| safety_off | `bool` | | | Set to true if safety is off | +| power_input_valid | `bool` | | | set if input power is valid | +| usb_connected | `bool` | | | set to true (never cleared) once telemetry received from usb link | +| open_drone_id_system_present | `bool` | | | | +| open_drone_id_system_healthy | `bool` | | | | +| parachute_system_present | `bool` | | | | +| parachute_system_healthy | `bool` | | | | +| traffic_avoidance_system_present | `bool` | | | | +| rc_calibration_in_progress | `bool` | | | | +| calibration_enabled | `bool` | | | | +| pre_flight_checks_pass | `bool` | | | true if all checks necessary to arm pass | + +## Constants + +| Назва | Тип | Значення | Опис | +| --------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | -------- | ----------------------------------------------------------------------------- | +| MESSAGE_VERSION | `uint32` | 2 | | +| ARMING_STATE_DISARMED | `uint8` | 1 | | +| ARMING_STATE_ARMED | `uint8` | 2 | | +| ARM_DISARM_REASON_STICK_GESTURE | `uint8` | 1 | | +| ARM_DISARM_REASON_RC_SWITCH | `uint8` | 2 | | +| ARM_DISARM_REASON_COMMAND_INTERNAL | `uint8` | 3 | | +| ARM_DISARM_REASON_COMMAND_EXTERNAL | `uint8` | 4 | | +| ARM_DISARM_REASON_MISSION_START | `uint8` | 5 | | +| ARM_DISARM_REASON_LANDING | `uint8` | 6 | | +| ARM_DISARM_REASON_PREFLIGHT_INACTION | `uint8` | 7 | | +| ARM_DISARM_REASON_KILL_SWITCH | `uint8` | 8 | | +| ARM_DISARM_REASON_RC_BUTTON | `uint8` | 13 | | +| ARM_DISARM_REASON_FAILSAFE | `uint8` | 14 | | +| NAVIGATION_STATE_MANUAL | `uint8` | 0 | Manual mode | +| NAVIGATION_STATE_ALTCTL | `uint8` | 1 | Altitude control mode | +| NAVIGATION_STATE_POSCTL | `uint8` | 2 | Position control mode | +| NAVIGATION_STATE_AUTO_MISSION | `uint8` | 3 | Auto mission mode | +| NAVIGATION_STATE_AUTO_LOITER | `uint8` | 4 | Auto loiter mode | +| NAVIGATION_STATE_AUTO_RTL | `uint8` | 5 | Auto return to launch mode | +| NAVIGATION_STATE_POSITION_SLOW | `uint8` | 6 | | +| NAVIGATION_STATE_FREE5 | `uint8` | 7 | | +| NAVIGATION_STATE_ALTITUDE_CRUISE | `uint8` | 8 | Altitude with Cruise mode | +| NAVIGATION_STATE_FREE3 | `uint8` | 9 | | +| NAVIGATION_STATE_ACRO | `uint8` | 10 | Acro mode | +| NAVIGATION_STATE_FREE2 | `uint8` | 11 | | +| NAVIGATION_STATE_DESCEND | `uint8` | 12 | Descend mode (no position control) | +| NAVIGATION_STATE_TERMINATION | `uint8` | 13 | Termination mode | +| NAVIGATION_STATE_OFFBOARD | `uint8` | 14 | | +| NAVIGATION_STATE_STAB | `uint8` | 15 | Stabilized mode | +| NAVIGATION_STATE_FREE1 | `uint8` | 16 | | +| NAVIGATION_STATE_AUTO_TAKEOFF | `uint8` | 17 | Takeoff | +| NAVIGATION_STATE_AUTO_LAND | `uint8` | 18 | Land | +| NAVIGATION_STATE_AUTO_FOLLOW_TARGET | `uint8` | 19 | Auto Follow | +| NAVIGATION_STATE_AUTO_PRECLAND | `uint8` | 20 | Precision land with landing target | +| NAVIGATION_STATE_ORBIT | `uint8` | 21 | Orbit in a circle | +| NAVIGATION_STATE_AUTO_VTOL_TAKEOFF | `uint8` | 22 | Takeoff, transition, establish loiter | +| NAVIGATION_STATE_EXTERNAL1 | `uint8` | 23 | | +| NAVIGATION_STATE_EXTERNAL2 | `uint8` | 24 | | +| NAVIGATION_STATE_EXTERNAL3 | `uint8` | 25 | | +| NAVIGATION_STATE_EXTERNAL4 | `uint8` | 26 | | +| NAVIGATION_STATE_EXTERNAL5 | `uint8` | 27 | | +| NAVIGATION_STATE_EXTERNAL6 | `uint8` | 28 | | +| NAVIGATION_STATE_EXTERNAL7 | `uint8` | 29 | | +| NAVIGATION_STATE_EXTERNAL8 | `uint8` | 30 | | +| NAVIGATION_STATE_MAX | `uint8` | 31 | | +| FAILURE_NONE | `uint16` | 0 | | +| FAILURE_ROLL | `uint16` | 1 | (1 << 0) | +| FAILURE_PITCH | `uint16` | 2 | (1 << 1) | +| FAILURE_ALT | `uint16` | 4 | (1 << 2) | +| FAILURE_EXT | `uint16` | 8 | (1 << 3) | +| FAILURE_ARM_ESC | `uint16` | 16 | (1 << 4) | +| FAILURE_BATTERY | `uint16` | 32 | (1 << 5) | +| FAILURE_IMBALANCED_PROP | `uint16` | 64 | (1 << 6) | +| FAILURE_MOTOR | `uint16` | 128 | (1 << 7) | +| HIL_STATE_OFF | `uint8` | 0 | | +| HIL_STATE_ON | `uint8` | 1 | | +| VEHICLE_TYPE_UNSPECIFIED | `uint8` | 0 | | +| VEHICLE_TYPE_ROTARY_WING | `uint8` | 1 | | +| VEHICLE_TYPE_FIXED_WING | `uint8` | 2 | | +| VEHICLE_TYPE_ROVER | `uint8` | 3 | | +| FAILSAFE_DEFER_STATE_DISABLED | `uint8` | 0 | | +| FAILSAFE_DEFER_STATE_ENABLED | `uint8` | 1 | | +| FAILSAFE_DEFER_STATE_WOULD_FAILSAFE | `uint8` | 2 | Failsafes deferred, but would trigger a failsafe | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/VehicleStatusV2.msg) + +:::details +Click here to see original file + +```c +# Encodes the system state of the vehicle published by commander + +uint32 MESSAGE_VERSION = 2 + +uint64 timestamp # time since system start (microseconds) + +uint64 armed_time # Arming timestamp (microseconds) +uint64 takeoff_time # Takeoff timestamp (microseconds) + +uint8 arming_state +uint8 ARMING_STATE_DISARMED = 1 +uint8 ARMING_STATE_ARMED = 2 + +uint8 latest_arming_reason +uint8 latest_disarming_reason +uint8 ARM_DISARM_REASON_STICK_GESTURE = 1 +uint8 ARM_DISARM_REASON_RC_SWITCH = 2 +uint8 ARM_DISARM_REASON_COMMAND_INTERNAL = 3 +uint8 ARM_DISARM_REASON_COMMAND_EXTERNAL = 4 +uint8 ARM_DISARM_REASON_MISSION_START = 5 +uint8 ARM_DISARM_REASON_LANDING = 6 +uint8 ARM_DISARM_REASON_PREFLIGHT_INACTION = 7 +uint8 ARM_DISARM_REASON_KILL_SWITCH = 8 +uint8 ARM_DISARM_REASON_RC_BUTTON = 13 +uint8 ARM_DISARM_REASON_FAILSAFE = 14 + +uint64 nav_state_timestamp # time when current nav_state activated + +uint8 nav_state_user_intention # Mode that the user selected (might be different from nav_state in a failsafe situation) + +uint8 nav_state # Currently active mode +uint8 NAVIGATION_STATE_MANUAL = 0 # Manual mode +uint8 NAVIGATION_STATE_ALTCTL = 1 # Altitude control mode +uint8 NAVIGATION_STATE_POSCTL = 2 # Position control mode +uint8 NAVIGATION_STATE_AUTO_MISSION = 3 # Auto mission mode +uint8 NAVIGATION_STATE_AUTO_LOITER = 4 # Auto loiter mode +uint8 NAVIGATION_STATE_AUTO_RTL = 5 # Auto return to launch mode +uint8 NAVIGATION_STATE_POSITION_SLOW = 6 +uint8 NAVIGATION_STATE_FREE5 = 7 +uint8 NAVIGATION_STATE_ALTITUDE_CRUISE = 8 # Altitude with Cruise mode +uint8 NAVIGATION_STATE_FREE3 = 9 +uint8 NAVIGATION_STATE_ACRO = 10 # Acro mode +uint8 NAVIGATION_STATE_FREE2 = 11 +uint8 NAVIGATION_STATE_DESCEND = 12 # Descend mode (no position control) +uint8 NAVIGATION_STATE_TERMINATION = 13 # Termination mode +uint8 NAVIGATION_STATE_OFFBOARD = 14 +uint8 NAVIGATION_STATE_STAB = 15 # Stabilized mode +uint8 NAVIGATION_STATE_FREE1 = 16 +uint8 NAVIGATION_STATE_AUTO_TAKEOFF = 17 # Takeoff +uint8 NAVIGATION_STATE_AUTO_LAND = 18 # Land +uint8 NAVIGATION_STATE_AUTO_FOLLOW_TARGET = 19 # Auto Follow +uint8 NAVIGATION_STATE_AUTO_PRECLAND = 20 # Precision land with landing target +uint8 NAVIGATION_STATE_ORBIT = 21 # Orbit in a circle +uint8 NAVIGATION_STATE_AUTO_VTOL_TAKEOFF = 22 # Takeoff, transition, establish loiter +uint8 NAVIGATION_STATE_EXTERNAL1 = 23 +uint8 NAVIGATION_STATE_EXTERNAL2 = 24 +uint8 NAVIGATION_STATE_EXTERNAL3 = 25 +uint8 NAVIGATION_STATE_EXTERNAL4 = 26 +uint8 NAVIGATION_STATE_EXTERNAL5 = 27 +uint8 NAVIGATION_STATE_EXTERNAL6 = 28 +uint8 NAVIGATION_STATE_EXTERNAL7 = 29 +uint8 NAVIGATION_STATE_EXTERNAL8 = 30 +uint8 NAVIGATION_STATE_MAX = 31 + +uint8 executor_in_charge # Current mode executor in charge (0=Autopilot) +uint8 nav_state_display # User-visible nav state sent via MAVLink (executor state if active, otherwise nav_state) + +uint32 valid_nav_states_mask # Bitmask for all valid nav_state values +uint32 can_set_nav_states_mask # Bitmask for all modes that a user can select + +# Bitmask of detected failures +uint16 failure_detector_status +uint16 FAILURE_NONE = 0 +uint16 FAILURE_ROLL = 1 # (1 << 0) +uint16 FAILURE_PITCH = 2 # (1 << 1) +uint16 FAILURE_ALT = 4 # (1 << 2) +uint16 FAILURE_EXT = 8 # (1 << 3) +uint16 FAILURE_ARM_ESC = 16 # (1 << 4) +uint16 FAILURE_BATTERY = 32 # (1 << 5) +uint16 FAILURE_IMBALANCED_PROP = 64 # (1 << 6) +uint16 FAILURE_MOTOR = 128 # (1 << 7) + +uint8 hil_state +uint8 HIL_STATE_OFF = 0 +uint8 HIL_STATE_ON = 1 + +# Current vehicle locomotion method. A vehicle can have different methods (e.g. VTOL transitions from RW to FW method) +uint8 vehicle_type +uint8 VEHICLE_TYPE_UNSPECIFIED = 0 +uint8 VEHICLE_TYPE_ROTARY_WING = 1 +uint8 VEHICLE_TYPE_FIXED_WING = 2 +uint8 VEHICLE_TYPE_ROVER = 3 + +uint8 FAILSAFE_DEFER_STATE_DISABLED = 0 +uint8 FAILSAFE_DEFER_STATE_ENABLED = 1 +uint8 FAILSAFE_DEFER_STATE_WOULD_FAILSAFE = 2 # Failsafes deferred, but would trigger a failsafe + +bool failsafe # true if system is in failsafe state (e.g.:RTL, Hover, Terminate, ...) +bool failsafe_and_user_took_over # true if system is in failsafe state but the user took over control +uint8 failsafe_defer_state # one of FAILSAFE_DEFER_STATE_* + +# Link loss +bool gcs_connection_lost # datalink to GCS lost +uint8 gcs_connection_lost_counter # counts unique GCS connection lost events +bool high_latency_data_link_lost # Set to true if the high latency data link (eg. RockBlock Iridium 9603 telemetry module) is lost + +# VTOL flags +bool is_vtol # True if the system is VTOL capable +bool is_vtol_tailsitter # True if the system performs a 90° pitch down rotation during transition from MC to FW +bool in_transition_mode # True