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docs(i18n): PX4 guide translations (Crowdin) - ko (#27267)

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docs/ko/SUMMARY.md
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@@ -426,6 +426,8 @@
- [Standard Configuration](config/index.md)
- [OEM Configuration](advanced_config/oem.md)
- [고급 설정](advanced_config/index.md)
- [Using PX4's Navigation Filter (EKF2)](advanced_config/tuning_the_ecl_ekf.md)
- [GNSS-Denied & Degraded Flight](advanced_config/gnss_degraded_or_denied_flight.md)
docs/ko/advanced/parameters_and_configurations.md
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@@ -358,6 +358,62 @@ This ensures that metadata is always up-to-date with the code running on the veh
This process is the same as for [events metadata](../concept/events_interface.md#publishing-event-metadata-to-a-gcs).
For more information see [PX4 Metadata (Translation & Publication)](../advanced/px4_metadata.md)
## Read-Only Parameters
Integrators who productize PX4 can lock down parameters so that end users cannot change safety-critical or product-defining settings.
This works in two phases:
1. **Build time** — a YAML file in the board directory declares _which_ parameters are read-only.
2. **Run time** — `param lock` in the startup script activates enforcement.
Before the lock, all parameters (including those on the read-only list) can be freely set by startup scripts (`rc.board_defaults`, airframe scripts, `config.txt`, etc.).
After the lock, any attempt to modify a read-only parameter is rejected.
### 설정
Create `boards/<vendor>/<board>/readonly_params.yaml` with the following format:
```yaml
# mode: 'block' = listed params are read-only (all others writable)
# mode: 'allow' = only listed params are writable (all others read-only)
mode: block
parameters:
- SYS_AUTOSTART
- SYS_AUTOCONFIG
- BAT1_N_CELLS
```
The two modes are:
- **`block`**: The listed parameters are read-only; all other parameters remain writable.
- **`allow`**: Only the listed parameters are writable; all others become read-only.
All parameter names in the list are validated at build time — the build will fail if any listed parameter does not exist in the firmware.
Boards without this file have no read-only enforcement (fully backward compatible).
### Locking
The `param lock` command is called in `rcS` after all startup scripts have finished setting parameters.
Before this call, startup scripts can freely use `param set-default` and `param set` on any parameter, including those on the read-only list.
After `param lock`, the read-only list is enforced.
To set a specific locked value, use `param set-default` in a board startup script (e.g. `rc.board_defaults`) to set the desired default _before_ the lock activates.
### Enforcement (after lock)
Read-only parameters are enforced at all entry points:
- **`param set`** and **`param set-default`** shell commands return an error.
- **MAVLink PARAM_SET** returns a `MAV_PARAM_ERROR_READ_ONLY` error to the GCS.
- **`param_set()`**, **`param_set_default_value()`** C API calls return `PX4_ERROR`.
- **`param reset`** silently skips read-only parameters (since `param_reset_all` loops over all params).
- **`param import`** / **`param load`** from file silently skips read-only parameters.
### 참고
- The read-only list is compiled into firmware as a `constexpr` array, so there is zero runtime overhead when the list is empty.
- If no `readonly_params.yaml` file exists for a board, `param lock` is a no-op.
## 추가 정보
- [Finding/Updating Parameters](../advanced_config/parameters.md)
docs/ko/advanced_config/advanced_flight_controller_orientation_leveling.md
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@@ -34,3 +34,7 @@ You can locate the parameters in QGroundControl as shown below:
Positive angles increase in CCW direction, negative angles increase in CW direction.
- [SENS_BOARD_Z_OFF](../advanced_config/parameter_reference.md#SENS_BOARD_Z_OFF): Rotation, in degrees, around PX4FMU's Z axis Yaw axis.
Positive angles increase in CCW direction, negative angles increase in CW direction.
## See Also
- [OEM/Factory Configuration](../advanced_config/oem.md)
docs/ko/advanced_config/bootloader_update.md
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@@ -209,3 +209,7 @@ To update the bootloader:
Boards that are not part of the [Pixhawk Series](../flight_controller/pixhawk_series.md) will have their own mechanisms for bootloader update.
For boards that are preflashed with Betaflight, see [Bootloader Flashing onto Betaflight Systems](bootloader_update_from_betaflight.md).
## See Also
- [OEM/Factory Configuration](../advanced_config/oem.md)
docs/ko/advanced_config/compass_power_compensation.md
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@@ -78,3 +78,7 @@ The process is demonstrated for a multicopter, but is equally valid for other ve
또한 각 나침반의 각 축에 대한 보정 매개 변수를 설정해야합니다.
![comp params](../../assets/advanced_config/comp_params.png)
## See Also
- [OEM/Factory Configuration](../advanced_config/oem.md)
docs/ko/advanced_config/imu_factory_calibration.md
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@@ -32,3 +32,4 @@ Subsequent user calibrations will then take effect as usual (factory calibration
## 추가 정보
- [QGroundControl User Guide > Sensors](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/setup_view/sensors_px4.html)
- [OEM/Factory Configuration](../advanced_config/oem.md)
docs/ko/advanced_config/index.md
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@@ -7,7 +7,7 @@ This topic lists configuration topics that are not particularly vehicle specific
- [Finding/Updating Parameters](../advanced_config/parameters.md)
- [Full Parameter Reference](../advanced_config/parameter_reference.md)
## Feature configuration
## Feature Configuration
- [Using PX4's Navigation Filter (EKF2)](../advanced_config/tuning_the_ecl_ekf.md)
- [GNSS-Denied and Degraded Flight](../advanced_config/gnss_degraded_or_denied_flight.md)
@@ -17,13 +17,9 @@ This topic lists configuration topics that are not particularly vehicle specific
## OEM/Factory Calibration
- [IMU Factory Calibration](../advanced_config/imu_factory_calibration.md)
- [Sensor Thermal Compensation](../advanced_config/sensor_thermal_calibration.md)
- [Compass Power Compensation](../advanced_config/compass_power_compensation.md)
- [Advanced Controller Orientation](../advanced_config/advanced_flight_controller_orientation_leveling.md)
- [Static Pressure Buildup](../advanced_config/static_pressure_buildup.md)
- [OEM/Factory Configuration](../advanced_config/oem.md)
## Serial port/Ethernet configuration
## Serial port/Ethernet Configuration
- [Serial Port Configuration](../peripherals/serial_configuration.md)
- [MAVLink Telemetry (OSD/GCS)](../peripherals/mavlink_peripherals.md)
docs/ko/advanced_config/oem.md
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# OEM/Factory Configuration
This topic lists configuration and calibration topics that are more relevant to manufacturers/OEMs (though is some cases individual developers may find some relevant).
- [IMU Factory Calibration](../advanced_config/imu_factory_calibration.md)
- [Sensor Thermal Compensation](../advanced_config/sensor_thermal_calibration.md)
- [Compass Power Compensation](../advanced_config/compass_power_compensation.md)
- [Advanced Controller Orientation](../advanced_config/advanced_flight_controller_orientation_leveling.md)
- [Static Pressure Buildup](../advanced_config/static_pressure_buildup.md)
- [Bootloader Update](../advanced_config/bootloader_update.md)
## See Also
- [Standard Configuration](../config/index.md) - Setup essential sensors/features needed for most PX4 vehicles.
- [Advanced Configuration](../advanced_config/index.md)
- Vehicle Config/Tuning:
- [Multicopter Config/Tuning](../config_mc/index.md)
- [Helicopter Config/Tuning](../config_heli/index.md)
- [Fixed-wing Config/Tuning](../config_fw/index.md)
- [VTOL Config/Tuning](../config_vtol/index.md)
docs/ko/advanced_config/sensor_thermal_calibration.md
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@@ -153,19 +153,19 @@ TC_[type][instance]_[cal_name]_[axis]
The correction for thermal offsets (using the calibration parameters) is performed in the [sensors module](../modules/modules_system.md#sensors).
측정 온도에서 기준 온도를 차감하여 다음과 같은 델타 온도를 얻습니다.
```
```txt
delta = measured_temperature - reference_temperature
```
그런 다음 델타 온도를 사용하여 오프셋을 계산합니다.
```
```txt
offset = X0 + X1*delta + X2*delta**2 + ... + Xn*delta**n
```
오프셋 및 온도 스케일 계수는 아래의 경우의 센서 측정을 수정하는 데 사용됩니다.
```
```txt
corrected_measurement = (raw_measurement - offset) * scale_factor
```
@@ -198,3 +198,7 @@ However, instead of adjusting the `*OFF` and `*SCALE` parameters in the `CAL` pa
[^2]: 기압 센서 오프셋을 보정하려면 안정적인 기압 환경이 필요합니다. The air pressure will change slowly due to weather and inside buildings can change rapidly due to external wind fluctuations and HVAC system operation.
[^3]: Care must be taken when warming a cold soaked board to avoid formation of condensation on the board that can cause board damage under some circumstances.
## See Also
- [OEM/Factory Configuration](../advanced_config/oem.md)
docs/ko/advanced_config/static_pressure_buildup.md
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The approach works well if the relationship between the error due to static pressure and the velocity varies linearly.
기체에 복잡한 공기 역학 모델이 있으면 효율성이 떨어집니다.
:::
## See Also
- [OEM/Factory Configuration](../advanced_config/oem.md)
docs/ko/config/compass.md
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@@ -27,9 +27,9 @@ Several types of compass calibration are available:
1. [Complete](#complete-calibration): This calibration is required after installing the autopilot on an airframe for the first time or when the configuration of the vehicle has changed significantly.
It compensates for hard and soft iron effects by estimating an offset and a scale factor for each axis.
2. [Partial](#partial-quick-calibration): This calibration can be performed as a routine when preparing the vehicle for a flight, after changing the payload, or simply when the compass rose seems inaccurate.
This type of calibration only estimates the offsets to compensate for a hard iron effect.
This type of calibration only estimates the offsets to compensate for a hard-iron effect.
