New Crowdin translations - zh-CN (#24829)

Co-authored-by: Crowdin Bot <support+bot@crowdin.com>
2026-05-27 18:27:05 +08:00 · 2025-05-14 09:22:33 +10:00
parent 2b7710122e
commit 8adb439b58
14 changed files with 366 additions and 215 deletions
@@ -181,6 +181,7 @@
      - [Holybro Kakute H7v2](flight_controller/kakuteh7v2.md)
      - [Holybro Kakute H7mini](flight_controller/kakuteh7mini.md)
      - [Holybro Kakute H7](flight_controller/kakuteh7.md)
      - [Holybro Kakute H7 Wing](flight_controller/kakuteh7-wing.md)
      - [Holybro Durandal](flight_controller/durandal.md)
        - [Wiring Quickstart](assembly/quick_start_durandal.md)
      - [Holybro Pix32 v5](flight_controller/holybro_pix32_v5.md)
@@ -808,8 +809,10 @@
      - [测试 MC_05-室内飞行（手动模式）](test_cards/mc_05_indoor_flight_manual_modes.md)
    - [单元测试](test_and_ci/unit_tests.md)
    - [持续集成](test_and_ci/continous_integration.md)
-    - [MAVSDK集成测试](test_and_ci/integration_testing_mavsdk.md)
+    - [Integration Testing](test_and_ci/integration_testing.md)
-    - [ROS集成测试](test_and_ci/integration_testing.md)
+      - [MAVSDK集成测试](test_and_ci/integration_testing_mavsdk.md)
      - [PX4 ROS2 Interface Library Integration Testing](test_and_ci/integration_testing_px4_ros2_interface.md)
      - [ROS 1 Integration Testing](test_and_ci/integration_testing_ros1_mavros.md)
    - [Docker 容器](test_and_ci/docker.md)
    - [维护](test_and_ci/maintenance.md)
@@ -499,8 +499,8 @@ Since the Definitions and Data Sections use the same message header format, they
 - [MAVGAnalysis](https://github.com/ecmnet/MAVGCL): Java, ULog streaming via MAVLink and parser for plotting and analysis.
 - [PlotJuggler](https://github.com/facontidavide/PlotJuggler): C++/Qt application to plot logs and time series. 自版本2.1.3支持 ULog。
 - [ulogreader](https://github.com/maxsun/ulogreader): Javascript, ULog reader and parser outputs log in JSON object format.
- [Foxglove Studio](https://github.com/foxglove/studio): an integrated visualization and diagnosis tool for robotics
+- [Foxglove](https://foxglove.dev): an integrated visualization and diagnosis tool for robotics data that supports ULog files.
-  (Typescript ULog parser: https://github.com/foxglove/ulog).
+- [TypeScript ULog parser](https://github.com/foxglove/ulog): TypeScript, ULog reader that outputs JS objects.
 ## 文件格式版本历史
@@ -0,0 +1,84 @@
 # Holybro Kakute H7 V2
 :::warning
 PX4 does not manufacture this (or any) autopilot.
 Contact the [manufacturer](https://holybro.com/) for hardware support or compliance issues.
 :::
 The [Holybro Kakute H743 Wing](https://holybro.com/products/kakute-h743-wing) is a fully featured flight controller specifically aimed at fixed-wing and VTOL applications. It has the STM32 H743 Processor running at 480 MHz and CAN Bus support, along with dual camera support & switch, ON/OFF Pit Switch, 5V, 6V/8V, 9V/12 BEC, and plug-and-play GPS, CAN, I2C ports.
