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New Crowdin translations - uk (#25401)
Co-authored-by: Crowdin Bot <support+bot@crowdin.com>
This commit is contained in:
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@@ -34,7 +34,7 @@
|
||||
- [Static Pressure Buildup](advanced_config/static_pressure_buildup.md)
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- [Flying (Basics)](flying/basic_flying_mc.md)
|
||||
- [Complete Vehicles](complete_vehicles_mc/index.md)
|
||||
- [ModalAI Starling](complete_vehicles_mc/modalai_starling.md)
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||||
- [ModalAI Starling (PX4 Dev Kit)](complete_vehicles_mc/modalai_starling.md)
|
||||
- [PX4 Vision Kit](complete_vehicles_mc/px4_vision_kit.md)
|
||||
- [MindRacer BNF & RTF](complete_vehicles_mc/mindracer_BNF_RTF.md)
|
||||
- [MindRacer 210](complete_vehicles_mc/mindracer210.md)
|
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@@ -167,6 +167,7 @@
|
||||
- [Wiring Quickstart](assembly/quick_start_cuav_v5_plus.md)
|
||||
- [CUAV V5 nano (FMUv5)](flight_controller/cuav_v5_nano.md)
|
||||
- [Швидке підключення CUAV V5 nano](assembly/quick_start_cuav_v5_nano.md)
|
||||
- [CUAV X25 EVO](flight_controller/cuav_x25-evo.md)
|
||||
- [CubePilot Cube Orange+ (CubePilot)](flight_controller/cubepilot_cube_orangeplus.md)
|
||||
- [CubePilot Cube Orange (CubePilot)](flight_controller/cubepilot_cube_orange.md)
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- [CubePilot Cube Yellow (CubePilot)](flight_controller/cubepilot_cube_yellow.md)
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@@ -233,6 +234,7 @@
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- [Compass Power Compensation](advanced_config/compass_power_compensation.md)
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- [Датчики швидкості повітря](sensor/airspeed.md)
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- [Калібрування](config/airspeed.md)
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- [Airspeed Validation](advanced_config/airspeed_validation.md)
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- [ВЗІП Датчик польоту](sensor/airspeed_tfslot.md)
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- [Барометри](sensor/barometer.md)
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- [Датчики відстані \(далекодобива\)](sensor/rangefinders.md)
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@@ -637,6 +639,7 @@
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- [MountOrientation](msg_docs/MountOrientation.md)
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- [NavigatorMissionItem](msg_docs/NavigatorMissionItem.md)
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- [NavigatorStatus](msg_docs/NavigatorStatus.md)
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- [NeuralControl](msg_docs/NeuralControl.md)
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- [NormalizedUnsignedSetpoint](msg_docs/NormalizedUnsignedSetpoint.md)
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- [ObstacleDistance](msg_docs/ObstacleDistance.md)
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- [OffboardControlMode](msg_docs/OffboardControlMode.md)
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@@ -740,6 +743,7 @@
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- [EventV0](msg_docs/EventV0.md)
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- [HomePositionV0](msg_docs/HomePositionV0.md)
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- [VehicleAttitudeSetpointV0](msg_docs/VehicleAttitudeSetpointV0.md)
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- [VehicleLocalPositionV0](msg_docs/VehicleLocalPositionV0.md)
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- [VehicleStatusV0](msg_docs/VehicleStatusV0.md)
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- [MAVLink Messaging](mavlink/index.md)
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- [Adding Messages](mavlink/adding_messages.md)
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@@ -883,8 +887,8 @@
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- [Релізи](releases/index.md)
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- [main (alpha)](releases/main.md)
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- [1.16 (release candidate)](releases/1.16.md)
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- [1.15 (stable)](releases/1.15.md)
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- [1.16 (stable)](releases/1.16.md)
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- [1.15](releases/1.15.md)
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- [1.14](releases/1.14.md)
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- [1.13](releases/1.13.md)
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- [1.12](releases/1.12.md)
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@@ -7,7 +7,7 @@ This is an experimental module.
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Use at your own risk.
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:::
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The Multicopter Neural Network (NN) module ([mc_nn_control](../modules/modules_controller.md#mc_nn_control)) is an example module that allows you to experiment with using a pre-trained neural network on PX4.
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The Multicopter Neural Network (NN) module ([mc_nn_control](../modules/modules_controller.md#mc-nn-control)) is an example module that allows you to experiment with using a pre-trained neural network on PX4.
|
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It might be used, for example, to experiment with controllers for non-traditional drone morphologies, computer vision tasks, and so on.
|
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The module integrates a pre-trained neural network based on the [TensorFlow Lite Micro (TFLM)](../advanced/tflm.md) module.
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@@ -1,6 +1,6 @@
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# Neural Network Module: System Integration
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The neural control module ([mc_nn_control](../modules/modules_controller.md#mc_nn_control)) implements an end-to-end controller utilizing neural networks.
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The neural control module ([mc_nn_control](../modules/modules_controller.md#mc-nn-control)) implements an end-to-end controller utilizing neural networks.
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|
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The parts of the module directly concerned with generating the code for the trained neural network and integrating it into the module are covered in [TensorFlow Lite Micro (TFLM)](../advanced/tflm.md).
|
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This page covers the changes that were made to integrate the module into PX4, both within the module, and in larger system configuration.
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@@ -14,7 +14,7 @@ For more information see the developer [Getting Started](../dev_setup/getting_st
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## Автозавантаження
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A line to autostart the [mc_nn_control](../modules/modules_controller.md#mc_nn_control) module has been added in the [`ROMFS/px4fmu_common/init.d/rc.mc_apps`](https://github.com/PX4/PX4-Autopilot/blob/main/ROMFS/px4fmu_common/init.d/rc.mc_apps) startup script.
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A line to autostart the [mc_nn_control](../modules/modules_controller.md#mc-nn-control) module has been added in the [`ROMFS/px4fmu_common/init.d/rc.mc_apps`](https://github.com/PX4/PX4-Autopilot/blob/main/ROMFS/px4fmu_common/init.d/rc.mc_apps) startup script.
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It checks whether the module is included by looking for the parameter [MC_NN_EN](../advanced_config/parameter_reference.md#MC_NN_EN).
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If this is set to `1` (the default value), the module will be started when booting PX4.
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@@ -1,10 +1,10 @@
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# TensorFlow Lite Micro (TFLM)
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The PX4 [Multicopter Neural Network](advanced/neural_networks.md) module ([mc_nn_control](../modules/modules_controller.md#mc_nn_control)) integrates a neural network that uses the [TensorFlow Lite Micro (TFLM)](https://github.com/tensorflow/tflite-micro) inference library.
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The PX4 [Multicopter Neural Network](advanced/neural_networks.md) module ([mc_nn_control](../modules/modules_controller.md#mc-nn-control)) integrates a neural network that uses the [TensorFlow Lite Micro (TFLM)](https://github.com/tensorflow/tflite-micro) inference library.
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|
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This is a mature inference library intended for use on embedded devices, and is hence a suitable choice for PX4.
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This guide explains how the TFLM library is integrated into the [mc_nn_control](../modules/modules_controller.md#mc_nn_control) module, and the changes you would have to make to use it for your own neural network.
|
||||
This guide explains how the TFLM library is integrated into the [mc_nn_control](../modules/modules_controller.md#mc-nn-control) module, and the changes you would have to make to use it for your own neural network.
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:::tip
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For more information, see the [TFLM guide](https://ai.google.dev/edge/litert/microcontrollers/get_started).
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222
docs/uk/advanced_config/airspeed_validation.md
Normal file
222
docs/uk/advanced_config/airspeed_validation.md
Normal file
@@ -0,0 +1,222 @@
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# Airspeed Validation
|
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PX4 includes a set of airspeed validation checks that run continuously during fixed-wing flight to ensure the airspeed data is accurate and reliable.
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If any check fails persistently, the system can declare airspeed as invalid.
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When this happens, PX4 discards the sensor data and falls back to the option configured by [ASPD_FALLBACK](#aspd_fallback_table).
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:::info
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By default, the [Missing Data](#missing-data-check), [Data Stuck](#data-stuck-check), and [Innovation](#innovation-check) checks are enabled.
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You can configure which checks are active using the [ASPD_DO_CHECKS](#aspd_do_checks_table) parameter.
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:::
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## Airspeed in PX4
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||||
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PX4 handles multiple types of airspeed:
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||||
|
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- **IAS (Indicated Airspeed):** The raw measurement from the airspeed sensor, directly influenced by sensor characteristics and installation effects (e.g., pitot-static errors).
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- **CAS (Calibrated Airspeed):** IAS corrected for sensor-specific and installation-related errors.
|
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- **EAS (Equivalent Airspeed):** _Not explicitly handled by PX4_ - Calibrated airspeed corrected for compressibility effects.
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||||
While PX4 does not currently model EAS separately, this correction is negligible at low speeds and altitudes, so EAS is treated as equivalent to CAS for simplicity.
|
||||
|
||||
- **TAS (True Airspeed):** CAS adjusted for atmospheric effects such as air pressure and temperature (i.e., altitude and atmospheric conditions).
|
||||
|
||||
The standard conversion chain used in PX4 is: `IAS → CAS (= EAS) → TAS`.
|
||||
|
||||
## CAS Scale Estimation
|
||||
|
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PX4 estimates the IAS to CAS scale (referred to as the CAS scale) during flight using GNSS ground speed and wind estimation.
|
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To compute the final TAS, standard environment conversions are applied (CAS → TAS).
|
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|
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This CAS scaling plays an important role in keeping the [innovation check](#innovation-check) reliable, since a well-estimated CAS is key to spotting inconsistencies between measured and predicted airspeed.
|
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If the estimated CAS scale is inaccurate, it can mask real airspeed faults or trigger false positives.
|
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If you observe that the CAS scale estimate is consistently off, or if it is converging too slowly, you can manually set it using [ASPD_SCALE_n](#aspd_scale_n_table) (where `n` is the sensor number).
|
||||
[ASPD_SCALE_APPLY](#aspd_scale_apply_table) can be used to configure when/if the estimated scale is applied.
|
||||
|
||||
:::info
|
||||
For a quick manual CAS scale estimate, compare groundspeed minus windspeed (from the [VehicleLocalPosition](../msg_docs/VehicleLocalPosition.md) and [Wind](../msg_docs/Wind.md) messages, respectively) to indicated airspeed values (in the [Airspeed](../msg_docs/Airspeed.md) message).
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||||
The ratio of indicated airspeed to groundspeed minus windspeed can provide a reasonable starting estimate for [ASPD_SCALE_n](#aspd_scale_n_table).
|
||||
:::
|
||||
|
||||
## Validation Checks
|
||||
|
||||
These checks are primarily designed to validate incoming airspeed sensor data and detect potential sensor failures during flight.
|
||||
However, they may also trigger due to configuration issues, estimator inaccuracies, or specific flight conditions that lead to physically inconsistent measurements.
|
||||
|
||||
The following overview summarizes each check, common failure causes, and relevant configuration parameters.
|
||||
|
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### Missing Data Check
|
||||
|
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:::info
|
||||
This check is independent of the other validation checks.
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||||
It must pass for any of the other checks to run.
|
||||
:::
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||||
|
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Triggers when no new airspeed data has been received for more than 1 second.
|
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|
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Common failure causes:
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||||
|
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- Faulty or disconnected sensor.
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### Data Stuck Check
|
||||
|
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Triggers when the measured indicated airspeed (IAS) has not changed for more than 2 seconds.
|
||||
|
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Common failure causes:
|
||||
|
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- Airspeed sensor driver issues.
|
||||
- Very low sensor resolution.
