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docs(i18n): PX4 guide translations (Crowdin) - ko (#27664)

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docs/ko/SUMMARY.md
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@@ -164,6 +164,7 @@
- [mRo Pixhawk (FMUv3)](flight_controller/mro_pixhawk.md)
- [mRo (3DR) Pixhawk 배선 퀵 스타트](assembly/quick_start_pixhawk.md)
- [Manufacturer-Supported Autopilots](flight_controller/autopilot_manufacturer_supported.md)
- [3DR Control N1](flight_controller/3dr_ctrl-n1.md)
- [Accton Godwit GA1](flight_controller/accton-godwit_ga1.md)
- [AEDROX AEDROXH7](flight_controller/aedrox_aedroxh7.md)
- [AirMind MindPX](flight_controller/mindpx.md)
@@ -174,6 +175,7 @@
- [ARK Pi6X Flow Flight Controller](flight_controller/ark_pi6x.md)
- [CBUnmanned H753-SOM](flight_controller/cbunmanned_h753-som.md)
- [CORVON 743v1](flight_controller/corvon_743v1.md)
- [CORVON 743v2](flight_controller/corvon_743v2.md)
- [CUAV Nora](flight_controller/cuav_nora.md)
- [CUAV V5+ (FMUv5)](flight_controller/cuav_v5_plus.md)
- [Wiring Quickstart](assembly/quick_start_cuav_v5_plus.md)
@@ -205,6 +207,7 @@
- [ThePeach FCC-K1](flight_controller/thepeach_k1.md)
- [ThePeach FCC-R1](flight_controller/thepeach_r1.md)
- [AP-H743-R1](flight_controller/x-mav_ap-h743r1.md)
- [VOLOLAND NarinFC-H7](flight_controller/vololand_narinfc_h7.md)
- [Experimental Autopilots](flight_controller/autopilot_experimental.md)
- [BeagleBone Blue](flight_controller/beaglebone_blue.md)
- [Raspberry Pi 2/3 Navio2](flight_controller/raspberry_pi_navio2.md)
docs/ko/advanced_config/airspeed_validation.md
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@@ -182,7 +182,7 @@ Only when the measured airspeed began decreasing very quickly would the innovati
Listed below are all the relevant parameters.
| 매개변수 | 설명 | Used In |
| Parameter | 설명 | 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) |
docs/ko/advanced_config/ethernet_setup.md
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@@ -165,7 +165,7 @@ You must separately configure the PX4 IP address and other _network settings_ ([
PX4 configures the serial port to connect to a GCS via MAVLink, using the parameters shown below:
| 매개변수 | Value | 설명 |
| Parameter | Value | 설명 |
| --------------------------------------------------------------------------------------------------------------------------------------------- | ------ | --------------------------------------------------------------------------------------------------------------- |
| [MAV_2_CONFIG](../advanced_config/parameter_reference.md#MAV_2_CONFIG) | 1000 | Configure Ethernet port |
| [MAV_2_BROADCAST](../advanced_config/parameter_reference.md#MAV_2_BROADCAST) | 1 | Broadcast `HEARTBEAT` messages |
docs/ko/advanced_config/prearm_arm_disarm.md
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@@ -58,7 +58,7 @@ RC controllers will use different sticks for throttle and yaw [based on their mo
Note that disarming in any altitude controlled mode is only possible after landing was detected.
In manually piloted modes without altitude control, such as Stabilized, Acro, and Manual, it's always possible to disarm using gestures or buttons — even in flight.
| 매개변수 | 설명 |
| Parameter | 설명 |
| -------------------------------------------------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="MAN_ARM_GESTURE"></a>[MAN_ARM_GESTURE](../advanced_config/parameter_reference.md#MAN_ARM_GESTURE) | Enable arm/disarm stick guesture. `0`: Disabled, `1`: Enabled (default). |
@@ -75,7 +75,7 @@ Two-position arming switches are primarily used in/recommended for racing drones
The switch or button is assigned (and enabled) using [RC_MAP_ARM_SW](#RC_MAP_ARM_SW), and the switch "type" is configured using [COM_ARM_SWISBTN](#COM_ARM_SWISBTN).
| 매개변수 | 설명 |
| Parameter | 설명 |
| ----------------------------------------------------------------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="RC_MAP_ARM_SW"></a>[RC_MAP_ARM_SW](../advanced_config/parameter_reference.md#RC_MAP_ARM_SW) | RC arm 스위치 채널 (기본값 : 0 - 할당되지 않음). 정의된 경우 지정된 RC 채널(버튼/스위치)이 스틱 제스처 대신 시동용으로 사용됩니다. <br>**Note:**<br>- This setting _disables the stick gesture_!<br>- This setting applies to RC controllers. It does not apply to Joystick controllers that are connected via _QGroundControl_. |
| <a id="COM_ARM_SWISBTN"></a>[COM_ARM_SWISBTN](../advanced_config/parameter_reference.md#COM_ARM_SWISBTN) | 시동 스위치는 순간적으로 동작하는 버튼입니다. <br>- `0`: Arm switch is a 2-position switch where arm/disarm commands are sent on switch transitions.<br>-`1`: Arm switch is a momentary button where the arm/disarm command is sent after holding down the button for one second. |
@@ -89,7 +89,7 @@ The switch can also be set as part of _QGroundControl_ [Flight Mode](../config/f
기본적으로, 기체는 착륙시 시동 해제 되며, 시동후 이륙 시간이 너무 오래 걸리면 자동으로 시동 해제됩니다.
이 기능은 다음 시간 제한을 사용하여 설정됩니다.
| 매개변수 | 설명 |
| Parameter | 설명 |
| ----------------------------------------------------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------- |
| <a id="COM_DISARM_LAND"></a>[COM_DISARM_LAND](../advanced_config/parameter_reference.md#COM_DISARM_LAND) | 착륙후 자동 시동 해제 대기 시간. 기본값: 2s (-1 비활성화). |
| <a id="COM_DISARM_PRFLT"></a>[COM_DISARM_PRFLT](../advanced_config/parameter_reference.md#COM_DISARM_PRFLT) | 이륙 속도가 너무 느리면 자동 시동 해제 시간이 초과됩니다. Default: 10s (-1 to disable). |
@@ -112,7 +112,7 @@ A vehicle that arms automatically can spin up motors and actuators without any o
Ensure the vehicle is in a safe state before powering on.
:::
| 매개변수 | 설명 |
| Parameter | 설명 |
| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="COM_ARM_ON_BOOT"></a>[COM_ARM_ON_BOOT](../advanced_config/parameter_reference.md#COM_ARM_ON_BOOT) | Arm automatically once preflight checks pass after boot. Default: `0` (Disabled). |
@@ -246,7 +246,7 @@ This corresponds to [COM_PREARM_MODE=2](#COM_PREARM_MODE) (Always) and [CBRK_IO_
### 매개변수
| 매개변수 | 설명 |
| Parameter | 설명 |
| -------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="COM_PREARM_MODE"></a>[COM_PREARM_MODE](../advanced_config/parameter_reference.md#COM_PREARM_MODE) | 시동전 모드로 진입하는 상태입니다. `0`: Disabled, `1`: Safety switch (prearm mode enabled by safety switch; if no switch present cannot be enabled), `2`: Always (prearm mode enabled from power up). Default: `1` (safety button). |
| <a id="CBRK_IO_SAFETY"></a>[CBRK_IO_SAFETY](../advanced_config/parameter_reference.md#CBRK_IO_SAFETY) | 입출력 안전을 위한 회로 차단. |
docs/ko/advanced_config/tuning_the_ecl_ekf.md
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@@ -328,7 +328,7 @@ The following items should be checked during setup:
For the ECL to accept GNSS data for navigation, certain minimum requirements need to be satisfied over a period of time, defined by [EKF2_REQ_GPS_H](../advanced_config/parameter_reference.md#EKF2_REQ_GPS_H) (10 seconds by default).
Minima are defined in the [EKF2_REQ_\*](../advanced_config/parameter_reference.md#EKF2_REQ_EPH) parameters and each check can be enabled/disabled using the [EKF2_GPS_CHECK](../advanced_config/parameter_reference.md#EKF2_GPS_CHECK) parameter.
Minima are defined in the [EKF&#x32;_&#x52;EQ_\*](../advanced_config/parameter_reference.md#EKF2_REQ_EPH) parameters and each check can be enabled/disabled using the [EKF2_GPS_CHECK](../advanced_config/parameter_reference.md#EKF2_GPS_CHECK) parameter.
The table below shows the different metrics directly reported or calculated from the GNSS data, and the minimum required values for the data to be used by ECL.
In addition, the _Average Value_ column shows typical values that might reasonably be obtained from a standard GNSS module (e.g. u-blox M8 series) - i.e. values that are considered good/acceptable.
docs/ko/advanced_features/precland.md
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@@ -164,7 +164,7 @@ If `LTEST_MODE` is set to stationary, the target measurements are also used by t
Other relevant parameters are listed in the parameter reference under [Landing_target estimator](../advanced_config/parameter_reference.md#landing-target-estimator) and [Precision land](../advanced_config/parameter_reference.md#precision-land) parameters.
가장 유용한 몇 가지가 아래에 나열되어 있습니다.
| 매개변수 | 설명 |
| Parameter | 설명 |
| -------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="SENS_EN_IRLOCK"></a>[SENS_EN_IRLOCK](../advanced_config/parameter_reference.md#SENS_EN_IRLOCK) | IR-LOCK 센서(외부 I2C). Disable: `0` (default): Enable: `1`). |
| <a id="LTEST_MODE"></a>[LTEST_MODE](../advanced_config/parameter_reference.md#LTEST_MODE) | Landing target is moving (`0`) or stationary (`1`). 기본값은 이동입니다. |
docs/ko/advanced_features/vision_target_estimator_advanced.md
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@@ -169,7 +169,7 @@ $$
R_{\text{eff}} = \max\bigl(R_{\text{reported}},\ \text{VTE\_*\_NOISE}^2\bigr).
$$
| 매개변수 | 단위 | 기본값 | Applies to |
| Parameter | 단위 | 기본값 | Applies to |
| ------------------------------------------------------------------------------------------------------------------------------------------- | --- | -------------------- | ----------------------------------------------------- |
| [VTE_EVP_NOISE](../advanced_config/parameter_reference.md#VTE_EVP_NOISE) | m | 0.10 | Vision relative position |
| [VTE_EVA_NOISE](../advanced_config/parameter_reference.md#VTE_EVA_NOISE) | rad | 0.07 | Vision yaw |
@@ -192,7 +192,7 @@ All process-noise parameters are continuous-time **power spectral densities** (P
A PSD describes the strength of a continuous white-noise process: it is the variance the noise injects per second into the state it directly drives, with units chosen so that `PSD × time` is the variance of that state.
See [Spectral density (Wikipedia)](https://en.wikipedia.org/wiki/Spectral_density) for background.
| 매개변수 | Drives directly | Unit | What it represents |
| Parameter | Drives directly | Unit | What it represents |
| ------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------- | ------------------------------------ | ------------------------------------------------------------------------------------------------------------- |
| [VTE_BIAS_UNC](../advanced_config/parameter_reference.md#VTE_BIAS_UNC) | `bias` (m) | m²/s | PSD of the bias random walk |
| [VTE_ACC_D_UNC](../advanced_config/parameter_reference.md#VTE_ACC_D_UNC) | `vel_uav` (m/s) | m²/s³ | PSD of white acceleration noise on the UAV acceleration input |
docs/ko/airframes/airframe_reference.md
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@@ -588,9 +588,9 @@ div.frame_variant td, div.frame_variant th {
</table>
</div>
## 탐사선
## Rover
### 탐사선
### Rover
<div class="frame_common">
<img src="../../assets/airframes/types/Rover.svg"/>
docs/ko/assembly/quick_start_durandal.md
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@@ -114,7 +114,7 @@ It has the following characteristics/limits:
- PCB 전류 : 총 120A 출력 (최대)
- UBEC 5V 출력 전류 : 3A
- UBEC 입력 전압 : 7 ~ 51v (2 ~ 12s LiPo)
- Dimensions: 68_50_8 mm
- Dimensions: 6&#x38;_&#x35;&#x30;_&#x38; mm
- Mounting Holes: 45\*45mm
- 중량: 36g
- 패키지 내용물 :
docs/ko/camera/fc_connected_camera.md
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@@ -139,7 +139,7 @@ At time of writing triggering only works on FMU pins:
### 기타 매개 변수:
| 매개변수 | 설명 |
| Parameter | 설명 |
| ------------------------------------------------------------------------------------------------------------------ | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| [TRIG_POLARITY](../advanced_config/parameter_reference.md#TRIG_POLARITY) | Relevant only while using the GPIO interface. Sets the polarity of the trigger pin. Active high means that the pin is pulled low normally and pulled high on a trigger event. Active low is vice-versa. |
| [TRIG_INTERVAL](../advanced_config/parameter_reference.md#TRIG_INTERVAL) | Defines the time between two consecutive trigger events in milliseconds. |
docs/ko/computer_vision/collision_prevention.md
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@@ -54,7 +54,7 @@ PX4 v1.14 (and later) supports the [LightWare LiDAR SF45](../sensor/sf45_rotatin
Configure collision prevention by [setting the following parameters](../advanced_config/parameters.md) in _QGroundControl_:
| 매개변수 | 설명 |
| Parameter | 설명 |
| ----------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
| <a id="CP_DIST"></a>[CP_DIST](../advanced_config/parameter_reference.md#CP_DIST) | Set the minimum allowed distance (the closest distance that the vehicle can approach the obstacle). Set negative to disable _collision prevention_. <br>> **Warning** This value is the distance to the sensors, not the outside of your vehicle or propellers. Be sure to leave a safe margin! |
| <a id="CP_DELAY"></a>[CP_DELAY](../advanced_config/parameter_reference.md#CP_DELAY) | Set the sensor and velocity setpoint tracking delay. See [Delay Tuning](#delay_tuning) below. |
docs/ko/computer_vision/visual_inertial_odometry.md
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@@ -69,7 +69,7 @@ These should identify the component as `MAV_COMP_ID_VISUAL_INERTIAL_ODOMETRY` (1
EKF2에서 외부 위치 정보를 사용하려면 다음 매개 변수를 설정하여야 합니다.
| 매개변수 | 외부 위치 추정 설정 |
| Parameter | 외부 위치 추정 설정 |
| ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------- |
| [EKF2_EV_CTRL](../advanced_config/parameter_reference.md#EKF2_EV_CTRL) | Set _horizontal position fusion_, _vertical vision fusion_, _velocity fusion_, and _yaw fusion_ according to your desired fusion model. |
| [EKF2_HGT_REF](../advanced_config/parameter_reference.md#EKF2_HGT_REF) | Set to _Vision_ to use the vision as the reference sensor for altitude estimation. |
docs/ko/config/compass.md
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@@ -141,7 +141,7 @@ The calibration process:
commander calibrate mag quick [heading]
```
| 매개변수 | 설명 |
| Parameter | 설명 |
| --------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------- |
| `heading` (optional) | True heading of the vehicle in degrees (0–359). Defaults to 0° (North) if omitted. |
@@ -204,7 +204,7 @@ Further compass configuration should generally not be required.
