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New Crowdin translations - zh-CN

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Crowdin Bot
2025-06-11 22:42:46 +00:00
committed by Hamish Willee
parent 71e553c67e
commit a19d6e4f6e
10 changed files with 412 additions and 412 deletions
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docs/zh/advanced/parameters_and_configurations.md
+15 -15
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@@ -128,21 +128,21 @@ You add some "boilerplate" code to regularly listen for changes in the [uORB Top
- **px4_platform_common/module_params.h** to get the `DEFINE_PARAMETERS` macro: - **px4_platform_common/module_params.h** to get the `DEFINE_PARAMETERS` macro:
```cpp ```cpp
#include <px4_platform_common/module_params.h> #include <px4_platform_common/module_params.h>
``` ```
- **parameter_update.h** to access the uORB `parameter_update` message: - **parameter_update.h** to access the uORB `parameter_update` message:
```cpp ```cpp
#include <uORB/topics/parameter_update.h> #include <uORB/topics/parameter_update.h>
``` ```
- **Subscription.hpp** for the uORB C++ subscription API: - **Subscription.hpp** for the uORB C++ subscription API:
```cpp ```cpp
#include <uORB/Subscription.hpp> #include <uORB/Subscription.hpp>
``` ```
Derive your class from `ModuleParams`, and use `DEFINE_PARAMETERS` to specify a list of parameters and their associated parameter attributes. Derive your class from `ModuleParams`, and use `DEFINE_PARAMETERS` to specify a list of parameters and their associated parameter attributes.
参数的名称必须与其参数元数据定义相同。 参数的名称必须与其参数元数据定义相同。
@@ -194,7 +194,7 @@ void Module::parameters_update()
- `_parameter_update_sub.updated()` tells us if there is _any_ update to the `param_update` uORB message (but not what parameter is affected). - `_parameter_update_sub.updated()` tells us if there is _any_ update to the `param_update` uORB message (but not what parameter is affected).
- If there has been "some" parameter updated, we copy the update into a `parameter_update_s` (`param_update`), to clear the pending update. - If there has been "some" parameter updated, we copy the update into a `parameter_update_s` (`param_update`), to clear the pending update.
- Then we call `ModuleParams::updateParams()`. - Then we call `ModuleParams::updateParams()`.
This "under the hood" updates all parameter attributes listed in our `DEFINE_PARAMETERS` list. This "under the hood" updates all parameter attributes listed in our `DEFINE_PARAMETERS` list.
The parameter attributes (`_sys_autostart` and `_att_bias_max` in this case) can then be used to represent the parameters, and will be updated whenever the parameter value changes. The parameter attributes (`_sys_autostart` and `_att_bias_max` in this case) can then be used to represent the parameters, and will be updated whenever the parameter value changes.
@@ -267,12 +267,12 @@ YAML meta data is intended as a full replacement for the **.c** definitions.
- An example of YAML definitions being used can be found in the MAVLink parameter definitions: [/src/modules/mavlink/module.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/mavlink/module.yaml). - An example of YAML definitions being used can be found in the MAVLink parameter definitions: [/src/modules/mavlink/module.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/mavlink/module.yaml).
- 通过添加到 cmake 构建系统中注册一个 YAML 文件 - 通过添加到 cmake 构建系统中注册一个 YAML 文件
```cmake ```cmake
MODULE_CONFIG MODULE_CONFIG
module.yaml module.yaml
``` ```
to the `px4_add_module` section of the `CMakeLists.txt` file of that module. to the `px4_add_module` section of the `CMakeLists.txt` file of that module.
#### 多实例（模块化）YAML 元数据 #### 多实例（模块化）YAML 元数据
docs/zh/companion_computer/holybro_pixhawk_jetson_baseboard.md
+129 -129
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@@ -20,7 +20,7 @@ This guide walks through the process of setting up the board and connecting to P
You will temporarily need the following hardware in order to log into your Jetson and get its IP address, after which you will be able to log in via SSH: You will temporarily need the following hardware in order to log into your Jetson and get its IP address, after which you will be able to log in via SSH:
- External display. - External display.
If your display doesn't have a mini HDMI connector you will also need a [Mini HDMI to HDMI converter](https://a.co/d/6N815N9) if your external display has HDMI input If your display doesn't have a mini HDMI connector you will also need a [Mini HDMI to HDMI converter](https://a.co/d/6N815N9) if your external display has HDMI input
- Ethernet cable - Ethernet cable
- Mouse and keyboard (the baseboard has 4 USB ports exposed from Jetson, two of which are USB 3.0) - Mouse and keyboard (the baseboard has 4 USB ports exposed from Jetson, two of which are USB 3.0)
@@ -45,11 +45,11 @@ This information comes from the [Holybro Pixhawk-Jetson Baseboard Documentation]
- 尺寸 - 尺寸
- 126 x 80 x 45mm (with Jetson Orin NX + Heatsink/Fan & FC Module) - 126 x 80 x 45mm (with Jetson Orin NX + Heatsink/Fan & FC Module)
- 126 x 80 x 22.9mm (without Jetson and FC Module) - 126 x 80 x 22.9mm (without Jetson and FC Module)
- 重量 - 重量
- 190g (with Jetson, Heatsink, Flight Controller, M.2 SSD, M.2 Wi-Fi Module) - 190g (with Jetson, Heatsink, Flight Controller, M.2 SSD, M.2 Wi-Fi Module)
::: :::
@@ -57,67 +57,67 @@ This information comes from the [Holybro Pixhawk-Jetson Baseboard Documentation]
- 2x Gigabit Ethernet Port - 2x Gigabit Ethernet Port
- Connected to both Jetson & Autopilot via Ethernet switch (RTL8367S) - Connected to both Jetson & Autopilot via Ethernet switch (RTL8367S)
- Ethernet Switch powered by the same circuit as the Pixhawk - Ethernet Switch powered by the same circuit as the Pixhawk
- 8-pin JST-GH - 8-pin JST-GH
- RJ45 - RJ45
- 2x MIPI CSI Camera Inputs - 2x MIPI CSI Camera Inputs
- 4 Lanes each - 4 Lanes each
- 22-Pin Raspberry Pi Cam FFC - 22-Pin Raspberry Pi Cam FFC
- 2x USB 3.0 Host Port - 2x USB 3.0 Host Port
- USB A - USB A
- 5A Current Limit - 5A Current Limit
- 2x USB 2.0 Host Port - 2x USB 2.0 Host Port
- 5-Pin JST-GH - 5-Pin JST-GH