if VTOL is doing a transition +bool in_transition_to_fw # True if VTOL is doing a transition from MC to FW + +# MAVLink identification +uint8 system_type # system type, contains mavlink MAV_TYPE +uint8 system_id # system id, contains MAVLink's system ID field +uint8 component_id # subsystem / component id, contains MAVLink's component ID field + +bool safety_button_available # Set to true if a safety button is connected +bool safety_off # Set to true if safety is off + +bool power_input_valid # set if input power is valid +bool usb_connected # set to true (never cleared) once telemetry received from usb link + +bool open_drone_id_system_present +bool open_drone_id_system_healthy + +bool parachute_system_present +bool parachute_system_healthy + +bool traffic_avoidance_system_present + +bool rc_calibration_in_progress +bool calibration_enabled + +bool pre_flight_checks_pass # true if all checks necessary to arm pass +``` + +::: diff --git a/docs/uk/msg_docs/index.md b/docs/uk/msg_docs/index.md index ba9dcd6fef..1068550c0d 100644 --- a/docs/uk/msg_docs/index.md +++ b/docs/uk/msg_docs/index.md @@ -275,3 +275,4 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m - [VehicleLocalPositionV0](VehicleLocalPositionV0.md) — Fused local position in NED. The coordinate system origin is the vehicle position at the time when the EKF2-module was started. - [VehicleStatusV0](VehicleStatusV0.md) — Encodes the system state of the vehicle published by commander. - [VehicleStatusV1](VehicleStatusV1.md) — Encodes the system state of the vehicle published by commander. +- [VehicleStatusV2](VehicleStatusV2.md) — Encodes the system state of the vehicle published by commander. diff --git a/docs/uk/peripherals/dshot.md b/docs/uk/peripherals/dshot.md index 41a81cc0e7..7977d38ace 100644 --- a/docs/uk/peripherals/dshot.md +++ b/docs/uk/peripherals/dshot.md @@ -13,7 +13,7 @@ DShot is an alternative ESC protocol that has several advantages over [PWM](../p ## Supported ESC -[ESCs & Motors > Supported ESCs](../peripherals/esc_motors#supported-esc) has a list of supported ESC (check "Protocols" column for DShot ESC). +[ESCs & Motors > Supported ESCs](../peripherals/esc_motors.md#supported-esc) has a list of supported ESC (check "Protocols" column for DShot ESC). ## Wiring/Connections {#wiring} diff --git a/docs/uk/sim_jmavsim/index.md b/docs/uk/sim_jmavsim/index.md index 50af0cc712..e4c3836739 100644 --- a/docs/uk/sim_jmavsim/index.md +++ b/docs/uk/sim_jmavsim/index.md @@ -22,37 +22,31 @@ jMAVSim can also be used for HITL Simulation ([as shown here](../simulation/hitl ## Встановлення -jMAVSim setup is included in our [standard build instructions](../dev_setup/dev_env.md) for Ubuntu Linux and Windows. -Follow the instructions below to install jMAVSim on macOS. +jMAVSim requires JDK 17 or later. +On Ubuntu and Windows, the [standard development environment setup](../dev_setup/dev_env.md) scripts install all required dependencies including Java. +On macOS, you need to install Java manually as shown below. ### macOS -To setup the environment for [jMAVSim](../sim_jmavsim/index.md) simulation: +jMAVSim requires OpenJDK 17 or later. +Install it via Homebrew: -1. Install a recent version of Java (e.g. Java 15). - You can download [Java 15 (or later) from Oracle](https://www.oracle.com/java/technologies/downloads/?er=221886) or use [Eclipse Temurin](https://adoptium.net): +```sh +brew install openjdk@17 +``` - ```sh - brew install --cask temurin - ``` +Homebrew installs OpenJDK but does not link it into your `PATH`, so you need to set `JAVA_HOME` for jMAVSim to find it. +Add this to your shell profile (e.g. `~/.zshrc`): -2. Install jMAVSim: - - ```sh - brew install px4-sim-jmavsim - ``` - - :::warning - PX4 v1.11 and beyond require at least JDK 15 for jMAVSim simulation. - - For earlier versions, macOS users might see the error `Exception in thread "main" java.lang.UnsupportedClassVersionError:`. - You can find the fix in the [jMAVSim with SITL > Troubleshooting](../sim_jmavsim/index.md#troubleshooting)). - -::: +```sh +export JAVA_HOME=$(/usr/libexec/java_home -v 17) +``` ## Середовище симуляції -Симуляція програмного забезпечення в петлі виконує повну систему на комп'ютері та моделює автопілот. Він підключається через локальну мережу до симулятора. Вигляд налаштування виглядає наступним чином: +Симуляція програмного забезпечення в петлі виконує повну систему на комп'ютері та моделює автопілот. +Він підключається через локальну мережу до симулятора. +Вигляд налаштування виглядає наступним чином: [![Mermaid graph: SITL Simulator](https://mermaid.ink/img/eyJjb2RlIjoiZ3JhcGggTFI7XG4gIFNpbXVsYXRvci0tPk1BVkxpbms7XG4gIE1BVkxpbmstLT5TSVRMOyIsIm1lcm1haWQiOnsidGhlbWUiOiJkZWZhdWx0In0sInVwZGF0ZUVkaXRvciI6ZmFsc2V9)](https://mermaid-js.github.io/mermaid-live-editor/#/edit/eyJjb2RlIjoiZ3JhcGggTFI7XG4gIFNpbXVsYXRvci0tPk1BVkxpbms7XG4gIE1BVkxpbmstLT5TSVRMOyIsIm1lcm1haWQiOnsidGhlbWUiOiJkZWZhdWx0In0sInVwZGF0ZUVkaXRvciI6ZmFsc2V9) @@ -95,7 +89,8 @@ It will also bring up a window showing a 3D view of the [jMAVSim](https://github ## Підйом у небо -Система почне друкувати інформацію про статус. You will be able to start flying once you have a position lock (shortly after the console displays the message: _EKF commencing GPS fusion_). +Система почне друкувати інформацію про статус. +You will be able to start flying once you have a position lock (shortly after the console displays the message: _EKF commencing GPS fusion_). Щоб злітіти, введіть наступне у консоль: @@ -220,11 +215,13 @@ To disable lockstep in: ## Розширення та персоналізація -To extend or customize the simulation interface, edit the files in the **Tools/jMAVSim** folder. The code can be accessed through the[jMAVSim repository](https://github.com/px4/jMAVSim) on Github. +To extend or customize the simulation interface, edit the files in the **Tools/jMAVSim** folder. +The code can be accessed through the[jMAVSim repository](https://github.com/px4/jMAVSim) on Github. :::info The build system enforces the correct submodule to be checked out for all dependencies, including the simulator. -Це не перезапише зміни в файлах у каталозі, проте, коли ці зміни будуть зафіксовані, підмодуль повинен бути зареєстрований у репозиторії Firmware з новим хешем коміту. To do so, `git add Tools/jMAVSim` and commit the change. +Це не перезапише зміни в файлах у каталозі, проте, коли ці зміни будуть зафіксовані, підмодуль повинен бути зареєстрований у репозиторії Firmware з новим хешем коміту. +To do so, `git add Tools/jMAVSim` and commit the change. Це оновить хеш GIT симулятора. ::: @@ -237,6 +234,75 @@ The simulation can be [interfaced to ROS](../simulation/ros_interface.md) the sa - The startup scripts are discussed in [System Startup](../concept/system_startup.md). - The simulated root file system ("`/`" directory) is created inside the build directory here: `build/px4_sitl_default/rootfs`. +## Display-Only Mode + +jMAVSim can run as a display-only renderer for other simulators (like [SIH](../sim_sih/index.md)), with its internal physics disabled. +In this mode, jMAVSim receives vehicle position via MAVLink and only renders the 3D view. + +To use jMAVSim as a display for SIH running in SITL: + +```sh +# Start SIH first +make px4_sitl_sih sihsim_quadx + +# In another terminal, start jMAVSim in display-only mode +./Tools/simulation/jmavsim/jmavsim_run.sh -p 19410 -u -q -o # 19410 is the default SIH display port +``` + +For SIH running on flight controller hardware: + +```sh +./Tools/simulation/jmavsim/jmavsim_run.sh -q -d /dev/ttyACM0 -b 2000000 -o +``` + +Use `-a` for airplane display or `-t` for tailsitter display. + +## Command-Line Reference + +The `jmavsim_run.sh` launch script accepts the following flags: + +| Flag | Опис | +| ------------- | -------------------------------------------------------------------------------------------- | +| `-b ` | Serial baud rate (default: 921600) | +| `-d ` | Serial device path (e.g., `/dev/ttyACM0`) | +| `-u` | Use UDP connection instead of serial | +| `-i ` | Simulated MAVLink system ID | +| `-p ` | UDP port (default: 14560) | +| `-q` | No interactive console | +| `-s ` | TCP serial port | +| `-r ` | Render rate in Hz | +| `-l` | Enable lockstep | +| `-o` | Display-only mode (disable physics, render only) | +| `-a` | Use airplane model | +| `-t` | Use tailsitter model | +| `HEADLESS=1` | Environment variable: run without GUI window | + +## How jMAVSim Works + +jMAVSim is a Java-based lightweight simulator that communicates with PX4 via MAVLink HIL (Hardware-In-the-Loop) messages. + +In normal mode: + +1. PX4 sends actuator commands via [HIL_ACTUATOR_CONTROLS](https://mavlink.io/en/messages/common.html#HIL_ACTUATOR_CONTROLS). +2. jMAVSim runs its physics engine to compute the vehicle state. +3. jMAVSim sends sensor data back via [HIL_SENSOR](https://mavlink.io/en/messages/common.html#HIL_SENSOR) and [HIL_GPS](https://mavlink.io/en/messages/common.html#HIL_GPS). + +In **display-only mode** (`-o` flag), jMAVSim disables its physics engine and only reads [HIL_STATE_QUATERNION](https://mavlink.io/en/messages/common.html#HIL_STATE_QUATERNION) messages to render the vehicle position. +This allows it to visualize vehicles from other simulators like SIH. + +jMAVSim supports [lockstep synchronization](#lockstep) with PX4 (enabled with `-l` flag), ensuring deterministic simulation results. + +## Keyboard Shortcuts + +Camera modes in the jMAVSim 3D view: + +| Key | Camera Mode | +| -------------------------------- | ------------------------------------------------------- | +| **F** | First person (attached to vehicle) | +| **S** | Stationary (fixed position) | +| **G** | Gimbal (follows vehicle orientation) | +| **(default)** | Third person follow | + ## Усунення проблем ### java.long.NoClassDefFoundError @@ -327,8 +393,8 @@ Exception in thread "main" java.lang.UnsupportedClassVersionError: me/drton/jmav Ця помилка говорить вам, вам потрібна більш свіжа версія Java у вашому середовищі. Версія файлу класу 58 відповідає jdk14, версія 59 - jdk15, версія 60 - jdk 16 тощо. -Щоб виправити це під macOS, ми рекомендуємо встановити OpenJDK через homebrew +To fix it under macOS, install a newer OpenJDK via Homebrew: ```sh -brew install --cask adoptopenjdk16 +brew install openjdk@17 ``` diff --git a/docs/uk/sim_sih/hardware.md b/docs/uk/sim_sih/hardware.md new file mode 100644 index 0000000000..81493ca4b4 --- /dev/null +++ b/docs/uk/sim_sih/hardware.md @@ -0,0 +1,171 @@ +# SIH on Flight Controller Hardware + +SIH can run directly on flight controller hardware with `SYS_HITL=2`. +This replaces real sensors with simulated data while running on the actual autopilot, useful for testing without propellers. + +For a comparison of SIH and HITL on hardware, see [Hardware Simulation](../simulation/hardware.md). + +## Firmware Builds with SIH + +The SIH module is included in many, but not all, default firmware builds. +This list can change between PX4 releases. Always verify using the method in [Check if SIH is in Firmware](#check-if-sih-is-in-firmware). + +The table below lists build targets that include SIH at the time of writing: + +| Build Target | Материнська плата | +| ------------------------------------ | ------------------------------------------- | +| `px4_fmu-v3_default` | Pixhawk 2 (Cube Black) | +| `px4_fmu-v4_default` | Pixhawk 3 Pro | +| `px4_fmu-v4pro_default` | Pixracer | +| `px4_fmu-v5_default` | Pixhawk 4 | +| `px4_fmu-v5x_default` | Pixhawk 5X | +| `px4_fmu-v6c_default` | Pixhawk 6C | +| `px4_fmu-v6c_raptor` | Pixhawk 6C (Raptor) | +| `px4_fmu-v6x_multicopter` | Pixhawk 6X (multicopter) | +| `auterion_fmu-v6s_default` | Auterion FMU-v6S | +| `auterion_fmu-v6x_default` | Auterion FMU-v6X | +| `holybro_durandal-v1_default` | Holybro Durandal | +| `holybro_kakuteh7_default` | Holybro Kakute H7 | +| `holybro_kakuteh7v2_default` | Holybro Kakute H7 V2 | +| `holybro_pix32v5_default` | Holybro Pix32 V5 | +| `cuav_nora_default` | CUAV Nora | +| `cuav_x7pro_default` | CUAV X7 Pro | +| `cuav_x25-evo_default` | CUAV X25 EVO | +| `cuav_x25-super_default` | CUAV X25 Super | +| `cubepilot_cubeyellow_default` | CubePilot Cube Yellow | +| `mro_pixracerpro_default` | MRO PixRacer Pro | +| `mro_x21_default` | MRO X2.1 | +| `mro_ctrl-zero-h7_default` | MRO Ctrl Zero H7 | +| `mro_ctrl-zero-h7-oem_default` | MRO Ctrl Zero H7 OEM | +| `mro_ctrl-zero-f7_default` | MRO Ctrl Zero F7 | +| `mro_ctrl-zero-f7-oem_default` | MRO Ctrl Zero F7 OEM | +| `mro_ctrl-zero-classic_default` | MRO Ctrl Zero Classic | +| `3dr_ctrl-zero-h7-oem-revg_default` | 3DR Ctrl Zero H7 OEM RevG | +| `modalai_fc-v1_default` | ModalAI FC V1 | +| `nxp_fmuk66-v3_default` | NXP FMUK66-V3 | +| `nxp_fmuk66-e_default` | NXP FMUK66-E | +| `radiolink_PIX6_default` | Radiolink PIX6 | +| `siyi_n7_default` | SIYI N7 | +| `sky-drones_smartap-airlink_default` | Sky-Drones SmartAP Airlink | +| `uvify_core_default` | UVify Core | +| `atl_mantis-edu_default` | ATL Mantis EDU | +| `av_x-v1_default` | AV X-V1 | +| `narinfc_h7_default` | NarinFC H7 | +| `thepeach_k1_default` | ThePeach K1 | +| `thepeach_r1_default` | ThePeach R1 | +| `airmind_mindpx-v2_default` | AirMind MindPX V2 | +| `beaglebone_blue_default` | BeagleBone Blue | +| `bluerobotics_navigator_default` | BlueRobotics Navigator | +| `emlid_navio2_default` | Emlid Navio2 | +| `px4_raspberrypi_default` | Raspberry Pi | +| `scumaker_pilotpi_default` | Scumaker PilotPi | + +:::info +Some boards (e.g., `px4_fmu-v6x_default`, `cubepilot_cubeorange_default`) do not include SIH in their default build due to flash memory constraints. +You can add SIH to any board -- see [Check if SIH is in Firmware](#check-if-sih-is-in-firmware). +::: + +## Вимоги + +- A flight controller with SIH module included in firmware (see [Firmware Builds with SIH](#firmware-builds-with-sih)). +- USB connection for QGroundControl. +- Optional: jMAVSim for 3D visualization via serial link (see [Visualization](#hardware-visualization)). + +## Check if SIH is in Firmware + +SIH is included in most default firmware builds. To verify, search for `sih` in the parameter list in QGroundControl. If `SIH_*` parameters are available, the module is included. + +To add SIH to a custom build, enable it in the board configuration: + +```txt +CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y +``` + +## Starting SIH + +1. Connect the flight controller to QGroundControl via USB. +2. Set `SYS_HITL` parameter to `2`. +3. Reboot the flight controller. +4. The SIH module starts automatically and provides simulated sensor data. + +Once running, the vehicle can be controlled from QGroundControl or an RC controller. + +:::warning +To save flash memory on boards with limited storage, SIH can be built with only quadrotor support. +Set `SIH_VEHICLE_TYPE` before building to limit included vehicle models. +::: + +## Visualization (Optional) {#hardware-visualization} + +If you need a visual aid to see what the simulated vehicle is doing on hardware: + +### QGroundControl + +Connect the flight controller via USB. QGC shows the vehicle on the map view with attitude, position, and telemetry, the same as a real flight. + +### jMAVSim (3D Display-Only) + +jMAVSim can render a 3D view of the vehicle over a serial connection. No physics are simulated in jMAVSim -- it is display-only. + +```sh +./Tools/simulation/jmavsim/jmavsim_run.sh -q -d /dev/ttyACM0 -b 2000000 -o +``` + +Where `/dev/ttyACM0` is the serial device for the flight controller. +On macOS, this is typically `/dev/tty.usbmodem*`. + +## Controlling Actuators + +:::warning +If you want to control throttling actuators in SIH, make sure to remove propellers for safety. +::: + +In some scenarios, it may be useful to control an actuator while running SIH on hardware. For example, you might want to verify that winches or grippers are functioning correctly by checking the servo responses. + +**To enable actuator control in SIH:** + +1. Configure PWM parameters in the airframe file: + + Ensure your airframe file includes the necessary parameters to map PWM outputs to the correct channels. + + For example, if a servo is connected to MAIN 3 and you want to map it to AUX1 on your RC, use the following command: + + `param set-default PWM_MAIN_FUNC3 407` + + You can find a full list of available values for `PWM_MAIN_FUNCn` [here](../advanced_config/parameter_reference.md#PWM_MAIN_FUNC1). In this case, `407` maps the MAIN 3 output to AUX1 on the RC. + + Alternatively, you can use the [`PWM_AUX_FUNCn`](../advanced_config/parameter_reference.md#PWM_AUX_FUNC1) parameters. + + You may also configure the output as desired: + + - Disarmed PWM: ([`PWM_MAIN_DISn`](../advanced_config/parameter_reference.md#PWM_MAIN_DIS1) / [`PWM_AUX_DIS1`](../advanced_config/parameter_reference.md#PWM_AUX_DIS1)) + - Minimum PWM ([`PWM_MAIN_MINn`](../advanced_config/parameter_reference.md#PWM_MAIN_MIN1) / [`PWM_AUX_MINn`](../advanced_config/parameter_reference.md#PWM_AUX_MIN1)) + - Maximum PWM ([`PWM_MAIN_MAXn`](../advanced_config/parameter_reference.md#PWM_MAIN_MAX1) / [`PWM_AUX_MAXn`](../advanced_config/parameter_reference.md#PWM_AUX_MAX1)) + +2. Manually start the PWM output driver + + For safety, the PWM driver is not started automatically in SIH. To enable it, run the following command in the MAVLink shell: + + ```sh + pwm_out start + ``` + + **And to disable it again:** + + ```sh + pwm_out stop + ``` + +## Adding New Airframes (FC) + +Airframe configuration for SIH on a flight controller differs from SITL in a few ways: + +- Airframe file goes in `ROMFS/px4fmu_common/init.d/airframes` and follows the naming template `${ID}_${model_name}.hil`, where `ID` is the `SYS_AUTOSTART_ID` used to select the airframe, and `model_name` is the airframe model name. +- Add the model name in `ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt` to generate a corresponding make target. +- Actuators are configured with `HIL_ACT_FUNC*` parameters (not the usual `PWM_MAIN_FUNC*` parameters). + This is to avoid using the real actuator outputs in SIH. + Similarly, the bitfield for inverting individual actuator