diff --git a/docs/uk/SUMMARY.md b/docs/uk/SUMMARY.md index 15020c1cd0..a9130d9599 100644 --- a/docs/uk/SUMMARY.md +++ b/docs/uk/SUMMARY.md @@ -1,6 +1,8 @@ - [Введення](index.md) - [Основні поняття](getting_started/px4_basic_concepts.md) +- [Try PX4 (Simulation)](simulation/px4_simulation_quickstart.md) + - [Мультикоптери](frames_multicopter/index.md) - [Функції](features_mc/index.md) - [Режим польоту](flight_modes_mc/index.md) @@ -330,6 +332,7 @@ - [Телеметричне радіо RFD900 (SiK)](telemetry/rfd900_telemetry.md) - [ThunderFly TFSIK01 Telemetry Radio](telemetry/tfsik_telemetry.md) - [HolyBro (SIK) Телеметричне радіо](telemetry/holybro_sik_radio.md) + - [HolyBro SiK Long Range Telemetry Radio](telemetry/holybro_sik_longrange.md) - [Телеметрія Wi-Fi](telemetry/telemetry_wifi.md) - [Модуль WiFi ESP8266](telemetry/esp8266_wifi_module.md) - [Модуль WiFi ESP32](telemetry/esp32_wifi_module.md) @@ -494,6 +497,7 @@ - [Worlds](sim_gazebo_classic/worlds.md) - [Багатотранспортний Sim](sim_gazebo_classic/multi_vehicle_simulation.md) - [Симуляція запобігання відмовам](simulation/failsafes.md) + - [Pre-built Packages](simulation/px4_sitl_prebuilt_packages.md) - [Апаратне забезпечення](hardware/index.md) - [Дизайн контролера польоту](hardware/reference_design.md) - [Manufacturer’s Board Support Guide](hardware/board_support_guide.md) @@ -598,6 +602,7 @@ - [EstimatorBias](msg_docs/EstimatorBias.md) - [EstimatorBias3d](msg_docs/EstimatorBias3d.md) - [EstimatorEventFlags](msg_docs/EstimatorEventFlags.md) + - [EstimatorFusionControl](msg_docs/EstimatorFusionControl.md) - [EstimatorGpsStatus](msg_docs/EstimatorGpsStatus.md) - [EstimatorInnovations](msg_docs/EstimatorInnovations.md) - [EstimatorSelectorStatus](msg_docs/EstimatorSelectorStatus.md) @@ -696,6 +701,7 @@ - [QshellReq](msg_docs/QshellReq.md) - [QshellRetval](msg_docs/QshellRetval.md) - [RadioStatus](msg_docs/RadioStatus.md) + - [RangingBeacon](msg_docs/RangingBeacon.md) - [RateCtrlStatus](msg_docs/RateCtrlStatus.md) - [RcChannels](msg_docs/RcChannels.md) - [RcParameterMap](msg_docs/RcParameterMap.md) @@ -774,6 +780,7 @@ - [HomePositionV0](msg_docs/HomePositionV0.md) - [RegisterExtComponentReplyV0](msg_docs/RegisterExtComponentReplyV0.md) - [RegisterExtComponentRequestV0](msg_docs/RegisterExtComponentRequestV0.md) + - [RegisterExtComponentRequestV1](msg_docs/RegisterExtComponentRequestV1.md) - [VehicleAttitudeSetpointV0](msg_docs/VehicleAttitudeSetpointV0.md) - [VehicleCommandAckV0](msg_docs/VehicleCommandAckV0.md) - [VehicleGlobalPositionV0](msg_docs/VehicleGlobalPositionV0.md) @@ -781,6 +788,7 @@ - [VehicleStatusV0](msg_docs/VehicleStatusV0.md) - [VehicleStatusV1](msg_docs/VehicleStatusV1.md) - [VehicleStatusV2](msg_docs/VehicleStatusV2.md) + - [VehicleStatusV3](msg_docs/VehicleStatusV3.md) - [MAVLink Messaging](mavlink/index.md) - [Adding Messages](mavlink/adding_messages.md) - [Streaming Messages](mavlink/streaming_messages.md) @@ -881,16 +889,20 @@ - [Multi-vehicle simulation](simulation/multi-vehicle-simulation.md) - [Тестування платформи та CI](test_and_ci/index.md) - [Польотні тести](test_and_ci/test_flights.md) - - [Тест MC_01 - Ручні режими](test_cards/mc_01_manual_modes.md) - - [Тест MC_02 - Повна автономність](test_cards/mc_02_full_autonomous.md) - - [Тест MC_03 - поєднання автоматичного і ручного керування](test_cards/mc_03_auto_manual_mix.md) - - [Тест MC_04 - Тестування відмовостійкості](test_cards/mc_04_failsafe_testing.md) - - [Test MC_05 - Manual Modes (Inside)](test_cards/mc_05_indoor_flight_manual_modes.md) - - [Test MC_06 - Optical Flow (Inside)](test_cards/mc_06_optical_flow.md) - - [Test MC_07 - Optical Flow Low Mount](test_cards/mc_07_optical_flow_low_mount.md) - - [Test MC_08 - DSHOT ESC](test_cards/mc_08_dshot.md) - - [Test MC_09 - VIO (Visual-Inertial Odometry)](test_cards/mc_09_vio.md) - - [Test MC_10 - Optical Flow / GPS Mixed](test_cards/mc_10_optical_flow_gps_mixed.md) + - [Multicopter](test_and_ci/test_flights.md#multicopter) + - [Тест MC_01 - Ручні режими](test_cards/mc_01_manual_modes.md) + - [Тест MC_02 - Повна автономність](test_cards/mc_02_full_autonomous.md) + - [Тест MC_03 - поєднання автоматичного і ручного керування](test_cards/mc_03_auto_manual_mix.md) + - [Тест MC_04 - Тестування відмовостійкості](test_cards/mc_04_failsafe_testing.md) + - [Test MC_05 - Manual Modes (Inside)](test_cards/mc_05_indoor_flight_manual_modes.md) + - [Test MC_06 - Optical Flow (Inside)](test_cards/mc_06_optical_flow.md) + - [Test MC_07 - Optical Flow Low Mount](test_cards/mc_07_optical_flow_low_mount.md) + - [Test MC_08 - DSHOT ESC](test_cards/mc_08_dshot.md) + - [Test MC_09 - VIO (Visual-Inertial Odometry)](test_cards/mc_09_vio.md) + - [Test MC_10 - Optical Flow / GPS Mixed](test_cards/mc_10_optical_flow_gps_mixed.md) + - [Fixed Wing](test_and_ci/test_flights.md#fixed-wing) + - [Test FW_01 - Manual Modes](test_cards/fw_01_manual_modes.md) + - [Test FW_02 - Full Autonomous](test_cards/fw_02_full_autonomous.md) - [Модульні Тести](test_and_ci/unit_tests.md) - [Fuzz Tests](test_and_ci/fuzz_tests.md) - [Безперервна інтеграція](test_and_ci/continous_integration.md) diff --git a/docs/uk/airframes/airframe_reference.md b/docs/uk/airframes/airframe_reference.md index 7c8a531b1c..84f6e64533 100644 --- a/docs/uk/airframes/airframe_reference.md +++ b/docs/uk/airframes/airframe_reference.md @@ -457,6 +457,10 @@ div.frame_variant td, div.frame_variant th { Квадрокоптер SIH X Підтримувач: Romain Chiappinelli <romain.chiap@gmail.com>

SYS_AUTOSTART = 1100

+ + SIH Hexacopter X + Підтримувач: Romain Chiappinelli <romain.chiap@gmail.com>

SYS_AUTOSTART = 1105

+ diff --git a/docs/uk/computer_vision/visual_inertial_odometry.md b/docs/uk/computer_vision/visual_inertial_odometry.md index d2c2dfb0c5..3eefeaaf73 100644 --- a/docs/uk/computer_vision/visual_inertial_odometry.md +++ b/docs/uk/computer_vision/visual_inertial_odometry.md @@ -100,8 +100,8 @@ For more detailed/additional information, see: [Using PX4's Navigation Filter (E ## Check/Verify VIO Estimate {#verify_estimate} -:::info -Параметр [MAV_ODOM_LP](../advanced_config/parameter_reference.md#MAV_ODOM_LP), згаданий нижче, був вилучений у PX4 v1.14. +:::warning +The `MAV_ODOM_LP` parameter mentioned below was removed in PX4 v1.14. Цей розділ потрібно оновити. ::: diff --git a/docs/uk/config/actuators.md b/docs/uk/config/actuators.md index 9a76e05442..4485378f86 100644 --- a/docs/uk/config/actuators.md +++ b/docs/uk/config/actuators.md @@ -201,7 +201,7 @@ The `flap scale` and `spoiler scale` settings in the actuator UI inform the allo #### Flaps and Spoiler Control with Manual Control -The preferred method to manually actuate spoilers and flaps is to map a manual control switch to an `AUX` output (see [Generic Actuator Control with RC](#generic-actuator-control-with-rc)), and then map that AUX output to the flap or spoiler function using [FW_FLAPS_MAN](../advanced_config/parameter_reference.md#FW_FLAPS_MAN) or [FW_SPOILERS_MAN](../advanced_config/parameter_reference.md#FW_SPOILERS_MAN). +The preferred method to manually actuate spoilers and flaps is to map a manual control switch to an `AUX` output (see [Generic Actuator Control with RC](../payloads/generic_actuator_control.md#generic-actuator-control-with-rc)), and then map that AUX output to the flap or spoiler function using [FW_FLAPS_MAN](../advanced_config/parameter_reference.md#FW_FLAPS_MAN) or [FW_SPOILERS_MAN](../advanced_config/parameter_reference.md#FW_SPOILERS_MAN). The source for the manual control can be RC or MAVLink. :::warning diff --git a/docs/uk/contribute/dev_call.md b/docs/uk/contribute/dev_call.md index 177a8fa4fc..962e993f3a 100644 --- a/docs/uk/contribute/dev_call.md +++ b/docs/uk/contribute/dev_call.md @@ -15,8 +15,8 @@ const { site } = useData(); ## Хто повинен відвідувати ці дзвінки? -- Основні розробники проєкту PX4 -- Розробники компонентів +- Code Owners +- Reviewers - Test team lead - Учасники Dronecode - Члени спільноти (ви!) diff --git a/docs/uk/contribute/docs.md b/docs/uk/contribute/docs.md index 437e22ed3f..00579b84d8 100644 --- a/docs/uk/contribute/docs.md +++ b/docs/uk/contribute/docs.md @@ -269,7 +269,7 @@ The guide uses the [Vitepress](https://vitepress.dev/) toolchain. - Images must be stored in a sub folder of `/assets`. Це на два рівні нижче від папок з вмістом, тому якщо ви додаєте зображення, ви посилаєтеся на нього так: - ```plain + ```txt ![Image Description](../../assets/path_to_file/filename.jpg) ``` diff --git a/docs/uk/contribute/index.md b/docs/uk/contribute/index.md index 7bc3ab17a9..cd8aeb6cbe 100644 --- a/docs/uk/contribute/index.md +++ b/docs/uk/contribute/index.md @@ -20,7 +20,7 @@ We pledge to adhere to the [PX4 code of conduct](https://github.com/PX4/PX4-Auto Цей розділ містить інформацію про те, як ви можете зустрітися зі спільнотою та зробити внесок до PX4: - [Dev Call](../contribute/dev_call.md) - Discuss architecture, pull requests, impacting issues with the dev team -- [Maintainers](./maintainers.md) - Maintainers of PX4 Subsystems and Ecosystem +- [Maintainers](./maintainers.md) - Maintainer roles, types, and how to become one - [Support](../contribute/support.md) - Get help and raise issues - [Source Code Management](../contribute/code.md) - Work with PX4 code - [Documentation](../contribute/docs.md) - Improve the docs diff --git a/docs/uk/contribute/maintainers.md b/docs/uk/contribute/maintainers.md index 08bec90c7e..e1244c3b31 100644 --- a/docs/uk/contribute/maintainers.md +++ b/docs/uk/contribute/maintainers.md @@ -1,57 +1,86 @@ # Maintainer Role -Dronecode maintainers have technical leadership and responsibility for specific areas of PX4, and for other ecosystem components such as MAVLink, MAVSDK, QGroundControl, and others. +Dronecode maintainers provide technical leadership for PX4 and for other ecosystem components such as MAVLink, MAVSDK, QGroundControl, and others. Some maintainers take responsibility for specific areas of the project, while others help across the project more broadly. The maintainer role is defined by the community with help and supervision from the [Dronecode Foundation](https://dronecode.org/). -To find the most up-to-date maintainers list, visit [PX4-Autopilot README](https://github.com/PX4/PX4-Autopilot#maintenance-team). +To find the most up-to-date maintainers list, see [`MAINTAINERS.md`](https://github.com/PX4/PX4-Autopilot/blob/main/MAINTAINERS.md) in the PX4-Autopilot repository. + +## Maintainer Types + +PX4 recognizes two types of maintainers. Both are full members of the maintainer team, have write access via the [`Dev Team`](https://github.com/orgs/PX4/teams/dev-team) GitHub team, and participate in maintainer decisions. + +- **Code Owners** are responsible for a specific category of the project (for example, State Estimation, Multirotor, or CI). They have final say on changes to their area, are the primary reviewers for that code, and help shape its roadmap. This is the role described in detail below. +- **Reviewers** help maintain PX4 across the project without ownership of a specific category. They review, triage, and contribute wherever their interests and time allow. Reviewers have the same access and voting rights as Code Owners, but no on-call responsibility for any specific area of the codebase. + +The Reviewer role is a good fit for contributors who want to help steward the project without committing to a specific component up front. A Reviewer may later become a Code Owner for a category by mutual agreement with the existing Code Owners of that category and sign-off from the maintainer team. ## Recruitment Process If you would like to join the PX4 maintainers team or if you want to nominate someone else follow the steps below: 1. Read the [role description](#dronecode-maintainer-role-description), and make sure you understand the responsibilities of the role. -2. To nominate yourself, reach out to one of the maintainers (see the complete list in the [PX4-Autopilot README](https://github.com/PX4/PX4-Autopilot#maintenance-team)), and seek their sponsorship. -3. Express your interest in becoming a maintainer, and specify which area you would like to maintain. +2. To nominate yourself, reach out to one of the maintainers (see the complete list in [`MAINTAINERS.md`](https://github.com/PX4/PX4-Autopilot/blob/main/MAINTAINERS.md)), and seek their sponsorship. +3. Express your interest in becoming a maintainer, and specify whether you are applying as a **Code Owner** (for a specific category) or as a **Reviewer** (helping across the project without a fixed category). 4. The sponsoring maintainer needs to bring this up for discussion in one of the [weekly developer calls](dev_call.md). The maintainer team will vote on the call to determine whether to accept you as a maintainer. +A Reviewer may later transition to a Code Owner role for a specific category. This requires agreement from the existing Code Owners of that category and sign-off from the maintainer team, following the same discussion and vote on the weekly developer call. + +### Adding a new maintainer + +Once the maintainer team has agreed to add a new maintainer, the change is landed via a pull request to [`MAINTAINERS.md`](https://github.com/PX4/PX4-Autopilot/blob/main/MAINTAINERS.md). The process is intentionally simple: + +1. A current maintainer opens a PR adding the new maintainer to the appropriate table (**Code Owners** with a category, or **Reviewers**). +2. The PR must be approved by at least one other current maintainer. +3. If the new maintainer is being added as a Code Owner or sub-owner of a specific component, the existing Code Owner of that component must be among the approvers. + +Once the PR is merged, the new maintainer proceeds through the [Onboarding Process](#onboarding-process) below. + ## Onboarding Process Once accepted every maintainers will go through the following process: 1. **Discord** server admin will grant you the `dev team` role, which gives you: 1. Basic admin privileges on discord. - 2. Access to the `#maintainers` channel. + 2. Access to the private `#maintainers` channel for internal maintainer discussion. 2. You will be given access to the GitHub team: "[`Dev Team`](https://github.com/orgs/PX4/teams/dev-team)" which grants you: 1. Permission to merge the PR of any of PX4 workspace repositories after it's approved 2. Permission to trigger GitHub actions when a new contributor opens a PR. 3. Permission to edit Issue/PR contents. 3. **Add your info to official PX4 channels**: - 1. Include your information on the PX4 [README](https://github.com/PX4/PX4-Autopilot/blob/main/README.md) next to the rest of the team - 2. Listed on the [Maintainers section](https://px4.io/community/maintainers/) of the PX4 website. - 3. Add your information to the internal Dronecode database of maintainers to keep you in sync. - 4. Community introduction to the new maintainer in the form of a forum post, which is promoted through ever growing official channels + 1. Add your information to the internal Dronecode database of maintainers to keep you in sync. + 2. Community introduction to the new maintainer in the form of a forum post, which is promoted through ever growing official channels ## Dronecode Maintainer Role Description +The responsibilities and qualifications below describe the **Code Owner** role in detail. **Reviewers** share the same spirit of technical stewardship, community guidance, and participation in maintainer meetings, without being tied to a specific category. Reviewers are expected to review and triage across the project where their expertise and interest apply. + ### Опис Maintainers lead/manage the development of a **specific category (referred to as category below)** of any Open Source Projects hosted within the Dronecode Foundation, such as the PX4 Autopilot. -### Responsibilities +### Responsibilities (Code Owner) 1. Take charge of overseeing the development in their category. 2. Provide guidance/advice on community members in their category. 3. Review relevant pull requests and issues from the community on GitHub. 4. Coordinate with the maintainer group. -5. Keep regular attendance on [weekly meetings ](dev_call.md). +5. Keep regular attendance on [weekly meetings](dev_call.md). 6. Help create and maintain a roadmap for the project your represent. 7. Uphold the [Code of Conduct](https://github.com/Dronecode/foundation/blob/main/CODE-OF-CONDUCT.md) of our community. +### Responsibilities (Reviewer) + +1. Review relevant pull requests and issues across the project where your expertise applies. +2. Help triage issues and guide community contributors. +3. Coordinate with the maintainer group. +4. Keep regular attendance on [weekly meetings](dev_call.md). +5. Uphold the [Code of Conduct](https://github.com/Dronecode/foundation/blob/main/CODE-OF-CONDUCT.md) of our community. + ### Qualifications 1. Proven track record of valuable contributions. -2. Domain expertise in the category field. +2. Domain expertise in the category field (for Code Owners) or broad working knowledge of the project (for Reviewers). 