- 0A Current Limit - 0A Current Limit
- USB 2.0 for Programming/Debugging - USB 2.0 for Programming/Debugging
- USB-C - USB-C
- 2 Key M 2242/2280 for NVMe SSD - 2 Key M 2242/2280 for NVMe SSD
- PCIEx4 - PCIEx4
- 2 Key E 2230 for WiFi/BT - 2 Key E 2230 for WiFi/BT
- PCIEx2 - PCIEx2
- USB - USB
- UART - UART
- I2S - I2S
- Mini HDMI Out - Mini HDMI Out
- 4x GPIO - 4x GPIO
- 6-pin JST-GH - 6-pin JST-GH
- CAN Port - CAN Port
- Connected to Autopilot's CAN2 (4 Pin JST-GH) - Connected to Autopilot's CAN2 (4 Pin JST-GH)
- SPI Port - SPI Port
- 7-Pin JST-GH - 7-Pin JST-GH
- I2C Port - I2C Port
- 4-Pin JST-GH - 4-Pin JST-GH
- I2S Port - I2S Port
- 7-Pin JST-GH - 7-Pin JST-GH
- 2x UART Port - 2x UART Port
- 1 for debug - 1 for debug
- 1 connected to Autopilot's telem2 - 1 connected to Autopilot's telem2
- Fan Power Port - Fan Power Port
@@ -129,13 +129,13 @@ This information comes from the [Holybro Pixhawk-Jetson Baseboard Documentation]
- Pixhawk Autopilot Bus Interface - Pixhawk Autopilot Bus Interface
- 100 Pin Hirose DF40 - 100 Pin Hirose DF40
- 50 Pin Hirose DF40 - 50 Pin Hirose DF40
- Redundant Digital Power Module Inputs - Redundant Digital Power Module Inputs
- I2C Power Monitor Support - I2C Power Monitor Support
- 2x 6-Pin Molex CLIK-Mate - 2x 6-Pin Molex CLIK-Mate
- Power Path Selector - Power Path Selector
@@ -143,68 +143,68 @@ This information comes from the [Holybro Pixhawk-Jetson Baseboard Documentation]
- 额定电压 - 额定电压
- Max input voltage: 6V - Max input voltage: 6V
- USB 电源输入：4.75~5.25V - USB 电源输入：4.75~5.25V
- Full GPS Plus Safety Switch Port - Full GPS Plus Safety Switch Port
- 10-Pin JST-GH - 10-Pin JST-GH
- Secondary (GPS2) Port - Secondary (GPS2) Port
- 6-Pin JST-GH - 6-Pin JST-GH
- 2x CAN Ports - 2x CAN Ports
- 4-Pin JST-GH - 4-Pin JST-GH
- 3x Telemetry Ports with Flow Control - 3x Telemetry Ports with Flow Control
- 2x 6-Pin JST-GH - 2x 6-Pin JST-GH
- 1 is connected to Jetson's `UART1` Port - 1 is connected to Jetson's `UART1` Port
- 16 PWM Outputs - 16 PWM Outputs
- 2x 10-Pin JST-GH - 2x 10-Pin JST-GH
- UART4 & I2C Port - UART4 & I2C Port
- 6-Pin JST-GH - 6-Pin JST-GH
- 2x Gigabit Ethernet Port - 2x Gigabit Ethernet Port
- Connected to both Jetson & Autopilot via Ethernet switch (RTL8367S) - Connected to both Jetson & Autopilot via Ethernet switch (RTL8367S)
- 8-Pin JST-GH - 8-Pin JST-GH
- RJ45 - RJ45
- AD & IO - AD & IO
- 8-Pin JST-GH - 8-Pin JST-GH
- USB 2.0 - USB 2.0
- USB-C - USB-C
- 4-Pin JST-GH - 4-Pin JST-GH
- DSM Input - DSM Input
- 3-Pin JST-ZH 1.5mm Pitch - 3-Pin JST-ZH 1.5mm Pitch
- RC In - RC In
- PPM/SBUS - PPM/SBUS
- 5-Pin JST-GH - 5-Pin JST-GH
- SPI Port - SPI Port
- External Sensor Bus (SPI5) - External Sensor Bus (SPI5)
- 11-Pin JST-GH - 11-Pin JST-GH
- 2x Debug Port - 2x Debug Port
- 1 for FMU - 1 for FMU
- 1 for IO - 1 for IO
- 10-Pin JST-SH - 10-Pin JST-SH
::: :::
@@ -218,7 +218,7 @@ The Jetson has separate input power circuitry from the Pixhawk autopilot:
- 8V/3A Minimum (Depends on Usage and Peripherals) - 8V/3A Minimum (Depends on Usage and Peripherals)
- Voltage Rating: 7-21V (3S-4S) - Voltage Rating: 7-21V (3S-4S)
- Jetson Baseboard onboard BEC is rated for 7-21V (3S-4S). - Jetson Baseboard onboard BEC is rated for 7-21V (3S-4S).
Note that the external UBEC-12A can be used for applications above 4S Note that the external UBEC-12A can be used for applications above 4S
During development using the following wired power supply is recommended: During development using the following wired power supply is recommended:
@@ -698,7 +698,7 @@ On the following screen, confirm your selected device:
- Choose `Pre-config` for the OEM Configuration (this will skip Ubuntu first time setup screens after reboot). - Choose `Pre-config` for the OEM Configuration (this will skip Ubuntu first time setup screens after reboot).
- Choose your preferred username and password (and write them down). - Choose your preferred username and password (and write them down).
These will be used as your login credentials to Jetpack. These will be used as your login credentials to Jetpack.
- Choose `NVMe` as the storage device because the board has separate SSD for storage. - Choose `NVMe` as the storage device because the board has separate SSD for storage.
![SDK Manager installation storage and OEM config page](../../assets/companion_computer/holybro_pixhawk_jetson_baseboard/nvidia_sdkmanager_3.png) ![SDK Manager installation storage and OEM config page](../../assets/companion_computer/holybro_pixhawk_jetson_baseboard/nvidia_sdkmanager_3.png)
@@ -922,95 +922,95 @@ These instructions approximately mirror the [PX4 Ethernet setup](../advanced_con
Next we modify the Jetson IP address to be on the same network as the Pixhawk: Next we modify the Jetson IP address to be on the same network as the Pixhawk:
1. Make sure `netplan` is installed. 1. Make sure `netplan` is installed.
You can check by running the following command: You can check by running the following command:
```sh ```sh
netplan -h netplan -h
``` ```
If not, install it using the commands: If not, install it using the commands:
```sh ```sh
sudo apt update sudo apt update
sudo apt install netplan.io sudo apt install netplan.io
``` ```
2. Check `system_networkd` is running: 2. Check `system_networkd` is running:
```sh ```sh
sudo systemctl status systemd-networkd sudo systemctl status systemd-networkd
``` ```
You should see output like below if it is active: You should see output like below if it is active:
```sh ```sh
● systemd-networkd.service - Network Configuration ● systemd-networkd.service - Network Configuration
Loaded: loaded (/lib/systemd/system/systemd-networkd.service; enabled; vendor preset: enabled) Loaded: loaded (/lib/systemd/system/systemd-networkd.service; enabled; vendor preset: enabled)
Active: active (running) since Wed 2024-09-11 23:32:44 EDT; 23min ago Active: active (running) since Wed 2024-09-11 23:32:44 EDT; 23min ago
TriggeredBy: ● systemd-networkd.socket TriggeredBy: ● systemd-networkd.socket
Docs: man:systemd-networkd.service(8) Docs: man:systemd-networkd.service(8)
Main PID: 2452 (systemd-network) Main PID: 2452 (systemd-network)
Status: "Processing requests..." Status: "Processing requests..."
