mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2025-12-15 20:37:24 +08:00
New Crowdin translations - ko (#24852)
Co-authored-by: Crowdin Bot <support+bot@crowdin.com>
This commit is contained in:
PX4 Build Bot
GitHub
@@ -41,8 +41,9 @@
|
||||
- [마인드레이서 BNF & RTF](complete_vehicles_mc/mindracer_BNF_RTF.md)
|
||||
- [마인드레이서 210](complete_vehicles_mc/mindracer210.md)
|
||||
- [나노마인드 110](complete_vehicles_mc/nanomind110.md)
|
||||
- [홀리브로 코피스 2](complete_vehicles_mc/holybro_kopis2.md)
|
||||
- [Bitcraze Crazyflie 2.1](complete_vehicles_mc/crazyflie21.md)
|
||||
- [홀리브로 코피스 2](complete_vehicles_mc/holybro_kopis2.md)
|
||||
- [Amov F410 Drone](complete_vehicles_mc/amov_F410_drone.md)
|
||||
- [Kits](frames_multicopter/kits.md)
|
||||
- [X500 v2 (Pixhawk 6C)](frames_multicopter/holybro_x500v2_pixhawk6c.md)
|
||||
- [X500 v2 (Pixhawk 5X)](frames_multicopter/holybro_x500V2_pixhawk5x.md)
|
||||
|
||||
120
docs/ko/complete_vehicles_mc/amov_F410_drone.md
Normal file
120
docs/ko/complete_vehicles_mc/amov_F410_drone.md
Normal file
@@ -0,0 +1,120 @@
|
||||
# Amovlab F410 Drone
|
||||
|
||||
The [Amovlab F410](https://amovlab.com/product/detail?pid=32) is a medium-small drone platform with a 410mm wheelbase, equipped with Pixhawk 6c open-source flight controller, M8N-GPS, brushless motors, customized hard-case battery, Minihomer data link, optical flow ranging module, camera and other devices.
|
||||
It can be used immediately after receiving, capable of meeting indoor/outdoor stable flight and teaching development requirements.
|
||||
|
||||
|
||||
|
||||
:::info
|
||||
The vehicle comes with everything needed to fly, including the battery and a remote control.
|
||||
It is pre-installed with PX4 v1.15.4 at time of writing (a more recent version may be used in future).
|
||||
:::
|
||||
|
||||
## 개요
|
||||
|
||||
1. Can serve as a basic flight platform, paired with Pixhawk 6C flight controller to achieve optical flow and GPS fusion positioning, enabling stable flight both indoors and outdoors.
|
||||
It is one of the most stable basic flight platforms on the market.
|
||||
2. Sturdy and reliable structure, with key parts made of aluminium alloy and carbon fibre, high strength and not easily damaged.
|
||||
3. High stability, providing industrial-grade stability assurance, friendly to beginners, offering simplified version of interactive PC to enhance flight experience, can be initially used for outdoor aerial photography and image collection.
|
||||
4. Has rich open-source code support, and can be used with PX4, FMT, and ArduPilot.
|
||||
5. Video can be streamed from the UAV webcam to QGroundControl.
|
||||
6. The drone has a lot of room and support for expansion, including for adding on-board computers, range sensors, and other payloads.
|
||||
- Compatibility with many different components, providing platform for loading other user sensors, preparing for functional model development.
|
||||
- Abundant power supply making it perfect for installing additional sensors and onboard computers (including 5 external output voltages, 3 channels of 5V, 2 channels of 12V).
|
||||
- Pc-SDK support.
|
||||
This is a PC-based Python SDK Library based on MAVSDK that significantly simplifies UAV development compared to other approaches, such as using ROS or using C++. All you need is a basic understanding of Python programming and some simple coordinate system principles!
|
||||
- The [documentation](https://docs.amovlab.com/f450-v6c-wiki/#/en/) shows many of the options.
|
||||
7. Quasi-smart battery. The battery has a hard housing design that makes easy to install and remove.
|
||||
It provides accurate power estimates, but does not have some more advanced "smart battery" features.