3. [Large vehicle](#large-vehicle-calibration): This calibration can be performed when the vehicle is too large or heavy to perform a complete calibration.
This type of calibration only estimates the offsets to compensate for a hard iron effect.
This type of calibration only estimates the offsets to compensate for a hard-iron effect.
## 보정 절차
@@ -97,28 +97,78 @@ Notes:
<Badge type="tip" text="PX4 v1.15" />
This calibration process leverages external knowledge of vehicle's orientation and location, and a World Magnetic Model (WMM) to calibrate the hard iron biases.
This calibration process leverages external knowledge of the vehicle's orientation and location, along with a World Magnetic Model (WMM), to calibrate hard-iron biases.
It is designed for large or heavy vehicles where full-axis rotation is impractical.
1. Ensure GNSS Fix.
This is required to find the expected Earth magnetic field in WMM tables.
2. Align the vehicle to face True North.
Be as accurate as possible for best results.
3. Open the [QGroundControl MAVLink Console](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/analyze_view/mavlink_console.html) and send the following command:
The calibration accepts an optional heading argument (<Badge type="tip" text="PX4 v1.18" />), allowing you to specify the vehicle's current true heading.
This means you can perform a valid magnetometer calibration while the vehicle is pointed in any direction, not just North.
:::tip
The [complete calibration](#complete-calibration) is more reliable, and should be used if you can physically rotate the vehicle through all required orientations.
If the large vehicle calibration fails (magnetometer readings are inconsistent, or if yaw is unstable or incorrect) you will need to [recalibrate](#recalibration) using the complete calibration.
:::
:::details
Implementation details
This implementation replaces an earlier version (PX4 v1.15 - PX4 v1.17) that required the vehicle to be facing True North.
The calibration process:
- Computes hard-iron bias offsets by comparing the expected Earth magnetic field vector (based on location and heading from WMM) with the measured field from the magnetometer(s).
- Adjusts magnetometer offset parameters so the heading estimate aligns correctly without requiring full 3-axis rotation.
- The calibration is applied immediately.
Offsets persist once parameters are saved (typically on disarm or reboot).
:::
#### 전제 조건
- Obtain a valid GNSS fix (required for World Magnetic Model lookup).
- 큰 금속 물체등과 같이 자기장이 강한 곳에서 멀리 떨어진 위치를 선택하십시오.
- If using an external compass, ensure it is [mounted](../assembly/mount_gps_compass.md) as far as possible from other electronics.
#### Procedure
1. **Ensure GNSS Fix.**
This is required to look up the expected Earth magnetic field from WMM tables.
2. **Align the vehicle to a known heading.**
This can be True North (0°), or any other known heading relative to True North.
3. Open the [QGroundControl MAVLink Console](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/analyze_view/mavlink_console.html) and run:
```sh
commander calibrate mag quick
commander calibrate mag quick [heading]
```
Notes:
| 매개변수 | 설명 |
| --------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------- |
| `heading` (optional) | True heading of the vehicle in degrees (0–359). Defaults to 0° (North) if omitted. |
- This method is specifically designed for vehicles where full rotation is impractical or impossible.
If full rotation is possible, use the [complete calibration](#complete-calibration) instead.
- The vehicle doesn't need to be exactly levelled as this is automatically compensated using the tilt estimate.
**Examples:**
| Vehicle Facing | 통신 |
| ----------------------------------- | ----------------------------------- |
| North (0°) | `commander calibrate mag quick` |
| East (90°) | `commander calibrate mag quick 90` |
| South (180°) | `commander calibrate mag quick 180` |
| Southwest (225°) | `commander calibrate mag quick 225` |
:::info 참고
- The vehicle doesn't need to be exactly level.
Tilt is automatically compensated using the attitude estimate.
- This calibration can also be triggered using the MAVLink command [MAV_CMD_FIXED_MAG_CAL_YAW](https://mavlink.io/en/messages/common.html#MAV_CMD_FIXED_MAG_CAL_YAW).
## 검증
:::
After the calibration is complete, check that the heading indicator and the heading of the arrow on the map are stable and match the orientation of the vehicle when turning it e.g. to the cardinal directions.
#### 검증
After calibration:
1. Check that the heading indicator in QGroundControl is stable.
2. Rotate the vehicle to cardinal directions (N/E/S/W) and verify the compass heading matches.
3. If using multiple magnetometers, confirm the correct sensor priority is set.
## Recalibration
@@ -146,7 +196,7 @@ Recalibrate the compass when:
## Additional Calibration/Configuration
The process above will autodetect, [set default rotations](../advanced_config/parameter_reference.md#SENS_MAG_AUTOROT), calibrate, and prioritise, all available magnetometers.
The processes above will autodetect, [set default rotations](../advanced_config/parameter_reference.md#SENS_MAG_AUTOROT), calibrate, and prioritise, all available magnetometers.
If external magnetometers are available, internal magnetometers are disabled.
Further compass configuration should generally not be required.
docs/ko/config/safety.md
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| <a id="COM_ARM_BAT_MIN"></a>[COM_ARM_BAT_MIN](../advanced_config/parameter_reference.md#COM_ARM_BAT_MIN) | Minimum battery level for arming. `0`: Disabled (default). Values: `0`-`0.9`, |
| <a id="COM_ARM_WO_GPS"></a>[COM_ARM_WO_GPS](../advanced_config/parameter_reference.md#COM_ARM_WO_GPS) | Enable arming without GPS. `0`: Disabled, `1`: Enabled (default). |
| <a id="COM_ARM_MIS_REQ"></a>[COM_ARM_MIS_REQ](../advanced_config/parameter_reference.md#COM_ARM_MIS_REQ) | Require valid mission to arm. `0`: Disabled (default), `1`: Enabled . |
| <a id="COM_ARM_SDCARD"></a>[COM_ARM_SDCARD](../advanced_config/parameter_reference.md#COM_ARM_SDCARD) | Require SD card to arm. `0`: Disabled (default), `1`: Warning, `2`: Enabled. |
| <a id="COM_ARM_AUTH_REQ"></a>[COM_ARM_AUTH_REQ](../advanced_config/parameter_reference.md#COM_ARM_AUTH_REQ) | Requires arm authorisation from an external (MAVLink) system. Flag to allow arming (at all). `1`: Enabled, `0`: Disabled (default). Associated configuration parameters are prefixed with `COM_ARM_AUTH_`. |
| <a id="COM_ARM_ODID"></a>[COM_ARM_ODID](../advanced_config/parameter_reference.md#COM_ARM_ODID) | Remote ID arming check and in-flight failsafe. `0`: Disabled (default), `1`: Warning only, `2`: Error only, `3`: Return, `4`: Land, `5`: Terminate. See [Remote ID Failsafe](#remote-id-failsafe). |
docs/ko/config_mc/pid_tuning_guide_multicopter.md
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더 자세한 정보는 다음을 참고하십시오.
- [Not all PID controllers are the same](https://www.controleng.com/not-all-pid-controllers-are-the-same/) (www.controleng.com)
- [PID controller > Standard versus parallel (ideal) PID form](https://en.wikipedia.org/wiki/PID_controller#Standard_versus_parallel_\(ideal\)_form) (Wikipedia)
- [PID controller > Standard versus parallel (ideal) PID form](https://en.wikipedia.org/wiki/PID_controller#Standard_versus_parallel_(ideal)_form) (Wikipedia)
:::
docs/ko/config_mc/pid_tuning_guide_multicopter_basic.md
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@@ -41,7 +41,7 @@ The testing procedure for each controller (rate, attitude, velocity/position) an
## 전제 조건
- You have selected the closest matching [default frame configuration](../config/airframe.md) for your vehicle.
이것은 이미 비행한 기체를 제공할 것입니다.
This should give you a vehicle that already flies.
- You should have done an [ESC calibration](../advanced_config/esc_calibration.md).
@@ -50,13 +50,13 @@ The testing procedure for each controller (rate, attitude, velocity/position) an
This can be tested in [Acro mode](../flight_modes_mc/acro.md) or in [Stabilized mode](../flight_modes_mc/manual_stabilized.md):
- 프로펠러 제거
- 기체에 시동을 걸고 스로틀을 최소로 내립니다.
- 차량을 모든 방향으로 60도 정도 기울입니다.
- 모터가 꺼져 있는 지 확인합니다.
- Remove propellers
- Arm the vehicle and lower the throttle to the minimum
- Tilt the vehicle to all directions, about 60 degrees
- Check that no motors turn off
- PWM 출력을 사용하는 경우 : <a href="../advanced_config/parameter_reference.md#PWM_MIN">PWM_MIN</a>이 올바르게 설정되었습니다.
낮게 설정해야하지만 기체 시동시에는 <strong x-id="1">모터가 절대 멈추지 않도록</strong>합니다.
- Use a high-rate telemetry link such as WiFi if at all possible (a typical low-range telemetry radio is not fast enough for real-time feedback and plots).
This is particularly important for the rate controller.
- Disable [MC_AIRMODE](../advanced_config/parameter_reference.md#MC_AIRMODE) before tuning a vehicle (there is an options for this in the PID tuning screen).
@@ -65,9 +65,9 @@ Poorly tuned vehicles are likely to be unstable, and easy to crash.
Make sure to have assigned a [Kill switch](../config/safety.md#emergency-switches).
:::
## 튜닝 절차
## Tuning Procedure
튜닝 절차는 다음과 같습니다.
The tuning procedure is:
1. Arm the vehicle, takeoff, and hover (typically in [Position mode](../flight_modes_mc/position.md)).
@@ -82,12 +82,12 @@ Make sure to have assigned a [Kill switch](../config/safety.md#emergency-switche
::: info
For PWM, power-based and (some) UAVCAN speed controllers, the control signal to thrust relationship may not be linear.
그 결과 호버 추력에서 최적의 튜닝은 차량이 강한 추력으로 작동시 최적이 아닐 수 있습니다.
As a result, the optimal tuning at hover thrust may not be ideal when the vehicle is operating at higher thrust.
추력 곡선 값을 사용하여 비선형성을 보상할 수 있습니다.
