Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-05-27 18:27:05 +08:00
Code Issues Actions 30 Packages Projects Releases Wiki Activity

New Crowdin translations - ko (#26551)

Browse Source 
Co-authored-by: Crowdin Bot <support+bot@crowdin.com>
This commit is contained in:
PX4 Build Bot
2026-03-05 14:01:52 +11:00
committed by GitHub
parent 30b6938f5e
commit 94c3765712
471 changed files with 4052 additions and 5663 deletions
Download Patch File Download Diff File Expand all files Collapse all files
docs/ko/config/_autotune.md
+2 -2
View File
@@ -126,7 +126,7 @@ Additional notes:
<div v-if="$frontmatter.frame === 'Multicopter'">
- The instructions above tune the vehicle in [Altitude mode](../flight_modes_mc/altitude.md).
You can instead takeoff in [Takeoff mode](../flight_modes_mc/takeoff.md) and tune in [Position mode](../flight_modes_mc/position.md) if the vehicle is is _known_ to be stable in these modes.
You can instead takeoff in [Takeoff mode](../flight_modes_mc/takeoff.md) and tune in [Position mode](../flight_modes_mc/position.md) if the vehicle is _known_ to be stable in these modes.
</div>
<div v-else-if="$frontmatter.frame === 'Plane'">
@@ -243,7 +243,7 @@ To map a switch:
2. Set [RC_MAP_AUX1](../advanced_config/parameter_reference.md#RC_MAP_AUX1) to match the RC channel for your switch (you can use any of `RC_MAP_AUX1` to `RC_MAP_AUX6`).
3. Set [FW_AT_MAN_AUX](../advanced_config/parameter_reference.md#FW_AT_MAN_AUX) to the selected channel (i.e. `1: Aux 1` if you mapped `RC_MAP_AUX1`).
The auto tuner will be disabled when the switch is below `0.5` (on the manual control setpoint range of of `[-1, 1]`) and enabled when the switch channel is above `0.5`.
The auto tuner will be disabled when the switch is below `0.5` (on the manual control setpoint range of `[-1, 1]`) and enabled when the switch channel is above `0.5`.
If using an RC AUX switch to enable autotuning, make sure to [select the tuning axes](#select-tuning-axis) before flight.
docs/ko/config/joystick.md
+2 -3
View File
@@ -23,8 +23,7 @@ Information about how to set up a joystick is covered in: [QGroundControl > Joys
요약
- Open _QGroundControl_
- Set the parameter [COM_RC_IN_MODE=1](../advanced_config/parameter_reference.md#COM_RC_IN_MODE) - `Joystick`
- See [Parameters](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/setup_view/parameters.html) for information about setting parameters
- Setting the parameter to `2` or `3` also enables Joystick under some circumstances.
- [Enable a `COM_RC_IN_MODE` mode that allows Joystick](../config/manual_control.md#px4-configuration).
The default `RC or MAVLink keep first` should work if you plan to only have a Joystick connected.
- 조이스틱을 연결합니다.
- Configure the connected joystick in: **Vehicle Setup > Joystick**.
docs/ko/config/manual_control.md
+58
View File
@@ -0,0 +1,58 @@
# Manual Control
Pilots can control a vehicle manually using either a [Radio Control (RC) System](../getting_started/rc_transmitter_receiver.md) or a [Joystick/Gamepad](../config/joystick.md) controller connected via QGroundControl.
PX4 also supports using RC and/or multiple Joysticks, with fallback from one type to the other.
![Taranis X9D Transmitter](../../assets/hardware/transmitters/frsky_taranis_x9d_transmitter.jpg) <img src="../../assets/peripherals/joystick/micronav.jpg" alt="Photo of MicroNav, a ground controller with integrated joysticks" width="400px">
## 개요
_Joystick_ setups use QGroundControl to encode the control information from a "standard" computer gaming joystick into [MAVLink messages](https://mavlink.io/en/services/manual_control.html) that are sent to the vehicle over the (shared) telemetry radio channel.
They are often used in integrated GCS/manual control systems because it is cheaper and easier to integrate a joystick than a separate radio system.
Joysticks are suitable for most applications provided your telemetry channel has a high enough bandwidth/low latency.
They are perfect for flying the PX4 simulator, because you can plug them directly into your ground control computer and start flying.
_RC systems_ use a dedicated ground-based radio transmitter and vehicle-based receiver for sending control information.
They offer lower latency than Joysticks, and are very highly recommended when first tuning/testing a new frame design, when flying racers/acrobatically, and in other cases where low latency is important.
They can also be useful as a robust backup link for safety.