 :::info
 This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
 :::
 ## 购买渠道
 The board can be bought from one of the following shops (for example):
 - [Holybro](https://holybro.com/products/kakute-h743-wing)
 ## Connectors and Pins
 | 针脚               | 功能                                | PX4 default                                                   |
 | ---------------- | --------------------------------- | ------------------------------------------------------------- |
 | GPS 1            | USART1 and I2C1                   | GPS1                                                          |
 | R2, T2           | USART2 RX and TX                  | GPS2                                                          |
 | R3, T3           | USART3 RX and TX                  | TELEM1                                                        |
 | R5, T5           | USART5 RX and TX                  | TELEM2                                                        |
 | R6, T6           | USART6 RX and TX                  | RC (PPM, SBUS, etc.) input |
 | R7, T7, RTS, CTS | UART7 RX and TX with flow control | TELEM3                                                        |
 | R8, T8           | UART8 RX and TX                   | Console                                                       |
 | Buz-, Buz+       | Piezo buzzer                      |                                                               |
 | M1 to M14        | Motor signal outputs              |                                                               |
 <a id="bootloader"></a>
 ## PX4 Bootloader Update
 The board comes pre-installed with [Betaflight](https://github.com/betaflight/betaflight/wiki).
 Before the PX4 firmware can be installed, the _PX4 bootloader_ must be flashed.
 Download the [holybro_kakuteh7-wing.hex](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/flight_controller/kakuteh7-wing/holybro_kakuteh7-wing_bootloader.hex) bootloader binary and read [this page](../advanced_config/bootloader_update_from_betaflight.md) for flashing instructions.
 ## 编译固件
 To [build PX4](../dev_setup/building_px4.md) for this target:
 ```
 make holybro_kakuteh7-wing_default
 ```
 ## Installing PX4 Firmware
 :::info
 KakuteH7-wing is supported with PX4 master & PX4 v1.16 or newer..
 Prior to that release you will need to manually build and install the firmware.
 :::
 Firmware can be manually installed in any of the normal ways:
 - Build and upload the source:
  ```
  make holybro_kakuteh7-wing_default upload
  ```
 - [Load the firmware](../config/firmware.md) using _QGroundControl_.
  You can use either pre-built firmware or your own custom firmware.
 ## 串口映射
 | UART   | 设备         | Port                        | Default function |
 | ------ | ---------- | --------------------------- | ---------------- |
 | USART1 | /dev/ttyS0 | GPS 1                       | GPS1             |
 | USART2 | /dev/ttyS1 | R2, T2                      | GPS2             |
 | USART3 | /dev/ttyS2 | R3, T3                      | TELEM1           |
 | UART5  | /dev/ttyS3 | R5, T5                      | TELEM2           |
 | USART6 | /dev/ttyS4 | R6, (T6) | 遥控输入             |
 | UART7  | /dev/ttyS5 | R7, T7, RTS, CTS            | TELEM3           |
 | UART8  | /dev/ttyS6 | R8, T8                      | Console          |
 ## 调试接口
 ### 系统控制台
 UART8 RX and TX are configured for use as the [System Console](../debug/system_console.md).
@@ -2,6 +2,17 @@
 <Badge type="danger" text="Alpha" />
 <script setup>
 import { useData } from 'vitepress'
 const { site } = useData();
 </script>
 <div v-if="site.title !== 'PX4 Guide (main)'">
  <div class="custom-block danger">
    <p class="custom-block-title">This page is on a release bramch, and hence probably out of date. <a href="https://docs.px4.io/main/en/releases/main.html">See the latest version</a>.</p>
  </div>
 </div>
 This contains changes to PX4 `main` branch since the last major release ([PX v1.15](../releases/1.15.md)).
 :::warning
@@ -55,20 +55,4 @@ To get started using the library within an existing ROS 2 workspace:
 When opening a pull request to PX4, CI runs the library integration tests.
 These test that mode registration, failsafes, and mode replacement, work as expected.
-The tests can also be run locally from PX4:
+For more information see [PX4 ROS2 Interface Library Integration Testing](../test_and_ci/integration_testing_px4_ros2_interface.md).
 ```sh
 ./test/ros_test_runner.py
 ```
 And to run only a single case:
 ```sh
 ./test/ros_test_runner.py --verbose --case <case>
 ```
 You can list the available test cases with:
 ```sh
 ./test/ros_test_runner.py --list-cases
 ```
@@ -131,6 +131,21 @@ The simulation can be run in headless mode by prefixing the command with the `HE
 HEADLESS=1 make px4_sitl gz_x500
 ```
 ### Set Custom Takeoff Location
 The takeoff location in Gazebo Classic can be set using environment variables.