Tasks: 1 (limit: 18457) Tasks: 1 (limit: 18457)
Memory: 2.7M Memory: 2.7M
CPU: 157ms CPU: 157ms
CGroup: /system.slice/systemd-networkd.service CGroup: /system.slice/systemd-networkd.service
└─2452 /lib/systemd/systemd-networkd └─2452 /lib/systemd/systemd-networkd
Sep 11 23:32:44 ubuntu systemd-networkd[2452]: lo: Gained carrier Sep 11 23:32:44 ubuntu systemd-networkd[2452]: lo: Gained carrier
Sep 11 23:32:44 ubuntu systemd-networkd[2452]: wlan0: Gained IPv6LL Sep 11 23:32:44 ubuntu systemd-networkd[2452]: wlan0: Gained IPv6LL
Sep 11 23:32:44 ubuntu systemd-networkd[2452]: eth0: Gained IPv6LL Sep 11 23:32:44 ubuntu systemd-networkd[2452]: eth0: Gained IPv6LL
Sep 11 23:32:44 ubuntu systemd-networkd[2452]: Enumeration completed Sep 11 23:32:44 ubuntu systemd-networkd[2452]: Enumeration completed
Sep 11 23:32:44 ubuntu systemd[1]: Started Network Configuration. Sep 11 23:32:44 ubuntu systemd[1]: Started Network Configuration.
Sep 11 23:32:44 ubuntu systemd-networkd[2452]: wlan0: Connected WiFi access point: Verizon_7YLWWD (78:67:0e:ea:a6:0> Sep 11 23:32:44 ubuntu systemd-networkd[2452]: wlan0: Connected WiFi access point: Verizon_7YLWWD (78:67:0e:ea:a6:0>
Sep 11 23:34:16 ubuntu systemd-networkd[2452]: eth0: Re-configuring with /run/systemd/network/10-netplan-eth0.netwo> Sep 11 23:34:16 ubuntu systemd-networkd[2452]: eth0: Re-configuring with /run/systemd/network/10-netplan-eth0.netwo>
Sep 11 23:34:16 ubuntu systemd-networkd[2452]: eth0: DHCPv6 lease lost Sep 11 23:34:16 ubuntu systemd-networkd[2452]: eth0: DHCPv6 lease lost
Sep 11 23:34:16 ubuntu systemd-networkd[2452]: eth0: Re-configuring with /run/systemd/network/10-netplan-eth0.netwo> Sep 11 23:34:16 ubuntu systemd-networkd[2452]: eth0: Re-configuring with /run/systemd/network/10-netplan-eth0.netwo>
Sep 11 23:34:16 ubuntu systemd-networkd[2452]: eth0: DHCPv6 lease lost Sep 11 23:34:16 ubuntu systemd-networkd[2452]: eth0: DHCPv6 lease lost
``` ```
If `system_networkd` is not running, it can be enabled using: If `system_networkd` is not running, it can be enabled using:
```sh ```sh
sudo systemctl start systemd-networkd sudo systemctl start systemd-networkd
sudo systemctl enable systemd-networkd sudo systemctl enable systemd-networkd
``` ```
3. Open the Netplan configuration file (so we can set up a static IP for the Jetson). 3. Open the Netplan configuration file (so we can set up a static IP for the Jetson).
The Netplan configuration file is usually located in the `/etc/netplan/` directory and named something like `01-netcfg.yaml` (the name can vary). The Netplan configuration file is usually located in the `/etc/netplan/` directory and named something like `01-netcfg.yaml` (the name can vary).
Below we use `nano` to open the file, but you can use your preferred text editor: Below we use `nano` to open the file, but you can use your preferred text editor:
```sh ```sh
sudo nano /etc/netplan/01-netcfg.yaml sudo nano /etc/netplan/01-netcfg.yaml
``` ```
4. Modify the yaml configuration, by overwriting the contents with the following information and then saving: 4. Modify the yaml configuration, by overwriting the contents with the following information and then saving:
```sh ```sh
network: network:
version: 2 version: 2
renderer: networkd renderer: networkd
ethernets: ethernets:
eth0: eth0:
dhcp4: no dhcp4: no
addresses: addresses:
- 10.41.10.1/24 - 10.41.10.1/24
routes: routes:
- to: 0.0.0.0/0 - to: 0.0.0.0/0
via: 10.41.10.254 via: 10.41.10.254
nameservers: nameservers:
addresses: addresses:
- 10.41.10.254 - 10.41.10.254
``` ```
This gives the Jetson a static IP address on the Ethernet interface of `10.41.10.1` . This gives the Jetson a static IP address on the Ethernet interface of `10.41.10.1` .
5. Apply the changes using the following command: 5. Apply the changes using the following command:
```sh ```sh
sudo netplan apply sudo netplan apply
``` ```
The Pixhawk Ethernet address is set to `10.41.10.2` by default, which is on the same subnet. The Pixhawk Ethernet address is set to `10.41.10.2` by default, which is on the same subnet.
We can test our changes above by pinging the Pixhawk from within the Jetson terminal: We can test our changes above by pinging the Pixhawk from within the Jetson terminal:
@@ -1221,15 +1221,15 @@ Assuming the client is set up as defined above:
- (Serial connection) Start the agent on `/dev/ttyTHS1`: - (Serial connection) Start the agent on `/dev/ttyTHS1`:
```sh ```sh
sudo MicroXRCEAgent serial --dev /dev/ttyTHS1 -b 921600 sudo MicroXRCEAgent serial --dev /dev/ttyTHS1 -b 921600
``` ```
- (Ethernet) Start the agent on UDP port `8888`: - (Ethernet) Start the agent on UDP port `8888`:
```sh ```sh
MicroXRCEAgent udp4 -p 8888 MicroXRCEAgent udp4 -p 8888
``` ```
If your agent and client are connected and no nodes are running, you should see output similar to this in the Agent terminal: If your agent and client are connected and no nodes are running, you should see output similar to this in the Agent terminal:
docs/zh/config_mc/index.md
+14 -14
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@@ -38,9 +38,9 @@ A frame configuration can define everything about a vehicle, from it's geometry
When you're bringing up a new vehicle though, the frame will usually contain a fairly minimal configuration: When you're bringing up a new vehicle though, the frame will usually contain a fairly minimal configuration:
- Frames named with "Generic" define the vehicle type, number of rotors, and "placeholder" rotor positions. - Frames named with "Generic" define the vehicle type, number of rotors, and "placeholder" rotor positions.
After selecting the airframe you define the actual geometry and then configure outputs. After selecting the airframe you define the actual geometry and then configure outputs.
- Frames named with model/brand will define the vehicle type, number of rotors, actual rotor positions, and motor directions. - Frames named with model/brand will define the vehicle type, number of rotors, actual rotor positions, and motor directions.
After selecting the airframe you usually still have to configure outputs. After selecting the airframe you usually still have to configure outputs.
::: :::
@@ -52,7 +52,7 @@ This ensures that all ESC provide exactly the same output for a given input (ide
The final step is [Motor Configuration](../config/actuators.md#motor-configuration): The final step is [Motor Configuration](../config/actuators.md#motor-configuration):
- [Reverse any motors](../config/actuators.md#reversing-motors) that don't match the spin direction configured in the Geometry. - [Reverse any motors](../config/actuators.md#reversing-motors) that don't match the spin direction configured in the Geometry.