3. Good overview of the project you are applying to. 4. You need to manage approval from your employer when relevant. diff --git a/docs/uk/dev_setup/dev_env.md b/docs/uk/dev_setup/dev_env.md index d351b169d8..338a266211 100644 --- a/docs/uk/dev_setup/dev_env.md +++ b/docs/uk/dev_setup/dev_env.md @@ -1,5 +1,10 @@ # Налаштування середовища розробника (Інструментарію) +:::tip +You only need a toolchain if you want to **modify and build** PX4 from source. +If you just want to run PX4 simulation without changing the code, use a pre-built [Docker container or .deb package](../simulation/px4_sitl_prebuilt_packages.md) instead. +::: + The _supported platforms_ for PX4 development are: - [Ubuntu Linux (24.04/22.04)](../dev_setup/dev_env_linux_ubuntu.md) diff --git a/docs/uk/dev_setup/dev_env_mac.md b/docs/uk/dev_setup/dev_env_mac.md index 1a9a1f945c..6aa1dc3ef2 100644 --- a/docs/uk/dev_setup/dev_env_mac.md +++ b/docs/uk/dev_setup/dev_env_mac.md @@ -61,7 +61,7 @@ To build for [other targets](../dev_setup/dev_env.md#supported-targets) you will This installs: - - **`px4-dev`** — ARM cross-compiler (`arm-gcc-bin@13`), `cmake`, `ninja`, `ccache`, and other build tools + - **Toolchain packages** from the `osx-cross/arm` and `PX4/px4` Homebrew taps — ARM cross-compiler (`arm-gcc-bin@13`), `cmake`, `ninja`, `ccache`, `fastdds`, `genromfs`, `kconfig-frontends`, and other build tools - **Python packages** from `requirements.txt` - **`px4-sim`** (via `--sim-tools`) — Gazebo Harmonic simulation (`gz-harmonic`) and related tools diff --git a/docs/uk/dev_setup/getting_started.md b/docs/uk/dev_setup/getting_started.md index 19670e169b..9aed659d0b 100644 --- a/docs/uk/dev_setup/getting_started.md +++ b/docs/uk/dev_setup/getting_started.md @@ -2,6 +2,7 @@ Цей розділ містить теми про те, як почати PX4 розробку: +- [PX4 Simulation QuickStart](../simulation/px4_simulation_quickstart.md) — Try PX4 in simulation without a build environment! - [Initial Setup](../dev_setup/config_initial.md) - [Toolchain Installation](../dev_setup/dev_env.md) - [Building the Code](../dev_setup/building_px4.md) diff --git a/docs/uk/flight_controller/x-mav_ap-h743r1.md b/docs/uk/flight_controller/x-mav_ap-h743r1.md index dbd86854a0..1e22be6d49 100644 --- a/docs/uk/flight_controller/x-mav_ap-h743r1.md +++ b/docs/uk/flight_controller/x-mav_ap-h743r1.md @@ -26,7 +26,7 @@ These flight controllers are [manufacturer supported](../flight_controller/autop - Сенсори на платі - Accel/Gyro: ICM-42688-P\*2(Version1), BMI270\*2(Version2) - Mag: QMC5883P - - Barometer: DPS310(Version1),SPL06(Version2) + - Barometer: SPL06 ### Інтерфейси diff --git a/docs/uk/flight_modes/offboard.md b/docs/uk/flight_modes/offboard.md index 493287856d..0eba3da715 100644 --- a/docs/uk/flight_modes/offboard.md +++ b/docs/uk/flight_modes/offboard.md @@ -2,17 +2,29 @@ +:::: warning + +Offboard control with ROS 2 requires _significant care_ to ensure that it is used safely. +Please read [ROS 2 Offboard Control](#ros-2-offboard-control) carefully to fully understand the risks involved when using it. +A good understanding of [PX4 controller diagrams](../flight_stack/controller_diagrams.md) is advised. + +:::tip +[PX4 ROS 2 Interface Library](../ros2/px4_ros2_interface_lib.md) provides a safer alternative. +::: + +:::: + Апарат зберігає данні про положення, швидкість, прискорення, орієнтацію, значення сили тяги, відповідно заданим значенням, наданим деяким джерелом, зовнішнім по відношенню до польотного контролера, наприклад комп’ютером. 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 вмикає функції в оф-борді лише після отримання сигналу протягом більш ніж секунди, і відновлює керування якщо зупиняється сигнал. +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. ::: info -- Для цього режиму потрібна інформація про позицію або орієнтацію за допомогою вказівника, наприклад, від GPS, оптичного потоку, візуально-інерційної одометрії, MoCap та ін. +- 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 be 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 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. - Не всі значення координат та параметрів, дозволені MAVLink підтримуються для усіх повідомлень та транспортних засобів. Read the sections below _carefully_ to ensure only supported values are used. @@ -38,13 +50,37 @@ In order to hold position in this case the vehicle must receive a stream of `Off Операції, як-от зліт, посадка, повернення на місце запуску, можуть найкраще бути виконаними з використанням відповідних режимів. Операції такі як завантаження, місії можуть бути виконані в будь-якому режимі. -## Повідомлення ROS 2 +## ROS 2 Offboard Control + +This section describes how to perform offboard control through one of the direct ROS 2 interfaces: UXRCE-DDS or Zenoh. + +When using direct ROS 2 offboard control, PX4 setpoint messages generated by external controllers are injected into the [PX4 control pipeline](../flight_stack/controller_diagrams.md). +Because messages from internal and external controllers are indistinguishable within PX4, precise synchronization is required in order to avoid the controllers writing conflicting messages to the same topic. + +In Offboard mode (only), an external system can use [`OffboardControlMode`](#the-offboardcontrolmode-px4-message) to specify which setpoint topics PX4 should publish/not publish, allowing them to be written safely by an external controller. + +::: warning + +PX4 has no means of filtering and distinguishing ROS 2 messages from internal messages, in any mode. +In order to interwork safely, the external controller must: + +- Publish PX4 setpoint messages **ONLY** in Offboard mode. +- Specify which setpoints it will write using the `OffboardControlMode` topic. +- Stream the `OffboardControlMode` topic as a keep-alive signal. +- Stream the setpoints it wants: unlike with MAVLink, PX4 won't trigger a failsafe if setpoints aren't sent regularly. + +If external setpoints are sent in any other flight mode, or they overwrite topics that have not been disabled by PX4 when in offboard mode, collisions are likely. +This will result in unexpected, and possibly catastrophic, behaviour. + +::: + +### The `OffboardControlMode` PX4 message Наступні повідомлення ROS 2 та їх конкретні поля та значення полів допускаються для вказаних кадрів. In addition to providing heartbeat functionality, `OffboardControlMode` has two other main purposes: -1. Controls the level of the [PX4 control architecture](../flight_stack/controller_diagrams.md) at which offboard setpoints must be injected, and disables the bypassed controllers. -2. Визначає, які допустимі оцінки (положення або швидкості) необхідні, а також які повідомлення відповідно до заданих значень мають бути використані. +1. Controls which internal PX4 control modules of the [PX4 control architecture](../flight_stack/controller_diagrams.md) shall remain active and which ones shall be disabled when the vehicle is in Offboard Mode. +2. Determines which valid estimates (position, velocity, etc.) are required. The `OffboardControlMode` message is defined as shown. @@ -69,33 +105,48 @@ For rovers see the [rover section](#rover). The fields are ordered in terms of priority such that `position` takes precedence over `velocity` and later fields, `velocity` takes precedence over `acceleration`, and so on. Перше поле, яке має ненульове значення (зверху вниз), визначає, яка допустима оцінка необхідна для використання режиму безпілотного керування, а також повідомлення заданих значень, які можуть бути використані. -For example, if the `acceleration` field is the first non-zero value, then PX4 requires a valid `velocity estimate`, and the setpoint must be specified using the `TrajectorySetpoint` message. +For example, if the `acceleration` field is the first non-zero value, then PX4 requires a valid `attitude estimate`, and the setpoint must be specified using the `TrajectorySetpoint` message. | бажана кількість контролю | поле положення | поле швидкості | поле прискорення | поле орієнтації | поле кутової швидкості тіла | поле тяги та крутного момент | поле прямого приводу | необхідна оцінка | необхідне повідомлення | | ----------------------------------------------- | -------------- | -------------- | ---------------- | --------------- | --------------------------- | ---------------------------- | -------------------- | ---------------- | ------------------------------------------------------------------------------------------------------------------------------- | | положення (NED) | ✓ | - | - | - | - | - | - | положення | [TrajectorySetpoint](../msg_docs/TrajectorySetpoint.md) | | швидкість (NED) | ✗ | ✓ | - | - | - | - | - | швидкість | [TrajectorySetpoint](../msg_docs/TrajectorySetpoint.md) | -| прискорення (NED) | ✗ | ✗ | ✓ | - | - | - | - | швидкість | [TrajectorySetpoint](../msg_docs/TrajectorySetpoint.md) | -| орієнтація (FRD) | ✗ | ✗ | ✗ | ✓ | - | - | - | нічого | [VehicleAttitudeSetpoint](../msg_docs/VehicleAttitudeSetpoint.md) | -| кутова швидкість (FRD) | ✗ | ✗ | ✗ | ✗ | ✓ | - | - | нічого | [VehicleRatesSetpoint](../msg_docs/VehicleRatesSetpoint.md) | +| прискорення (NED) | ✗ | ✗ | ✓ | - | - | - | - | attitude | [TrajectorySetpoint](../msg_docs/TrajectorySetpoint.md) | +| орієнтація (FRD) | ✗ | ✗ | ✗ | ✓ | - | - | - | attitude | [VehicleAttitudeSetpoint](../msg_docs/VehicleAttitudeSetpoint.md) | +| кутова швидкість (FRD) | ✗ | ✗ | ✗ | ✗ | ✓ | - | - | angular velocity | [VehicleRatesSetpoint](../msg_docs/VehicleRatesSetpoint.md) | | тяга та крутний момент (FRD) | ✗ | ✗ | ✗ | ✗ | ✗ | ✓ | - | нічого | [VehicleThrustSetpoint](../msg_docs/VehicleThrustSetpoint.md) and [VehicleTorqueSetpoint](../msg_docs/VehicleTorqueSetpoint.md) | | двигуни та серво | ✗ | ✗ | ✗ | ✗ | ✗ | ✗ | ✓ | нічого | [ActuatorMotors](../msg_docs/ActuatorMotors.md) and [ActuatorServos](../msg_docs/ActuatorServos.md) | -where ✓ means that the bit is set, ✘ means that the bit is not set and `-` means that the bit is value is irrelevant. +where ✓ means that the bit is set, ✘ means that the bit is not set and `-` means that the bit value is irrelevant. :::info Before using offboard mode with ROS 2, please spend a few minutes understanding the different [frame conventions](../ros2/user_guide.md#ros-2-px4-frame-conventions) that PX4 and ROS 2 use. ::: -### Коптер +In the following, the different setpoint messages for the main supported airframes are explained. +For fixed-wing offboard control, please refer to the [PX4 ROS 2 Interface Library](../ros2/px4_ros2_interface_lib.md). + +### Мультикоптери - [px4_msgs::msg::TrajectorySetpoint](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/TrajectorySetpoint.msg) + - Підтримуються наступні вхідні комбінації: - 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 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`) - - All values are interpreted in NED (Nord, East, Down) coordinate system and the units are `[m]`, `[m/s]` and `[m/s^2]` for position, velocity and acceleration, respectively. + - All values are interpreted in NED (North, East, Down) coordinate system and the units are `[m]`, `[m/s]` and `[m/s^2]` for position, velocity and acceleration, respectively. + + ::: warning + + Position, velocity and acceleration control for multicopters are all handled by the `mc_pos_control` module. + This module is enabled if any of `position`, `velocity` and `acceleration` fields are set to true. + However, only the content of the `TrajectorySetpoint` messages determines which of the three controllers shall run. + + This means that even if `OffboardControlMode` messages carry the intention of velocity control (only `velocity` field is set) but non-`NaN` position values are sent in the `TrajectorySetpoint` messages, then PX4 will keep running the position controller. + + +::: - [px4_msgs::msg::VehicleAttitudeSetpoint](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleAttitudeSetpoint.msg) - Підтримується наступна комбінація введення: @@ -194,13 +245,11 @@ Ackermann rovers do not support the yaw setpoint. - [px4_msgs::msg::ActuatorMotors](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ActuatorMotors.msg) + [px4_msgs::msg::ActuatorServos](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ActuatorServos.msg) - Ви безпосередньо керуєте вихідними сигналами моторів та/або сервоприводів. - - Currently works at lower level than then `control_allocator` module. - Do not publish these messages when not in offboard mode. - All the values normalized in `[-1, 1]`. For outputs that do not support negative values, negative entries map to `NaN`. - `NaN` maps to disarmed. -## Повідомлення MAVLink +## MAVLink Offboard Control Наступні повідомлення MAVLink та їх конкретні поля та значення полів дозволені для вказаних кадрів літального апарату. diff --git a/docs/uk/flight_modes/return.md b/docs/uk/flight_modes/return.md index 3ca6c45f0a..5e112e952d 100644 --- a/docs/uk/flight_modes/return.md +++ b/docs/uk/flight_modes/return.md @@ -110,11 +110,13 @@ The behaviour is fairly complex because it depends on the flight mode, and wheth Mission _with_ landing pattern: -- **Mission mode:** Mission is continued in "fast-forward mode" (jumps, delay and any other non-position commands ignored, loiter and other position waypoints converted to simple waypoints) and then lands. +- **Mission mode:** + - Mission is continued in "fast-forward mode" and then lands. + - DO_JUMP commands, delays and other non-position mission items are ignored, and loiter and other position waypoints are converted to simple waypoints. - **Auto mode other than mission mode:** - Ascend to a safe [minimum return altitude](#minimum-return-altitude) above any expected obstacles. - Летіть безпосередньо до найближчої точки маршруту (для FW - не посадкової точки) і знижуйтеся до висоти точки маршруту. - - Продовжуйте місію в режимі швидкої відтворення з цієї точки маршруту. + - Continue mission in fast forward mode from that waypoint, using the same traversal rules as above. - **Manual modes:** - Ascend to a safe [minimum return altitude](#minimum-return-altitude) above any expected obstacles. - Прямий польот до позиції послідовності посадки та спуск до висоти позначеної точки @@ -124,7 +126,7 @@ Mission _without_ landing pattern defined: - **Mission mode:** - Місія виконується "швидко назад" (у зворотному напрямку) починаючи з попередньої точки маршруту - - Переходи, затримки та будь-які інші команди, що не стосуються позиції, ігноруються. Точки залишку та інші позиційні точки перетворюються на прості точки маршруту. + - DO_JUMP commands, delays and other non-position mission items are ignored, and loiter and other position waypoints are converted to simple waypoints. - Транспортні засоби VTOL переходять у режим FW (за потреби) перед тим, як летіти місію задом наперед. - On reaching waypoint 1, the vehicle ascends to the [minimum return altitude](#minimum-return-altitude) and flies to the home position (where it [lands or waits](#loiter-landing-at-destination)). - **Auto mode other than mission mode:** @@ -136,6 +138,11 @@ Mission _without_ landing pattern defined: Якщо місія змінюється під час режиму повернення, тоді поведінка повторно оцінюється на основі нової місії за тими ж правилами, що й вище (наприклад, якщо нова місія не має послідовності приземлення, а ви в місії, місія змінюється). +:::info +For `RTL_TYPE=4`, PX4 currently chooses between continuing to a mission landing and reversing toward home by comparing raw mission item indices. +This is only an approximation of the flown path length, because the number if mission items is not indicative of the distance remaining and non-position items are also counted. +::: + ### Тип повернення додому/точка збору (RTL_TYPE=3) У цьому типі повернення транспортний засіб: @@ -205,15 +212,15 @@ 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). -| Параметр | Опис | -| -------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -| [RTL_TYPE](../advanced_config/parameter_reference.md#RTL_TYPE) | Return mechanism (path and destination).
`0`: Return to a rally point or home (whichever is closest) via direct path.
`1`: Return to a rally point or the mission landing pattern start point (whichever is closest), via direct path. Якщо не визначено ні місійної посадки, ні точок ралі, повертайтеся додому через прямий шлях. If the destination is a mission landing pattern, follow the pattern to land.
`2`: Use mission path fast-forward to landing if a landing pattern is defined, otherwise fast-reverse to home. Ігноруємо точки ралі. Fly direct to home if no mission plan is defined.
`3`: Return via direct path to closest destination: home, start of mission landing pattern or safe point. Якщо пунктом призначення є схема приземлення, дотримуйтеся цієї схеми, щоб приземлитися. | -| [RTL_RETURN_ALT](../advanced_config/parameter_reference.md#RTL_RETURN_ALT) | Повернути висоту в метрах (за замовчуванням: 60м), коли [RTL_CONE_ANG](../advanced_config/parameter_reference.md#RTL_CONE_ANG) дорівнює 0. Якщо вже вище цієї величини, транспортний засіб повернеться на поточну висоту. | -| [RTL_DESCEND_ALT](../advanced_config/parameter_reference.md#RTL_DESCEND_ALT) | Мінімальна висота повернення і висота, на якій повітряне судно сповільнює або зупиняє своє початкове зниження з вищої висоти повернення (за замовчуванням: 30 м) | -| [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. Якщо встановлено значення -1, система буде кружляти на висоті `RTL_DESCEND_ALT` замість посадки. Затримка надається для того, щоб ви могли налаштувати час для розгортання шасі для посадки (автоматично спрацьовує). | -| [RTL_MIN_DIST](../advanced_config/parameter_reference.md#RTL_MIN_DIST) | Мінімальна горизонтальна відстань від домашньої позиції, щоб викликати підйом на висоту повернення, вказану "конусом". 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. | -| [RTL_CONE_ANG](../advanced_config/parameter_reference.md#RTL_CONE_ANG) | Половина кута конуса, який визначає висоту повернення транспортного засобу RTL. Значення (у градусах): 0, 25, 45, 65, 80, 90. Зауважте, що 0 означає "без конуса" (завжди повертається на висоту `RTL_RETURN_ALT` або вище), тоді як 90 показує, що транспортний засіб повинен повертатися на поточну висоту або `RTL_DESCEND_ALT` (яка вище). | -| [COM_RC_OVERRIDE](../advanced_config/parameter_reference.md#COM_RC_OVERRIDE) | Контролює, чи рух палиць на багтрековому літальному апараті (або VTOL у режимі MC) викликає зміну режиму на [Режим позиціонування](../flight_modes_mc/position.md) (крім випадку, коли транспортний засіб вирішує критичне аварійне вимкнення батареї). Це можна окремо увімкнути для автоматичних режимів та для режиму поза бортом, і в автоматичних режимах воно включено за замовчуванням. | -| [COM_RC_STICK_OV](../advanced_config/parameter_reference.md#COM_RC_STICK_OV) | Кількість рухів стиків, яка викликає перехід у [режим Положення](../flight_modes_mc/position.md) (якщо [COM_RC_OVERRIDE](#COM_RC_OVERRIDE) увімкнено). | -| [RTL_LOITER_RAD](../advanced_config/parameter_reference.md#RTL_LOITER_RAD) | [Тільки фіксоване крило] Радіус круга обертання (у значенні [RTL_LAND_DELAY](#RTL_LAND_DELAY)). | -| [MIS_TKO_LAND_REQ](../advanced_config/parameter_reference.md#MIS_TKO_LAND_REQ) | Вказує, чи _необхідний_ місійний маршрут посадки або зльоту. Зазвичай літаки з фіксованим крилом встановлюють це для вимоги до посадкового маршруту, але VTOL - ні. | +| Параметр | Опис | +| -------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| [RTL_TYPE](../advanced_config/parameter_reference.md#RTL_TYPE) | Return mechanism (path and destination).
`0`: Return to a rally point or home (whichever is closest) via direct path.
`1`: Return to a rally point or the mission landing pattern start point (whichever is closest), via direct path. Якщо не визначено ні місійної посадки, ні точок ралі, повертайтеся додому через прямий шлях. If the destination is a mission landing pattern, follow the pattern to land.
`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. Ігноруємо точки ралі. Fly direct to home if no mission plan is defined.