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|
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### Innovation Check
|
||||
|
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Compares the estimated true airspeed (TAS) to the predicted GNSS-based airspeed (groundspeed minus windspeed).
|
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If the difference exceeds a threshold ([ASPD_FS_INNOV](#aspd_fs_innov_table)) for a prolonged period ([ASPD_FS_INTEG](#aspd_fs_integ_table)), the check fails.
|
||||
|
||||
This check helps detect cases where the measured airspeed is inconsistent with the aircraft's predicted kinematic state, often indicating sensor drift, (partial) blockage, or sub-optimal sensor placement on the vehicle.
|
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|
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Common failure causes:
|
||||
|
||||
- Faulty or blocked airspeed sensor (_sensor fault_)
|
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- Poor sensor placement on vehicle (_configuration issue_)
|
||||
- Badly estimated CAS scale (or convergence of estimate too slow) (_estimator inaccuracy_)
|
||||
|
||||
Relevant parameters: [ASPD_FS_INNOV](#aspd_fs_innov_table), [ASPD_FS_INTEG](#aspd_fs_integ_table)
|
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|
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### Load Factor Check
|
||||
|
||||
:::info
|
||||
This check is disabled by default because it often triggers during manual landings, where the vehicle naturally slows down and may momentarily "stall" near touchdown.
|
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Since the system cannot reliably distinguish between a real in-flight stall and this expected behaviour, false positives are common.
|
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:::
|
||||
|
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Checks whether the measured airspeed is physically consistent with the aircraft's current load factor.
|
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If the measured airspeed is too low to plausibly generate the required lift, the sensor reading is considered invalid.
|
||||
|
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This check helps detect cases where the airspeed sensor may be under-reading during flight.
|
||||
|
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Common failure causes:
|
||||
|
||||
- Faulty or blocked airspeed sensor (_sensor fault_)
|
||||
- The vehicle is stalling (_flight condition_)
|
||||
- Uncalibrated airspeed sensor (_configuration issue_)
|
||||
- Poor sensor placement on vehicle (_configuration issue_)
|
||||
- Incorrect stall speed configuration (_configuration issue_)
|
||||
|
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Relevant parameters: [FW_AIRSPD_STALL](#fw_airspd_stall_table)
|
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|
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### First Principle Check
|
||||
|
||||
Validates whether the measured indicated airspeed (IAS) behaviour matches expected aircraft response based on throttle and pitch inputs.
|
||||
|
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Specifically, when throttle is above trim by at least 5% and the aircraft is pitched downward (below [FW_PSP_OFF](#fw_psp_off_table)), the rate of change of the IAS should be consistent with the aircraft behaviour.
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If the airspeed readings increase too slowly, this may indicate that the sensor is not responding correctly to dynamic pressure changes — for example, due to pitot tube icing or (partial) blockage.
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Common failure causes:
|
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|
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- Faulty or blocked airspeed sensor (_sensor fault_)
|
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- Pitot tube icing (_sensor fault_)
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- Excessive drag (e.g. flaps down, landing gear deployed, payload) (_flight condition_)
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- Throttle not producing expected thrust (_mechanical issue_)
|
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- Incorrect trim or max throttle setting (_configuration issue_)
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Relevant parameters: [ASPD_FP_T_WINDOW](#aspd_fp_t_window_table), [FW_PSP_OFF](#fw_psp_off_table), [FW_THR_TRIM](#fw_thr_trim_table), [FW_THR_MAX](#fw_thr_max_table)
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## Additional Configuration
|
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|
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To configure the delay before PX4 starts or stops using airspeed sensor data after it passes or fails validation, use:
|
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|
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[ASPD_FS_T_START](#aspd_fs_t_start_table): Delay after passing validation before the sensor is considered valid.
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[ASPD_FS_T_STOP](#aspd_fs_t_stop_table): Delay after failing validation before the sensor is considered invalid.
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## Приклади
|
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|
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### Flight 1: Blocked Pitot Tube during Rainy Conditions
|
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|
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During a fixed-wing flight in rainy conditions, the pitot tube became blocked.
|
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The following configuration was used:
|
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|
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[ASPD_DO_CHECKS](#aspd_do_checks_table) = 5 ([missing data check](#missing-data-check) and [innovation check](#innovation-check) enabled) \
|
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[ASPD_FS_INNOV](#aspd_fs_innov_table) = 4 \
|
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[ASPD_FS_INTEG](#aspd_fs_integ_table) = 10 \
|
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[FW_AIRSPD_STALL](#fw_airspd_stall_table) = 12 \
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[ASPD_FS_T_STOP](#aspd_fs_t_stop_table) = 2
|
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|
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The figure below shows the incoming airspeed data, and the moment it was flagged invalid (1):
|
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|
||||
|
||||
|
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In this scenario, the airspeed sensor was flagged as invalid by the innovation check.
|
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The TAS scale innovation (2) exceeded the threshold specified by `ASPD_FS_INNOV`.
|
||||
This exceedence is integrated until the `ASPD_FS_INTEG` threshold is reached (3).
|
||||
This check triggered four seconds after the blockage occurred.
|
||||
This delay consisted of:
|
||||
|
||||
- two seconds to accumulate enough error in the innovation integrator (per `ASPD_FS_INTEG`)
|
||||
- two seconds to satisfy the `ASPD_FS_T_STOP` hold time before the failure was declared
|
||||
|
||||
|
||||
|
||||
Had the [load factor check](#load-factor-check) been enabled, the check would have been triggered immediately.
|
||||
The left plot shows that at the time of failure, the vehicle was flying more or less level (load factor 1).
|
||||
When the airspeed suddenly dropped, the check would have triggered (4), as the measured airspeed would not have been enough for the observed flight condition:
|
||||
|
||||
|
||||
|
||||
### Flight 2: Pitot Tube Icing
|
||||
|
||||
This example involves a vehicle that experienced pitot tube icing during flight.
|
||||
The configuration was:
|
||||
|
||||
[ASPD_DO_CHECKS](#aspd_do_checks_table) = 23 ([missing data check](#missing-data-check), [innovation check](#innovation-check) and [first principle check](#first-principle-check) enabled) \
|
||||
[FW_PSP_OFF](#fw_psp_off_table) = 4 (degrees) \
|
||||
[FW_THR_TRIM](#fw_thr_trim_table) = 0.6 \
|
||||
[ASPD_FP_T_WINDOW](#aspd_fp_t_window_table) =2 \
|
||||
[ASPD_FS_T_STOP](#aspd_fs_t_stop_table) = 2
|
||||
|
||||
The figure below shows the incoming airspeed data, and the moment it was flagged invalid (1):
|
||||
|
||||
|
||||
|
||||
In this scenario, the airspeed sensor was flagged as invalid by the first principle check.
|
||||
This check requires four consecutive seconds of invalid airspeed:
|
||||
|
||||
- two seconds of inconsistent behaviour (as defined by `ASPD_FP_T_WINDOW`)
|
||||
- two seconds to satisfy the failure hold time (`ASPD_FS_T_STOP`)
|
||||
|
||||
The check triggers if the aircraft is nose-down (2), the throttle is 5% above trim (3), but the measured airspeed is not increasing (4) for at least four seconds.
|
||||
|
||||
|
||||
|
||||
We can check when the innovation check would have triggered.
|
||||
The red line (5) marks the point when the airspeed was flagged as invalid by the first principle check.
|
||||
The green line (6) marks the point when the innovation check would have triggered: more than a minute later.
|
||||
The middle plot shows an increase in the TAS scale estimation after the failure occurred to try and compensate for the difference between the GNSS based speed and the measured airspeed.
|
||||
As a result, the innovation metric stayed within limits for some time.
|
||||
Only when the measured airspeed began decreasing very quickly would the innovation check have failed.
|
||||
|
||||
|
||||
|
||||
## Параметри
|
||||
|
||||
Listed below are all the relevant parameters.
|
||||
|
||||
| Параметр | Опис | Used In |
|
||||
| -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------- |
|
||||
| <a id="aspd_do_checks_table"></a>[ASPD_DO_CHECKS](../advanced_config/parameter_reference.md#ASPD_DO_CHECKS) | Bitmask to enable/disable individual airspeed validation checks. | |
|
||||
| <a id="aspd_fs_innov_table"></a>[ASPD_FS_INNOV](../advanced_config/parameter_reference.md#ASPD_FS_INNOV) | Innovation threshold between estimated and predicted TAS. | [Innovation Check](#innovation-check) |
|
||||
| <a id="aspd_fs_integ_table"></a>[ASPD_FS_INTEG](../advanced_config/parameter_reference.md#ASPD_FS_INTEG) | Threshold the integral of the innovation must exceed before triggering failure. | [Innovation Check](#innovation-check) |
|
||||
| <a id="fw_airspd_stall_table"></a>[FW_AIRSPD_STALL](../advanced_config/parameter_reference.md#FW_AIRSPD_STALL) | Estimated stall speed of vehicle. If misconfigured, the load factor check may trigger. | [Load Factor Check](#load-factor-check) |
|
||||
| <a id="fw_psp_off_table"></a>[FW_PSP_OFF](../advanced_config/parameter_reference.md#FW_PSP_OFF) | Pitch at level flight. If misconfigured, the first principle check may trigger. | [First Principle Check](#first-principle-check) |
|
||||
| <a id="fw_thr_trim_table"></a>[FW_THR_TRIM](../advanced_config/parameter_reference.md#FW_THR_TRIM) | Throttle trim value. If misconfigured, the first principle check may trigger. | [First Principle Check](#first-principle-check) |
|
||||
| <a id="fw_thr_max_table"></a>[FW_THR_MAX](../advanced_config/parameter_reference.md#FW_THR_MAX) | Throttle limit max. | [First Principle Check](#first-principle-check) |
|
||||
| <a id="aspd_fp_t_window_table"></a>[ASPD_FP_T_WINDOW](../advanced_config/parameter_reference.md#ASPD_FP_T_WINDOW) | Time window for evaluating airspeed trend in First Principle Check. | [First Principle Check](#first-principle-check) |
|
||||
| <a id="aspd_fs_t_start_table"></a>[ASPD_FS_T_START](../advanced_config/parameter_reference.md#ASPD_FS_T_START) | Delay after passing validation before using sensor data. Affects how soon a recovered sensor is trusted. | All Checks |
|
||||
| <a id="aspd_fs_t_stop_table"></a>[ASPD_FS_T_STOP](../advanced_config/parameter_reference.md#ASPD_FS_T_STOP) | Delay after failure before declaring data invalid. Affects how quickly faults lead to rejection. | All Checks |
|
||||
| <a id="aspd_fallback_table"></a>[ASPD_FALLBACK](../advanced_config/parameter_reference.md#ASPD_FALLBACK) | Fallback mode when airspeed data is lost or invalid. | System behavior (post-check) |
|
||||
| <a id="aspd_scale_apply_table"></a>[ASPD_SCALE_APPLY](../advanced_config/parameter_reference.md#ASPD_SCALE_APPLY) | Controls if/when to apply estimated CAS scaling. Poor scaling can cause false innovation failures. | [Innovation Check](#innovation-check) (indirect) |
|
||||
| <a id="aspd_scale_n_table"></a>[ASPD_SCALE_n](../advanced_config/parameter_reference.md#ASPD_SCALE_1) | User-defined IAS to CAS scale override per sensor. May help when auto-scale estimation is unreliable. | [Innovation Check](#innovation-check) (indirect) |
|
||||
@@ -3,7 +3,7 @@
|
||||
The _Flight termination_ [failsafe action](../config/safety.md#failsafe-actions) irreversibly turns off controllers and sets PWM values to their parameter configured failsafe values.
|
||||
|
||||
:::info
|
||||
Flight termination differs from the [Kill action](../config/safety.html#kill-switch) in that it is permanent until after reboot.
|
||||
Flight termination differs from the [Kill action](../config/safety.md#kill-switch) in that it is permanent until after reboot.