|
||||
|
||||
## 구매처
|
||||
|
||||
- [Amovlab F410 Drone](https://amovlab.com/product/detail?pid=32)
|
||||
|
||||
## Datasheet
|
||||
|
||||
### 사양
|
||||
|
||||
| 사양 | F410_V6C Flight Platform |
|
||||
| :---------------------------------------------------: | :--------------------------------------------------------------------------------------------------------------------------------------------: |
|
||||
| **Aircraft** | |
|
||||
| 크기 | Length 290mm × Width 290mm × Height 240mm (Wheelbase 410mm) |
|
||||
| Empty Weight | 1056g |
|
||||
| Max Takeoff Weight | 2200g |
|
||||
| Max Ascent Speed | 1.5m/s |
|
||||
| Max Descent Speed | 0.7m/s |
|
||||
| Max Horizontal Speed | 10m/s |
|
||||
| Max Hovering Time | 21min |
|
||||
| Max Tilt Angle | 30° |
|
||||
| Operating Temperature | 6℃-40℃ |
|
||||
| Hovering Accuracy | M8N GPS Vertical ±0.5m M8N GPS Horizontal ±0.8m |
|
||||
| Hovering Accuracy | RTK Vertical ±0.1m RTK Horizontal ±0.15m |
|
||||
| **Flight Control System** | |
|
||||
| 프로세서 | FMU: STM32H743; IO Processor: STM32F103 |
|
||||
| Accelerometer | BMI055/ICM-42688-P |
|
||||
| Gyroscope | BMI055/ICM-42688-P |
|
||||
| 자기 센서 | IST8310 |
|
||||
| 기압계 | MS5611 |
|
||||
| 중량 | 59.3g |
|
||||
| 크기 | Length 84.8mm × Width 44mm × Height 12.4mm |
|
||||
| **Perception** | |
|
||||
| Optical Flow & Rangefinder Module | |
|
||||
| 중량 | 5.0g |
|
||||
| 크기 | Length 29mm × Width 16.5mm × Height 15mm |
|
||||
| Range Measurement | 0.01-8m |
|
||||
| Ranging FOV | 6° |
|
||||
| Optical Flow FOV | 42° |
|
||||
| Power Consumption | 500mW |
|
||||
| Operating Voltage | 4.0-5.5V |
|
||||
| Optical Flow Working Distance | > 80mm |
|
||||
| Output Interface | UART |
|
||||
| **Data Link** | |
|
||||
| Data Link Solution | MINI HOMER |
|
||||
| Frequency Band | Sub 1G Band |
|
||||
| Operating Voltage | 12V |
|
||||
| Max Effective Range | 1200m |
|
||||
| **Camera** | |
|
||||
| 모델 | IVG-G4 |
|
||||
| Video Processing | H.265+ Encoding, Dual Streams, AVI Format |
|
||||
| Video Output | Main Stream: 2560×1440@18fps, 2304×1296@20fps；Sub Stream: 800×448@25fps |
|
||||
| Operating Voltage | 12V |
|
||||
| 크기 | Length 38mm × Width 38mm |
|
||||
| **Battery** | |
|
||||
| 모델 | FB45 |
|
||||
| Dimensions (L×W×H) | Length 130mm × Width 65mm × Height 40mm |
|
||||
| 중량 | 470g |
|
||||
| Charge Limit Voltage | 16.8V |
|
||||
| Nominal Voltage | 14.8V |
|
||||
| Rated Capacity | 5000mAh |
|
||||
| Rated Energy | 74Wh |
|
||||
| 설정 | 4s 1P |
|
||||
| **Charger** | |
|
||||
| Input Voltage | DC:9V-12V |
|
||||
| Max Output Power | 25W |
|
||||
| Max Output Current | 1500mA |
|
||||
| Display Accuracy | ±10mV |
|
||||
| 크기 | Length 81mm × Width 50mm × Height 20mm |
|
||||
| 중량 | 76g |
|
||||
| **Remote Controller** | |
|
||||
| Operating Voltage | 4.5V-9V |
|
||||
| Channels | 8 |
|
||||
| Transmit Power | ＜ 10mW |
|
||||
| 중량 | 310g |
|
||||
| Dimensions (L×W×H) | Length 179mm × Width 81mm × Height 161mm |
|
||||
|
||||
## Tutorials
|
||||
|
||||
- Tutorials [English](https://docs.amovlab.com/f450-v6c-wiki/#/en/)/[Chinese](https://docs.amovlab.com/F450-V6C-wiki/#/src/%E8%A7%84%E6%A0%BC%E5%8F%82%E6%95%B0/%E8%A7%84%E6%A0%BC%E5%8F%82%E6%95%B0) (docs.amovlab.com/)
|
||||
|
||||
## Upgrading
|
||||
|
||||
Amovlab previously supplied this vehicle with PX4 v1.13.