`3`: Return via direct path to closest destination: home, start of mission landing pattern or safe point. Якщо пунктом призначення є схема приземлення, дотримуйтеся цієї схеми, щоб приземлитися. | +| [RTL_RETURN_ALT](../advanced_config/parameter_reference.md#RTL_RETURN_ALT) | Повернути висоту в метрах (за замовчуванням: 60м), коли [RTL_CONE_ANG](../advanced_config/parameter_reference.md#RTL_CONE_ANG) дорівнює 0. Якщо вже вище цієї величини, транспортний засіб повернеться на поточну висоту. | +| [RTL_DESCEND_ALT](../advanced_config/parameter_reference.md#RTL_DESCEND_ALT) | Мінімальна висота повернення і висота, на якій повітряне судно сповільнює або зупиняє своє початкове зниження з вищої висоти повернення (за замовчуванням: 30 м) | +| [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. Якщо встановлено значення -1, система буде кружляти на висоті `RTL_DESCEND_ALT` замість посадки. Затримка надається для того, щоб ви могли налаштувати час для розгортання шасі для посадки (автоматично спрацьовує). | +| [RTL_MIN_DIST](../advanced_config/parameter_reference.md#RTL_MIN_DIST) | Мінімальна горизонтальна відстань від домашньої позиції, щоб викликати підйом на висоту повернення, вказану "конусом". 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. | +| [RTL_CONE_ANG](../advanced_config/parameter_reference.md#RTL_CONE_ANG) | Половина кута конуса, який визначає висоту повернення транспортного засобу RTL. Значення (у градусах): 0, 25, 45, 65, 80, 90. Зауважте, що 0 означає "без конуса" (завжди повертається на висоту `RTL_RETURN_ALT` або вище), тоді як 90 показує, що транспортний засіб повинен повертатися на поточну висоту або `RTL_DESCEND_ALT` (яка вище). | +| [COM_RC_OVERRIDE](../advanced_config/parameter_reference.md#COM_RC_OVERRIDE) | Контролює, чи рух палиць на багтрековому літальному апараті (або VTOL у режимі MC) викликає зміну режиму на [Режим позиціонування](../flight_modes_mc/position.md) (крім випадку, коли транспортний засіб вирішує критичне аварійне вимкнення батареї). Це можна окремо увімкнути для автоматичних режимів та для режиму поза бортом, і в автоматичних режимах воно включено за замовчуванням. | +| [COM_RC_STICK_OV](../advanced_config/parameter_reference.md#COM_RC_STICK_OV) | Кількість рухів стиків, яка викликає перехід у [режим Положення](../flight_modes_mc/position.md) (якщо [COM_RC_OVERRIDE](#COM_RC_OVERRIDE) увімкнено). | +| [RTL_LOITER_RAD](../advanced_config/parameter_reference.md#RTL_LOITER_RAD) | [Тільки фіксоване крило] Радіус круга обертання (у значенні [RTL_LAND_DELAY](#RTL_LAND_DELAY)). | +| [MIS_TKO_LAND_REQ](../advanced_config/parameter_reference.md#MIS_TKO_LAND_REQ) | Вказує, чи _необхідний_ місійний маршрут посадки або зльоту. Зазвичай літаки з фіксованим крилом встановлюють це для вимоги до посадкового маршруту, але VTOL - ні. | diff --git a/docs/uk/index.md b/docs/uk/index.md index 093035aba9..da920b8e18 100644 --- a/docs/uk/index.md +++ b/docs/uk/index.md @@ -21,11 +21,13 @@ Documented changes since the stable release are captured in the evolving [releas +## Try PX4 + +No hardware needed. Run PX4 in simulation with a single command using [Docker or a .deb package](simulation/px4_simulation_quickstart.md). Connect [QGroundControl](https://qgroundcontrol.com), [MAVSDK](https://mavsdk.mavlink.io/), or [ROS 2](ros2/index.md) and start flying immediately. + ## For Developers -:::tip -Building on PX4 or extending the platform? Start here: [Development Guide](development/development.md). Set up your [dev environment](dev_setup/config_initial.md), [build from source](dev_setup/building_px4.md), run [SITL simulation](simulation/index.md), or integrate via [ROS 2](ros2/index.md) and [MAVSDK](https://mavsdk.mavlink.io/). -::: +Want to modify PX4 or build from source? Start with the [Development Guide](development/development.md): set up your [dev environment](dev_setup/dev_env.md), [build the code](dev_setup/building_px4.md), and run [SITL simulation](simulation/index.md). ## Початок роботи diff --git a/docs/uk/mavlink/message_signing.md b/docs/uk/mavlink/message_signing.md index 41278a6a9d..68e8f69e4a 100644 --- a/docs/uk/mavlink/message_signing.md +++ b/docs/uk/mavlink/message_signing.md @@ -12,25 +12,37 @@ When signing is enabled, PX4 appends a 13-byte [signature](https://mavlink.io/en Incoming messages are checked against the shared secret key, and unsigned or incorrectly signed messages are rejected (with [exceptions for safety-critical messages](#unsigned-message-allowlist)). -The signing implementation is built into the MAVLink module and is always available — no special build flags are required. -It is enabled and disabled at runtime through the [MAV_SIGN_CFG](../advanced_config/parameter_reference.md#MAV_SIGN_CFG) parameter. +The signing implementation is built into the MAVLink module and is always available, with no special build flags required. +The key is stored in an SD card: + +- **No key on SD card**: + Signing is disabled. + All messages are sent unsigned and all incoming messages are accepted. +- **Valid key on SD card**: + Signing is active on **all links** (including USB). + Outgoing messages are signed. + Incoming messages must be signed (with [exceptions](#unsigned-message-allowlist)). ## Enable/Disable Signing -The [MAV_SIGN_CFG](../advanced_config/parameter_reference.md#MAV_SIGN_CFG) parameter controls whether signing is active: +Signing is controlled using the standard MAVLink [SETUP_SIGNING](https://mavlink.io/en/messages/common.html#SETUP_SIGNING) message (as per the [MAVLink signing specification](https://mavlink.io/en/guide/message_signing.html)): -| Значення | Режим | Опис | -| -------- | ------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------- | -| 0 | Disabled (default) | No signing. All messages are accepted regardless of signature. | -| 1 | Non-USB | Signing is enabled on all links **except** USB serial connections. USB links accept unsigned messages. | -| 2 | Always | Signing is enforced on all links, including USB. | +- To **enable** signing, send a `SETUP_SIGNING` message with a valid key on any link when no key is currently provisioned (see [Key Provisioning](#key-provisioning)). +- To **disable** signing via MAVLink, send a `SETUP_SIGNING` message with an all-zero key and timestamp. + This message **must be signed with the current active key**. + An unsigned blank-key message is rejected. +- To **change** the signing key, send a `SETUP_SIGNING` message with the new key on any link. + When signing is already active, the message must be signed with the current key. :::warning -Setting `MAV_SIGN_CFG` alone does not enable signing — a secret key must also be present (see [Key Provisioning](#key-provisioning) below). -If no key has been set (or the key is all zeros with a zero timestamp), all messages are accepted regardless of this parameter. +Signing key changes (enable, disable, or rotate) are **rejected while the vehicle is armed**. +The vehicle must be disarmed before signing configuration can be changed. ::: -To **disable** signing, set `MAV_SIGN_CFG` to zero. +:::tip +If the signing key is lost, you can still disable signing if you have physical access to the vehicle. +Either delete the key file (`/mavlink/mavlink-signing-key.bin`) from the SD card and reboot, or remove the SD card entirely. +::: ## Key Provisioning @@ -40,11 +52,13 @@ This message contains: - A 32-byte secret key - A 64-bit initial timestamp -:::warning -For security, PX4 only accepts `SETUP_SIGNING` messages received on a **USB** connection. -The message is silently ignored on all other link types (telemetry radios, network, and so on). -This ensures that an attacker cannot remotely change the signing key. -::: +PX4 accepts `SETUP_SIGNING` on **any link** (USB, telemetry radio, network, and so on). + +When signing is **not active** (no key provisioned), the first `SETUP_SIGNING` with a valid key enables signing. +When signing is **already active**, key changes (including disabling) require that the `SETUP_SIGNING` message is signed with the current key. + +Note that `SETUP_SIGNING` is rejected while the vehicle is armed (disarm before provisioning or changing keys). +As per the MAVLink specification, `SETUP_SIGNING` is never forwarded to other links. ## Key Storage @@ -64,7 +78,7 @@ The file is a 40-byte binary file: The file is created with mode `0600` (owner read/write only), and the containing `/mavlink/` directory is created with mode `0700` (owner only). On startup, PX4 reads the key from this file. -If the file exists and contains a non-zero key or timestamp, signing is initialized automatically. +If the file exists and contains a non-zero key or timestamp, signing is activated automatically. :::info The timestamp in the file is set when `SETUP_SIGNING` is received. @@ -73,7 +87,7 @@ A graceful shutdown also writes the current timestamp back, but in practice most :::info Storage of the key on the SD card means that signing can be disabled by removing the card. -Note that this requires physical access to the vehicle, and therefore provides the same level of security as allowing signing to be modified via the USB channel. +Note that this requires physical access to the vehicle. ::: ## How It Works @@ -82,45 +96,89 @@ Note that this requires physical access to the vehicle, and therefore provides t 1. The MAVLink module calls `MavlinkSignControl::start()` during startup. 2. The `/mavlink/` directory is created if it doesn't exist. -3. The `mavlink-signing-key.bin` file is opened (or created empty). -4. If a valid key is found (non-zero key or timestamp), signing is marked as initialized. -5. The `accept_unsigned` callback is registered with the MAVLink library. +3. The `mavlink-signing-key.bin` file is opened if it exists. +4. If a valid key is found (non-zero key or timestamp), signing is activated: the signing struct is wired into the MAVLink library and outgoing messages are signed. +5. If no valid key is found, the signing struct is left disconnected, and the MAVLink library operates with zero signing overhead. ### Outgoing Messages -When signing is initialized, the `MAVLINK_SIGNING_FLAG_SIGN_OUTGOING` flag is set, which causes the MAVLink library to automatically append a [SHA-256 based signature](https://mavlink.io/en/guide/message_signing.html#signature) to every outgoing MAVLink 2 message. +When signing is active (valid key present), the `MAVLINK_SIGNING_FLAG_SIGN_OUTGOING` flag is set, which causes the MAVLink library to automatically append a [SHA-256 based signature](https://mavlink.io/en/guide/message_signing.html#signature) to every outgoing MAVLink 2 message. + +When no key is present, signing is completely bypassed with no CPU or bandwidth overhead. ### Incoming Messages For each incoming message, the MAVLink library checks whether a valid signature is present. If the message is unsigned or has an invalid signature, the library calls the `accept_unsigned` callback, which decides whether to accept or reject the message based on: -1. **Signing not initialized** — If no key has been loaded, all messages are accepted. -2. **Allowlisted message** — Certain [safety-critical messages](#unsigned-message-allowlist) are always accepted. -3. **Sign mode** — The `MAV_SIGN_CFG` parameter determines behavior: - - Mode 0 (disabled): All unsigned messages are accepted. - - Mode 1 (non-USB): Unsigned messages are accepted only on USB links. - - Mode 2 (always): Unsigned messages are rejected on all links. +1. **Signing not active**: If no key has been loaded, all messages are accepted. +2. **Allowlisted message**: Certain [safety-critical messages](#unsigned-message-allowlist) are always accepted. ## Unsigned Message Allowlist -The following messages are **always** accepted unsigned, regardless of the signing mode. +The following messages are **always** accepted unsigned, regardless of the signing state. These are safety-critical messages that may originate from systems that don't support signing: | Повідомлення | ID | Reason | | -------------------------------------------------------------------------------------------- | --- | -------------------------------------------------------- | +| [HEARTBEAT](https://mavlink.io/en/messages/common.html#HEARTBEAT) | 0 | System discovery and liveness detection | | [RADIO_STATUS](https://mavlink.io/en/messages/common.html#RADIO_STATUS) | 109 | Radio link status from SiK radios and other radio modems | | [ADSB_VEHICLE](https://mavlink.io/en/messages/common.html#ADSB_VEHICLE) | 246 | ADS-B traffic information for collision avoidance | | [COLLISION](https://mavlink.io/en/messages/common.html#COLLISION) | 247 | Collision threat warnings | ## Security Considerations -- **Physical access required for key setup**: The `SETUP_SIGNING` message is only accepted over USB, so an attacker must have physical access to the vehicle to provision or change the key. +### Signing is enforced on all links + +When signing is active, **all links require signed messages**. +This means: + +- An attacker cannot send unsigned commands on any link. +- Changing or disabling the key requires sending a `SETUP_SIGNING` message **signed with the current key**. +- Signing can be disabled via MAVLink by sending a signed `SETUP_SIGNING` with an all-zero key. + +### Armed guard + +`SETUP_SIGNING` is rejected while the vehicle is armed. +This prevents the signing configuration from being changed during flight, whether by accident or by an attacker who has obtained the key. + +### Lost key recovery + +If the signing key is lost on the GCS side and no device has the current key: + +- **Remove the SD card** and delete `/mavlink/mavlink-signing-key.bin`, then reboot. +- **Reflash via SWD/JTAG** if the SD card is not accessible. + +:::warning +There is no software-only recovery path for a lost key. +This is intentional: any MAVLink-based recovery mechanism would also be available to an attacker. +Physical access to the SD card or debug port is required. +::: + +### Other considerations + +- **Initial key provisioning**: When no key is provisioned, `SETUP_SIGNING` is accepted unsigned on any link. + Once a key is active, subsequent changes require a signed message. + Provision the initial key over a trusted connection, such as USB. - **Key not exposed via parameters**: The secret key is stored in a separate file on the SD card, not as a MAVLink parameter, so it cannot be read back through the parameter protocol. -- **SD card access**: Anyone with physical access to the SD card can read or modify the `mavlink-signing-key.bin` file, or just remove the card. +- **SD card access**: Anyone with physical access to the SD card can read or modify the `mavlink-signing-key.bin` file, or remove the card entirely to disable signing. Ensure physical security of the vehicle if signing is used as a security control. - **Replay protection**: The MAVLink signing protocol includes a timestamp that prevents replay attacks. The on-disk timestamp is updated when a new key is provisioned via `SETUP_SIGNING`. - A graceful shutdown also persists the current timestamp, but since most vehicles are powered off by pulling the battery, the timestamp will typically reset to the value from the last key provisioning on reboot. -- **No encryption**: Message signing provides authentication and integrity, but messages are still sent in plaintext. - An eavesdropper can read message contents but cannot forge or modify them without the key. + A graceful shutdown also persists the current timestamp, but since most vehicles are powered off by pulling the battery, the on-disk timestamp will typically remain at the value from the last key provisioning on reboot. +- **No encryption**: Message signing provides **authentication and integrity only**. + Messages are still sent in plaintext. + An eavesdropper can read all message contents (telemetry, commands, parameters, missions) but cannot forge or modify them without the key. +- **Allowlisted messages bypass signing**: A small set of [safety-critical messages](#unsigned-message-allowlist) are always accepted unsigned. + An attacker can spoof these specific messages (e.g. fake `ADSB_VEHICLE` traffic) even when signing is active. + +### What signing does NOT protect against + +| Attack | Why | +| ----------------------------------------------------- | ------------------------------------------------------- | +| Eavesdropping | Messages are not encrypted | +| SD card extraction | Key file is readable by anyone with physical access | +| Spoofed `HEARTBEAT`/`RADIO_STATUS`/`ADSB`/`COLLISION` | These are allowlisted unsigned | +| Lost key without SD card access | Requires SWD reflash | +| Key rotation | No automatic mechanism; manual re-provisioning required | +| In-flight key changes | `SETUP_SIGNING` rejected while armed | diff --git a/docs/uk/mavlink/security_hardening.md b/docs/uk/mavlink/security_hardening.md index ecdfab9227..306eaef9b8 100644 --- a/docs/uk/mavlink/security_hardening.md +++ b/docs/uk/mavlink/security_hardening.md @@ -37,22 +37,32 @@ See [Message Signing](message_signing.md) for full details. Steps: -1. Connect the vehicle via **USB** (key provisioning only works over USB). -2. Provision a 32-byte secret key using the [SETUP_SIGNING](https://mavlink.io/en/messages/common.html#SETUP_SIGNING) message. -3. Set [MAV_SIGN_CFG](../advanced_config/parameter_reference.md#MAV_SIGN_CFG) to **1** (signing enabled on all links except USB) or **2** (signing on all links including USB). -4. Provision the same key on all ground control stations and companion computers that need to communicate with the vehicle. -5. Verify that unsigned messages from unknown sources are rejected. +1. Connect to the vehicle over a **trusted link** (USB or other secure connection). +2. Provision a 32-byte secret key using the [SETUP_SIGNING](https://mavlink.io/en/messages/common.html#SETUP_SIGNING) message. This works on any link, but use a trusted one for initial provisioning. +3. Provision the same key on all ground control stations and companion computers that need to communicate with the vehicle. +4. Verify that unsigned messages from unknown sources are rejected. :::info -`MAV_SIGN_CFG=1` is recommended for most deployments. -This enforces signing on telemetry radios and network links while allowing unsigned access over USB for maintenance. -USB connections require physical access to the vehicle, which provides equivalent security to physical key access. +Once a key is provisioned, signing is enforced automatically on **all links** (including USB). +Changing or disabling the key requires a signed `SETUP_SIGNING` message. +Signing changes are rejected while the vehicle is armed. +Signing can also be disabled by physically removing the key file from the SD card. ::: ### 2. Secure Physical Access -- Protect access to the SD card. The signing key is stored at `/mavlink/mavlink-signing-key.bin` and can be read or removed by anyone with physical access. -- USB connections bypass signing when `MAV_SIGN_CFG=1`. Ensure USB ports are not exposed in deployed configurations. +- **SD card**: The signing key is stored at `/mavlink/mavlink-signing-key.bin`. + Anyone with physical access to the SD card can read, modify, or remove the key file. +- **USB ports**: USB follows the same signing rules as all other links. + When signing is active, USB requires signed messages. +- **Debug ports (SWD/JTAG)**: If exposed, [Debug Ports](../debug/swd_debug.md) allow full firmware reflash and bypass all software security. + Not all vehicles expose debug connectors. + +:::warning +Signing protects all MAVLink links. +The primary physical attack surface is the SD card (key file extraction or deletion). +If your threat model includes physical access, secure the SD card slot and debug ports. +::: ### 3. Secure Network Links @@ -63,9 +73,19 @@ USB connections require physical access to the vehicle, which provides equivalen ### 4. Understand the Limitations -- **No encryption**: Message signing provides authentication and integrity, but messages are sent in plaintext. An eavesdropper can read telemetry and commands but cannot forge them. -- **Allowlisted messages**: A small set of [safety-critical messages](message_signing.md#unsigned-message-allowlist) (RADIO_STATUS, ADSB_VEHICLE, COLLISION) are always accepted unsigned. -- **Key management**: There is no automatic key rotation. Keys must be reprovisioned manually via USB if compromised. +- **No encryption**: + Message signing provides authentication and integrity, but messages are sent in plaintext. + An eavesdropper can read telemetry and commands but cannot forge them. +- **Allowlisted messages**: + A small set of [safety-critical messages](message_signing.md#unsigned-message-allowlist) (`HEARTBEAT`, `RADIO_STATUS`, `ADSB_VEHICLE`, `COLLISION`) are always accepted unsigned on all links. + An attacker could spoof these specific messages. +- **Key management**: + There is no automatic key rotation. + Keys must be reprovisioned manually via a signed `SETUP_SIGNING` message. +- **Lost key recovery**: + If the signing key is lost on all GCS devices, the only recovery is physical: remove the SD card and delete the key file, or reflash via SWD/JTAG. + There is no software-only recovery path. + See [Message Signing: Lost Key Recovery](message_signing.md#lost-key-recovery) for details. ## Integrator Responsibility diff --git a/docs/uk/middleware/dds_topics.md b/docs/uk/middleware/dds_topics.md index db0928eb77..39c77185f4 100644 --- a/docs/uk/middleware/dds_topics.md +++ b/docs/uk/middleware/dds_topics.md @@ -96,208 +96,210 @@ They are not build into the module, and hence are neither published or subscribe :::details See messages -- [NavigatorStatus](../msg_docs/NavigatorStatus.md) -- [OpenDroneIdSystem](../msg_docs/OpenDroneIdSystem.md) -- [VehicleOpticalFlow](../msg_docs/VehicleOpticalFlow.md) -- [DistanceSensorModeChangeRequest](../msg_docs/DistanceSensorModeChangeRequest.md) - [EstimatorAidSource3d](../msg_docs/EstimatorAidSource3d.md) -- [SatelliteInfo](../msg_docs/SatelliteInfo.md) -- [GimbalDeviceInformation](../msg_docs/GimbalDeviceInformation.md) -- [FixedWingLateralGuidanceStatus](../msg_docs/FixedWingLateralGuidanceStatus.md) -- [GeofenceResult](../msg_docs/GeofenceResult.md) -- [TiltrotorExtraControls](../msg_docs/TiltrotorExtraControls.md) -- [QshellReq](../msg_docs/QshellReq.md) -- [VehicleCommandAckV0](../msg_docs/VehicleCommandAckV0.md) -- [VehicleImu](../msg_docs/VehicleImu.md) -- [PositionControllerLandingStatus](../msg_docs/PositionControllerLandingStatus.md) -- [EstimatorSensorBias](../msg_docs/EstimatorSensorBias.md) -- [GpioRequest](../msg_docs/GpioRequest.md) -- [UavcanParameterValue](../msg_docs/UavcanParameterValue.md) -- [ParameterResetRequest](../msg_docs/ParameterResetRequest.md) -- [EstimatorBias3d](../msg_docs/EstimatorBias3d.md) -- [CameraStatus](../msg_docs/CameraStatus.md) -- [UavcanParameterRequest](../msg_docs/UavcanParameterRequest.md) -- [VehicleStatusV1](../msg_docs/VehicleStatusV1.md) -- [MountOrientation](../msg_docs/MountOrientation.md) -- [Gripper](../msg_docs/Gripper.md) -- [RtlStatus](../msg_docs/RtlStatus.md) -- [PositionSetpoint](../msg_docs/PositionSetpoint.md) -- [GpsInjectData](../msg_docs/GpsInjectData.md) -- [Cpuload](../msg_docs/Cpuload.md) -- [SensorAccelFifo](../msg_docs/SensorAccelFifo.md) -- [EstimatorAidSource2d](../msg_docs/EstimatorAidSource2d.md) -- [HoverThrustEstimate](../msg_docs/HoverThrustEstimate.md) -- [HealthReport](../msg_docs/HealthReport.md) -- [DatamanRequest](../msg_docs/DatamanRequest.md) -- [FailureDetectorStatus](../msg_docs/FailureDetectorStatus.md) -- [RangingBeacon](../msg_docs/RangingBeacon.md) -- [AirspeedWind](../msg_docs/AirspeedWind.md) -- [VelocityLimits](../msg_docs/VelocityLimits.md) -- [SensorGyro](../msg_docs/SensorGyro.md) - [GimbalControls](../msg_docs/GimbalControls.md) -- [LandingTargetInnovations](../msg_docs/LandingTargetInnovations.md) -- [YawEstimatorStatus](../msg_docs/YawEstimatorStatus.md) -- [NeuralControl](../msg_docs/NeuralControl.md) -- [DebugArray](../msg_docs/DebugArray.md) -- [WheelEncoders](../msg_docs/WheelEncoders.md) -- [EstimatorSelectorStatus](../msg_docs/EstimatorSelectorStatus.md) -- [ConfigOverridesV0](../msg_docs/ConfigOverridesV0.md) -- [NormalizedUnsignedSetpoint](../msg_docs/NormalizedUnsignedSetpoint.md) -- [VehicleStatusV0](../msg_docs/VehicleStatusV0.md) -- [SensorGnssRelative](../msg_docs/SensorGnssRelative.md) -- [SensorGyroFft](../msg_docs/SensorGyroFft.md) -- [GpioOut](../msg_docs/GpioOut.md) -- [OpenDroneIdSelfId](../msg_docs/OpenDroneIdSelfId.md) -- [RaptorStatus](../msg_docs/RaptorStatus.md) -- [VehicleGlobalPositionV0](../msg_docs/VehicleGlobalPositionV0.md) -- [OrbTestLarge](../msg_docs/OrbTestLarge.md) -- [MissionResult](../msg_docs/MissionResult.md) -- [GeofenceStatus](../msg_docs/GeofenceStatus.md) -- [VehicleAngularVelocity](../msg_docs/VehicleAngularVelocity.md) -- [DifferentialPressure](../msg_docs/DifferentialPressure.md) -- [IrlockReport](../msg_docs/IrlockReport.md) -- [PowerMonitor](../msg_docs/PowerMonitor.md) -- [ArmingCheckRequestV0](../msg_docs/ArmingCheckRequestV0.md) -- [Ping](../msg_docs/Ping.md) -- [DeviceInformation](../msg_docs/DeviceInformation.md) -- [VehicleStatusV2](../msg_docs/VehicleStatusV2.md) -- [EstimatorStatus](../msg_docs/EstimatorStatus.md) -- [HeaterStatus](../msg_docs/HeaterStatus.md) -- [SensorMag](../msg_docs/SensorMag.md) -- [ParameterSetUsedRequest](../msg_docs/ParameterSetUsedRequest.md) +- [LaunchDetectionStatus](../msg_docs/LaunchDetectionStatus.md) +- [GpioConfig](../msg_docs/GpioConfig.md) +- [ParameterResetRequest](../msg_docs/ParameterResetRequest.md) +- [PwmInput](../msg_docs/PwmInput.md) +- [DebugValue](../msg_docs/DebugValue.md) +- [FixedWingLateralStatus](../msg_docs/FixedWingLateralStatus.md) +- [MavlinkLog](../msg_docs/MavlinkLog.md) +- [UlogStreamAck](../msg_docs/UlogStreamAck.md) +- [EventV0](../msg_docs/EventV0.md) +- [FixedWingRunwayControl](../msg_docs/FixedWingRunwayControl.md) - [EscEepromRead](../msg_docs/EscEepromRead.md) -- [TecsStatus](../msg_docs/TecsStatus.md) -- [UlogStream](../msg_docs/UlogStream.md) -- [ParameterSetValueRequest](../msg_docs/ParameterSetValueRequest.md) -- [VehicleConstraints](../msg_docs/VehicleConstraints.md) -- [Ekf2Timestamps](../msg_docs/Ekf2Timestamps.md) +- [RoverSpeedStatus](../msg_docs/RoverSpeedStatus.md) +- [PositionControllerStatus](../msg_docs/PositionControllerStatus.md) +- [DebugArray](../msg_docs/DebugArray.md) +- [DifferentialPressure](../msg_docs/DifferentialPressure.md) +- [GimbalDeviceInformation](../msg_docs/GimbalDeviceInformation.md) +- [FlightPhaseEstimation](../msg_docs/FlightPhaseEstimation.md) +- [EstimatorEventFlags](../msg_docs/EstimatorEventFlags.md) +- [GpsDump](../msg_docs/GpsDump.md) +- [OrbTestLarge](../msg_docs/OrbTestLarge.md) - [VehicleImuStatus](../msg_docs/VehicleImuStatus.md) -- [SensorBaro](../msg_docs/SensorBaro.md) -- [SensorsStatus](../msg_docs/SensorsStatus.md) -- [TrajectorySetpoint6dof](../msg_docs/TrajectorySetpoint6dof.md) -- [IridiumsbdStatus](../msg_docs/IridiumsbdStatus.md) -- [Mission](../msg_docs/Mission.md) -- [VehicleLocalPositionV0](../msg_docs/VehicleLocalPositionV0.md) +- [OpenDroneIdArmStatus](../msg_docs/OpenDroneIdArmStatus.md) +- [NeuralControl](../msg_docs/NeuralControl.md) +- [NormalizedUnsignedSetpoint](../msg_docs/NormalizedUnsignedSetpoint.md) +- [ActuatorArmed](../msg_docs/ActuatorArmed.md) +- [GainCompression](../msg_docs/GainCompression.md) +- [GimbalDeviceSetAttitude](../msg_docs/GimbalDeviceSetAttitude.md) +- [GimbalManagerInformation](../msg_docs/GimbalManagerInformation.md) - [EscStatus](../msg_docs/EscStatus.md) -- [AutotuneAttitudeControlStatus](../msg_docs/AutotuneAttitudeControlStatus.md) +- [FailureDetectorStatus](../msg_docs/FailureDetectorStatus.md) +- [HoverThrustEstimate](../msg_docs/HoverThrustEstimate.md) +- [EstimatorStates](../msg_docs/EstimatorStates.md) +- [VehicleImu](../msg_docs/VehicleImu.md) +- [GeofenceResult](../msg_docs/GeofenceResult.md) +- [VehicleGlobalPositionV0](../msg_docs/VehicleGlobalPositionV0.md) +- [CanInterfaceStatus](../msg_docs/CanInterfaceStatus.md) +- [MissionResult](../msg_docs/MissionResult.md) +- [DistanceSensorModeChangeRequest](../msg_docs/DistanceSensorModeChangeRequest.md) +- [RangingBeacon](../msg_docs/RangingBeacon.md) +- [OrbitStatus](../msg_docs/OrbitStatus.md) +- [MavlinkTunnel](../msg_docs/MavlinkTunnel.md) - [CameraCapture](../msg_docs/CameraCapture.md) -- [ManualControlSwitches](../msg_docs/ManualControlSwitches.md) +- [RaptorInput](../msg_docs/RaptorInput.md) +- [VehicleStatusV2](../msg_docs/VehicleStatusV2.md) +- [ArmingCheckRequestV0](../msg_docs/ArmingCheckRequestV0.md) +- [VehicleAngularAccelerationSetpoint](../msg_docs/VehicleAngularAccelerationSetpoint.md) +- [OrbTestMedium](../msg_docs/OrbTestMedium.md) +- [TiltrotorExtraControls](../msg_docs/TiltrotorExtraControls.md) +- [UavcanParameterValue](../msg_docs/UavcanParameterValue.md) +- [Gripper](../msg_docs/Gripper.md) +- [FollowTarget](../msg_docs/FollowTarget.md) +- [SensorsStatusImu](../msg_docs/SensorsStatusImu.md) +- [ConfigOverridesV0](../msg_docs/ConfigOverridesV0.md) +- [SatelliteInfo](../msg_docs/SatelliteInfo.md) +- [PowerButtonState](../msg_docs/PowerButtonState.md) +- [DeviceInformation](../msg_docs/DeviceInformation.md) +- [ActuatorServosTrim](../msg_docs/ActuatorServosTrim.md) +- [AirspeedValidatedV0](../msg_docs/AirspeedValidatedV0.md) +- [RegisterExtComponentRequestV1](../msg_docs/RegisterExtComponentRequestV1.md) +- [BatteryStatusV0](../msg_docs/BatteryStatusV0.md) +- [EscEepromWrite](../msg_docs/EscEepromWrite.md) - [ActionRequest](../msg_docs/ActionRequest.md) -- [InternalCombustionEngineStatus](../msg_docs/InternalCombustionEngineStatus.md) -- [LogMessage](../msg_docs/LogMessage.md) -- [SensorGyroFifo](../msg_docs/SensorGyroFifo.md) +- [IrlockReport](../msg_docs/IrlockReport.md) +- [CellularStatus](../msg_docs/CellularStatus.md) +- [ActuatorOutputs](../msg_docs/ActuatorOutputs.md) +- [FollowTargetStatus](../msg_docs/FollowTargetStatus.md) +- [SystemPower](../msg_docs/SystemPower.md) +- [SensorAccel](../msg_docs/SensorAccel.md) +- [Vtx](../msg_docs/Vtx.md) +- [EstimatorInnovations](../msg_docs/EstimatorInnovations.md) +- [VehicleStatusV1](../msg_docs/VehicleStatusV1.md) +- [SensorGyroFft](../msg_docs/SensorGyroFft.md) +- [ParameterUpdate](../msg_docs/ParameterUpdate.md) +- [Ekf2Timestamps](../msg_docs/Ekf2Timestamps.md) +- [SensorGnssRelative](../msg_docs/SensorGnssRelative.md) +- [VehicleLocalPositionSetpoint](../msg_docs/VehicleLocalPositionSetpoint.md) +- [SensorAirflow](../msg_docs/SensorAirflow.md) +- [DebugKeyValue](../msg_docs/DebugKeyValue.md) +- [Event](../msg_docs/Event.md) +- [MountOrientation](../msg_docs/MountOrientation.md) +- [EstimatorFusionControl](../msg_docs/EstimatorFusionControl.md) +- [VehicleAcceleration](../msg_docs/VehicleAcceleration.md) +- [EstimatorGpsStatus](../msg_docs/EstimatorGpsStatus.md) +- [MagnetometerBiasEstimate](../msg_docs/MagnetometerBiasEstimate.md) +- [LandingTargetInnovations](../msg_docs/LandingTargetInnovations.md) +- [VehicleOpticalFlowVel](../msg_docs/VehicleOpticalFlowVel.md) +- [Mission](../msg_docs/Mission.md) +- [VehicleAirData](../msg_docs/VehicleAirData.md) +- [SensorBaro](../msg_docs/SensorBaro.md) +- [RegisterExtComponentReplyV0](../msg_docs/RegisterExtComponentReplyV0.md) +- [Px4ioStatus](../msg_docs/Px4ioStatus.md) +- [TecsStatus](../msg_docs/TecsStatus.md) +- [InternalCombustionEngineControl](../msg_docs/InternalCombustionEngineControl.md) +- [RcChannels](../msg_docs/RcChannels.md) +- [DebugVect](../msg_docs/DebugVect.md) +- [AirspeedWind](../msg_docs/AirspeedWind.md) +- [QshellRetval](../msg_docs/QshellRetval.md) +- [SensorUwb](../msg_docs/SensorUwb.md) +- [HomePositionV0](../msg_docs/HomePositionV0.md) +- [GimbalManagerSetAttitude](../msg_docs/GimbalManagerSetAttitude.md) +- [CameraTrigger](../msg_docs/CameraTrigger.md) +- [PositionSetpoint](../msg_docs/PositionSetpoint.md) +- [VehicleStatusV0](../msg_docs/VehicleStatusV0.md) +- [BatteryInfo](../msg_docs/BatteryInfo.md) +- [FuelTankStatus](../msg_docs/FuelTankStatus.md) +- [Rpm](../msg_docs/Rpm.md) +- [RateCtrlStatus](../msg_docs/RateCtrlStatus.md) +- [ControlAllocatorStatus](../msg_docs/ControlAllocatorStatus.md) +- [AdcReport](../msg_docs/AdcReport.md) +- [Cpuload](../msg_docs/Cpuload.md) - [FigureEightStatus](../msg_docs/FigureEightStatus.md) +- [RoverAttitudeStatus](../msg_docs/RoverAttitudeStatus.md) +- [VehicleConstraints](../msg_docs/VehicleConstraints.md) +- [SensorGnssStatus](../msg_docs/SensorGnssStatus.md) +- [RcParameterMap](../msg_docs/RcParameterMap.md) +- [VehicleStatusV3](../msg_docs/VehicleStatusV3.md) +- [GpsInjectData](../msg_docs/GpsInjectData.md) +- [FixedWingLateralGuidanceStatus](../msg_docs/FixedWingLateralGuidanceStatus.md) +- [ButtonEvent](../msg_docs/ButtonEvent.md) +- [PpsCapture](../msg_docs/PpsCapture.md) +- [LoggerStatus](../msg_docs/LoggerStatus.md) +- [InternalCombustionEngineStatus](../msg_docs/InternalCombustionEngineStatus.md) +- [ManualControlSwitches](../msg_docs/ManualControlSwitches.md) +- [TakeoffStatus](../msg_docs/TakeoffStatus.md) +- [TuneControl](../msg_docs/TuneControl.md) +- [VelocityLimits](../msg_docs/VelocityLimits.md) +- [DatamanRequest](../msg_docs/DatamanRequest.md) +- [HeaterStatus](../msg_docs/HeaterStatus.md) +- [LogMessage](../msg_docs/LogMessage.md) +- [SensorMag](../msg_docs/SensorMag.md) +- [GpioOut](../msg_docs/GpioOut.md) +- [YawEstimatorStatus](../msg_docs/YawEstimatorStatus.md) +- [SensorHygrometer](../msg_docs/SensorHygrometer.md) +- [DronecanNodeStatus](../msg_docs/DronecanNodeStatus.md) +- [EstimatorSelectorStatus](../msg_docs/EstimatorSelectorStatus.md) +- [IridiumsbdStatus](../msg_docs/IridiumsbdStatus.md) +- [PowerMonitor](../msg_docs/PowerMonitor.md) +- [RegisterExtComponentRequestV0](../msg_docs/RegisterExtComponentRequestV0.md) +- [VehicleOpticalFlow](../msg_docs/VehicleOpticalFlow.md) +- [GimbalManagerStatus](../msg_docs/GimbalManagerStatus.md) +- [EstimatorStatus](../msg_docs/EstimatorStatus.md) +- [OpenDroneIdOperatorId](../msg_docs/OpenDroneIdOperatorId.md) +- [RtlTimeEstimate](../msg_docs/RtlTimeEstimate.md) +- [GpioIn](../msg_docs/GpioIn.md) +- [ParameterSetValueRequest](../msg_docs/ParameterSetValueRequest.md) +- [GeneratorStatus](../msg_docs/GeneratorStatus.md) +- [MagWorkerData](../msg_docs/MagWorkerData.md) +- [ActuatorControlsStatus](../msg_docs/ActuatorControlsStatus.md) +- [LedControl](../msg_docs/LedControl.md) +- [VehicleAngularVelocity](../msg_docs/VehicleAngularVelocity.md) +- [SensorAccelFifo](../msg_docs/SensorAccelFifo.md) +- [OpenDroneIdSystem](../msg_docs/OpenDroneIdSystem.md) +- [SensorGyro](../msg_docs/SensorGyro.md) +- [NavigatorMissionItem](../msg_docs/NavigatorMissionItem.md) +- [DatamanResponse](../msg_docs/DatamanResponse.md) +- [GeofenceStatus](../msg_docs/GeofenceStatus.md) +- [VehicleLocalPositionV0](../msg_docs/VehicleLocalPositionV0.md) +- [TrajectorySetpoint6dof](../msg_docs/TrajectorySetpoint6dof.md) +- [SensorTemp](../msg_docs/SensorTemp.md) +- [EstimatorBias](../msg_docs/EstimatorBias.md) +- [OpenDroneIdSelfId](../msg_docs/OpenDroneIdSelfId.md) +- [SensorsStatus](../msg_docs/SensorsStatus.md) +- [EstimatorAidSource1d](../msg_docs/EstimatorAidSource1d.md) +- [RaptorStatus](../msg_docs/RaptorStatus.md) +- [ParameterSetValueResponse](../msg_docs/ParameterSetValueResponse.md) +- [RoverRateStatus](../msg_docs/RoverRateStatus.md) +- [PurePursuitStatus](../msg_docs/PurePursuitStatus.md) +- [TaskStackInfo](../msg_docs/TaskStackInfo.md) +- [CameraStatus](../msg_docs/CameraStatus.md) +- [WheelEncoders](../msg_docs/WheelEncoders.md) +- [GimbalManagerSetManualControl](../msg_docs/GimbalManagerSetManualControl.md) +- [UlogStream](../msg_docs/UlogStream.md) +- [SensorGyroFifo](../msg_docs/SensorGyroFifo.md) +- [QshellReq](../msg_docs/QshellReq.md) +- [SensorPreflightMag](../msg_docs/SensorPreflightMag.md) +- [NavigatorStatus](../msg_docs/NavigatorStatus.md) +- [LandingTargetPose](../msg_docs/LandingTargetPose.md) +- [EstimatorSensorBias](../msg_docs/EstimatorSensorBias.md) +- [SensorSelection](../msg_docs/SensorSelection.md) - [VehicleMagnetometer](../msg_docs/VehicleMagnetometer.md) - [ActuatorTest](../msg_docs/ActuatorTest.md) -- [SensorGnssStatus](../msg_docs/SensorGnssStatus.md) -- [TaskStackInfo](../msg_docs/TaskStackInfo.md) -- [PositionControllerStatus](../msg_docs/PositionControllerStatus.md) -- [AdcReport](../msg_docs/AdcReport.md) -- [UlogStreamAck](../msg_docs/UlogStreamAck.md) -- [TakeoffStatus](../msg_docs/TakeoffStatus.md) -- [FollowTargetEstimator](../msg_docs/FollowTargetEstimator.md) -- [OpenDroneIdArmStatus](../msg_docs/OpenDroneIdArmStatus.md) -- [VehicleOpticalFlowVel](../msg_docs/VehicleOpticalFlowVel.md) -- [FixedWingRunwayControl](../msg_docs/FixedWingRunwayControl.md) -- [GpioConfig](../msg_docs/GpioConfig.md) -- [SensorPreflightMag](../msg_docs/SensorPreflightMag.md) -- [OrbitStatus](../msg_docs/OrbitStatus.md) -- [Rpm](../msg_docs/Rpm.md) - [InputRc](../msg_docs/InputRc.md) -- [SensorTemp](../msg_docs/SensorTemp.md) -- [TuneControl](../msg_docs/TuneControl.md) -- [SensorAccel](../msg_docs/SensorAccel.md) -- [CameraTrigger](../msg_docs/CameraTrigger.md) -- [GimbalManagerSetManualControl](../msg_docs/GimbalManagerSetManualControl.md) -- [PurePursuitStatus](../msg_docs/PurePursuitStatus.md) -- [CanInterfaceStatus](../msg_docs/CanInterfaceStatus.md) -- [AirspeedValidatedV0](../msg_docs/AirspeedValidatedV0.md) -- [EstimatorBias](../msg_docs/EstimatorBias.md) -- [RtlTimeEstimate](../msg_docs/RtlTimeEstimate.md) -- [MagWorkerData](../msg_docs/MagWorkerData.md) -- [PowerButtonState](../msg_docs/PowerButtonState.md) -- [QshellRetval](../msg_docs/QshellRetval.md) -- [RcChannels](../msg_docs/RcChannels.md) -- [Px4ioStatus](../msg_docs/Px4ioStatus.md) -- [ActuatorControlsStatus](../msg_docs/ActuatorControlsStatus.md) -- [FlightPhaseEstimation](../msg_docs/FlightPhaseEstimation.md) -- [EstimatorGpsStatus](../msg_docs/EstimatorGpsStatus.md) -- [EscEepromWrite](../msg_docs/EscEepromWrite.md) -- [OpenDroneIdOperatorId](../msg_docs/OpenDroneIdOperatorId.md) -- [GimbalDeviceSetAttitude](../msg_docs/GimbalDeviceSetAttitude.md) -- [VehicleAttitudeSetpointV0](../msg_docs/VehicleAttitudeSetpointV0.md) -- [CellularStatus](../msg_docs/CellularStatus.md) -- [BatteryStatusV0](../msg_docs/BatteryStatusV0.md) -- [ButtonEvent](../msg_docs/ButtonEvent.md) -- [SystemPower](../msg_docs/SystemPower.md) -- [FuelTankStatus](../msg_docs/FuelTankStatus.md) -- [LandingGearWheel](../msg_docs/LandingGearWheel.md) -- [VehicleLocalPositionSetpoint](../msg_docs/VehicleLocalPositionSetpoint.md) -- [DronecanNodeStatus](../msg_docs/DronecanNodeStatus.md) -- [SensorCorrection](../msg_docs/SensorCorrection.md) -- [SensorHygrometer](../msg_docs/SensorHygrometer.md) -- [EscReport](../msg_docs/EscReport.md) -- [EstimatorAidSource1d](../msg_docs/EstimatorAidSource1d.md) -- [MavlinkTunnel](../msg_docs/MavlinkTunnel.md) -- [ParameterUpdate](../msg_docs/ParameterUpdate.md) -- [GimbalManagerStatus](../msg_docs/GimbalManagerStatus.md) -- [GimbalManagerInformation](../msg_docs/GimbalManagerInformation.md) -- [SensorSelection](../msg_docs/SensorSelection.md) -- [DebugValue](../msg_docs/DebugValue.md) -- [GpioIn](../msg_docs/GpioIn.md) -- [RateCtrlStatus](../msg_docs/RateCtrlStatus.md) -- [EstimatorFusionControl](../msg_docs/EstimatorFusionControl.md) -- [LaunchDetectionStatus](../msg_docs/LaunchDetectionStatus.md) -- [DatamanResponse](../msg_docs/DatamanResponse.md) -- [ControlAllocatorStatus](../msg_docs/ControlAllocatorStatus.md) -- [Vtx](../msg_docs/Vtx.md) -- [Event](../msg_docs/Event.md) -- [OrbTest](../msg_docs/OrbTest.md) -- [BatteryInfo](../msg_docs/BatteryInfo.md) -- [RoverRateStatus](../msg_docs/RoverRateStatus.md) -- [VehicleAcceleration](../msg_docs/VehicleAcceleration.md) -- [RcParameterMap](../msg_docs/RcParameterMap.md) -- [InternalCombustionEngineControl](../msg_docs/InternalCombustionEngineControl.md) -- [RoverSpeedStatus](../msg_docs/RoverSpeedStatus.md) -- [MagnetometerBiasEstimate](../msg_docs/MagnetometerBiasEstimate.md) -- [PwmInput](../msg_docs/PwmInput.md) -- [NavigatorMissionItem](../msg_docs/NavigatorMissionItem.md) -- [RadioStatus](../msg_docs/RadioStatus.md) -- [ArmingCheckReplyV0](../msg_docs/ArmingCheckReplyV0.md) -- [VehicleAirData](../msg_docs/VehicleAirData.md) -- [ActuatorOutputs](../msg_docs/ActuatorOutputs.md) -- [GimbalManagerSetAttitude](../msg_docs/GimbalManagerSetAttitude.md) -- [EstimatorInnovations](../msg_docs/EstimatorInnovations.md) -- [RoverAttitudeStatus](../msg_docs/RoverAttitudeStatus.md) -- [EstimatorStates](../msg_docs/EstimatorStates.md) -- [LedControl](../msg_docs/LedControl.md) -- [RegisterExtComponentRequestV0](../msg_docs/RegisterExtComponentRequestV0.md) -- [EstimatorEventFlags](../msg_docs/EstimatorEventFlags.md) -- [FixedWingLateralStatus](../msg_docs/FixedWingLateralStatus.md) -- [VehicleAngularAccelerationSetpoint](../msg_docs/VehicleAngularAccelerationSetpoint.md) -- [ActuatorArmed](../msg_docs/ActuatorArmed.md) -- [SensorsStatusImu](../msg_docs/SensorsStatusImu.md) -- [OrbTestMedium](../msg_docs/OrbTestMedium.md) -- [MavlinkLog](../msg_docs/MavlinkLog.md) -- [ParameterSetValueResponse](../msg_docs/ParameterSetValueResponse.md) -- [EventV0](../msg_docs/EventV0.md) -- [GpsDump](../msg_docs/GpsDump.md) -- [GeneratorStatus](../msg_docs/GeneratorStatus.md) -- [LandingTargetPose](../msg_docs/LandingTargetPose.md) -- [DebugKeyValue](../msg_docs/DebugKeyValue.md) -- [GainCompression](../msg_docs/GainCompression.md) -- [VehicleRoi](../msg_docs/VehicleRoi.md) -- [FollowTargetStatus](../msg_docs/FollowTargetStatus.md) -- [FollowTarget](../msg_docs/FollowTarget.md) -- [SensorUwb](../msg_docs/SensorUwb.md) -- [PpsCapture](../msg_docs/PpsCapture.md) -- [HomePositionV0](../msg_docs/HomePositionV0.md) -- [LoggerStatus](../msg_docs/LoggerStatus.md) -- [RegisterExtComponentReplyV0](../msg_docs/RegisterExtComponentReplyV0.md) -- [SensorAirflow](../msg_docs/SensorAirflow.md) -- [DebugVect](../msg_docs/DebugVect.md) -- [ActuatorServosTrim](../msg_docs/ActuatorServosTrim.md) +- [Ping](../msg_docs/Ping.md) - [Airspeed](../msg_docs/Airspeed.md) -- [RaptorInput](../msg_docs/RaptorInput.md) +- [GpioRequest](../msg_docs/GpioRequest.md) +- [ArmingCheckReplyV0](../msg_docs/ArmingCheckReplyV0.md) +- [EstimatorAidSource2d](../msg_docs/EstimatorAidSource2d.md) +- [OrbTest](../msg_docs/OrbTest.md) +- [RadioStatus](../msg_docs/RadioStatus.md) +- [PositionControllerLandingStatus](../msg_docs/PositionControllerLandingStatus.md) +- [EscReport](../msg_docs/EscReport.md) +- [VehicleAttitudeSetpointV0](../msg_docs/VehicleAttitudeSetpointV0.md) +- [ParameterSetUsedRequest](../msg_docs/ParameterSetUsedRequest.md) +- [VehicleCommandAckV0](../msg_docs/VehicleCommandAckV0.md) +- [AutotuneAttitudeControlStatus](../msg_docs/AutotuneAttitudeControlStatus.md) +- [SensorCorrection](../msg_docs/SensorCorrection.md) +- [LandingGearWheel](../msg_docs/LandingGearWheel.md) +- [FollowTargetEstimator](../msg_docs/FollowTargetEstimator.md) +- [UavcanParameterRequest](../msg_docs/UavcanParameterRequest.md) +- [VehicleRoi](../msg_docs/VehicleRoi.md) +- [EstimatorBias3d](../msg_docs/EstimatorBias3d.md) +- [HealthReport](../msg_docs/HealthReport.md) +- [RtlStatus](../msg_docs/RtlStatus.md) ::: diff --git a/docs/uk/modules/modules_driver_imu.md b/docs/uk/modules/modules_driver_imu.md index ce376df719..cd1d6dfa0b 100644 --- a/docs/uk/modules/modules_driver_imu.md +++ b/docs/uk/modules/modules_driver_imu.md @@ -790,6 +790,32 @@ lsm303d [arguments...] status print status info ``` +## lsm6dsv + +Source: [drivers/imu/st/lsm6dsv](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/st/lsm6dsv) + +### Usage {#lsm6dsv_usage} + +``` +lsm6dsv [arguments...] + Commands: + start + [-s] Internal SPI bus(es) + [-S] External SPI bus(es) + [-b ] board-specific bus (default=all) (external SPI: n-th bus + (default=1)) + [-c ] chip-select pin (for internal SPI) or index (for external SPI) + [-m ] SPI mode + [-f ] bus frequency in kHz + [-q] quiet startup (no message if no device found) + [-R ] Rotation + default: 0 + + stop + + status print status info +``` + ## lsm9ds1 Source: [drivers/imu/st/lsm9ds1](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/st/lsm9ds1) diff --git a/docs/uk/msg_docs/FailsafeFlags.md b/docs/uk/msg_docs/FailsafeFlags.md index dce677b39a..3bbc967766 100644 --- a/docs/uk/msg_docs/FailsafeFlags.md +++ b/docs/uk/msg_docs/FailsafeFlags.md @@ -46,10 +46,11 @@ The flag comments are used as label for the failsafe state machine simulation | battery_warning | `uint8` | | | Battery warning level (see BatteryStatus.msg) | | battery_low_remaining_time | `bool` | | | Low battery based on remaining flight time | | battery_unhealthy | `bool` | | | Battery unhealthy | -| fd_critical_failure | `bool` | | | Critical failure (attitude/altitude limit exceeded, or external ATS) | +| fd_critical_failure | `bool` | | | Critical failure (attitude limit exceeded, or external ATS) | | fd_esc_arming_failure | `bool` | | | ESC failed to arm | | fd_imbalanced_prop | `bool` | | | Imbalanced propeller detected | | fd_motor_failure | `bool` | | | Motor failure | +| fd_alt_loss | `bool` | | | Uncommanded altitude loss (rotary-wing, altitude-controlled flight) | | geofence_breached | `bool` | | | Geofence breached (one or multiple) | | mission_failure | `bool` | | | Mission failure | | vtol_fixed_wing_system_failure | `bool` | | | vehicle in fixed-wing system failure failsafe mode (after quad-chute) | @@ -114,10 +115,11 @@ bool battery_low_remaining_time # Low battery based on remaining flight ti bool battery_unhealthy # Battery unhealthy # Failure detector -bool fd_critical_failure # Critical failure (attitude/altitude limit exceeded, or external ATS) +bool fd_critical_failure # Critical failure (attitude limit exceeded, or external ATS) bool fd_esc_arming_failure # ESC failed to arm bool fd_imbalanced_prop # Imbalanced propeller detected bool fd_motor_failure # Motor failure +bool fd_alt_loss # Uncommanded altitude loss (rotary-wing, altitude-controlled flight) # Other bool geofence_breached # Geofence breached (one or multiple) diff --git a/docs/uk/msg_docs/RegisterExtComponentRequest.md b/docs/uk/msg_docs/RegisterExtComponentRequest.md index 633218124e..e201cc8826 100644 --- a/docs/uk/msg_docs/RegisterExtComponentRequest.md +++ b/docs/uk/msg_docs/RegisterExtComponentRequest.md @@ -23,12 +23,13 @@ Request to register an external component. | replace_internal_mode | `uint8` | | | vehicle_status::NAVIGATION_STATE_\* | | activate_mode_immediately | `bool` | | | switch to the registered mode (can only be set in combination with an executor) | | not_user_selectable | `bool` | | | mode cannot be selected by the user | +| request_offboard_setpoints | `bool` | | | set to true if the registered mode wants to receive offboard trajectory setpoints via MAVLink | ## Constants | Назва | Тип | Значення | Опис | | --------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | -------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -| MESSAGE_VERSION | `uint32` | 1 | | +| MESSAGE_VERSION | `uint32` | 2 | | | LATEST_PX4_ROS2_API_VERSION | `uint16` | 1 | API version compatibility. Increase this on a breaking semantic change. Changes to any message field are detected separately and do not require an API version change. | | ORB_QUEUE_LENGTH | `uint8` | 2 | | @@ -42,7 +43,7 @@ Click here to see original file ```c # Request to register an external component -uint32 MESSAGE_VERSION = 1 +uint32 MESSAGE_VERSION = 2 uint64 timestamp # time since system start (microseconds) @@ -62,6 +63,7 @@ bool enable_replace_internal_mode # set to true if an internal mode should be r uint8 replace_internal_mode # vehicle_status::NAVIGATION_STATE_* bool activate_mode_immediately # switch to the registered mode (can only be set in combination with an executor) bool not_user_selectable # mode cannot be selected by the user +bool request_offboard_setpoints # set to true if the registered mode wants to receive offboard trajectory setpoints via MAVLink uint8 ORB_QUEUE_LENGTH = 2 ``` diff --git a/docs/uk/msg_docs/RegisterExtComponentRequestV1.md b/docs/uk/msg_docs/RegisterExtComponentRequestV1.md new file mode 100644 index 0000000000..c5efb4ea21 --- /dev/null +++ b/docs/uk/msg_docs/RegisterExtComponentRequestV1.md @@ -0,0 +1,69 @@ +--- +pageClass: is-wide-page +--- + +# RegisterExtComponentRequestV1 (UORB message) + +Request to register an external component. + +**TOPICS:** register_ext_component_request_v1 + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ------------------------------------------------------------------------------------------- | ---------- | ---------------------------------------------------------------- | ---------- | -------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| request_id | `uint64` | | | ID, set this to a random value | +| name | `char[25]` | | | either the requested mode name, or component name | +| px4_ros2_api_version | `uint16` | | | Set to LATEST_PX4_ROS2_API_VERSION | +| register_arming_check | `bool` | | | | +| register_mode | `bool` | | | registering a mode also requires arming_check to be set | +| register_mode_executor | `bool` | | | registering an executor also requires a mode to be registered (which is the owned mode by the executor) | +| enable_replace_internal_mode | `bool` | | | set to true if an internal mode should be replaced | +| replace_internal_mode | `uint8` | | | vehicle_status::NAVIGATION_STATE_\* | +| activate_mode_immediately | `bool` | | | switch to the registered mode (can only be set in combination with an executor) | +| not_user_selectable | `bool` | | | mode cannot be selected by the user | + +## Constants + +| Назва | Тип | Значення | Опис | +| --------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | -------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| MESSAGE_VERSION | `uint32` | 1 | | +| LATEST_PX4_ROS2_API_VERSION | `uint16` | 1 | API version compatibility. Increase this on a breaking semantic change. Changes to any message field are detected separately and do not require an API version change. | +| ORB_QUEUE_LENGTH | `uint8` | 2 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/RegisterExtComponentRequestV1.msg) + +:::details +Click here to see original file + +```c +# Request to register an external component + +uint32 MESSAGE_VERSION = 1 + +uint64 timestamp # time since system start (microseconds) + +uint64 request_id # ID, set this to a random value +char[25] name # either the requested mode name, or component name + +uint16 LATEST_PX4_ROS2_API_VERSION = 1 # API version compatibility. Increase this on a breaking semantic change. Changes to any message field are detected separately and do not require an API version change. + +uint16 px4_ros2_api_version # Set to LATEST_PX4_ROS2_API_VERSION + +# Components to be registered +bool register_arming_check +bool register_mode # registering a mode also requires arming_check to be set +bool register_mode_executor # registering an executor also requires a mode to be registered (which is the owned mode by the executor) + +bool enable_replace_internal_mode # set to true if an internal mode should be replaced +uint8 replace_internal_mode # vehicle_status::NAVIGATION_STATE_* +bool activate_mode_immediately # switch to the registered mode (can only be set in combination with an executor) +bool not_user_selectable # mode cannot be selected by the user + +uint8 ORB_QUEUE_LENGTH = 2 +``` + +::: diff --git a/docs/uk/msg_docs/VehicleStatus.md b/docs/uk/msg_docs/VehicleStatus.md index 17add5470e..1b17eb11c5 100644 --- a/docs/uk/msg_docs/VehicleStatus.md +++ b/docs/uk/msg_docs/VehicleStatus.md @@ -23,6 +23,7 @@ Encodes the