|
||||
:::
|
||||
|
||||
:::warning
|
||||
|
||||
@@ -45,28 +45,6 @@ div.frame_variant td, div.frame_variant th {
|
||||
}
|
||||
</style>
|
||||
|
||||
## 2D Space Robot
|
||||
|
||||
### Space Robot
|
||||
|
||||
<div class="frame_common">
|
||||
<img src="../../assets/airframes/types/AirframeUnknown.svg"/>
|
||||
</div>
|
||||
|
||||
<div class="frame_variant">
|
||||
<table>
|
||||
<thead>
|
||||
<tr><th>Назва</th><th></th></tr>
|
||||
</thead>
|
||||
<tbody>
|
||||
<tr id="2d_space_robot_space_robot_kth_space_robot">
|
||||
<td>KTH Space Robot</td>
|
||||
<td>Maintainer: DISCOWER<p><code>SYS_AUTOSTART</code> = 70000</p></td>
|
||||
</tr>
|
||||
</tbody>
|
||||
</table>
|
||||
</div>
|
||||
|
||||
## Дирижабль
|
||||
|
||||
### Дирижабль
|
||||
@@ -622,7 +600,7 @@ div.frame_variant td, div.frame_variant th {
|
||||
<td>Підтримувач: John Doe <john@example.com><p><code>SYS_AUTOSTART</code> = 50000</p></td>
|
||||
</tr>
|
||||
<tr id="rover_rover_aion_robotics_r1_ugv">
|
||||
<td><a href="https://www.aionrobotics.com/r1">Aion Robotics R1 UGV</a></td>
|
||||
<td><a href="https://docs.px4.io/main/en/complete_vehicles_rover/aion_r1.html">Aion Robotics R1 UGV</a></td>
|
||||
<td>Підтримувач: John Doe <john@example.com><p><code>SYS_AUTOSTART</code> = 50001</p></td>
|
||||
</tr>
|
||||
<tr id="rover_rover_generic_rover_ackermann">
|
||||
@@ -637,13 +615,27 @@ div.frame_variant td, div.frame_variant th {
|
||||
<td>Generic Rover Mecanum</td>
|
||||
<td>Підтримувач: John Doe <john@example.com><p><code>SYS_AUTOSTART</code> = 52000</p></td>
|
||||
</tr>
|
||||
<tr id="rover_rover_generic_ground_vehicle_(deprecated)">
|
||||
<td>Generic Ground Vehicle (Deprecated)</td>
|
||||
<td><p><code>SYS_AUTOSTART</code> = 59000</p><br><b>Specific Outputs:</b><ul><li><b>Motor1</b>: газ</li><li><b>Servo1</b>: кермування</li></ul></td>
|
||||
</tr>
|
||||
<tr id="rover_rover_nxp_cup_car:_df_robot_gpx_(deprecated)">
|
||||
<td>NXP Cup car: DF Robot GPX (Deprecated)</td>
|
||||
<td>Підтримувач: Katrin Moritz<p><code>SYS_AUTOSTART</code> = 59001</p><br><b>Specific Outputs:</b><ul><li><b>Motor1</b>: Швидкість лівих коліс</li><li><b>Servo1</b>: кермувальний сервопривід</li></ul></td>
|
||||
</tbody>
|
||||
</table>
|
||||
</div>
|
||||
|
||||
## Spacecraft
|
||||
|
||||
### Free-Flyer
|
||||
|
||||
<div class="frame_common">
|
||||
<img src="../../assets/airframes/types/AirframeUnknown.svg"/>
|
||||
</div>
|
||||
|
||||
<div class="frame_variant">
|
||||
<table>
|
||||
<thead>
|
||||
<tr><th>Назва</th><th></th></tr>
|
||||
</thead>
|
||||
<tbody>
|
||||
<tr id="spacecraft_free-flyer_kth-atmos">
|
||||
<td>KTH-ATMOS</td>
|
||||
<td>Maintainer: DISCOWER<p><code>SYS_AUTOSTART</code> = 70000</p></td>
|
||||
</tr>
|
||||
</tbody>
|
||||
</table>
|
||||
|
||||
@@ -13,7 +13,7 @@
|
||||
Вони можуть бути як повністю зібраними, так і у частинах.
|
||||
|
||||
- [PX4 Vision DevKit](../complete_vehicles_mc/px4_vision_kit.md) - Мультикоптер, що використовується для розробки комп'ютерного зору PX4
|
||||
- ~[ModalAI VOXL 2 Starling PX4 Development Drone](../complete_vehicles_mc/modalai_starling.md)~ (Discontinued/superseded) - SLAM development drone supercharged by VOXL 2 and PX4.
|
||||
- [ModalAI VOXL 2 Starling PX4 Development Drone](../complete_vehicles_mc/modalai_starling.md) - SLAM development drone supercharged by VOXL 2 and PX4.
|
||||
|
||||
## Попередньо встановлене PX4
|
||||
|
||||
|
||||
@@ -1,15 +1,17 @@
|
||||
# VOXL 2 Зоряний PX4 Розробка Дрону
|
||||
# ModalAI Starling (PX4 Autonomy Developer Kit)
|
||||
|
||||
[Starling](https://modalai.com/starling) - це SLAM розроблений дрон, підсиленний [VOXL 2](../flight_controller/modalai_voxl_2.md) та PX4 з оптимізованими датчиками та навантаженнями для внутрішньої та зовнішньої автономної навігації.
|
||||
The [Starlings](https://www.modalai.com/pages/starlings) are SLAM development drones supercharged by [VOXL 2](../flight_controller/modalai_voxl_2.md) and PX4 with SWAP-optimized sensors and payloads optimized for indoor and outdoor autonomous navigation.
|
||||
За допомогою автопілота Blue UAS Framework, VOXL 2, Starling важить всього 275 г і має вражаючі 30 хвилин автономного польоту в приміщенні.
|
||||
|
||||
|
||||
|
||||
VOXL 2 Starling - це розробницький безпілотник PX4, який містить супутній комп'ютер [VOXL 2](../flight_controller/modalai_voxl_2.md) та керування польотом PX4, сенсори зображення, GPS, модем підключення і готовий до польоту прямо з коробки.
|
||||
Starling має [відкрите SDK](https://docs.modalai.com/voxl-developer-bootcamp/) від ModalAI, яке має попередньо налаштовані моделі автономії для польотів з допомогою комп'ютерного зору.
|
||||
The ModalAI PX4 Autonomy Developer Kit is a Starling-based development drone.
|
||||
It houses a [VOXL 2](../flight_controller/modalai_voxl_2.md), which is a powerful companion computer and PX4 flight controller in one small package, image sensors, GPS, and connectivity modem, and is ready-to-fly out-of-the-box.
|
||||
The Starling features ModalAI's [open SDK](https://docs.modalai.com/voxl-developer-bootcamp/) that has pre-configured autonomy models for computer vision assisted flight.
|
||||
Цей розвивальний дрон призначений, щоб допомогти вам швидше вийти на ринок та прискорити розробку та прототипування вашої програми.
|
||||
|
||||
Цей посібник пояснює мінімальну додаткову настройку, необхідну для підготовки БПЛА до польоту. Він також охоплює огляд апаратного забезпечення, перший польот, налаштування WiFi та інше.
|
||||
Цей посібник пояснює мінімальну додаткову настройку, необхідну для підготовки БПЛА до польоту.
|
||||
Він також охоплює огляд апаратного забезпечення, перший польот, налаштування WiFi та інше.
|
||||
|
||||
:::info
|
||||
Для повного та регулярно оновлюваного документування відвідайте <https://docs.modalai.com/starling-v2>.
|
||||
@@ -21,7 +23,7 @@ Starling має [відкрите SDK](https://docs.modalai.com/voxl-developer-b
|
||||
|
||||
## Де купити
|
||||
|
||||
[modalai.com/starling](https://modalai.com/starling)
|
||||
[ModalAI PX4 Autonomy Developer Kit](https://www.modalai.com/products/px4-autonomy-developer-kit?variant=46969885950256)
|
||||
|
||||
## Налаштування обладнання
|
||||
|
||||
@@ -121,3 +123,5 @@ Starling має [відкрите SDK](https://docs.modalai.com/voxl-developer-b
|
||||
- [Огляд апаратного забезпечення VOXL 2 Starling](https://youtu.be/M9OiMpbEYOg)
|
||||
- [Посібник з першого польоту VOXL 2 Starling](https://youtu.be/Cpbbye3Z6co)
|
||||
- [VOXL 2 Starling Налаштування ELRS](https://youtu.be/7OwGS-kcFVg)
|
||||
|
||||
<!-- @katzfey - ModalAI reviewer -->
|
||||
|
||||
@@ -46,4 +46,5 @@ Before calibration they must be [enabled via the corresponding parameter](../adv
|
||||
|
||||
## Подальша інформація
|
||||
|
||||
- [Airspeed Validation](../advanced_config/airspeed_validation.md).
|
||||
- [QGroundControl User Guide > Sensors](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/setup_view/sensors_px4.html#airspeed)
|
||||
|
||||
@@ -32,6 +32,7 @@ Then open the QGC application menu ("Q" icon in the top-left corner) and choose
|
||||
- [Акселерометр](../config/accelerometer.md)
|
||||
- [Level Horizon](../config/level_horizon_calibration.md)
|
||||
- [Airspeed](../config/airspeed.md) (Fixed-wing/VTOL only)
|
||||
- [Airspeed Validation](../advanced_config/airspeed_validation.md).
|
||||
|
||||
:::info
|
||||
Setup for these and other sensors is located in [Sensor Hardware & Setup](../sensor/index.md).
|
||||
|
||||
@@ -89,7 +89,8 @@ This is done using the the parameters named like `UAVCAN_SUB_*` in the parameter
|
||||
|
||||
## Значення LED індикаторів
|
||||
|
||||
Ви побачите як червоні, так і сині світлодіоди на ARK CANnode, коли він прошивається, і сталий синій світлодіод, якщо він працює належним чином.
|
||||
- Blinking green is normal operation
|
||||
- Rapid blinking blue and red is firmware update
|
||||
|
||||
Якщо ви бачите червоний світлодіод, це означає, що виникла помилка, і вам слід перевірити наступне:
|
||||
|
||||
|
||||
@@ -115,7 +115,8 @@ On the ARK Flow, you may need to configure the following parameters:
|
||||
|
||||
## Значення LED індикаторів
|
||||
|
||||
You will see both red and blue LEDs on the ARK Flow when it is being flashed, and a solid blue LED if it is running properly.
|
||||
- Solid blue is normal operation
|
||||
- Rapid blinking blue and red is firmware update
|
||||
|
||||
Якщо ви бачите червоний світлодіод, це означає, що виникла помилка, і вам слід перевірити наступне:
|
||||
|
||||
|
||||
@@ -110,7 +110,8 @@ You may need to [configure the following parameters](../dronecan/index.md#qgc-ca
|
||||
|
||||
## Значення LED індикаторів
|
||||
|
||||
You will see both red and blue LEDs on the ARK Flow MR when it is being flashed, and a solid blue LED if it is running properly.
|
||||
- Blinking green is normal operation
|
||||
- Rapid blinking blue and red is firmware update
|
||||
|
||||
Якщо ви бачите червоний світлодіод, це означає, що виникла помилка, і вам слід перевірити наступне:
|
||||
|
||||
|
||||
@@ -140,7 +140,7 @@ You need to set necessary [DroneCAN](index.md) parameters and define offsets if
|
||||
- Повільне блимання зеленого - чекає на підключення CAN
|
||||
- Швидко блимаюче зелене світло - нормальна робота
|
||||
- Повільне блимання зеленим і синім - перелік CAN
|
||||
- Повільне блимання зеленого, синього і червоного - оновлення прошивки в процесі
|
||||
- Fast blinking blue and red is firmware update in progress
|
||||
- Миготливий червоний - помилка
|
||||
- Якщо ви бачите червоний світлодіод, це означає, що виникла помилка, і вам слід перевірити наступне
|
||||
- Переконайтеся, що у польотному контролері встановлено SD-картку
|
||||
|
||||
@@ -20,6 +20,7 @@ This category includes boards that are not fully compliant with the pixhawk stan
|
||||
- [CUAV Nora](../flight_controller/cuav_nora.md)（CUAV X7 variant)
|
||||
- [CUAV V5+](../flight_controller/cuav_v5_plus.md) (FMUv5)
|
||||
- [CUAV V5 nano](../flight_controller/cuav_v5_nano.md) (FMUv5)
|
||||
- [CUAV X25 EVO](../flight_controller/cuav_x25-evo.md)
|
||||
- [CubePilot Cube Orange+](../flight_controller/cubepilot_cube_orangeplus.md)
|
||||
- [CubePilot Cube Orange](../flight_controller/cubepilot_cube_orange.md)
|
||||
- [CubePilot Cube Yellow](../flight_controller/cubepilot_cube_yellow.md)
|
||||
|
||||
163
docs/uk/flight_controller/cuav_x25-evo.md
Normal file
163
docs/uk/flight_controller/cuav_x25-evo.md
Normal file
@@ -0,0 +1,163 @@
|
||||
# CUAV X25-EVO
|
||||
|
||||
:::warning
|
||||
PX4 не розробляє цей (або будь-який інший) автопілот.
|
||||
Contact the [manufacturer](https://store.cuav.net/) for hardware support or compliance issues.
|
||||
:::
|
||||
|
||||
The _X25-EVO_ is an advanced autopilot manufactured by CUAV<sup>®</sup>.
|
||||
|
||||
The autopilot is recommended for commercial system integration but is also suitable for academic research and any other applications.
|
||||
|
||||
|
||||
|
||||
The X25-EVO brings you ultimate performance, stability, and reliability in every aspect.
|
||||
|
||||
:::info
|
||||
These flight controllers are [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
|
||||
:::
|
||||
|
||||
### Функції
|
||||
|
||||
- Arm® Cortex-M7® processor (STM32H743XI) with Floating-Point Unit (FPU), operating at 480MHz, and featuring 2MB Flash memory. Enables developers to enhance productivity and efficiency, allowing for more complex algorithms and models.
|
||||
- Automotive-grade RM3100 compass. Designed for better stability and anti-interference capability.
|
||||
- Triple-redundant IMUs and dual-redundant barometers located on separate buses. If the PX4 autopilot detects a sensor failure, the system seamlessly switches to another sensor to maintain flight control reliability.