For DShot ESC you can do this through the Acuator Testing UI. For DShot ESC you can do this through the Acuator Testing UI.
- PWM, OneShot, and CAN ESC, set the motor input limits for disarmed, low and high speed (not needed for DShot ESC) - PWM, OneShot, and CAN ESC, set the motor input limits for disarmed, low and high speed (not needed for DShot ESC)
相关章节： 相关章节：
@@ -123,14 +123,14 @@ Tuning is the final step, carried out only after most other setup and configurat
- [Autotune](../config/autotune_mc.md) — Automates tuning PX4 rate and attitude controllers (recommended). - [Autotune](../config/autotune_mc.md) — Automates tuning PX4 rate and attitude controllers (recommended).
::: info ::: info
Automatic tuning works on frames that have reasonable authority and dynamics around all the body axes. Automatic tuning works on frames that have reasonable authority and dynamics around all the body axes.
It has primarily been tested on racing quads and X500, and is expected to be less effective on tricopters with a tiltable rotor. It has primarily been tested on racing quads and X500, and is expected to be less effective on tricopters with a tiltable rotor.
Manual tuning using these guides are only needed if there is a problem with autotune: Manual tuning using these guides are only needed if there is a problem with autotune:
- [MC PID Tuning (Manual/Basic)](../config_mc/pid_tuning_guide_multicopter_basic.md) — Manual tuning basic how to. - [MC PID Tuning (Manual/Basic)](../config_mc/pid_tuning_guide_multicopter_basic.md) — Manual tuning basic how to.
- [MC PID Tuning Guide (Manual/Detailed)](../config_mc/pid_tuning_guide_multicopter.md) — Manual tuning with detailed explanation. - [MC PID Tuning Guide (Manual/Detailed)](../config_mc/pid_tuning_guide_multicopter.md) — Manual tuning with detailed explanation.
::: :::
@@ -138,7 +138,7 @@ Tuning is the final step, carried out only after most other setup and configurat
- [MC Filter/Control Latency Tuning](../config_mc/filter_tuning.md) — Trade off control latency and noise filtering. - [MC Filter/Control Latency Tuning](../config_mc/filter_tuning.md) — Trade off control latency and noise filtering.
- [MC Setpoint Tuning (Trajectory Generator)](../config_mc/mc_trajectory_tuning.md) - [MC Setpoint Tuning (Trajectory Generator)](../config_mc/mc_trajectory_tuning.md)
- [MC Jerk-limited Type Trajectory](../config_mc/mc_jerk_limited_type_trajectory.md) - [MC Jerk-limited Type Trajectory](../config_mc/mc_jerk_limited_type_trajectory.md)
- [Multicopter Racer Setup](../config_mc/racer_setup.md) - [Multicopter Racer Setup](../config_mc/racer_setup.md)
@@ -167,7 +167,7 @@ Yes but it must be physically feasible. E.g. if you make a quadrotor where all m
- [飞控外设](../peripherals/index.md) - 设置特定传感器、可选传感器、执行器等。 - [飞控外设](../peripherals/index.md) - 设置特定传感器、可选传感器、执行器等。
- [Advanced Configuration](../advanced_config/index.md) - Factory/OEM calibration, configuring advanced features, less-common configuration. - [Advanced Configuration](../advanced_config/index.md) - Factory/OEM calibration, configuring advanced features, less-common configuration.
- Vehicle-Centric Config/Tuning: - Vehicle-Centric Config/Tuning:
- **Multicopter Config/Tuning** - **Multicopter Config/Tuning**
- [直升机配置/调参](../config_heli/index.md) - [直升机配置/调参](../config_heli/index.md)
- [Fixed Wing Config/Tuning](../config_fw/index.md) - [Fixed Wing Config/Tuning](../config_fw/index.md)
- [VTOL 配置/调参](../config_vtol/index.md) - [VTOL 配置/调参](../config_vtol/index.md)
docs/zh/frames_multicopter/holybro_x500V2_pixhawk5x.md
+55 -55
View File
@@ -26,13 +26,13 @@ The ARF kit can be used with most flight controllers supported by PX4.
The Holybro [X500 V2 Kit](https://holybro.com/collections/x500-kits) includes almost all the required components: The Holybro [X500 V2 Kit](https://holybro.com/collections/x500-kits) includes almost all the required components:
- X500V2 Frame Kit - X500V2 Frame Kit
- Body - Full Carbon Fiber Top & Bottom plate (144 x 144mm, 2mm thick) - Body - Full Carbon Fiber Top & Bottom plate (144 x 144mm, 2mm thick)
- Arm - High strength & ultra-lightweight 16mm carbon fiber tubes - Arm - High strength & ultra-lightweight 16mm carbon fiber tubes
- Landing gear - 16mm & 10mm diameter carbon fiber tubes - Landing gear - 16mm & 10mm diameter carbon fiber tubes
- Platform board - With mounting holes for GPS & popular companion computer - Platform board - With mounting holes for GPS & popular companion computer
- Dual 10mm Ø rod x 250 mm long rail mounting system - Dual 10mm Ø rod x 250 mm long rail mounting system
- Battery mount with two Battery Straps - Battery mount with two Battery Straps
- Hand tools for installation - Hand tools for installation
- Holybro Motors - 2216 KV880 x6 (superseded - check [spare parts list](https://holybro.com/products/spare-parts-x500-v2-kit) for current version). - Holybro Motors - 2216 KV880 x6 (superseded - check [spare parts list](https://holybro.com/products/spare-parts-x500-v2-kit) for current version).
- Holybro BLHeli S ESC 20A x4 (superseded - check [spare parts list](https://holybro.com/products/spare-parts-x500-v2-kit) for current version). - Holybro BLHeli S ESC 20A x4 (superseded - check [spare parts list](https://holybro.com/products/spare-parts-x500-v2-kit) for current version).
- Propellers - 1045 x4 (superseded - check [spare parts list](https://holybro.com/products/spare-parts-x500-v2-kit) for current version). - Propellers - 1045 x4 (superseded - check [spare parts list](https://holybro.com/products/spare-parts-x500-v2-kit) for current version).
@@ -93,92 +93,92 @@ Tools are included to do the assembly, however you may need:
Estimate time to assemble is 55 min (25 minutes for frame, 30 minutes for autopilot installation/configuration) Estimate time to assemble is 55 min (25 minutes for frame, 30 minutes for autopilot installation/configuration)
1. Start by assembling the payload & battery holder. 1. Start by assembling the payload & battery holder.
Push the rubbers into grippers (Do not use sharp items to push them in!). Push the rubbers into grippers (Do not use sharp items to push them in!).
Next, pass the holders through the holder bars with the battery holder bases as Figure 3. Next, pass the holders through the holder bars with the battery holder bases as Figure 3.
![Landing Figure 1: Components](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/payload_holder_required_stuff.png) ![Landing Figure 1: Components](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/payload_holder_required_stuff.png)
_Figure 2_: Payload holder components _Figure 2_: Payload holder components
![Landing Figure 2: Assembled](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/payload_holder_assembled.png) ![Landing Figure 2: Assembled](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/payload_holder_assembled.png)
_Figure 3_: Payload holder assembled _Figure 3_: Payload holder assembled
2. The next is to go for attaching the bottom plate to the payload holder. 2. The next is to go for attaching the bottom plate to the payload holder.