|
||||
|
||||
In order to upgrade to PX4 v1.15, you should select the [X500 airframe](../config/airframe.md) and import [this parameter file](https://github.com/PX4/PX4-Autopilot/blob/main/docs/assets/airframes/multicopter/amovlab_f410/amovlabf410_drone_v1.15.4.params) to apply the new [actuator output configuration](../config/actuators.md) (used from PX4 v1.14).
|
||||
Then retune as necessary.
|
||||
|
||||
Contact Amovlab for information about upgrading to other versions.
|
||||
|
||||
## 비디오
|
||||
|
||||
<lite-youtube videoid="RzmI1d5093I" title="F410 Mid-Axis UAVs"/>
|
||||
@@ -24,6 +24,7 @@ This section lists vehicles that are sold fully assembled and ready to fly (RTF)
|
||||
- [ModalAI Sentinel](https://www.modalai.com/sentinel)
|
||||
- [MindRacer 210](../complete_vehicles_mc/mindracer210.md)
|
||||
- [NanoMind 110](../complete_vehicles_mc/nanomind110.md)
|
||||
- [Amovlab F410](../complete_vehicles_mc/amov_F410_drone.md)
|
||||
|
||||
## PX4 Compatible
|
||||
|
||||
|
||||
@@ -54,6 +54,30 @@ The following topics explain how to start on-target debugging:
|
||||
- [MCU Eclipse/J-Link Debugging for PX4](eclipse_jlink.md).
|
||||
- [Visual Studio Code IDE (VSCode)](../dev_setup/vscode.md).
|
||||
|
||||
## 비디오
|
||||
|
||||
The following video provides an overview of the tooling available for advanced debugging of PX4 via GDB.
|
||||
It was presented at the PX4 Developer Conference 2023.
|
||||
|
||||
<lite-youtube videoid="1c4TqEn3MZ0" title="Debugging PX4 - Niklas Hauser, Auterion AG"/>
|
||||
|
||||
**Overview:** The inspection tools built into PX4 via Mavlink Shell (NSH) as well as interpretation of the PX4 uLog after a flight require PX4 to still be functioning. However, the most problematic bugs often manifest themselves in a (partially) hanging or crashed system. Therefore, we present the open-source Embedded Debug Tools project, which manages and configures probe, debugging and analysis tools for PX4 and NuttX:
|
||||
|
||||
- Debug interfaces (SWD) and the associated debug probes (J-Link, STLink) and libraries (JLinkGDBServer, OpenOCD).
|
||||
- How to install and configure `arm-none-eabi-gdb(-py3)` for debugging your ELF.
|
||||
- Commonly used GDB commands and scripts.
|
||||
- Advanced GDB scripting via its Python API.
|
||||
- Inspection of NuttX RTOS component internals: tasks, semaphores, scheduler.
|
||||
- Inspecting peripheral state with CMSIS-SVD files and custom visualizations.
|
||||
- Coredumping for post-mortem debugging via CrashDebug.
|
||||
- Hardfault analysis in a live system and via the hardfault log.
|
||||
- Remote GDB scripting via the Machine Interface.
|
||||
- Automated HiL testing of PX4 via combined GDB and NSH scripting.