|
||||
- Independent LDO power control supplies power to each sensor group. A vibration isolation system filters high-frequency vibrations and reduces noise to ensure accurate readings, enabling better overall flight performance for the vehicle.
|
||||
- Integrated Microchip Ethernet PHY for high-speed communication with onboard devices like mission computers via Ethernet.
|
||||
- Dual temperature compensation systems, located on the IMU board and FMU board respectively. Temperature is controlled by onboard heating resistors to achieve the optimal operating temperature for the IMUs.
|
||||
- PWM servo output voltage switchable between 3.3V or 5V.
|
||||
- Modular design for DIY carrier boards.
|
||||
|
||||
### Processors & Sensors
|
||||
|
||||
- Main Processor: STM32H743XI
|
||||
- 32-bit Arm® Cortex®-M7, 480MHz, 2MB Flash, 1MB RAM
|
||||
- Onboard Sensors:
|
||||
- Accel/Gyro: IIM42652\*2
|
||||
- Accel/Gyro: IIM42653
|
||||
- Магнітометр: RM3100
|
||||
- Barometer: BMP581
|
||||
- Barometer: ICP-20100
|
||||
|
||||
### Електричні дані
|
||||
|
||||
- Rated Voltage:
|
||||
- Input Voltage: 10~18V
|
||||
- Вхід USB Power: 4.75~5.25V
|
||||
- Servo Rail Input: 0~9.9V
|
||||
- Rated Current:
|
||||
- Total Output Max Current: 10A
|
||||
- TELEM1 and TELEM2 Output Current limiter: 4A
|
||||
- CAN1 and CAN2 Output Current limiter: 2.4A
|
||||
- Other Ports Output Current limiter: 1.5A
|
||||
|
||||
### Інтерфейси
|
||||
|
||||
- 16x PWM Servo Outputs
|
||||
- 1x Dedicated R/C Input for Spektrum / DSM and S.Bus
|
||||
- 1x Analog/PWM RSSI Input
|
||||
- 2x TELEM Ports (with full flow control)
|
||||
- 1x UART4 Port
|
||||
- 2x GPS Ports
|
||||
- 1x Full GPS plus Safety Switch Port (GPS1)
|
||||
- 1x Basic GPS Port (with I2C, GPS2)
|
||||
- 1x USB Port (TYPE-C)
|
||||
- 1x Ethernet Port
|
||||
- Transformerless application
|
||||
- 100Mbps
|
||||
- 3x I2C Bus Ports
|
||||
- 1x SPI Bus
|
||||
- 1x Chip Select Line
|
||||
- 1x Data Ready Line
|
||||
- 1x SPI Reset Line
|
||||
- 5x CAN Ports for CAN Peripherals
|
||||
- 3x CAN1 Bus Multiplexed Ports
|
||||
- 2x CAN2 Bus Multiplexed Ports
|
||||
- 2x Power Input Ports
|
||||
- DroneCAN/UAVCAN Power Input
|
||||
- 2x AD Ports
|
||||
- Analog Input (3.3V)
|
||||
- Analog Input (6.6V - not supported by PX4)
|
||||
- 1x Dedicated Debug Port
|
||||
- FMU Debug
|
||||
|
||||
### Механічні дані
|
||||
|
||||
- Not provided.
|
||||
|
||||
## Purchase Channels
|
||||
|
||||
Order from [CUAV](https://store.cuav.net/).
|
||||
|
||||
## Зборка/інсталяція
|
||||
|
||||
- Not provided.
|
||||
|
||||
## Pin Definitions
|
||||
|
||||
- Not provided.
|
||||
|
||||
## Налаштування послідовного порту
|
||||
|
||||
| UART | Пристрій | Порт |
|
||||
| ------ | ---------- | ------------- |
|
||||
| USART1 | /dev/ttyS0 | GPS1 |
|
||||
| USART2 | /dev/ttyS1 | GPS2 |
|
||||
| USART3 | /dev/ttyS2 | Debug Console |
|
||||
| UART4 | /dev/ttyS3 | UART4 |
|
||||
| UART5 | /dev/ttyS4 | TELEM2 |
|
||||
| USART6 | /dev/ttyS5 | RC |
|
||||
| UART7 | /dev/ttyS6 | TELEM1 |
|
||||
|
||||
## Номінальна напруга
|
||||
|
||||
The _X25-EVO_ achieves triple redundancy on power supplies if three power sources are provided. The three power rails are POWERC1, POWERC2, and USB.
|
||||
|
||||
- **POWER C1** and **POWER C2** are DroneCAN/UAVCAN battery interfaces.
|
||||
|
||||
**Normal Operation Maximum Ratings**
|
||||
|
||||
Under these conditions, all power sources will be used to power the system in the following order:
|
||||
|
||||
1. **POWER C1** and **POWER C2** Inputs (10V to 18V)
|
||||
2. USB Input (4.75V to 5.25V)
|
||||
|
||||
**Voltage monitoring**
|
||||
|
||||
Digital DroneCAN/UAVCAN battery monitoring is enabled by default.
|
||||
|
||||
## Збірка прошивки
|
||||
|
||||
:::tip
|
||||
Most users do not need to build this firmware!
|
||||
It is pre-built and installed automatically by _QGroundControl_ when the appropriate hardware is connected.
|
||||
:::
|
||||
|
||||
To [build PX4](../dev_setup/building_px4.md) for this target, execute:
|
||||
|
||||
```
|
||||
make cuav_x25-evo_default
|
||||
```
|
||||
|
||||
<a id="debug_port"></a>
|
||||
|
||||
## Відладочний порт
|
||||
|
||||
The [PX4 System Console](../debug/system_console.md) and [SWD Interface](../debug/swd_debug.md) operate on the **FMU Debug** port.
|
||||
|
||||
| Pin | Сигнал | Вольтаж |
|
||||
| -------------------------- | --------------------------------- | --------------------- |
|
||||
| 1 (red) | 5V+ | +5V |
|
||||
| 2 (blk) | DEBUG TX (OUT) | +3.3V |
|
||||
| 3 (blk) | DEBUG RX (IN) | +3.3V |
|
||||
| 4 (blk) | FMU_SWDIO | +3.3V |
|
||||
| 5 (blk) | FMU_SWCLK | +3.3V |
|
||||
| 6 (blk) | GND | GND |
|
||||
|
||||
## Підтримувані платформи / Конструкції
|
||||
|
||||
Any multirotor/airplane/rover or boat that can be controlled using normal RC servos or Futaba S-Bus servos. The complete set of supported configurations can be found in the [Airframe Reference](../airframes/airframe_reference.md).
|
||||
|
||||
## Подальша інформація
|
||||
|
||||
- [CUAV Docs](https://doc.cuav.net/)
|
||||
@@ -343,7 +343,7 @@ Note that all the messages from PX4 source code are present in the repository, b
|
||||
|
||||
```sh
|
||||
rm ~/px4_ros_com/src/px4_msgs/msg/*.msg
|
||||
cp ~/PX4-Autopilot/mgs/*.msg ~/px4_ros_com/src/px4_msgs/msg/
|
||||
cp ~/PX4-Autopilot/msg/*.msg ~/px4_ros_com/src/px4_msgs/msg/
|
||||
```
|
||||
|
||||
::: info
|
||||
|
||||
@@ -198,7 +198,7 @@ It takes in 15 input values and outputs 4 control actions.
|
||||
Inputs: [pos_err(3), att(6), vel(3), ang_vel(3)]
|
||||
Outputs: [Actuator motors(4)]
|
||||
|
||||
### Usage {#mc_nn_control_usage}
|
||||
### Usage {#mc-nn-control_usage}
|
||||
|
||||
```
|
||||
mc_nn_control <command> [arguments...]
|
||||
|
||||
@@ -1166,6 +1166,30 @@ rgbled <command> [arguments...]
|
||||
status print status info
|
||||
```
|
||||
|
||||
## rgbled_aw2023
|
||||
|
||||
Source: [drivers/lights/rgbled_aw2023](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/lights/rgbled_aw2023)
|
||||
|
||||
### Usage {#rgbled_aw2023_usage}
|
||||
|
||||
```
|
||||
rgbled_aw2023 <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
[-I] Internal I2C bus(es)
|
||||
[-X] External I2C bus(es)
|
||||
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
|
||||
(default=1))
|
||||
[-f <val>] bus frequency in kHz
|
||||
[-q] quiet startup (no message if no device found)
|
||||
[-a <val>] I2C address
|
||||
default: 69
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## rgbled_is31fl3195
|
||||
|
||||
Source: [drivers/lights/rgbled_is31fl3195](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/lights/rgbled_is31fl3195)
|
||||
|
||||
@@ -1,5 +1,50 @@
|
||||
# Modules Reference: Ins (Driver)
|
||||
|
||||
## MicroStrain
|
||||
|
||||
Source: [drivers/ins/microstrain](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/ins/microstrain)
|
||||
|
||||
### Опис
|
||||
|
||||
MicroStrain by HBK Inertial Sensor Driver.
|
||||
Currently supports the following sensors:
|
||||
|
||||
-[CV7-AR](https://www.hbkworld.com/en/products/transducers/inertial-sensors/vertical-reference-units--vru-/3dm-cv7-ar) -[CV7-AHRS](https://www.hbkworld.com/en/products/transducers/inertial-sensors/attitude-and-heading-reference-systems--ahrs-/3dm-cv7-ahrs) -[CV7-INS](https://www.hbkworld.com/en/products/transducers/inertial-sensors/inertial-navigation-systems--ins-/3dm-cv7-ins) -[CV7-GNSS/INS](https://www.hbkworld.com/en/products/transducers/inertial-sensors/inertial-navigation-systems--ins-/3dm-cv7-gnss-ins)
|
||||
|
||||
This driver is not included in the firmware by default.
|
||||
Include the module in firmware by setting the
|
||||
[kconfig](../hardware/porting_guide_config.md#px4-board-configuration-kconfig) variables:
|
||||
`CONFIG_DRIVERS_INS_MICROSTRAIN` or `CONFIG_COMMON_INS`.
|
||||
|
||||
### Приклади
|
||||
|
||||
Attempt to start driver on a specified serial device.
|
||||
The driver will choose /dev/ttyS4 by default if no port is specified
|
||||
|
||||
```
|
||||
microstrain start -d /dev/ttyS1
|
||||
```
|
||||
|
||||
Stop driver
|
||||
|
||||
```
|
||||
microstrain stop
|
||||
```
|
||||
|
||||
### Usage {#MicroStrain_usage}
|
||||
|
||||
```
|
||||
MicroStrain <command> [arguments...]
|
||||
Commands:
|
||||
start Start driver
|
||||
[-d <val>] Port
|
||||
values: <file:dev>, default: /dev/ttyS4
|
||||
|
||||
stop Stop driver
|
||||
|
||||
status Driver status
|
||||
```
|
||||
|
||||
## ilabs
|
||||
|
||||
Source: [drivers/ins/ilabs](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/ins/ilabs)
|
||||
@@ -14,7 +59,7 @@ After that you can use the ILABS_MODE parameter to config outputs:
|
||||
- Only raw sensor output (the default).
|
||||
- Sensor output and INS data such as position and velocity estimates.
|
||||
|
||||
Setup/usage information: https://docs.px4.io/main/en/sensor/ilabs.html
|
||||
Setup/usage information: https://docs.px4.io/main/en/sensor/inertiallabs.html
|
||||
|
||||
### Приклади
|
||||
|
||||
|
||||
@@ -1,27 +1,39 @@
|
||||
# ActionRequest (повідомлення UORB)
|
||||
|
||||
Action request for the vehicle's main state
|
||||
|
||||
Message represents actions requested by a PX4 internal component towards the main state machine such as a request to arm or switch mode.
|
||||
It allows mapping triggers from various external interfaces like RC channels or MAVLink to cause an action.
|
||||
Request are published by `manual_control` and subscribed by the `commander` and `vtol_att_control` modules.
|
||||
|
||||
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ActionRequest.msg)
|
||||
|
||||
```c
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
# Action request for the vehicle's main state
|
||||
#
|
||||
# Message represents actions requested by a PX4 internal component towards the main state machine such as a request to arm or switch mode.