 The variables to set are: PX4_HOME_LAT, PX4_HOME_LON, and PX4_HOME_ALT.
 例如：
 ```
 export PX4_HOME_LAT=51.1788
 export PX4_HOME_LON=-1.8263
 export PX4_HOME_ALT=101
 make px4_sitl gz_x500
 ```
 ### Specify World
 The simulation can be run inside a particular world by concatenating the desired world to the name of the desired vehicle.
@@ -35,23 +35,31 @@ This allows for greater flexibility and customization.
 [Multiple vehicles with ROS 2](../ros2/multi_vehicle.md) are possible.
 - First follow the installation instructions for [Gazebo](../sim_gazebo_gz/index.md).
 - Then configure your system for [ROS 2 / PX4 operations](../ros2/user_guide.md#installation-setup).
 - In different terminals manually start a multi vehicle simulation.
-  This example spawns 2 X500 Quadrotors and aFPX fixed-wing:
+  This example spawns 2 X500 Quadrotors and aFPX fixed-wing.
-  ```sh
+:::info
-  PX4_SYS_AUTOSTART=4001 PX4_SIM_MODEL=gz_x500 ./build/px4_sitl_default/bin/px4 -i 1
+Note that in the first terminal you **do not** specify standalone mode. The first terminal will start the gz-server and the other two
-  ```
+instances will connect to it.
 **Terminal 1**
 :::
-  ```sh
+```sh
-  PX4_SYS_AUTOSTART=4001 PX4_GZ_MODEL_POSE="0,1" PX4_SIM_MODEL=gz_x500 ./build/px4_sitl_default/bin/px4 -i 2
+PX4_SYS_AUTOSTART=4001 PX4_SIM_MODEL=gz_x500 ./build/px4_sitl_default/bin/px4 -i 1
-  ```
+```
-  ```sh
+**Terminal 2**
-  PX4_SYS_AUTOSTART=4003 PX4_GZ_MODEL_POSE="0,2" PX4_SIM_MODEL=gz_rc_cessna ./build/px4_sitl_default/bin/px4 -i 3
+
-  ```
+```sh
 PX4_GZ_STANDALONE=1 PX4_SYS_AUTOSTART=4001 PX4_GZ_MODEL_POSE="0,1" PX4_SIM_MODEL=gz_x500 ./build/px4_sitl_default/bin/px4 -i 2
 ```
 **Terminal 3**
 ```sh
 PX4_GZ_STANDALONE=1 PX4_SYS_AUTOSTART=4003 PX4_GZ_MODEL_POSE="0,2" PX4_SIM_MODEL=gz_rc_cessna ./build/px4_sitl_default/bin/px4 -i 3
 ```
 - Start the agent:
@@ -77,7 +77,7 @@ These ports are:
 - PX4's remote UDP Port **14550** is used for communication with ground control stations.
  期望 GCS 侦听此端口上的连接。
  _QGroundControl_ 默认侦听此端口。
- PX4's remote UDP Port **14540** is used for communication with offboard APIs.
+- PX4的远程UDP端口 **14540** 用于与 offboard API 通信。
  期望 Offboard APIs 侦听此端口上的连接。
  ::: info
  Multi-vehicle simulations use a separate remote port for each instance, allocated sequentially from `14540` to `14549`
@@ -157,9 +157,8 @@ make px4_sitl none_iris
 The simulation can be further configured via environment variables:
- `PX4_ESTIMATOR`: This variable configures which estimator to use.
+- Any of the [PX4 parameters](../advanced_config/parameter_reference.md) can be overridden via `export PX4_PARAM_{name}={value}`.
-  Possible options are: `ekf2` (default), `lpe` (deprecated).
+  For example changing the estimator: `export PX4_PARAM_EKF2_EN=0; export PX4_PARAM_ATT_EN=1`.
  It can be set via `export PX4_ESTIMATOR=lpe` before running the simulation.
 The syntax described here is simplified, and there are many other options that you can configure via _make_ - for example, to set that you wish to connect to an IDE or debugger.