system state of the vehicle published by commander. | nav_state | `uint8` | | | Currently active mode | | executor_in_charge | `uint8` | | | Current mode executor in charge (0=Autopilot) | | nav_state_display | `uint8` | | | User-visible nav state sent via MAVLink (executor state if active, otherwise nav_state) | +| accepts_offboard_setpoints | `bool` | | | True if the current mode accepts offboard trajectory setpoints via MAVLink | | valid_nav_states_mask | `uint32` | | | Bitmask for all valid nav_state values | | can_set_nav_states_mask | `uint32` | | | Bitmask for all modes that a user can select | | hil_state | `uint8` | | | | @@ -57,7 +58,7 @@ Encodes the system state of the vehicle published by commander. | Назва | Тип | Значення | Опис | | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | -------- | ----------------------------------------------------- | -| MESSAGE_VERSION | `uint32` | 3 | | +| MESSAGE_VERSION | `uint32` | 4 | | | ARMING_STATE_DISARMED | `uint8` | 1 | | | ARMING_STATE_ARMED | `uint8` | 2 | | | ARM_DISARM_REASON_STICK_GESTURE | `uint8` | 1 | | @@ -122,7 +123,7 @@ Click here to see original file ```c # Encodes the system state of the vehicle published by commander -uint32 MESSAGE_VERSION = 3 +uint32 MESSAGE_VERSION = 4 uint64 timestamp # time since system start (microseconds) @@ -187,6 +188,8 @@ uint8 NAVIGATION_STATE_MAX = 31 uint8 executor_in_charge # Current mode executor in charge (0=Autopilot) uint8 nav_state_display # User-visible nav state sent via MAVLink (executor state if active, otherwise nav_state) +bool accepts_offboard_setpoints # True if the current mode accepts offboard trajectory setpoints via MAVLink + uint32 valid_nav_states_mask # Bitmask for all valid nav_state values uint32 can_set_nav_states_mask # Bitmask for all modes that a user can select diff --git a/docs/uk/msg_docs/VehicleStatusV3.md b/docs/uk/msg_docs/VehicleStatusV3.md new file mode 100644 index 0000000000..28c9a554b7 --- /dev/null +++ b/docs/uk/msg_docs/VehicleStatusV3.md @@ -0,0 +1,248 @@ +--- +pageClass: is-wide-page +--- + +# VehicleStatusV3 (UORB message) + +Encodes the system state of the vehicle published by commander. + +**TOPICS:** vehicle_status_v3 + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ---------------------------------------------------------------------------------------------------------------- | -------- | ---------------------------------------------------------------- | ---------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| armed_time | `uint64` | | | Arming timestamp (microseconds) | +| takeoff_time | `uint64` | | | Takeoff timestamp (microseconds) | +| arming_state | `uint8` | | | | +| latest_arming_reason | `uint8` | | | | +| latest_disarming_reason | `uint8` | | | | +| nav_state_timestamp | `uint64` | | | time when current nav_state activated | +| nav_state_user_intention | `uint8` | | | Mode that the user selected (might be different from nav_state in a failsafe situation) | +| nav_state | `uint8` | | | Currently active mode | +| executor_in_charge | `uint8` | | | Current mode executor in charge (0=Autopilot) | +| nav_state_display | `uint8` | | | User-visible nav state sent via MAVLink (executor state if active, otherwise nav_state) | +| valid_nav_states_mask | `uint32` | | | Bitmask for all valid nav_state values | +| can_set_nav_states_mask | `uint32` | | | Bitmask for all modes that a user can select | +| hil_state | `uint8` | | | | +| vehicle_type | `uint8` | | | | +| failsafe | `bool` | | | true if system is in failsafe state (e.g.:RTL, Hover, Terminate, ...) | +| failsafe_and_user_took_over | `bool` | | | true if system is in failsafe state but the user took over control | +| failsafe_defer_state | `uint8` | | | one of FAILSAFE_DEFER_STATE_\* | +| gcs_connection_lost | `bool` | | | datalink to GCS lost | +| gcs_connection_lost_counter | `uint8` | | | counts unique GCS connection lost events | +| high_latency_data_link_lost | `bool` | | | Set to true if the high latency data link (eg. RockBlock Iridium 9603 telemetry module) is lost | +| is_vtol | `bool` | | | True if the system is VTOL capable | +| is_vtol_tailsitter | `bool` | | | True if the system performs a 90° pitch down rotation during transition from MC to FW | +| in_transition_mode | `bool` | | | True if VTOL is doing a transition | +| in_transition_to_fw | `bool` | | | True if VTOL is doing a transition from MC to FW | +| system_type | `uint8` | | | system type, contains mavlink MAV_TYPE | +| system_id | `uint8` | | | system id, contains MAVLink's system ID field | +| component_id | `uint8` | | | subsystem / component id, contains MAVLink's component ID field | +| safety_button_available | `bool` | | | Set to true if a safety button is connected | +| safety_off | `bool` | | | Set to true if safety is off | +| power_input_valid | `bool` | | | set if input power is valid | +| usb_connected | `bool` | | | set to true (never cleared) once telemetry received from usb link | +| open_drone_id_system_present | `bool` | | | | +| open_drone_id_system_healthy | `bool` | | | | +| parachute_system_present | `bool` | | | | +| parachute_system_healthy | `bool` | | | | +| traffic_avoidance_system_present | `bool` | | | | +| rc_calibration_in_progress | `bool` | | | | +| calibration_enabled | `bool` | | | | +| pre_flight_checks_pass | `bool` | | | true if all checks necessary to arm pass | + +## Constants + +| Назва | Тип | Значення | Опис | +| --------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | -------- | ----------------------------------------------------- | +| MESSAGE_VERSION | `uint32` | 3 | | +| ARMING_STATE_DISARMED | `uint8` | 1 | | +| ARMING_STATE_ARMED | `uint8` | 2 | | +| ARM_DISARM_REASON_STICK_GESTURE | `uint8` | 1 | | +| ARM_DISARM_REASON_RC_SWITCH | `uint8` | 2 | | +| ARM_DISARM_REASON_COMMAND_INTERNAL | `uint8` | 3 | | +| ARM_DISARM_REASON_COMMAND_EXTERNAL | `uint8` | 4 | | +| ARM_DISARM_REASON_MISSION_START | `uint8` | 5 | | +| ARM_DISARM_REASON_LANDING | `uint8` | 6 | | +| ARM_DISARM_REASON_PREFLIGHT_INACTION | `uint8` | 7 | | +| ARM_DISARM_REASON_KILL_SWITCH | `uint8` | 8 | | +| ARM_DISARM_REASON_RC_BUTTON | `uint8` | 13 | | +| ARM_DISARM_REASON_FAILSAFE | `uint8` | 14 | | +| NAVIGATION_STATE_MANUAL | `uint8` | 0 | Manual mode | +| NAVIGATION_STATE_ALTCTL | `uint8` | 1 | Altitude control mode | +| NAVIGATION_STATE_POSCTL | `uint8` | 2 | Position control mode | +| NAVIGATION_STATE_AUTO_MISSION | `uint8` | 3 | Auto mission mode | +| NAVIGATION_STATE_AUTO_LOITER | `uint8` | 4 | Auto loiter mode | +| NAVIGATION_STATE_AUTO_RTL | `uint8` | 5 | Auto return to launch mode | +| NAVIGATION_STATE_POSITION_SLOW | `uint8` | 6 | | +| NAVIGATION_STATE_FREE5 | `uint8` | 7 | | +| NAVIGATION_STATE_ALTITUDE_CRUISE | `uint8` | 8 | Altitude with Cruise mode | +| NAVIGATION_STATE_FREE3 | `uint8` | 9 | | +| NAVIGATION_STATE_ACRO | `uint8` | 10 | Acro mode | +| NAVIGATION_STATE_FREE2 | `uint8` | 11 | | +| NAVIGATION_STATE_DESCEND | `uint8` | 12 | Descend mode (no position control) | +| NAVIGATION_STATE_TERMINATION | `uint8` | 13 | Termination mode | +| NAVIGATION_STATE_OFFBOARD | `uint8` | 14 | | +| NAVIGATION_STATE_STAB | `uint8` | 15 | Stabilized mode | +| NAVIGATION_STATE_FREE1 | `uint8` | 16 | | +| NAVIGATION_STATE_AUTO_TAKEOFF | `uint8` | 17 | Takeoff | +| NAVIGATION_STATE_AUTO_LAND | `uint8` | 18 | Land | +| NAVIGATION_STATE_AUTO_FOLLOW_TARGET | `uint8` | 19 | Auto Follow | +| NAVIGATION_STATE_AUTO_PRECLAND | `uint8` | 20 | Precision land with landing target | +| NAVIGATION_STATE_ORBIT | `uint8` | 21 | Orbit in a circle | +| NAVIGATION_STATE_AUTO_VTOL_TAKEOFF | `uint8` | 22 | Takeoff, transition, establish loiter | +| NAVIGATION_STATE_EXTERNAL1 | `uint8` | 23 | | +| NAVIGATION_STATE_EXTERNAL2 | `uint8` | 24 | | +| NAVIGATION_STATE_EXTERNAL3 | `uint8` | 25 | | +| NAVIGATION_STATE_EXTERNAL4 | `uint8` | 26 | | +| NAVIGATION_STATE_EXTERNAL5 | `uint8` | 27 | | +| NAVIGATION_STATE_EXTERNAL6 | `uint8` | 28 | | +| NAVIGATION_STATE_EXTERNAL7 | `uint8` | 29 | | +| NAVIGATION_STATE_EXTERNAL8 | `uint8` | 30 | | +| NAVIGATION_STATE_MAX | `uint8` | 31 | | +| HIL_STATE_OFF | `uint8` | 0 | | +| HIL_STATE_ON | `uint8` | 1 | | +| VEHICLE_TYPE_UNSPECIFIED | `uint8` | 0 | | +| VEHICLE_TYPE_ROTARY_WING | `uint8` | 1 | | +| VEHICLE_TYPE_FIXED_WING | `uint8` | 2 | | +| VEHICLE_TYPE_ROVER | `uint8` | 3 | | +| FAILSAFE_DEFER_STATE_DISABLED | `uint8` | 0 | | +| FAILSAFE_DEFER_STATE_ENABLED | `uint8` | 1 | | +| FAILSAFE_DEFER_STATE_WOULD_FAILSAFE | `uint8` | 2 | Failsafes deferred, but would trigger a failsafe | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/VehicleStatusV3.msg) + +:::details +Click here to see original file + +```c +# Encodes the system state of the vehicle published by commander + +uint32 MESSAGE_VERSION = 3 + +uint64 timestamp # time since system start (microseconds) + +uint64 armed_time # Arming timestamp (microseconds) +uint64 takeoff_time # Takeoff timestamp (microseconds) + +uint8 arming_state +uint8 ARMING_STATE_DISARMED = 1 +uint8 ARMING_STATE_ARMED = 2 + +uint8 latest_arming_reason +uint8 latest_disarming_reason +uint8 ARM_DISARM_REASON_STICK_GESTURE = 1 +uint8 ARM_DISARM_REASON_RC_SWITCH = 2 +uint8 ARM_DISARM_REASON_COMMAND_INTERNAL = 3 +uint8 ARM_DISARM_REASON_COMMAND_EXTERNAL = 4 +uint8 ARM_DISARM_REASON_MISSION_START = 5 +uint8 ARM_DISARM_REASON_LANDING = 6 +uint8 ARM_DISARM_REASON_PREFLIGHT_INACTION = 7 +uint8 ARM_DISARM_REASON_KILL_SWITCH = 8 +uint8 ARM_DISARM_REASON_RC_BUTTON = 13 +uint8 ARM_DISARM_REASON_FAILSAFE = 14 + +uint64 nav_state_timestamp # time when current nav_state activated + +uint8 nav_state_user_intention # Mode that the user selected (might be different from nav_state in a failsafe situation) + +uint8 nav_state # Currently active mode +uint8 NAVIGATION_STATE_MANUAL = 0 # Manual mode +uint8 NAVIGATION_STATE_ALTCTL = 1 # Altitude control mode +uint8 NAVIGATION_STATE_POSCTL = 2 # Position control mode +uint8 NAVIGATION_STATE_AUTO_MISSION = 3 # Auto mission mode +uint8 NAVIGATION_STATE_AUTO_LOITER = 4 # Auto loiter mode +uint8 NAVIGATION_STATE_AUTO_RTL = 5 # Auto return to launch mode +uint8 NAVIGATION_STATE_POSITION_SLOW = 6 +uint8 NAVIGATION_STATE_FREE5 = 7 +uint8 NAVIGATION_STATE_ALTITUDE_CRUISE = 8 # Altitude with Cruise mode +uint8 NAVIGATION_STATE_FREE3 = 9 +uint8 NAVIGATION_STATE_ACRO = 10 # Acro mode +uint8 NAVIGATION_STATE_FREE2 = 11 +uint8 NAVIGATION_STATE_DESCEND = 12 # Descend mode (no position control) +uint8 NAVIGATION_STATE_TERMINATION = 13 # Termination mode +uint8 NAVIGATION_STATE_OFFBOARD = 14 +uint8 NAVIGATION_STATE_STAB = 15 # Stabilized mode +uint8 NAVIGATION_STATE_FREE1 = 16 +uint8 NAVIGATION_STATE_AUTO_TAKEOFF = 17 # Takeoff +uint8 NAVIGATION_STATE_AUTO_LAND = 18 # Land +uint8 NAVIGATION_STATE_AUTO_FOLLOW_TARGET = 19 # Auto Follow +uint8 NAVIGATION_STATE_AUTO_PRECLAND = 20 # Precision land with landing target +uint8 NAVIGATION_STATE_ORBIT = 21 # Orbit in a circle +uint8 NAVIGATION_STATE_AUTO_VTOL_TAKEOFF = 22 # Takeoff, transition, establish loiter +uint8 NAVIGATION_STATE_EXTERNAL1 = 23 +uint8 NAVIGATION_STATE_EXTERNAL2 = 24 +uint8 NAVIGATION_STATE_EXTERNAL3 = 25 +uint8 NAVIGATION_STATE_EXTERNAL4 = 26 +uint8 NAVIGATION_STATE_EXTERNAL5 = 27 +uint8 NAVIGATION_STATE_EXTERNAL6 = 28 +uint8 NAVIGATION_STATE_EXTERNAL7 = 29 +uint8 NAVIGATION_STATE_EXTERNAL8 = 30 +uint8 NAVIGATION_STATE_MAX = 31 + +uint8 executor_in_charge # Current mode executor in charge (0=Autopilot) +uint8 nav_state_display # User-visible nav state sent via MAVLink (executor state if active, otherwise nav_state) + +uint32 valid_nav_states_mask # Bitmask for all valid nav_state values +uint32 can_set_nav_states_mask # Bitmask for all modes that a user can select + +uint8 hil_state +uint8 HIL_STATE_OFF = 0 +uint8 HIL_STATE_ON = 1 + +# Current vehicle locomotion method. A vehicle can have different methods (e.g. VTOL transitions from RW to FW method) +uint8 vehicle_type +uint8 VEHICLE_TYPE_UNSPECIFIED = 0 +uint8 VEHICLE_TYPE_ROTARY_WING = 1 +uint8 VEHICLE_TYPE_FIXED_WING = 2 +uint8 VEHICLE_TYPE_ROVER = 3 + +uint8 FAILSAFE_DEFER_STATE_DISABLED = 0 +uint8 FAILSAFE_DEFER_STATE_ENABLED = 1 +uint8 FAILSAFE_DEFER_STATE_WOULD_FAILSAFE = 2 # Failsafes deferred, but would trigger a failsafe + +bool failsafe # true if system is in failsafe state (e.g.:RTL, Hover, Terminate, ...) +bool failsafe_and_user_took_over # true if system is in failsafe state but the user took over control +uint8 failsafe_defer_state # one of FAILSAFE_DEFER_STATE_* + +# Link loss +bool gcs_connection_lost # datalink to GCS lost +uint8 gcs_connection_lost_counter # counts unique GCS connection lost events +bool high_latency_data_link_lost # Set to true if the high latency data link (eg. RockBlock Iridium 9603 telemetry module) is lost + +# VTOL flags +bool is_vtol # True if the system is VTOL capable +bool is_vtol_tailsitter # True if the system performs a 90° pitch down rotation during transition from MC to FW +bool in_transition_mode # True if VTOL is doing a transition +bool in_transition_to_fw # True if VTOL is doing a transition from MC to FW + +# MAVLink identification +uint8 system_type # system type, contains mavlink MAV_TYPE +uint8 system_id # system id, contains MAVLink's system ID field +uint8 component_id # subsystem / component id, contains MAVLink's component ID field + +bool safety_button_available # Set to true if a safety button is connected +bool safety_off # Set to true if safety is off + +bool power_input_valid # set if input power is valid +bool usb_connected # set to true (never cleared) once telemetry received from usb link + +bool open_drone_id_system_present +bool open_drone_id_system_healthy + +bool parachute_system_present +bool parachute_system_healthy + +bool traffic_avoidance_system_present + +bool rc_calibration_in_progress +bool calibration_enabled + +bool pre_flight_checks_pass # true if all checks necessary to arm pass +``` + +::: diff --git a/docs/uk/msg_docs/index.md b/docs/uk/msg_docs/index.md index ead8b1f2ba..896e86e24e 100644 --- a/docs/uk/msg_docs/index.md +++ b/docs/uk/msg_docs/index.md @@ -271,6 +271,7 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m - [HomePositionV0](HomePositionV0.md) — GPS home position in WGS84 coordinates. - [RegisterExtComponentReplyV0](RegisterExtComponentReplyV0.md) - [RegisterExtComponentRequestV0](RegisterExtComponentRequestV0.md) — Request to register an external component. +- [RegisterExtComponentRequestV1](RegisterExtComponentRequestV1.md) — Request to register an external component. - [VehicleAttitudeSetpointV0](VehicleAttitudeSetpointV0.md) - [VehicleCommandAckV0](VehicleCommandAckV0.md) — Vehicle Command Ackonwledgement uORB message. Used for acknowledging the vehicle command being received. Follows the MAVLink COMMAND_ACK message definition. - [VehicleGlobalPositionV0](VehicleGlobalPositionV0.md) — Fused global position in WGS84. This struct contains global position estimation. It is not the raw GPS. measurement (@see vehicle_gps_position). This topic is usually published by the position. estimator, which will take more sources of information into account than just GPS,. e.g. control inputs of the vehicle in a Kalman-filter implementation. @@ -278,3 +279,4 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m - [VehicleStatusV0](VehicleStatusV0.md) — Encodes the system state of the vehicle published by commander. - [VehicleStatusV1](VehicleStatusV1.md) — Encodes the system state of the vehicle published by commander. - [VehicleStatusV2](VehicleStatusV2.md) — Encodes the system state of the vehicle published by commander. +- [VehicleStatusV3](VehicleStatusV3.md) — Encodes the system state of the vehicle published by commander. diff --git a/docs/uk/releases/1.15.md b/docs/uk/releases/1.15.md index caadc9d253..ac6a8dddcc 100644 --- a/docs/uk/releases/1.15.md +++ b/docs/uk/releases/1.15.md @@ -67,7 +67,7 @@ Please continue reading for [upgrade instructions](#upgrade-guide). ### Управління -- **[Offboard]** [ros2 offboard control](../flight_modes/offboard.md#ros-2-messages) allows for direct motors and servo control ([PX4-Autopilot#22222](https://github.com/PX4/PX4-Autopilot/pull/22222)) +- **[Offboard]** [ros2 offboard control](../flight_modes/offboard.md#ros-2-offboard-control) allows for direct motors and servo control ([PX4-Autopilot#22222](https://github.com/PX4/PX4-Autopilot/pull/22222)) ### Оцінки diff --git a/docs/uk/releases/1.17.md b/docs/uk/releases/1.17.md index b0e6026728..ed9a92d6a1 100644 --- a/docs/uk/releases/1.17.md +++ b/docs/uk/releases/1.17.md @@ -79,7 +79,7 @@ Please continue reading for [upgrade instructions](#upgrade-guide). - Add synthetic mecanum rover model: [PX4-gazebo-models#113](https://github.com/PX4/PX4-gazebo-models/pull/113) - Update synthetic ackermann rover model: [PX4-gazebo-models#117](https://github.com/PX4/PX4-gazebo-models/pull/117) -- [Simulation-in-Hardware (SIH)](../sim_sih/index.md#compatibility) +- [Simulation-in-Hardware (SIH)](../sim_sih/index.md#supported-vehicle-types) - New simulation: MC Hexacopter X - New simulation: Ackermann Rover diff --git a/docs/uk/sim_sih/hardware.md b/docs/uk/sim_sih/hardware.md index 81493ca4b4..aba607b1e3 100644 --- a/docs/uk/sim_sih/hardware.md +++ b/docs/uk/sim_sih/hardware.md @@ -1,14 +1,39 @@ # SIH