New Crowdin translations - ko (#25557)

Co-authored-by: Crowdin Bot <support+bot@crowdin.com>
2026-05-31 18:47:21 +08:00 · 2025-09-16 08:57:44 +10:00
parent d42aebe100
commit a14cd9ad79
25 changed files with 666 additions and 229 deletions
@@ -157,6 +157,7 @@
        - [mRo (3DR) Pixhawk 배선 퀵 스타트](assembly/quick_start_pixhawk.md)
      - [Holybro Pixhawk Mini (FMUv3) - Discontinued](flight_controller/pixhawk_mini.md)
    - [Manufacturer-Supported Autopilots](flight_controller/autopilot_manufacturer_supported.md)
      - [Accton Godwit GA1](flight_controller/accton-godwit_ga1.md)
      - [AirMind MindPX](flight_controller/mindpx.md)
      - [AirMind MindRacer](flight_controller/mindracer.md)
      - [ARK Electronics ARKV6X](flight_controller/ark_v6x.md)
@@ -283,6 +284,7 @@
      - [CubePilot Here+ (Discontined)](gps_compass/rtk_gps_hex_hereplus.md)
    - [INS (Inertial Navigation/GNSS)](sensor/inertial_navigation_systems.md)
      - [InertialLabs](sensor/inertiallabs.md)
      - [sbgECom](sensor/sbgecom.md)
      - [VectorNav](sensor/vectornav.md)
    - [광류 센서](sensor/optical_flow.md)
      - [ARK Flow](dronecan/ark_flow.md)
@@ -679,6 +681,8 @@
        - [RoverPositionSetpoint](msg_docs/RoverPositionSetpoint.md)
        - [RoverRateSetpoint](msg_docs/RoverRateSetpoint.md)
        - [RoverRateStatus](msg_docs/RoverRateStatus.md)
        - [RoverSpeedSetpoint](msg_docs/RoverSpeedSetpoint.md)
        - [RoverSpeedStatus](msg_docs/RoverSpeedStatus.md)
        - [RoverSteeringSetpoint](msg_docs/RoverSteeringSetpoint.md)
        - [RoverThrottleSetpoint](msg_docs/RoverThrottleSetpoint.md)
        - [RoverVelocitySetpoint](msg_docs/RoverVelocitySetpoint.md)
@@ -739,6 +743,7 @@
        - [YawEstimatorStatus](msg_docs/YawEstimatorStatus.md)
        - [AirspeedValidatedV0](msg_docs/AirspeedValidatedV0.md)
        - [ArmingCheckReplyV0](msg_docs/ArmingCheckReplyV0.md)
        - [ArmingCheckRequestV0](msg_docs/ArmingCheckRequestV0.md)
        - [BatteryStatusV0](msg_docs/BatteryStatusV0.md)
        - [EventV0](msg_docs/EventV0.md)
        - [HomePositionV0](msg_docs/HomePositionV0.md)
@@ -631,7 +631,16 @@ div.frame_variant td, div.frame_variant th {
 ### Free-Flyer
 <div class="frame_common">
-<img src="../../assets/airframes/types/AirframeUnknown.svg"/>
+<img src="../../assets/airframes/types/FreeFlyer.svg"/>
 <table>
 <thead>
   <tr><th>공통 출력</th></tr>
 </thead>
 <tbody>
 <tr>
 <td><ul><li><b>Motor1</b>: back left thruster, +x thrust</li><li><b>Motor2</b>: front left thruster, -x thrust</li><li><b>Motor3</b>: back right thruster, +x thrust</li><li><b>Motor4</b>: front right thruster, -x thrust</li><li><b>Motor5</b>: front left thruster, +y thrust</li><li><b>Motor6</b>: front right thruster, -y thrust</li><li><b>Motor7</b>: back left thruster, +y thrust</li><li><b>Motor8</b>: back right thruster, -y thrust</li></ul></td>
 </tr>
 </tbody></table>
 </div>
 <div class="frame_variant">
@@ -641,7 +650,7 @@ div.frame_variant td, div.frame_variant th {
 </thead>
 <tbody>
 <tr id="spacecraft_free-flyer_kth-atmos">
- <td>KTH-ATMOS</td>
+ <td><a href="https://atmos.discower.io">KTH-ATMOS</a></td>
 <td>Maintainer: DISCOWER<p><code>SYS_AUTOSTART</code> = 70000</p></td>
 </tr>
 </tbody>
@@ -291,7 +291,7 @@ If you're using [DroneCAN ESC](../peripherals/esc_motors.md#dronecan) the contro
 ### Flight Controller Power
 Pixhawk FCs require a regulated power supply that can supply at around 5V/3A continuous (check your specific FC)!
-This is sufficient to power the controller itself and a few low-power peripherals, such as a GNSS module, RC transmitter, and low power telemetry radio, but not for motors, actuators, and other peripherals.
+This is sufficient to power the controller itself and a few low-power peripherals, such as a GNSS module, RC receiver, and low power telemetry radio, but not for motors, actuators, and other peripherals.