Note RC systems usually require significantly more configuration and calibration, much of which may be brand or model-specific.
:::info
PX4 does not _require_ a manual control system for autonomous flight modes.
:::
## PX4 설정
:::tip
This section explains how to configure PX4 to use and prioritise various manual control sources (other configuration is covered in the guides for each type of manual control).
:::
If you only have one manual control system, either RC or Joystick, then by default no manual control selection is required.
In this case PX4 locks to the first valid manual control source it detects and uses that source until the vehicle is rebooted.
If you have multiple control sources, such as an RC system and/or one or more Joysticks, then you can use the [COM_RC_IN_MODE](../advanced_config/parameter_reference.md#COM_RC_IN_MODE) parameter to determine which source is active, specifying selection priorities and fallback behavior ([parameters can be set](../advanced_config/parameters.md#finding-a-parameter) using QGC):
- `0`: RC only.
- `1`: MAVLink only.
- `2`: RC or MAVLink with fallback (switches if current source becomes invalid).
- `3`: RC or MAVLink keep first (locks to the first valid source until reboot).
- `4`: Disable manual control (ignores all sources).
- `5`: RC priority, then MAVLink (lower instance before higher) — `RC > MAVLink 1 > MAVLink 2`
- `6`: MAVLink priority (lower instance before higher), then RC — `MAVLink 1 > MAVLink 2 > RC`
- `7`: RC priority, then MAVLink (higher instance before lower) — `RC > MAVLink 2 > MAVLink 1`
- `8`: MAVLink priority (higher instance before lower), then RC — `MAVLink 2 > MAVLink 1 > RC`
The [MAVLink instance](../peripherals/mavlink_peripherals.md#mavlink-instances) refers to an instance assigned to a serial port, such as [MAV_0_CONFIG](../advanced_config/parameter_reference.md#MAV_0_CONFIG).
참고:
- RC checks are run for any option that uses RC (so not for `MAVLink only` or `Disable manual control`).
- When using priority sources, sources are evaluated as soon as they become valid and may trigger an immediate switch (if higher priority than the currently active source).
- A [Manual Control Loss Failsafe](../config/safety.md#manual-control-loss-failsafe) is triggered when none of the manual control inputs allowed by the `COM_RC_IN_MODE` mode are available for a time that is greater than the RC Loss Timeout.
As long as there is a fallback input source available, the failsafe is not triggered.
## See Also
- [Radio Control (RC)](../getting_started/rc_transmitter_receiver.md)
- [Joysticks](../config/joystick.md)
docs/ko/config/radio.md
+5 -3
View File
@@ -1,10 +1,12 @@
# Radio Control (RC) Setup
The _Radio Setup_ screen is used to configure the mapping of your RC controller's main attitude control sticks (roll, pitch, yaw, throttle) to channels, and to calibrate the minimum, maximum, trim and reverse settings for all other transmitter controls/RC channels.
The _Radio Setup_ screen is used to configure the mapping of your [RC controller's](../getting_started/rc_transmitter_receiver.md) main attitude control sticks (roll, pitch, yaw, throttle) to channels, and to calibrate the minimum, maximum, trim and reverse settings for all other transmitter controls/RC channels.
:::info
A [Joystick](../config/joystick.md) can be used instead of RC for manual control.
The [COM_RC_IN_MODE](../advanced_config/parameter_reference.md#COM_RC_IN_MODE) parameter [can be set](../advanced_config/parameters.md) to define what kind of manual controller(s) are enabled.
A [Joystick](../config/joystick.md) can also be used for [Manual Control](../config/manual_control.md).
By default PX4 will latch the first valid controller it discovers and use it until the vehicle reboots.
If you have multiple controllers and you want to define their priority see [Manual Control > PX4 Configuration](../config/manual_control.md#px4-configuration).
:::
## 수신기 바인딩
docs/ko/config/safety.md
+34 -21
View File
@@ -111,19 +111,17 @@ There are several other "battery related" failsafe mechanisms that may be config
## Manual Control Loss Failsafe
The manual control loss failsafe may be triggered if the connection to the [RC transmitter](../getting_started/rc_transmitter_receiver.md) or [joystick](../config/joystick.md) is lost, and there is no fallback.
If using an [RC transmitter](../getting_started/rc_transmitter_receiver.md) this is triggered if the RC [transmitter link is lost](../getting_started/rc_transmitter_receiver.md#set-signal-loss-behaviour).
If using [joysticks](../config/joystick.md) connected over a MAVLink data link, this is triggered if the joysticks are disconnected or the data link is lost.