on Flight Controller Hardware -SIH can run directly on flight controller hardware with `SYS_HITL=2`. -This replaces real sensors with simulated data while running on the actual autopilot, useful for testing without propellers. +[SIH](../sim_sih/index.md) can run directly on flight controller hardware with `SYS_AUTOSTART` set to the desired value for the frame. +This replaces real sensors with simulated data while running on the actual autopilot. For a comparison of SIH and HITL on hardware, see [Hardware Simulation](../simulation/hardware.md). +## Starting SIH + +1. Connect the flight controller to QGroundControl via USB. +2. Set `SYS_AUTOSTART` parameter to the desired airframe. +3. Reboot the flight controller. +4. The SIH module starts automatically and provides simulated sensor data. + +:::tip +To ensure there is no leftover parameter from previous setup, it is recommended to reset all the parameters to firmware's default before modifying `SYS_AUTOSTART`. +::: + +The following airframes are supported. + +| SIH Airframe | SYS_AUTOSTART | Status | +| --------------- | ---------------------------------- | ----------------------------- | +| Quadrotor X | 1100 | Stable | +| Airplane | 1101 | Експериментальні налаштування | +| Tailsitter Duo | 1102 | Експериментальні налаштування | +| Standard VTOL | 1103 | Експериментальні налаштування | +| Ackermann Rover | 1104 | Експериментальні налаштування | +| Hexacopter X | 1105 | Експериментальні налаштування | + +Once running, the vehicle can be controlled from QGroundControl or an RC controller. + ## Firmware Builds with SIH The SIH module is included in many, but not all, default firmware builds. -This list can change between PX4 releases. Always verify using the method in [Check if SIH is in Firmware](#check-if-sih-is-in-firmware). +This list can change between PX4 releases. +Always verify using the method in [Check if SIH is in Firmware](#check-if-sih-is-in-firmware). The table below lists build targets that include SIH at the time of writing: @@ -73,7 +98,8 @@ You can add SIH to any board -- see [Check if SIH is in Firmware](#check-if-sih- ## Check if SIH is in Firmware -SIH is included in most default firmware builds. To verify, search for `sih` in the parameter list in QGroundControl. If `SIH_*` parameters are available, the module is included. +SIH is included in [most default firmware builds](#check-if-sih-is-in-firmware). +To verify, search for `sih` in the parameter list in QGroundControl. If `SIH_*` parameters are available, the module is included. To add SIH to a custom build, enable it in the board configuration: @@ -81,20 +107,6 @@ To add SIH to a custom build, enable it in the board configuration: CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y ``` -## Starting SIH - -1. Connect the flight controller to QGroundControl via USB. -2. Set `SYS_HITL` parameter to `2`. -3. Reboot the flight controller. -4. The SIH module starts automatically and provides simulated sensor data. - -Once running, the vehicle can be controlled from QGroundControl or an RC controller. - -:::warning -To save flash memory on boards with limited storage, SIH can be built with only quadrotor support. -Set `SIH_VEHICLE_TYPE` before building to limit included vehicle models. -::: - ## Visualization (Optional) {#hardware-visualization} If you need a visual aid to see what the simulated vehicle is doing on hardware: @@ -117,7 +129,7 @@ On macOS, this is typically `/dev/tty.usbmodem*`. ## Controlling Actuators :::warning -If you want to control throttling actuators in SIH, make sure to remove propellers for safety. +If you want to control throttle actuators in SIH, make sure to remove propellers for safety. ::: In some scenarios, it may be useful to control an actuator while running SIH on hardware. For example, you might want to verify that winches or grippers are functioning correctly by checking the servo responses. diff --git a/docs/uk/sim_sih/index.md b/docs/uk/sim_sih/index.md index 62f854f301..d60161332f 100644 --- a/docs/uk/sim_sih/index.md +++ b/docs/uk/sim_sih/index.md @@ -6,13 +6,18 @@ SIH (Simulation-In-Hardware) is a lightweight, headless simulator with zero exte No GUI, no external processes, no rendering overhead — just PX4 running a C++ physics model. This makes it the fastest way to iterate on flight code. +:::tip +SIH is also available as a [prebuilt Docker container or .deb package](../simulation/px4_sitl_prebuilt_packages.md), which is useful if you don't need to modify PX4 itself. +See [PX4 Simulation QuickStart](../simulation/px4_simulation_quickstart.md) for a one-line instruction on how this is used. +::: + ## Загальний огляд SIH runs as a PX4 module that replaces real sensor and actuator hardware with a simulated physics model. It provides simulated IMU, GPS, barometer, magnetometer, and airspeed sensor data via uORB, and reads actuator outputs to update the vehicle state at each timestep. The simulation runs in lockstep with PX4, ensuring deterministic and reproducible results. -It also integrates seamlessly with ROS 2 via with no additional configuration (see [ROS 2 Integration](#ros-2-integration) below). +It also integrates seamlessly with ROS 2 with no additional configuration (see [ROS 2 Integration](#ros-2-integration) below). Two modes are supported: @@ -35,7 +40,7 @@ The following vehicle types are supported: | Ackermann Rover | `make px4_sitl_sih sihsim_rover` | Експериментальні налаштування | :::warning -Only the quadrotor vehicle type is stable and recommended for development. All other vehicle types (hexarotor, fixed-wing, VTOL, rover) are experimental and may have aerodynamic model or controller interaction issues that produce unrealistic flight behavior. +Only the quadrotor vehicle type is stable and recommended for development. All other vehicle types (hexarotor, fixed-wing, VTOL, rover) are experimental and may have aerodynamic model or controller interaction issues that produce unrealistic flight behaviour. ::: ### How SIH Works @@ -92,7 +97,7 @@ Flags: - `-a` for airplane model - `-t` for tailsitter model -- `-o` enable display-only mode. +- `-o` enables display-only mode. See [jMAVSim Display-Only Mode](../sim_jmavsim/index.md#display-only-mode) for details. @@ -199,9 +204,13 @@ Each instance allocates ports automatically (all offset by instance number): See [Port Reference](#port-reference) for the complete list of ports. -## SIH on Flight Controller Hardware {#sih-on-flight-controller-hardware} +## Running the SIH on Flight Controller Hardware {#sih-on-flight-controller-hardware} -SIH can also run on flight controller hardware with `SYS_HITL=2`, replacing real sensors with simulated data while running on the actual autopilot. +:::info +The SIH on flight controller is community supported. +::: + +SIH can also run on flight controller hardware, replacing real sensors with simulated data while running on the actual autopilot. See [SIH on Flight Controller Hardware](hardware.md) for setup instructions. ## Adding New Airframes @@ -239,7 +248,7 @@ The specific differences for SIH simulation airframes are listed in the sections ### SIH on Flight Controller -For FC-specific airframe setup (file locations, `HIL_ACT_FUNC*` parameters), see [Adding New Airframes (FC)](hardware.md#adding-new-airframes-fc). +See [Adding New Airframes (FC)](../sim_sih/hardware.md#adding-new-airframes-fc) in _SIH on Flight Controller Hardware_. ### SIH as SITL @@ -266,8 +275,22 @@ For specific examples see the `_sihsim_` airframes in [ROMFS/px4fmu_common/init. - Tailsitter: based on Chiappinelli (2018), see references below - Rover: bicycle model with linear tire model -Since PX4 v1.17, the propeller model for fixed-wing, tailsitter, and VTOL pusher vehicles is based on [UIUC propeller data](https://m-selig.ae.illinois.edu/props/propDB.html). -The maximum thrust force is realistically reduced as aircraft speed increases. +**Propeller model with advance ratio** + +Since PX4 v1.17, the propeller model for fixed-wing, tailsitter, and VTOL pusher vehicles is based on the equations from UIUC Propeller Database. + +UIUC_prop_equations + +This model includes the thrust coefficient CT(J) and power coefficient CP(J) as functions of the advance ratio J. +As a result, the maximum thrust force is realistically reduced as the aircraft speed is increased. +The SIH implements the thrust and power coefficients as second-order polynomial fits. + +CT = SIH_F_CT0 + SIH_F_CT1⋅J + SIH_F_CT2⋅J² + +CP = SIH_F_CP0 + SIH_F_CP1⋅J + SIH_F_CP2⋅J² + +If `SIH_F_CT0` and `SIH_F_CP0` are non-zero and positive, the SIH uses the model with advance ratio. +If not, the SIH uses a simple model with maximum thrust force given by `SIH_F_T_MAX` and maximum torque given by `SIH_F_Q_MAX`. **References:** @@ -275,19 +298,20 @@ The maximum thrust force is realistically reduced as aircraft speed increases. 2. W. Khan, "Dynamics modeling of agile fixed-wing unmanned aerial vehicles," Ph.D. thesis, Dept. of Mechanical Engineering, McGill University, Montreal, 2016. 3. R. Chiappinelli, "Modeling and control of a flying wing tailsitter unmanned aerial vehicle," M.Sc. thesis, Dept. of Mechanical Engineering, McGill University, Montreal, 2018. 4. S. Anumakonda, "Everything you need to know about Self-Driving Cars," 2021. [Link](https://srianumakonda.medium.com/everything-you-need-to-know-about-self-driving-in-30-minutes-b38d68bd3427) +5. J.B. Brandt, R.W. Deters, G.K. Ananda, O.D. Dantsker, and M.S. Selig, UIUC Propeller Database, Vols 1-4, University of Illinois at Urbana-Champaign, Department of Aerospace Engineering, retrieved from https://m-selig.ae.illinois.edu/props/propDB.html. ## Відео -@[youtube](https://youtu.be/PzIpSCRD8Jo) +SIH demo with a fixed-wing vehicle @[youtube](https://youtu.be/PzIpSCRD8Jo) +How to parametrize the thrust and power coefficients CT & CP @[youtube](https://www.youtube.com/watch?v=KNSd9ge0sSw) ## Автори SIH спочатку був розроблений компанією Coriolis g Corporation. The airplane model and tailsitter models were added by Altitude R&D inc. -Обидві ці компанії знаходяться в Канаді: - Coriolis g developed a new type of Vertical Takeoff and Landing (VTOL) vehicles based on passive coupling systems; -- [Altitude R&D](https://www.altitude-rd.com/) is specialized in dynamics, control, and real-time simulation (today relocated in Zurich). +- [Altitude R&D](https://www.altitude-rd.com/) is specialized in dynamics, control, and real-time simulation (located in Zurich). Симулятор випущений безкоштовно під ліцензією BSD. diff --git a/docs/uk/simulation/failsafes.md b/docs/uk/simulation/failsafes.md index de08702d68..4fa5de35cb 100644 --- a/docs/uk/simulation/failsafes.md +++ b/docs/uk/simulation/failsafes.md @@ -47,7 +47,7 @@ To control how fast the battery depletes to the minimal value use the parameter By changing [SIM_BAT_MIN_PCT](../advanced_config/parameter_reference.md#SIM_BAT_MIN_PCT) in flight, you can also test regaining capacity to simulate inaccurate battery state estimation or in-air charging technology. ::: -It is also possible to disable the simulated battery using [SIM_BAT_ENABLE](../advanced_config/parameter_reference.md#SIM_BAT_ENABLE) in order to, for example, provide an external battery simulation via MAVLink. +The simulated battery can be completely disabled by setting [SIM_BAT_DRAIN](../advanced_config/parameter_reference.md#SIM_BAT_DRAIN) to 0. This is useful, for example, if you provide an external battery simulation via MAVLink. ## Помилка датчику/системи diff --git a/docs/uk/simulation/index.md b/docs/uk/simulation/index.md index 96b4429621..c6ad9dfc40 100644 --- a/docs/uk/simulation/index.md +++ b/docs/uk/simulation/index.md @@ -27,11 +27,15 @@ See [PX4-Autopilot#23602](https://github.com/PX4/PX4-Autopilot/issues/23602) for | Симулятор | Опис | | ------------------------------------------------ | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | [Gazebo](../sim_gazebo_gz/index.md) | Gazebo supersedes [Gazebo Classic](../sim_gazebo_classic/index.md), featuring more advanced rendering, physics and sensor models. It is the only version of Gazebo available from Ubuntu Linux 22.04

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

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

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

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

**Supported Vehicles:** Quad ([Iris](../airframes/airframe_reference.md#copter_quadrotor_x_generic_quadcopter)), Hex (Typhoon H480), [Generic Standard VTOL (QuadPlane)](../airframes/airframe_reference.md#vtol_standard_vtol_generic_standard_vtol), Tailsitter, Plane, Rover, Submarine | There are also a number of [Community Supported Simulators](../simulation/community_supported_simulators.md). +:::tip +To run PX4 SITL without setting up a build environment, [pre-built packages and containers](px4_sitl_prebuilt_packages.md) are available. +::: + ### Simulator Comparison | Характеристика | Gazebo | SIH | diff --git a/docs/uk/simulation/px4_simulation_quickstart.md b/docs/uk/simulation/px4_simulation_quickstart.md new file mode 100644 index 0000000000..7a314741f4 --- /dev/null +++ b/docs/uk/simulation/px4_simulation_quickstart.md @@ -0,0 +1,25 @@ +# PX4 Simulation QuickStart + +First install [Docker](https://docs.docker.com/get-docker/) (a free tool that runs containers). + +The following command will then run a PX4 quadrotor simulation that you can connect to [QGroundControl](https://qgroundcontrol.com), [MAVSDK](https://mavsdk.mavlink.io/) or [ROS 2](../ros2/user_guide.md) (on Linux, macOS, and Windows): + +```sh +docker run --rm -it -p 14550:14550/udp px4io/px4-sitl:latest +``` + +That's it — open [QGroundControl](https://qgroundcontrol.com) and fly! + +::: tip + +To try [other vehicle types](../sim_sih/#supported-vehicle-types) append the corresponding line below to the command: + +```sh +-e PX4_SIM_MODEL=sihsim_airplane # Plane +-e PX4_SIM_MODEL=sihsim_standard_vtol # Standard VTOL +-e PX4_SIM_MODEL=sihsim_rover # Ackermann rover +``` + +For more information and options see [Container Images](../simulation/px4_sitl_prebuilt_packages.md#container-images) (in _Pre-built SITL Packages_) and [SIH Simulation](../sim_sih/index.md). + +::: diff --git a/docs/uk/simulation/px4_sitl_prebuilt_packages.md b/docs/uk/simulation/px4_sitl_prebuilt_packages.md new file mode 100644 index 0000000000..688f080521 --- /dev/null +++ b/docs/uk/simulation/px4_sitl_prebuilt_packages.md @@ -0,0 +1,297 @@ +# Pre-built SITL Packages + +Pre-built packages let you run [PX4 SITL simulation](index.md) without setting up a build environment. + +This is very useful if you don't need to modify PX4 itself. +For example, if you want to write drone apps using [MAVSDK](https://mavsdk.mavlink.io) or [ROS 2](../ros2/user_guide.md), or you just want to fly with PX4. + +:::tip +See [PX4 Simulation QuickStart](px4_simulation_quickstart.md) for a one-line instruction to run the SIH package in a container. +::: + +## What's Available + +Two simulators are packaged, each available as a `.deb` package (Ubuntu) or a Docker [container](#container-images) (any OS): + +| Симулятор | Format | Package / Image | Розмір | +| -------------------------------------------- | -------------------- | ----------------------- | ----------------------- | +| [SIH](../sim_sih/index.md) | .deb | `px4` | ~10 MB | +| | container | `px4io/px4-sitl` | ~100 MB | +| [Gazebo Harmonic](../sim_gazebo_gz/index.md) | .deb | `px4-gazebo` | ~30 MB | +| | container | `px4io/px4-sitl-gazebo` | ~2 GB | + +SIH is a lightweight, headless simulator built into PX4 with no external dependencies. +Gazebo provides full 3D simulation with camera, LiDAR, and custom worlds. +Sizes are approximate and vary between releases. + +For help choosing between simulators, see the [simulator comparison table](index.md#simulator-comparison). + +### Versions and Releases + +Packages and images are versioned to match PX4 tags (e.g. `v1.17.0`, `v1.17.0~beta1`). +`.deb` packages are built for **Ubuntu 22.04 (Jammy)** and **24.04 (Noble)**, on both **amd64** and **arm64**. +Container images support **amd64** and **arm64**. +Stable releases and pre-releases are published on the [PX4 Releases](https://github.com/PX4/PX4-Autopilot/releases) page. + +## .deb Packages (Ubuntu) + +Download the `.deb` file for your Ubuntu version and architecture from the [PX4 Releases](https://github.com/PX4/PX4-Autopilot/releases) page, then install as shown below. +After installation the binary is added to the default Ubuntu system paths, and can be run from anywhere. + +### px4 (SIH) + +No extra repositories are required: + +```bash +sudo apt install ./px4_*.deb +``` + +### px4-gazebo (Gazebo Harmonic) + +The package depends on Gazebo Harmonic runtime libraries from the OSRF repository. +Add the repository first, then install: + +```bash +# Add OSRF Gazebo repository (one-time setup) +sudo curl -fsSL https://packages.osrfoundation.org/gazebo.gpg \ + -o /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg +echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] \ + http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" \ + | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null +sudo apt update + +# Install (resolves Gazebo