You will need the parts as shown in Figure 4. You will need the parts as shown in Figure 4.
Then mount the base for power distribution board using nylon nuts as Figure 5. Then mount the base for power distribution board using nylon nuts as Figure 5.
Finally using 8 hex screws you can join the bottom plate to the payload holder (Figure 7) Finally using 8 hex screws you can join the bottom plate to the payload holder (Figure 7)
![Materials to attach bottom plate](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/topplate_holder_stuff.png) ![Materials to attach bottom plate](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/topplate_holder_stuff.png)
_Figure 4_: Needed Materials _Figure 4_: Needed Materials
![PDB mountbase](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/powerboard-mountbase.png) ![PDB mountbase](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/powerboard-mountbase.png)
_Figure 5_: PDB mount base _Figure 5_: PDB mount base
![PDB attachment](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/pdb_bottom_plate.png) ![PDB attachment](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/pdb_bottom_plate.png)
_Figure 6_: Mounted pdb with nylon nuts _Figure 6_: Mounted pdb with nylon nuts
![Bottom plate Final](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/bottom_plate_holder_final.png) ![Bottom plate Final](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/bottom_plate_holder_final.png)
_Figure 7_: Mounted Plate on payload holder _Figure 7_: Mounted Plate on payload holder
3. Let's gather the stuff needed for mounting landing gear as Figure 8. 3. Let's gather the stuff needed for mounting landing gear as Figure 8.
Use the hex screws to join landing gears to the bottom plate. Use the hex screws to join landing gears to the bottom plate.
You also need to open three hex screws on each of the leg stands so you can push them into carbon fiber pipes. You also need to open three hex screws on each of the leg stands so you can push them into carbon fiber pipes.
Do not forget to tighten them back again. Do not forget to tighten them back again.
![Attach Landing Gear Stuff](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/landing_gear_materials.png) ![Attach Landing Gear Stuff](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/landing_gear_materials.png)
_Figure 8_: Required parts for landing gear attachment _Figure 8_: Required parts for landing gear attachment
![Lanfing great to bottom plate](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/attached_landing_gear.png) ![Lanfing great to bottom plate](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/attached_landing_gear.png)
_Figure 9_: Landing gear attachment to the body _Figure 9_: Landing gear attachment to the body
4. We will gather all the arms now to mount the top plate. 4. We will gather all the arms now to mount the top plate.
Please pay attention that the motor numbers on arms are a match with the ones mentioned on the top plate. Please pay attention that the motor numbers on arms are a match with the ones mentioned on the top plate.
Fortunately, motors are mounted and ESCs have been connected in advance. Fortunately, motors are mounted and ESCs have been connected in advance.
Start by passing through all the screws as you have the arms fixed in their own places (They have a guide as shown in Figure 11 to ensure they are in place) and tighten all nylon nuts a bit. Start by passing through all the screws as you have the arms fixed in their own places (They have a guide as shown in Figure 11 to ensure they are in place) and tighten all nylon nuts a bit.
Then you can connect XT30 power connectors to the power board. Then you can connect XT30 power connectors to the power board.
Please keep in mind that the signal wires have to be passed through the top plate such that we can connect them later to Pixhawk. Please keep in mind that the signal wires have to be passed through the top plate such that we can connect them later to Pixhawk.
<img src="../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/needed_stuff_top_plate.png" width="700" title="Arms and top plate materials"> <img src="../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/needed_stuff_top_plate.png" width="700" title="Arms and top plate materials">
_Figure 10_: Connecting arms needed materials. _Figure 10_: Connecting arms needed materials.
<img src="../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/guide_for_arm_mount.png" width="700" title="Guide for the arms mount"> <img src="../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/guide_for_arm_mount.png" width="700" title="Guide for the arms mount">
_Figure 11_: Guide for the arms mount _Figure 11_: Guide for the arms mount
5. Tighten all 16 screws and nuts by using both hex wrench and nut driver. 5. Tighten all 16 screws and nuts by using both hex wrench and nut driver.
![Top plae mounted](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/finalized_top_plate.png) ![Top plae mounted](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/finalized_top_plate.png)
_Figure 12_: Mounted top plate _Figure 12_: Mounted top plate
6. Next you can mount your pixhawk on the top plate by using the stickers. 6. Next you can mount your pixhawk on the top plate by using the stickers.
It is recommended to have the direction of your Pixhawk's arrow the same as the one mentioned on the top plate. It is recommended to have the direction of your Pixhawk's arrow the same as the one mentioned on the top plate.
![Flight controller mounting stickers](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/pixhawk5x_stickertapes.png) ![Flight controller mounting stickers](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/pixhawk5x_stickertapes.png)
_Figure 13_: Sticker tapes on Pixhawk _Figure 13_: Sticker tapes on Pixhawk
7. If you want to mount the GPS on the companion computer plate, you can now secure the GPS mount onto it using 4 screws and nuts. 7. If you want to mount the GPS on the companion computer plate, you can now secure the GPS mount onto it using 4 screws and nuts.
<img src="../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/gps_mount_plate.png" width="400" title="Secure GPS mount onto companion plate"> <img src="../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/gps_mount_plate.png" width="400" title="Secure GPS mount onto companion plate">
_Figure 14_: Secure GPS mount onto companion plate _Figure 14_: Secure GPS mount onto companion plate
8. Use the tape and stick the GPS to the top of the GPS mast and mount the GPS mast. 8. Use the tape and stick the GPS to the top of the GPS mast and mount the GPS mast.
Make sure the arrow on the gps is pointing forward (Figure 15). Make sure the arrow on the gps is pointing forward (Figure 15).
<img src="../../assets/airframes/multicopter/x500_holybro_pixhawk4/gps2.jpg" width="400" title="Figure 16: GPS and mast"> <img src="../../assets/airframes/multicopter/x500_holybro_pixhawk4/gps2.jpg" width="400" title="Figure 16: GPS and mast">
_Figure 15_: GPS and mast _Figure 15_: GPS and mast
9. Finally, you can connect the Pixhawk interfaces such as telemetry radio to 'TELEM1' and motors signal cables accordingly. 9. Finally, you can connect the Pixhawk interfaces such as telemetry radio to 'TELEM1' and motors signal cables accordingly.
@@ -204,14 +204,14 @@ First update the firmware, airframe, and actuator mappings:
- [Airframe](../config/airframe.md) - [Airframe](../config/airframe.md)
You will need to select the _Holybro X500 V2_ airframe (**Quadrotor x > Holybro 500 V2**) You will need to select the _Holybro X500 V2_ airframe (**Quadrotor x > Holybro 500 V2**)
![QGroundControl - Select HolyBro 500 airframe](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/x500v2_airframe_qgc.png) ![QGroundControl - Select HolyBro 500 airframe](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/x500v2_airframe_qgc.png)
- [Actuators](../config/actuators.md) - [Actuators](../config/actuators.md)
- You should not need to update the vehicle geometry (as this is a preconfigured airframe). - You should not need to update the vehicle geometry (as this is a preconfigured airframe).
- Assign actuator functions to outputs to match your wiring. - Assign actuator functions to outputs to match your wiring.