### Enable/Disable a Compass
While no further configuration should be _required_, developers who wish to disable/enable compasses for any reason, such as testing, can do so using the compass parameters.
These are prefixed with [CAL_MAGx_](../advanced_config/parameter_reference.md#CAL_MAG0_ID) (where `x=0-3`):
These are prefixed with [CA&#x4C;_&#x4D;AGx_](../advanced_config/parameter_reference.md#CAL_MAG0_ID) (where `x=0-3`):
- [CAL_MAGn_ROT](../advanced_config/parameter_reference.md#CAL_MAG0_ROT) can be used to determine which compasses are internal.
A compass is internal if `CAL_MAGn_ROT==1`.
docs/ko/config/safety.md
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@@ -86,7 +86,7 @@ The most common configuration is to set the values and action as above (with `Wa
설정에 관련된 기본 매개변수는 다음과 같습니다.
| 설정 | 매개변수 | 설명 |
| 설정 | Parameter | 설명 |
| --------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------- |
| <a id="COM_LOW_BAT_ACT"></a>Failsafe Action | [COM_LOW_BAT_ACT](../advanced_config/parameter_reference.md#COM_LOW_BAT_ACT) | Warn, Return, or Land based when capacity drops below the trigger levels. |
| <a id="BAT_LOW_THR"></a>Battery Warn Level | [BAT_LOW_THR](../advanced_config/parameter_reference.md#BAT_LOW_THR) | 경고 (또는 기타 조치)에 대한 용량을 백분율로 설정합니다. |
@@ -104,7 +104,7 @@ There are several other "battery related" failsafe mechanisms that may be config
설정에 관련된 기본 매개변수는 다음과 같습니다.
| 설정 | 매개변수 | 설명 |
| 설정 | Parameter | 설명 |
| -------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="COM_FLTT_LOW_ACT"></a> Low flight time for safe return action | [COM_FLTT_LOW_ACT](../advanced_config/parameter_reference.md#COM_FLTT_LOW_ACT) | Action when return mode can only just reach safety with remaining battery. `0`: None (default), `1`: Warning, `3`: Return mode. |
| <a id="COM_FLT_TIME_MAX"></a> Maximum flight time failsafe level | [COM_FLT_TIME_MAX](../advanced_config/parameter_reference.md#COM_FLT_TIME_MAX) | Maximum allowed flight time before Return mode will be engaged, in seconds. `-1`: Disabled (default). |
@@ -124,7 +124,7 @@ PX4 and the receiver may also need to be configured in order to _detect RC loss_
Additional (and underlying) parameter settings are shown below.
| 매개변수 | 설정 | 설명 |
| Parameter | 설정 | 설명 |
| -------------------------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="COM_RC_LOSS_T"></a>[COM_RC_LOSS_T](../advanced_config/parameter_reference.md#COM_RC_LOSS_T) | Manual Control Loss Timeout | Time after last setpoint received from the selected manual control source after which manual control is considered lost. This must be kept short because the vehicle will continue to fly using the last known stick position until the timeout triggers. |
| <a id="COM_FAIL_ACT_T"></a>[COM_FAIL_ACT_T](../advanced_config/parameter_reference.md#COM_FAIL_ACT_T) | Failsafe Reaction Delay | Delay in seconds between failsafe condition being triggered (`COM_RC_LOSS_T`) and failsafe action (RTL, Land, Hold). In this state the vehicle waits in hold mode for the manual control source to reconnect. This might be set longer for long-range flights so that intermittent connection loss doesn't immediately invoke the failsafe. It can be to zero so that the failsafe triggers immediately. |
@@ -140,7 +140,7 @@ Users that want to disable this failsafe in specific modes can do so using the p
설정에 관련된 기본 매개변수는 다음과 같습니다.
| 설정 | 매개변수 | 설명 |
| 설정 | Parameter | 설명 |
| ----------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------- |
| 데이터 연결불량 시간 초과 | [COM_DL_LOSS_T](../advanced_config/parameter_reference.md#COM_DL_LOSS_T) | 데이터 연결이 끊어진 후 안전 장치가 동작하기 전까지의 시간입니다. |
| 안전장치 동작 | [NAV_DLL_ACT](../advanced_config/parameter_reference.md#NAV_DLL_ACT) | Disabled, Hold mode, Return mode, Land mode, Disarm, Terminate. |
@@ -169,7 +169,7 @@ PX4 separately supports more complicated Geofence geometries with multiple arbit
The settings and underlying [geofence parameters](../advanced_config/parameter_reference.md#geofence) are shown below.
| 설정 | 매개변수 | 설명 |
| 설정 | Parameter | 설명 |
| ------------------- | ------------------------------------------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------- |
| <nobr>위반시 동작</nobr> | [GF_ACTION](../advanced_config/parameter_reference.md#GF_ACTION) | 없음, 경고, 보류 모드, 반환 모드, 종료, 착륙. |
| 최대 반경 | [GF_MAX_HOR_DIST](../advanced_config/parameter_reference.md#GF_MAX_HOR_DIST) | 지오펜스 실린더의 수평 반경. 0 인 경우 지오펜스가 비활성화됩니다. |
@@ -182,7 +182,7 @@ Due to the inherent danger of this, this function is disabled using [CBRK_FLIGHT
다음 설정도 가능하지만 QGC UI에 표시되지 않습니다.
| 설정 | 매개변수 | 설명 |
| 설정 | Parameter | 설명 |
| ------------------------------------------------------------------ | ------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------ |
| <a id="GF_SOURCE"></a>Geofence source | [GF_SOURCE](../advanced_config/parameter_reference.md#GF_SOURCE) | 위치 소스가 글로벌 위치인지 또는 GPS 장치에서 직접 가져오는 지를 설정합니다. |
| <a id="CBRK_FLIGHTTERM"></a>Circuit breaker for flight termination | [CBRK_FLIGHTTERM](../advanced_config/parameter_reference.md#CBRK_FLIGHTTERM) | 비행 종료 작업을 활성화/비활성화합니다 (기본적으로 비활성화 됨). |
@@ -206,7 +206,7 @@ The position loss failsafe triggers if the position estimate becomes _invalid_.
The relevant parameters shown below.
| 매개변수 | 설명 |
| Parameter | 설명 |
| -------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
| <a id="EKF2_NOAID_TOUT"></a>[EKF2_NOAID_TOUT](../advanced_config/parameter_reference.md#EKF2_NOAID_TOUT) | Maximum inertial dead-reckoning time, so the time after the last data sample was received of any sensor that constrains the velocity drift [microseconds]. |
| <a id="COM_POS_FS_EPH"></a>[COM_POS_FS_EPH](../advanced_config/parameter_reference.md#COM_POS_FS_EPH) | Horizontal position error threshold for hovering vehicles (Multicopters and VTOLs in hover). Fixed-wing vehicles have this value set to infinity. |
@@ -220,7 +220,7 @@ If VTOLs have are configured to switch to hover for landing ([NAV_FORCE_VT](../a
The relevant parameters are:
| 매개변수 | 설명 |
| Parameter | 설명 |
| ----------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="FW_GPSF_LT"></a>[FW_GPSF_LT](../advanced_config/parameter_reference.md#FW_GPSF_LT) | Fixed-wing only: Loiter time (waiting at current altitude for position estimation recovery before starting to descend). 비활성화 하려면 0으로 설정하십시오. |
| <a id="FW_GPSF_R"></a>[FW_GPSF_R](../advanced_config/parameter_reference.md#FW_GPSF_R) | 선회 비행시 고정 롤/뱅크 각도. |
@@ -230,7 +230,7 @@ The relevant parameters are:
In Fixed-wing, the position estimate is never strictly invalidated as long as we have a horizontal aiding source, such as an airspeed sensor. In that case, a separate failsafe can be configured that triggers if the position estimate inacuraccy exceeds the threshold [COM_POS_LOW_EPH](../advanced_config/parameter_reference.md#COM_POS_LOW_EPH). The failsafe action is taken if the vehicle is in mission or hold mode, otherwise it is only a warning. The relevant parameters are:
| 매개변수 | 설명 |
| Parameter | 설명 |
| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="COM_POS_LOW_EPH"></a>[COM_POS_LOW_EPH](../advanced_config/parameter_reference.md#COM_POS_LOW_EPH) | Position inaccuracy threshold above which COM_POS_LOW_ACT is taken. |
| <a id="COM_POS_LOW_ACT"></a>[COM_POS_LOW_ACT](../advanced_config/parameter_reference.md#COM_POS_LOW_ACT) | Failsafe action taken when position inaccuracy is above configured threshold. |
@@ -249,7 +249,7 @@ Triggers on either of:
At least a warning is emitted, additional failsafe actions can be configured using [COM_GNSSLOSS_ACT](#COM_GNSSLOSS_ACT).
Loss of a single GPS when none are required is handled by other GPS health checks.
| 매개변수 | 설명 |
| Parameter | 설명 |
| -------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="SYS_HAS_NUM_GNSS"></a>[SYS_HAS_NUM_GNSS](../advanced_config/parameter_reference.md#SYS_HAS_NUM_GNSS) | Number of usable GNSS receivers required for arming and flight. If two are required then they also need to be consistent. |
| <a id="COM_GNSSLOSS_ACT"></a>[COM_GNSSLOSS_ACT](../advanced_config/parameter_reference.md#COM_GNSSLOSS_ACT) | Failsafe action when a GNSS failure is detected. Actions other than a warning also lead to arming being blocked. |
@@ -257,14 +257,13 @@ Loss of a single GPS when none are required is handled by other GPS health check
## 오프 보드 안전 장치
The _Offboard Loss Failsafe_ is triggered if the offboard link is lost while under [Offboard control](../flight_modes/offboard.md).
RC 연결을 사용 여부에 따라 다른 안전 장치의 작동을 지정할 수 있습니다.
관련된 매개 변수는 다음과 같습니다.
| 매개변수 | 설명 |
| ----------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------- |
| [COM_OF_LOSS_T](../advanced_config/parameter_reference.md#COM_OF_LOSS_T) | 오프 보드 단락이후 안전장치 동작 지연 여부 설정. |
| [COM_OBL_RC_ACT](../advanced_config/parameter_reference.md#COM_OBL_RC_ACT) | RC를 사용할 수있는 경우 비상 안전조치 : 위치 모드, 고도 모드, 수동 모드, 귀환 모드, 착륙 모드, 대기 모드. |
| Parameter | 설명 |
| ----------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------- |
| [COM_OF_LOSS_T](../advanced_config/parameter_reference.md#COM_OF_LOSS_T) | 오프 보드 단락이후 안전장치 동작 지연 여부 설정. |
| [COM_OBL_RC_ACT](../advanced_config/parameter_reference.md#COM_OBL_RC_ACT) | Flight mode to switch to if offboard control is lost. |
## 교통 회피 안전 장치
@@ -272,7 +271,7 @@ The Traffic Avoidance Failsafe allows PX4 to respond to transponder data (e.g. f
관련된 매개 변수는 다음과 같습니다.
| 매개변수 | 설명 |
| Parameter | 설명 |
| ---------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------- |
| [NAV_TRAFF_AVOID](../advanced_config/parameter_reference.md#NAV_TRAFF_AVOID) | 비상 안전 장치를 설정합니다 : 비활성화, 경고, 귀환 모드, 착륙 모드. |
@@ -284,7 +283,7 @@ The Remote ID failsafe is triggered when the [Remote ID (Open Drone ID)](../peri
The failsafe action and arming behaviour are both configured by the `COM_ARM_ODID` parameter:
| 매개변수 | 설명 |
| Parameter | 설명 |
| ----------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="COM_ARM_ODID"></a>[COM_ARM_ODID](../advanced_config/parameter_reference.md#COM_ARM_ODID) | Remote ID arming check and in-flight failsafe. `0`: Disabled (default), `1`: Warning only, `2`: Error only (prevents arming), `3`: Return, `4`: Land, `5`: Terminate.<br><br>On failsafe:<br>- `Error`, `Return`, `Land` and `Terminate` prevent arming.<br>- `Return`, `Land` and `Terminate` start the associated action/mode when airborne. |
@@ -294,7 +293,7 @@ The failsafe action and arming behaviour are both configured by the `COM_ARM_ODI
The parachute health failsafe is triggered when a [MAVLink parachute](../peripherals/parachute.md) system is missing or unhealthy while the vehicle is armed or airborne.
| 매개변수 | 설명 |
| Parameter | 설명 |
| ----------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
| <a id="COM_PARACHUTE"></a>[COM_PARACHUTE](../advanced_config/parameter_reference.md#COM_PARACHUTE) | Parachute system monitoring and failsafe action.<br>`0`: Disabled (default), `1`: [Warning](#act_warn), `2`: [Return](#act_return), `3`: [Land](#act_land).<br><br>- Everything but `Disabled` prevents arming with a failing check.<br>- [Return](#act_return) and [Land](#act_land) start the associated action when a failure happens in-flight. |
@@ -309,7 +308,7 @@ The quad-chute can also be triggered by sending a MAVLINK [MAV_CMD_DO_VTOL_TRANS
The parameters that control when the quad-chute will trigger are listed in the table below.
| 매개변수 | 설명 |
| Parameter | 설명 |
| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="COM_QC_ACT"></a>[COM_QC_ACT](../advanced_config/parameter_reference.md#COM_QC_ACT) | Quad-chute action after switching to multicopter flight. Can be set to: [Warning](#act_warn), [Return](#act_return), [Land](#act_land), [Hold](#act_hold). |
| <a id="VT_FW_QC_HMAX"></a>[VT_FW_QC_HMAX](../advanced_config/parameter_reference.md#VT_FW_QC_HMAX) | Maximum quad-chute height, below which the quad-chute failsafe cannot trigger. This prevents high altitude quad-chute descent, which can drain the battery (and itself cause a crash). The height is relative to ground, home, or the local origin (in preference order, depending on what is available). |
@@ -324,7 +323,7 @@ The parameters that control when the quad-chute will trigger are listed in the t
The high wind failsafe can trigger a warning and/or other mode change when the wind speed exceeds the warning and maximum wind-speed threshold values.