The thrust curve value can be used to compensate for this non-linearity:
- For PWM controllers, 0.3 is a good default (which may benefit from [further tuning](../config_mc/pid_tuning_guide_multicopter.md#thrust-curve)).
- RPM 기반 컨트롤러의 경우 1을 사용합니다 (2 차 추력 곡선이 있으므로 추가 튜닝이 필요하지 않음).
- For RPM-based controllers, use 1 (no further tuning is required as these have a quadratic thrust curve).
For more information see the [detailed PID tuning guide](../config_mc/pid_tuning_guide_multicopter.md#thrust-curve).
@@ -105,18 +105,21 @@ Make sure to have assigned a [Kill switch](../config/safety.md#emergency-switche
10. Rapidly move the _roll stick_ full range and observe the step response on the plots.
:::tip
Stop tracking to enable easier inspection of the plots.
확대/축소/이동시 자동으로 발생합니다.
This happens automatically when you zoom/pan.
Use the **Start** button to restart the plots, and **Clear** to reset them.
:::
11. Modify the three PID values using the sliders (for roll rate-tuning these affect `MC_ROLLRATE_K`, `MC_ROLLRATE_I`, `MC_ROLLRATE_D`) and observe the step response again.
슬라이더를 움직이면 값이 기체에 저장됩니다.
The values are saved to the vehicle as soon as the sliders are moved.
::: info
The goal is for the _Response_ curve to match the _Setpoint_ curve as closely as possible (i.e. a fast response without overshoots).
:::
The PID values can be adjusted as follows:
- P (비례) 또는 K 이득 :
- 더 많은 응답을 위해 이것을 늘리십시오.
- 응답이 오버 슈팅 및/또는 진동하는 경우 감소합니다 (특정 지점까지 D 게인 증가도 도움이 됨).
docs/ko/debug/eclipse_jlink.md
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@@ -115,7 +115,7 @@ To enable this feature for use in Eclipse:
make px4_fmu-v5_default boardguiconfig
```
(See [PX4 Menuconfig Setup](../hardware/porting_guide_config.md#px4-menuconfig-setup) for more information) on using the config tools).
(See [PX4 Menuconfig Setup](../hardware/porting_guide_config.md#px4-menuconfig-setup) for more information on using the config tools).
- Ensure that the _Enable TCBinfo struct for debug_ is selected as shown:
![NuttX: Menuconfig: CONFIG_DEBUG_TCBINFO](../../assets/debug/nuttx_tcb_task_aware.png)
docs/ko/dev_setup/dev_env_windows_cygwin_packager_setup.md
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@@ -33,7 +33,7 @@ You can also install the environment using shell scripts in the Github project.
1. Make sure you have [Git for Windows](https://git-scm.com/download/win) installed.
2. Clone the repository https://github.com/PX4/windows-toolchain to the location you want to install the toolchain. Default location and naming is achieved by opening the `Git Bash` and executing:
2. Clone the repository <https://github.com/PX4/windows-toolchain> to the location you want to install the toolchain. Default location and naming is achieved by opening the `Git Bash` and executing:
```sh
cd /c/
@@ -53,13 +53,13 @@ The result should be the same as using the scripts or MSI installer.
The toolchain gets maintained and hence these instructions might not cover every detail of all the future changes.
:::
1. Create the _folders_: \*\*C:\PX4\*\*, \*\*C:\PX4\toolchain\*\* and \*\*C:\PX4\home\*\*
1. Create the _folders_: **C:\PX4**, **C:\PX4\toolchain** and **C:\PX4\home**
2. Download the _Cygwin installer_ file [setup-x86_64.exe](https://cygwin.com/setup-x86_64.exe) from the [official Cygwin website](https://cygwin.com/install.html)
3. Run the downloaded setup file
4. In the wizard choose to install into the folder: \*\*C:\PX4\toolchain\cygwin64\*\*
4. In the wizard choose to install into the folder: **C:\PX4\toolchain\cygwin64**
5. Select to install the default Cygwin base and the newest available version of the following additional packages:
docs/ko/dev_setup/dev_env_windows_vm.md
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@@ -57,12 +57,14 @@ VMWare performance is acceptable for basic usage (building Firmware) but not for
모든 설정은 호스트 운영 체제에서 사용하기 위한 것이므로, 네트워크 공격의 위험을 증가시키지 않는 화면 보호기 및 로컬 워크스테이션 보안 기능을 비활성화할 수 있습니다.
10. Once the new VM is booted up make sure you install _VMWare tools drivers and tools extension_ inside your guest system.
이렇게 하면 다음과 같은 VM 사용의 성능과 유용성들이 향상됩니다.
- 크게 향상된 그래픽 성능
This will enhance performance and usability of your VM usage:
- Significantly enhanced graphics performance
- Proper support for hardware device usage like USB port allocation (important for target upload), proper mouse wheel scrolling, sound support
- 창 크기에 따른 게스트 디스플레이 해상도 조정
- 호스트 시스템 클립보드 공유
- 호스트 시스템 파일 공유
- Guest display resolution adaption to the window size
- Clipboard sharing to host system
- File sharing to host system
11. Continue with [PX4 environment setup for Linux](../dev_setup/dev_env_linux.md)
docs/ko/flight_controller/beaglebone_blue.md
+1 -1
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@@ -21,7 +21,7 @@ _BeagleBone Blue_ images can be found here:
- [Test OS images](https://rcn-ee.net/rootfs/bb.org/testing/) (updated frequently).
Information about flashing OS images can be found on [this page](https://github.com/beagleboard/beaglebone-blue/wiki/Flashing-firmware).
Other useful information can be found in the [FAQ](https://github.com/beagleboard/beaglebone-blue/wiki/Frequently-Asked-Questions-\(FAQ\)).
Other useful information can be found in the [FAQ](https://github.com/beagleboard/beaglebone-blue/wiki/Frequently-Asked-Questions-(FAQ)).
:::tip
Optionally you can update to a realtime kernel, and if you do, re-check if _librobotcontrol_ works properly with the realtime kernel.
docs/ko/flight_modes/offboard.md
+7 -7
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@@ -364,13 +364,13 @@ Rover MAVLink setpoints are gated by the MAVLink parameter [MAV_FWDEXTSP](../adv
_Offboard mode_ is affected by the following parameters:
| 매개변수 | 설명 |
| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="COM_OF_LOSS_T"></a>[COM_OF_LOSS_T](../advanced_config/parameter_reference.md#COM_OF_LOSS_T) | Time-out (in seconds) to wait when offboard connection is lost before triggering offboard lost failsafe (`COM_OBL_RC_ACT`) |
| <a id="COM_OBL_RC_ACT"></a>[COM_OBL_RC_ACT](../advanced_config/parameter_reference.md#COM_OBL_RC_ACT) | Flight mode to switch to if offboard control is lost (Values are - `0`: _Position_, `1`: _Altitude_, `2`: _Manual_, `3`: \*Return, `4`: \*Land\*). |
| <a id="COM_RC_OVERRIDE"></a>[COM_RC_OVERRIDE](../advanced_config/parameter_reference.md#COM_RC_OVERRIDE) | Controls whether stick movement on a multicopter (or VTOL in MC mode) causes a mode change to [Position mode](../flight_modes_mc/position.md). 기본적으로 오프보드 모드에서는 활성화되지 않습니다. |
| <a id="COM_RC_STICK_OV"></a>[COM_RC_STICK_OV](../advanced_config/parameter_reference.md#COM_RC_STICK_OV) | The amount of stick movement that causes a transition to [Position mode](../flight_modes_mc/position.md) (if [COM_RC_OVERRIDE](#COM_RC_OVERRIDE) is enabled). |
| <a id="COM_RCL_EXCEPT"></a>[COM_RCL_EXCEPT](../advanced_config/parameter_reference.md#COM_RCL_EXCEPT) | Specify modes in which RC loss is ignored and the failsafe action not triggered. Set bit `2` to ignore RC loss in Offboard mode. |
| 매개변수 | 설명 |
| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="COM_OF_LOSS_T"></a>[COM_OF_LOSS_T](../advanced_config/parameter_reference.md#COM_OF_LOSS_T) | Time-out (in seconds) to wait when offboard connection is lost before triggering offboard lost failsafe (`COM_OBL_RC_ACT`) |
| <a id="COM_OBL_RC_ACT"></a>[COM_OBL_RC_ACT](../advanced_config/parameter_reference.md#COM_OBL_RC_ACT) | Flight mode to switch to if offboard control is lost (Values are - `0`: _Position_, `1`: _Altitude_, `2`: _Manual_, `3`: _Return_, `4`: _Land_). |
| <a id="COM_RC_OVERRIDE"></a>[COM_RC_OVERRIDE](../advanced_config/parameter_reference.md#COM_RC_OVERRIDE) | Controls whether stick movement on a multicopter (or VTOL in MC mode) causes a mode change to [Position mode](../flight_modes_mc/position.md). 기본적으로 오프보드 모드에서는 활성화되지 않습니다. |
| <a id="COM_RC_STICK_OV"></a>[COM_RC_STICK_OV](../advanced_config/parameter_reference.md#COM_RC_STICK_OV) | The amount of stick movement that causes a transition to [Position mode](../flight_modes_mc/position.md) (if [COM_RC_OVERRIDE](#COM_RC_OVERRIDE) is enabled). |
| <a id="COM_RCL_EXCEPT"></a>[COM_RCL_EXCEPT](../advanced_config/parameter_reference.md#COM_RCL_EXCEPT) | Specify modes in which RC loss is ignored and the failsafe action not triggered. Set bit `2` to ignore RC loss in Offboard mode. |
## 개발자 리소스
docs/ko/frames_plane/reptile_dragon_2.md
+1 -1
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@@ -1,6 +1,6 @@
# Reptile Dragon 2 (RD2) Build
The Reptile Dragon 2 is a twin motor RC airplane specifically designed for efficient FPV [(first person view)](https://en.wikipedia.org/wiki/First-person_view_\(radio_control\)) flying.