|
||||
# It allows mapping triggers from various external interfaces like RC channels or MAVLink to cause an action.
|
||||
# Request are published by `manual_control` and subscribed by the `commander` and `vtol_att_control` modules.
|
||||
|
||||
uint8 action # what action is requested
|
||||
uint8 ACTION_DISARM = 0
|
||||
uint8 ACTION_ARM = 1
|
||||
uint8 ACTION_TOGGLE_ARMING = 2
|
||||
uint8 ACTION_UNKILL = 3
|
||||
uint8 ACTION_KILL = 4
|
||||
uint8 ACTION_SWITCH_MODE = 5
|
||||
uint8 ACTION_VTOL_TRANSITION_TO_MULTICOPTER = 6
|
||||
uint8 ACTION_VTOL_TRANSITION_TO_FIXEDWING = 7
|
||||
uint8 ACTION_TERMINATE = 8
|
||||
uint64 timestamp # [us] Time since system start
|
||||
|
||||
uint8 source # how the request was triggered
|
||||
uint8 SOURCE_STICK_GESTURE = 0
|
||||
uint8 SOURCE_RC_SWITCH = 1
|
||||
uint8 SOURCE_RC_BUTTON = 2
|
||||
uint8 SOURCE_RC_MODE_SLOT = 3
|
||||
uint8 action # [@enum ACTION] Requested action
|
||||
uint8 ACTION_DISARM = 0 # Disarm vehicle
|
||||
uint8 ACTION_ARM = 1 # Arm vehicle
|
||||
uint8 ACTION_TOGGLE_ARMING = 2 # Toggle arming
|
||||
uint8 ACTION_UNKILL = 3 # Revert a kill action
|
||||
uint8 ACTION_KILL = 4 # Kill vehicle (instantly stop the motors)
|
||||
uint8 ACTION_SWITCH_MODE = 5 # Switch mode. The target mode is set in the `mode` field.
|
||||
uint8 ACTION_VTOL_TRANSITION_TO_MULTICOPTER = 6 # Transition to hover flight
|
||||
uint8 ACTION_VTOL_TRANSITION_TO_FIXEDWING = 7 # Transition to fast forward flight
|
||||
uint8 ACTION_TERMINATION = 8 # Irreversably output failsafe values on all outputs, trigger parachute
|
||||
|
||||
uint8 mode # for ACTION_SWITCH_MODE what mode is requested according to vehicle_status_s::NAVIGATION_STATE_*
|
||||
uint8 source # [@enum SOURCE] Request trigger type, such as a switch, button or gesture
|
||||
uint8 SOURCE_STICK_GESTURE = 0 # Triggered by holding the sticks in a certain position
|
||||
uint8 SOURCE_RC_SWITCH = 1 # Triggered by an RC switch moving into a certain position
|
||||
uint8 SOURCE_RC_BUTTON = 2 # Triggered by a momentary button on the RC being pressed or held
|
||||
uint8 SOURCE_RC_MODE_SLOT = 3 # Mode change through the RC mode selection mechanism
|
||||
|
||||
uint8 mode # Requested mode. Only applies when `action` is `ACTION_SWITCH_MODE`. Values for this field are defined by the `vehicle_status_s::NAVIGATION_STATE_*` enumeration.
|
||||
|
||||
```
|
||||
|
||||
@@ -9,8 +9,8 @@ bool armed # Set to true if system is armed
|
||||
bool prearmed # Set to true if the actuator safety is disabled but motors are not armed
|
||||
bool ready_to_arm # Set to true if system is ready to be armed
|
||||
bool lockdown # Set to true if actuators are forced to being disabled (due to emergency or HIL)
|
||||
bool manual_lockdown # Set to true if manual throttle kill switch is engaged
|
||||
bool force_failsafe # Set to true if the actuators are forced to the failsafe position
|
||||
bool kill # Set to true if manual throttle kill switch is engaged
|
||||
bool termination # Send out failsafe (by default same as disarmed) output
|
||||
bool in_esc_calibration_mode # IO/FMU should ignore messages from the actuator controls topics
|
||||
|
||||
```
|
||||
|
||||
@@ -1,33 +1,49 @@
|
||||
# AirspeedWind (повідомлення UORB)
|
||||
|
||||
Wind estimate (from airspeed_selector)
|
||||
|
||||
Contains wind estimation and airspeed innovation information estimated by the WindEstimator
|
||||
in the airspeed selector module.
|
||||
|
||||
This message is published by the airspeed selector for debugging purposes, and is not
|
||||
subscribed to by any other modules.
|
||||
|
||||
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/AirspeedWind.msg)
|
||||
|
||||
```c
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
uint64 timestamp_sample # the timestamp of the raw data (microseconds)
|
||||
# Wind estimate (from airspeed_selector)
|
||||
#
|
||||
# Contains wind estimation and airspeed innovation information estimated by the WindEstimator
|
||||
# in the airspeed selector module.
|
||||
#
|
||||
# This message is published by the airspeed selector for debugging purposes, and is not
|
||||
# subscribed to by any other modules.
|
||||
|
||||
float32 windspeed_north # Wind component in north / X direction (m/sec)
|
||||
float32 windspeed_east # Wind component in east / Y direction (m/sec)
|
||||
uint64 timestamp # [us] Time since system start
|
||||
uint64 timestamp_sample # [us] Timestamp of the raw data
|
||||
|
||||
float32 variance_north # Wind estimate error variance in north / X direction (m/sec)**2 - set to zero (no uncertainty) if not estimated
|
||||
float32 variance_east # Wind estimate error variance in east / Y direction (m/sec)**2 - set to zero (no uncertainty) if not estimated
|
||||
float32 windspeed_north # [m/s] Wind component in north / X direction
|
||||
float32 windspeed_east # [m/s] Wind component in east / Y direction
|
||||
|
||||
float32 tas_innov # True airspeed innovation
|
||||
float32 tas_innov_var # True airspeed innovation variance
|
||||
float32 variance_north # [(m/s)^2] [@invalid 0 if not estimated] Wind estimate error variance in north / X direction
|
||||
float32 variance_east # [(m/s)^2] [@invalid 0 if not estimated] Wind estimate error variance in east / Y direction
|
||||
|
||||
float32 tas_scale_raw # Estimated true airspeed scale factor (not validated)
|
||||
float32 tas_scale_raw_var # True airspeed scale factor variance
|
||||
float32 tas_innov # [m/s] True airspeed innovation
|
||||
float32 tas_innov_var # [m/s] True airspeed innovation variance
|
||||
|
||||
float32 tas_scale_validated # Estimated true airspeed scale factor after validation
|
||||
float32 tas_scale_raw # Estimated true airspeed scale factor (not validated)
|
||||
float32 tas_scale_raw_var # True airspeed scale factor variance
|
||||
|
||||
float32 beta_innov # Sideslip measurement innovation
|
||||
float32 beta_innov_var # Sideslip measurement innovation variance
|
||||
float32 tas_scale_validated # Estimated true airspeed scale factor after validation
|
||||
|
||||
uint8 source # source of wind estimate
|
||||
float32 beta_innov # [rad] Sideslip measurement innovation
|
||||
float32 beta_innov_var # [rad^2] Sideslip measurement innovation variance
|
||||
|
||||
uint8 SOURCE_AS_BETA_ONLY = 0 # wind estimate only based on synthetic sideslip fusion
|
||||
uint8 SOURCE_AS_SENSOR_1 = 1 # combined synthetic sideslip and airspeed fusion (data from first airspeed sensor)
|
||||
uint8 SOURCE_AS_SENSOR_2 = 2 # combined synthetic sideslip and airspeed fusion (data from second airspeed sensor)
|
||||
uint8 SOURCE_AS_SENSOR_3 = 3 # combined synthetic sideslip and airspeed fusion (data from third airspeed sensor)
|
||||
uint8 source # source of wind estimate
|
||||
|
||||
uint8 SOURCE_AS_BETA_ONLY = 0 # Wind estimate only based on synthetic sideslip fusion
|
||||
uint8 SOURCE_AS_SENSOR_1 = 1 # Combined synthetic sideslip and airspeed fusion (data from first airspeed sensor)
|
||||
uint8 SOURCE_AS_SENSOR_2 = 2 # Combined synthetic sideslip and airspeed fusion (data from second airspeed sensor)
|
||||
uint8 SOURCE_AS_SENSOR_3 = 3 # Combined synthetic sideslip and airspeed fusion (data from third airspeed sensor)
|
||||
|
||||
```
|
||||
|
||||
26
docs/uk/msg_docs/NeuralControl.md
Normal file
26
docs/uk/msg_docs/NeuralControl.md
Normal file
@@ -0,0 +1,26 @@
|
||||
# NeuralControl (UORB message)
|
||||
|
||||
Neural control
|
||||
|
||||
Debugging topic for the Neural controller, logs the inputs and output vectors of the neural network, and the time it takes to run
|
||||
Publisher: mc_nn_control
|
||||
Subscriber: logger
|
||||
|
||||
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/NeuralControl.msg)
|
||||
|
||||
```c
|
||||
# Neural control
|
||||
#
|
||||
# Debugging topic for the Neural controller, logs the inputs and output vectors of the neural network, and the time it takes to run
|
||||
# Publisher: mc_nn_control
|
||||
# Subscriber: logger
|
||||
|
||||
uint64 timestamp # [us] Time since system start
|
||||
|
||||
float32[15] observation # Observation vector (pos error (3), att (6d), lin vel (3), ang vel (3))
|
||||
float32[4] network_output # Output from neural network
|
||||
|
||||
int32 controller_time # [us] Time spent from input to output
|
||||
int32 inference_time # [us] Time spent for NN inference
|
||||
|
||||
```
|
||||
@@ -31,10 +31,10 @@ float64 lon # longitude, in deg
|
||||
float32 alt # altitude AMSL, in m
|
||||
float32 yaw # yaw (only in hover), in rad [-PI..PI), NaN = leave to flight task
|
||||
|
||||
float32 loiter_radius # loiter major axis radius in m
|
||||
float32 loiter_minor_radius # loiter minor axis radius (used for non-circular loiter shapes) in m
|
||||
float32 loiter_radius # [m] [@range 0, INF] loiter major axis radius
|
||||
float32 loiter_minor_radius # [m] [@range 0, INF] loiter minor axis radius (used for non-circular loiter shapes)
|
||||
bool loiter_direction_counter_clockwise # loiter direction is clockwise by default and can be changed using this field
|
||||
float32 loiter_orientation # Orientation of the major axis with respect to true north in rad [-pi,pi)
|
||||
float32 loiter_orientation # [rad] [@range -pi, pi] orientation of the major axis with respect to true north
|
||||
uint8 loiter_pattern # loitern pattern to follow
|
||||
|
||||
float32 acceptance_radius # horizontal acceptance_radius (meters)
|
||||
|
||||
@@ -34,7 +34,7 @@ bool alarm_rc_lost
|
||||
bool arming_failsafe_custom
|
||||
bool arming_fmu_armed
|
||||
bool arming_fmu_prearmed
|
||||
bool arming_force_failsafe
|
||||
bool arming_termination
|
||||
bool arming_io_arm_ok
|
||||
bool arming_lockdown
|
||||
bool arming_termination_failsafe
|
||||
|
||||
@@ -9,7 +9,7 @@ The coordinate system origin is the vehicle position at the time when the EKF2-m
|
||||
# Fused local position in NED.
|
||||
# The coordinate system origin is the vehicle position at the time when the EKF2-module was started.
|
||||
|
||||
uint32 MESSAGE_VERSION = 0
|
||||
uint32 MESSAGE_VERSION = 1
|
||||
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
uint64 timestamp_sample # the timestamp of the raw data (microseconds)
|
||||
|
||||
96
docs/uk/msg_docs/VehicleLocalPositionV0.md
Normal file
96
docs/uk/msg_docs/VehicleLocalPositionV0.md
Normal file
@@ -0,0 +1,96 @@
|
||||
# VehicleLocalPositionV0 (UORB message)
|
||||
|
||||
Fused local position in NED.
|
||||
The coordinate system origin is the vehicle position at the time when the EKF2-module was started.