The relevant parameters are listed in the table below.
| 매개변수 | 설명 |
| Parameter | 설명 |
| -------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
| <a id="COM_WIND_MAX"></a>[COM_WIND_MAX](../advanced_config/parameter_reference.md#COM_WIND_MAX) | Wind speed threshold that triggers failsafe action, in m/s ([COM_WIND_MAX_ACT](#COM_WIND_MAX_ACT)). |
| <a id="COM_WIND_MAX_ACT"></a>[COM_WIND_MAX_ACT](../advanced_config/parameter_reference.md#COM_WIND_MAX_ACT) | High wind failsafe action (following [COM_WIND_MAX](#COM_WIND_MAX) trigger). Can be set to: `0`: None (Default), `1`: [Warning](#act_warn), `2`: [Hold](#act_hold), `3`: [Return](#act_return), `4`: [Terminate](#act_term), `5`: [Land](#act_land). |
@@ -353,7 +352,7 @@ The failure detector can be configured to trigger if a rotary-wing vehicle loses
If the vehicle descends more than [FD_ALT_LOSS](#FD_ALT_LOSS) meters below the setpoint, [flight termination](../advanced_config/flight_termination.md) is triggered, which may deploy a [parachute](../peripherals/parachute.md).
| 매개변수 | 설명 |
| Parameter | 설명 |
| ----------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="FD_ALT_LOSS"></a>[FD_ALT_LOSS](../advanced_config/parameter_reference.md#FD_ALT_LOSS) | Altitude loss threshold (m). Flight termination is triggered when the vehicle drops this far below the setpoint. 비활성화 하려면 0으로 설정하십시오. |
| <a id="FD_ALT_LOSS_T"></a>[FD_ALT_LOSS_T](../advanced_config/parameter_reference.md#FD_ALT_LOSS_T) | Time (s) the vehicle must remain below the threshold before flight termination is triggered. |
@@ -364,7 +363,7 @@ If the vehicle descends more than [FD_ALT_LOSS](#FD_ALT_LOSS) meters below the s
관련된 매개 변수는 다음과 같습니다.
| 매개변수 | 설명 |
| Parameter | 설명 |
| -------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="CBRK_FLIGHTTERM"></a>[CBRK_FLIGHTTERM](../advanced_config/parameter_reference.md#CBRK_FLIGHTTERM) | 비행 종료 회로 차단기. 고장 감지기 또는 FMU 손실로 인한 비행 종료를 활성화하려면, 121212 (기본값)에서 설정을 해제합니다. |
| <a id="FD_FAIL_P"></a>[FD_FAIL_P](../advanced_config/parameter_reference.md#FD_FAIL_P) | 최대 허용 피치 (도 단위). |
@@ -384,7 +383,7 @@ undercurrent: {esc current} < {MOTFAIL_C2T} * {motor command [0,1]} - {MOTFAIL_O
overcurrent: {esc current} > {MOTFAIL_C2T} * {motor command [0,1]} + {MOTFAIL_OFF}
```
| 매개변수 | 설명 |
| Parameter | 설명 |
| -------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="FD_ACT_EN"></a>[FD_ACT_EN](../advanced_config/parameter_reference.md#FD_ACT_EN) | Enable/disable the motor failure trigger completely. |
| <a id="MOTFAIL_C2T"></a>[MOTFAIL_C2T](../advanced_config/parameter_reference.md#MOTFAIL_C2T) | Slope between normalized motor command [0–1] and expected steady-state current (FD_ACT_MOT_C2T at 100%) (A/%). |
@@ -403,7 +402,7 @@ External ATS is required by [ASTM F3322-18](https://webstore.ansi.org/standards/
One example of an ATS device is the [FruityChutes Sentinel Automatic Trigger System (SATS-MINI)](https://fruitychutes.com/uav_rpv_drone_recovery_parachutes/sentinel-automatic-trigger-system).
:::
| 매개변수 | 설명 |
| Parameter | 설명 |
| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="FD_EXT_ATS_EN"></a>[FD_EXT_ATS_EN](../advanced_config/parameter_reference.md#FD_EXT_ATS_EN) | Enable PWM input on AUX5 or MAIN5 (depending on board) for engaging failsafe from an external automatic trigger system (ATS). Default: Disabled. |
| <a id="FD_EXT_ATS_TRIG"></a>[FD_EXT_ATS_TRIG](../advanced_config/parameter_reference.md#FD_EXT_ATS_TRIG) | The PWM threshold from external automatic trigger system for engaging failsafe. Default: 1900 ms. |
@@ -469,7 +468,7 @@ A kill gesture immediately stops all motor outputs — if flying, the vehicle wi
The action cannot be reverted without a reboot (this differs from a [Kill Switch](#kill-switch), where the operation can be reverted within 5 seconds).
| 매개변수 | 설명 |
| Parameter | 설명 |
| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="MAN_KILL_GEST_T"></a>[MAN_KILL_GEST_T](../advanced_config/parameter_reference.md#MAN_KILL_GEST_T) | Time to hold sticks in gesture position before killing the motors. Default: `-1` seconds (Disabled). |
@@ -484,7 +483,7 @@ You can set timeouts to automatically disarm a vehicle if it is too slow to take
The [relevant parameters](../advanced_config/parameters.md) are shown below:
| 매개변수 | 설명 |
| Parameter | 설명 |
| ----------------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------- |
| <a id="COM_DISARM_LAND"></a>[COM_DISARM_LAND](../advanced_config/parameter_reference.md#COM_DISARM_LAND) | Timeout for auto-disarm after landing. |
| <a id="COM_DISARM_PRFLT"></a>[COM_DISARM_PRFLT](../advanced_config/parameter_reference.md#COM_DISARM_PRFLT) | Timeout for auto disarm if vehicle is too slow to takeoff. |
@@ -493,7 +492,7 @@ The [relevant parameters](../advanced_config/parameters.md) are shown below:
These parameters can be used to set conditions that prevent arming.
| 매개변수 | 설명 |
| Parameter | 설명 |
| -------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="COM_ARMABLE"></a>[COM_ARMABLE](../advanced_config/parameter_reference.md#COM_ARMABLE) | Enable arming (at all). `0`: Disabled, `1`: Enabled (default). |
| <a id="COM_ARM_BAT_MIN"></a>[COM_ARM_BAT_MIN](../advanced_config/parameter_reference.md#COM_ARM_BAT_MIN) | Minimum battery level for arming. `0`: Disabled (default). Values: `0`-`0.9`, |
docs/ko/config_mc/filter_tuning.md
+1 -1
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@@ -76,7 +76,7 @@ You might have to adjust the per-motor pole count (`DSHOT_MOT_POL1`–`DSHOT_MOT
The following parameters should be set to enable and configure dynamic notch filters:
| 매개변수 | 설명 |
| Parameter | 설명 |
| -------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="IMU_GYRO_DNF_EN"></a>[IMU_GYRO_DNF_EN](../advanced_config/parameter_reference.md#IMU_GYRO_DNF_EN) | Enable IMU gyro dynamic notch filtering (bitmask). Bit `0`: ESC RPM, Bit `1`: Onboard FFT. |
| <a id="IMU_GYRO_FFT_EN"></a>[IMU_GYRO_FFT_EN](../advanced_config/parameter_reference.md#IMU_GYRO_FFT_EN) | Enable onboard FFT (required if bit `1` of `IMU_GYRO_DNF_EN` is set). |
docs/ko/config_mc/pid_tuning_guide_multicopter.md
+1 -1
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@@ -240,7 +240,7 @@ _normalized_value = ( raw_value - min (raw_value) ) / ( max ( raw_value ) - min
정규화된 값의 산점도를 얻은 후 방정식을 플로팅하여 곡선을 일치시킬 수 있습니다.
_rel_thrust = ( `THR_MDL_FAC` ) _ rel_signal^2 + ( 1 - `THR_MDL_FAC` ) \* rel_signal\*
_rel_thrust = ( `THR_MDL_FAC` ) _ re&#x6C;_&#x73;ignal^2 + ( 1 - `THR_MDL_FAC` ) \* re&#x6C;_&#x73;ignal\*
0과 1 사이의 정규화된 모터 명령 값의 선형 범위.
Note that this is the equation that is used in the firmware to map thrust and motor command, as shown in the [THR_MDL_FAC](../advanced_config/parameter_reference.md#THR_MDL_FAC) parameter reference.
docs/ko/config_rover/attitude_tuning.md
+1 -1
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@@ -35,6 +35,6 @@ We placed the integrator in the rate controller since it can run without the att
## Parameter Overview
| 매개변수 | 설명 | Unit |
| Parameter | 설명 | Unit |
| ----------------------------------------------------------------------------------------------------------------------------- | ------------------------------------ | ---- |
| <a id="RO_YAW_P"></a>[RO_YAW_P](../advanced_config/parameter_reference.md#RO_YAW_P) | Proportional gain for yaw controller | - |
docs/ko/config_rover/basic_setup.md
+4 -4
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@@ -154,7 +154,7 @@ You can now continue the configuration process with [rate tuning](rate_tuning.md
## Parameter Overview
| 매개변수 | 설명 | Unit |
| Parameter | 설명 | Unit |
| -------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------- | ------- |
| <a id="RO_MAX_THR_SPEED"></a>[RO_MAX_THR_SPEED](../advanced_config/parameter_reference.md#RO_MAX_THR_SPEED) | Speed the rover drives at maximum throttle | $m/s$ |
| <a id="RO_ACCEL_LIM"></a>[RO_ACCEL_LIM](../advanced_config/parameter_reference.md#RO_ACCEL_LIM) | (Optional) Maximum allowed acceleration | $m/s^2$ |
@@ -164,7 +164,7 @@ You can now continue the configuration process with [rate tuning](rate_tuning.md
### Ackermann Specific
| 매개변수 | 설명 | Unit |
| Parameter | 설명 | Unit |
| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------- | ----- |
| <a id="RA_WHEEL_BASE"></a>[RA_WHEEL_BASE](../advanced_config/parameter_reference.md#RA_WHEEL_BASE) | Wheel base | $m$ |
| <a id="RA_MAX_STR_ANG"></a>[RA_MAX_STR_ANG](../advanced_config/parameter_reference.md#RA_MAX_STR_ANG) | Maximum steering angle | $deg$ |
@@ -172,14 +172,14 @@ You can now continue the configuration process with [rate tuning](rate_tuning.md
### Differential Specific
| 매개변수 | 설명 | Unit |
| Parameter | 설명 | Unit |
| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------ | ---- |
| <a id="RD_WHEEL_TRACK"></a>[RD_WHEEL_TRACK](../advanced_config/parameter_reference.md#RD_WHEEL_TRACK) | Wheel track | $m$ |
| <a id="RD_YAW_STK_GAIN"></a>[RD_YAW_STK_GAIN](../advanced_config/parameter_reference.md#RD_YAW_STK_GAIN) | (Optional) Yaw stick gain for Manual mode | $-$ |
### Mecanum Specific
| 매개변수 | 설명 | Unit |
| Parameter | 설명 | Unit |
| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------ | ---- |
| <a id="RM_WHEEL_TRACK"></a>[RM_WHEEL_TRACK](../advanced_config/parameter_reference.md#RM_WHEEL_TRACK) | Wheel track | $m$ |
| <a id="RM_YAW_STK_GAIN"></a>[RM_YAW_STK_GAIN](../advanced_config/parameter_reference.md#RM_YAW_STK_GAIN) | (Optional) Yaw stick gain for Manual mode | $-$ |
docs/ko/config_rover/position_tuning.md
+3 -3
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@@ -183,7 +183,7 @@ The position controller uses the following structure:
## Parameter Overview
| 매개변수 | 설명 | Unit |
| Parameter | 설명 | Unit |
| -------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------ | ---- |
| <a id="RO_SPEED_RED"></a>[RO_SPEED_RED](../advanced_config/parameter_reference.md#RO_SPEED_RED) | (Optional) Tuning parameter for the speed reduction based on the course error | - |
| <a id="PP_LOOKAHD_GAIN"></a>[PP_LOOKAHD_GAIN](../advanced_config/parameter_reference.md#PP_LOOKAHD_GAIN) | Pure pursuit: Main tuning parameter | - |
@@ -192,14 +192,14 @@ The position controller uses the following structure:
## Ackermann Specific
| 매개변수 | 설명 | Unit |
| Parameter | 설명 | Unit |
| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------- | ---- |
| <a id="RA_ACC_RAD_MAX"></a>[RA_ACC_RAD_MAX](../advanced_config/parameter_reference.md#RA_ACC_RAD_MAX) | (Optional) Maximum radius the acceptance radius can be scaled to | m |
| <a id="RA_ACC_RAD_GAIN"></a>[RA_ACC_RAD_GAIN](../advanced_config/parameter_reference.md#RA_ACC_RAD_GAIN) | (Optional) Tuning parameter for the acceptance radius scaling | - |
## Differential Specific
| 매개변수 | 설명 | Unit |
| Parameter | 설명 | Unit |
| -------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------- | ---- |
| <a id="RD_TRANS_DRV_TRN"></a>[RD_TRANS_DRV_TRN](../advanced_config/parameter_reference.md#RD_TRANS_DRV_TRN) | Heading error threshold to switch from driving to spot turning | deg |
| <a id="RD_TRANS_TRN_DRV"></a>[RD_TRANS_TRN_DRV](../advanced_config/parameter_reference.md#RD_TRANS_TRN_DRV) | Heading error threshold to switch from spot turning to driving | deg |
docs/ko/config_rover/rate_tuning.md
+1 -1
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@@ -135,7 +135,7 @@ These mappings based on the idealized kinematic models can be adjusted with the
## Parameter Overview
| 매개변수 | 설명 | Unit |
| Parameter | 설명 | Unit |
| -------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------ | --------- |
| <a id="RO_YAW_RATE_LIM"></a>[RO_YAW_RATE_LIM](../advanced_config/parameter_reference.md#RO_YAW_RATE_LIM) | Maximum allowed yaw rate | $m/s^2$ |
| <a id="RO_YAW_RATE_P"></a>[RO_YAW_RATE_P](../advanced_config/parameter_reference.md#RO_YAW_RATE_P) | Proportional gain for yaw rate controller | - |
docs/ko/config_rover/velocity_tuning.md
+2 -2
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@@ -116,7 +116,7 @@ Both these setpoint are then sent to their own closed loop speed controllers.
## Parameter Overview
| 매개변수 | 설명 | Unit |
| Parameter | 설명 | Unit |
| -------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------- | ----- |
| <a id="RO_MAX_THR_SPEED"></a>[RO_MAX_THR_SPEED](../advanced_config/parameter_reference.md#RO_MAX_THR_SPEED) | Speed the rover drives at maximum throttle | $m/s$ |
| <a id="RO_SPEED_LIM"></a>[RO_SPEED_LIM](../advanced_config/parameter_reference.md#RO_SPEED_LIM) | Maximum allowed speed | $m/s$ |
@@ -126,7 +126,7 @@ Both these setpoint are then sent to their own closed loop speed controllers.