The Reptile Dragon 2 is a twin motor RC airplane specifically designed for efficient FPV [(first person view)](https://en.wikipedia.org/wiki/First-person_view_(radio_control)) flying.
Being specific for FPV, the RD2 is optimized for easy mounting of cameras, sensors, logic electronics, large batteries, antennas, and other payload components which would be found on a typical FPV airplane.
This emphasis on payload makes this airplane an ideal candidate for a PX4 installation.
docs/ko/frames_plane/turbo_timber_evolution.md
+1 -1
View File
@@ -32,7 +32,7 @@ Key Build Features:
- Easy access to Pixhawk USB and debug connector
- [First Person View (FPV)](https://en.wikipedia.org/wiki/First-person_view_\(radio_control\)) with camera pan mount
- [First Person View (FPV)](https://en.wikipedia.org/wiki/First-person_view_(radio_control)) with camera pan mount
- Air data provided by wing slung pitot static pod
docs/ko/middleware/dds_topics.md
+198 -198
View File
@@ -96,210 +96,210 @@ They are not build into the module, and hence are neither published or subscribe
:::details
See messages
- [IrlockReport](../msg_docs/IrlockReport.md)
- [FailureDetectorStatus](../msg_docs/FailureDetectorStatus.md)
- [MissionResult](../msg_docs/MissionResult.md)
- [SensorSelection](../msg_docs/SensorSelection.md)
- [Event](../msg_docs/Event.md)
- [MountOrientation](../msg_docs/MountOrientation.md)
- [NeuralControl](../msg_docs/NeuralControl.md)
- [VehicleAttitudeSetpointV0](../msg_docs/VehicleAttitudeSetpointV0.md)
- [DifferentialPressure](../msg_docs/DifferentialPressure.md)
- [EstimatorGpsStatus](../msg_docs/EstimatorGpsStatus.md)
- [LedControl](../msg_docs/LedControl.md)
- [RtlStatus](../msg_docs/RtlStatus.md)
- [Rpm](../msg_docs/Rpm.md)
- [QshellReq](../msg_docs/QshellReq.md)
- [ArmingCheckReplyV0](../msg_docs/ArmingCheckReplyV0.md)
- [OrbTest](../msg_docs/OrbTest.md)
- [VehicleImuStatus](../msg_docs/VehicleImuStatus.md)
- [OrbitStatus](../msg_docs/OrbitStatus.md)
- [BatteryInfo](../msg_docs/BatteryInfo.md)
- [RegisterExtComponentReplyV0](../msg_docs/RegisterExtComponentReplyV0.md)
- [HeaterStatus](../msg_docs/HeaterStatus.md)
- [VehicleAngularVelocity](../msg_docs/VehicleAngularVelocity.md)
- [DeviceInformation](../msg_docs/DeviceInformation.md)
- [VehicleLocalPositionV0](../msg_docs/VehicleLocalPositionV0.md)
- [PowerButtonState](../msg_docs/PowerButtonState.md)
- [SensorAirflow](../msg_docs/SensorAirflow.md)
- [TrajectorySetpoint6dof](../msg_docs/TrajectorySetpoint6dof.md)
- [VehicleStatusV0](../msg_docs/VehicleStatusV0.md)
- [HealthReport](../msg_docs/HealthReport.md)
- [FollowTargetEstimator](../msg_docs/FollowTargetEstimator.md)
- [InternalCombustionEngineControl](../msg_docs/InternalCombustionEngineControl.md)
- [AirspeedWind](../msg_docs/AirspeedWind.md)
- [SensorGnssRelative](../msg_docs/SensorGnssRelative.md)
- [VehicleImu](../msg_docs/VehicleImu.md)
- [VehicleStatusV3](../msg_docs/VehicleStatusV3.md)
- [NormalizedUnsignedSetpoint](../msg_docs/NormalizedUnsignedSetpoint.md)
- [EstimatorSelectorStatus](../msg_docs/EstimatorSelectorStatus.md)
- [ActuatorTest](../msg_docs/ActuatorTest.md)
- [CanInterfaceStatus](../msg_docs/CanInterfaceStatus.md)
- [VehicleOpticalFlowVel](../msg_docs/VehicleOpticalFlowVel.md)
- [VehicleStatusV1](../msg_docs/VehicleStatusV1.md)
- [SensorGnssStatus](../msg_docs/SensorGnssStatus.md)
- [PwmInput](../msg_docs/PwmInput.md)
- [RcParameterMap](../msg_docs/RcParameterMap.md)
- [VehicleConstraints](../msg_docs/VehicleConstraints.md)
- [SystemPower](../msg_docs/SystemPower.md)
- [Ekf2Timestamps](../msg_docs/Ekf2Timestamps.md)
- [InternalCombustionEngineStatus](../msg_docs/InternalCombustionEngineStatus.md)
- [UavcanParameterValue](../msg_docs/UavcanParameterValue.md)
- [EstimatorEventFlags](../msg_docs/EstimatorEventFlags.md)
- [DebugVect](../msg_docs/DebugVect.md)
- [FollowTarget](../msg_docs/FollowTarget.md)
- [TiltrotorExtraControls](../msg_docs/TiltrotorExtraControls.md)
- [TuneControl](../msg_docs/TuneControl.md)
- [PositionSetpoint](../msg_docs/PositionSetpoint.md)
- [ParameterSetUsedRequest](../msg_docs/ParameterSetUsedRequest.md)
- [SensorAccelFifo](../msg_docs/SensorAccelFifo.md)
- [EventV0](../msg_docs/EventV0.md)
- [AutotuneAttitudeControlStatus](../msg_docs/AutotuneAttitudeControlStatus.md)
- [SensorTemp](../msg_docs/SensorTemp.md)
- [OpenDroneIdSelfId](../msg_docs/OpenDroneIdSelfId.md)
- [FollowTargetStatus](../msg_docs/FollowTargetStatus.md)
- [VehicleGlobalPositionV0](../msg_docs/VehicleGlobalPositionV0.md)
- [LandingGearWheel](../msg_docs/LandingGearWheel.md)
- [SensorsStatus](../msg_docs/SensorsStatus.md)
- [HomePositionV0](../msg_docs/HomePositionV0.md)
- [ParameterUpdate](../msg_docs/ParameterUpdate.md)
- [EstimatorInnovations](../msg_docs/EstimatorInnovations.md)
- [ButtonEvent](../msg_docs/ButtonEvent.md)
- [RaptorInput](../msg_docs/RaptorInput.md)
- [VehicleOpticalFlow](../msg_docs/VehicleOpticalFlow.md)
- [GpioConfig](../msg_docs/GpioConfig.md)
- [SensorMag](../msg_docs/SensorMag.md)
- [LogMessage](../msg_docs/LogMessage.md)
- [GeofenceResult](../msg_docs/GeofenceResult.md)
- [LoggerStatus](../msg_docs/LoggerStatus.md)
- [RcChannels](../msg_docs/RcChannels.md)
- [MagWorkerData](../msg_docs/MagWorkerData.md)
- [IridiumsbdStatus](../msg_docs/IridiumsbdStatus.md)
- [SensorGyroFifo](../msg_docs/SensorGyroFifo.md)
- [GeofenceStatus](../msg_docs/GeofenceStatus.md)
- [UlogStreamAck](../msg_docs/UlogStreamAck.md)
- [Airspeed](../msg_docs/Airspeed.md)
- [ActuatorArmed](../msg_docs/ActuatorArmed.md)
- [ParameterSetValueResponse](../msg_docs/ParameterSetValueResponse.md)
- [SensorPreflightMag](../msg_docs/SensorPreflightMag.md)
- [GimbalManagerStatus](../msg_docs/GimbalManagerStatus.md)
- [GimbalDeviceSetAttitude](../msg_docs/GimbalDeviceSetAttitude.md)
- [GimbalManagerInformation](../msg_docs/GimbalManagerInformation.md)
- [EstimatorBias](../msg_docs/EstimatorBias.md)
- [TecsStatus](../msg_docs/TecsStatus.md)
- [GimbalControls](../msg_docs/GimbalControls.md)
- [Mission](../msg_docs/Mission.md)
- [GainCompression](../msg_docs/GainCompression.md)
- [ConfigOverridesV0](../msg_docs/ConfigOverridesV0.md)
- [Ping](../msg_docs/Ping.md)
- [ActuatorControlsStatus](../msg_docs/ActuatorControlsStatus.md)
- [CellularStatus](../msg_docs/CellularStatus.md)
- [DronecanNodeStatus](../msg_docs/DronecanNodeStatus.md)
- [EscEepromWrite](../msg_docs/EscEepromWrite.md)
- [MagnetometerBiasEstimate](../msg_docs/MagnetometerBiasEstimate.md)
- [FixedWingLateralGuidanceStatus](../msg_docs/FixedWingLateralGuidanceStatus.md)
- [OrbTestMedium](../msg_docs/OrbTestMedium.md)
- [PositionControllerStatus](../msg_docs/PositionControllerStatus.md)
- [EscReport](../msg_docs/EscReport.md)
- [SensorGyro](../msg_docs/SensorGyro.md)
- [DatamanRequest](../msg_docs/DatamanRequest.md)
- [FixedWingLateralStatus](../msg_docs/FixedWingLateralStatus.md)
- [GeneratorStatus](../msg_docs/GeneratorStatus.md)
- [SensorAccel](../msg_docs/SensorAccel.md)
- [RangingBeacon](../msg_docs/RangingBeacon.md)
- [RegisterExtComponentRequestV1](../msg_docs/RegisterExtComponentRequestV1.md)
- [GpsDump](../msg_docs/GpsDump.md)
- [GimbalManagerSetManualControl](../msg_docs/GimbalManagerSetManualControl.md)
- [Vtx](../msg_docs/Vtx.md)
- [VehicleStatusV2](../msg_docs/VehicleStatusV2.md)
- [InputRc](../msg_docs/InputRc.md)
- [DebugKeyValue](../msg_docs/DebugKeyValue.md)
- [VehicleMagnetometer](../msg_docs/VehicleMagnetometer.md)
- [OpenDroneIdSystem](../msg_docs/OpenDroneIdSystem.md)
- [RoverAttitudeStatus](../msg_docs/RoverAttitudeStatus.md)
- [GpsInjectData](../msg_docs/GpsInjectData.md)
- [TaskStackInfo](../msg_docs/TaskStackInfo.md)
- [FixedWingRunwayControl](../msg_docs/FixedWingRunwayControl.md)