:::info
PX4 and the receiver may also need to be configured in order to _detect RC loss_: [Radio Setup > RC Loss Detection](../config/radio.md#rc-loss-detection).
:::
A [Manual Control Loss Failsafe](../config/safety.md#manual-control-loss-failsafe) is triggered after a [manual control loss timeout](#COM_RC_LOSS_T) in which none of the configured [Manual Controllers](../config/manual_control.md) are available.
![Safety - RC Loss (QGC)](../../assets/qgc/setup/safety/safety_rc_loss.png)
The QGCroundControl Safety UI allows you to set the [failsafe action](#failsafe-actions) and [manual control loss timeout](#COM_RC_LOSS_T).
Users that want to disable this failsafe in specific modes can do so using the parameter [COM_RCL_EXCEPT](#COM_RCL_EXCEPT).
:::info
PX4 and the receiver may also need to be configured in order to _detect RC loss_: [Radio Setup > RC Loss Detection](../config/radio.md#rc-loss-detection).
:::
Additional (and underlying) parameter settings are shown below.
| 매개변수 | 설정 | 설명 |
@@ -181,17 +179,22 @@ Due to the inherent danger of this, this function is disabled using [CBRK_FLIGHT
| <a id="GF_PREDICT"></a>Preemptive geofence triggering | [GF_PREDICT](../advanced_config/parameter_reference.md#GF_PREDICT) | (Experimental) Trigger geofence if current motion of the vehicle is predicted to trigger the breach (rather than late triggering after the breach). |
| <a id="CBRK_FLIGHTTERM"></a>Circuit breaker for flight termination | [CBRK_FLIGHTTERM](../advanced_config/parameter_reference.md#CBRK_FLIGHTTERM) | 비행 종료 작업을 활성화/비활성화합니다 (기본적으로 비활성화 됨). |
## Position (GNSS) Loss Failsafe
## Position Estimation Failsafes
This section describes failsafes related to the quality of the vehicle's position estimate.
### Position Loss Failsafe
The _Position Loss Failsafe_ is triggered if the quality of the PX4 position estimate falls below acceptable levels (this might be caused by GPS loss) while in a mode that requires an acceptable position estimate.
The sections below cover first the trigger and then the failsafe action taken by the controller.
### Position Loss Failsafe Trigger
There are basically two mechanisms in PX4 to trigger position failsafes:
The position loss failsafe triggers if the position estimate becomes _invalid_. There are two mechanisms in PX4 to invalidate the position estimate:
- A timeout since the last sensor data was fused that provides direct speed or horizontal position measurements. Sensors that fall into that category are: GNSS, optical flow, airspeed, VIO, auxiliary global position.
- The estimated horizontal position accuracy exceeds a certain threshold. This check is only done on hovering systems (rotary wing vehicles or VTOLs in hover phase).
- A timeout since the last sensor data was fused that provides direct speed or horizontal position measurements.
- Sensors that fall into that category are: GNSS, optical flow, airspeed, VIO, auxiliary global position.
- The estimated horizontal position inaccuracy exceeds the threshold [COM_POS_LOW_EPH](../advanced_config/parameter_reference.md#COM_POS_LOW_EPH)
- This check is only done on hovering systems (rotary-wing vehicles or VTOLs in hover phase). For fixed-wing vehicles, refer to the [Position Accuracy Low](#position-accuracy-low-failsafe) section.
The relevant parameters shown below.
@@ -207,14 +210,24 @@ Multicopters will switch to [Altitude mode](../flight_modes_mc/altitude.md) if a
Fixed-wing planes, and VTOLs not configured to land in hover ([NAV_FORCE_VT](../advanced_config/parameter_reference.md#NAV_FORCE_VT)), have a parameter ([FW_GPSF_LT](../advanced_config/parameter_reference.md#FW_GPSF_LT)) that defines how long they will loiter (circle with a constant roll angle ([FW_GPSF_R](../advanced_config/parameter_reference.md#FW_GPSF_R)) at the current altitude) after losing position before attempting to land.
If VTOLs have are configured to switch to hover for landing ([NAV_FORCE_VT](../advanced_config/parameter_reference.md#NAV_FORCE_VT)) then they will first transition and then descend.
The relevant parameters for all vehicles shown below.