### Pure Pursuit
| 매개변수 | 설명 | Unit |
| Parameter | 설명 | Unit |
| -------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------- | ---- |
| <a id="PP_LOOKAHD_GAIN"></a>[PP_LOOKAHD_GAIN](../advanced_config/parameter_reference.md#PP_LOOKAHD_GAIN) | Pure pursuit: Main tuning parameter | - |
| <a id="PP_LOOKAHD_MAX"></a>[PP_LOOKAHD_MAX](../advanced_config/parameter_reference.md#PP_LOOKAHD_MAX) | Pure pursuit: Maximum value for the look ahead radius | m |
docs/ko/config_vtol/vtol_weathervane.md
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@@ -27,7 +27,7 @@ In [Mission mode](../flight_modes_vtol/mission.md) the weather vane feature will
This functionality is configured using the [WV\_\* parameters](../advanced_config/parameter_reference.md#WV_EN).
| 매개변수 | 설명 |
| Parameter | 설명 |
| ---------------------------------------------------------------------------------------------------------------- | ----------------------------------------------- |
| [WV_EN](../advanced_config/parameter_reference.md#WV_EN) | 풍향계 활성화 |
| [WV_ROLL_MIN](../advanced_config/parameter_reference.md#WV_ROLL_MIN) | 요율을 요구하는 풍향계 컨트롤러의 최소 롤 각도 설정점. |
docs/ko/debug/profiling.md
+1 -1
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@@ -48,7 +48,7 @@ Then pass in the appropriate device using the `--gdbdev` argument like this:
### 실행
프로파일러의 기본 사용법은 빌드 시스템을 통하여 사용할 수 있습니다.
For example, the following command builds and profiles px4_fmu-v4pro target with 10000 samples (fetching \_FlameGraph_ and adding it to the path as needed).
For example, the following command builds and profiles px&#x34;_&#x66;mu-v4pro target with 10000 samples (fetching \_FlameGraph_ and adding it to the path as needed).
```sh
make px4_fmu-v4pro_default profile
docs/ko/dev_log/logging.md
+1 -1
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@@ -33,7 +33,7 @@ The logging system is configured by default to collect sensible logs for [flight
Logging may further be configured using the [SD Logging](../advanced_config/parameter_reference.md#sd-logging) parameters.
변경할 가능성이 높은 매개변수가 아래에 설명되어 있습니다.
| 매개변수 | 설명 |
| Parameter | 설명 |
| --------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| [SDLOG_MODE](../advanced_config/parameter_reference.md#SDLOG_MODE) | Logging Mode. Defines when logging starts and stops.<br />- `0`: Log when armed until disarm (default).<br />- `1`: Log from boot until disarm.<br />- `2`: Log from boot until shutdown.<br />- `3`: Log based on the [AUX1 RC channel](../advanced_config/parameter_reference.md#RC_MAP_AUX1).<br />- `4`: Log from first armed until shutdown. |
| [SDLOG_BACKEND](../advanced_config/parameter_reference.md#SDLOG_BACKEND) | Logging Backend (bitmask). Setting a bit enables the corresponding backend. If no backend is selected, the logger is disabled.<br />- bit `0`: SD card logging.</br >- bit `1`: Mavlink logging. |
docs/ko/development/development.md
+2 -1
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@@ -16,7 +16,8 @@ This section is for software developers and (new) hardware integrators.
- Support new [airframes](../dev_airframes/index.md).
- PX4에 새 하드웨어를 조합하는 방법을 배웁니다:
- 카메라, 거리 센서 등과 같은 신규 센서와 액츄에이터를 지원합니다.
- 신규 자동조종장치에서 실행하도록 PX4 수정합니다.
- Modify PX4 to run on [new autopilot hardware](../hardware/porting_guide.md).
- As a manufacturer, [get your board officially supported by PX4](../hardware/board_support_guide.md).
- [Simulate](../simulation/index.md), [test](../test_and_ci/index.md) and [debug/log](../debug/index.md) PX4.
- 외부 로보틱스 API와 통신/통합합니다.
docs/ko/dronecan/ark_cannode.md
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@@ -83,7 +83,7 @@ This is done using the parameters named like `UAVCAN_SUB_*` in the parameter ref
On the ARK CANnode, you may need to configure the following parameters:
| 매개변수 | 설명 |
| Parameter | 설명 |
| -------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="CANNODE_NODE_ID"></a>[CANNODE_NODE_ID](../advanced_config/parameter_reference.md#CANNODE_NODE_ID) | CAN node ID (0 for dynamic allocation). If set to 0 (default), dynamic node allocation is used. Set to 1-127 to use a static node ID. |
| <a id="CANNODE_TERM"></a>[CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM) | CAN built-in bus termination. |
docs/ko/dronecan/ark_flow.md
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@@ -110,7 +110,7 @@ When optical flow is the only source of horizontal position/velocity, then lower
On the ARK Flow, you may need to configure the following parameters:
| 매개변수 | 설명 |
| Parameter | 설명 |
| -------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="CANNODE_NODE_ID"></a>[CANNODE_NODE_ID](../advanced_config/parameter_reference.md#CANNODE_NODE_ID) | CAN node ID (0 for dynamic allocation). If set to 0 (default), dynamic node allocation is used. Set to 1-127 to use a static node ID. |
| <a id="CANNODE_TERM"></a>[CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM) | CAN built-in bus termination. |
docs/ko/dronecan/ark_flow_mr.md
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@@ -105,7 +105,7 @@ Set the following parameters in _QGroundControl_:
You may need to [configure the following parameters](../dronecan/index.md#qgc-cannode-parameter-configuration) on the ARK Flow MR itself:
| 매개변수 | 설명 |
| Parameter | 설명 |
| -------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="CANNODE_NODE_ID"></a>[CANNODE_NODE_ID](../advanced_config/parameter_reference.md#CANNODE_NODE_ID) | CAN node ID (0 for dynamic allocation). If set to 0 (default), dynamic node allocation is used. Set to 1-127 to use a static node ID. |
| <a id="CANNODE_TERM"></a>[CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM) | CAN built-in bus termination. |
docs/ko/dronecan/ark_gps.md
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@@ -97,7 +97,7 @@ If the sensor is not centred within the vehicle you will also need to define sen
You may need to [configure the following parameters](../dronecan/index.md#qgc-cannode-parameter-configuration) on the ARK GPS itself:
| 매개변수 | 설명 |
| Parameter | 설명 |
| -------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="CANNODE_NODE_ID"></a>[CANNODE_NODE_ID](../advanced_config/parameter_reference.md#CANNODE_NODE_ID) | CAN node ID (0 for dynamic allocation). If set to 0 (default), dynamic node allocation is used. Set to 1-127 to use a static node ID. |
| <a id="CANNODE_TERM"></a>[CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM) | CAN built-in bus termination. Set to `1` if this is the last node on the CAN bus. |
docs/ko/dronecan/ark_rtk_gps.md
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@@ -92,7 +92,7 @@ You need to set necessary [DroneCAN](index.md) parameters and define offsets if
You may need to [configure the following parameters](../dronecan/index.md#qgc-cannode-parameter-configuration) on the ARK RTK GPS itself:
| 매개변수 | 설명 |
| Parameter | 설명 |
| -------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="CANNODE_NODE_ID"></a>[CANNODE_NODE_ID](../advanced_config/parameter_reference.md#CANNODE_NODE_ID) | CAN node ID (0 for dynamic allocation). If set to 0 (default), dynamic node allocation is used. Set to 1-127 to use a static node ID. |
| <a id="CANNODE_TERM"></a>[CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM) | CAN built-in bus termination. Set to `1` if this is the last node on the CAN bus. |
docs/ko/dronecan/ark_rtk_gps_l1_l2.md
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@@ -91,7 +91,7 @@ You need to set necessary [DroneCAN](index.md) parameters and define offsets if
You may need to [configure the following parameters](../dronecan/index.md#qgc-cannode-parameter-configuration) on the ARK RTK GPS L1 L5 itself:
| 매개변수 | 설명 |
| Parameter | 설명 |
| -------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="CANNODE_NODE_ID"></a>[CANNODE_NODE_ID](../advanced_config/parameter_reference.md#CANNODE_NODE_ID) | CAN node ID (0 for dynamic allocation). If set to 0 (default), dynamic node allocation is used. Set to 1-127 to use a static node ID. |
| <a id="CANNODE_TERM"></a>[CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM) | CAN built-in bus termination. Set to `1` if this is the last node on the CAN bus. |
docs/ko/dronecan/ark_x20_rtk_gps.md
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@@ -94,7 +94,7 @@ You need to set necessary [DroneCAN](index.md) parameters and define offsets if
You may need to [configure the following parameters](../dronecan/index.md#qgc-cannode-parameter-configuration) on the ARK X20 RTK GPS itself:
| 매개변수 | 설명 |
| Parameter | 설명 |
| -------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="CANNODE_NODE_ID"></a>[CANNODE_NODE_ID](../advanced_config/parameter_reference.md#CANNODE_NODE_ID) | CAN node ID (0 for dynamic allocation). If set to 0 (default), dynamic node allocation is used. Set to 1-127 to use a static node ID. |
| <a id="CANNODE_TERM"></a>[CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM) | CAN built-in bus termination. Set to `1` if this is the last node on the CAN bus. |
docs/ko/dronecan/index.md
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@@ -6,7 +6,7 @@
- DroneCAN is not enabled by default, and nor are specific sensors and features that use it.
For setup information see [PX4 Configuration](#px4-configuration).
- PX4 requires an SD card to enable dynamic node allocation and for firmware update.
- PX4 requires an SD card to enable dynamic node allocation and for [firmware update](#firmware-update).
The SD card is not used in flight.
:::
@@ -316,10 +316,64 @@ Most DroneCAN nodes require no further setup, unless specifically noted in their
## 펌웨어 업데이트
PX4 can upgrade device firmware over DroneCAN.
To upgrade the device, all you need to do is copy the firmware binary into the root directory of the flight controller's SD card and reboot.
Upon boot the flight controller will automatically transfer the firmware onto the device and upgrade it.
If successful, the firmware binary will be removed from the root directory and there will be a file named **XX.bin** in the **/ufw** directory of the SD card.
:::info
PX4 identifies valid firmware binaries (`.bin`) based on the presence of an **APDescriptor** — a metadata block embedded in the `.bin` file that contains the target board ID, firmware version, and a checksum.
PX4 uses this descriptor to match each binary to the correct node and to determine whether an update is needed.
:::
### Firmware Directories
Place firmware binaries in one of these locations on the SD card before rebooting:
- **SD card root** (`/fs/microsd/`): Simplest option for manual updates.
- **Staging directory** (`/fs/microsd/ufw_staging/`): Preferred for remote/programmatic updates.
Files are moved to `/fs/microsd/ufw/` at boot before any node is flashed, avoiding write conflicts if firmware is uploaded while the vehicle is running.
On boot, PX4 scans both locations, reads the board ID from the _APDescriptor_ of each file, and copies them to `/fs/microsd/ufw/<board_id>.bin`.
The source file is then deleted.
Any connected node whose running version does not match is then flashed over the CAN bus.
### Firmware Database
A flat-file database at `/fs/microsd/ufw/FW.db` maps each board ID to the original firmware filename that was installed.
This may be queried by external tools to determine current firmware versions.
Example entry:
```txt
122.bin=122-1.17.63eeff1a.uavcan.bin
```
Entries are removed on boot if their corresponding firmware is not present.
### Remote Update
Remote updates can be made by uploading the corresponding bin files to `/fs/microsd/ufw_staging/`.
PX4 will then update firmware on next boot.
This approach enables efficient mass-update of binaries from archives (`.zip` or `.tar` that contains `.bin` files for the target CAN nodes).
Tools can:
1. Read the PX4 firmware database to determine what firmware is present
2. Extract the more-recent versions of matching firmware to the staging directory
PX4 does not provide such tools.
:::info
Auterion uses a form of this workflow to update CAN firmware to SkyNode based devices.
The `upload_skynode.sh` script with multiple `--ext-fw` flags is used to bundle a number of firmware files and upload them to a directory on the companion-computer part.
```sh
./Tools/auterion/upload_skynode.sh \
--ext-fw=build/auterion_canio_default/auterion_canio_default.uavcan.bin
--ext-fw=build/auterion_canio_default/another_default.uavcan.bin
...
--ext-fw=build/auterion_canio_default/some_other_default.uavcan.bin
```
Another tool then checks the firmware database and extracts just the relevant files to the PX4 firmware staging area.
:::
## 문제 해결
docs/ko/flight_controller/3dr_ctrl-n1.md
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@@ -0,0 +1,143 @@
# 3DR Control N1 Flight Controller
<Badge type="tip" text="PX4 v1.18" />
:::warning
PX4 does not manufacture this (or any) autopilot.
Contact [3DR](https://3dr.com/) for hardware support or compliance issues.
:::
The _3DR Control N1_ is a compact, high-performance, low-profile and lightweight flight controller designed and assembled in USA.
It runs PX4 on the [NuttX](https://nuttx.apache.org/) OS.
![3DR Control N1](../../assets/flight_controller/3dr_ctrl-n1/3dr_ctrl-n1.jpg)
:::info
This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
:::
:::tip
This flight controller requires a carrier board to work correctly.
Visit [3DR](https://3dr.wiki/autopilots/control-n1/) for available carrier boards and purchase information.
:::
## 주요 특징
- **Processor:** STMicro STM32H743 Arm Cortex-M7 up to 480 MHz, 1 MB RAM, 2 MB flash, 8 MB external flash
- **Sensors:**
- 2x InvenSense IIM-42653 IMU (6-DoF)
- Asahi Kasei AK09940A magnetometer
- Infineon DPS368 barometer
- **Interfaces:**
- 12x PWM motor outputs (DShot, bidirectional DShot, GPIO)
- 7x serial ports (3x with hardware flow control)
- 2x FD-CAN (up to 8 Mbps)
- 2x I2C (up to 400 kHz)
- 1x SPI (up to 40 MHz)
- 4x GPIO (push-pull, direct from MCU)
- 1x USB Full Speed (native STM32H7 port)
- 1x SDIO/SDMMC interface
- 1x addressable LED output (NeoPixel-compatible)
- Serial Wire Debug (SWD)
- **Dimensions:** 28 × 17.6 × 3.7 mm
- **Weight:** 2.32 g
- **Input Voltage:** 4.8 – 6.0 V
- **Typical Current draw**: ~230 mA
- **Operating Temperature:** -20 to 75 °C
- **Storage Temperature:** -40 to 85 °C
## 펌웨어 빌드
:::tip
Most users will not need to build this firmware!
It is pre-built and automatically installed by _QGroundControl_ when appropriate hardware is connected (PX4 v1.18 and later).