- [SensorsStatusImu](../msg_docs/SensorsStatusImu.md)
- [VehicleAirData](../msg_docs/VehicleAirData.md)
- [PpsCapture](../msg_docs/PpsCapture.md)
- [CameraStatus](../msg_docs/CameraStatus.md)
- [SensorGyroFft](../msg_docs/SensorGyroFft.md)
- [ParameterResetRequest](../msg_docs/ParameterResetRequest.md)
- [EstimatorBias3d](../msg_docs/EstimatorBias3d.md)
- [PowerMonitor](../msg_docs/PowerMonitor.md)
- [GimbalManagerSetAttitude](../msg_docs/GimbalManagerSetAttitude.md)
- [EstimatorStates](../msg_docs/EstimatorStates.md)
- [FlightPhaseEstimation](../msg_docs/FlightPhaseEstimation.md)
- [SensorUwb](../msg_docs/SensorUwb.md)
- [EscStatus](../msg_docs/EscStatus.md)
- [RegisterExtComponentRequestV0](../msg_docs/RegisterExtComponentRequestV0.md)
- [TakeoffStatus](../msg_docs/TakeoffStatus.md)
- [EstimatorAidSource1d](../msg_docs/EstimatorAidSource1d.md)
- [UavcanParameterRequest](../msg_docs/UavcanParameterRequest.md)
- [EstimatorSensorBias](../msg_docs/EstimatorSensorBias.md)
- [SatelliteInfo](../msg_docs/SatelliteInfo.md)
- [MavlinkLog](../msg_docs/MavlinkLog.md)
- [VehicleCommandAckV0](../msg_docs/VehicleCommandAckV0.md)
- [VehicleAcceleration](../msg_docs/VehicleAcceleration.md)
- [BatteryStatusV0](../msg_docs/BatteryStatusV0.md)
- [CameraTrigger](../msg_docs/CameraTrigger.md)
- [ActuatorOutputs](../msg_docs/ActuatorOutputs.md)
- [EstimatorAidSource2d](../msg_docs/EstimatorAidSource2d.md)
- [EstimatorFusionControl](../msg_docs/EstimatorFusionControl.md)
- [ActionRequest](../msg_docs/ActionRequest.md)
- [DebugArray](../msg_docs/DebugArray.md)
- [AirspeedValidatedV0](../msg_docs/AirspeedValidatedV0.md)
- [RtlTimeEstimate](../msg_docs/RtlTimeEstimate.md)
- [DebugValue](../msg_docs/DebugValue.md)
- [NavigatorMissionItem](../msg_docs/NavigatorMissionItem.md)
- [ArmingCheckRequestV0](../msg_docs/ArmingCheckRequestV0.md)
- [DistanceSensorModeChangeRequest](../msg_docs/DistanceSensorModeChangeRequest.md)
- [FuelTankStatus](../msg_docs/FuelTankStatus.md)
- [PurePursuitStatus](../msg_docs/PurePursuitStatus.md)
- [EscEepromRead](../msg_docs/EscEepromRead.md)
- [UlogStream](../msg_docs/UlogStream.md)
- [VehicleAngularAccelerationSetpoint](../msg_docs/VehicleAngularAccelerationSetpoint.md)
- [CameraCapture](../msg_docs/CameraCapture.md)
- [NavigatorStatus](../msg_docs/NavigatorStatus.md)
- [RoverRateStatus](../msg_docs/RoverRateStatus.md)
- [DatamanResponse](../msg_docs/DatamanResponse.md)
- [PositionControllerLandingStatus](../msg_docs/PositionControllerLandingStatus.md)
- [WheelEncoders](../msg_docs/WheelEncoders.md)
- [FigureEightStatus](../msg_docs/FigureEightStatus.md)
- [GpioOut](../msg_docs/GpioOut.md)
- [RateCtrlStatus](../msg_docs/RateCtrlStatus.md)
- [SensorHygrometer](../msg_docs/SensorHygrometer.md)
- [RaptorStatus](../msg_docs/RaptorStatus.md)
- [Px4ioStatus](../msg_docs/Px4ioStatus.md)
- [VehicleLocalPositionSetpoint](../msg_docs/VehicleLocalPositionSetpoint.md)
- [RadioStatus](../msg_docs/RadioStatus.md)
- [SensorBaro](../msg_docs/SensorBaro.md)
- [YawEstimatorStatus](../msg_docs/YawEstimatorStatus.md)
- [SensorCorrection](../msg_docs/SensorCorrection.md)
- [Gripper](../msg_docs/Gripper.md)
- [LandingTargetPose](../msg_docs/LandingTargetPose.md)
- [EstimatorStatus](../msg_docs/EstimatorStatus.md)
- [GpioRequest](../msg_docs/GpioRequest.md)
- [QshellRetval](../msg_docs/QshellRetval.md)
- [OrbTestLarge](../msg_docs/OrbTestLarge.md)
- [ActuatorServosTrim](../msg_docs/ActuatorServosTrim.md)
- [VehicleRoi](../msg_docs/VehicleRoi.md)
- [GpioIn](../msg_docs/GpioIn.md)
- [HoverThrustEstimate](../msg_docs/HoverThrustEstimate.md)
- [RoverSpeedStatus](../msg_docs/RoverSpeedStatus.md)
- [LaunchDetectionStatus](../msg_docs/LaunchDetectionStatus.md)
- [ParameterSetValueRequest](../msg_docs/ParameterSetValueRequest.md)
- [OpenDroneIdOperatorId](../msg_docs/OpenDroneIdOperatorId.md)
- [Cpuload](../msg_docs/Cpuload.md)
- [ControlAllocatorStatus](../msg_docs/ControlAllocatorStatus.md)
- [VehicleAirData](../msg_docs/VehicleAirData.md)
- [OpenDroneIdArmStatus](../msg_docs/OpenDroneIdArmStatus.md)
- [LandingTargetInnovations](../msg_docs/LandingTargetInnovations.md)
- [TrajectorySetpoint6dof](../msg_docs/TrajectorySetpoint6dof.md)
- [SensorAccel](../msg_docs/SensorAccel.md)
- [DebugKeyValue](../msg_docs/DebugKeyValue.md)
- [SensorGyro](../msg_docs/SensorGyro.md)
- [ArmingCheckRequestV0](../msg_docs/ArmingCheckRequestV0.md)
- [EstimatorAidSource2d](../msg_docs/EstimatorAidSource2d.md)
- [LoggerStatus](../msg_docs/LoggerStatus.md)
- [SensorsStatusImu](../msg_docs/SensorsStatusImu.md)
- [PwmInput](../msg_docs/PwmInput.md)
- [UlogStream](../msg_docs/UlogStream.md)
- [VehicleStatusV1](../msg_docs/VehicleStatusV1.md)
- [TecsStatus](../msg_docs/TecsStatus.md)
- [GimbalManagerInformation](../msg_docs/GimbalManagerInformation.md)
- [OpenDroneIdOperatorId](../msg_docs/OpenDroneIdOperatorId.md)
- [VehicleAngularAccelerationSetpoint](../msg_docs/VehicleAngularAccelerationSetpoint.md)
- [EstimatorAidSource3d](../msg_docs/EstimatorAidSource3d.md)
- [GimbalManagerSetAttitude](../msg_docs/GimbalManagerSetAttitude.md)
- [InputRc](../msg_docs/InputRc.md)
- [RateCtrlStatus](../msg_docs/RateCtrlStatus.md)
- [MagnetometerBiasEstimate](../msg_docs/MagnetometerBiasEstimate.md)
- [AirspeedValidatedV0](../msg_docs/AirspeedValidatedV0.md)
- [FlightPhaseEstimation](../msg_docs/FlightPhaseEstimation.md)
- [PositionControllerLandingStatus](../msg_docs/PositionControllerLandingStatus.md)
- [ParameterSetValueResponse](../msg_docs/ParameterSetValueResponse.md)
- [MissionResult](../msg_docs/MissionResult.md)
- [OpenDroneIdSystem](../msg_docs/OpenDroneIdSystem.md)
- [PurePursuitStatus](../msg_docs/PurePursuitStatus.md)
- [Px4ioStatus](../msg_docs/Px4ioStatus.md)
- [VehicleCommandAckV0](../msg_docs/VehicleCommandAckV0.md)
- [SystemPower](../msg_docs/SystemPower.md)
- [VelocityLimits](../msg_docs/VelocityLimits.md)
- [AdcReport](../msg_docs/AdcReport.md)
- [GimbalDeviceInformation](../msg_docs/GimbalDeviceInformation.md)
- [GeofenceStatus](../msg_docs/GeofenceStatus.md)
- [ActuatorServosTrim](../msg_docs/ActuatorServosTrim.md)
- [SensorAccelFifo](../msg_docs/SensorAccelFifo.md)
- [SensorBaro](../msg_docs/SensorBaro.md)
- [DebugVect](../msg_docs/DebugVect.md)
- [DatamanRequest](../msg_docs/DatamanRequest.md)
- [GainCompression](../msg_docs/GainCompression.md)
- [VehicleStatusV2](../msg_docs/VehicleStatusV2.md)
- [SensorTemp](../msg_docs/SensorTemp.md)
- [SensorCorrection](../msg_docs/SensorCorrection.md)
- [DeviceInformation](../msg_docs/DeviceInformation.md)
- [OrbTest](../msg_docs/OrbTest.md)
- [ArmingCheckReplyV0](../msg_docs/ArmingCheckReplyV0.md)
- [FailureDetectorStatus](../msg_docs/FailureDetectorStatus.md)
- [DronecanNodeStatus](../msg_docs/DronecanNodeStatus.md)
- [QshellReq](../msg_docs/QshellReq.md)
- [DistanceSensorModeChangeRequest](../msg_docs/DistanceSensorModeChangeRequest.md)
- [UavcanParameterRequest](../msg_docs/UavcanParameterRequest.md)
- [VehicleImuStatus](../msg_docs/VehicleImuStatus.md)
- [MavlinkTunnel](../msg_docs/MavlinkTunnel.md)
- [YawEstimatorStatus](../msg_docs/YawEstimatorStatus.md)
- [Airspeed](../msg_docs/Airspeed.md)
- [LandingTargetInnovations](../msg_docs/LandingTargetInnovations.md)
- [NavigatorStatus](../msg_docs/NavigatorStatus.md)
- [PowerButtonState](../msg_docs/PowerButtonState.md)
- [EscStatus](../msg_docs/EscStatus.md)
- [LedControl](../msg_docs/LedControl.md)
- [GpioOut](../msg_docs/GpioOut.md)
- [GimbalManagerStatus](../msg_docs/GimbalManagerStatus.md)
- [ParameterSetUsedRequest](../msg_docs/ParameterSetUsedRequest.md)
- [SensorUwb](../msg_docs/SensorUwb.md)
- [FollowTargetStatus](../msg_docs/FollowTargetStatus.md)
- [Vtx](../msg_docs/Vtx.md)
- [GpsDump](../msg_docs/GpsDump.md)