The relevant parameters are:
Parameters that only affect Fixed-wing vehicles:
| 매개변수 | 설명 |
| ----------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="FW_GPSF_LT"></a>[FW_GPSF_LT](../advanced_config/parameter_reference.md#FW_GPSF_LT) | Fixed-wing only: Loiter time (waiting at current altitude for position estimation recovery before starting to descend). 비활성화 하려면 0으로 설정하십시오. |
| <a id="FW_GPSF_R"></a>[FW_GPSF_R](../advanced_config/parameter_reference.md#FW_GPSF_R) | 선회 비행시 고정 롤/뱅크 각도. |
| <a id="NAV_FORCE_VT"></a>[NAV_FORCE_VT](../advanced_config/parameter_reference.md#NAV_FORCE_VT) | If true, force VTOL takeoff and landing, even in `Descend` failsafe. |
| 매개변수 | 설명 |
| ----------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="FW_GPSF_LT"></a>[FW_GPSF_LT](../advanced_config/parameter_reference.md#FW_GPSF_LT) | Loiter time (waiting for GPS recovery before it goes into land or flight termination). 비활성화 하려면 0으로 설정하십시오. |
| <a id="FW_GPSF_R"></a>[FW_GPSF_R](../advanced_config/parameter_reference.md#FW_GPSF_R) | 선회 비행시 고정 롤/뱅크 각도. |
### Position Accuracy Low Failsafe
In Fixed-wing, the position estimate is never strictly invalidated as long as we have a horizontal aiding source, such as an airspeed sensor. In that case, a separate failsafe can be configured that triggers if the position estimate inacuraccy exceeds the threshold [COM_POS_LOW_EPH](../advanced_config/parameter_reference.md#COM_POS_LOW_EPH). The failsafe action is taken if the vehicle is in mission or hold mode, otherwise it is only a warning. The relevant parameters are:
| 매개변수 | 설명 |
| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="COM_POS_LOW_EPH"></a>[COM_POS_LOW_EPH](../advanced_config/parameter_reference.md#COM_POS_LOW_EPH) | Position inaccuracy threshold above which COM_POS_LOW_ACT is taken. |
| <a id="COM_POS_LOW_ACT"></a>[COM_POS_LOW_ACT](../advanced_config/parameter_reference.md#COM_POS_LOW_ACT) | Failsafe action taken when position inaccuracy is above configured threshold. |
Note that if there is no horizontal aiding source anymore, the position estimate is invalidated after `EKF2_NOAID_TOUT`, and the standard position loss failsafe applies.
## 오프 보드 안전 장치
@@ -261,7 +274,7 @@ The parameters that control when the quad-chute will trigger are listed in the t
## High Wind Failsafe
The high wind failsafe can trigger a warning and/or other mode change when the wind speed exceeds the warning and maximum wind-speed threshhold values.
The high wind failsafe can trigger a warning and/or other mode change when the wind speed exceeds the warning and maximum wind-speed threshold values.
The relevant parameters are listed in the table below.
| 매개변수 | 설명 |
@@ -315,8 +328,8 @@ The failure detector can be configured to detect a motor failure while armed (an
| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="FD_ACT_EN"></a>[FD_ACT_EN](../advanced_config/parameter_reference.md#FD_ACT_EN) | Enable/disable the motor failure trigger completely. |
| <a id="FD_ACT_MOT_THR"></a>[FD_ACT_MOT_THR](../advanced_config/parameter_reference.md#FD_ACT_MOT_THR) | Minimum normalized [0,1] motor command below which motor under current is ignored. |
| <a id="FD_ACT_MOT_C2T"></a>[FD_ACT_MOT_C2T](../advanced_config/parameter_reference.md#FD_ACT_MOT_C2T) | Scale between normalized [0,1] motor command and expected minimally reported currrent when the rotor is healthy. |
| <a id="FD_ACT_MOT_TOUT"></a>[FD_ACT_MOT_TOUT](../advanced_config/parameter_reference.md#FD_ACT_MOT_TOUT) | Time in miliseconds for which the under current detection condition needs to stay true. |
| <a id="FD_ACT_MOT_C2T"></a>[FD_ACT_MOT_C2T](../advanced_config/parameter_reference.md#FD_ACT_MOT_C2T) | Scale between normalized [0,1] motor command and expected minimally reported current when the rotor is healthy. |
| <a id="FD_ACT_MOT_TOUT"></a>[FD_ACT_MOT_TOUT](../advanced_config/parameter_reference.md#FD_ACT_MOT_TOUT) | Time in milliseconds for which the under current detection condition needs to stay true. |
| <a id="CA_FAILURE_MODE"></a>[CA_FAILURE_MODE](../advanced_config/parameter_reference.md#CA_FAILURE_MODE) | Configure to not only warn about a motor failure but remove the first motor that detects a failure from the allocation effectiveness which turns off the motor and tries to operate the vehicle without it until disarming the next time. |
### 외부 자동 작동 시스템 (ATS)