From 7f8d2b5067e4bdcad8d64fa01b4bd9b34a27befd Mon Sep 17 00:00:00 2001 From: PX4 Build Bot Date: Mon, 24 Nov 2025 07:21:00 +1100 Subject: [PATCH] New Crowdin translations - uk (#25964) Co-authored-by: Crowdin Bot --- docs/uk/flight_controller/pixhawk_series.md | 18 ++++++++++++++++++ docs/uk/gps_compass/index.md | 8 ++++++++ docs/uk/middleware/uxrce_dds.md | 8 ++++++++ docs/uk/modules/hello_sky.md | 1 + 4 files changed, 35 insertions(+) diff --git a/docs/uk/flight_controller/pixhawk_series.md b/docs/uk/flight_controller/pixhawk_series.md index 0753bcb5f8..81cece0209 100644 --- a/docs/uk/flight_controller/pixhawk_series.md +++ b/docs/uk/flight_controller/pixhawk_series.md @@ -100,6 +100,24 @@ PX4 _developers_ need to know the FMU version of their board, as this is require +### FMUv6 Comparison + +| Характеристика | **FMUv6X-RT** | **FMUv6X** | **FMUv6C** | +| ------------------ | ------------------------------- | ------------- | ------------- | +| **FMU MCU** | NXP i.MX RT1176 | STM32H753 | STM32H743V | +| **RAM** | 2 MB | 1 MB | 1 MB | +| **Flash** | 64 MB Octal SPI | 2 MB internal | 2 MB internal | +| **IO MCU** | STM32F103 | STM32F103 | STM32F103 | +| **Secure Element** | NXP SE051 | NXP SE051 | Not supported | +| **PAB Standard** | Supported | Supported | Not supported | +| **Ethernet** | Supported | Supported | Not supported | +| **IMUs** | 3× | 3× | 2× | +| **Barometers** | 2× | 2× | 1× | +| **Magnetometer** | 1× | 1× | 1× | +| **FMU PWM** | 12× | 8× | 8× | +| **IO PWM** | 8× | 8× | 8× | +| **CAN Bus** | 3× | 2× | 2× | + ### Ліцензування та товарні знаки Pixhawk project schematics and reference designs are licensed under [CC BY-SA 3](https://creativecommons.org/licenses/by-sa/3.0/legalcode). diff --git a/docs/uk/gps_compass/index.md b/docs/uk/gps_compass/index.md index f44e79a66c..4a85a0f233 100644 --- a/docs/uk/gps_compass/index.md +++ b/docs/uk/gps_compass/index.md @@ -197,6 +197,14 @@ It is possible to have low DOP (good satellite geometry) but still have high EPH EPH/EPV values therefore provide a more immediate and practical estimate of the actual GPS accuracy you can expect under current conditions. +### GNSS Position Fusion + +GNSS position fusion will not begin until yaw alignment is established. +If a magnetometer is available, the EKF aligns yaw using the magnetic heading, allowing GPS position fusion to start soon after boot. +If no magnetometer is present, the system must rely on GPS yaw (from a dual-antenna setup) or movement-based yaw estimation. +Until one of these provides a valid heading, the EKF will not start GPS position fusion, and the vehicle will remain in a “no position” state even though attitude data is valid. +This behavior prevents large position errors that could occur when the yaw reference is uncertain. + ## Інформація для розробників - GPS/RTK-GPS diff --git a/docs/uk/middleware/uxrce_dds.md b/docs/uk/middleware/uxrce_dds.md index 8a9d2e2ec3..2f7f16aeba 100644 --- a/docs/uk/middleware/uxrce_dds.md +++ b/docs/uk/middleware/uxrce_dds.md @@ -516,6 +516,11 @@ publications: - topic: /fmu/out/vehicle_trajectory_waypoint_desired type: px4_msgs::msg::VehicleTrajectoryWaypoint + - topic: /fmu/out/vehicle_imu + type: px4_msgs::msg::VehicleImu + rate_limit: 50. + instance: 1 # OPTIONAL + subscriptions: - topic: /fmu/in/offboard_control_mode @@ -548,6 +553,9 @@ Each (`topic`,`type`) pairs defines: 4. The message type (`VehicleOdometry`, `VehicleStatus`, `OffboardControlMode`, etc.) and the ROS 2 package (`px4_msgs`) that is expected to provide the message definition. 5. **(Optional)**: An additional `rate_limit` field (only for publication entries), which specifies the maximum rate (Hz) at which messages will be published on this topic by PX4 to ROS 2. If left unspecified, the maximum publication rate limit is set to 100 Hz. +6. **(Optional)**: An additional `instance` field (only for publication entries), which lets you select which instance of a [multi-instance topic](./uorb.md#multi-instance) you want to be published to ROS 2. + If provided, this option changes the ROS 2 topic name of the advertised uORB topic appending the instance number: `fmu/out/[uorb topic name][instance]` (plus eventual namespace and message version). + In the example above the final topic name would be `/fmu/out/vehicle_imu1`. `subscriptions` and `subscriptions_multi` allow us to choose the uORB topic instance that ROS 2 topics are routed to: either a shared instance that may also be getting updates from internal PX4 uORB publishers, or a separate instance that is reserved for ROS2 publications, respectively. Without this mechanism all ROS 2 messages would be routed to the _same_ uORB topic instance (because ROS 2 does not have the concept of [multiple topic instances](../middleware/uorb.md#multi-instance)), and it would not be possible for PX4 subscribers to differentiate between streams from ROS 2 or PX4 publishers. diff --git a/docs/uk/modules/hello_sky.md b/docs/uk/modules/hello_sky.md index 80a2ad2685..90dfe6b40e 100644 --- a/docs/uk/modules/hello_sky.md +++ b/docs/uk/modules/hello_sky.md @@ -440,6 +440,7 @@ The [complete example code](https://github.com/PX4/PX4-Autopilot/blob/main/src/e */ #include +#include #include #include #include