- [ButtonEvent](../msg_docs/ButtonEvent.md)
- [Ekf2Timestamps](../msg_docs/Ekf2Timestamps.md)
- [VehicleLocalPositionV0](../msg_docs/VehicleLocalPositionV0.md)
- [ParameterSetValueRequest](../msg_docs/ParameterSetValueRequest.md)
- [EstimatorInnovations](../msg_docs/EstimatorInnovations.md)
- [RadioStatus](../msg_docs/RadioStatus.md)
- [ActuatorArmed](../msg_docs/ActuatorArmed.md)
- [DebugValue](../msg_docs/DebugValue.md)
- [Ping](../msg_docs/Ping.md)
- [HoverThrustEstimate](../msg_docs/HoverThrustEstimate.md)
- [EstimatorEventFlags](../msg_docs/EstimatorEventFlags.md)
- [SensorAirflow](../msg_docs/SensorAirflow.md)
- [TakeoffStatus](../msg_docs/TakeoffStatus.md)
- [AirspeedWind](../msg_docs/AirspeedWind.md)
- [EscEepromWrite](../msg_docs/EscEepromWrite.md)
- [CameraTrigger](../msg_docs/CameraTrigger.md)
- [Mission](../msg_docs/Mission.md)
- [FigureEightStatus](../msg_docs/FigureEightStatus.md)
- [ActuatorControlsStatus](../msg_docs/ActuatorControlsStatus.md)
- [EstimatorStatus](../msg_docs/EstimatorStatus.md)
- [RoverSpeedStatus](../msg_docs/RoverSpeedStatus.md)
- [CameraCapture](../msg_docs/CameraCapture.md)
- [AdcReport](../msg_docs/AdcReport.md)
- [EstimatorSensorBias](../msg_docs/EstimatorSensorBias.md)
- [GpioRequest](../msg_docs/GpioRequest.md)
- [UavcanParameterValue](../msg_docs/UavcanParameterValue.md)
- [RcParameterMap](../msg_docs/RcParameterMap.md)
- [RtlTimeEstimate](../msg_docs/RtlTimeEstimate.md)
- [CellularStatus](../msg_docs/CellularStatus.md)
- [OpenDroneIdSelfId](../msg_docs/OpenDroneIdSelfId.md)
- [EscEepromRead](../msg_docs/EscEepromRead.md)
- [ParameterResetRequest](../msg_docs/ParameterResetRequest.md)
- [CanInterfaceStatus](../msg_docs/CanInterfaceStatus.md)
- [DifferentialPressure](../msg_docs/DifferentialPressure.md)
- [FollowTargetEstimator](../msg_docs/FollowTargetEstimator.md)
- [TuneControl](../msg_docs/TuneControl.md)
- [VehicleAngularVelocity](../msg_docs/VehicleAngularVelocity.md)
- [Gripper](../msg_docs/Gripper.md)
- [EstimatorBias3d](../msg_docs/EstimatorBias3d.md)
- [ActionRequest](../msg_docs/ActionRequest.md)
- [TiltrotorExtraControls](../msg_docs/TiltrotorExtraControls.md)
- [WheelEncoders](../msg_docs/WheelEncoders.md)
- [ParameterUpdate](../msg_docs/ParameterUpdate.md)
- [GimbalDeviceInformation](../msg_docs/GimbalDeviceInformation.md)
- [IridiumsbdStatus](../msg_docs/IridiumsbdStatus.md)
- [PpsCapture](../msg_docs/PpsCapture.md)
- [ControlAllocatorStatus](../msg_docs/ControlAllocatorStatus.md)
- [EscReport](../msg_docs/EscReport.md)
- [SatelliteInfo](../msg_docs/SatelliteInfo.md)
- [ManualControlSwitches](../msg_docs/ManualControlSwitches.md)
- [ConfigOverridesV0](../msg_docs/ConfigOverridesV0.md)
- [RegisterExtComponentRequestV1](../msg_docs/RegisterExtComponentRequestV1.md)
- [VehicleStatusV3](../msg_docs/VehicleStatusV3.md)
- [SensorMag](../msg_docs/SensorMag.md)
- [NormalizedUnsignedSetpoint](../msg_docs/NormalizedUnsignedSetpoint.md)
- [EstimatorGpsStatus](../msg_docs/EstimatorGpsStatus.md)
- [RoverRateStatus](../msg_docs/RoverRateStatus.md)
- [SensorSelection](../msg_docs/SensorSelection.md)
- [MountOrientation](../msg_docs/MountOrientation.md)
- [UlogStreamAck](../msg_docs/UlogStreamAck.md)
- [EstimatorFusionControl](../msg_docs/EstimatorFusionControl.md)
- [VehicleLocalPositionSetpoint](../msg_docs/VehicleLocalPositionSetpoint.md)
- [GeofenceResult](../msg_docs/GeofenceResult.md)
- [LaunchDetectionStatus](../msg_docs/LaunchDetectionStatus.md)
- [PowerMonitor](../msg_docs/PowerMonitor.md)
- [OrbTestLarge](../msg_docs/OrbTestLarge.md)
- [InternalCombustionEngineControl](../msg_docs/InternalCombustionEngineControl.md)
- [NavigatorMissionItem](../msg_docs/NavigatorMissionItem.md)
- [HealthReport](../msg_docs/HealthReport.md)
- [CameraStatus](../msg_docs/CameraStatus.md)
- [SensorGnssStatus](../msg_docs/SensorGnssStatus.md)
- [EstimatorSelectorStatus](../msg_docs/EstimatorSelectorStatus.md)
- [SensorGyroFifo](../msg_docs/SensorGyroFifo.md)
- [InternalCombustionEngineStatus](../msg_docs/InternalCombustionEngineStatus.md)
- [IrlockReport](../msg_docs/IrlockReport.md)
- [VehicleAcceleration](../msg_docs/VehicleAcceleration.md)
- [LandingGearWheel](../msg_docs/LandingGearWheel.md)
- [TaskStackInfo](../msg_docs/TaskStackInfo.md)
- [RegisterExtComponentRequestV0](../msg_docs/RegisterExtComponentRequestV0.md)
- [NeuralControl](../msg_docs/NeuralControl.md)
- [VehicleImu](../msg_docs/VehicleImu.md)
- [RaptorStatus](../msg_docs/RaptorStatus.md)
- [OrbTestMedium](../msg_docs/OrbTestMedium.md)
- [FixedWingLateralStatus](../msg_docs/FixedWingLateralStatus.md)
- [Rpm](../msg_docs/Rpm.md)
- [BatteryStatusV0](../msg_docs/BatteryStatusV0.md)
- [PositionControllerStatus](../msg_docs/PositionControllerStatus.md)
- [SensorHygrometer](../msg_docs/SensorHygrometer.md)
- [VehicleMagnetometer](../msg_docs/VehicleMagnetometer.md)
- [LandingTargetPose](../msg_docs/LandingTargetPose.md)
- [GpioConfig](../msg_docs/GpioConfig.md)
- [VehicleOpticalFlow](../msg_docs/VehicleOpticalFlow.md)
- [EstimatorBias](../msg_docs/EstimatorBias.md)
- [VehicleConstraints](../msg_docs/VehicleConstraints.md)
- [GimbalDeviceSetAttitude](../msg_docs/GimbalDeviceSetAttitude.md)
- [SensorsStatus](../msg_docs/SensorsStatus.md)
- [SensorGnssRelative](../msg_docs/SensorGnssRelative.md)
- [EstimatorStates](../msg_docs/EstimatorStates.md)
- [ActuatorTest](../msg_docs/ActuatorTest.md)
- [FixedWingRunwayControl](../msg_docs/FixedWingRunwayControl.md)
- [VehicleAttitudeSetpointV0](../msg_docs/VehicleAttitudeSetpointV0.md)
- [GpioIn](../msg_docs/GpioIn.md)
- [SensorPreflightMag](../msg_docs/SensorPreflightMag.md)
- [GimbalManagerSetManualControl](../msg_docs/GimbalManagerSetManualControl.md)
- [VehicleRoi](../msg_docs/VehicleRoi.md)
- [MagWorkerData](../msg_docs/MagWorkerData.md)
- [AutotuneAttitudeControlStatus](../msg_docs/AutotuneAttitudeControlStatus.md)
- [FollowTarget](../msg_docs/FollowTarget.md)
- [ActuatorOutputs](../msg_docs/ActuatorOutputs.md)
- [HomePositionV0](../msg_docs/HomePositionV0.md)
- [EstimatorAidSource1d](../msg_docs/EstimatorAidSource1d.md)
- [DebugArray](../msg_docs/DebugArray.md)
- [RoverAttitudeStatus](../msg_docs/RoverAttitudeStatus.md)
- [BatteryInfo](../msg_docs/BatteryInfo.md)
- [RcChannels](../msg_docs/RcChannels.md)
- [LogMessage](../msg_docs/LogMessage.md)
- [VehicleStatusV0](../msg_docs/VehicleStatusV0.md)
- [PositionSetpoint](../msg_docs/PositionSetpoint.md)
- [GimbalControls](../msg_docs/GimbalControls.md)
- [FixedWingLateralGuidanceStatus](../msg_docs/FixedWingLateralGuidanceStatus.md)
- [RtlStatus](../msg_docs/RtlStatus.md)
- [VehicleGlobalPositionV0](../msg_docs/VehicleGlobalPositionV0.md)
- [Cpuload](../msg_docs/Cpuload.md)
- [GpsInjectData](../msg_docs/GpsInjectData.md)
- [GeneratorStatus](../msg_docs/GeneratorStatus.md)
- [FuelTankStatus](../msg_docs/FuelTankStatus.md)
- [SensorGyroFft](../msg_docs/SensorGyroFft.md)
- [OrbitStatus](../msg_docs/OrbitStatus.md)
- [DatamanResponse](../msg_docs/DatamanResponse.md)
- [EventV0](../msg_docs/EventV0.md)
- [RegisterExtComponentReplyV0](../msg_docs/RegisterExtComponentReplyV0.md)
- [RangingBeacon](../msg_docs/RangingBeacon.md)
- [Event](../msg_docs/Event.md)
- [VehicleOpticalFlowVel](../msg_docs/VehicleOpticalFlowVel.md)
- [QshellRetval](../msg_docs/QshellRetval.md)
- [RaptorInput](../msg_docs/RaptorInput.md)
:::
docs/ko/middleware/zenoh.md
+40 -1
View File
@@ -60,7 +60,7 @@ For more information about key expressions, refer to the [rmw_zenoh design docum
Before setting up the Zenoh communication, first make sure that your firmware contains the driver that implements the [`zenoh` driver](../modules/modules_driver.md#zenoh), which provides the implementation of the _PX4 Zenoh-Pico Node_.