output ranges is `HIL_ACT_REV`, rather than `PWM_MAIN_REV`. + +For general airframe setup (SIH parameters, EKF2 tuning), see [Adding New Airframes](index.md#adding-new-airframes) on the main SIH page. + +For examples, see the `.hil` airframes in [ROMFS/px4fmu_common/init.d/airframes](https://github.com/PX4/PX4-Autopilot/tree/main/ROMFS/px4fmu_common/init.d/airframes). diff --git a/docs/uk/sim_sih/index.md b/docs/uk/sim_sih/index.md index 5abfa683ff..62f854f301 100644 --- a/docs/uk/sim_sih/index.md +++ b/docs/uk/sim_sih/index.md @@ -1,294 +1,221 @@ -# Моделювання в апаратному забезпеченні (SIH) +# SIH Simulation - + -:::warning -This simulator is [community supported and maintained](../simulation/community_supported_simulators.md). -It may or may not work with current versions of PX4 (known to work in PX4 v1.14). - -Дивіться [Встановлення інструментарію](../dev_setup/dev_env.md) для інформації про середовища та інструменти, що підтримуються основною командою розробників. -::: - -Simulation-In-Hardware (SIH) is an alternative to [Hardware In The Loop simulation (HITL)](../simulation/hitl.md) for quadrotors, fixed-wing vehicles (airplane), and VTOL tailsitters. - -SIH can be used by new PX4 users to get familiar with PX4 and the different modes and features, and of course to learn to fly a vehicle using an RC controller in simulation, which is not possible using SITL. +SIH (Simulation-In-Hardware) is a lightweight, headless simulator with zero external dependencies that runs physics directly inside PX4 via uORB messages. +No GUI, no external processes, no rendering overhead — just PX4 running a C++ physics model. +This makes it the fastest way to iterate on flight code. ## Загальний огляд -With SIH the whole simulation is running on embedded hardware: the controller, the state estimator, and the simulator. -The Desktop computer is only used to display the virtual vehicle. +SIH runs as a PX4 module that replaces real sensor and actuator hardware with a simulated physics model. +It provides simulated IMU, GPS, barometer, magnetometer, and airspeed sensor data via uORB, and reads actuator outputs to update the vehicle state at each timestep. -![Simulator MAVLink API](../../assets/diagrams/SIH_diagram.png) +The simulation runs in lockstep with PX4, ensuring deterministic and reproducible results. +It also integrates seamlessly with ROS 2 via with no additional configuration (see [ROS 2 Integration](#ros-2-integration) below). -### Сумісність +Two modes are supported: -- SIH is compatible with all PX4 supported boards except those based on FMUv2. -- SIH for MC quadrotor is supported from PX4 v1.9. -- SIH for FW (airplane) and VTOL tailsitter are supported from PX4 v1.13. -- SIH як SITL (без апаратного забезпечення) з версії PX4 v1.14. -- SIH for Standard VTOL from PX4 v1.16. -- SIH for MC Hexacopter X from PX4 v1.17. -- SIH for Ackermann Rover from PX4 v1.17. +- **[SITL](#sih-as-sitl-no-fc):** Runs on your computer with no hardware needed, and headless (without a UI) by default. + _This is the fastest and easiest way to start a simulation on PX4._ -### Переваги +- **[SIH on flight controller hardware](#sih-on-flight-controller-hardware):** Runs the entire simulation on the autopilot (`SYS_HITL=2`). -SIH provides several benefits over HITL: +### Supported Vehicle Types -- Він забезпечує синхронізований час, уникаючи двостороннього з'єднання з комп'ютером. - В результаті користувачеві не потрібен такий потужний настільний комп'ютер. -- Усе моделювання залишається в середовищі PX4. - Розробники, які знайомі з PX4, можуть легше включити свою власну математичну модель в симулятор. - Вони, наприклад, можуть змінити аеродинамічну модель або рівень шуму датчиків, або навіть додати датчик для симуляції. -- The physical parameters representing the vehicle (such as mass, inertia, and maximum thrust force) can easily be modified from the [SIH parameters](../advanced_config/parameter_reference.md#simulation-in-hardware). +The following vehicle types are supported: -## Вимоги - -To run the SIH, you will need a: - -- [Flight controller](../flight_controller/index.md), such as a Pixhawk-series board. - - ::: info - From PX4 v1.14 you can run [SIH "as SITL"](#sih-as-sitl-no-fc), in which case a flight controller is not required. - -::: - -- [Manual controller](../getting_started/px4_basic_concepts.md#manual-control): either a [radio control system](../getting_started/rc_transmitter_receiver.md) or a [joystick](../config/joystick.md). - -- QGroundControl for flying the vehicle via GCS. - -- Development computer for visualizing the virtual vehicle (optional). - -## Check if SIH is in Firmware - -The modules required for SIH are built into most PX4 firmware by default. -These include: [`pwm_out_sim`](../modules/modules_driver.md#pwm-out-sim), [`sensor_baro_sim`](../modules/modules_system.md#sensor-baro-sim), [`sensor_gps_sim`](../modules/modules_system.md#sensor-gps-sim) and [`sensor_mag_sim`](../modules/modules_system.md#sensor-mag-sim). - -To check that these are present on your flight controller: - -1. Запустіть QGroundControl. - -2. Open **Analyze Tools > Mavlink Console**. - -3. Enter the following commands in the console: - - ```sh - pwm_out_sim status - ``` - - ```sh - sensor_baro_sim status - ``` - - ```sh - sensor_gps_sim status - ``` - - ```sh - sensor_mag_sim status - ``` - - ::: tip - Note that when using SIH on real hardware you do not need to additionally enable the modules using their corresponding parameters ([SENS_EN_GPSSIM](../advanced_config/parameter_reference.md#SENS_EN_GPSSIM), [SENS_EN_BAROSIM](../advanced_config/parameter_reference.md#SENS_EN_BAROSIM), [SENS_EN_MAGSIM](../advanced_config/parameter_reference.md#SENS_EN_MAGSIM)). - -::: - -4. If a valid status is returned you can start using SIH. - -If any of the returned values above are `nsh: MODULENAME: command not found`, then you don't have the module installed. -In this case you will have to add them to your board configuration and then rebuild and install the firmware. - -### Adding SIH to the Firmware - -Add the following key to the configuration file for your flight controller to include all the required modules (for an example see [boards/px4/fmu-v6x/default.px4board](https://github.com/PX4/PX4-Autopilot/blob/main/boards/px4/fmu-v6x/default.px4board)). -Then re-build the firmware and flash it to the board. - -```text -CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y -``` - -:::details -What does this do? - -This installs the dependencies in [simulator_sih/Kconfig](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/simulation/simulator_sih/Kconfig). -It is equivalent to: - -```text -CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y -CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y -CONFIG_MODULES_SIMULATION_SENSOR_GPS_SIM=y -CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y -``` - -::: - -As an alternative to updating configuration files manually, you can use the following command to launch a GUI configuration tool, and interactively enable the required modules at the path: **modules > Simulation > simulator_sih**. -For example, to update the fmu-v6x configuration you would use: - -```sh -make px4_fmu-v6x boardconfig -``` - -After uploading, check that the required modules are present. - -:::info -To use rover in SIH you must use the [rover build](../config_rover/index.md#flashing-the-rover-build) or add the rover modules to your board configuration. -::: - -## Starting SIH - -To set up/start SIH: - -1. Connect the flight controller to the desktop computer with a USB cable. -2. Відкрийте QGroundControl і зачекайте, поки контролер польоту також завантажиться та підключиться. -3. Open [Vehicle Setup > Airframe](../config/airframe.md) then select the desired frame: - - [SIH Quadcopter X](../airframes/airframe_reference.md#copter_simulation_sih_quadcopter_x) - - **SIH Hexacopter X** (currently only has an airframe for SITL to safe flash so on flight control hardware it has to be manually configured equivalently). - - [SIH plane AERT](../airframes/airframe_reference.md#plane_simulation_sih_plane_aert) - - [SIH Tailsitter Duo](../airframes/airframe_reference.md#vtol_simulation_sih_tailsitter_duo) - - [SIH Standard VTOL QuadPlane](../airframes/airframe_reference.md#vtol_simulation_sih_standard_vtol_quadplane) - - [SIH Ackermann Rover](../airframes/airframe_reference.md#rover_rover_sih_rover_ackermann) - -Потім автопілот перезавантажиться. -The `sih` module is started on reboot, and the vehicle should be displayed on the ground control station map. +| Транспортний засіб | Make Target | Status | +| ---------------------------------------------------------------------------------- | ---------------------------------------- | ----------------------------- | +| Quadrotor X | `make px4_sitl_sih sihsim_quadx` | Stable | +| Hexarotor X | `make px4_sitl_sih sihsim_hexa` | Експериментальні налаштування | +| Fixed-wing (airplane) | `make px4_sitl_sih sihsim_airplane` | Експериментальні налаштування | +| Tailsitter