 For more information see: [Building the Code > PX4 Make Build Targets](../dev_setup/building_px4.md#px4-make-build-targets).
@@ -21,7 +21,7 @@ Operating in the 2.4GHz frequency band, it allows unrestricted global use withou
 - **Frequency Band:** 2.4GHz
 - **Speed:** Up to 11 Mbps (adjustable)
 - **Range:** Up to 500 meters (varies upon environments)
- **Payload Capacity:** Up to 1400 bytes
+- **Payload Capacity:** Up to 1024 bytes
 ### Network Schemes
@@ -124,7 +124,7 @@ However if you change the baud rate from 57600 you will need to create and use a
 - **Smart device:** Connect to Wi-Fi network named `J.Fi-xxxxxx` (x: alphanumeric characters)
 - **Browser:** Go to `192.168.4.1` to open the **configuration page**.
 - **Configuration page:** Adjust settings as needed, then click **Save**
-  - _LED 1_ blinks once upon saving
+  - _LED 2_ blinks once upon saving
 ![J.Fi Wireless Telemetry Broadcast Communication](../../assets/hardware/telemetry/jmarple/jfi_telemetry_config.jpg)
@@ -8,7 +8,9 @@ Test topics include:
 - [Test Flights](../test_and_ci/test_flights.md) - How to make test flights (e.g. to [test PRs](../contribute/code.md#pull-requests))
 - [Unit Tests](../test_and_ci/unit_tests.md)
 - [Continuous Integration (CI)](../test_and_ci/continous_integration.md)
- [ROS Integration Testing](../test_and_ci/integration_testing.md)
+- [Integration Testing](../test_and_ci/integration_testing.md)
- [MAVSDK Integration Testing](../test_and_ci/integration_testing_mavsdk.md)
+    - [MAVSDK Integration Testing](../test_and_ci/integration_testing_mavsdk.md)
    - [PX4 ROS2 Interface Library Integration Testing](../test_and_ci/integration_testing_px4_ros2_interface.md)
    - [ROS 1 Integration Testing](../test_and_ci/integration_testing_ros1_mavros.md) (Deprecated)
 - [Docker](../test_and_ci/docker.md)
 - [Maintenance](../test_and_ci/maintenance.md)
@@ -1,160 +1,13 @@
-# 集成测试
+# Integration Testing
-This topic explains how to run (and extend) PX4's ROS-based integration tests.
+Integration tests are used to verify how well larger parts of a system work together.
 In PX4 this generally means testing whole features of a vehicle, usually running in simulation.
 The tests are run in [Continuous Integration (CI)](../test_and_ci/continous_integration.md) on every pull request.
-:::info
+- [MAVSDK Integration Testing](../test_and_ci/integration_testing_mavsdk.md) - MAVSDK-based test framework for PX4.
-[MAVSDK Integration Testing](../test_and_ci/integration_testing_mavsdk.md) is preferred when writing new tests.
+  _This is the recommended framework for writing new Integration tests_
-Use the ROS-based integration test framework for use cases that _require_ ROS (e.g. object avoidance).
+- [PX4 ROS2 Interface Library Integration Testing](../test_and_ci/integration_testing_px4_ros2_interface.md) - Integration Tests for the [PX4 ROS 2 Interface Library](../ros2/px4_ros2_interface_lib.md).
-All PX4 integraton tests are executed automatically by our [Continuous Integration](../test_and_ci/continous_integration.md) system.
+The following framework should only be used for tests that require ROS 1:
 :::
-## ROS / MAVROS 测试
+- [ROS 1 Integration Testing](../test_and_ci/integration_testing_ros1_mavros.md) (Deprecated)
 - [jMAVSim Simulator](../sim_jmavsim/index.md)
 - [Gazebo Classic Simulator](../sim_gazebo_classic/index.md)
 - [ROS and MAVROS](../simulation/ros_interface.md)
 ## Execute Tests
 To run the MAVROS tests:
 ```sh
 source <catkin_ws>/devel/setup.bash
 cd <PX4-Autopilot_clone>
 make px4_sitl_default sitl_gazebo
 make <test_target>
 ```
 `test_target` is a makefile targets from the set: _tests_mission_, _tests_mission_coverage_, _tests_offboard_ and _tests_avoidance_.