 [Power modules](../power_module/index.md) are commonly used to "split off" this regulated power supply for the FC and also to provide measurements of the battery voltage and total current to the whole system — which PX4 can use to estimate power levels.
 The power module is connected to the FC power port, which is normally labeled `POWER` (or `POWER 1` or `POWER 2` for FCs that have redundant power supply).
@@ -15,7 +15,7 @@ The first executed file is the [init.d/rcS](https://github.com/PX4/PX4-Autopilot
 ## POSIX (Linux/MacOS)
-Posix에서 시스템 셸은 스크립트 인터프리터로 사용됩니다(예: /bin/sh, Ubuntu에서 dash에 심볼릭 링크됨).
+On POSIX, the system shell is used as script interpreter (e.g. /bin/sh, being symlinked to dash on Ubuntu).
 동작하기 위한 몇가지 조건이 있습니다.
 - PX4 모듈은 시스템에서 개별적으로 실행할 수 있어야합니다.
@@ -59,7 +59,7 @@ cd <PX4-Autopilot>/build/px4_sitl_default/bin
 ### Dynamic Modules
 일반적으로 모든 모듈은 단일 PX4 실행 파일로 컴파일됩니다.
-However, on Posix, there's the option of compiling a module into a separate file, which can be loaded into PX4 using the `dyn` command.
+However, on POSIX, there's the option of compiling a module into a separate file, which can be loaded into PX4 using the `dyn` command.
 ```sh
 dyn ./test.px4mod
@@ -95,7 +95,7 @@ This is documented below.
 The best way to customize the system startup is to introduce a [new frame configuration](../dev_airframes/adding_a_new_frame.md).
 The frame configuration file can be included in the firmware or on an SD Card.
-#### Dynamic customization
+#### Dynamic Customization
 If you only need to "tweak" the existing configuration, such as starting one more application or setting the value of a few parameters, you can specify these by creating two files in the `/etc/` directory of the SD Card:
@@ -153,27 +153,36 @@ Calling an unknown command in system boot files may result in boot failure.
  mandatory_app start     # Will abort boot if mandatory_app is unknown or fails
  ```
-#### Additional customization
+#### Additional Init-File Customization
-In rare cases where the desired setup cannot be achieved through frame configuration or dynamic customization,
+In rare cases where the desired setup cannot be achieved through frame configuration or dynamic customization, you can add a script that will be compiled into the binary for a particular `make` target build variant.
 you can add a script that will be contained in the binary.
-**Note**: In almost all cases, you should use a frame configuration. This method should only be used for
+:::warning
-edge-cases such as customizing `cannode` based boards.
+In almost all cases, you should use a frame configuration.
 This method should only be used for edge-cases such as customizing `cannode` based boards.
 :::
 단계는 다음과 같습니다:
 - Add a new init script in `boards/<vendor>/<board>/init` that will run during board startup.
  예:
 - Add a new init script in `boards/<vendor>/<board>/init` that will run during board startup. 예:
  ```sh
  # File: boards/<vendor>/<board>/init/rc.additional
  param set-default <param> <value>
  ```
- Add a new board variant in `boards/<vendor>/<board>/<variant>.px4board` that includes the additional script. 예:
+- Add a new board variant in `boards/<vendor>/<board>/<variant>.px4board` that includes the additional script.
  예:
  ```sh
  # File: boards/<vendor>/<board>/var.px4board
  CONFIG_BOARD_ADDITIONAL_INIT="rc.additional"
  ```
- Compile the firmware with your new variant by appending the variant name to the compile target. 예:
+- Compile the firmware with your new variant by appending the variant name to the compile target.
  예:
  ```sh
  make <target>_var
  ```
@@ -206,23 +206,13 @@ The relevant parameters shown below.
 ### Position Loss Failsafe Action
-The failure action is controlled by [COM_POSCTL_NAVL](../advanced_config/parameter_reference.md#COM_POSCTL_NAVL), based on whether RC control is assumed to be available (and altitude information):
+Multicopters will switch to [Altitude mode](../flight_modes_mc/altitude.md) if a height estimate is available, otherwise [Stabilized mode](../flight_modes_mc/manual_stabilized.md).
 - `0`: Remote control available.
  Switch to _Altitude mode_ if a height estimate is available, otherwise _Stabilized mode_.
 - `1`: Remote control _not_ available.
  Switch to _Descend mode_ if a height estimate is available, otherwise enter flight termination.
  _Descend mode_ is a landing mode that does not require a position estimate.
 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.
 | 매개변수                                                                                                                                               | 설명                                                                                                                                                            |
 | -------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------- |
 | <a id="COM_POSCTL_NAVL"></a>[COM_POSCTL_NAVL](../advanced_config/parameter_reference.md#COM_POSCTL_NAVL) | Position control navigation loss response during mission. Values: `0` - assume use of RC, `1` - Assume no RC. |
 Parameters that only affect Fixed-wing vehicles:
 | 매개변수                                                                                                                                | 설명                                                                                                                                                             |
@@ -349,3 +349,9 @@ sudo add-apt-repository ppa:kisak/kisak-mesa
 sudo apt update
 sudo apt upgrade
 ```
 ### QGroundControl not connecting to PX4 SITL
 - The connection between PX4 SITL on WSL2 and QGroundControl on Windows requires [broadcasting](../simulation/index.md#enable-udp-broadcasting) or [streaming to a specific address](../simulation/index.md#enable-streaming-to-specific-address) to be enabled.