VTOL | `make px4_sitl_sih sihsim_xvert` | Експериментальні налаштування | +| Standard VTOL (QuadPlane) | `make px4_sitl_sih sihsim_standard_vtol` | Експериментальні налаштування | +| Ackermann Rover | `make px4_sitl_sih sihsim_rover` | Експериментальні налаштування | :::warning -The airplane needs to takeoff in manual mode at full throttle. -Крім того, якщо літак розбився, оцінювач стану може втратити своє виправлення. +Only the quadrotor vehicle type is stable and recommended for development. All other vehicle types (hexarotor, fixed-wing, VTOL, rover) are experimental and may have aerodynamic model or controller interaction issues that produce unrealistic flight behavior. ::: -## Simulation Configuration +### How SIH Works -### Wind +![SIH Overview](../../assets/simulation/sih_overview.svg) -SIH supports setting a wind velocity with the PX4 parameters [`SIH_WIND_N`](../advanced_config/parameter_reference.md#SIH_WIND_E) and [`SIH_WIND_E`](../advanced_config/parameter_reference.md#SIH_WIND_E) [m/s]. The parameters can also be changed during flight to simulate changing wind. +SIH differs from external simulators: -## Display/Visualisation (optional) +- **No MAVLink simulator API:** SIH communicates entirely via uORB (PX4's internal message bus). +- **No external process:** The physics model runs in the same PX4 process. +- **Lockstep by default:** Simulation time is synchronized with PX4 scheduling. -The SIH-simulated vehicle can be displayed using [jMAVSim](../sim_jmavsim/index.md) as a visualiser. +## SIH as SITL {#sih-as-sitl-no-fc} -:::tip -SIH does not _need_ a visualiser — you can connect with QGroundControl and fly the vehicle without one. -::: +SIH as SITL is the easiest and fastest way to set up a simulator with PX4. +It requires no hardware, and very few extra dependencies. -Для відображення симульованого транспортного засобу: +### Швидкий Старт -1. Close _QGroundControl_ (if open). - -2. Відключіть і знову підключіть контролер польоту (дайте декілька секунд на його завантаження). - -3. Start jMAVSim by calling the script **jmavsim_run.sh** from a terminal: - - ```sh - ./Tools/simulation/jmavsim/jmavsim_run.sh -q -d /dev/ttyACM0 -b 2000000 -o - ``` - - де прапорці такі: - - - `-q` to allow the communication to _QGroundControl_ (optional). - - `-d` to start the serial device `/dev/ttyACM0` on Linux. - On macOS this would be `/dev/tty.usbmodem1`. - - `-b` to set the serial baud rate to `2000000`. - - `-o` to start jMAVSim in _display Only_ mode (i.e. the physical engine is turned off and jMAVSim only displays the trajectory given by the SIH in real-time). - - add a flag `-a` to display an aircraft or `-t` to display a tailsitter. - Якщо цей прапорець не вказаний, за замовчуванням відображатиметься квадрокоптер. - -4. After few seconds, _QGroundControl_ can be opened again. - -На цьому етапі систему можна запустити та вивести в польот. -The vehicle can be observed moving in jMAVSim, and on the QGC _Fly_ view. - -## SIH as SITL (no FC) - -SIH можна запустити як SITL (Software-In-The-Loop) з версії 1.14. -What this means is that the simulation code is executed on the laptop/computer instead of a flight controller, similar to Gazebo or jMAVSim. -In this case you don't need the flight controller hardware. - -Для запуску SIH як SITL: - -1. Install the [PX4 Development toolchain](../dev_setup/dev_env.md). -2. Виконайте відповідну команду make для кожного типу транспортного засобу (в корені репозиторію PX4-Autopilot): - - Quadcopter - - ```sh - make px4_sitl sihsim_quadx - ``` - - - Hexacopter - - ```sh - make px4_sitl sihsim_hex - ``` - - - Fixed-wing (plane) - - ```sh - make px4_sitl sihsim_airplane - ``` - - - XVert VTOL tailsitter - - ```sh - make px4_sitl sihsim_xvert - ``` - - - Standard VTOL - - ```sh - make px4_sitl sihsim_standard_vtol - ``` - - - Ackermann Rover - - ```sh - make px4_sitl sihsim_rover_ackermann - ``` - -### Зміна швидкості симуляції - -SITL дозволяє виконувати симуляцію швидше, ніж у реальному часі. -To run the airplane simulation 10 times faster than real time, run the command: +To build PX4 and run SIH for a quadrotor: ```sh -PX4_SIM_SPEED_FACTOR=10 make px4_sitl sihsim_airplane +make px4_sitl_sih sihsim_quadx ``` -To display the vehicle in jMAVSim during SITL mode, enter the following command in another terminal: +QGroundControl auto-connects on UDP port 14550 — just open it and you'll see the vehicle. +Note that the simulation is "headless" by default (has no GUI), but you can use an external viewer. + +See [Supported vehicle types](#supported-vehicle-types) for other vehicles. + +:::tip +Use the `px4_sitl_sih` build target! +The `px4_sitl` target will work, but will also build Gazebo libraries. +::: + +### Visualization (Optional) {#sitl-visualization} + +SIH is intentionally headless by default. +If you need a visual aid to see what the vehicle is doing you can use QGroundControl to track path over ground, and/or jMAVSim as a 3D viewer. + +#### QGroundControl + +QGC auto-connects on UDP port 14550. Open QGC while SIH is running and the vehicle appears on the map view with attitude, position, and telemetry. + +#### jMAVSim (3D Display-Only) + +jMAVSim can render a 3D view of the vehicle using MAVLink position data. No physics are simulated in jMAVSim — it is display-only. ```sh ./Tools/simulation/jmavsim/jmavsim_run.sh -p 19410 -u -q -o ``` -- add a flag `-a` to display an aircraft or `-t` to display a tailsitter. - Якщо цей прапорець не вказаний, за замовчуванням відображатиметься квадрокоптер. +Flags: -### Встановлення власного місця зльоту +- `-a` for airplane model +- `-t` for tailsitter model +- `-o` enable display-only mode. -The takeoff location in SIH on SITL can be set using environment variables. -This will override the default takeoff location. +See [jMAVSim Display-Only Mode](../sim_jmavsim/index.md#display-only-mode) for details. -The variables to set are: `PX4_HOME_LAT`, `PX4_HOME_LON`, and `PX4_HOME_ALT`. +### Environment Configuration -Наприклад: +#### Зміна швидкості симуляції + +SIH supports faster-than-realtime simulation via the `PX4_SIM_SPEED_FACTOR` environment variable: + +```sh +# Run at 10x speed +PX4_SIM_SPEED_FACTOR=10 make px4_sitl_sih sihsim_quadx +``` + +#### Wind Simulation + +SIH supports setting a wind velocity with the PX4 parameters [`SIH_WIND_N`](../advanced_config/parameter_reference.md#SIH_WIND_E) and [`SIH_WIND_E`](../advanced_config/parameter_reference.md#SIH_WIND_E) [m/s]. The parameters can also be changed during flight to simulate changing wind. + +#### Встановлення власного місця зльоту + +The default takeoff location can be set using environment variables: ```sh export PX4_HOME_LAT=28.452386 export PX4_HOME_LON=-13.867138 export PX4_HOME_ALT=28.5 -make px4_sitl sihsim_quadx +make px4_sitl_sih sihsim_quadx ``` +### ROS 2 Integration + +SIH works with ROS 2 via the [uXRCE-DDS](../middleware/uxrce_dds.md) client, which auto-starts in SITL mode. +This is the same mechanism used by Gazebo — both simulators expose the same set of uORB topics to ROS 2. +The DDS agent connects on UDP port **8888** by default (configurable via `UXRCE_DDS_PRT` parameter or `PX4_UXRCE_DDS_PORT` environment variable). + +To use SIH with ROS 2: + +1. Start SIH: + + ```sh + make px4_sitl_sih sihsim_quadx + ``` + +2. In a separate terminal, start the Micro XRCE-DDS Agent: + + ```sh + MicroXRCEAgent udp4 -p 8888 + ``` + +See [uXRCE-DDS (PX4-ROS 2/DDS Bridge)](../middleware/uxrce_dds.md) for full setup instructions, including agent installation and ROS 2 workspace configuration. + +### Port Reference + +PX4 SITL opens the following UDP ports (all instance-aware, offset by instance number N). + +| PX4 sends to (remote) | PX4 listens on (local) | Use for | Instance offset | +| ---------------------------------------- | ----------------------------------------- | -------------------------------------------------- | ------------------------------------------------------------ | +| **14550** | 18570 (+N) | QGroundControl, GCS tools | Так | +| **14540** (+N) | 14580 (+N) | MAVSDK, MAVROS, offboard APIs | Yes (capped at 14549 for 10+ instances) | +| **14030** (+N) | 14280 (+N) | Onboard camera/payload | Так | +| **13280** (+N) | 13030 (+N) | Gimbal control | Так | +| **19410** (+N) | 19450 (+N) | jMAVSim display-only (SIH only) | Так | +| **8888** | - | uXRCE-DDS / ROS 2 | No (use DDS namespace for multi-instance) | + +QGC auto-connects on port **14550** by default. MAVSDK connects on **14540**. No manual port configuration needed for single-instance use. + +### Симуляція кількох рухомих засобів + +SIH supports multi-vehicle simulation using PX4's instance system. +Each instance gets unique MAVLink ports, a unique system ID, and a separate DDS namespace. + +To launch multiple SIH vehicles, first build: + +```sh +make px4_sitl_sih sihsim_quadx +``` + +Then use the multi-instance launch script: + +```sh +./Tools/simulation/sitl_multiple_run.sh 3 sihsim_quadx px4_sitl_sih +``` + +Or launch instances manually: + +```sh +# Terminal 1 (instance 