:::
To [build PX4](../dev_setup/building_px4.md) for this target:
```sh
make 3dr_ctrl-n1_default
```
## 커넥터
The Control N1 uses three Hirose DF40-series board-to-board connectors:
| 커넥터 | Pins | Part Number | Signals |
| ---- | ---- | ----------------------------------------------------------------------------------------------- | ---------------------------------------------------------- |
| J100 | 30 | DF40HC(3.5)-30DS-0.4V(51) | USART1, USART2, USART3, UART4, SDMMC, USB, ALARM |
| J200 | 30 | DF40HC(3.5)-30DS-0.4V(51) | USART6, FDCAN1, SPI, SWD, LED, BRD_EN |
| J300 | 80 | DF40HC(3.5)-80DS-0.4V(51) | UART7, UART8, FDCAN2, I2C, ADC, Motor outputs CH1–CH12 |
## 핀배열
This board is designed to be used with different carrier boards.
For the full pinout, visit the [3DR Control N1 Pinout Tool](https://docs.3dr.com/autopilots/control-n1/#pinout).
## 시리얼 포트 매핑
| 포트 | 커넥터 | Peripheral | Flow Control | Default Function |
| --- | ---- | ---------- | ------------ | ---------------- |
| SG1 | J100 | USART2 | Yes | TELEM1 |
| SG2 | J100 | UART4 | Yes | TELEM2 |
| SG3 | J300 | UART7 | Yes | User |
| SG4 | J100 | USART3 | No | GPS2 |
| SG5 | J100 | USART1 | No | User |
| SG6 | J200 | USART6 | No | RC |
| SG7 | J300 | UART8 | No | GPS1 |
## PWM 출력
The Control N1 has 12 PWM outputs, all routed through connector J300.
All outputs are FMU outputs with no separate IO coprocessor.
Each output supports PWM, OneShot, DShot, and bidirectional DShot.
GPIO mode is also available on all channels.
Outputs are grouped for DShot timing purposes.
All channels within a group must use the same protocol and rate.
| Group | Channels |
| ------- | -------- |
| Group 1 | CH1–CH4 |
| Group 2 | CH5–CH8 |
| Group 3 | CH9–CH12 |
## RC Setup
Serial port SG6 (USART6, connector J200) is mapped to `RC` by default and supports any protocol compatible with PX4's COMMON_RC driver: ELRS, CRSF, DSM/DSMX, GHST, and SBUS.
Connect your RC receiver's serial output to the SG6 RX line on J200.
Select and assign your preferred protocol in QGroundControl during initial setup.
## Carrier Boards
The Control N1 is designed to be used with a carrier board.
The following carrier boards are available from 3DR:
| 보드 | 설명 |
| --------------------------------------------------------------------------------------------------- | --------------------------------------------- |
| [CB1 Cuby](https://docs.3dr.com/autopilots/carrier-boards/r0026-cb1-cuby) | Compact square form factor |
| [CB2 Longy](https://docs.3dr.com/autopilots/carrier-boards/r0027-cb2-longy) | Thin form factor for space-constrained builds |
| [CB3 FPV](https://docs.3dr.com/autopilots/carrier-boards/r0033-cb3-fpv) | Optimized for FPV platforms |
| [CB4 Wing](https://docs.3dr.com/autopilots/carrier-boards/r0036-cb4-wing) | Fixed-wing and VTOL applications |
| [CN1 Prototyping Board](https://docs.3dr.com/autopilots/carrier-boards/r0037-cn1-prototyping-board) | Full signal access for development |
| [CN1 to CZ OEM Adapter](https://docs.3dr.com/autopilots/carrier-boards/r0034-cn1-to-czoem-adapter) | Adapter for Control Zero OEM carrier boards |
The image below shows the pinout of the CB2 Longy as a reference for connector layout and signal assignment.
![3DR Control N1 CB2 Longy Pinout](../../assets/flight_controller/3dr_ctrl-n1/3dr_ctrl-n1_cb2_longy_pinout.png)
## 디버그 포트
The [SWD debug port](../debug/swd_debug.md) signals (SWCLK, SWDIO) and BOOT0 are routed through connector **J200** on the Control N1 module.
The physical debug interface (connector type, pinout, and location) depends on the carrier board.
Depending on the carrier board, the debug connector may be a TC2030-compatible pad-of-nails (requires a [Tag-Connect TC2030](https://www.tag-connect.com/product/tc2030-ctx-nl-6-pin-no-legs-cable-for-use-with-cortex-processors) cable) or a 14-pin ARM Cortex JTAG/SWD header (Samtec FTSH-107, 2×7, 1.27 mm pitch).
Note that some carrier boards may not expose a debug interface.
Refer to your carrier board's documentation for the exact connector location and pinout.
## 추가 정보
- [3DR Control N1 documentation](https://docs.3dr.com/autopilots/control-n1)
docs/ko/flight_controller/airlink.md
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@@ -114,7 +114,7 @@ SmartAP AIRLink's Core edition is intended for medium to high volume production
![AIRLink Core](../../assets/flight_controller/airlink/airlink-core.jpg)
| 매개변수 | AIRLink Enterprise | AIRLink Core |
| Parameter | AIRLink Enterprise | AIRLink Core |
| ------------------- | --------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------- |
| Enclosure | Aluminum, with integrated heatsink and fan mounting option. | External heatsink or reasonable power dissipation should be provided by the design. |
| 크기 | L103 x W61 x H37 mm | L100 x W57 x H22 mm |
docs/ko/flight_controller/autopilot_experimental.md
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@@ -1,5 +1,9 @@
# Community Supported & Experimental Autopilots
:::tip
**Are you a manufacturer who wants to get a board supported by PX4?** See the [Manufacturer's Board Support Guide](../hardware/board_support_guide.md).
:::
:::tip
For more information about PX4 project autopilot board support levels see: [px4.io/autopilots/](https://px4.io/autopilots/).
:::
docs/ko/flight_controller/autopilot_manufacturer_supported.md
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# 제조사지원 자동항법장치
제조업체가 지원하는 자동조종장치는 제조업체에서 유지관리하고 지원합니다. 제조업체는 공식 발표후 4 개월 이내에 현재의 안정적인 PX4 릴리스와의 호환성을 제공을 약속합니다.
Manufacturer-supported autopilots are maintained and supported by a board manufacturer, who owns support for the board and keeps it working across PX4 releases.
:::tip
**Are you a manufacturer who wants to get a board supported by PX4?** See the [Manufacturer's Board Support Guide](../hardware/board_support_guide.md). It covers the process for all support levels, not just this category.
:::
:::tip
For more information about PX4 project autopilot board support levels see: [px4.io/autopilots/](https://px4.io/autopilots/).
@@ -12,6 +16,7 @@ This category includes boards that are not fully compliant with the pixhawk stan
이 카테고리의 보드는 다음과 같습니다.
- [3DR Control N1](../flight_controller/3dr_ctrl-n1.md)
- [Accton Godwit GA1](../flight_controller/accton-godwit_ga1.md)
- [AEDROX AEDROXH7](../flight_controller/aedrox_aedroxh7.md)
- [AirMind MindPX](../flight_controller/mindpx.md)
@@ -22,6 +27,7 @@ This category includes boards that are not fully compliant with the pixhawk stan
- [ARK Pi6X Flow Flight Controller](../flight_controller/ark_pi6x.md)
- [CBUnmanned H753-SOM](../flight_controller/cbunmanned_h753-som.md)
- [CORVON 743v1](../flight_controller/corvon_743v1.md)
- [CORVON 743v2](../flight_controller/corvon_743v2.md)
- [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)
docs/ko/flight_controller/corvon_743v2.md
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# CORVON 743v2
<Badge type="tip" text="PX4 v1.18" />
:::warning
PX4 does not manufacture this (or any) autopilot.
Contact the [manufacturer](https://corvon.tech) for hardware support or compliance issues.
:::
The _CORVON 743v2_ is a flight controller designed by Feikong Technology Co., Ltd under the CORVON brand.
It builds on the [CORVON 743v1](corvon_743v1.md) platform with significantly upgraded sensor and connectivity options: dual high-grade IMUs (ICM-42688P + BMI088), a high-precision BMP581 barometer, a dedicated DJI O4 Air Unit connector, an onboard Bluetooth module with a ceramic antenna, and dual analog battery monitoring channels.
The board uses [Pixhawk Autopilot Standard Connections](../flight_controller/autopilot_pixhawk_standard.md).
<img src="../../assets/flight_controller/corvon_743v2/corvon_743v2_top.jpg" width="300px" title="CORVON 743v2 Top Baseboard" /> <img src="../../assets/flight_controller/corvon_743v2/corvon_743v2_bottom.jpg" width="300px" title="CORVON 743v2 Bottom Interfaces" />
:::info
This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
:::
## 주요 특징
- **MCU:** STM32H743VIH6 (32 Bit Arm® Cortex®-M7, 480 MHz, 2MB Flash, 1MB RAM, TFBGA100 package)
- **IMU (Dual):** TDK InvenSense ICM-42688P (primary) + Bosch BMI088 accel/gyro (secondary)
- **Barometer:** Bosch BMP581 (high-precision)
- **Magnetometer:** iSentek IST8310
- **Interfaces:**
- 8x UARTs (including dedicated DJI O4 and Bluetooth ports)
- 1x CAN (DroneCAN / UAVCAN)
- 1x external I²C (with isolated 5V supply)
- 1x dedicated RC Input (SBUS / CRSF / ELRS)
- 12x PWM outputs (M1–M10 DShot-capable, M11 / M12 standard PWM for servos)
- SDMMC1 4-bit Micro-SD slot (high-speed logging)
- Dedicated DJI O4 Air Unit connector
- Onboard Bluetooth module with ceramic antenna (UART8, MAVLink pre-configured)
- **Power:**
- Dual analog battery voltage/current channels (BAT1 via the `PWM` 4-in-1 ESC connector, BAT2 via `B2V`/`B2I` pads)
- Voltage sensing up to 10S LiPo by default
- On-board BECs for peripheral power (consult manufacturer for exact rail specifications)
## 구매처
Order from [CORVON](https://corvon.tech).
## Physical / Mechanical
Refer to the manufacturer's datasheet for the latest mechanical drawing, mounting pattern, and weight specifications.
## 사양
### Processors & Sensors
- **FMU Processor:** STM32H743VIH6
- 32 Bit Arm® Cortex®-M7, 480 MHz
- 2MB Flash, 1MB RAM
- TFBGA100 (8 × 8 mm) package
- **On-board Sensors:**
- Accel/Gyro 1: TDK InvenSense ICM-42688P (SPI3)
- Accel/Gyro 2: Bosch BMI088 (SPI3)
- Barometer: Bosch BMP581 (I²C2, address `0x46`)
- Compass: iSentek IST8310 (I²C2, address `0x0E`)
### Power Configuration
The board provides **two independent analog battery monitoring channels**:
- **BAT1** - Battery voltage and current sensed from the `PWM` 4-in-1 ESC connector, on `ADC1_INP10` (voltage) and `ADC1_INP11` (current).
- **BAT2** - Auxiliary `B2V` / `B2I` solder pads for a second / redundant battery pack, sensed on `ADC1_INP4` (voltage) and `ADC1_INP8` (current).
Both channels feed PX4's standard analog battery driver with a default 21.2 voltage divider and 40 A/V current ratio, supporting up to 10S LiPo batteries out of the box.
:::info
The board does not expose the 5V rail / `system_power` sensing pins that PX4's commander power checks expect, so `CBRK_SUPPLY_CHK` (894281) is set by default to bypass the power supply and battery health checks used for arming and failsafe decisions. BAT1/BAT2 voltage and current monitoring is unaffected.
:::
## Connectors & Pinouts
The following image shows the physical connector and solder-pad layout, with the labels used in this document and in the firmware's `default.px4board`:
![CORVON 743v2 Ports & Connectors](../../assets/flight_controller/corvon_743v2/corvon743v2_portsconnection.png)
The board exposes the following connectors and solder pads:
- `TELEM1` (4-pin) - primary MAVLink radio link
- `04-AIR` (6-pin) - DJI O4 Air Unit (Digital VTX with MSP DisplayPort)
- `GPS` (6-pin JST-GH) - UBX / NMEA GPS, with the external compass I²C bus broken out on the same connector
- `TELEM2` (4-pin) - companion computer / secondary MAVLink
- `UART5` (4-pin) - generic auxiliary UART breakout
- `RCIN` (4-pin) - SBUS / CRSF / ELRS receiver input
- `UART7` pads (TX7 / RX7) - ESC Telemetry
- `CAN` (4-pin) - FDCAN1 (DroneCAN / UAVCAN)
- `I2C` (4-pin) - external I²C, isolated 5V supply for short-circuit protection
- `PWM` (8-pin) - 4-in-1 ESC connector (M1–M4 + power + ESC Telemetry)
- Onboard Bluetooth module (UART8) with ceramic antenna - MAVLink pre-configured
- `SWD` (4-pin) - hardware debug (SWCLK / SWDIO / 3V3 / GND)
The next image shows the individual solder-pad signal assignments on both the top and bottom of the board for advanced wiring (GPIO breakouts, ADC pads, etc.):
![CORVON 743v2 Solder Pad Map](../../assets/flight_controller/corvon_743v2/corvon743v2_pads.png)
### Standard Serial Port Mapping
| Physical UART | PCB Silk Label | PX4 Slot (QGC) | Default Usage |
| ------------- | ------------------------------- | --------------------------------- | --------------------------------------------------------------------------- |
| USART1 | `TELEM1` | TELEM 1 | MAVLink |
| USART2 | `04-AIR` | - | DJI O4 Air Unit (MSP DisplayPort) |
| USART3 | `GPS` | GPS 1 | GPS (plus external compass on shared I²C) |
| UART4 | `TELEM2` | TELEM 2 | MAVLink (Companion Link) |
| UART5 | `UART5` | **TELEM 3** | User Auxiliary |
| USART6 | `RCIN` | RC | RC Input (SBUS / CRSF / ELRS) |
| UART7 | `UART7` | **UART 6** | ESC Telemetry |
| UART8 | (onboard BT) | TELEM 4 | Bluetooth MAVLink @ 115200 (pre-configured) |
:::tip
The silk labels `UART5` and `UART7` on the PCB refer to the STM32H743's physical UART numbers.
In QGroundControl these ports appear as `TELEM 3` and `UART 6` respectively, because of PX4's internal serial-slot abstraction.
When assigning a service in QGroundControl, look up the silk label in the **PCB Silk Label** column to find the corresponding **PX4 Slot** name.
:::
### 디버그 포트
The board features a **4-pin SWD Debug** interface (SWCLK / SWDIO / 3V3 / GND) for hardware debugging.
There is no dedicated NSH console UART; the NSH console is exposed over USB CDC out of the box and is available via QGroundControl's MAVLink Console.
### RC Input
RC Input is mapped to **USART6** through the dedicated `RCIN` connector.
Both the receive line (`RX6`, internally invert-capable for SBUS) and the transmit line (`TX6`) are broken out, so the port supports:
- Single-wire SBUS (inverted)
- TBS Crossfire (CRSF)
- ExpressLRS (ELRS)
- FPort, Spektrum DSM, Graupner SUMD, and others
Configure the receiver protocol with the relevant `RC_*_PRT_CFG` parameter from QGroundControl, pointing it at the `RC` slot.