  Streaming to a specific address should be enabled by default, but is something to check if a connection can't be established.
 - Network traffic might be blocked by firewall or antivirus on you system.
@@ -0,0 +1,153 @@
 # Accton Godwit G-A1
 :::warning
 PX4 does not manufacture this (or any) autopilot.
 Contact the [manufacturer](https://cubepilot.org/#/home) for hardware support or compliance issues.
 :::
 The G-A1 is a state-of-the-art flight controller developed derived from the [Pixhawk Autopilot v6X Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-012%20Pixhawk%20Autopilot%20v6X%20Standard.pdf).
 It includes an STM32H753 double-precision floating-point FMU processor and an STM32F103 IO coprocessor, multiple IMUs with 6-axis inertial sensors, two pressure/temperature sensors, and a geomagnetic sensor.
 It also has independent buses and power supplies, and is designed for safety and rich expansion capabilities.
 With an integrated 10/100M Ethernet Physical Layer (PHY), the G-A1 can also communicate with a mission computer (airborne computer), high-end surveying and mapping cameras, and other UxV-mounted equipment for high-speed communications, meeting the needs of advanced UxV systems.
 :::tip
 Visit [Accton-IoT Godwit](https://www.accton-iot.com/godwit/) for more information.
 :::
 ![AccGodwitGA1](../../assets/flight_controller/accton-godwit/ga1/outlook.png "Accton Godwit G-A1")
 ![AccGodwitGA1 Top View](../../assets/flight_controller/accton-godwit/ga1/orientation.png "Accton Godwit G-A1 Top View")
 :::info
 This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
 :::
 ## 사양
 ### 프로세서
 - STM32H753IIK (Arm® Cortex®-M7 480MHz)
 - STM32F103 (Arm® Cortex®-M3, 72MHz)
 ### 센서
 - Bosch BMI088 (vibration isolated)
 - TDK InvenSense ICM-42688-P x 2 (one vibration isolated)
 - TDK Barometric Pressure and Temperature Sensor CP-20100 x 2 (one vibration isolated)
 - PNI RM3100 Geomagnetic Sensor (vibration isolated)
 ### 전원
 - 4.6V to 5.7V
 ### External ports
 - 2 CAN Buses (CAN1 and CAN2)
 - 3 TELEM Ports (TELEM1, TELEM2 and TELEM3)
 - 2 GPS Ports (GPS1 with safety switch, LED, buzzer, and GPS2)
 - 1 PPM IN
 - 1 SBUS OUT
 - 2 USB Ports (1 TYPE-C and 1 JST GH1.25)
 - 1 10/100Base-T Ethernet Port
 - 1 DSM/SBUS RC
 - 1 UART 4
 - 1 AD&IO Port
 - 2 Debug Ports (1 IO Debug and 1 FMU Debug)
 - 1 SPI6 Bus
 - 4 Power Inputs (Power 1, Power 2, Power C1 and Power C2)
 - 16 PWM Servo Outputs (A1-A8 from FMU and M1-M8 from IO)
 - Micro SD Socket (supports SD 4.1 & SDIO 4.0 in two databus modes: 1 bit (default) and 4 bits)
 ### Size and Dimensions
 - 92.2 (L) x 51.2 (W) x 28.3 (H) mm
 - 77.6g (carrier board with IMU)
 ## 구매처
 - [Accton-IoT Godwit](https://www.accton-iot.com/godwit/)
 - [sales@accton-iot.com](sales@accton-iot.com)
 ## 핀배열
 ![G-A1 Pin definition](../../assets/flight_controller/accton-godwit/ga1/pin_definition.png "G-A1 Pin definition")
 ## UART Mapping
 | Serial# | Protocol  | 포트     | 참고         |
 | ------- | --------- | ------ | ---------- |
 | SERIAL1 | Telem1    | UART7  | /dev/ttyS6 |
 | SERIAL2 | Telem2    | UART5  | /dev/ttyS4 |
 | SERIAL3 | GPS1      | USART1 | /dev/ttyS0 |
 | SERIAL4 | GPS2      | UART8  | /dev/ttyS7 |
 | SERIAL5 | Telem3    | USART2 | /dev/ttyS1 |
 | SERIAL6 | UART4     | UART4  | /dev/ttyS3 |
 | SERIAL7 | FMU Debug | USART3 |            |
 | SERIAL8 | OTG2      | USB    |            |
 ## Wiring Diagram
 ![G-A1 Wiring](../../assets/flight_controller/accton-godwit/ga1/wiring.png "G-A1 Wiring")
 ## PWM Output
 PWM M1-M8 (IO Main PWM), A1-A8(FMU PWM).
 All these 16 support normal PWM output formats.
 FMU PWM A1-A6 can support DShot and B-Directional DShot.