0) +make px4_sitl_sih sihsim_quadx + +# Terminal 2 (instance 1) +./build/px4_sitl_sih/bin/px4 -i 1 -d ./build/px4_sitl_sih/etc + +# Terminal 3 (instance 2) +./build/px4_sitl_sih/bin/px4 -i 2 -d ./build/px4_sitl_sih/etc +``` + +Each instance allocates ports automatically (all offset by instance number): + +| Instance | MAVLink (18570+N) | MAVLink (14540+N) | DDS (8888) Namespace | +| -------- | ------------------------------------ | ------------------------------------ | --------------------------------------- | +| 0 | 18570 | 14540 | (default) | +| 1 | 18571 | 14541 | px4_1 | +| 2 | 18572 | 14542 | px4_2 | + +See [Port Reference](#port-reference) for the complete list of ports. + +## SIH on Flight Controller Hardware {#sih-on-flight-controller-hardware} + +SIH can also run on flight controller hardware with `SYS_HITL=2`, replacing real sensors with simulated data while running on the actual autopilot. +See [SIH on Flight Controller Hardware](hardware.md) for setup instructions. + ## Adding New Airframes [Adding a new airframe](../dev_airframes/adding_a_new_frame.md) for use in SIH simulation is much the same as for other use cases. You still need to configure your vehicle type and [geometry](../config/actuators.md) (`CA_` parameters) and start any other defaults for that specific vehicle. :::warning -Not every vehicle can be simulated with SIH — there are currently [four supported vehicle types](../advanced_config/parameter_reference.md#SIH_VEHICLE_TYPE), each of which has a relatively rigid implementation in [`sih.cpp`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/simulation/simulator_sih/sih.cpp). +Not every vehicle can be simulated with SIH — there are currently [six supported vehicle types](../advanced_config/parameter_reference.md#SIH_VEHICLE_TYPE) (quadcopter, fixed-wing, tailsitter, standard VTOL, hexacopter, rover), each of which has a relatively rigid implementation in [`sih.cpp`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/simulation/simulator_sih/sih.cpp). ::: The specific differences for SIH simulation airframes are listed in the sections below. -For all variants of SIH: +### All Variants - Set all the [Simulation In Hardware](../advanced_config/parameter_reference.md#simulation-in-hardware) parameters (prefixed with `SIH_`) in order to configure the physical model of the vehicle. @@ -310,15 +237,11 @@ For all variants of SIH: - `param set-default SENS_GPS0_DELAY 0` to improve state estimator performance (the assumption of instant GPS measurements would normally be unrealistic, but is accurate for SIH). -For SIH on FC: +### SIH on Flight Controller -- Airframe file goes in `ROMFS/px4fmu_common/init.d/airframes` and follows the naming template `${ID}_${model_name}.hil`, where `ID` is the `SYS_AUTOSTART_ID` used to select the airframe, and `model_name` is the airframe model name. -- Add the model name in `ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt` to generate a corresponding make target. -- Actuators are configured with `HIL_ACT_FUNC*` parameters (not the usual `PWM_MAIN_FUNC*` parameters). - This is to avoid using the real actuator outputs in SIH. - Similarly, the bitfield for inverting individual actuator output ranges is `HIL_ACT_REV`, rather than `PWM_MAIN_REV`. +For FC-specific airframe setup (file locations, `HIL_ACT_FUNC*` parameters), see [Adding New Airframes (FC)](hardware.md#adding-new-airframes-fc). -For SIH as SITL (no FC): +### SIH as SITL - Airframe file goes in `ROMFS/px4fmu_common/init.d-posix/airframes` and follows the naming template `${ID}_sihsim_${model_name}`, where `ID` is the `SYS_AUTOSTART_ID` used to select the airframe, and `model_name` is the airframe model name. - Add the model name in `src/modules/simulation/simulator_sih/CMakeLists.txt` to generate a corresponding make target. @@ -334,57 +257,28 @@ For SIH as SITL (no FC): For specific examples see the `_sihsim_` airframes in [ROMFS/px4fmu_common/init.d-posix/airframes](https://github.com/PX4/PX4-Autopilot/tree/main/ROMFS/px4fmu_common/init.d-posix/airframes) (SIH as SITL) and [ROMFS/px4fmu_common/init.d/airframes](https://github.com/PX4/PX4-Autopilot/tree/main/ROMFS/px4fmu_common/init.d/airframes) (SIH on FC). -## Controlling Actuators in SIH - -:::warning -If you want to control throttling actuators in SIH, make sure to remove propellers for safety. -::: - -In some scenarios, it may be useful to control an actuator while running SIH. For example, you might want to verify that winches or grippers are functioning correctly by checking the servo responses. - -To enable actuator control in SIH: - -1. Configure PWM parameters in the airframe file: - -Ensure your airframe file includes the necessary parameters to map PWM outputs to the correct channels. - -For example, if a servo is connected to MAIN 3 and you want to map it to AUX1 on your RC, use the following command: - -`param set-default PWM_MAIN_FUNC3 407` - -You can find a full list of available values for `PWM_MAIN_FUNCn` [here](../advanced_config/parameter_reference.md#PWM_MAIN_FUNC1). In this case, `407` maps the MAIN 3 output to AUX1 on the RC. - -Alternatively, you can use the [`PWM_AUX_FUNCn`](../advanced_config/parameter_reference.md#PWM_AUX_FUNC1) parameters. - -You may also configure the output as desired: - -- Disarmed PWM: ([`PWM_MAIN_DISn`](../advanced_config/parameter_reference.md#PWM_MAIN_DIS1) / [`PWM_AUX_DIS1`](../advanced_config/parameter_reference.md#PWM_AUX_DIS1)) -- Minimum PWM ([`PWM_MAIN_MINn`](../advanced_config/parameter_reference.md#PWM_MAIN_MIN1) / [`PWM_AUX_MINn`](../advanced_config/parameter_reference.md#PWM_AUX_MIN1)) -- Maximum PWM ([`PWM_MAIN_MAXn`](../advanced_config/parameter_reference.md#PWM_MAIN_MAX1) / [`PWM_AUX_MAXn`](../advanced_config/parameter_reference.md#PWM_AUX_MAX1)) - -2. Manually start the PWM output driver - -For safety, the PWM driver is not started automatically in SIH. To enable it, run the following command in the MAVLink shell: - -`pwm_out start` - -And to disable it again: - -`pwm_out stop` - ## Dynamic Models Динамічні моделі для різних транспортних засобів: -- Quadcopter: [pdf report](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/simulation/SIH_dynamic_model.pdf). -- Hexacopter: Equivalent to the Quadcopter but with a symmetric hexacopter x actuation setup. -- Fixed-wing: Inspired by the PhD thesis: "Dynamics modeling of agile fixed-wing unmanned aerial vehicles." Khan, Waqas, supervised by Nahon, Meyer, McGill University, PhD thesis, 2016. -- Tailsitter: Inspired by the master's thesis: "Modeling and control of a flying wing tailsitter unmanned aerial vehicle." Chiappinelli, Romain, supervised by Nahon, Meyer, McGill University, Masters thesis, 2018. -- Ackermann Rover: Based on lateral vehicle dynamics of the bicycle model adapted from [Sri Anumakonda, Everything you need to know about Self-Driving Cars in <30 minutes](https://srianumakonda.medium.com/everything-you-need-to-know-about-self-driving-in-30-minutes-b38d68bd3427) +- Quadrotor: [pdf](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/simulation/SIH_dynamic_model.pdf) +- Fixed-wing: based on Khan (2016), see references below +- Tailsitter: based on Chiappinelli (2018), see references below +- Rover: bicycle model with linear tire model + +Since PX4 v1.17, the propeller model for fixed-wing, tailsitter, and VTOL pusher vehicles is based on [UIUC propeller data](https://m-selig.ae.illinois.edu/props/propDB.html). +The maximum thrust force is realistically reduced as aircraft speed increases. + +**References:** + +1. PX4 Development Team, "SIH Dynamic Model," PX4-Autopilot, 2019. [PDF](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/simulation/SIH_dynamic_model.pdf) +2. W. Khan, "Dynamics modeling of agile fixed-wing unmanned aerial vehicles," Ph.D. thesis, Dept. of Mechanical Engineering, McGill University, Montreal, 2016. +3. R. Chiappinelli, "Modeling and control of a flying wing tailsitter unmanned aerial vehicle," M.Sc. thesis, Dept. of Mechanical Engineering, McGill University, Montreal, 2018. +4. S. Anumakonda, "Everything you need to know about Self-Driving Cars," 2021. [Link](https://srianumakonda.medium.com/everything-you-need-to-know-about-self-driving-in-30-minutes-b38d68bd3427) ## Відео - +@[youtube](https://youtu.be/PzIpSCRD8Jo) ## Автори diff --git a/docs/uk/simulation/community_supported_simulators.md b/docs/uk/simulation/community_supported_simulators.md index 26261eeb93..4f5765b5a5 100644 --- a/docs/uk/simulation/community_supported_simulators.md +++ b/docs/uk/simulation/community_supported_simulators.md @@ -12,10 +12,13 @@ These simulators are not maintained, tested, or supported, by the core developme Інструменти мають різний рівень підтримки своїми спільнотами (деякі добре підтримують, інші - ні). Питання про ці інструменти повинні порушуватися на [форумах для обговорення](../contribute/support.md#forums-and-chat) -| Симулятор | Опис | -| ----------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | -| [Simulation-In-Hardware](../sim_sih/README.md) (SIH) |