You can check if the module is present on your board by searching for the key `CONFIG_MODULES_ZENOH=y` in your board's `default.px4board` KConfig file.
You can check if the module is present on your board by searching for the key `CONFIG_MODULES_ZENOH=y` in your board's `default.px4board` [KConfig file](../hardware/porting_guide_config.md).
For example, you can see that the module is present in `px4_fmu-v6xrt` build targets from [/boards/px4/fmu-v6xrt/default.px4board](https://github.com/PX4/PX4-Autopilot/blob/main/boards/px4/fmu-v6xrt/default.px4board#L91).
If `CONFIG_MODULES_ZENOH=y` is not preset you can add this key to your board configuration and rebuild.
@@ -90,6 +90,11 @@ inclusion of the message type hash (RIHS01, as defined in REP-2016) in the Zenoh
Note that this will break compatibility with ROS 2 Jazzy and later.
:::
:::tip
Per-publisher option overrides can be enabled or disabled at compile time using the `CONFIG_ZENOH_PUB_OPTION_OVERRIDE` KConfig key.
When this is disabled, PX4 uses only global publisher option parameters, and per-publisher CLI/config overrides are not available.
:::
### Enable Zenoh on PX4 Startup
Set the [ZENOH_ENABLE](../advanced_config/parameter_reference.md#ZENOH_ENABLE) parameter to `1` to enable Zenoh on PX4 startup.
@@ -133,6 +138,21 @@ This folder contains three key files:
- **`pub.csv`** – Maps **uORB topics to ROS2 topics** (used for publishing).
- **`sub.csv`** – Maps **ROS2 topics to uORB topics** (used for subscribing).
#### Publisher Options
Zenoh publisher behaviour can be controlled through global PX4 parameters:
- [ZENOH_PUB_CC](../advanced_config/parameter_reference.md#ZENOH_PUB_CC): congestion control (`Drop` or `Block`) - controls what happens when the transport path is congested. `Drop` prefers freshness/latency and may drop messages, while `Block` preserves delivery by applying backpressure to the publisher.
- [ZENOH_PUB_REL](../advanced_config/parameter_reference.md#ZENOH_PUB_REL): reliability (`Reliable` or `BestEffort`) - selects the Zenoh reliability mode used by the router path and seen by the underlying ROS 2 `rmw_zenoh` transport.
- [ZENOH_PUB_EXPR](../advanced_config/parameter_reference.md#ZENOH_PUB_EXPR): express mode (`Disabled` or `Enabled`) - when enabled, Zenoh does not wait to batch this operation with others. This usually reduces latency at the cost of higher bandwidth/overhead.
- [ZENOH_PUB_PRIO](../advanced_config/parameter_reference.md#ZENOH_PUB_PRIO): priority (`RealTime`, `InteractiveHigh`, `InteractiveLow`, `DataHigh`, `Data`, `DataLow`, `Background`) - sets relative message priority for routing/scheduling under load.
These are applied to all Zenoh publishers.
If `CONFIG_ZENOH_PUB_OPTION_OVERRIDE=y`, individual publishers can override one or more global publisher options.
Default configuration [dds_topics.yaml](../middleware/dds_topics.md) already provides overrides for several publishers.
Individual publisher options can be overriden through the mapping configuration shown in the next section
### 4. Modifying Topic Mappings
Zenoh topic mappings define how data flows between PX4's internal uORB topics and external ROS2 topics via Zenoh.
@@ -155,6 +175,25 @@ The main operations and their commands are:
zenoh config add publisher <zenoh_topic> <uorb_topic> [uorb_instance]
```
When `CONFIG_ZENOH_PUB_OPTION_OVERRIDE=y`, publisher options can also be passed:
```sh
zenoh config add publisher <zenoh_topic> <uorb_topic> [uorb_instance] [options]
```
Options are comma-separated `key=value` pairs:
- `cc=drop|block` (congestion control)
- `express=true|false` (batching behaviour)
- `prio=real_time|interactive_high|interactive_low|data_high|data|data_low|background` (priority)
- `rel=reliable|best_effort` (reliability)
Example:
```sh
zenoh config add publisher /fmu/out/vehicle_status vehicle_status 0 "cc=block,express=true,rel=best_effort"
```
- Subscribe to a Zenoh topic and forward it to a uORB topic:
```sh
docs/ko/modules/modules_command.md
+3
View File
@@ -453,6 +453,7 @@ param <command> [arguments...]
show Show parameter values
[-a] Show all parameters (not just used)
[-c] Show only changed params (unused too)
[-l] Show only locked (read-only) params
[-q] quiet mode, print only param value (name needs to be exact)
[<filter>] Filter by param name (wildcard at end allowed, eg. sys_*)
@@ -497,6 +498,8 @@ param <command> [arguments...]
find Show index of a param
<param> param name
lock Lock read-only params (reject future set/reset)
```
## payload_deliverer
docs/ko/modules/modules_driver.md
+2 -4
View File
@@ -1064,7 +1064,7 @@ px4io <command> [arguments...]
## rgbled
Source: [drivers/lights/rgbled_ncp5623c](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/lights/rgbled_ncp5623c)
Source: [drivers/lights/rgbled](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/lights/rgbled)
### Usage {#rgbled_usage}
@@ -1079,9 +1079,7 @@ rgbled <command> [arguments...]
[-f <val>] bus frequency in kHz
[-q] quiet startup (no message if no device found)
[-a <val>] I2C address
default: 57
[-o <val>] RGB PWM Assignment
default: 123
default: 85
stop
docs/ko/modules/modules_driver_adc.md
+24
View File
@@ -1,5 +1,29 @@
# Modules Reference: Adc (Driver)
## ADS7128
Source: [drivers/adc/ads7128](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/adc/ads7128)
### Usage {#ADS7128_usage}
```
ADS7128 <command> [arguments...]
Commands:
start
[-I] Internal I2C bus(es)
[-X] External I2C bus(es)
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
(default=1))
[-f <val>] bus frequency in kHz
[-q] quiet startup (no message if no device found)
[-a <val>] I2C address
default: 16
stop
status print status info
```
## TLA2528
Source: [drivers/adc/tla2528](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/adc/tla2528)
docs/ko/msg_docs/BatteryStatus.md
+4 -4
View File
@@ -44,9 +44,9 @@ Battery instance information is also logged and streamed in MAVLink telemetry.