 A1-A8(FMU PWM) are grouped as:
 - Group 1: A1, A2, A3, A4
 - Group 2: A5, A6
 - Group 3: A7, A8
 The motor and servo system should be connected to these ports according to the order outlined in the fuselage reference for your carrier.
 ![G-A1 PWM Motor Servo](../../assets/flight_controller/accton-godwit/ga1/motor_servo.png "G-A1 PWM Motor Servo")
 ## RC Input
 For DSM/SBUS receivers, connect them to the DSM/SBUS interface which provides dedicated 3.3V and 5V power pins respectively, and check above "Pinout" for detailed pin definition.
 PPM receivers should be connected to the PPM interface. And other RC systems can be connected via other spare telemetry ports.
 ![G-A1 Radio](../../assets/flight_controller/accton-godwit/ga1/radio.png "G-A1 Radio")
 ## GPS/나침반
 The Godwit G-A1 has a built-in compass
 Due to potential interference, the autopilot is usually used with an external I2C compass as part of a GPS/Compass combination.
 ![G-A1 GPS](../../assets/flight_controller/accton-godwit/ga1/gps.png "G-A1 GPS")
 ## Power Connection and Battery Monitor
 This universal controller features a CAN PMU module that supports 3 to 14s lithium batteries.
 To ensure proper connection, attach the module's 6-pin connector to the flight control Power C1 and/or Power C2 interface.
 This universal controller does not provide power to the servos.
 To power them, an external BEC must be connected to the positive and negative terminals of any A1–A8 or M1–M8 port.
 ![G-A1 Power](../../assets/flight_controller/accton-godwit/ga1/power.png "G-A1 Power")
 ## SD 카드
 The SD card is NOT included in the package, you need to prepare the SD card and insert it into the slot.
 ![G-A1 SD Card](../../assets/flight_controller/accton-godwit/ga1/sdcard.png "G-A1 SD Card")
 ## 펌웨어
 The autopilot is compatible with PX4 firmware. And G-A1 can be detected by QGroundControl automatically. Users can also build it with target "accton-godwit_ga1"
 To [build PX4](../dev_setup/building_px4.md) for this target, open up the terminal and enter:
 ```sh
 make accton-godwit_ga1
 ```
 ## More Information and Support
 - [Accton-IoT Godwit](https://www.accton-iot.com/godwit/)
 - [sales@accton-iot.com](sales@accton-iot.com)
 - [support@accton-iot.com](mailto:support@accton-iot.com)
@@ -12,6 +12,7 @@ This category includes boards that are not fully compliant with the pixhawk stan
 이 카테고리의 보드는 다음과 같습니다.
 - [Accton Godwit GA1](../flight_controller/accton-godwit_ga1.md)
 - [AirMind MindPX](../flight_controller/mindpx.md)
 - [AirMind MindRacer](../flight_controller/mindracer.md)
 - [ARK Electronics ARKV6X](../flight_controller/ark_v6x.md) (and [ARK Electronics Pixhawk Autopilot Bus Carrier](../flight_controller/ark_pab.md))
@@ -45,6 +45,41 @@ MicroStrain <command> [arguments...]
   status        Driver status
 ```
 ## eulernav_bahrs
 Source: [drivers/ins/eulernav_bahrs](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/ins/eulernav_bahrs)
 ### 설명
 Serial bus driver for the EULER-NAV Baro-Inertial AHRS.
 ### 예
 Attempt to start driver on a specified serial device.
 ```
 eulernav_bahrs start -d /dev/ttyS1
 ```
 Stop driver
 ```
 eulernav_bahrs stop
 ```
 ### Usage {#eulernav_bahrs_usage}
 ```
 eulernav_bahrs <command> [arguments...]
 Commands:
   start         Start driver
     -d <val>    Serial device
   status        Print driver status
   stop          Stop driver
 ```
 ## ilabs
 Source: [drivers/ins/ilabs](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/ins/ilabs)
@@ -26,7 +26,7 @@ uint8 ACTION_KILL = 4 # Kill vehicle (instantly stop the motors)
 uint8 ACTION_SWITCH_MODE = 5                     # Switch mode. The target mode is set in the `mode` field.
 uint8 ACTION_VTOL_TRANSITION_TO_MULTICOPTER = 6  # Transition to hover flight
 uint8 ACTION_VTOL_TRANSITION_TO_FIXEDWING = 7    # Transition to fast forward flight
-uint8 ACTION_TERMINATION = 8 # Irreversably output failsafe values on all outputs, trigger parachute
+uint8 ACTION_TERMINATION = 8                     # Irreversibly output failsafe values on all outputs, trigger parachute
 uint8 source                    # [@enum SOURCE] Request trigger type, such as a switch, button or gesture
 uint8 SOURCE_STICK_GESTURE = 0  # Triggered by holding the sticks in a certain position
@@ -20,9 +20,9 @@ uint64 timestamp_sample # [us] Sampling timestamp of the data this control respo
 uint16 reversible_flags  # Bitset indicating which motors are configured to be reversible
-uint8 ACTUATOR_FUNCTION_MOTOR1 = 101
+uint8 ACTUATOR_FUNCTION_MOTOR1 = 101 #
-uint8 NUM_CONTROLS = 12
+uint8 NUM_CONTROLS = 12  #
 float32[12] control                  # [@range -1, 1] Normalized thrust. where 1 means maximum positive thrust, -1 maximum negative (if not supported by the output, <0 maps to NaN). NaN maps to disarmed (stop the motors)
 ```
@@ -18,7 +18,7 @@ uint32 MESSAGE_VERSION = 0
 uint64 timestamp         # [us] Time since system start
 uint64 timestamp_sample  # [us] Sampling timestamp of the data this control response is based on
-uint8 NUM_CONTROLS = 8
+uint8 NUM_CONTROLS = 8  #
 float32[8] control      # [@range -1, 1] Normalized output. 1 means maximum positive position. -1 maximum negative position (if not supported by the output, <0 maps to NaN). NaN maps to disarmed.