- Test the configuration using the sliders. - Test the configuration using the sliders.
Then perform the mandatory setup/calibration: Then perform the mandatory setup/calibration:
docs/zh/frames_plane/reptile_dragon_2.md
+15 -15
View File
@@ -20,12 +20,12 @@ Key airframe features:
- Removable V tail or conventional tail options included - Removable V tail or conventional tail options included
- Threaded inserts in the wings and fuselage top for external mounting - Threaded inserts in the wings and fuselage top for external mounting
- Numerous mounting features - Numerous mounting features
- Top antenna hole - Top antenna hole
- Top GPS cover - Top GPS cover
- Side "T" antenna mounts - Side "T" antenna mounts
- Rear electronics tray - Rear electronics tray
- Front facing "action cam" cutout - Front facing "action cam" cutout
- Front facing FPV camera cutout - Front facing FPV camera cutout
- Removable wings - Removable wings
- Low stall speed - Low stall speed
- Gentle handling - Gentle handling
@@ -69,10 +69,10 @@ Key build features
- [6s2p 18650 LiIon flight battery](https://www.upgradeenergytech.com/product-page/6s-22-2v-5600mah-30c-dark-lithium-liion-drone-battery) (select XT60 connector) - [6s2p 18650 LiIon flight battery](https://www.upgradeenergytech.com/product-page/6s-22-2v-5600mah-30c-dark-lithium-liion-drone-battery) (select XT60 connector)
- [Custom designed 3D printed parts](https://github.com/PX4/PX4-user_guide/raw/main/assets/airframes/fw/reptile_dragon_2/rd2_3d_printed_parts.zip) - [Custom designed 3D printed parts](https://github.com/PX4/PX4-user_guide/raw/main/assets/airframes/fw/reptile_dragon_2/rd2_3d_printed_parts.zip)
- ARK6X carrier mount - ARK6X carrier mount
- Holybro Pixhawk 5x carrier mount - Holybro Pixhawk 5x carrier mount
- FPV pod and camera mount - FPV pod and camera mount
- Pitot static probe "plug" adapter - Pitot static probe "plug" adapter
- [Custom designed power distribution PCB](https://github.com/PX4/PX4-user_guide/raw/main/assets/airframes/fw/reptile_dragon_2/xt30_power_distro_pcb.zip) - [Custom designed power distribution PCB](https://github.com/PX4/PX4-user_guide/raw/main/assets/airframes/fw/reptile_dragon_2/xt30_power_distro_pcb.zip)
@@ -426,15 +426,15 @@ Prior to the first flight, a comprehensive preflight must be conducted.
I recommend checking the following items: I recommend checking the following items:
- Sensor calibration (QGC) - Sensor calibration (QGC)
- Mag calibration - Mag calibration
- Accelerometer calibration - Accelerometer calibration
- Airspeed calibration - Airspeed calibration
- Level horizon calibration - Level horizon calibration
- Check control surface deflection - Check control surface deflection
- Right stick -> Right aileron goes up, left aileron goes down - Right stick -> Right aileron goes up, left aileron goes down
- Left stick -> Left aileron goes up, right aileron goes down - Left stick -> Left aileron goes up, right aileron goes down
- Stick back -> elevator goes up - Stick back -> elevator goes up
-Stick forward -> elevator goes down -Stick forward -> elevator goes down
- Left rudder -> Rudder goes left - Left rudder -> Rudder goes left
- Right rudder -> Rudder goes right - Right rudder -> Rudder goes right
- Check Px4 inputs (in `stabilized mode`) - Check Px4 inputs (in `stabilized mode`)
docs/zh/frames_vtol/index.md
+3 -3
View File
@@ -98,11 +98,11 @@ The mapping between flight controller outputs and specific controls/motors depen
Assembly information is covered in several sections: Assembly information is covered in several sections:
- [Basic Assembly](../assembly/index.md) contains topics shows the setup of core components for a number of popular [flight controllers](../flight_controller/index.md). - [Basic Assembly](../assembly/index.md) contains topics shows the setup of core components for a number of popular [flight controllers](../flight_controller/index.md).
Flight controllers for which we do not have guides are usually set up in much the same way (and almost always include similar setup guides). Flight controllers for which we do not have guides are usually set up in much the same way (and almost always include similar setup guides).
- [Peripherals](../peripherals/index.md) contains information about other peripherals, including [Airspeed Sensors](../sensor/airspeed.md). - [Peripherals](../peripherals/index.md) contains information about other peripherals, including [Airspeed Sensors](../sensor/airspeed.md).
- [Airframes Reference > VTOL](../airframes/airframe_reference.md#vtol) explains which flight controller outputs must be connected to different flight controls for each airframe configuration: - [Airframes Reference > VTOL](../airframes/airframe_reference.md#vtol) explains which flight controller outputs must be connected to different flight controls for each airframe configuration:
- Select the configuration for your vehicle if one exists, as this will have been pre-tuned well enough to fly (may only require fine tuning). - Select the configuration for your vehicle if one exists, as this will have been pre-tuned well enough to fly (may only require fine tuning).
- Otherwise select a "Generic Airframe" that matches your vehicle. - Otherwise select a "Generic Airframe" that matches your vehicle.
In addition, build logs showing how others have set up different types of vehicles are provided as sub topics. In addition, build logs showing how others have set up different types of vehicles are provided as sub topics.
For example see [FunCub QuadPlane](../frames_vtol/vtol_quadplane_fun_cub_vtol_pixhawk.md). For example see [FunCub QuadPlane](../frames_vtol/vtol_quadplane_fun_cub_vtol_pixhawk.md).
docs/zh/modules/hello_sky.md
+119 -119
View File
@@ -29,151 +29,151 @@ This consists of a single _C_ file and a _cmake_ definition (which tells the too
2. Create a new C file in that directory named **px4_simple_app.c**: 2. Create a new C file in that directory named **px4_simple_app.c**:
- Copy in the default header to the top of the page. - Copy in the default header to the top of the page.
该注释应出现在所有贡献的文件中！ 该注释应出现在所有贡献的文件中！
```c ```c
/**************************************************************************** /****************************************************************************
* *
* Copyright (c) 2012-2022 PX4 Development Team. All rights reserved. * Copyright (c) 2012-2022 PX4 Development Team. All rights reserved.
* *
* Redistribution and use in source and binary forms, with or without * Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions * modification, are permitted provided that the following conditions
* are met: * are met:
* *
* 1. Redistributions of source code must retain the above copyright * 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer. * notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright * 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in * notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the * the documentation and/or other materials provided with the
* distribution. * distribution.
* 3. Neither the name PX4 nor the names of its contributors may be * 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software * used to endorse or promote products derived from this software
* without specific prior written permission. * without specific prior written permission.
* *
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE. * POSSIBILITY OF SUCH DAMAGE.