### PWM Output Groups
The 12 PWM outputs are organized into four timer groups. Channels in the same group must use the same output rate and DShot mode:
| Group | Timer | Channels | Default Protocol |
| ----- | ----- | -------- | -------------------------------------------- |
| 1 | TIM1 | M1–M4 | DShot600 |
| 2 | TIM3 | M5–M6 | DShot600 |
| 3 | TIM4 | M7–M10 | DShot600 |
| 4 | TIM12 | M11–M12 | PWM only (servo / gimbal) |
M1–M9 support BDShot telemetry readback; M10 is DShot-only because `TIM4_CH4` has no input-capture DMA channel on STM32H7. Bidirectional DShot can be enabled by setting `PWM_MAIN_TIM0..2` to a BDShot value (`-6` BDShot600, `-7` BDShot300, `-8` BDShot150) in QGroundControl.
Channels within the same group need to use the same output rate.
If any channel in a group uses DShot then all channels in the group need to use DShot.
### Bluetooth Telemetry (Pre-configured)
The board has an onboard Bluetooth module with a ceramic antenna, wired internally to `UART8`.
The factory firmware pre-binds MAVLink instance 2 to this port at **115200 baud with no flow control**, so the link works out of the box: just pair the board from a phone or tablet GCS - no QGroundControl parameter changes required.
## Building / Loading Firmware
:::tip
Most users will not need to build this firmware (from PX4 v1.18).
It is pre-built and automatically installed by _QGroundControl_ when appropriate hardware is connected.
:::
To [build PX4](../dev_setup/building_px4.md) for this target from source:
```sh
make corvon_743v2_default
```
Initial firmware flashing can be done over USB via QGroundControl.
The bootloader status follows the standard generic PX4 LED indications (Red = Bootloader / Error, Blue = Active / Activity, Green = Powered).
docs/ko/flight_controller/index.md
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@@ -18,6 +18,10 @@ Information about how to choose a PX4-compatible flight controller and the avail
There may be other [Pixhawk Series](../flight_controller/pixhawk_series.md) compatible flight controllers and variants, including those [documented here on Github](https://github.com/PX4/PX4-Autopilot/#supported-hardware).
:::
:::tip
**Hardware manufacturers:** to get a new flight controller supported by PX4, see the [Manufacturer's Board Support Guide](../hardware/board_support_guide.md).
:::
## Flight Controller Mounting and Setup
Information about how to mount the flight controller, upload firmware (replacing an incompatible bootloader if needed), and configure its internal sensors and orientation:
docs/ko/flight_controller/kakuteh7.md
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@@ -109,7 +109,7 @@ If you are loading the pre-built firmware via QGroundControl, you must use QGC D
In addition to the [basic configuration](../config/index.md), the following parameters are important:
| 매개변수 | 설정 |
| Parameter | 설정 |
| -------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------ |
| [SYS_HAS_MAG](../advanced_config/parameter_reference.md#SYS_HAS_MAG) | 보드에 내부 자력계가 없기 때문에 비활성화하여야 합니다. 외부 자력계를 연결하여 활성화 할 수 있습니다. |
docs/ko/flight_controller/kakuteh7mini.md
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@@ -116,7 +116,7 @@ KakuteH7mini is supported with PX4 main and v1.14 or newer.
In addition to the [basic configuration](../config/index.md), the following parameters are important:
| 매개변수 | 설정 |
| Parameter | 설정 |
| -------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------ |
| [SYS_HAS_MAG](../advanced_config/parameter_reference.md#SYS_HAS_MAG) | 보드에 내부 자력계가 없기 때문에 비활성화하여야 합니다. 외부 자력계를 연결하여 활성화 할 수 있습니다. |
docs/ko/flight_controller/kakuteh7v2.md
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View File
@@ -113,7 +113,7 @@ KakuteH7v2 is supported with PX4 main and v1.14 or newer.
In addition to the [basic configuration](../config/index.md), the following parameters are important:
| 매개변수 | 설정 |
| Parameter | 설정 |
| -------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------ |
| [SYS_HAS_MAG](../advanced_config/parameter_reference.md#SYS_HAS_MAG) | 보드에 내부 자력계가 없기 때문에 비활성화하여야 합니다. 외부 자력계를 연결하여 활성화 할 수 있습니다. |
docs/ko/flight_controller/pixhawk_series.md
+1 -1
View File
@@ -146,6 +146,6 @@ _Pixhawk_ is a trademark, and cannot be used in product names without permission
All _Pixhawk-series_ flight controllers support:
- A user facing RGB _UI LED_ to indicate the current _readiness to fly_ status of the vehicle. This is typically a superbright I2C peripheral, which may or may not be mounted on the board (i.e. FMUv4 does not have one on board and typically uses an LED mounted on the GPS).
- Three _Status LED_s that provide lower level power status, bootloader mode and activity, and error information.
- Three _Status LE&#x44;_&#x73; that provide lower level power status, bootloader mode and activity, and error information.
To interpret the LEDs see: [LED Meanings](../getting_started/led_meanings.md).
docs/ko/flight_controller/radiolink_pix6.md
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@@ -271,7 +271,7 @@ make radiolink_PIX6_default
In addition to the [basic configuration](../config/index.md), the following parameters are important:
| 매개변수 | 설정 |
| Parameter | 설정 |
| -------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------ |
| [SYS_HAS_MAG](../advanced_config/parameter_reference.md#SYS_HAS_MAG) | 보드에 내부 자력계가 없기 때문에 비활성화하여야 합니다. 외부 자력계를 연결하여 활성화 할 수 있습니다. |
docs/ko/flight_controller/vololand_narinfc_h7.md
+205
View File
@@ -0,0 +1,205 @@
# VOLOLAND NarinFC-H7
<Badge type="tip" text="PX4 v1.17" />
:::warning
PX4 does not manufacture this (or any) autopilot.
Contact the [manufacturer](https://vololand.com) for hardware support or compliance issues.
:::
The NarinFC-H7 is an advanced flight controller produced by [VOLOLAND Inc.](https://vololand.com).
It uses a high-performance STM32H7 processor and integrates industrial-grade sensors for improved performance and reliability.
![NarinFC-H7](../../assets/flight_controller/narinfc_h7/narinfc_header.jpg)
:::info
This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
:::
## 주요 특징
### Processors & Sensors
- FMU Processor: STM32H743
- 내장 센서 :
- Accelerometer/Gyroscope: ADIS16470
- 가속도계/자이로스코프 : ICM-20649
- 가속도계/자이로스코프 : BMI088
- 자력계 : RM3100
- Barometer: MS5611 x2
### 인터페이스
- 14 PWM servo outputs
- Multiple RC inputs (SBUS / CPPM / DSM)
- Analog/PWM RSSI input
- 2 GPS ports (GPS and UART4)
- 4x I2C buses
- 2x CAN bus ports
- 2x Power ports
- 2x ADC ports
- 1x USB port
### 전기 데이터
- Power input: 4.3V ~ 5.4V
- USB input: 4.75V ~ 5.25V
### 기계식 부품
- Dimensions: 93.4 x 46.4 x 34.1 mm
- Weight: 106g
## Where to Buy {#store}
Order from [VOLOLAND Inc.](https://vololand.com).
## 연결
![Wire Diagram](../../assets/flight_controller/narinfc_h7/3_wire_diagram.png)
## 크기
![Outline Dimensions](../../assets/flight_controller/narinfc_h7/2_outline_dimensions.png)
## 핀배열
![Port Diagram A](../../assets/flight_controller/narinfc_h7/4_port_diagram_pin_outs_diagram-a.png)
### TELEM1 / TELEM2 Port
![TELEM Pinout](../../assets/flight_controller/narinfc_h7/4_1_telem1_telem2_port_jst_gh_6p_connector.png)
- JST GH 6P connector
### CAN1 / CAN2 Port
![CAN Port](../../assets/flight_controller/narinfc_h7/4_2_can1_can2_port_jst_hg_4p_connector.png)
- JST GH 4P connector
- Communication Protocol: UAVCAN v0 (default), UAVCAN v1 (limited support)
- Pin Configuration: CAN_H, CAN_L, VCC, GND
### I2C1, I2C2, I2C3, I2C4 Port
![I2C Port](../../assets/flight_controller/narinfc_h7/4_3_i2c1_i2c2_i2c3_i2c4_port_jst_gh_4p_connector.png)
- JST GH 4P connector
### UART4 Port
![UART Port](../../assets/flight_controller/narinfc_h7/4_4_uart4_port_jst_gh_6p_connector.png)
- JST GH 6P connector
### RSSI Port
![RSSI input](../../assets/flight_controller/narinfc_h7/13_rssi.png)
- RSSI input
### GPS & Safety Port
![GPS & Safety Port](../../assets/flight_controller/narinfc_h7/4_5_gps_safety_port_jst_gh_10p_connector.png)
- JST GH 10P connector
![Port Diagram B](../../assets/flight_controller/narinfc_h7/4_port_diagram_pin_outs_diagram-b.png)
### PWM & RC_IN
The NarinFC-H7 supports up to 14 PWM outputs.
![PWM Out](../../assets/flight_controller/narinfc_h7/4_6_pwm_out_m1-m14.png)
- 2.54mm pitch DuPont connector
- RC_IN: Remote control receiver input is wired directly to the FMU and is enabled via the `rc_input` driver. Compatible with SBUS, CPPM, and DSM protocols.
### Power Input
![Power Input](../../assets/flight_controller/narinfc_h7/4_7_power_input.png)
- 2mm pitch DuPont connector
### ADC Port
![ADC input](../../assets/flight_controller/narinfc_h7/12_adc.png)
### DEBUG / UART7 Port
UART7 is labelled DEBUG RX/TX.
![DEBUG Port](../../assets/flight_controller/narinfc_h7/4_8_debug_port_jst_hg_6p_connector.png)
- JST GH 6P connector
### USB Port
- USB-C
### SPI Port
![SPI Port](../../assets/flight_controller/narinfc_h7/4_10_spi_port_jst_gh_7p_connector.png)
- JST GH 7P connector
## 시리얼 포트 매핑
| UART | 장치 | 포트 |
| ------ | ---------- | ------ |
| USART1 | /dev/ttyS0 | GPS1 |
| USART2 | /dev/ttyS1 | TELEM1 |
| UART4 | /dev/ttyS2 | GPS2 |
| USART6 | /dev/ttyS3 | TELEM2 |
| UART8 | /dev/ttyS4 | User |
| UART7 | /dev/ttyS5 | Debug |
## PWM Output
The NarinFC-H7 supports up to 14 PWM outputs.
All outputs except M13 and M14 support DShot.
Outputs 1-8 support Bi-Directional DShot.
The 14 PWM outputs are in 4 groups:
- Outputs 1, 2, 3, and 4 in group1
- Outputs 5, 6, 7, and 8 in group2
- Outputs 9, 10, 11, and 12 in group3
- Outputs 13 and 14 in group4
All outputs within the same group must use the same output rate and protocol.
## Analog Inputs
The NarinFC-H7 has 2 user-accessible analog inputs:
- ADC Pin4 → SPARE1_ADC1 (6.6V tolerant)
- ADC Pin18 → SPARE2_ADC1 (3.3V tolerant)
Additional internal ADC channels:
- ADC Pin16 → BATT_VOLTAGE_SENS
- ADC Pin17 → BATT_CURRENT_SENS
- ADC Pin14 → BATT2_VOLTAGE_SENS
- ADC Pin2 → BATT2_CURRENT_SENS
- ADC Pin6 → RSSI_IN
- ADC Pin8 → VDD_5V_SENS
- ADC Pin11 → SCALED_V3V3
## 펌웨어 빌드
:::tip
Most users will not need to build this firmware!
It is pre-built and automatically installed by _QGroundControl_ when appropriate hardware is connected.
:::
To [build PX4](../dev_setup/building_px4.md) for this target:
```sh
make narinfc_h7_default
```
## 지원 플랫폼 및 기체
일반 RC 서보 또는 Futaba S-Bus 서보로 제어 가능한 모든 멀티콥터/비행기/로버 또는 보트.
The complete set of supported configurations can be seen in the [Airframes Reference](../airframes/airframe_reference.md).
docs/ko/flight_modes/offboard.md
+33 -34
View File
@@ -17,15 +17,15 @@ A good understanding of [PX4 controller diagrams](../flight_stack/controller_dia
The vehicle obeys position, velocity, acceleration, attitude, attitude rates or thrust/torque setpoints provided by some source that is external to the flight stack, such as a companion computer.
The setpoints may be provided using MAVLink (or a MAVLink API such as [MAVSDK](https://mavsdk.mavlink.io/)) or by [ROS 2](../ros2/index.md).
PX4 requires that the external controller provides a continuous 2Hz "proof of life" signal, by streaming any of the supported MAVLink setpoint messages or the ROS 2 [OffboardControlMode](../msg_docs/OffboardControlMode.md) message.
PX4 enables switching to offboard control mode only after receiving the signal for more than a second, and will failsafe (controlled by [COM_OBL_RC_ACT](../advanced_config/parameter_reference.md#COM_OBL_RC_ACT)) if the signal stops.
PX4 requires that the external controller provides a continuous "proof of life" signal by streaming any of the supported MAVLink setpoint messages or the ROS 2 [OffboardControlMode](../msg_docs/OffboardControlMode.md) message.
The stream should be active before switching to Offboard mode, and PX4 will trigger the configured Offboard-loss failsafe action ([COM_OBL_RC_ACT](../advanced_config/parameter_reference.md#COM_OBL_RC_ACT)) if proof-of-life messages are not received within the timeout configured by [COM_OF_LOSS_T](#COM_OF_LOSS_T).
::: info
- This mode requires position or pose/attitude information - e.g. GPS, optical flow, visual-inertial odometry, mocap, etc. depending on the type of offboard setpoints that the external controller sends.
- Manual control is disabled except to change modes (you can also fly without any manual controller at all by setting the parameter [COM_RC_IN_MODE](../advanced_config/parameter_reference.md#COM_RC_IN_MODE) to `4: Disable manual control`).
- The vehicle must already be receiving a stream of MAVLink setpoint messages or ROS 2 [OffboardControlMode](../msg_docs/OffboardControlMode.md) messages before arming in offboard mode or switching to offboard mode when flying.
- The vehicle will exit offboard mode if MAVLink setpoint messages or `OffboardControlMode` are not received at a rate of > 2Hz.
- The vehicle will exit Offboard mode if MAVLink setpoint messages or `OffboardControlMode` messages stop being received for longer than the timeout configured by [COM_OF_LOSS_T](#COM_OF_LOSS_T).
- Not all coordinate frames and field values allowed by MAVLink are supported for all setpoint messages and vehicles.
Read the sections below _carefully_ to ensure only supported values are used.