 ```
@@ -54,6 +54,6 @@ bool mode_req_home_position # Requires a home position (such as RTL/Return mode)
 bool mode_req_prevent_arming           # Prevent arming (such as in Land mode).
 bool mode_req_manual_control           # Requires a manual controller
-uint8 ORB_QUEUE_LENGTH = 4 #
+uint8 ORB_QUEUE_LENGTH  = 4
 ```
@@ -21,10 +21,12 @@ The reply will also include the registration_id for each external component, pro
 # The reply will include the published request_id, allowing correlation of all arming check information for a particular request.
 # The reply will also include the registration_id for each external component, provided to it during the registration process (RegisterExtComponentReply).
-uint32 MESSAGE_VERSION = 0
+uint32 MESSAGE_VERSION = 1
 uint64 timestamp  # [us] Time since system start.
 uint8 request_id  # Id of this request. Allows correlation with associated ArmingCheckReply messages.
 uint32 valid_registrations_mask # Bitmask of valid registration ID's (the bit is also cleared if flagged as unresponsive)
 ```
@@ -0,0 +1,30 @@
 # ArmingCheckRequestV0 (UORB message)
 Arming check request.
 Broadcast message to request arming checks be reported by all registered components, such as external ROS 2 navigation modes.
 All registered components should respond with an ArmingCheckReply message that indicates their current mode requirements, and any arming failure information.
 The request is sent regularly, even while armed, so that the FMU always knows the current arming state for external modes, and can forward it to ground stations.
 The reply will include the published request_id, allowing correlation of all arming check information for a particular request.
 The reply will also include the registration_id for each external component, provided to it during the registration process (RegisterExtComponentReply).
 [source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/ArmingCheckRequestV0.msg)
 ```c
 # Arming check request.
 #
 # Broadcast message to request arming checks be reported by all registered components, such as external ROS 2 navigation modes.
 # All registered components should respond with an ArmingCheckReply message that indicates their current mode requirements, and any arming failure information.
 # The request is sent regularly, even while armed, so that the FMU always knows the current arming state for external modes, and can forward it to ground stations.
 #
 # The reply will include the published request_id, allowing correlation of all arming check information for a particular request.
 # The reply will also include the registration_id for each external component, provided to it during the registration process (RegisterExtComponentReply).
 uint32 MESSAGE_VERSION = 0
 uint64 timestamp  # [us] Time since system start.
 uint8 request_id  # Id of this request. Allows correlation with associated ArmingCheckReply messages.
 ```
@@ -0,0 +1,14 @@
 # RoverSpeedSetpoint (UORB message)
 Rover Speed Setpoint
 [source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RoverSpeedSetpoint.msg)
 ```c
 # Rover Speed Setpoint
 uint64 timestamp # [us] Time since system start
 float32 speed_body_x # [m/s] [@range -inf (Backwards), inf (Forwards)] [@frame Body] Speed setpoint in body x direction
 float32 speed_body_y # [m/s] [@range -inf (Left), inf (Right)] [@frame Body] [@invalid NaN If not mecanum] Mecanum only: Speed setpoint in body y direction
 ```
@@ -0,0 +1,18 @@
 # RoverSpeedStatus (UORB message)
 Rover Velocity Status
 [source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RoverSpeedStatus.msg)
 ```c
 # Rover Velocity Status
 uint64 timestamp # [us] Time since system start
 float32 measured_speed_body_x # [m/s] [@range -inf (Backwards), inf (Forwards)] [@frame Body] Measured speed in body x direction
 float32 adjusted_speed_body_x_setpoint # [m/s] [@range -inf (Backwards), inf (Forwards)] [@frame Body] Speed setpoint in body x direction that is being tracked (Applied slew rates)
 float32 pid_throttle_body_x_integral # [] [@range -1, 1] Integral of the PID for the closed loop controller of the speed in body x direction
 float32 measured_speed_body_y # [m/s] [@range -inf (Left), inf (Right)] [@frame Body] [@invalid NaN If not mecanum] Mecanum only: Measured speed in body y direction
 float32 adjusted_speed_body_y_setpoint # [m/s] [@range -inf (Left), inf (Right)] [@frame Body] [@invalid NaN If not mecanum] Mecanum only: Speed setpoint in body y direction that is being tracked (Applied slew rates)
 float32 pid_throttle_body_y_integral # [] [@range -1, 1] [@invalid NaN If not mecanum] Mecanum only: Integral of the PID for the closed loop controller of the speed in body y direction
 ```
@@ -1,22 +1,26 @@
 # VehicleAirData (UORB message)
 Vehicle air data
 Data from the currently selected barometer (plus ambient temperature from the source specified in temperature_source).