 Test can also be executed directly by running the test scripts, located under `test/`:
 ```sh
 source <catkin_ws>/devel/setup.bash
 cd <PX4-Autopilot_clone>
 make px4_sitl_default sitl_gazebo
 ./test/<test_bash_script> <test_launch_file>
 ```
 例如：
 ```sh
 ./test/rostest_px4_run.sh mavros_posix_tests_offboard_posctl.test
 ```
 如上所述运行完整的测试套件。
 ```sh
 # 开始仿真
 cd &lt;Firmware_clone&gt;
 source integrationtests/setup_gazebo_ros.bash $(pwd)
 roslaunch px4 mavros_posix_sitl.launch
 # 运行测试（在新的 shell 中）：
 cd &lt;Firmware_clone&gt;
 source integrationtests/setup_gazebo_ros.bash $(pwd)
 rosrun px4 mavros_new_test.py
 ```
 The **.test** files launch the corresponding Python tests defined in `integrationtests/python_src/px4_it/mavros/`
 ## Write a New MAVROS Test (Python)
 This section explains how to write a new python test using ROS 1/MAVROS, test it, and add it to the PX4 test suite.
 We recommend you review the existing tests as examples/inspiration ([integrationtests/python_src/px4_it/mavros/](https://github.com/PX4/PX4-Autopilot/tree/main/integrationtests/python_src/px4_it/mavros)).
 The official ROS documentation also contains information on how to use [unittest](http://wiki.ros.org/unittest) (on which this test suite is based).
 To write a new test:
 1. Create a new test script by copying the empty test skeleton below:
   ```python
   #!/usr/bin/env python
   # [... LICENSE ...]
   #
   # @author Example Author <author@example.com>
   #
   PKG = 'px4'
   import unittest
   import rospy
   import rosbag
   from sensor_msgs.msg import NavSatFix
   class MavrosNewTest(unittest.TestCase):
   	"""
   	Test description
   	"""
   	def setUp(self):
   		rospy.init_node('test_node', anonymous=True)
   		rospy.wait_for_service('mavros/cmd/arming', 30)
   		rospy.Subscriber("mavros/global_position/global", NavSatFix, self.global_position_callback)
   		self.rate = rospy.Rate(10) # 10hz
   		self.has_global_pos = False
   	def tearDown(self):
   		pass
   	#
   	# General callback functions used in tests
   	#
   	def global_position_callback(self, data):
   		self.has_global_pos = True
   	def test_method(self):
   		"""Test method description"""
   		# FIXME: hack to wait for simulation to be ready
   		while not self.has_global_pos:
   			self.rate.sleep()
   		# TODO: execute test
   if __name__ == '__main__':
   	import rostest
   	rostest.rosrun(PKG, 'mavros_new_test', MavrosNewTest)
   ```
 2. Run the new test only
   - Start the simulator:
      ```sh
      cd <PX4-Autopilot_clone>
      source Tools/simulation/gazebo/setup_gazebo.bash
      roslaunch launch/mavros_posix_sitl.launch
      ```
   - Run test (in a new shell):
      ```sh
      cd <PX4-Autopilot_clone>
      source Tools/simulation/gazebo/setup_gazebo.bash
      rosrun px4 mavros_new_test.py
      ```
 3. Add new test node to a launch file
   - In `test/` create a new `<test_name>.test` ROS launch file.
   - Call the test file using one of the base scripts _rostest_px4_run.sh_ or _rostest_avoidance_run.sh_
 4. (Optional) Create a new target in the Makefile
   - Open the Makefile
   - Search the _Testing_ section
   - Add a new target name and call the test
   例如：
   ```sh
   tests_<new_test_target_name>: rostest
   	@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_<new_test>.test
   ```
 Run the tests as described above.
@@ -7,6 +7,10 @@ PX4 can be tested end to end to using integration tests based on [MAVSDK](https:
 测试需要将MAVSAK C++库安装到系统目录（如： <code>/usr/lib</code> or <code>/usr/local/lib</code>）
 :::note
 This is the recommended integration test framework for PX4.