A simulator implemented in C++ as a PX4 module directly in the Firmware [code](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/simulation/simulator_sih). It can be ran in SITL directly on the computer or as an alternative to HITL offering a hard real-time simulation directly on the hardware autopilot.

Supported Vehicles: Quad, Hexa, Plane, Tailsitter, Standard VTOL, Ackermann Rover

| -| [FlightGear](../sim_flightgear/README.md) |

Симулятор який надає фізично та візуально реалістичні симуляції. Зокрема він може моделювати багато погодних умов, включаючи грози, сніг, дощ та град, а також може симулювати температурні режими та різні типи атмосферних течій. [Симуляція кількох засобів](../sim_flightgear/multi_vehicle.md) також підтримується.

Рухомі засоби, що підтримуються: Літак, Автожир, Ровер

| -| [JMAVSim](../sim_jmavsim/index.md) |

A simple multirotor/quad simulator. This was previously part of the PX4 development toolchain but was removed in favour of [Gazebo](../sim_gazebo_gz/index.md).

Supported Vehicles: Quad

| -| [JSBSim](../sim_jsbsim/README.md) |

Симулятор, який надає моделі просунутої динаміки польоту. Він може використовуватися для моделювання реалістичної динаміки польоту, заснованої на даних з аеродинамічної труби.

Рухомі засоби, що підтримуються: Літак, Квадрокоптер, Гексакоптер

| -| [AirSim](../sim_airsim/README.md) |

Міжплатформовий симулятор який надає фізично та візуально реалістичні симуляції. This simulator is resource intensive, and requires a significantly more powerful computer than the other simulators described here.

Supported Vehicles: Iris (MultiRotor model and a configuration for PX4 QuadRotor in the X configuration).

| +| Симулятор | Опис | +| ----------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| [FlightGear](../sim_flightgear/README.md) |

Симулятор який надає фізично та візуально реалістичні симуляції. Зокрема він може моделювати багато погодних умов, включаючи грози, сніг, дощ та град, а також може симулювати температурні режими та різні типи атмосферних течій. [Симуляція кількох засобів](../sim_flightgear/multi_vehicle.md) також підтримується.

Рухомі засоби, що підтримуються: Літак, Автожир, Ровер

| +| [JMAVSim](../sim_jmavsim/index.md) |

A simple multirotor/quad simulator. This was previously part of the PX4 development toolchain but was removed in favour of [Gazebo](../sim_gazebo_gz/index.md).

Supported Vehicles: Quad

| +| [JSBSim](../sim_jsbsim/README.md) |

Симулятор, який надає моделі просунутої динаміки польоту. Він може використовуватися для моделювання реалістичної динаміки польоту, заснованої на даних з аеродинамічної труби.

Рухомі засоби, що підтримуються: Літак, Квадрокоптер, Гексакоптер

| +| [AirSim](../sim_airsim/README.md) |

Міжплатформовий симулятор який надає фізично та візуально реалістичні симуляції. This simulator is resource intensive, and requires a significantly more powerful computer than the other simulators described here.

Supported Vehicles: Iris (MultiRotor model and a configuration for PX4 QuadRotor in the X configuration).

| + +:::tip +[Gazebo](../sim_gazebo_gz/index.md) and [SIH](../sim_sih/index.md) are the officially supported simulators. See the [Simulation](index.md) page for more information. +::: diff --git a/docs/uk/simulation/hardware.md b/docs/uk/simulation/hardware.md new file mode 100644 index 0000000000..7006b0164a --- /dev/null +++ b/docs/uk/simulation/hardware.md @@ -0,0 +1,29 @@ +# Hardware Simulation + +PX4 can run simulation directly on a real flight controller, replacing real sensors with simulated data, while otherwise executing the full flight stack on actual autopilot hardware. + +:::info +Simulating PX4 on flight controller hardware exercises more flight stack code than SITL, and tests more of your hardware integration. +It can surface issues with running PX4 that might hidden when running on a desktop OS and hardware, or even a different flight controller board. +::: + +Two simulation approaches are available, controlled by the [SYS_HITL](../advanced_config/parameter_reference.md#SYS_HITL) parameter: + +- **[HITL Simulation](../simulation/hitl.md) (`SYS_HITL=1`):** An external simulator (Gazebo Classic or jMAVSim) runs physics on a companion computer and sends sensor data to the flight controller via MAVLink HIL messages. Requires a USB/UART connection and simulator setup. +- **[SIH on Hardware](../sim_sih/hardware.md) (`SYS_HITL=2`):** A C++ physics model runs directly on the flight controller itself. No external simulator, no companion computer, no MAVLink sensor data. Just set the parameter and reboot. + +## HITL vs SIH {#comparision} + +| | HITL (`SYS_HITL=1`) | SIH (`SYS_HITL=2`) | +| ----------------- | ---------------------------------------------------------------------- | ---------------------------------------------------- | +| Physics model | External simulator (Gazebo Classic, jMAVSim) | Internal C++ module | +| Communication | MAVLink HIL messages | uORB (internal) | +| External process | Вимоги | Not required | +| Setup complexity | Higher | Lower | +| Sensor simulation | Camera, lidar, etc. (via simulator) | IMU, GPS, baro, mag, airspeed only | +| Vehicle types | Quadcopter, Standard VTOL | Quad, Hex, FW, VTOL Tailsitter, Standard VTOL, Rover | + +## When to Use Which + +- Use **SIH** if you want the simplest possible setup. No external dependencies. +- Use **HITL** if you need an external physics engine, 3D visualization from Gazebo Classic, or camera/lidar sensor simulation that SIH does not provide. diff --git a/docs/uk/simulation/hitl.md b/docs/uk/simulation/hitl.md index 5fce58c8a6..9fd7180d6f 100644 --- a/docs/uk/simulation/hitl.md +++ b/docs/uk/simulation/hitl.md @@ -12,9 +12,9 @@ HITL is [community supported and maintained](../simulation/community_supported_s PX4 supports HITL for multicopters (using [jMAVSim](../sim_jmavsim/index.md) or [Gazebo Classic](../sim_gazebo_classic/index.md)) and VTOL (using Gazebo Classic). - +For a comparison of HITL and SIH on hardware, see [Hardware Simulation](../simulation/hardware.md). -## Планери сумісні з HITL +## HITL-Compatible Airframes {#compatible_airframe} The set of compatible airframes vs simulators is: @@ -23,9 +23,7 @@ The set of compatible airframes vs simulators is: | [HIL Quadcopter X](../airframes/airframe_reference.md#copter_simulation_hil_quadcopter_x) | 1001 | Y | Y | | [HIL Standard VTOL QuadPlane](../airframes/airframe_reference.md#vtol_standard_vtol_hil_standard_vtol_quadplane) | 1002 | Y | | - - -## Середовище симуляції HITL +## HITL Simulation Environment {#simulation_environment} У симуляції з апаратним забезпеченням у контурі (HITL) звичайна прошивка PX4 виконується на реальному обладнані. JMAVSim або Gazebo Classic (які працюють на комп'ютері розробки) підключені до пристрою польотного контролера через USB/UART. diff --git a/docs/uk/simulation/index.md b/docs/uk/simulation/index.md index 94878a1ff3..96b4429621 100644 --- a/docs/uk/simulation/index.md +++ b/docs/uk/simulation/index.md @@ -3,38 +3,79 @@ Симулятори дозволяють польотному коду PX4 керувати комп'ютерно змодельованим апаратом у змодельованому "світі". You can interact with this vehicle just as you might with a real vehicle, using _QGroundControl_, an offboard API, or a radio controller/gamepad. -:::tip -Simulation is a quick, easy, and most importantly, _safe_ way to test changes to PX4 code before attempting to fly in the real world. -Це також хороший спосіб почати літати з PX4, якщо у вас ще немає апарату для експериментів. -::: - PX4 supports both _Software In the Loop (SITL)_ simulation, where the flight stack runs on computer (either the same computer or another computer on the same network) and _Hardware In the Loop (HITL)_ simulation using a simulation firmware on a real flight controller board. Інформація про доступні тренажери та способи їх налаштування наведена в наступному розділі. The other sections provide general information about how the simulator works, and are not required to _use_ the simulators. +:::tip +Simulation is a quick, easy, and most importantly, _safe_ way to test changes to PX4 code before attempting to fly in the real world. +Це також хороший спосіб почати літати з PX4, якщо у вас ще немає апарату для експериментів. +::: + ## Підтримувані симулятори Наступні симулятори підтримуються основною командою розробників PX4. +:::info +Gazebo Classic is being downgraded to [community supported](../simulation/community_supported_simulators.md) and is no longer recommended as the default simulation solution. +Use [Gazebo](../sim_gazebo_gz/index.md) (formerly Gazebo Ignition) for new projects. +If you have an older workflow that does not yet work in newer Gazebo, Gazebo Classic remains available but will not receive core team maintenance going forward. +See [PX4-Autopilot#23602](https://github.com/PX4/PX4-Autopilot/issues/23602) for the deprecation timeline and migration status. +::: + | Симулятор | Опис | | ------------------------------------------------ | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | [Gazebo](../sim_gazebo_gz/index.md) | Gazebo supersedes [Gazebo Classic](../sim_gazebo_classic/index.md), featuring more advanced rendering, physics and sensor models. It is the only version of Gazebo available from Ubuntu Linux 22.04

A powerful 3D simulation environment that is particularly suitable for testing object-avoidance and computer vision. Він також може бути використаний для [multi-vehicle simulation](../simulation/multi-vehicle-simulation.md) і зазвичай використовується з [ROS](../simulation/ros_interface.md), набором інструментів для автоматизації керування апаратами.