 Includes calculated data such as barometric altitude and air density.
 [source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleAirData.msg)
 ```c
 # Vehicle air data
 #
 # Data from the currently selected barometer (plus ambient temperature from the source specified in temperature_source).
 # Includes calculated data such as barometric altitude and air density.
-uint64 timestamp            # time since system start (microseconds)
+uint64 timestamp             # [us] Time since system start
-
+uint64 timestamp_sample      # [us] Timestamp of the raw data
-uint64 timestamp_sample     # the timestamp of the raw data (microseconds)
+uint32 baro_device_id        # Unique device ID for the selected barometer
-
+float32 baro_alt_meter       # [m] [@frame MSL] Altitude above MSL calculated from temperature compensated baro sensor data using an ISA corrected for sea level pressure SENS_BARO_QNH
-uint32 baro_device_id       # unique device ID for the selected barometer
+float32 baro_pressure_pa     # [Pa] Absolute pressure
-
+float32 ambient_temperature  # [degC] Ambient temperature
 float32 baro_alt_meter			# Altitude above MSL calculated from temperature compensated baro sensor data using an ISA corrected for sea level pressure SENS_BARO_QNH.
 float32 baro_pressure_pa		# Absolute pressure in Pascals
 float32 ambient_temperature		# Abient temperature in degrees Celsius
 uint8 temperature_source     # Source of temperature data: 0: Default Temperature (15°C), 1: External Baro, 2: Airspeed
-
+float32 rho                  # [kg/m^3] Air density
 float32 rho				# air density
 uint8 calibration_count      # Calibration changed counter. Monotonically increases whenever calibration changes.
 ```
@@ -229,10 +229,10 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
 - [RoverPositionSetpoint](RoverPositionSetpoint.md) — Rover Position Setpoint
 - [RoverRateSetpoint](RoverRateSetpoint.md) — Rover Rate setpoint
 - [RoverRateStatus](RoverRateStatus.md) — Rover Rate Status
 - [RoverSpeedSetpoint](RoverSpeedSetpoint.md) — Rover Speed Setpoint
 - [RoverSpeedStatus](RoverSpeedStatus.md) — Rover Velocity Status
 - [RoverSteeringSetpoint](RoverSteeringSetpoint.md) — Rover Steering setpoint
 - [RoverThrottleSetpoint](RoverThrottleSetpoint.md) — Rover Throttle setpoint
 - [RoverVelocitySetpoint](RoverVelocitySetpoint.md) — Rover Velocity Setpoint
 - [RoverVelocityStatus](RoverVelocityStatus.md) — Rover Velocity Status
 - [Rpm](Rpm.md)
 - [RtlStatus](RtlStatus.md)
 - [RtlTimeEstimate](RtlTimeEstimate.md)
@@ -281,7 +281,7 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
 - [UlogStreamAck](UlogStreamAck.md) — Ack a previously sent ulog_stream message that had
  the NEED_ACK flag set
 - [VehicleAcceleration](VehicleAcceleration.md)
- [VehicleAirData](VehicleAirData.md)
+- [VehicleAirData](VehicleAirData.md) — Vehicle air data
 - [VehicleAngularAccelerationSetpoint](VehicleAngularAccelerationSetpoint.md)
 - [VehicleConstraints](VehicleConstraints.md) — Local setpoint constraints in NED frame
  setting something to NaN means that no limit is provided
@@ -301,6 +301,7 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
 - [YawEstimatorStatus](YawEstimatorStatus.md)
 - [AirspeedValidatedV0](AirspeedValidatedV0.md)
 - [ArmingCheckReplyV0](ArmingCheckReplyV0.md)
 - [ArmingCheckRequestV0](ArmingCheckRequestV0.md) — Arming check request.
 - [BatteryStatusV0](BatteryStatusV0.md) — Battery status
 - [EventV0](EventV0.md) — this message is required here in the msg_old folder because other msg are depending on it
  Events interface
@@ -52,7 +52,7 @@ Please continue reading for [upgrade instructions](#upgrade-guide).
 ### 센서
- TBD
+- Add [sbgECom INS driver](../sensor/sbgecom.md) ([PX4-Autopilot#24137](https://github.com/PX4/PX4-Autopilot/pull/24137))
 ### 시뮬레이션
@@ -5,7 +5,7 @@ PX4 uses accelerometer data for velocity estimation.
 You should not need to attach an accelometer as a stand-alone external device:
 - Most flight controllers, such as those in the [Pixhawk Series](../flight_controller/pixhawk_series.md), include an accelerometer as part of the flight controller's [Inertial Motion Unit (IMU)](https://en.wikipedia.org/wiki/Inertial_measurement_unit).