* *
****************************************************************************/ ****************************************************************************/
``` ```
- 将下面的代码复制到头部注释的下方， - 将下面的代码复制到头部注释的下方，
该注释应出现在所有贡献的文件中！ 该注释应出现在所有贡献的文件中！
```c ```c
/** /**
* @file px4_simple_app.c * @file px4_simple_app.c
* Minimal application example for PX4 autopilot * Minimal application example for PX4 autopilot
* *
* @author Example User <mail@example.com> * @author Example User <mail@example.com>
*/ */
#include <px4_platform_common/log.h> #include <px4_platform_common/log.h>
__EXPORT int px4_simple_app_main(int argc, char *argv[]); __EXPORT int px4_simple_app_main(int argc, char *argv[]);
int px4_simple_app_main(int argc, char *argv[]) int px4_simple_app_main(int argc, char *argv[])
{ {
PX4_INFO("Hello Sky!"); PX4_INFO("Hello Sky!");
return OK; return OK;
} }
``` ```
:::tip :::tip
The main function must be named `<module_name>_main` and exported from the module as shown. The main function must be named `<module_name>_main` and exported from the module as shown.
::: :::
:::tip :::tip
`PX4_INFO` is the equivalent of `printf` for the PX4 shell (included from **px4_platform_common/log.h**). `PX4_INFO` is the equivalent of `printf` for the PX4 shell (included from **px4_platform_common/log.h**).
There are different log levels: `PX4_INFO`, `PX4_WARN`, `PX4_ERR`, `PX4_DEBUG`. There are different log levels: `PX4_INFO`, `PX4_WARN`, `PX4_ERR`, `PX4_DEBUG`.
Warnings and errors are additionally added to the [ULog](../dev_log/ulog_file_format.md) and shown on [Flight Review](https://logs.px4.io/). Warnings and errors are additionally added to the [ULog](../dev_log/ulog_file_format.md) and shown on [Flight Review](https://logs.px4.io/).
::: :::
3. Create and open a new _cmake_ definition file named **CMakeLists.txt**. 3. Create and open a new _cmake_ definition file named **CMakeLists.txt**.
复制下面的文本： 复制下面的文本：
```cmake ```cmake
############################################################################ ############################################################################
# #
# Copyright (c) 2015 PX4 Development Team. All rights reserved. # Copyright (c) 2015 PX4 Development Team. All rights reserved.
# #
# Redistribution and use in source and binary forms, with or without # Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions # modification, are permitted provided that the following conditions
# are met: # are met:
# #
# 1. Redistributions of source code must retain the above copyright # 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer. # notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright # 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in # notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the # the documentation and/or other materials provided with the
# distribution. # distribution.
# 3. Neither the name PX4 nor the names of its contributors may be # 3. Neither the name PX4 nor the names of its contributors may be
# used to endorse or promote products derived from this software # used to endorse or promote products derived from this software
# without specific prior written permission. # without specific prior written permission.
# #
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED # OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT # AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE. # POSSIBILITY OF SUCH DAMAGE.
# #
############################################################################ ############################################################################
px4_add_module( px4_add_module(
MODULE examples__px4_simple_app MODULE examples__px4_simple_app
MAIN px4_simple_app MAIN px4_simple_app
STACK_MAIN 2000 STACK_MAIN 2000
SRCS SRCS
px4_simple_app.c px4_simple_app.c
DEPENDS DEPENDS
) )
``` ```
The `px4_add_module()` method builds a static library from a module description. The `px4_add_module()` method builds a static library from a module description.
- The `MODULE` block is the Firmware-unique name of the module (by convention the module name is prefixed by parent directories back to `src`). - The `MODULE` block is the Firmware-unique name of the module (by convention the module name is prefixed by parent directories back to `src`).
- The `MAIN` block lists the entry point of the module, which registers the command with NuttX so that it can be called from the PX4 shell or SITL console. - The `MAIN` block lists the entry point of the module, which registers the command with NuttX so that it can be called from the PX4 shell or SITL console.
:::tip :::tip
The `px4_add_module()` format is documented in [PX4-Autopilot/cmake/px4_add_module.cmake](https://github.com/PX4/PX4-Autopilot/blob/main/cmake/px4_add_module.cmake). <!-- NEED px4_version --> The `px4_add_module()` format is documented in [PX4-Autopilot/cmake/px4_add_module.cmake](https://github.com/PX4/PX4-Autopilot/blob/main/cmake/px4_add_module.cmake). <!-- NEED px4_version -->
::: :::
::: info ::: info
If you specify `DYNAMIC` as an option to `px4_add_module`, a _shared library_ is created instead of a static library on POSIX platforms (these can be loaded without having to recompile PX4, and shared to others as binaries rather than source code). If you specify `DYNAMIC` as an option to `px4_add_module`, a _shared library_ is created instead of a static library on POSIX platforms (these can be loaded without having to recompile PX4, and shared to others as binaries rather than source code).
Your app will not become a builtin command, but ends up in a separate file called `examples__px4_simple_app.px4mod`. Your app will not become a builtin command, but ends up in a separate file called `examples__px4_simple_app.px4mod`.
You can then run your command by loading the file at runtime using the `dyn` command: `dyn ./examples__px4_simple_app.px4mod` You can then run your command by loading the file at runtime using the `dyn` command: `dyn ./examples__px4_simple_app.px4mod`
::: :::
4. Create and open a new _Kconfig_ definition file named **Kconfig** and define your symbol for naming (see [Kconfig naming convention](../hardware/porting_guide_config.md#px4-kconfig-symbol-naming-convention)). 4. Create and open a new _Kconfig_ definition file named **Kconfig** and define your symbol for naming (see [Kconfig naming convention](../hardware/porting_guide_config.md#px4-kconfig-symbol-naming-convention)).
复制下面的文本： 复制下面的文本：
``` ```
menuconfig EXAMPLES_PX4_SIMPLE_APP menuconfig EXAMPLES_PX4_SIMPLE_APP
bool "px4_simple_app" bool "px4_simple_app"
default n default n
---help--- ---help---
Enable support for px4_simple_app Enable support for px4_simple_app
``` ```
## 编译应用程序/固件 ## 编译应用程序/固件
docs/zh/modules/modules_system.md
+11 -11
View File
@@ -347,7 +347,7 @@ CONFIG_DRIVERS_RPM_CAPTURE=y
Additionally, to enable the module: Additionally, to enable the module:
- Set [ICE_EN](../advanced_config/parameter_reference.md#ICE_EN) - Set [ICE_EN](../advanced_config/parameter_reference.md#ICE_EN)
to true and adjust the other `ICE_` module parameters according to your needs. to true and adjust the other `ICE_` module parameters according to your needs.
- Set [RPM_CAP_ENABLE](../advanced_config/parameter_reference.md#RPM_CAP_ENABLE) to true. - Set [RPM_CAP_ENABLE](../advanced_config/parameter_reference.md#RPM_CAP_ENABLE) to true.
The module outputs control signals for ignition, throttle, and choke, The module outputs control signals for ignition, throttle, and choke,
@@ -367,8 +367,8 @@ The state machine:
- Checks if [Rpm.msg](../msg_docs/Rpm.md) is updated to know if the engine is running - Checks if [Rpm.msg](../msg_docs/Rpm.md) is updated to know if the engine is running
- Allows for user inputs from: - Allows for user inputs from:
- AUX{N} - AUX{N}
- Arming state in [VehicleStatus.msg](../msg_docs/VehicleStatus.md) - Arming state in [VehicleStatus.msg](../msg_docs/VehicleStatus.md)
The module publishes [InternalCombustionEngineControl.msg](../msg_docs/InternalCombustionEngineControl.md). The module publishes [InternalCombustionEngineControl.msg](../msg_docs/InternalCombustionEngineControl.md).