|
||||
- ITM profiling over SWO pin using Orbuculum.
|
||||
- Thread/IRQ/Workqueue/Heap visualization and latency analysis using perfetto.
|
||||
- High-bandwidth ETM tracing over TRACE pins: J-Trace and ORBtrace mini.
|
||||
- We conclude with an overview of interesting related project and an outlook on the future of PX4 debugging.
|
||||
|
||||
## Embedded Debug Tools
|
||||
|
||||
The [Embedded Debug Tools](https://pypi.org/project/emdbg/) connect several software and hardware debugging tools together in a user friendly Python package to more easily enable advanced use cases for ARM Cortex-M microcontrollers and related devices.
|
||||
|
||||
@@ -10,6 +10,13 @@ It was presented at the PX4 Developer Conference 2019.
|
||||
|
||||
<lite-youtube videoid="KZkAM_PVOi0" title="Hardfault debugging on PX4"/>
|
||||
|
||||
---
|
||||
|
||||
The following video provides an overview of the tooling available for advanced debugging of PX4 via GDB (including hard fault debugging).
|
||||
It was presented at the PX4 Developer Conference 2023.
|
||||
|
||||
<lite-youtube videoid="1c4TqEn3MZ0" title="Debugging PX4 - Niklas Hauser, Auterion AG"/>
|
||||
|
||||
## Debugging Hard Faults in NuttX
|
||||
|
||||
A typical scenario that can cause a hard fault is when the processor overwrites the stack and then the processor returns to an invalid address from the stack.
|
||||
|
||||
@@ -338,9 +338,11 @@ If motors/servos were connected to different outputs than suggested, you will ne
|
||||
|
||||
|
||||
|
||||
3. Adjust the minimum or maximum value that the servo is pointing vertical up.
|
||||
3. Adjust the minimum (or, if revesed: maximum) value such that the rotor thrust can point backward (needed for proper yaw allocation in Multicopter mode).
|
||||
|
||||
4. Then type `commander transition` into the MAVLink shell to adjust the horizontal position.
|
||||
4. Adjust the parameter `VT_TILT_MC` such that the rotors point exactly upwards when given zero input.
|
||||
|
||||
5. Then type `commander transition` into the MAVLink shell to adjust the horizontal position.
|
||||
|
||||
#### Control Surfaces
|
||||
|
||||
@@ -368,8 +370,8 @@ The direction can't be changed in software because the vehicle does not use [DSh
|
||||
## 첫 번째 비행
|
||||
|
||||
- Check tilt rotor reactions in [Stabilized mode](../flight_modes_fw/stabilized.md). Keep the throttle stick at the minimum and place the vehicle at the ground. To enable the tilt servos you need to arm the vehicle.
|
||||
- Yaw the vehicle to the right (nose to the right) -> left motor should tilt down
|
||||
- Yaw the vehicle to the left (nose to the left) -> right motor should tilt down
|
||||
- Command a yaw to the right (nose to the right) -> left motor should tilt forward, right motor should tilt backward
|
||||
- Command a yaw to the left (nose to the left) -> left motor should tilt backward, right motor should tilt forward
|
||||
- Mount the propellers.
|
||||
- Check center of gravity (GG).
|
||||
Switch the vehicle into forward flight mode.
|
||||
|
||||
@@ -135,7 +135,7 @@ The calendar default timezone is Central European Time (CET).
|
||||
|
||||
The PX4 flight stack is hosted under the governance of the [Dronecode Project](https://www.dronecode.org/).