- Gyroscopes are present as part of an [external INS, ARHS or INS-enhanced GNSS system](../sensor/inertial_navigation_systems.md).
+- Gyroscopes are present as part of an [external INS, AHRS or INS-enhanced GNSS system](../sensor/inertial_navigation_systems.md).
 The accelerometer must be calibrated before first use of the vehicle:
@@ -9,6 +9,7 @@ However PX4 can also use some INS devices as either sources of raw data, or as a
 INS systems that can be used as a replacement for EKF2 in PX4:
 - [InertialLabs](../sensor/inertiallabs.md)
 - [SBG Systems](../sensor/sbgecom.md): IMU/AHRS, GNSS/INS, Dual GNSS/INS systems that can be used as an external INS or as a source of raw sensor data.
 - [VectorNav](../sensor/vectornav.md): IMU/AHRS, GNSS/INS, Dual GNSS/INS systems that can be used as an external INS or as a source of raw sensor data.
 ## PX4 Firmware
@@ -0,0 +1,159 @@
 # SBG Systems INS/AHRS (Pulse, Ellipse, etc.)
 [SBG-Systems](https://www.sbg-systems.com/) designs, manufactures, and support an extensive range of state-of-the-art inertial sensors such as Inertial Measurement Units (IMU), Attitude and Heading Reference Systems (AHRS), Inertial Navigation Systems with embedded GNSS (INS/GNSS), and so on.
 PX4 supports [all SBG Systems products](https://www.sbg-systems.com/products/) and can use these as an [external INS](../sensor/inertial_navigation_systems.md) (bypassing/replacing the EKF2 estimator), or as a source of raw sensor data provided to the navigation estimator.
 ![Ellipse](../../assets/hardware/sensors/inertial/ellipse-inertial-navigation-system.png)
 ## 개요
 SBG Systems products provide a range of benefits to PX4 users and can be integrated for:
 - Higher accuracy heading, pitch, and roll estimates
 - More robust and reliable GNSS positioning
 - Improved positioning and attitude performance in GNSS-contested environments
 - Performance under challenging dynamic conditions (e.g. catapult launches, VTOL operations, high-g or high angular rate operations)
 The sbgECom PX4 driver is streamlined to provide a simple plug-and-play architecture, removing engineering obstacles and allowing the acceleration of the design, development, and launch of platforms to keep pace with the rapid rate of innovation.
 The driver supports [all SBG Systems products](https://www.sbg-systems.com/products/).
 In particular the following systems are recommended:
 - **Pulse:** Recommended for fixed-wing systems without hovering, where static heading is not necessary.
 - **Ellipse:** Recommended for multicopter systems where hovering and low dynamics requires the use of static heading.
 ## 구매처
 SBG Systems solutions are available directly from [MySBG](https://my.sbg-systems.com) (FR) or through their Global Sales Representatives. For more information on their solutions or for international orders, please contact contact@sbg-systems.com.
 ## 하드웨어 설정
 ### 배선
 Connect any unused flight controller serial interface, such as a spare `GPS` or `TELEM` port, to the SBG Systems product MAIN port (required by PX4).
 ### 장착
 The SBG Systems product sensor can be mounted in any orientation, in any position on the vehicle, without regard to center of gravity.
 All SBG Systems product sensors default to a coordinate system of x-forward, y-right, and z-down, making the default mounting as connector-back, base down.
 This can be changed to any rigid rotation using the sbgECom Reference Frame Rotation register.
 If using a GNSS-enabled product, the GNSS antenna must be mounted rigidly with respect to the inertial sensor and with an unobstructed sky view. If using a dual-GNSS-enabled product (Ellipse-D), the secondary antenna must be mounted rigidly with respect to the primary antenna and the inertial sensor with an unobstructed sky view.
 For more mounting and configuration requirements and recommendations, see the relevant [SBG SUPPORT CENTER](https://support.sbg-systems.com/sc).
 ## 펌웨어 설정
 ### PX4 설정
 To use the sbgECom driver:
 1. Include the module in firmware in the [kconfig board configuration](../hardware/porting_guide_config.md#px4-board-configuration-kconfig) by setting the kconfig variables: `CONFIG_DRIVERS_INS_SBGECOM` or `CONFIG_COMMON_INS`.
 2. [Set the parameter](../advanced_config/parameters.md) [SENS_SBG_CFG](../advanced_config/parameter_reference.md#SENS_SBG_CFG) to the hardware port connected to the SBG Systems product (for more information see [Serial Port Configuration](../peripherals/serial_configuration.md)).
   ::: warning
   Disable or change port of other sensors that are using the same one, for example [GPS_1_CONFIG](../advanced_config/parameter_reference.md#GPS_1_CONFIG) if using GPS1 port.
 :::
 3. Set [SBG_BAUDRATE](../advanced_config/parameter_reference.md#SBG_BAUDRATE) to the desired default baudrate value.
 4. Allow the sbgECom driver to initialize by restarting PX4.
 5. Configure driver to provide IMU data, GNSS data and INS :
   1. Set [SBG_MODE](../advanced_config/parameter_reference.md#SBG_MODE) to the desired mode.
   2. Make sensor module select sensors by enabling [SENS_IMU_MODE](../advanced_config/parameter_reference.md#SENS_IMU_MODE).