dependencies automatically) +sudo apt install ./px4-gazebo_*.deb +``` + +### Uninstalling + +```bash +sudo apt remove px4 # SIH package +sudo apt remove px4-gazebo # Gazebo package +``` + +## Container Images + +Container images are built using the same `.deb` packages described above, packaged into minimal Docker images. +They are published to [Docker Hub](https://hub.docker.com/u/px4io) on every tagged release. +You will need to [install Docker](https://docs.docker.com/get-docker/). + +| Зображення | Симулятор | +| ----------------------------- | --------------------------------- | +| `px4io/px4-sitl:` | SIH (headless) | +| `px4io/px4-sitl-gazebo:` | Gazebo Harmonic | + +Tags follow PX4 versions (e.g. `v1.17.0`). + +### Запуск + +```bash +# SIH +docker run --rm -it -p 14550:14550/udp px4io/px4-sitl:latest + +# Gazebo +docker run --rm -it -p 14550:14550/udp px4io/px4-sitl-gazebo:latest +``` + +Pass environment variables with `-e`: + +```bash +docker run --rm -it -p 14550:14550/udp \ + -e PX4_SIM_MODEL=sihsim_airplane \ + px4io/px4-sitl:latest +``` + +The quick-start command above only exposes the QGroundControl port. +To use MAVSDK, uXRCE-DDS (ROS 2), or MAVSim Viewer, expose the additional ports: + +```bash +docker run --rm -it \ + -p 14550:14550/udp \ + -p 14540:14540/udp \ + -p 8888:8888/udp \ + -p 19410:19410/udp \ + px4io/px4-sitl:latest +``` + +| Порт | Протокол | Used by | +| ----- | -------- | ---------------------------------------------- | +| 14550 | UDP | QGroundControl | +| 14540 | UDP | MAVSDK / offboard API | +| 8888 | UDP | uXRCE-DDS agent (ROS 2) | +| 19410 | UDP | SIH display (MAVSim Viewer) | + +On Linux, you can skip individual port flags and use `--network host` instead: + +```bash +docker run --rm -it --network host px4io/px4-sitl:latest +``` + +## Налаштування + +These options apply to both `.deb` packages and containers. +Note that after the first section below we only show how to use them with the deb packages (the pattern for using the options doesn't change). + +### Vehicle Selection + +Set `PX4_SIM_MODEL` to choose a vehicle. + +SIH: + +```bash +# Deb package +PX4_SIM_MODEL=sihsim_airplane px4 + +# Container +docker run --rm -it -p 14550:14550/udp px4io/px4-sitl:latest -e PX4_SIM_MODEL=sihsim_airplane +``` + +Gazebo: + +``` +# Deb package +PX4_SIM_MODEL=gz_x500 px4-gazebo + +# Container +docker run --rm -it -p 14550:14550/udp px4io/px4-sitl-gazebo:latest -e PX4_SIM_MODEL=gz_x500 +``` + +See [SIH Supported Vehicles](../sim_sih/index.md#supported-vehicle-types) and [Gazebo Vehicles](../sim_gazebo_gz/vehicles.md) for the full lists. + +### World Selection (Gazebo only) + +```sh +PX4_GZ_WORLD=baylands PX4_SIM_MODEL=gz_x500 px4-gazebo +``` + +See [Gazebo Worlds](../sim_gazebo_gz/worlds.md) for available worlds. + +### Environment Variables + +| Змінні | Опис | Default | +| -------------------- | ------------------------------------------------------------------------------------------------------ | ----------------------------- | +| `PX4_SIM_MODEL` | Vehicle model (e.g. `gz_x500`, `sihsim_quadx`) | (required) | +| `PX4_GZ_WORLD` | Gazebo world name, without `.sdf` (e.g. `baylands`) | `default` | +| `HEADLESS` | Set to `1` to disable Gazebo GUI | (unset) | +| `PX4_UXRCE_DDS_PORT` | uXRCE-DDS agent UDP port | `8888` | +| `PX4_UXRCE_DDS_NS` | uXRCE-DDS ROS namespace | (none) | +| `XDG_DATA_HOME` | Base directory for per-instance working data (parameters, dataman) | `$HOME/.local/share` | + +## Multi-Instance + +Multiple simulated vehicles can run simultaneously by passing the `-i` flag with an instance number. +Each instance must be started in a separate terminal (or container). This works with both simulators. + +```sh +# Terminal 1 +PX4_SIM_MODEL=sihsim_quadx px4 -i 0 + +# Terminal 2 +PX4_SIM_MODEL=sihsim_quadx px4 -i 1 +``` + +MAVLink and uXRCE-DDS port numbers are automatically offset by the instance number. + +Each package (`px4` and `px4-gazebo`) is a standalone install. Do not mix instances from the two packages in the same session. + +## MAVLink and QGroundControl + +PX4 opens several MAVLink UDP ports on startup. +[QGroundControl](https://qgroundcontrol.com) auto-connects on UDP port 14550. +You can also connect [MAVSDK](https://mavsdk.mavlink.io) or any MAVLink-compatible tool. + +| Link | Режим | UDP Local Port | UDP Remote Port | Data Rate | +| ----------------------------------------- | ------- | ---------------- | ---------------- | --------- | +| GCS link | Normal | 18570 + instance | 14550 | 4 Mbps | +| API/Offboard link | Onboard | 14580 + instance | 14540 + instance | 4 Mbps | +| Onboard link to camera | Onboard | 14280 + instance | 14030 + instance | 4 kbps | +| Onboard link to gimbal | Gimbal | 13030 + instance | 13280 + instance | 400 kbps | +| SIH display (SIH only) | Custom | 19450 + instance | 19410 + instance | 400 kbps | + +By default, MAVLink only listens on localhost. +Set parameter `MAV_{i}_BROADCAST = 1` to enable network access. + +## ROS 2 Integration + +The `uxrce_dds_client` module starts automatically and connects to a Micro XRCE-DDS Agent over UDP. +Run the agent before starting PX4: + +```sh +MicroXRCEAgent udp4 -p 8888 +``` + +| Налаштування | Default | +| ------------ | ----------- | +| Transport | UDP | +| Agent IP | `127.0.0.1` | +| Agent Port | `8888` | + +Environment variables `PX4_UXRCE_DDS_PORT` and `PX4_UXRCE_DDS_NS` override the corresponding PX4 parameters ([UXRCE_DDS_PRT](../advanced_config/parameter_reference.md#UXRCE_DDS_PRT), [UXRCE_DDS_NS_IDX](../advanced_config/parameter_reference.md#UXRCE_DDS_NS_IDX)) at runtime without modifying stored parameters: + +```sh +PX4_UXRCE_DDS_PORT=9999 PX4_UXRCE_DDS_NS=drone1 PX4_SIM_MODEL=sihsim_quadx px4 +``` + +## Daemon Mode + +Start PX4 without an interactive shell (useful for CI pipelines and automated testing): + +```sh +PX4_SIM_MODEL=sihsim_quadx px4 -d +``` + +## Installed File Layout + +### px4 + +```txt +/opt/px4/ + bin/ + px4 # PX4 binary + px4-* # Module symlinks + px4-alias.sh # Shell aliases + etc/ # ROMFS (init scripts, mixers, airframes) + init.d-posix/ + +/usr/bin/px4 -> /opt/px4/bin/px4 +``` + +### px4-gazebo + +```txt +/opt/px4-gazebo/ + bin/ + px4 # PX4 binary + px4-gazebo # Gazebo wrapper (sets GZ_SIM_* env vars) + px4-* # Module symlinks + px4-alias.sh # Shell aliases + etc/ # ROMFS (init scripts, mixers, airframes) + init.d-posix/ + share/gz/ + models/ # Gazebo vehicle models + worlds/ # Gazebo world files + server.config + lib/gz/plugins/ # PX4 Gazebo plugins + +/usr/bin/px4-gazebo -> /opt/px4-gazebo/bin/px4-gazebo +``` + +### Runtime directories (created on first run, per user) + +```sh +$XDG_DATA_HOME/px4/rootfs// # parameters, dataman, eeprom +``` + +## Building .deb Files Locally + +To build `.deb` files locally (e.g. to package a custom PX4 branch): + +```sh +# SIH — produces px4_*.deb +make px4_sitl_sih +cd build/px4_sitl_sih && cpack -G DEB + +# Gazebo — produces px4-gazebo_*.deb +make px4_sitl_default +cd build/px4_sitl_default && cpack -G DEB +``` diff --git a/docs/uk/telemetry/holybro_sik_longrange.md b/docs/uk/telemetry/holybro_sik_longrange.md new file mode 100644 index 0000000000..3c53dd3b70 --- /dev/null +++ b/docs/uk/telemetry/holybro_sik_longrange.md @@ -0,0 +1,100 @@ +# Holybro SiK Telemetry Radio - Long Range + +This Holybro SiK Long Range Telemetry Radio is a small, light, and inexpensive open-source radio platform with an extended range (~20km) compared to the standard model. + +This radio is plug-and-play, ready for all Pixhawk Standard and other similar flight controllers, providing the easiest way to set up a telemetry connection between your controller and a ground station. +It uses open-source firmware that has been specially designed to work well with MAVLink packets and to be integrated with PX4, ArduPilot, Mission Planner and QGroundControl. + +The radios are available in 915 MHz or 433 MHz versions. +Please purchase the model that is appropriate for your country/region. + +![Sik Telemetry Radio - Long Range](../../assets/hardware/telemetry/holybro_sik_longrange/holybro_sik_longrange.jpg) + +## Де купити + +- [Holybro SiK Telemetry Radio - Long Range](https://holybro.com/collections/telemetry-radios/products/sik-telemetry-radio-1w) + +## Функції + +- 1W maximum RF output and up to 20km range (compared to 100mW/300m for the short range version). +- Open-source SIK firmware +- Plug-n-play for Pixhawk Standard Flight Controllers +- The Easiest way to connect your controller and Ground Station +- Можливість взаємозамінності радіо на повітрі та на землі +- 6-позиційний роз'єм JST-GH + +## Специфікація + +- 1 W maximum output power (adjustable) -117 dBm receive sensitivity +- РП-SMA роз'єм +- Двосторонній повний дуплексний зв'язок через адаптивний інтерфейс TDM UART +- Прозоре послідовне посилання +- Формування протоколу MAVLink +- Частотно-перестроювана розподілена спектральна модуляція (FHSS) Налаштований цикл роботи +- Корекція помилок виправляє до 25% помилок бітів Відкрите програмне забезпечення SIK +- Configurable through Mission Planner & APM Planner +- FT230X USB на BASIC UART IC +- USB Type C connector +- XT30 power connector for 7~28V DC input + +## Стан індикатора світлодіодів + +The radios have four status LEDs. +The USB `RX` and `TX` LEDs indicate the status of reception and transmission of the USB port. +The `RADIO` and `ACT` two LED lights indicate the status of the RF circuit. + +- USB-TX LED (orange): + - Blinking: USB port has data transmission + - Off: USB port has no data transmission +- USB-RX LED (orange): + - Blinking: USB port has data reception + - Off: USB port has no data reception +- Radio LED (Green) + - Blinking: Searching for another radio + - Solid: Link is established with another radio +- ACT LED (Red) + - Flashing: Transmitting data + - Solid: In firmware update mode + +![Holybro SiK LongRange LED Indicators](../../assets/hardware/telemetry/holybro_sik_longrange/holybro_sik_longrange_label.png) + +## Підключення до Політного Контролера + +Supply the power (7~28V) to the radio via the XT30 connector. +Use the 6-pin JST-GH connector that comes with the radio to connect the radio to your flight controller's `TELEM1` port. + +Note that `TELEM2` can also be used, but you may need to [configure the telemetry port](../peripherals/mavlink_peripherals.md) on some flight controllers. + +## Підключення до ПК або Наземної станції + +First, power the module with a 7~28V DC source. +Then, connect the radio to your Windows PC or Ground Station using a Type-C USB cable. + +The necessary drivers should be installed automatically, and the radio will appear as a new “USB Serial Port” in the Windows Device Manager under Ports (COM & LPT). +The Mission Planner's COM Port selection drop-down should also include the newly added COM port. + +## Packages Include + +### Single Radio + +- 1W Radio modules with antennas (1) +- High-gain omnidirectional antenna (1) +- Male Type-C to male Type-C USB cable (1) +- Male XT30 to female XT30 adapter cable (1) +- Male XT30 to female XT60 adapter cable (1) +- JST-GH-6P to JST-GH-6P cable (1) (for Pixhawk Standard FC) +- Rubber damping grommet (3) + +![Sik Telemetry Radio - LongRange Package1](../../assets/hardware/telemetry/holybro_sik_longrange/holybro_sik_longrange_include1.png) + +### Pair Radios + +- 1W Radio modules with antennas (2) +- High-gain omnidirectional antenna (2) +- Male Type-C to male Type-C USB cable (1) +- Male XT30 to female XT30 adapter cable (1) +- Male XT30 to female XT60 adapter cable (1) +- JST-GH-6P to JST-GH-6P cable (1) (for Pixhawk Standard FC) +- Rubber damping grommet (3) + +![Sik Telemetry Radio - LongRange Package2](../../assets/hardware/telemetry/holybro_sik_longrange/holybro_sik_longrange_include2.png) diff --git a/docs/uk/telemetry/index.md b/docs/uk/telemetry/index.md index bddd986c2a..b5e85c595c 100644 --- a/docs/uk/telemetry/index.md +++ b/docs/uk/telemetry/index.md @@ -6,6 +6,7 @@ PX4 підтримує ряд типів телеметрійних радіоз - [SiK Radio](../telemetry/sik_radio.md) based firmware (more generally, any radio with a UART interface should work). - [HolyBro SiK Telemetry Radio](../telemetry/holybro_sik_radio.md) + - [HolyBro SiK Long Range](../telemetry/holybro_sik_longrange.md) - [RFD900 Telemetry Radio](../telemetry/rfd900_telemetry.md) - [ThunderFly TFSIK01 Telemetry Radio](../telemetry/tfsik_telemetry.md) - _HKPilot Телеметрійне радіо_ (Припинено) diff --git a/docs/uk/telemetry/sik_radio.md b/docs/uk/telemetry/sik_radio.md index 28e98df35d..f41a0b5eac 100644 --- a/docs/uk/telemetry/sik_radio.md +++ b/docs/uk/telemetry/sik_radio.md @@ -14,6 +14,7 @@ SiK Radios often come with appropriate connectors/cables allowing them to be dir ## Постачальники - [Holybro Telemetry Radio](../telemetry/holybro_sik_radio.md) +- [HolyBro SiK Long Range](../telemetry/holybro_sik_longrange.md) - [RFD900 Telemetry Radio](../telemetry/rfd900_telemetry.md) - [ThunderFly TFSIK01 Telemetry Radio](../telemetry/tfsik_telemetry.md) - _HKPilot Телеметрійне радіо_ (Припинено) diff --git a/docs/uk/test_and_ci/test_flights.md b/docs/uk/test_and_ci/test_flights.md index abf026170e..b2d8b55ad6 100644 --- a/docs/uk/test_and_ci/test_flights.md +++ b/docs/uk/test_and_ci/test_flights.md @@ -22,6 +22,8 @@ When submitting [Pull Requests](../contribute/code.md#pull-requests) for new fun Ці тестові картки визначають "стандартні" польотні тести. Їх виконує тестова команда в рамках тестування випуску та для більш значних змін у системі. +### Мультикоптер + - [MC_01 - Manual modes](../test_cards/mc_01_manual_modes.md) - [MC_02 - Full Autonomous](../test_cards/mc_02_full_autonomous.md) - [MC_03 - Auto Manual Mix](../test_cards/mc_03_auto_manual_mix.md) @@ -32,3 +34,8 @@ When submitting [Pull Requests](../contribute/code.md#pull-requests) for new fun - [MC_08 - DSHOT ESC](../test_cards/mc_08_dshot.md) - [MC_09 - VIO (Visual-Inertial Odometry)](../test_cards/mc_09_vio.md) - [MC_10 - Optical Flow / GPS Mixed](../test_cards/mc_10_optical_flow_gps_mixed.md) + +### Fixed Wing + +- [FW_01 - Manual Modes](../test_cards/fw_01_manual_modes.md) +- [FW_02 - Full Autonomous](../test_cards/fw_02_full_autonomous.md) diff --git a/docs/uk/test_cards/fw_01_manual_modes.md b/docs/uk/test_cards/fw_01_manual_modes.md new file mode 100644 index 0000000000..9cfb7a2a38 --- /dev/null +++ b/docs/uk/test_cards/fw_01_manual_modes.md @@ -0,0 +1,46 @@ +# Test FW_01 - Manual Modes + +## Objective + +To test that manual flight modes work as expected for fixed wing vehicles. + +## Preflight + +Ensure that the vehicle can go into Stabilized, Altitude, and Position mode while still on the ground. + +## Flight Tests + +❏ Стабілізований + +    ❏ Wings level with stick centered + +    ❏ Pitch/Roll response with correct bank angle limits + +    ❏ Yaw coordination + +    ❏ Throttle response 1:1 + +❏ Висота + +    ❏ Altitude should hold current value with stick centered + +    ❏ Pitch input controls climb/descend rate + +    ❏ Throttle automatically managed to maintain airspeed + +    ❏ Roll/Yaw respond correctly to stick movement + +❏ Положення + +    ❏ Vehicle should hold current heading and loiter with stick centered + +    ❏ Altitude should hold current value + +    ❏ Roll input commands heading change + +## Очікувані результати + +- Takeoff should be smooth (hand launch or runway) +- No oscillations should be present in any of the above flight modes +- Vehicle should maintain stable flight throughout all mode transitions +- Landing approach should be stable and controllable diff --git a/docs/uk/test_cards/fw_02_full_autonomous.md b/docs/uk/test_cards/fw_02_full_autonomous.md new file mode 100644 index 0000000000..4c36986fb8 --- /dev/null +++ b/docs/uk/test_cards/fw_02_full_autonomous.md @@ -0,0 +1,64 @@ +# Test FW_02 - Full Autonomous + +## Objective + +To test the auto modes such as Mission, Takeoff, Hold, and RTL for fixed wing vehicles. + +## Preflight + +Plan a mission on the ground. Ensure the mission has: + +- Takeoff as first waypoint +- Changes in altitude throughout the mission +- Last waypoint is an RTL +- Duration of 1 to 2 minutes + +## Flight Tests + +❏ Takeoff + +    ❏ Engage Takeoff mode (hand launch or runway) + +    ❏ Vehicle should climb to takeoff altitude + +    ❏ Vehicle should hold/loiter after reaching takeoff altitude + +❏ Mission + +    ❏ Auto takeoff (hand launch or runway) + +    ❏ Verify changes in altitude throughout the mission + +    ❏ Verify Mission Ends in RTL + +    ❏ Duration of 1 to 2 minutes + +    ❏ Auto land or hold at end + +❏ Hold + +    ❏ Engage Hold mode during flight + +    ❏ Vehicle should orbit at current position and altitude + +    ❏ Orbit radius and direction should match parameters + +❏ RTL + +    ❏ Arm and takeoff in any manual mode + +    ❏ Fly out ~200m from start point + +    ❏ Engage Return mode + +    ❏ Vehicle should climb to RTL altitude if below it + +    ❏ Vehicle should return to home and hold or land + +## Очікувані результати + +- Місія має бути завантажена при першій спробі +- Vehicle should automatically takeoff upon engaging Auto +- Waypoint tracking should be smooth with appropriate turn radius +- Vehicle should adjust height to RTL altitude before returning home +- Landing approach should be stable (if auto-land is configured)