|
||||
|
||||
<a href="https://www.dronecode.org/" style="padding:20px" ><img src="https://mavlink.io/assets/site/logo_dronecode.png" alt="Dronecode Logo" width="110px"/></a> <a href="https://www.linuxfoundation.org/projects" style="padding:20px;"><img src="https://mavlink.io/assets/site/logo_linux_foundation.png" alt="Linux Foundation Logo" width="80px" /></a>
|
||||
<a href="https://www.dronecode.org/" style="padding:20px" ><img src="../assets/site/logo_dronecode.png" alt="Dronecode Logo" width="110px"/></a> <a href="https://www.linuxfoundation.org/projects" style="padding:20px;"><img src="../assets/site/logo_linux_foundation.png" alt="Linux Foundation Logo" width="80px" /></a>
|
||||
|
||||
<div style="padding:10px"> </div>
|
||||
|
||||
|
||||
@@ -2,16 +2,16 @@
|
||||
|
||||
하위 카테고리:
|
||||
|
||||
- [Imu](modules_driver_imu.md)
|
||||
- [Distance Sensor](modules_driver_distance_sensor.md)
|
||||
- [Ins](modules_driver_ins.md)
|
||||
- [Airspeed Sensor](modules_driver_airspeed_sensor.md)
|
||||
- [Baro](modules_driver_baro.md)
|
||||
- [Transponder](modules_driver_transponder.md)
|
||||
- [Imu](modules_driver_imu.md)
|
||||
- [Rpm Sensor](modules_driver_rpm_sensor.md)
|
||||
- [Optical Flow](modules_driver_optical_flow.md)
|
||||
- [Camera](modules_driver_camera.md)
|
||||
- [Magnetometer](modules_driver_magnetometer.md)
|
||||
- [Camera](modules_driver_camera.md)
|
||||
- [Distance Sensor](modules_driver_distance_sensor.md)
|
||||
- [Optical Flow](modules_driver_optical_flow.md)
|
||||
- [Ins](modules_driver_ins.md)
|
||||
- [Baro](modules_driver_baro.md)
|
||||
|
||||
## MCP23009
|
||||
|
||||
|
||||
@@ -218,11 +218,11 @@ lightware_sf45_serial <command> [arguments...]
|
||||
|
||||
## ll40ls
|
||||
|
||||
Source: [drivers/distance_sensor/ll40ls](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/ll40ls)
|
||||
Source: [drivers/distance_sensor/ll40ls_pwm](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/ll40ls_pwm)
|
||||
|
||||
### 설명
|
||||
|
||||
LidarLite 거리 측정기를 위한 I2C 버스 드라이버입니다.
|
||||
PWM driver for LidarLite rangefinders.
|
||||
|
||||
센서/드라이버는 매개변수 SENS_EN_LL40LS를 사용하여 활성화합니다.
|
||||
|
||||
@@ -235,23 +235,13 @@ Setup/usage information: https://docs.px4.io/main/en/sensor/lidar_lite.html
|
||||
```
|
||||
ll40ls <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: 98
|
||||
start Start driver
|
||||
[-R <val>] Sensor rotation - downward facing by default
|
||||
default: 25
|
||||
|
||||
regdump
|
||||
status Print driver status information
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
stop Stop driver
|
||||
```
|
||||
|
||||
## mappydot
|
||||
@@ -499,8 +489,6 @@ tfmini <command> [arguments...]
|
||||
|
||||
stop Stop driver
|
||||
|
||||
test Test driver (basic functional tests)
|
||||
|
||||
status Print driver status
|
||||
```
|
||||
|
||||
|
||||
@@ -225,38 +225,6 @@ ist8310 <command> [arguments...]
|
||||
status print status info
|
||||
```
|
||||
|
||||
## iis2mdc
|
||||
|
||||
Source: [drivers/magnetometer/iis2mdc](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/magnetometer/iis2mdc)
|
||||
|
||||
<a id="iis2mdc_usage"></a>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
iis2mdc <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
[-I] Internal I2C bus(es)
|
||||
[-X] External I2C bus(es)
|
||||
[-s] Internal SPI bus(es)
|
||||
[-S] External SPI bus(es)
|
||||
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
|
||||
(default=1))
|
||||
[-c <val>] chip-select pin (for internal SPI) or index (for external SPI)
|
||||
[-m <val>] SPI mode
|
||||
[-f <val>] bus frequency in kHz
|
||||
[-q] quiet startup (no message if no device found)
|
||||
[-a <val>] I2C address
|
||||
default: 30
|
||||
[-R <val>] Rotation
|
||||
default: 0
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## lis3mdl
|
||||
|
||||
Source: [drivers/magnetometer/lis3mdl](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/magnetometer/lis3mdl)
|
||||
|
||||
@@ -8,7 +8,8 @@ This section explains how to connect and configure a [gripper](../peripherals/gr
|
||||
|
||||
The following PWM-connected servos have been tested with PX4:
|
||||
|
||||
- [R4-EM-R22-161 : push-to-close latch electronic lock](https://southco.com/en_any_int/r4-em-r22-161).