 :::
 ## 系统必备组件
 ### 运行所有PX4测试
@@ -47,33 +51,37 @@ To run all SITL tests as defined in [sitl.json](https://github.com/PX4/PX4-Autop
 test/mavsdk_tests/mavsdk_test_runner.py test/mavsdk_tests/configs/sitl.json --speed-factor 10
 ```
-This will list all of the tests and then run them sequentially.
+This will list all the tests and then run them sequentially.
 To see all possible command line arguments use the `-h` argument:
 ```sh
 test/mavsdk_tests/mavsdk_test_runner.py -h
-用法：mavsdk_test_runner。 y [-h] [--log-dir LOG_DIR] [--speed-factor SPEED_FACTOR] [--trerations ITERATION] [--abort-early] [--gui] [--model MODEL]
+usage: mavsdk_test_runner.py [-h] [--log-dir LOG_DIR] [--speed-factor SPEED_FACTOR] [--iterations ITERATIONS] [--abort-early]
-                             [--case CASE] [--debugger DEBUGER] [--verbose]
+                             [--gui] [--model MODEL] [--case CASE] [--debugger DEBUGGER] [--upload] [--force-color]
-                             config_file
+                             [--verbose] [--build-dir BUILD_DIR]
-posital 参数：
+positional arguments:
-  config_file JSON 使用的JSON配置文件
+  config_file           JSON config file to use
-optional 参数：
+options:
-  -h, --help 显示此帮助信息并退出
+  -h, --help            show this help message and exit
-  --log-dir LOG_DIR 日志文件目录
+  --log-dir LOG_DIR     Directory for log files
  --speed-factor SPEED_FACTOR
-                        模拟运行的速度因子
+                        how fast to run the simulation
-  --迭代ITERATION
+  --iterations ITERATIONS
-                        在首次失败的测试中运行所有测试的频率
+                        how often to run all tests
-  --abort-early 中止
+  --abort-early         abort on first unsuccessful test
-  --guide 显示模拟的可视化化
+  --gui                 display the visualization for a simulation
-  MODEL 只为一个模型运行测试
+  --model MODEL         only run tests for one model
-  --case CASE 只运行测试一个案例
+  --case CASE           only run tests for one case (or multiple cases with wildcard '*')
-  --debugger DEBUGER 调试器：callgrind, gdb, lldb
+  --debugger DEBUGGER   choice from valgrind, callgrind, gdb, lldb
-  --verbose 启用更详细的输出
+  --upload              Upload logs to logs.px4.io
  --force-color         Force colorized output
  --verbose             enable more verbose output
  --build-dir BUILD_DIR
                        relative path where the built files are stored
 ```
 ## 关于实现的说明
@@ -0,0 +1,29 @@
 # Integration Testing for the PX4 ROS 2 Interface Library
 This topic outlines the integration tests for the [PX4 ROS 2 Interface Library](../ros2/px4_ros2_interface_lib.md).
 These test that mode registration, failsafes, and mode replacement, work as expected.
 ## CI Testing
 When opening a pull request to PX4, CI runs the library integration tests.
 ## Running Tests Locally
 The tests can also be run locally from PX4:
 ```sh
 ./test/ros_test_runner.py
 ```
 And to run only a single case:
 ```sh
 ./test/ros_test_runner.py --verbose --case <case>
 ```
 You can list the available test cases with:
 ```sh
 ./test/ros_test_runner.py --list-cases
 ```
@@ -0,0 +1,155 @@
 # Integration Testing using ROS 1
 This topic explains how to run (and extend) PX4's ROS (1) and MAVROS -based integration tests.
 :::warning
 This test framework is deprecated.
 It should be used only for new test cases that _require_ ROS 1.
 [MAVSDK Integration Testing](../test_and_ci/integration_testing_mavsdk.md) is preferred when writing new tests.
 :::
 :::note
 All PX4 integration tests are executed automatically by our [Continuous Integration](../test_and_ci/continous_integration.md) system.