@@ -484,7 +484,7 @@ The normal log is always a superset of the mission log.
The implementation uses two threads: The implementation uses two threads:
- The main thread, running at a fixed rate (or polling on a topic if started with -p) and checking for - The main thread, running at a fixed rate (or polling on a topic if started with -p) and checking for
data updates data updates
- The writer thread, writing data to the file - The writer thread, writing data to the file
In between there is a write buffer with configurable size (and another fixed-size buffer for In between there is a write buffer with configurable size (and another fixed-size buffer for
@@ -688,9 +688,9 @@ There are 2 environment variables used for configuration: `replay`, which must b
the log file to be replayed. The second is the mode, specified via `replay_mode`: the log file to be replayed. The second is the mode, specified via `replay_mode`:
- `replay_mode=ekf2`: specific EKF2 replay mode. It can only be used with the ekf2 module, but allows the replay - `replay_mode=ekf2`: specific EKF2 replay mode. It can only be used with the ekf2 module, but allows the replay
to run as fast as possible. to run as fast as possible.
- Generic otherwise: this can be used to replay any module(s), but the replay will be done with the same speed as the - Generic otherwise: this can be used to replay any module(s), but the replay will be done with the same speed as the
log was recorded. log was recorded.
The module is typically used together with uORB publisher rules, to specify which messages should be replayed. The module is typically used together with uORB publisher rules, to specify which messages should be replayed.
The replay module will just publish all messages that are found in the log. It also applies the parameters from The replay module will just publish all messages that are found in the log. It also applies the parameters from
@@ -842,12 +842,12 @@ it into a more usable form, and publishes it for the rest of the system.
The provided functionality includes: The provided functionality includes:
- Read the output from the sensor drivers (`SensorGyro`, etc.). - Read the output from the sensor drivers (`SensorGyro`, etc.).
If there are multiple of the same type, do voting and failover handling. If there are multiple of the same type, do voting and failover handling.
Then apply the board rotation and temperature calibration (if enabled). And finally publish the data; one of the Then apply the board rotation and temperature calibration (if enabled). And finally publish the data; one of the
topics is `SensorCombined`, used by many parts of the system. topics is `SensorCombined`, used by many parts of the system.
- Make sure the sensor drivers get the updated calibration parameters (scale & offset) when the parameters change or - Make sure the sensor drivers get the updated calibration parameters (scale & offset) when the parameters change or
on startup. The sensor drivers use the ioctl interface for parameter updates. For this to work properly, the on startup. The sensor drivers use the ioctl interface for parameter updates. For this to work properly, the
sensor drivers must already be running when `sensors` is started. sensor drivers must already be running when `sensors` is started.
- Do sensor consistency checks and publish the `SensorsStatusImu` topic. - Do sensor consistency checks and publish the `SensorsStatusImu` topic.
### 实现 ### 实现
docs/zh/ros/mavros_offboard_python.md
+20 -20
View File
@@ -25,38 +25,38 @@ Other examples in Python can be found here: [integrationtests/python_src/px4_it/
1. Open the terminal and go to `~/catkin_ws/src` directory 1. Open the terminal and go to `~/catkin_ws/src` directory
```sh ```sh
roscd # Should cd into ~/catkin_ws/devel roscd # Should cd into ~/catkin_ws/devel
cd .. cd ..
cd src cd src
``` ```
2. In the `~/catkin_ws/src` directory create a new package named `offboard_py` (in this case) with the `rospy` dependency: 2. In the `~/catkin_ws/src` directory create a new package named `offboard_py` (in this case) with the `rospy` dependency:
```sh ```sh
catkin_create_pkg offboard_py rospy catkin_create_pkg offboard_py rospy
``` ```
3. Build the new package in the `~/catkin_ws/` directory: 3. Build the new package in the `~/catkin_ws/` directory:
```sh ```sh
cd .. # Assuming previous directory to be ~/catkin_ws/src cd .. # Assuming previous directory to be ~/catkin_ws/src
catkin build catkin build
source devel/setup.bash source devel/setup.bash
``` ```
4. 您现在应该能够通过使用以下方法切换至包目录： 4. 您现在应该能够通过使用以下方法切换至包目录：
```sh ```sh
roscd offboard_py roscd offboard_py
``` ```
5. To store your Python files, create a new folder called `/scripts` on the package: 5. To store your Python files, create a new folder called `/scripts` on the package:
```sh ```sh
mkdir scripts mkdir scripts
cd scripts cd scripts
``` ```
## 代码 ## 代码
docs/zh/ros2/offboard_control.md
+31 -31
View File
@@ -37,63 +37,63 @@ This is needed because, by default, you cannot arm a vehicle without a connectio
2. 使用以下方法创建并切换至新的 colcon工作目录： 2. 使用以下方法创建并切换至新的 colcon工作目录：
```sh ```sh
mkdir -p ~/ws_offboard_control/src/ mkdir -p ~/ws_offboard_control/src/
cd ~/ws_offboard_control/src/ cd ~/ws_offboard_control/src/
``` ```
3. Clone the [px4_msgs](https://github.com/PX4/px4_msgs) repo to the `/src` directory (this repo is needed in every ROS 2 PX4 workspace!): 3. Clone the [px4_msgs](https://github.com/PX4/px4_msgs) repo to the `/src` directory (this repo is needed in every ROS 2 PX4 workspace!):
```sh ```sh
git clone https://github.com/PX4/px4_msgs.git git clone https://github.com/PX4/px4_msgs.git
# checkout the matching release branch if not using PX4 main. # checkout the matching release branch if not using PX4 main.
``` ```
4. Clone the example repository [px4_ros_com](https://github.com/PX4/px4_ros_com) to the `/src` directory: 4. Clone the example repository [px4_ros_com](https://github.com/PX4/px4_ros_com) to the `/src` directory:
```sh ```sh
git clone https://github.com/PX4/px4_ros_com.git git clone https://github.com/PX4/px4_ros_com.git
``` ```
5. Source the ROS 2 development environment into the current terminal and compile the workspace using `colcon`: 5. Source the ROS 2 development environment into the current terminal and compile the workspace using `colcon`:
:::: tabs :::: tabs
::: tab humble ::: tab humble
```sh ```sh
cd .. cd ..
source /opt/ros/humble/setup.bash source /opt/ros/humble/setup.bash
colcon build colcon build
``` ```
::: :::
::: tab foxy ::: tab foxy
```sh ```sh
cd .. cd ..
source /opt/ros/foxy/setup.bash source /opt/ros/foxy/setup.bash
colcon build colcon build
``` ```
::: :::
:::: ::::
6. Source the `local_setup.bash`: 6. Source the `local_setup.bash`:
```sh ```sh
source install/local_setup.bash source install/local_setup.bash
``` ```
7. 启动例程。 7. 启动例程。
``` ```
ros2 run px4_ros_com offboard_control ros2 run px4_ros_com offboard_control
``` ```
飞行器将解锁、起飞至5米并悬停等待（永久）。 飞行器将解锁、起飞至5米并悬停等待（永久）。