@@ -34,10 +34,9 @@ PX4 enables switching to offboard control mode only after receiving the signal f
## 설명
Offboard mode is used for controlling vehicle movement and attitude, by setting position, velocity, acceleration, attitude, attitude rates or thrust/torque setpoints.
PX4 must receive a stream of MAVLink setpoint messages or the ROS 2 [OffboardControlMode](../msg_docs/OffboardControlMode.md) at 2 Hz as proof that the external controller is healthy.
The stream must be sent for at least a second before PX4 will arm in offboard mode, or switch to offboard mode when flying.
If the rate falls below 2Hz while under external control PX4 will switch out of offboard mode after a timeout ([COM_OF_LOSS_T](#COM_OF_LOSS_T)), and attempt to land or perform some other failsafe action.
PX4 must receive a stream of MAVLink setpoint messages or the ROS 2 [OffboardControlMode](../msg_docs/OffboardControlMode.md) message as proof that the external controller is healthy.
The stream should be active before PX4 arms in Offboard mode or switches to Offboard mode when flying.
If MAVLink setpoint messages or `OffboardControlMode` messages stop being received for longer than the timeout configured by [COM_OF_LOSS_T](#COM_OF_LOSS_T), PX4 will switch out of Offboard mode and attempt to land or perform some other failsafe action.
The action depends on whether or not RC control is available, and is defined in the parameter [COM_OBL_RC_ACT](#COM_OBL_RC_ACT).
When using MAVLink the setpoint messages convey both the signal to indicate that the external source is "alive", and the setpoint value itself.
@@ -130,7 +129,7 @@ For fixed-wing offboard control, please refer to the [PX4 ROS 2 Interface Librar
- [px4_msgs::msg::TrajectorySetpoint](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/TrajectorySetpoint.msg)
- 다음 입력 조합이 지원됩니다.
- The following input combinations are supported:
- Position setpoint (`position` different from `NaN`). Non-`NaN` values of velocity and acceleration are used as feedforward terms for the inner loop controllers.
- Velocity setpoint (`velocity` different from `NaN` and `position` set to `NaN`). Non-`NaN` values of acceleration are used as feedforward terms for the inner loop controllers.
- Acceleration setpoint (`acceleration` different from `NaN` and `position` and `velocity` set to `NaN`)
@@ -163,7 +162,7 @@ For fixed-wing offboard control, please refer to the [PX4 ROS 2 Interface Librar
- All the values are in the drone body FRD frame.
The rates are in `[rad/s]` while thrust_body is normalized in `[-1, 1]`.
### 탐사선
### Rover
Rover modules must set the control mode using `OffboardControlMode` and use the appropriate messages to configure the corresponding setpoints.
The approach is similar to other vehicle types, but the allowed control mode combinations and setpoints are different:
@@ -253,7 +252,7 @@ The following offboard control modes bypass all internal PX4 control loops and s
The following MAVLink messages and their particular fields and field values are allowed for the specified vehicle frames.
### 멀티콥터/VTOL
### Copter/VTOL
- [SET_POSITION_TARGET_LOCAL_NED](https://mavlink.io/en/messages/common.html#SET_POSITION_TARGET_LOCAL_NED)
- The following input combinations are supported: <!-- https://github.com/PX4/PX4-Autopilot/blob/main/src/lib/FlightTasks/tasks/Offboard/FlightTaskOffboard.cpp#L166-L170 -->
@@ -283,7 +282,7 @@ The following MAVLink messages and their particular fields and field values are
- PX4 supports the following `coordinate_frame` values (only): [MAV_FRAME_GLOBAL_INT](https://mavlink.io/en/messages/common.html#MAV_FRAME_GLOBAL_INT), [MAV_FRAME_GLOBAL_RELATIVE_ALT_INT](https://mavlink.io/en/messages/common.html#MAV_FRAME_GLOBAL_RELATIVE_ALT_INT), [MAV_FRAME_GLOBAL_TERRAIN_ALT_INT](https://mavlink.io/en/messages/common.html#MAV_FRAME_GLOBAL_TERRAIN_ALT_INT).
- [SET_ATTITUDE_TARGET](https://mavlink.io/en/messages/common.html#SET_ATTITUDE_TARGET)
- 다음 입력 조합이 지원됩니다.
- The following input combinations are supported:
- Attitude/orientation (`SET_ATTITUDE_TARGET.q`) with thrust setpoint (`SET_ATTITUDE_TARGET.thrust`).
- Body rate (`SET_ATTITUDE_TARGET` `.body_roll_rate` ,`.body_pitch_rate`, `.body_yaw_rate`) with thrust setpoint (`SET_ATTITUDE_TARGET.thrust`).
@@ -298,15 +297,15 @@ The following MAVLink messages and their particular fields and field values are
:::
값들은 다음과 같습니다:
The values are:
- 292 : 글라이딩 설정점.
이는 추력이 없을 때 기체가 미끄러지도록하기 위해 고도보다 대기 속도를 우선하도록 TECS를 구성합니다 (즉, 속도를 조절하기 위해 피치가 제어 됨).
- 292: Gliding setpoint.
This configures TECS to prioritize airspeed over altitude in order to make the vehicle glide when there is no thrust (i.e. pitch is controlled to regulate airspeed).
It is equivalent to setting `type_mask` as `POSITION_TARGET_TYPEMASK_Z_IGNORE`, `POSITION_TARGET_TYPEMASK_VZ_IGNORE`, `POSITION_TARGET_TYPEMASK_AZ_IGNORE`.
- 4096 : 이륙 설정점.
- 8192: 착륙 설정점.
- 12288 : Loiter 설정점 (설정점을 중심으로 선회 비행합니다).
- 16384 : 유휴 설정점 (제로 스로틀, 제로 롤/피치).
- 4096: Takeoff setpoint.
- 8192: Land setpoint.
- 12288: Loiter setpoint (fly a circle centred on setpoint).
- 16384: Idle setpoint (zero throttle, zero roll / pitch).
- PX4 supports the coordinate frames (`coordinate_frame` field): [MAV_FRAME_LOCAL_NED](https://mavlink.io/en/messages/common.html#MAV_FRAME_LOCAL_NED) and [MAV_FRAME_BODY_NED](https://mavlink.io/en/messages/common.html#MAV_FRAME_BODY_NED).
@@ -320,21 +319,21 @@ The following MAVLink messages and their particular fields and field values are
:::
값들은 다음과 같습니다:
The values are:
- 4096 : 이륙 설정점.
- 8192: 착륙 설정점.
- 12288 : Loiter 설정점 (설정점을 중심으로 선회 비행합니다).
- 16384 : 유휴 설정점 (제로 스로틀, 제로 롤/피치).
- 4096: Takeoff setpoint.
- 8192: Land setpoint.
- 12288: Loiter setpoint (fly a circle centred on setpoint).
- 16384: Idle setpoint (zero throttle, zero roll / pitch).
- PX4 supports the following `coordinate_frame` values (only): [MAV_FRAME_GLOBAL_INT](https://mavlink.io/en/messages/common.html#MAV_FRAME_GLOBAL_INT), [MAV_FRAME_GLOBAL_RELATIVE_ALT_INT](https://mavlink.io/en/messages/common.html#MAV_FRAME_GLOBAL_RELATIVE_ALT_INT), [MAV_FRAME_GLOBAL_TERRAIN_ALT_INT](https://mavlink.io/en/messages/common.html#MAV_FRAME_GLOBAL_TERRAIN_ALT_INT).
- [SET_ATTITUDE_TARGET](https://mavlink.io/en/messages/common.html#SET_ATTITUDE_TARGET)
- 다음 입력 조합이 지원됩니다.
- The following input combinations are supported:
- Attitude/orientation (`SET_ATTITUDE_TARGET.q`) with thrust setpoint (`SET_ATTITUDE_TARGET.thrust`).
- Body rate (`SET_ATTITUDE_TARGET` `.body_roll_rate` ,`.body_pitch_rate`, `.body_yaw_rate`) with thrust setpoint (`SET_ATTITUDE_TARGET.thrust`).
### 탐사선
### Rover
Rover supports offboard control using the generic MAVLink position/velocity setpoint messages listed below.
These are converted into a [TrajectorySetpoint](../msg_docs/TrajectorySetpoint.md) internally, and then into rover setpoints by the rover offboard modes.
@@ -360,19 +359,19 @@ Rover MAVLink setpoints are gated by the MAVLink parameter [MAV_FWDEXTSP](../adv
- [SET_ATTITUDE_TARGET](https://mavlink.io/en/messages/common.html#SET_ATTITUDE_TARGET)
- Not supported for rover offboard control.
## 오프보드 매개변수
## Offboard Parameters
_Offboard mode_ is affected by the following parameters:
| 매개변수 | 설명 |
| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="COM_OF_LOSS_T"></a>[COM_OF_LOSS_T](../advanced_config/parameter_reference.md#COM_OF_LOSS_T) | Time-out (in seconds) to wait when offboard connection is lost before triggering offboard lost failsafe (`COM_OBL_RC_ACT`) |
| <a id="COM_OBL_RC_ACT"></a>[COM_OBL_RC_ACT](../advanced_config/parameter_reference.md#COM_OBL_RC_ACT) | Flight mode to switch to if offboard control is lost (Values are - `0`: _Position_, `1`: _Altitude_, `2`: _Manual_, `3`: _Return_, `4`: _Land_). |
| <a id="COM_RC_OVERRIDE"></a>[COM_RC_OVERRIDE](../advanced_config/parameter_reference.md#COM_RC_OVERRIDE) | Controls whether stick movement on a multicopter (or VTOL in MC mode) causes a mode change to [Position mode](../flight_modes_mc/position.md). 기본적으로 오프보드 모드에서는 활성화되지 않습니다. |
| <a id="COM_RC_STICK_OV"></a>[COM_RC_STICK_OV](../advanced_config/parameter_reference.md#COM_RC_STICK_OV) | The amount of stick movement that causes a transition to [Position mode](../flight_modes_mc/position.md) (if [COM_RC_OVERRIDE](#COM_RC_OVERRIDE) is enabled). |
| <a id="COM_RCL_EXCEPT"></a>[COM_RCL_EXCEPT](../advanced_config/parameter_reference.md#COM_RCL_EXCEPT) | Specify modes in which RC loss is ignored and the failsafe action not triggered. Set bit `2` to ignore RC loss in Offboard mode. |
| Parameter | 설명 |
| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="COM_OF_LOSS_T"></a>[COM_OF_LOSS_T](../advanced_config/parameter_reference.md#COM_OF_LOSS_T) | Time-out (in seconds) to wait when offboard connection is lost before triggering offboard lost failsafe (`COM_OBL_RC_ACT`) |
| <a id="COM_OBL_RC_ACT"></a>[COM_OBL_RC_ACT](../advanced_config/parameter_reference.md#COM_OBL_RC_ACT) | Flight mode to switch to if offboard control is lost. |
| <a id="COM_RC_OVERRIDE"></a>[COM_RC_OVERRIDE](../advanced_config/parameter_reference.md#COM_RC_OVERRIDE) | Controls whether stick movement on a multicopter (or VTOL in MC mode) causes a mode change to [Position mode](../flight_modes_mc/position.md). This is not enabled for offboard mode by default. |
| <a id="COM_RC_STICK_OV"></a>[COM_RC_STICK_OV](../advanced_config/parameter_reference.md#COM_RC_STICK_OV) | The amount of stick movement that causes a transition to [Position mode](../flight_modes_mc/position.md) (if [COM_RC_OVERRIDE](#COM_RC_OVERRIDE) is enabled). |
| <a id="COM_RCL_EXCEPT"></a>[COM_RCL_EXCEPT](../advanced_config/parameter_reference.md#COM_RCL_EXCEPT) | Specify modes in which RC loss is ignored and the failsafe action not triggered. Set bit `2` to ignore RC loss in Offboard mode. |
## 개발자 리소스
## Developer Resources
Typically developers do not directly work at the MAVLink layer, but instead use a robotics API like [MAVSDK](https://mavsdk.mavlink.io/) or [ROS](https://www.ros.org/) (these provide a developer friendly API, and take care of managing and maintaining connections, sending messages and monitoring responses - the minutiae of working with _Offboard mode_ and MAVLink).
docs/ko/flight_modes/return.md
+15 -20
View File
@@ -17,9 +17,9 @@ PX4는 홈 위치, 집결 ( "안전") 지점, 임무 경로 및 임무 착륙
- Flying vehicles can't switch to this mode without global position.
- Flying vehicles will failsafe if they lose the position estimate.
- Mode requires home position is set.
- Mode prevents arming (vehicle must be armed when switching to this mode).
- Mode prevents arming (vehicle cannot be armed while this mode is selected).
- RC 제어 스위치는 기체의 비행 모드를 변경할 수 있습니다.
- RC stick movement in a multicopter (or VTOL in multicopter mode) will [by default](#COM_RC_OVERRIDE) change the vehicle to [Position mode](../flight_modes_mc/position.md) unless handling a critical battery failsafe.
- RC stick movement in a multicopter (or VTOL in multicopter mode) will [by default](#COM_RC_OVERRIDE) change the vehicle to [Position mode](../flight_modes_mc/position.md) unless prevented by the active failsafe state.
- A VTOL will return as MC or FW based on its mode at the point the return mode was triggered.
In MC mode it will respect multicopter parameters, such as the landing "cone".
In FW mode it will respect fixed-wing parameters (ignore the cone), but unless using a mission landing, will transition to MC mode and land at the destination after loitering at the descent altitude.
@@ -40,9 +40,7 @@ This topic covers all the possible return types that any vehicle _might_ be conf
The following sections explain how to configure the [return type](#return_types), [minimum return altitude](#minimum-return-altitude) and [landing/arrival behaviour](#loiter-landing-at-destination).
<a id="return_types"></a>
## 복귀 유형(RTL_TYPE)
## Return Types (RTL_TYPE) {#return_types}
PX4 provides four alternative approaches for finding an unobstructed path to a safe destination and/or landing, which are set using the [RTL_TYPE](#RTL_TYPE) parameter.
@@ -169,7 +167,7 @@ In this case the vehicle follows mission waypoints, which we assume are planned
The return altitude for a fixed-wing vehicle or a VTOL in fixed-wing mode is configured using the parameter [RTL_RETURN_ALT](#RTL_RETURN_ALT) (does not use the code described in the next paragraph).
The return altitude for a multicopter or a VTOL vehicles in MC mode is configured using the parameters [RTL_RETURN_ALT](#RTL_RETURN_ALT) and [RTL_CONE_ANG](#RTL_CONE_ANG), which define a half cone centered around the destination (home location or safety point).
The return altitude for a multicopter (or VTOL vehicle in MC mode) is configured using the parameters [RTL_RETURN_ALT](#RTL_RETURN_ALT), [RTL_CONE_ANG](#RTL_CONE_ANG), and [RTL_MIN_DIST](#RTL_MIN_DIST), which together define a half cone centered around the destination (home location or safety point).