 :::
 ## 系统必备组件
 - [Gazebo Classic Simulator](../sim_gazebo_classic/index.md)
 - [ROS and MAVROS](../simulation/ros_interface.md)
 ## Execute Tests
 To run the MAVROS tests:
 ```sh
 source <catkin_ws>/devel/setup.bash
 cd <PX4-Autopilot_clone>
 make px4_sitl_default sitl_gazebo
 make <test_target>
 ```
 `test_target` is a makefile targets from the set: _tests_mission_, _tests_mission_coverage_, _tests_offboard_ and _tests_avoidance_.
 Test can also be executed directly by running the test scripts, located under `test/`:
 ```sh
 source <catkin_ws>/devel/setup.bash
 cd <PX4-Autopilot_clone>
 make px4_sitl_default sitl_gazebo
 ./test/<test_bash_script> <test_launch_file>
 ```
 例如：
 ```sh
 ./test/rostest_px4_run.sh mavros_posix_tests_offboard_posctl.test
 ```
 Tests can also be run with a GUI to see what's happening (by default the tests run "headless"):
 ```sh
 ./test/rostest_px4_run.sh mavros_posix_tests_offboard_posctl.test gui:=true headless:=false
 ```
 The **.test** files launch the corresponding Python tests defined in `integrationtests/python_src/px4_it/mavros/`
 ## Write a New MAVROS Test (Python)
 This section explains how to write a new python test using ROS 1/MAVROS, test it, and add it to the PX4 test suite.
 We recommend you review the existing tests as examples/inspiration ([integrationtests/python_src/px4_it/mavros/](https://github.com/PX4/PX4-Autopilot/tree/main/integrationtests/python_src/px4_it/mavros)).
 The official ROS documentation also contains information on how to use [unittest](http://wiki.ros.org/unittest) (on which this test suite is based).
 To write a new test:
 1. Create a new test script by copying the empty test skeleton below:
    ```python
    #!/usr/bin/env python
    # [... LICENSE ...]
    #
    # @author Example Author <author@example.com>
    #
    PKG = 'px4'
    import unittest
    import rospy
    import rosbag
    from sensor_msgs.msg import NavSatFix
    class MavrosNewTest(unittest.TestCase):
    	"""
    	Test description
    	"""
    	def setUp(self):
    		rospy.init_node('test_node', anonymous=True)
    		rospy.wait_for_service('mavros/cmd/arming', 30)
    		rospy.Subscriber("mavros/global_position/global", NavSatFix, self.global_position_callback)
    		self.rate = rospy.Rate(10) # 10hz
    		self.has_global_pos = False
    	def tearDown(self):
    		pass
    	#
    	# General callback functions used in tests
    	#
    	def global_position_callback(self, data):
    		self.has_global_pos = True
    	def test_method(self):
    		"""Test method description"""
    		# FIXME: hack to wait for simulation to be ready
    		while not self.has_global_pos:
    			self.rate.sleep()
    		# TODO: execute test
    if __name__ == '__main__':
    	import rostest
    	rostest.rosrun(PKG, 'mavros_new_test', MavrosNewTest)
    ```
 2. Run the new test only
   - Start the simulator:
       ```sh
       cd <PX4-Autopilot_clone>
       source Tools/simulation/gazebo/setup_gazebo.bash
       roslaunch launch/mavros_posix_sitl.launch
       ```
   - Run test (in a new shell):
       ```sh
       cd <PX4-Autopilot_clone>
       source Tools/simulation/gazebo/setup_gazebo.bash
       rosrun px4 mavros_new_test.py
       ```
 3. Add new test node to a launch file
   - In `test/` create a new `<test_name>.test` ROS launch file.
   - Call the test file using one of the base scripts _rostest_px4_run.sh_ or _rostest_avoidance_run.sh_
 4. (Optional) Create a new target in the Makefile
   - Open the Makefile
   - Search the _Testing_ section
   - Add a new target name and call the test
   例如：
    ```sh
    tests_<new_test_target_name>: rostest
    	@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_<new_test>.test
    ```
 Run the tests as described above.