Supported Vehicles: Quad, VTOL (Standard, Tailsitter, Tiltroter), Plane, Rovers | | [Gazebo Classic](../sim_gazebo_classic/index.md) | A powerful 3D simulation environment that is particularly suitable for testing object-avoidance and computer vision. It can also be used for [multi-vehicle simulation](../simulation/multi-vehicle-simulation.md) and is commonly used with [ROS](../simulation/ros_interface.md), a collection of tools for automating vehicle control.

**Supported Vehicles:** Quad ([Iris](../airframes/airframe_reference.md#copter_quadrotor_x_generic_quadcopter)), Hex (Typhoon H480), [Generic Standard VTOL (QuadPlane)](../airframes/airframe_reference.md#vtol_standard_vtol_generic_standard_vtol), Tailsitter, Plane, Rover, Submarine | +| [SIH](../sim_sih/index.md) | A lightweight, headless simulator that runs physics directly inside PX4 as a C++ module (no external dependencies). Headless by default for fastest iteration. Supports ROS 2 via uXRCE-DDS. Can also run on flight controller hardware (`SYS_HITL=2`).

**Supported Vehicles:** Quad, Hex, Plane, Tailsitter, Standard VTOL, Rover | There are also a number of [Community Supported Simulators](../simulation/community_supported_simulators.md). ---- +### Simulator Comparison -Решта цієї теми - це "дещо загальний" опис того, як працює інфраструктура симуляції. -It is not required to _use_ the simulators. +| Характеристика | Gazebo | SIH | +| ------------------------- | ------------------------------------------------- | -------------------------------------------------------------------------------------- | +| **Default Mode** | GUI with 3D rendering | Headless (fastest iteration) | +| **3D Visualization** | Built-in (photorealistic) | Optional: QGC map or jMAVSim display-only | +| **Physics Engine** | External (gz-physics) | Internal (C++ module, uORB) | +| **External Dependencies** | Gazebo packages, rendering libs | None | +| **Vehicle Types** | Quad, VTOL, Plane, Rovers | Quad, Hex, Plane, Tailsitter, Std VTOL, Rover | +| **Multi-vehicle** | Yes (documented) | Yes ([multi-vehicle](../sim_sih/index.md#multi-vehicle-simulation)) | +| **Sensor Simulation** | Camera, LiDAR, depth, IMU, GPS, baro, mag | IMU, GPS, baro, mag, airspeed | +| **Custom Worlds/Models** | Yes (SDF, large model library) | Ні | +| **ROS 2 Integration** | Yes (uXRCE-DDS) | Yes (uXRCE-DDS) | +| **Extensibility** | Plugins, custom sensors, environments | Modify C++ source, tune SIH\_\* parameters | +| **Community/Ecosystem** | Large Gazebo community, model repos | PX4-internal | +| **Faster-than-Realtime** | Так | Так | +| **Runs on FC Hardware** | Ні | Yes (SYS_HITL=2) | +| **macOS Apple Silicon** | Unstable (known issues) | Works natively | +| **Lockstep** | Так | Так | + +:::tip +For a detailed analysis of PX4 simulation user needs, priorities, and pain points, see the [PX4 Simulation Integration Survey Report](https://www.mcguirerobotics.com/px4_sim_research_report/) (K. McGuire, Dronecode Foundation, Dec 2025, 120 respondents). +::: + +### Which Simulator Should I Use? + +- **Full-featured simulation with 3D rendering, custom worlds, camera/lidar sensors, or rich sensor ecosystems:** Use [Gazebo](../sim_gazebo_gz/index.md). Largest ecosystem, custom models and plugins, photorealistic rendering, extensive sensor library, large community. +- **Fast headless iteration, controls research, zero-dependency setup, or macOS:** Use [SIH](../sim_sih/index.md). Runs entirely inside PX4 with no external dependencies, headless by default for maximum speed, physics parameters directly tunable via `SIH_*` params. Supports ROS 2 via uXRCE-DDS. +- **Hardware integration testing without propellers:** Use [SIH on flight controller hardware](../sim_sih/index.md#sih-on-flight-controller-hardware) (`SYS_HITL=2`). + +:::info +SIH is headless by default. For optional 3D visualization, you can use [jMAVSim in display-only mode](../sim_sih/index.md#visualization-optional) or monitor the vehicle in QGroundControl's map view. +::: ## Симулятор MAVLink API -Всі симулятори, крім Gazebo, взаємодіють з PX4 за допомогою API симулятора MAVLink. +Most external simulators communicate with PX4 using the Simulator MAVLink API. Цей API визначає набір повідомлень MAVLink, які передають дані датчиків з модельованого світу в PX4 і повертають значення двигуна і приводу з польотного коду, які будуть застосовані до модельованого апарату. На зображенні нижче показано потік повідомлень. +:::info +SIH does not use the MAVLink simulator API. It runs physics internally via uORB messages. Gazebo communicates with PX4 via gz_bridge (Gazebo transport), not MAVLink. +::: + ![Simulator MAVLink API](../../assets/simulation/px4_simulator_messages.svg) :::info @@ -96,7 +137,7 @@ See [System Startup](../concept/system_startup.md) to learn more. ## Середовище симуляції SITL -На схемі нижче показано типове середовище симуляції SITL для будь-якого з підтримуваних тренажерів, що використовують MAVLink (тобто всіх, окрім Gazebo). +The diagram below shows a typical SITL simulation environment for any of the supported simulators that use MAVLink (i.e. most external simulators, but not Gazebo or SIH). ![PX4 SITL overview](../../assets/simulation/px4_sitl_overview.svg) @@ -153,8 +194,16 @@ make px4_sitl jmavsim # Start PX4 with no simulator (i.e. to use your own "custom" simulator) make px4_sitl none_iris + +# SIH (headless, zero dependencies) +make px4_sitl_sih sihsim_quadx +make px4_sitl_sih sihsim_airplane ``` +:::info +Use `px4_sitl_sih` instead of `px4_sitl` to avoid building Gazebo dependencies. +::: + Симуляцію можна додатково налаштувати за допомогою змінних середовища: - Any of the [PX4 parameters](../advanced_config/parameter_reference.md) can be overridden via `export PX4_PARAM_{name}={value}`. @@ -165,7 +214,7 @@ For more information see: [Building the Code > PX4 Make Build Targets](../dev_se ### Run Simulation Faster than Realtime {#simulation_speed} -SITL can be run faster or slower than real-time when using Gazebo, Gazebo Classic, or jMAVSim. +SITL can be run faster or slower than real-time when using Gazebo, Gazebo Classic, jMAVSim, or SIH. The speed factor is set using the environment variable `PX4_SIM_SPEED_FACTOR`. @@ -179,6 +228,7 @@ This is what makes it possible to run the simulation at different speeds, and al - Gazebo: [Change Simulation Speed](../sim_gazebo_gz/index.md#change-simulation-speed) - Gazebo Classic: [Change Simulation Speed](../sim_gazebo_classic/index.md#change-simulation-speed) and [Lockstep](../sim_gazebo_classic/index.md#lockstep) - jMAVSim: [Change Simulation Speed](../sim_jmavsim/index.md#change-simulation-speed) and [Lockstep](../sim_jmavsim/index.md#lockstep) +- SIH: Supports `PX4_SIM_SPEED_FACTOR` for faster-than-realtime simulation. ### Сценарії запуску diff --git a/docs/uk/simulation/multi-vehicle-simulation.md b/docs/uk/simulation/multi-vehicle-simulation.md index ff3675a427..300a88ef77 100644 --- a/docs/uk/simulation/multi-vehicle-simulation.md +++ b/docs/uk/simulation/multi-vehicle-simulation.md @@ -6,6 +6,7 @@ PX4 підтримує симуляцію кількох рухомих засо - [Multi-Vehicle Sim with Gazebo Classic](../sim_gazebo_classic/multi_vehicle_simulation.md) (both with and without ROS) - [Multi-Vehicle Sim with FlightGear](../sim_flightgear/multi_vehicle.md) - [Multi-Vehicle Sim with JMAVSim](../sim_jmavsim/multi_vehicle.md) +- [Multi-Vehicle Sim with SIH](../sim_sih/index.md#multi-vehicle-simulation) Вибір симулятора залежить від рухомого засобу що моделюється, наскільки "якісна" потрібна симуляція (і для яких функцій), і скільки засобів потрібно симулювати одночасно. @@ -18,5 +19,8 @@ PX4 підтримує симуляцію кількох рухомих засо Note, this is the successor of [Gazebo Classic](../sim_gazebo_classic/index.md) (below). - [Gazebo Classic](../sim_gazebo_classic/index.md) is less accurate and less heavy-weight and supports many features and vehicles that aren't available for FlightGear. Він може симулювати набагато більше засобів за раз, ніж FlightGear, та дозволяє симулювати різні їх типи водночас. -- JMAVSim - це дуже легкий симулятор, який підтримує лише квадрокоптери. +- [JMAVSim](../sim_jmavsim/index.md) is a very light-weight simulator that supports only quadcopters. Рекомендується у випадку, якщо вам необхідно підтримувати багато квадрокоптерів та симуляція може бути приблизна. +- [SIH](../sim_sih/index.md) is the lightest-weight option with zero external dependencies. + Since SIH is headless and runs physics internally, it can launch many instances with minimal resource usage. + It supports all 6 vehicle types (quad, hex, plane, tailsitter, standard VTOL, rover).