|
||||
|
||||
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/VehicleLocalPositionV0.msg)
|
||||
|
||||
```c
|
||||
# Fused local position in NED.
|
||||
# The coordinate system origin is the vehicle position at the time when the EKF2-module was started.
|
||||
|
||||
uint32 MESSAGE_VERSION = 0
|
||||
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
uint64 timestamp_sample # the timestamp of the raw data (microseconds)
|
||||
|
||||
bool xy_valid # true if x and y are valid
|
||||
bool z_valid # true if z is valid
|
||||
bool v_xy_valid # true if vx and vy are valid
|
||||
bool v_z_valid # true if vz is valid
|
||||
|
||||
# Position in local NED frame
|
||||
float32 x # North position in NED earth-fixed frame, (metres)
|
||||
float32 y # East position in NED earth-fixed frame, (metres)
|
||||
float32 z # Down position (negative altitude) in NED earth-fixed frame, (metres)
|
||||
|
||||
# Position reset delta
|
||||
float32[2] delta_xy # Amount of lateral shift of position estimate in latest reset (in x and y) [m]
|
||||
uint8 xy_reset_counter # Index of latest lateral position estimate reset
|
||||
float32 delta_z # Amount of vertical shift of position estimate in latest reset [m]
|
||||
uint8 z_reset_counter # Index of latest vertical position estimate reset
|
||||
|
||||
# Velocity in NED frame
|
||||
float32 vx # North velocity in NED earth-fixed frame, (metres/sec)
|
||||
float32 vy # East velocity in NED earth-fixed frame, (metres/sec)
|
||||
float32 vz # Down velocity in NED earth-fixed frame, (metres/sec)
|
||||
float32 z_deriv # Down position time derivative in NED earth-fixed frame, (metres/sec)
|
||||
|
||||
# Velocity reset delta
|
||||
float32[2] delta_vxy # Amount of lateral shift of velocity estimate in latest reset (in x and y) [m/s]
|
||||
uint8 vxy_reset_counter # Index of latest vertical velocity estimate reset
|
||||
float32 delta_vz # Amount of vertical shift of velocity estimate in latest reset [m/s]
|
||||
uint8 vz_reset_counter # Index of latest vertical velocity estimate reset
|
||||
|
||||
# Acceleration in NED frame
|
||||
float32 ax # North velocity derivative in NED earth-fixed frame, (metres/sec^2)
|
||||
float32 ay # East velocity derivative in NED earth-fixed frame, (metres/sec^2)
|
||||
float32 az # Down velocity derivative in NED earth-fixed frame, (metres/sec^2)
|
||||
|
||||
float32 heading # Euler yaw angle transforming the tangent plane relative to NED earth-fixed frame, -PI..+PI, (radians)
|
||||
float32 heading_var
|
||||
float32 unaided_heading # Same as heading but generated by integrating corrected gyro data only
|
||||
float32 delta_heading # Heading delta caused by latest heading reset [rad]
|
||||
uint8 heading_reset_counter # Index of latest heading reset
|
||||
bool heading_good_for_control
|
||||
|
||||
float32 tilt_var
|
||||
|
||||
# Position of reference point (local NED frame origin) in global (GPS / WGS84) frame
|
||||
bool xy_global # true if position (x, y) has a valid global reference (ref_lat, ref_lon)
|
||||
bool z_global # true if z has a valid global reference (ref_alt)
|
||||
uint64 ref_timestamp # Time when reference position was set since system start, (microseconds)
|
||||
float64 ref_lat # Reference point latitude, (degrees)
|
||||
float64 ref_lon # Reference point longitude, (degrees)
|
||||
float32 ref_alt # Reference altitude AMSL, (metres)
|
||||
|
||||
# Distance to surface
|
||||
bool dist_bottom_valid # true if distance to bottom surface is valid
|
||||
float32 dist_bottom # Distance from from bottom surface to ground, (metres)
|
||||
float32 dist_bottom_var # terrain estimate variance (m^2)
|
||||
|
||||
float32 delta_dist_bottom # Amount of vertical shift of dist bottom estimate in latest reset [m]
|
||||
uint8 dist_bottom_reset_counter # Index of latest dist bottom estimate reset
|
||||
|
||||
uint8 dist_bottom_sensor_bitfield # bitfield indicating what type of sensor is used to estimate dist_bottom
|
||||
uint8 DIST_BOTTOM_SENSOR_NONE = 0
|
||||
uint8 DIST_BOTTOM_SENSOR_RANGE = 1 # (1 << 0) a range sensor is used to estimate dist_bottom field
|
||||
uint8 DIST_BOTTOM_SENSOR_FLOW = 2 # (1 << 1) a flow sensor is used to estimate dist_bottom field (mostly fixed-wing use case)
|
||||
|
||||
float32 eph # Standard deviation of horizontal position error, (metres)
|
||||
float32 epv # Standard deviation of vertical position error, (metres)
|
||||
float32 evh # Standard deviation of horizontal velocity error, (metres/sec)
|
||||
float32 evv # Standard deviation of vertical velocity error, (metres/sec)
|
||||
|
||||
bool dead_reckoning # True if this position is estimated through dead-reckoning
|
||||
|
||||
# estimator specified vehicle limits
|
||||
float32 vxy_max # maximum horizontal speed - set to 0 when limiting not required (meters/sec)
|
||||
float32 vz_max # maximum vertical speed - set to 0 when limiting not required (meters/sec)
|
||||
float32 hagl_min # minimum height above ground level - set to 0 when limiting not required (meters)
|
||||
float32 hagl_max # maximum height above ground level - set to 0 when limiting not required (meters)
|
||||
|
||||
# TOPICS vehicle_local_position vehicle_local_position_groundtruth external_ins_local_position
|
||||
# TOPICS estimator_local_position
|
||||
|
||||
```
|
||||
@@ -1,22 +1,34 @@
|
||||
# Wind (повідомлення UORB)
|
||||
|
||||
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/Wind.msg)
|
||||
Wind estimate (from EKF2)
|
||||
|
||||
Contains the system-wide estimate of horizontal wind velocity and its variance.
|
||||
Published by the navigation filter (EKF2) for use by other flight modules and libraries.
|
||||
|
||||
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/Wind.msg)
|
||||
|
||||
```c
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
uint64 timestamp_sample # the timestamp of the raw data (microseconds)
|
||||
# Wind estimate (from EKF2)
|
||||
#
|
||||
# Contains the system-wide estimate of horizontal wind velocity and its variance.
|
||||
# Published by the navigation filter (EKF2) for use by other flight modules and libraries.
|
||||
|
||||
float32 windspeed_north # Wind component in north / X direction (m/sec)
|
||||
float32 windspeed_east # Wind component in east / Y direction (m/sec)
|
||||
uint32 MESSAGE_VERSION = 0
|
||||
|
||||
float32 variance_north # Wind estimate error variance in north / X direction (m/sec)**2 - set to zero (no uncertainty) if not estimated
|
||||
float32 variance_east # Wind estimate error variance in east / Y direction (m/sec)**2 - set to zero (no uncertainty) if not estimated
|
||||
uint64 timestamp # [us] Time since system start
|
||||
uint64 timestamp_sample # [us] Timestamp of the raw data
|
||||
|
||||
float32 tas_innov # True airspeed innovation
|
||||
float32 tas_innov_var # True airspeed innovation variance
|
||||
float32 windspeed_north # [m/s] Wind component in north / X direction
|
||||
float32 windspeed_east # [m/s] Wind component in east / Y direction
|
||||
|
||||
float32 beta_innov # Sideslip measurement innovation
|
||||
float32 beta_innov_var # Sideslip measurement innovation variance
|
||||
float32 variance_north # [(m/s)^2] [@invalid 0 if not estimated] Wind estimate error variance in north / X direction
|
||||
float32 variance_east # [(m/s)^2] [@invalid 0 if not estimated] Wind estimate error variance in east / Y direction
|
||||
|
||||
float32 tas_innov # [m/s] True airspeed innovation
|
||||
float32 tas_innov_var # [(m/s)^2] True airspeed innovation variance
|
||||
|
||||
float32 beta_innov # [rad] Sideslip measurement innovation
|
||||
float32 beta_innov_var # [rad^2] Sideslip measurement innovation variance
|
||||
|
||||
# TOPICS wind estimator_wind
|
||||
|
||||
|
||||
@@ -74,10 +74,11 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
|
||||
- [VehicleRatesSetpoint](VehicleRatesSetpoint.md)
|
||||
- [VehicleStatus](VehicleStatus.md) — Encodes the system state of the vehicle published by commander
|
||||
- [VtolVehicleStatus](VtolVehicleStatus.md) — VEHICLE_VTOL_STATE, should match 1:1 MAVLinks's MAV_VTOL_STATE
|
||||
- [Wind](Wind.md) — Wind estimate (from EKF2)
|
||||
|
||||
## Unversioned Messages
|
||||
|
||||
- [ActionRequest](ActionRequest.md)
|
||||
- [ActionRequest](ActionRequest.md) — Action request for the vehicle's main state
|
||||
- [ActuatorArmed](ActuatorArmed.md)
|
||||
- [ActuatorControlsStatus](ActuatorControlsStatus.md)
|
||||
- [ActuatorOutputs](ActuatorOutputs.md)
|
||||
@@ -85,7 +86,7 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
|
||||
- [ActuatorTest](ActuatorTest.md)
|
||||
- [AdcReport](AdcReport.md)
|
||||
- [Airspeed](Airspeed.md) — Airspeed data from sensors
|
||||
- [AirspeedWind](AirspeedWind.md)
|
||||
- [AirspeedWind](AirspeedWind.md) — Wind estimate (from airspeed_selector)
|
||||
- [AutotuneAttitudeControlStatus](AutotuneAttitudeControlStatus.md)
|
||||
- [BatteryInfo](BatteryInfo.md) — Battery information
|
||||
- [ButtonEvent](ButtonEvent.md)
|
||||
@@ -187,6 +188,7 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
|
||||
- [NavigatorMissionItem](NavigatorMissionItem.md)
|
||||
- [NavigatorStatus](NavigatorStatus.md) — Current status of a Navigator mode
|
||||
The possible values of nav_state are defined in the VehicleStatus msg.
|
||||
- [NeuralControl](NeuralControl.md) — Neural control
|
||||
- [NormalizedUnsignedSetpoint](NormalizedUnsignedSetpoint.md)
|
||||
- [ObstacleDistance](ObstacleDistance.md) — Obstacle distances in front of the sensor.
|
||||
- [OffboardControlMode](OffboardControlMode.md) — Off-board control mode
|
||||
@@ -296,7 +298,6 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
|
||||
- [VehicleTorqueSetpoint](VehicleTorqueSetpoint.md)
|
||||
- [VelocityLimits](VelocityLimits.md) — Velocity and yaw rate limits for a multicopter position slow mode only
|
||||
- [WheelEncoders](WheelEncoders.md)
|
||||
- [Wind](Wind.md)
|
||||
- [YawEstimatorStatus](YawEstimatorStatus.md)
|
||||
- [AirspeedValidatedV0](AirspeedValidatedV0.md)
|
||||
- [ArmingCheckReplyV0](ArmingCheckReplyV0.md)
|
||||
@@ -305,4 +306,6 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
|
||||
Events interface
|
||||
- [HomePositionV0](HomePositionV0.md) — GPS home position in WGS84 coordinates.
|
||||
- [VehicleAttitudeSetpointV0](VehicleAttitudeSetpointV0.md)
|
||||
- [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
|
||||
|
||||
@@ -1,7 +1,5 @@
|
||||
# PX4-Autopilot v1.15 Release Notes
|
||||
|
||||
<Badge type="tip" text="Stable"/>
|
||||
|
||||
The v1.15 release brings lots of new upgrades and fixes, thanks in part to the tremendous community response to the 1.14 release.
|
||||
In particular, PX4 v1.15 brings significant improvements for developers and integrators using PX4 as a target through [ROS 2](../ros2/index.md) and the [uXRCE-DDS middleware](../middleware/uxrce_dds.md).
|
||||
In addition to networking and middleware updates, the new [PX4 ROS 2 Interface Library](../ros2/px4_ros2_interface_lib.md) allows flight modes written as ROS 2 applications to be peers of PX4 flight modes.
|
||||
|
||||
@@ -1,23 +1,12 @@
|
||||
# PX4-Autopilot v1.16.0 Release Notes
|
||||
|
||||
<Badge type="info" text="Candidate Release" />
|
||||
<Badge type="info" text="Stable" />
|
||||
|
||||
<script setup>
|
||||
import { useData } from 'vitepress'
|
||||
const { site } = useData();
|
||||
</script>
|
||||
|
||||
<div v-if="site.title !== 'PX4 Guide (main)'">
|
||||
<div class="custom-block danger">
|
||||
<p class="custom-block-title">This page is on a release branch, and hence possibly out of date. <a href="https://docs.px4.io/main/en/releases/main.html">See the latest version</a>.</p>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
This document covers all changes in PX4 v1.16.0 since the previous stable release ([PX4 v1.15.0](../releases/1.15.md)).
|
||||
|
||||
:::info
|
||||
These notes include only changes merged in 2023 and later — commits before 2023 are not listed.
|
||||
:::
|
||||
PX4 v1.16 builds on the momentum of v1.15 with significant new features and expanded hardware support thanks to our community contributions.
|
||||
This release introduces bidirectional DShot support sponsored by ARK, a full rover rework with dedicated firmware builds and modular control modes for Ackermann, differential and mecanum rovers, and a switch to Gazebo Harmonic LTS for more reliable simulation.
