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docs(i18n): PX4 guide translations (Crowdin) - uk (#27065)
Co-authored-by: Crowdin Bot <support+bot@crowdin.com>
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@@ -6,13 +6,18 @@ SIH (Simulation-In-Hardware) is a lightweight, headless simulator with zero exte
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No GUI, no external processes, no rendering overhead — just PX4 running a C++ physics model.
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This makes it the fastest way to iterate on flight code.
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:::tip
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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.
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See [PX4 Simulation QuickStart](../simulation/px4_simulation_quickstart.md) for a one-line instruction on how this is used.
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:::
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## Загальний огляд
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SIH runs as a PX4 module that replaces real sensor and actuator hardware with a simulated physics model.
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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.
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The simulation runs in lockstep with PX4, ensuring deterministic and reproducible results.
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It also integrates seamlessly with ROS 2 via with no additional configuration (see [ROS 2 Integration](#ros-2-integration) below).
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It also integrates seamlessly with ROS 2 with no additional configuration (see [ROS 2 Integration](#ros-2-integration) below).
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Two modes are supported:
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@@ -35,7 +40,7 @@ The following vehicle types are supported:
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| Ackermann Rover <Badge type="tip" text="PX4 v1.16" /> | `make px4_sitl_sih sihsim_rover` | Експериментальні налаштування |
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:::warning
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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.
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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.
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:::
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### How SIH Works
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@@ -92,7 +97,7 @@ Flags:
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- `-a` for airplane model
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- `-t` for tailsitter model
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- `-o` enable display-only mode.
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- `-o` enables display-only mode.
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See [jMAVSim Display-Only Mode](../sim_jmavsim/index.md#display-only-mode) for details.
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@@ -199,9 +204,13 @@ Each instance allocates ports automatically (all offset by instance number):
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See [Port Reference](#port-reference) for the complete list of ports.
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## SIH on Flight Controller Hardware {#sih-on-flight-controller-hardware}
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## Running the SIH on Flight Controller Hardware {#sih-on-flight-controller-hardware}
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SIH can also run on flight controller hardware with `SYS_HITL=2`, replacing real sensors with simulated data while running on the actual autopilot.
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:::info
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The SIH on flight controller is community supported.
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:::
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SIH can also run on flight controller hardware, replacing real sensors with simulated data while running on the actual autopilot.
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See [SIH on Flight Controller Hardware](hardware.md) for setup instructions.
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## Adding New Airframes
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@@ -239,7 +248,7 @@ The specific differences for SIH simulation airframes are listed in the sections
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### SIH on Flight Controller
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For FC-specific airframe setup (file locations, `HIL_ACT_FUNC*` parameters), see [Adding New Airframes (FC)](hardware.md#adding-new-airframes-fc).
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See [Adding New Airframes (FC)](../sim_sih/hardware.md#adding-new-airframes-fc) in _SIH on Flight Controller Hardware_.
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### SIH as SITL
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@@ -266,8 +275,22 @@ For specific examples see the `_sihsim_` airframes in [ROMFS/px4fmu_common/init.
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- Tailsitter: based on Chiappinelli (2018), see references below
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- Rover: bicycle model with linear tire model
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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).
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The maximum thrust force is realistically reduced as aircraft speed increases.
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**Propeller model with advance ratio**
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Since PX4 v1.17, the propeller model for fixed-wing, tailsitter, and VTOL pusher vehicles is based on the equations from UIUC Propeller Database.
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<img width="588" height="183" alt="UIUC_prop_equations" src="https://github.com/user-attachments/assets/55413486-b23b-4269-9ac5-dd630ec0849b" />
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This model includes the thrust coefficient CT(J) and power coefficient CP(J) as functions of the advance ratio J.
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As a result, the maximum thrust force is realistically reduced as the aircraft speed is increased.
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The SIH implements the thrust and power coefficients as second-order polynomial fits.
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CT = SIH_F_CT0 + SIH_F_CT1⋅J + SIH_F_CT2⋅J²
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CP = SIH_F_CP0 + SIH_F_CP1⋅J + SIH_F_CP2⋅J²
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If `SIH_F_CT0` and `SIH_F_CP0` are non-zero and positive, the SIH uses the model with advance ratio.
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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`.
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**References:**
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@@ -275,19 +298,20 @@ The maximum thrust force is realistically reduced as aircraft speed increases.
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2. W. Khan, "Dynamics modeling of agile fixed-wing unmanned aerial vehicles," Ph.D. thesis, Dept. of Mechanical Engineering, McGill University, Montreal, 2016.
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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.
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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)
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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.
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## Відео
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@[youtube](https://youtu.be/PzIpSCRD8Jo)
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SIH demo with a fixed-wing vehicle @[youtube](https://youtu.be/PzIpSCRD8Jo)
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How to parametrize the thrust and power coefficients CT & CP @[youtube](https://www.youtube.com/watch?v=KNSd9ge0sSw)
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## Автори
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SIH спочатку був розроблений компанією Coriolis g Corporation.
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The airplane model and tailsitter models were added by Altitude R&D inc.
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Обидві ці компанії знаходяться в Канаді:
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- Coriolis g developed a new type of Vertical Takeoff and Landing (VTOL) vehicles based on passive coupling systems;
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- [Altitude R&D](https://www.altitude-rd.com/) is specialized in dynamics, control, and real-time simulation (today relocated in Zurich).
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- [Altitude R&D](https://www.altitude-rd.com/) is specialized in dynamics, control, and real-time simulation (located in Zurich).
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Симулятор випущений безкоштовно під ліцензією BSD.
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