| warning | `uint8` | | [WARNING](#WARNING)[STATE](#STATE) | Current battery warning |
| faults | `uint16` | | [FAULT](#FAULT) | Smart battery supply status/fault flags (bitmask) for health indication |
| full_charge_capacity_wh | `float32` | Wh | | Compensated battery capacity |
| remaining_capacity_wh | `float32` | Wh | | Compensated battery capacity remaining |
| remaining_capacity_wh | `float32` | Wh | | Compensated battery capacity remaining (Invalid: NaN) |
| over_discharge_count | `uint16` | | | Number of battery overdischarge |
| nominal_voltage | `float32` | V | | Nominal voltage of the battery pack |
| nominal_voltage | `float32` | V | | Nominal voltage of the battery pack (Invalid: NaN) |
| internal_resistance_estimate | `float32` | Ohm | | Internal resistance per cell estimate |
| ocv_estimate | `float32` | V | | Open circuit voltage estimate |
| ocv_estimate_filtered | `float32` | V | | Filtered open circuit voltage estimate |
@@ -181,9 +181,9 @@ uint8 FAULT_FAILED_TO_ARM = 10 # Battery had a problem while arming
uint8 FAULT_COUNT = 11 # Counter. Keep this as last element
float32 full_charge_capacity_wh # [Wh] Compensated battery capacity
float32 remaining_capacity_wh # [Wh] Compensated battery capacity remaining
float32 remaining_capacity_wh # [Wh] [@invalid NaN] Compensated battery capacity remaining
uint16 over_discharge_count # [-] Number of battery overdischarge
float32 nominal_voltage # [V] Nominal voltage of the battery pack
float32 nominal_voltage # [V] [@invalid NaN] Nominal voltage of the battery pack
float32 internal_resistance_estimate # [Ohm] Internal resistance per cell estimate
float32 ocv_estimate # [V] Open circuit voltage estimate
docs/ko/msg_docs/GimbalDeviceSetAttitude.md
+11 -7
View File
@@ -21,13 +21,15 @@ pageClass: is-wide-page
## Constants
| 명칭 | 형식 | Value | 설명 |
| --------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | ----- | -- |
| <a id="#GIMBAL_DEVICE_FLAGS_RETRACT"></a> GIMBAL_DEVICE_FLAGS_RETRACT | `uint32` | 1 | |
| <a id="#GIMBAL_DEVICE_FLAGS_NEUTRAL"></a> GIMBAL_DEVICE_FLAGS_NEUTRAL | `uint32` | 2 | |
| <a id="#GIMBAL_DEVICE_FLAGS_ROLL_LOCK"></a> GIMBAL_DEVICE_FLAGS_ROLL_LOCK | `uint32` | 4 | |
| <a id="#GIMBAL_DEVICE_FLAGS_PITCH_LOCK"></a> GIMBAL_DEVICE_FLAGS_PITCH_LOCK | `uint32` | 8 | |
| <a id="#GIMBAL_DEVICE_FLAGS_YAW_LOCK"></a> GIMBAL_DEVICE_FLAGS_YAW_LOCK | `uint32` | 16 | |
| 명칭 | 형식 | Value | 설명 |
| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | ----- | -- |
| <a id="#GIMBAL_DEVICE_FLAGS_RETRACT"></a> GIMBAL_DEVICE_FLAGS_RETRACT | `uint32` | 1 | |
| <a id="#GIMBAL_DEVICE_FLAGS_NEUTRAL"></a> GIMBAL_DEVICE_FLAGS_NEUTRAL | `uint32` | 2 | |
| <a id="#GIMBAL_DEVICE_FLAGS_ROLL_LOCK"></a> GIMBAL_DEVICE_FLAGS_ROLL_LOCK | `uint32` | 4 | |
| <a id="#GIMBAL_DEVICE_FLAGS_PITCH_LOCK"></a> GIMBAL_DEVICE_FLAGS_PITCH_LOCK | `uint32` | 8 | |
| <a id="#GIMBAL_DEVICE_FLAGS_YAW_LOCK"></a> GIMBAL_DEVICE_FLAGS_YAW_LOCK | `uint32` | 16 | |
| <a id="#GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME"></a> GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME | `uint32` | 32 | |
| <a id="#GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME"></a> GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME | `uint32` | 64 | |
## Source Message
@@ -48,6 +50,8 @@ uint32 GIMBAL_DEVICE_FLAGS_NEUTRAL = 2
uint32 GIMBAL_DEVICE_FLAGS_ROLL_LOCK = 4
uint32 GIMBAL_DEVICE_FLAGS_PITCH_LOCK = 8
uint32 GIMBAL_DEVICE_FLAGS_YAW_LOCK = 16
uint32 GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME = 32
uint32 GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME = 64
float32[4] q
docs/ko/peripherals/adsb_flarm.md
+18 -10
View File
@@ -18,7 +18,7 @@ It has been tested with the following devices:
Any of the devices can be connected to any free/unused serial port on the flight controller.
Most commonly they are connected to `TELEM2` (if this is not being use for some other purpose).
### PingRX
### PingRX Pro
The PingRX MAVLink port uses a JST ZHR-4 mating connector with pinout as shown below.
@@ -29,9 +29,17 @@ The PingRX MAVLink port uses a JST ZHR-4 mating connector with pinout as shown b
| 3 (흑) | 전원 | +4 to 6V |
| 4 (흑) | GND | GND |
The PingRX comes with connector cable that can be attached directly to the TELEM2 port (DF13-6P) on an [mRo Pixhawk](../flight_controller/mro_pixhawk.md).
The PingRX comes with connector cable that can be attached directly to the `TELEM2` port (DF13-6P) on an [mRo Pixhawk](../flight_controller/mro_pixhawk.md).
For other ports or boards, you will need to obtain your own cable.
The recommended port configuration for this receiver is:
| 매개변수 | Recommended Value |
| ------------------------------------------------------------------------------------------------------------------------------------------- | ----------------- |
| [MAV_X_CONFIG](../advanced_config/parameter_reference.md#MAV_1_CONFIG) | `TELEM 2` |
| [MAV_X_MODE](../advanced_config/parameter_reference.md#MAV_1_MODE) | uAvionix |
| [MAV_X_RADIO_CTL](../advanced_config/parameter_reference.md#MAV_1_RADIO_CTL) | Disabled |
## FLARM
FLARM has an on-board DF-13 6 Pin connector that has an identical pinout to the [mRo Pixhawk](../flight_controller/mro_pixhawk.md).
@@ -49,19 +57,19 @@ FLARM has an on-board DF-13 6 Pin connector that has an identical pinout to the
The TX and RX on the flight controller must be connected to the RX and TX on the FLARM, respectively.
:::
## 소프트웨어 설정
## PX4 설정
### Port Configuration
The receivers are configured in the same way as any other [MAVLink Peripheral](../peripherals/mavlink_peripherals.md).
The only _specific_ setup is that the port baud rate must be set to 57600 and the a low-bandwidth profile (`MAV_X_MODE`).
The recommended configuration for most devices (unless they have device-specific configuration like PingRX) is to connect to `TELEM 2` and [set the parameters](../advanced_config/parameters.md) as shown:
Assuming you have connected the device to the TELEM2 port, [set the parameters](../advanced_config/parameters.md) as shown:
- [MAV_1_CONFIG](../advanced_config/parameter_reference.md#MAV_1_CONFIG) = TELEM 2
- [MAV_1_MODE](../advanced_config/parameter_reference.md#MAV_1_MODE) = Normal
- [MAV_1_RATE](../advanced_config/parameter_reference.md#MAV_1_RATE) = 0 (default sending rate for port).
- [MAV_1_FORWARD](../advanced_config/parameter_reference.md#MAV_1_FORWARD) = Enabled
| 매개변수 | Recommended Value |
| ------------------------------------------------------------------------------------------------------------------ | ---------------------------------------------------- |
| [MAV_X_CONFIG](../advanced_config/parameter_reference.md#MAV_1_CONFIG) | `TELEM 2` |
| [MAV_X_MODE](../advanced_config/parameter_reference.md#MAV_1_MODE) | Normal |
| [MAV_X_RATE](../advanced_config/parameter_reference.md#MAV_1_RATE) | 0 (default sending rate for port) |
| [MAV_X_FORWARD](../advanced_config/parameter_reference.md#MAV_1_FORWARD) | Enabled |
Then reboot the vehicle.
docs/ko/ros/raspberrypi_installation.md
+7 -11
View File
@@ -18,25 +18,21 @@ If you want to download packages (e.g. `sudo apt-get install ros-indigo-ros-tuto
그런 오류가 발생하면, catkin 작업 공간(예: ~/ros_catkin_ws)으로 이동하여 패키지 이름을 변경합니다.
```sh
$ cd ~/ros_catkin_ws
$ rosinstall_generator ros_tutorials --rosdistro indigo --deps --wet-only --exclude roslisp --tar > indigo-custom_ros.rosinstall
cd ~/ros_catkin_ws
rosinstall_generator ros_tutorials --rosdistro indigo --deps --wet-only --exclude roslisp --tar > indigo-custom_ros.rosinstall
```
다음으로 wstool로 작업 공간을 업데이트 합니다.
```sh
$ wstool merge -t src indigo-custom_ros.rosinstall
$ wstool update -t src
wstool merge -t src indigo-custom_ros.rosinstall
wstool update -t src
```
다음으로(여전히 작업 공간 폴더에 있음) 파일을 소싱하고 빌드합니다.
```sh
$ source /opt/ros/indigo/setup.bash
$ source devel/setup.bash
$ catkin_make
source /opt/ros/indigo/setup.bash
source devel/setup.bash
catkin_make
```
docs/ko/ros2/user_guide.md
+1 -1
View File
@@ -137,7 +137,7 @@ To install ROS 2 and its dependencies:
2. Some Python dependencies must also be installed (using **`pip`** or **`apt`**):
```sh
pip install --user -U empty==3.3.4 pyros-genmsg setuptools
pip install --user -U empy==3.3.4 pyros-genmsg setuptools
```
### Setup Micro XRCE-DDS Agent & Client
docs/ko/sensor/index.md
+1 -1
View File
@@ -41,7 +41,7 @@ Optional:
Enables a more accurate position lock than GPS alone, and can be used indoors when no GPS signal is available.
- [Tachometers (Revolution Counters)](../sensor/tachometers.md) — Only used for logging.
Other optional:
Primarily for OEMs/Manufacturers:
- [IMU/Compass Factory Calibration](../advanced_config/imu_factory_calibration.md) — Save calibration settings to persistent storage.
- [Sensor Thermal Compensation](../advanced_config/sensor_thermal_calibration.md) — Compensate sensors for temperature variations.
docs/ko/sim_gazebo_gz/vehicles.md
+5
View File
@@ -114,6 +114,11 @@ This model has a [gimbal](../advanced/gimbal_control.md) attached to the front w
The gimbal joints uses position control with a kinematic chain ZXY.
According to the file [Gimbal model.sdf file](https://github.com/PX4/PX4-gazebo-models/blob/main/models/gimbal/model.sdf):
- the default horizontal field of view is 2.0 rad ~= 115°
- the default vertical field of view is 0.8848 rad ~= 50.7°
![Quadrotor(x500) with gimbal (Front-facing) in Gazebo](../../assets/simulation/gazebo/vehicles/x500_gimbal.png).
```sh