|
||||
Developers will benefit from the new ROS 2 Message Translation Node for dynamic message versioning and integrated log encryption that embeds decryption keys directly in logs.
|
||||
We also added fresh sensor drivers and board support across our partner ecosystem alongside dozens of improvements in control, estimation and safety.
|
||||
PX4 v1.16 raises the bar for performance and usability. Upgrade today and let us know your feedback on GitHub.
|
||||
|
||||
## Прочитайте перед оновленням
|
||||
|
||||
@@ -25,40 +14,44 @@ Please continue reading for [upgrade instructions](#upgrade-guide).
|
||||
|
||||
## Основні зміни
|
||||
|
||||
- **Rover support rework**
|
||||
- [Bidirectional DShot](../peripherals/dshot.md#bidirectional-dshot-telemetry) - [Sponsored by ARK] ([PX4-Autopilot#23863](https://github.com/PX4/PX4-Autopilot/pull/23863))
|
||||
- **[Rover](../frames_rover/index.md) support rework**
|
||||
- New dedicated firmware build for rovers (airframe IDs 50000–52000)
|
||||
- Separate modules for Ackermann, differential and mecanum rovers, each with manual, acro, stabilized, position and auto modes
|
||||
- Shared pure-pursuit guidance library for all rover modules
|
||||
- Legacy rover position control module deprecated in favor of the new modules
|
||||
- Gazebo Harmonic LTS release replaces Gazebo Garden as the version supported by PX4.
|
||||
- [ROS 2 Message Translation Node](../ros2/px4_ros2_msg_translation_node.md) to translate PX4 messages from one definition version to another dynamically. ([PX4-Autopilot#24113](https://github.com/PX4/PX4-Autopilot/pull/24113))
|
||||
- [Log Encryption](../dev_log/log_encryption.md) now generates an encrypted log that contains the public-key-encrypted symmetric key that can be used to decrypt it, instead of putting the key into a separate file.
|
||||
|
||||
## Інструкції для оновлення
|
||||
|
||||
- [PX4-Autopilot#24648](https://github.com/PX4/PX4-Autopilot/pull/24648): Added setting default for EKF2_EV_CTRL to 15 for VOXL 2 boards
|
||||
- [PX4-Autopilot#22517](https://github.com/PX4/PX4-Autopilot/pull/22517): Change default ethernet IP
|
||||
- [PX4-Autopilot#24602](https://github.com/PX4/PX4-Autopilot/pull/24602): remove serial port default from sf45 module
|
||||
- VOXL 2 boards now explicitly set EKF2_EV_CTRL=15 (it had fallen back to 0 globally), so event-based optical flow keeps running ([PX4-Autopilot#24648](https://github.com/PX4/PX4-Autopilot/pull/24648))
|
||||
- Ethernet static IP changed from 192.168.0.3 to 10.41.10.2 to avoid common network conflicts ([PX4-Autopilot#22517](https://github.com/PX4/PX4-Autopilot/pull/22517))
|
||||
- SF45 lidar no longer auto-starts on TELEM2—add serial_port: TELEM2 (or your preferred port) in its module config if you still want it there ([PX4-Autopilot#24602](https://github.com/PX4/PX4-Autopilot/pull/24602))
|
||||
|
||||
## Інші зміни
|
||||
|
||||
### Підтримка обладнання
|
||||
|
||||
- **[New Hardware]** [PX4-Autopilot#23830](https://github.com/PX4/PX4-Autopilot/pull/23830): Boards: ARK FPV FC
|
||||
- **[New Hardware]** [PX4-Autopilot#23414](https://github.com/PX4/PX4-Autopilot/pull/23414): board: add cuav 7-nano
|
||||
- **[New Hardware]** [PX4-Autopilot#24769](https://github.com/PX4/PX4-Autopilot/pull/24769): add new board corvon743v1
|
||||
- **[New Hardware]** [PX4-Autopilot#24018](https://github.com/PX4/PX4-Autopilot/pull/24018): boards: bluerobotics: navigator: Add initial support
|
||||
- **[New Hardware]** [PX4-Autopilot#24147](https://github.com/PX4/PX4-Autopilot/pull/24147): boards: add new board micoair743-v2
|
||||
- **[New Hardware]** [PX4-Autopilot#23218](https://github.com/PX4/PX4-Autopilot/pull/23218): boards: add new board micoair h743
|
||||
- **[New Hardware]** [PX4-Autopilot#24512](https://github.com/PX4/PX4-Autopilot/pull/24512): boards: Add FMUv6s target
|
||||
- **[New Hardware]** [PX4-Autopilot#23927](https://github.com/PX4/PX4-Autopilot/pull/23927): manifest: Add Skynode S baseboard
|
||||
- **[New Hardware]** [PX4-Autopilot#23257](https://github.com/PX4/PX4-Autopilot/pull/23257): Add Tropic VMU board support (Baseboard for Teensy 4.1)
|
||||
- **[New Hardware]** [PX4-Autopilot#23697](https://github.com/PX4/PX4-Autopilot/pull/23697): boards: add new board X-MAV AP-H743v2
|
||||
- **[New Hardware]** [PX4-Autopilot#23551](https://github.com/PX4/PX4-Autopilot/pull/23551): 3DR boards: Support for 3DR Control Zero H7 OEM Rev G
|
||||
- **[New Hardware]** [PX4-Autopilot#23623](https://github.com/PX4/PX4-Autopilot/pull/23623): new board support ZeroOne x6
|
||||
- **[New Hardware]** Boards: ARK FPV FC ([PX4-Autopilot#23830](https://github.com/PX4/PX4-Autopilot/pull/23830))
|
||||
- **[New Hardware]** board: add cuav 7-nano ([PX4-Autopilot#23414](https://github.com/PX4/PX4-Autopilot/pull/23414))
|
||||
- **[New Hardware]** add new board corvon743v1 ([PX4-Autopilot#24769](https://github.com/PX4/PX4-Autopilot/pull/24769))
|
||||
- **[New Hardware]** boards: bluerobotics: navigator: Add initial support ([PX4-Autopilot#24018](https://github.com/PX4/PX4-Autopilot/pull/24018))
|
||||
- **[New Hardware]** boards: add new board micoair743-v2 ([PX4-Autopilot#24147](https://github.com/PX4/PX4-Autopilot/pull/24147))
|
||||
- **[New Hardware]** boards: add new board micoair h743 ([PX4-Autopilot#23218](https://github.com/PX4/PX4-Autopilot/pull/23218))
|
||||
- **[New Hardware]** boards: Add FMUv6s target ([PX4-Autopilot#24512](https://github.com/PX4/PX4-Autopilot/pull/24512))
|
||||
- **[New Hardware]** manifest: Add Skynode S baseboard ([PX4-Autopilot#23927](https://github.com/PX4/PX4-Autopilot/pull/23927))
|
||||
- **[New Hardware]** Add Tropic VMU board support (Baseboard for Teensy 4.1) ([PX4-Autopilot#23257](https://github.com/PX4/PX4-Autopilot/pull/23257))
|
||||
- **[New Hardware]** boards: add new board X-MAV AP-H743v2 ([PX4-Autopilot#23697](https://github.com/PX4/PX4-Autopilot/pull/23697))
|
||||
- **[New Hardware]** 3DR boards: Support for 3DR Control Zero H7 OEM Rev G ([PX4-Autopilot#23551](https://github.com/PX4/PX4-Autopilot/pull/23551))
|
||||
- **[New Hardware]** new board support ZeroOne x6 ([PX4-Autopilot#23623](https://github.com/PX4/PX4-Autopilot/pull/23623))
|
||||
|
||||
### Загальні
|
||||
|
||||
- [Optical flow scaling factor - SENS_FLOW_SCALE](../sensor/optical_flow.md#scale-factor). ([PX4-Autopilot#23936](https://github.com/PX4/PX4-Autopilot/pull/23936)).
|
||||
|
||||
- [PX4-Autopilot#22813](https://github.com/PX4/PX4-Autopilot/pull/22813): Reintroduce optional parameter versioning mechanism for airframe maintainers
|
||||
- Reintroduce optional parameter versioning mechanism for airframe maintainers ([PX4-Autopilot#22813](https://github.com/PX4/PX4-Autopilot/pull/22813))
|
||||
|
||||
- [Battery level estimation improvements](../config/battery.md). ([PX4-Autopilot#23205](https://github.com/PX4/PX4-Autopilot/pull/23205)).
|
||||
- [Voltage-based estimation with load compensation](../config/battery.md#voltage-based-estimation-with-load-compensation) now uses a real-time estimate of the internal resistance of the battery to compensate voltage drops under load (with increased current), providing a better capacity estimate than with the raw measured voltage.
|
||||
@@ -84,11 +77,11 @@ Please continue reading for [upgrade instructions](#upgrade-guide).
|
||||
|
||||
### Управління
|
||||
|
||||
- [PX4-Autopilot#23863](https://github.com/PX4/PX4-Autopilot/pull/23863): [Sponsored by ARK] Bidirectional DShot
|
||||
- [Sponsored by ARK] [Bidirectional DShot](../peripherals/dshot.md#bidirectional-dshot-telemetry) ([PX4-Autopilot#23863](https://github.com/PX4/PX4-Autopilot/pull/23863))
|
||||
|
||||
- [PX4-Autopilot#24196](https://github.com/PX4/PX4-Autopilot/pull/24196): Make control allocation and actuator effectiveness a non-module-specific library
|
||||
- Make control allocation and actuator effectiveness a non-module-specific library ([PX4-Autopilot#24196](https://github.com/PX4/PX4-Autopilot/pull/24196))
|
||||
|
||||
- [PX4-Autopilot#24221](https://github.com/PX4/PX4-Autopilot/pull/24221): Spacecraft Build and Bare Control Allocator
|
||||
- Spacecraft Build and Bare Control Allocator ([PX4-Autopilot#24221](https://github.com/PX4/PX4-Autopilot/pull/24221))
|
||||
|
||||
- Configurable multicopter orbit-mode yaw via `MC_ORBIT_YAW_MOD` ([PX4-Autopilot#23358](https://github.com/PX4/PX4-Autopilot/pull/23358))
|
||||
|
||||
@@ -96,41 +89,41 @@ Please continue reading for [upgrade instructions](#upgrade-guide).