|
||||
- [R4-EM-R22-161 push-to-close latch electronic lock](https://southco.com/en_any_int/r4-em-r22-161) (SouthCo)
|
||||
- [FluxGrip FG40 electro-permanent magnetic gripper](http://zubax.com/fg40) (Zubax)
|
||||
|
||||
## Connecting a PWM-controlled Gripper
|
||||
|
||||
|
||||
@@ -35,31 +35,35 @@ This allows for greater flexibility and customization.
|
||||
[Multiple vehicles with ROS 2](../ros2/multi_vehicle.md) are possible.
|
||||
|
||||
- First follow the installation instructions for [Gazebo](../sim_gazebo_gz/index.md).
|
||||
|
||||
- Then configure your system for [ROS 2 / PX4 operations](../ros2/user_guide.md#installation-setup).
|
||||
|
||||
- In different terminals manually start a multi vehicle simulation.
|
||||
This example spawns 2 X500 Quadrotors and aFPX fixed-wing.
|
||||
|
||||
:::info
|
||||
Note that in the first terminal you **do not** specify standalone mode. The first terminal will start the gz-server and the other two
|
||||
instances will connect to it.
|
||||
**Terminal 1**
|
||||
::: info
|
||||
Note that in the first terminal you **do not** specify standalone mode. The first terminal will start the gz-server and the other two
|
||||
instances will connect to it.
|
||||
|
||||
:::
|
||||
|
||||
```sh
|
||||
PX4_SYS_AUTOSTART=4001 PX4_SIM_MODEL=gz_x500 ./build/px4_sitl_default/bin/px4 -i 1
|
||||
```
|
||||
**Terminal 1**
|
||||
|
||||
**Terminal 2**
|
||||
```sh
|
||||
PX4_SYS_AUTOSTART=4001 PX4_SIM_MODEL=gz_x500 ./build/px4_sitl_default/bin/px4 -i 1
|
||||
```
|
||||
|
||||
```sh
|
||||
PX4_GZ_STANDALONE=1 PX4_SYS_AUTOSTART=4001 PX4_GZ_MODEL_POSE="0,1" PX4_SIM_MODEL=gz_x500 ./build/px4_sitl_default/bin/px4 -i 2
|
||||
```
|
||||
**Terminal 2**
|
||||
|
||||
**Terminal 3**
|
||||
```sh
|
||||
PX4_GZ_STANDALONE=1 PX4_SYS_AUTOSTART=4001 PX4_GZ_MODEL_POSE="0,1" PX4_SIM_MODEL=gz_x500 ./build/px4_sitl_default/bin/px4 -i 2
|
||||
```
|
||||
|
||||
```sh
|
||||
PX4_GZ_STANDALONE=1 PX4_SYS_AUTOSTART=4003 PX4_GZ_MODEL_POSE="0,2" PX4_SIM_MODEL=gz_rc_cessna ./build/px4_sitl_default/bin/px4 -i 3
|
||||
```
|
||||
**Terminal 3**
|
||||
|
||||
```sh
|
||||
PX4_GZ_STANDALONE=1 PX4_SYS_AUTOSTART=4003 PX4_GZ_MODEL_POSE="0,2" PX4_SIM_MODEL=gz_rc_cessna ./build/px4_sitl_default/bin/px4 -i 3
|
||||
```
|
||||
|
||||
- Start the agent:
|
||||
|
||||
|
||||
Reference in New Issue
Block a user