   3. Prioritize SBG Systems sensors using [CAL_GYROn_PRIO](../advanced_config/parameter_reference.md#CAL_GYRO0_PRIO), [CAL_ACCn_PRIO](../advanced_config/parameter_reference.md#CAL_ACC0_PRIO), [CAL_BAROn_PRIO](../advanced_config/parameter_reference.md#CAL_BARO0_PRIO), [CAL_MAGn_PRIO](../advanced_config/parameter_reference.md#CAL_MAG0_PRIO), where _n_ is the instance number of the IMU component (0, 1, etc.).
   ::: tip
   In most cases the external IMU (SBG) is the highest-numbered.
   You can get a list of the IMU components available using [`uorb top -1`](../middleware/uorb.md#uorb-top-command), you can differentiate between them using the [`listener`](../modules/modules_command.md#listener) command and looking through the data, or just the rates.
   Alternatively, you can check [CAL_GYROn_ID](../advanced_config/parameter_reference.md#CAL_GYRO0_ID) to see the device id.
   The priority is 0-255, where 0 is entirely disabled and 255 is highest priority.
 :::
   ::: warning
   When configuring both SBG Systems and Pixhawk sensors to have non-zero priority, if the selected sensor is errored (timeout), it can change during operation without being notified.
   In this case, MAVLink messages will be updated with the newly selected sensor.
   If you don't want to have this fallback mechanism, you must disable unwanted sensors.
 :::
   4. If using the sbgECom as an INS, disable EKF2 using [EKF2_EN](../advanced_config/parameter_reference.md#EKF2_EN).
 6. Restart PX4.
 Once enabled, the module will be detected on boot.
 IMU data should be published at 200Hz.
 ## SBG Systems Configuration
 All High Performance and Ellipse 3.0 and higher SBG Systems INS can be configured directly from PX4 firmware:
 1. Enable [SBG_CONFIGURATION_EN](../advanced_config/parameter_reference.md#SBG_CONFIGURATION_EN)
 2. Provide a JSON file `sbg_settings.json` containing SBG Systems INS settings to be applied in your PX4 board `extras` directory (ex: `boards/px4/fmu-v5/extras`). The settings JSON file will be installed in `/etc/extras/sbg_settings.json` on the board.
   ::: tip
   The settings can be retrieved using [sbgEComAPI](https://github.com/SBG-Systems/sbgECom/tree/main/tools/sbgEComApi) or [sbgInsRestApi](https://developer.sbg-systems.com/sbgInsRestApi/1.3/#tag/Settings) and then modified as a JSON file.
 :::
   ::: tip
   The settings file can be provided in the SD card in q`/fs/microsd/etc/extras/sbg_settings.json` to avoid rebuilding a new firmware to change JSON settings file.
 :::
 3. For testing purpose, it's also possible to modify SBG Systems INS settings on the fly:
   - By passing a JSON file path as argument when starting sbgecom driver (ex: `sbgecom start -f /fs/microsd/new_sbg_settings.json`)
   - By passing a JSON string as argument when starting sbgecom driver: (ex: `sbgecom start -s {"output":{"comA":{"messages":{"airData":"onChange"}}}}`)
 For older Ellipse SBG Systems INS or to configure any SBG Systems INS directly, all commands and registers can be found in the [SBG SUPPORT CENTER](https://support.sbg-systems.com/sc).
 :::warning
 If the baudrate of the serial port on the INS product (used to communicate with PX4) is changed, the parameter [SBG_BAUDRATE](../advanced_config/parameter_reference.md#SBG_BAUDRATE) must be changed to match.
 :::
 ## Published Data
 Upon initialization, the driver should print the following information to console (printed using `PX4_INFO`)
 - Unit model number
 - Unit hardware version
 - Unit serial number
 - Unit firmware number
 This should be accessible using the [`dmesg`](../modules/modules_system.md#dmesg) command.
 The sbgECom driver always publishes the unit's data to the following uORB topics:
 - [sensor_accel](../msg_docs/SensorAccel.md)
 - [sensor_gyro](../msg_docs/SensorGyro.md)
 - [sensor_mag](../msg_docs/SensorMag.md)
 if configured as a GNSS, publishes:
 - [sensor_gps](../msg_docs/SensorGps.md)
 and, if configured as an INS, publishes:
 - [estimator_status](../msg_docs/EstimatorStatus.md)
 - [vehicle_local_position](../msg_docs/VehicleLocalPosition.md)
 - [vehicle_global_positon](../msg_docs/VehicleGlobalPosition.md)
 - [vehicle_attitude](../msg_docs/VehicleAttitude.md)
 :::tip
 Published topics can be viewed using the `listener` command.
 :::
 ## Hardware Specifications
 - [Product Briefs](https://www.sbg-systems.com/products/)
 - [Datasheets](https://www.sbg-systems.com/contact/#products)