|
||||
|
||||
### Оцінки
|
||||
|
||||
- [PX4-Autopilot#23854](https://github.com/PX4/PX4-Autopilot/pull/23854): EKF2: ellipsoidal earth navigation
|
||||
- EKF2: ellipsoidal earth navigation ([PX4-Autopilot#23854](https://github.com/PX4/PX4-Autopilot/pull/23854))
|
||||
|
||||
- [PX4-Autopilot#23263](https://github.com/PX4/PX4-Autopilot/pull/23263): EKF2: Terrain state
|
||||
- EKF2: Terrain state ([PX4-Autopilot#23263](https://github.com/PX4/PX4-Autopilot/pull/23263))
|
||||
|
||||
- [PX4-Autopilot#23185](https://github.com/PX4/PX4-Autopilot/pull/23185): ekf2: add mag type init
|
||||
- ekf2: add mag type init ([PX4-Autopilot#23185](https://github.com/PX4/PX4-Autopilot/pull/23185))
|
||||
|
||||
- [PX4-Autopilot#23436](https://github.com/PX4/PX4-Autopilot/pull/23436): ekf2: Optical flow enabled by default
|
||||
- ekf2: Optical flow enabled by default ([PX4-Autopilot#23436](https://github.com/PX4/PX4-Autopilot/pull/23436))
|
||||
|
||||
- Position-loss failsafe delay removed; triggers 1 s after loss (see Common)
|
||||
|
||||
### Датчики
|
||||
|
||||
- [PX4-Autopilot#23656](https://github.com/PX4/PX4-Autopilot/pull/23656): Implemented AUAV absolute/differential pressure sensor support
|
||||
- Implemented AUAV absolute/differential pressure sensor support ([PX4-Autopilot#23656](https://github.com/PX4/PX4-Autopilot/pull/23656))
|
||||
|
||||
- [PX4-Autopilot#23639](https://github.com/PX4/PX4-Autopilot/pull/23639): Implemented temperature sensor support for INA228 / INA238
|
||||
- Implemented temperature sensor support for INA228 / INA238 ([PX4-Autopilot#23639](https://github.com/PX4/PX4-Autopilot/pull/23639))
|
||||
|
||||
- [PX4-Autopilot#22744](https://github.com/PX4/PX4-Autopilot/pull/22744): Add Ublox ZED-F9P-15B
|
||||
- Add Ublox ZED-F9P-15B ([PX4-Autopilot#22744](https://github.com/PX4/PX4-Autopilot/pull/22744))
|
||||
|
||||
- [PX4-Autopilot#24316](https://github.com/PX4/PX4-Autopilot/pull/24316): Mag cal: automatically disable internal mags if external ones are available
|
||||
- Mag cal: automatically disable internal mags if external ones are available ([PX4-Autopilot#24316](https://github.com/PX4/PX4-Autopilot/pull/24316))
|
||||
|
||||
- [PX4-Autopilot#23064](https://github.com/PX4/PX4-Autopilot/pull/23064): BMP581: Add Bosch BMP581 barometer
|
||||
- BMP581: Add Bosch BMP581 barometer ([PX4-Autopilot#23064](https://github.com/PX4/PX4-Autopilot/pull/23064))
|
||||
|
||||
- [PX4-Autopilot#22914](https://github.com/PX4/PX4-Autopilot/pull/22914): Murata SCH16T IMU driver
|
||||
- Murata SCH16T IMU driver ([PX4-Autopilot#22914](https://github.com/PX4/PX4-Autopilot/pull/22914))
|
||||
|
||||
- [PX4-Autopilot#23023](https://github.com/PX4/PX4-Autopilot/pull/23023): ST IIS2MDC Magnetometer driver
|
||||
- ST IIS2MDC Magnetometer driver ([PX4-Autopilot#23023](https://github.com/PX4/PX4-Autopilot/pull/23023))
|
||||
|
||||
- [PX4-Autopilot#24121](https://github.com/PX4/PX4-Autopilot/pull/24121): Include distance sensor in dds topics
|
||||
- Include distance sensor in dds topics ([PX4-Autopilot#24121](https://github.com/PX4/PX4-Autopilot/pull/24121))
|
||||
|
||||
- [PX4-Autopilot#23925](https://github.com/PX4/PX4-Autopilot/pull/23925): drivers: magnetometer: mmc5983ma: Add SPI support
|
||||
- drivers: magnetometer: mmc5983ma: Add SPI support ([PX4-Autopilot#23925](https://github.com/PX4/PX4-Autopilot/pull/23925))
|
||||
|
||||
- [PX4-Autopilot#23909](https://github.com/PX4/PX4-Autopilot/pull/23909): drivers/magnetometer/ak09916: Add support to AK09915
|
||||
- drivers/magnetometer/ak09916: Add support to AK09915 ([PX4-Autopilot#23909](https://github.com/PX4/PX4-Autopilot/pull/23909))
|
||||
|
||||
- [PX4-Autopilot#23362](https://github.com/PX4/PX4-Autopilot/pull/23362): Add Bosch BMM350 magnetometer
|
||||
- Add Bosch BMM350 magnetometer ([PX4-Autopilot#23362](https://github.com/PX4/PX4-Autopilot/pull/23362))
|
||||
|
||||
- [PX4-Autopilot#24316](https://github.com/PX4/PX4-Autopilot/pull/24316): Compass calibration now disables internal compass when external unit present, reducing false warnings
|
||||
- Compass calibration now disables internal compass when external unit present, reducing false warnings ([PX4-Autopilot#24316](https://github.com/PX4/PX4-Autopilot/pull/24316))
|
||||
|
||||
### Симуляція
|
||||
|
||||
@@ -157,34 +150,37 @@ Please continue reading for [upgrade instructions](#upgrade-guide).
|
||||
|
||||
### uXRCE-DDS / ROS2
|
||||
|
||||
- **[Feature]** [PX4-Autopilot#24113](https://github.com/PX4/PX4-Autopilot/pull/24113): <Badge type="warning" text="Experimental"/> [ROS 2 Message Translation Node](../ros2/px4_ros2_msg_translation_node.md) to translate PX4 messages from one definition version to another dynamically
|
||||
- [PX4-Autopilot#24582](https://github.com/PX4/PX4-Autopilot/pull/24582): dds_topics: add vtol_vehicle_status
|
||||
- [PX4-Autopilot#24583](https://github.com/PX4/PX4-Autopilot/pull/24583): dds_topics: add home_position
|
||||
- [PX4-Autopilot#24113](https://github.com/PX4/PX4-Autopilot/pull/24113): <Badge type="warning" text="Experimental"/> [ROS 2 Message Translation Node](../ros2/px4_ros2_msg_translation_node.md) to translate PX4 messages from one definition version to another dynamically
|
||||
- dds_topics: add vtol_vehicle_status ([PX4-Autopilot#24582](https://github.com/PX4/PX4-Autopilot/pull/24582))
|
||||
- dds_topics: add home_position ([PX4-Autopilot#24583](https://github.com/PX4/PX4-Autopilot/pull/24583))
|
||||
|
||||
### MAVLink
|
||||
|
||||
- Уточнюється
|
||||
- mavlink_ftp: handle relative paths correctly. ([PX4-Autopilot#22980](https://github.com/PX4/PX4-Autopilot/pull/22980))
|
||||
- Parameter to always start mavlink stream via USB. ([PX4-Autopilot#22234](https://github.com/PX4/PX4-Autopilot/pull/22234))
|
||||
- Refactor: MAVLink message handling in one function, reference instead of pointer to main instance ([PX4-Autopilo#23219](https://github.com/PX4/PX4-Autopilot/pull/22234))
|
||||
- mavlink log handler rewrite for improved effeciency ([PX4-Autopilo#23219](https://github.com/PX4/PX4-Autopilot/pull/22234))
|
||||
|
||||
### Мульти-Ротор
|
||||
|
||||
- [PX4-Autopilot#24173](https://github.com/PX4/PX4-Autopilot/pull/24173): [Multirotor] add yaw torque low pass filter
|
||||
- [Multirotor] add yaw torque low pass filter ([PX4-Autopilot#24173](https://github.com/PX4/PX4-Autopilot/pull/24173))
|
||||
|
||||
- [PX4-Autopilot#23943](https://github.com/PX4/PX4-Autopilot/pull/23943): Add gz model for quadtailsitter
|
||||
- Add gz model for quadtailsitter ([PX4-Autopilot#23943](https://github.com/PX4/PX4-Autopilot/pull/23943))
|
||||
|
||||
- [PX4-Autopilot#23358](https://github.com/PX4/PX4-Autopilot/pull/23358): Allow system-default [multicopter orbit mode](../flight_modes_mc/orbit.md) yaw behaviour to be configured, using the parameter [MC_ORBIT_YAW_MOD](../advanced_config/parameter_reference.md#MC_ORBIT_YAW_MOD)
|
||||
- Allow system-default [multicopter orbit mode](../flight_modes_mc/orbit.md) yaw behaviour to be configured, using the parameter [MC_ORBIT_YAW_MOD](../advanced_config/parameter_reference.md#MC_ORBIT_YAW_MOD) ([PX4-Autopilot#23358](https://github.com/PX4/PX4-Autopilot/pull/23358))
|
||||
|
||||
- [PX4-Autopilot#23507](https://github.com/PX4/PX4-Autopilot/pull/23507): Adapted the [Collision Prevention](../computer_vision/collision_prevention.md) implementation to work in the default manual flight mode (Acceleration Based) [MPC_POS_MODE](../advanced_config/parameter_reference.md#MPC_POS_MODE).
|
||||
- Adapted the [Collision Prevention](../computer_vision/collision_prevention.md) implementation to work in the default manual flight mode (Acceleration Based) [MPC_POS_MODE](../advanced_config/parameter_reference.md#MPC_POS_MODE). ([PX4-Autopilot#23507](https://github.com/PX4/PX4-Autopilot/pull/23507))
|
||||
|
||||
### VTOL
|
||||
|
||||
- Уточнюється
|
||||
- vtol_type: Added position feedback to VTOL backward transition. ([PX4-Autopilo#23731](https://github.com/PX4/PX4-Autopilot/pull/23731))
|
||||
- dds_topics: add vtol_vehicle_status. ([PX4-Autopilo#24582](https://github.com/PX4/PX4-Autopilot/pull/24582))
|
||||
- vtol: reduce schedule frequency, which causes DSHOT150 problems. ([PX4-Autopilo#24727](https://github.com/PX4/PX4-Autopilot/pull/24727))
|
||||
|
||||
### Літак з фіксованим крилом
|
||||
|
||||
- [PX4-Autopilot#24167](https://github.com/PX4/PX4-Autopilot/pull/24167): Fixedwing: fix wheel controller
|
||||
|
||||
- [PX4-Autopilot#23520](https://github.com/PX4/PX4-Autopilot/pull/23520): FixedWing: allow position control without valid global position
|
||||
|
||||
- Fixedwing: fix wheel controller ([PX4-Autopilot#24167](https://github.com/PX4/PX4-Autopilot/pull/24167))
|
||||
- FixedWing: allow position control without valid global position ([PX4-Autopilot#23520](https://github.com/PX4/PX4-Autopilot/pull/23520))
|
||||
- Improvement: Fixed-wing auto takeoff: enable setting takeoff flaps for hand/catapult launch. [PX4-Autopilot#23460](https://github.com/PX4/PX4-Autopilot/pull/23460)
|
||||
|
||||
### Ровер
|
||||
@@ -212,10 +208,10 @@ This release contains a major rework for the rover support in PX4:
|
||||
|
||||
### Infrastructure
|
||||
|
||||
- [PX4-Autopilot#24011](https://github.com/PX4/PX4-Autopilot/pull/24011): standard_modes: add vehicle-type specific standard modes
|
||||
- [PX4-Autopilot#24020](https://github.com/PX4/PX4-Autopilot/pull/24020): ci: build all upload to releases
|
||||
- [PX4-Autopilot#24002](https://github.com/PX4/PX4-Autopilot/pull/24002): ci: px4-dev container
|
||||
- [PX4-Autopilot#23937](https://github.com/PX4/PX4-Autopilot/pull/23937): ci: workflow for ubuntu 24
|
||||
- [PX4-Autopilot#23869](https://github.com/PX4/PX4-Autopilot/pull/23869): ci: add test for Ubuntu 22.04
|
||||
- [PX4-Autopilot#23574](https://github.com/PX4/PX4-Autopilot/pull/23574): ci: try runs-on Dronecode Infra
|
||||
- [PX4-Autopilot#23550](https://github.com/PX4/PX4-Autopilot/pull/23550): ci: replace build workflows
|
||||
- standard_modes: add vehicle-type specific standard modes. ([PX4-Autopilot#24011](https://github.com/PX4/PX4-Autopilot/pull/24011))
|
||||
- ci: build all upload to releases. ([PX4-Autopilot#24020](https://github.com/PX4/PX4-Autopilot/pull/24020))
|
||||
- ci: px4-dev container. ([PX4-Autopilot#24002](https://github.com/PX4/PX4-Autopilot/pull/24002))
|
||||
- ci: workflow for ubuntu 24.04. ([PX4-Autopilot#23937](https://github.com/PX4/PX4-Autopilot/pull/23937))
|
||||
- ci: add test for Ubuntu 22.04. ([PX4-Autopilot#23869](https://github.com/PX4/PX4-Autopilot/pull/23869))
|
||||
- ci: try runs-on Dronecode Infra (AWS). ([PX4-Autopilot#23574](https://github.com/PX4/PX4-Autopilot/pull/23574))
|
||||
- ci: replace build workflows. ([PX4-Autopilot#23550](https://github.com/PX4/PX4-Autopilot/pull/23550))
|
||||
|
||||
@@ -724,7 +724,7 @@ Note that all the messages from PX4 source code are present in the repository, b
|
||||
|
||||
```sh
|
||||
rm ~/ros2_ws/src/px4_msgs/msg/*.msg
|
||||
cp ~/PX4-Autopilot/mgs/*.msg ~/ros2_ws/src/px4_msgs/msg/
|
||||
cp ~/PX4-Autopilot/msg/*.msg ~/ros2_ws/src/px4_msgs/msg/
|
||||
```
|
||||
|
||||
::: info
|
||||
|
||||
@@ -71,6 +71,8 @@ If it is needed, it should be covered in the appropriate sensor page (for exampl
|
||||
|
||||
Airspeed sensors should be calibrated by following the instructions: [Basic Configuration > Airspeed](../config/airspeed.md).
|
||||
|
||||
For more advanced validation, configuration and debugging see [Airspeed Validation](../advanced_config/airspeed_validation.md).
|
||||
|
||||
## Дивіться також
|
||||
|
||||
- [Using PX4's Navigation Filter (EKF2) > Airspeed](../advanced_config/tuning_the_ecl_ekf.md#airspeed)
|
||||
|
||||
Reference in New Issue
Block a user