![Return mode cone](../../assets/flying/rtl_cone.jpg)
@@ -178,22 +176,19 @@ The return altitude for a multicopter or a VTOL vehicles in MC mode is configure
기체가 다음과 같은 경우 :
- Above [RTL_RETURN_ALT](#RTL_RETURN_ALT) (1) it will return at its current altitude.
- Below the cone it will return where it intersects the cone (2) or [RTL_DESCEND_ALT](#RTL_DESCEND_ALT) (whichever is higher).
- Outside the cone (3) it will first climb until it reaches [RTL_RETURN_ALT](#RTL_RETURN_ALT).
- 원뿔 내에서
- Above [RTL_DESCEND_ALT](#RTL_DESCEND_ALT) (4) it will return at its current altitude.
- Below [RTL_DESCEND_ALT](#RTL_DESCEND_ALT) (5) it will first ascend to `RTL_DESCEND_ALT`.
- Outside of the radius defined [RTL_MIN_DIST](#RTL_MIN_DIST) (3) it will first climb until it reaches [RTL_RETURN_ALT](#RTL_RETURN_ALT).
- Below the cone and within [RTL_MIN_DIST](#RTL_MIN_DIST) it will climb to return at the cone intersection altitude (2), up to [RTL_RETURN_ALT](#RTL_RETURN_ALT).
- Inside the cone (4, 5) it will return at its current altitude.
참고:
- If [RTL_CONE_ANG](#RTL_CONE_ANG) is 0 degrees there is no "cone":
- the vehicle returns at `RTL_RETURN_ALT` (or above).
- If [RTL_CONE_ANG](#RTL_CONE_ANG) is 90 degrees the vehicle will return at the greater of `RTL_DESCEND_ALT` and the current altitude.
- The vehicle will always ascend at least [RTL_DESCEND_ALT](#RTL_DESCEND_ALT) for the return.
- If [RTL_CONE_ANG](#RTL_CONE_ANG) is 90 degrees the vehicle will generally return at its current altitude when close to the destination. The return altitude may still be constrained to avoid flying too low while approaching the destination.
## 기체 기본 동작
Unless executing a [mission landing pattern](#mission-landing-pattern) as part of the return mode, the vehicle will arrive at its destination, and rapidly descend to the [RTL_DESCEND_ALT](#RTL_DESCEND_ALT) altitude, where it will loiter for [RTL_LAND_DELAY](#RTL_LAND_DELAY) before landing.
Unless executing a [mission landing pattern](#mission-landing-pattern) as part of the return mode, the vehicle will arrive at its destination, and rapidly descend to the [RTL_DESCEND_ALT](#RTL_DESCEND_ALT) altitude (if above that altitude), where it will loiter for [RTL_LAND_DELAY](#RTL_LAND_DELAY) before landing.
If `RTL_LAND_DELAY=-1` it will loiter indefinitely.
The default landing configuration is vehicle dependent:
@@ -217,16 +212,16 @@ For this reason fixed-wing vehicles are configured to use [Mission landing/reall
The RTL parameters are listed in [Parameter Reference > Return Mode](../advanced_config/parameter_reference.md#return-mode) (and summarised below).
| 매개변수 | 설명 |
| Parameter | 설명 |
| -------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="RTL_TYPE"></a>[RTL_TYPE](../advanced_config/parameter_reference.md#RTL_TYPE) | Return mechanism (path and destination).<br>`0`: Return to a rally point or home (whichever is closest) via direct path.<br>`1`: Return to a rally point or the mission landing pattern start point (whichever is closest), via direct path. 임무 착륙 또는 집결 지점이 모두 정의되지 않은 경우에는 직접 경로를 통해 홈으로 복귀합니다. If the destination is a mission landing pattern, follow the pattern to land.<br>`2`: Use the mission path to landing while skipping DO_JUMP and other non-position mission items if a landing pattern is defined, otherwise fast-reverse to home with the same traversal rules. 랠리포인트를 무시합니다. Fly direct to home if no mission plan is defined.<br>`3`: Return via direct path to closest destination: home, start of mission landing pattern or safe point. 목적지가 임무 착륙 패턴인 경우 패턴을 따라 착륙합니다. |
| <a id="RTL_RETURN_ALT"></a>[RTL_RETURN_ALT](../advanced_config/parameter_reference.md#RTL_RETURN_ALT) | Return altitude in meters (default: 60m) when [RTL_CONE_ANG](../advanced_config/parameter_reference.md#RTL_CONE_ANG) is 0. 이미 이 값을 초과하면 기체는 현재 고도로 복귀합니다. |
| <a id="RTL_DESCEND_ALT"></a>[RTL_DESCEND_ALT](../advanced_config/parameter_reference.md#RTL_DESCEND_ALT) | 기체가 더 높은 복귀 고도에서 감속하거나 초기 하강을 중지할 최소 복귀 고도 및 고도 (기본값 : 30m) |
| <a id="RTL_LAND_DELAY"></a>[RTL_LAND_DELAY](../advanced_config/parameter_reference.md#RTL_LAND_DELAY) | Time to wait at `RTL_DESCEND_ALT` before landing (default: 0.5s) -by default this period is short so that the vehicle will simply slow and then land immediately. If set to -1 the system will loiter at `RTL_DESCEND_ALT` rather than landing. 이 지연은 랜딩 기어가 배치될 시간을 설정합니다. (자동으로 동작함). |
| <a id="RTL_MIN_DIST"></a>[RTL_MIN_DIST](../advanced_config/parameter_reference.md#RTL_MIN_DIST) | 홈 위치에서 "원뿔"에 지정된 복귀 고도까지 상승을 시작하는 최소 수평 거리. If the vehicle is horizontally closer than this distance to home, it will return at its current altitude or `RTL_DESCEND_ALT` (whichever is higher) instead of first ascending to RTL_RETURN_ALT. |
| <a id="RTL_CONE_ANG"></a>[RTL_CONE_ANG](../advanced_config/parameter_reference.md#RTL_CONE_ANG) | 기체 RTL 리턴 고도를 정의하는 원뿔의 반각. 값 (도) : 0, 25, 45, 65, 80, 90. Note that 0 is "no cone" (always return at `RTL_RETURN_ALT` or higher), while 90 indicates that the vehicle must return at the current altitude or `RTL_DESCEND_ALT` (whichever is higher). |
| <a id="RTL_DESCEND_ALT"></a>[RTL_DESCEND_ALT](../advanced_config/parameter_reference.md#RTL_DESCEND_ALT) | Altitude above the destination used for the final descent before landing or loitering (default: 30m). |
| <a id="RTL_LAND_DELAY"></a>[RTL_LAND_DELAY](../advanced_config/parameter_reference.md#RTL_LAND_DELAY) | Time to wait at `RTL_DESCEND_ALT` before landing (default: 0.5s) - by default this period is short so that the vehicle will simply slow and then land immediately. If set to -1 the system will loiter at `RTL_DESCEND_ALT` rather than landing. 이 지연은 랜딩 기어가 배치될 시간을 설정합니다. (자동으로 동작함). |
| <a id="RTL_MIN_DIST"></a>[RTL_MIN_DIST](../advanced_config/parameter_reference.md#RTL_MIN_DIST) | Within this distance from the return destination, the return altitude is calculated from the "cone" rather than directly from `RTL_RETURN_ALT`. |
| <a id="RTL_CONE_ANG"></a>[RTL_CONE_ANG](../advanced_config/parameter_reference.md#RTL_CONE_ANG) | 기체 RTL 리턴 고도를 정의하는 원뿔의 반각. Values (in degrees): `0`, `25`, `45`, `65`, `80`, `90`. Note that `0` is "no cone" (always return at `RTL_RETURN_ALT` or higher), while `90` indicates an almost vertical cone, so the vehicle generally returns at its current altitude when close to the destination. The return altitude may still be constrained to avoid flying too low while approaching the destination. |
| <a id="RTL_APPR_FORCE"></a>[RTL_APPR_FORCE](../advanced_config/parameter_reference.md#RTL_APPR_FORCE) | [VTOL FW only] If set, home or rally-point RTL destinations are only considered when a valid VTOL approach loiter is defined for that landing location. Mission landing patterns are unaffected. |
| <a id="COM_RC_OVERRIDE"></a>[COM_RC_OVERRIDE](../advanced_config/parameter_reference.md#COM_RC_OVERRIDE) | Controls whether stick movement on a multicopter (or VTOL in MC mode) causes a mode change to [Position mode](../flight_modes_mc/position.md) (except when vehicle is handling a critical battery failsafe). 자동 모드와 오프보드 모드에 대해 별도로 활성화할 수 있으며, 기본적으로 자동 모드에서 활성화됩니다. |
| <a id="COM_RC_OVERRIDE"></a>[COM_RC_OVERRIDE](../advanced_config/parameter_reference.md#COM_RC_OVERRIDE) | Controls whether stick movement on a multicopter (or VTOL in MC mode) causes a mode change to [Position mode](../flight_modes_mc/position.md) (unless prevented by the active failsafe state). 자동 모드와 오프보드 모드에 대해 별도로 활성화할 수 있으며, 기본적으로 자동 모드에서 활성화됩니다. |
| <a id="COM_RC_STICK_OV"></a>[COM_RC_STICK_OV](../advanced_config/parameter_reference.md#COM_RC_STICK_OV) | The amount of stick movement that causes a transition to [Position mode](../flight_modes_mc/position.md) (if [COM_RC_OVERRIDE](#COM_RC_OVERRIDE) is enabled). |
| <a id="RTL_LOITER_RAD"></a>[RTL_LOITER_RAD](../advanced_config/parameter_reference.md#RTL_LOITER_RAD) | [Fixed-wing Only] The radius of the loiter circle (at [RTL_LAND_DELAY](#RTL_LAND_DELAY)). |
| <a id="MIS_TKO_LAND_REQ"></a>[MIS_TKO_LAND_REQ](../advanced_config/parameter_reference.md#MIS_TKO_LAND_REQ) | Specify whether a mission landing or takeoff pattern is _required_. Generally fixed-wing vehicles set this to require a landing pattern but VTOL do not. |
docs/ko/flight_modes_fw/acro.md
+1 -1
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@@ -18,7 +18,7 @@ Throttle is passed directly to control allocation.
## 매개변수
| 매개변수 | 설명 |
| Parameter | 설명 |
| -------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="FW_ACRO_X_MAX"></a>[FW_ACRO_X_MAX](../advanced_config/parameter_reference.md#FW_ACRO_X_MAX) | Acro body x max rate (the body x rate the controller is trying to achieve if the user applies full roll stick input in acro mode). Default: 90 degrees. |
| <a id="FW_ACRO_Y_MAX"></a>[FW_ACRO_Y_MAX](../advanced_config/parameter_reference.md#FW_ACRO_Y_MAX) | Acro body y max rate (the body y rate the controller is trying to achieve if the user applies full pitch stick input in acro mode). Default: 90 degrees. |
docs/ko/flight_modes_fw/altitude.md
+16 -1
View File
@@ -47,7 +47,7 @@ The vehicle course is not maintained, and can drift due to wind.
The mode is affected by the following parameters:
| 매개변수 | 설명 |
| Parameter | 설명 |
| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------- |
| <a id="FW_AIRSPD_MIN"></a>[FW_AIRSPD_MIN](../advanced_config/parameter_reference.md#FW_AIRSPD_MIN) | Min airspeed. Default: 10 m/s. |
| <a id="FW_AIRSPD_MAX"></a>[FW_AIRSPD_MAX](../advanced_config/parameter_reference.md#FW_AIRSPD_MAX) | Max airspeed. Default: 20 m/s. |
@@ -57,6 +57,21 @@ The mode is affected by the following parameters:
| <a id="FW_T_CLMB_R_SP"></a>[FW_T_CLMB_R_SP](../advanced_config/parameter_reference.md#FW_T_CLMB_R_SP) | Max climb rate setpoint. 기본값: 3 m/s. |
| <a id="FW_T_SINK_R_SP"></a>[FW_T_SINK_R_SP](../advanced_config/parameter_reference.md#FW_T_SINK_R_SP) | Max sink rate setpoint. Default: 2 m/s. |
## MAVLink Commands
The following commands are relevant to this mode:
- [MAV_CMD_DO_CHANGE_SPEED](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_CHANGE_SPEED) — Sets the cruise airspeed for centred throttle stick.
This requires an airspeed sensor.
Only the airspeed speed type is handled (`param1` must be `0`); other speed types are ignored.
At centered throttle the vehicle holds the commanded airspeed (`param2`) if a positive value is set (non-positive values are ignored).
The value is constrained between [FW_AIRSPD_MIN](../advanced_config/parameter_reference.md#FW_AIRSPD_MIN) and [FW_AIRSPD_MAX](../advanced_config/parameter_reference.md#FW_AIRSPD_MAX), and defaults to [FW_AIRSPD_TRIM](../advanced_config/parameter_reference.md#FW_AIRSPD_TRIM) if no airspeed has been commanded.
Deflecting the throttle stick scales the airspeed toward `FW_AIRSPD_MIN` (back) or `FW_AIRSPD_MAX` (forward) around this value.
The commanded airspeed resets to `FW_AIRSPD_TRIM` on every flight mode change.
Note, other commands may be supported.
<!--
FW notes:
FW position controller is basically 2 independent pieces
docs/ko/flight_modes_fw/guided_course.md
+2 -2
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@@ -52,7 +52,7 @@ Longitudinal control targets the altitude and airspeed from the setpoint.
Guided Course is classified as an `AUTO` mode for failsafe purposes.
The following failsafe exception parameters apply:
| 매개변수 | Bit | Effect when set |
| Parameter | Bit | Effect when set |
| -------------------------------------------------------------------------------------------------------------------- | --------------------------------- | ----------------------------------------------------------------- |
| [COM_RCL_EXCEPT](../advanced_config/parameter_reference.md#COM_RCL_EXCEPT) | 1 (Auto modes) | RC loss does not trigger a failsafe in this mode. |
| [COM_DLL_EXCEPT](../advanced_config/parameter_reference.md#COM_DLL_EXCEPT) | 1 (Auto modes) | GCS connection loss does not trigger a failsafe. |
@@ -65,7 +65,7 @@ It is strongly recommended to either leave the datalink failsafe active or ensur
## 매개변수
| 매개변수 | 설명 |
| Parameter | 설명 |
| -------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------- |
| [FW_AIRSPD_TRIM](../advanced_config/parameter_reference.md#FW_AIRSPD_TRIM) | Default cruise airspeed used on activation and when `MAV_CMD_DO_CHANGE_SPEED` is sent with value ≤ 0. |
| [FW_AIRSPD_MIN](../advanced_config/parameter_reference.md#FW_AIRSPD_MIN) | Minimum airspeed. Commanded airspeed is clamped to this value. |

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