diff --git a/docs/ko/advanced/tflm.md b/docs/ko/advanced/tflm.md index 1c014c4770..ff483678d1 100644 --- a/docs/ko/advanced/tflm.md +++ b/docs/ko/advanced/tflm.md @@ -1,6 +1,6 @@ # TensorFlow Lite Micro (TFLM) -The PX4 [Multicopter Neural Network](advanced/neural_networks.md) module ([mc_nn_control](../modules/modules_controller.md#mc-nn-control)) integrates a neural network that uses the [TensorFlow Lite Micro (TFLM)](https://github.com/tensorflow/tflite-micro) inference library. +The PX4 [Multicopter Neural Network](../advanced/neural_networks.md) module ([mc_nn_control](../modules/modules_controller.md#mc-nn-control)) integrates a neural network that uses the [TensorFlow Lite Micro (TFLM)](https://github.com/tensorflow/tflite-micro) inference library. This is a mature inference library intended for use on embedded devices, and is hence a suitable choice for PX4. diff --git a/docs/ko/airframes/airframe_reference.md b/docs/ko/airframes/airframe_reference.md index e1054098bb..4ee1518c4a 100644 --- a/docs/ko/airframes/airframe_reference.md +++ b/docs/ko/airframes/airframe_reference.md @@ -598,6 +598,10 @@ div.frame_variant td, div.frame_variant th { 명칭 + + SIH Rover Ackermann + 유지보수: John Doe <john@example.com>

SYS_AUTOSTART = 1104

+ Generic Rover Differential 유지보수: John Doe <john@example.com>

SYS_AUTOSTART = 50000

diff --git a/docs/ko/modules/modules_communication.md b/docs/ko/modules/modules_communication.md index 44d6ba4615..d90f9fb1ac 100644 --- a/docs/ko/modules/modules_communication.md +++ b/docs/ko/modules/modules_communication.md @@ -85,7 +85,8 @@ mavlink [arguments...] default: 127.0.0.1 [-m ] Mode: sets default streams and rates values: custom|camera|onboard|osd|magic|config|iridium|minimal| - extvision|extvisionmin|gimbal|uavionix, default: normal + extvision|extvisionmin|gimbal|onboard_low_bandwidth|uavionix|lo + w_bandwidth|distance_sensor, default: normal [-n ] wifi/ethernet interface name values: [-c ] Multicast address (multicasting can be enabled via diff --git a/docs/ko/modules/modules_controller.md b/docs/ko/modules/modules_controller.md index 461e9ddc64..a7ae17560c 100644 --- a/docs/ko/modules/modules_controller.md +++ b/docs/ko/modules/modules_controller.md @@ -198,7 +198,7 @@ It takes in 15 input values and outputs 4 control actions. Inputs: [pos_err(3), att(6), vel(3), ang_vel(3)] Outputs: [Actuator motors(4)] -### Usage {#mc-nn-control_usage} +### Usage {#mc_nn_control_usage} ``` mc_nn_control [arguments...] diff --git a/docs/ko/sim_sih/index.md b/docs/ko/sim_sih/index.md index 3ce3d90521..181fc9904f 100644 --- a/docs/ko/sim_sih/index.md +++ b/docs/ko/sim_sih/index.md @@ -28,6 +28,7 @@ The Desktop computer is only used to display the virtual vehicle. - SIH as SITL (without hardware) from PX4 v1.14. - SIH for Standard VTOL from PX4 v1.16. - SIH for MC Hexacopter X from `main` (expected to be PX4 v1.17). +- SIH for Ackermann Rover from `main`. ### Benefits @@ -129,6 +130,10 @@ make px4_fmu-v6x boardconfig After uploading, check that the required modules are present. +:::note +To use rover in SIH you must use the [rover build](../config_rover/index.md#flashing-the-rover-build) or add the rover modules to your board configuration. +::: + ## Starting SIH To set up/start SIH: @@ -141,6 +146,7 @@ To set up/start SIH: - [SIH plane AERT](../airframes/airframe_reference.md#plane_simulation_sih_plane_aert) - [SIH Tailsitter Duo](../airframes/airframe_reference.md#vtol_simulation_sih_tailsitter_duo) - [SIH Standard VTOL QuadPlane](../airframes/airframe_reference.md#vtol_simulation_sih_standard_vtol_quadplane) + - [SIH Ackermann Rover](../airframes/airframe_reference.md#rover_rover_sih_rover_ackermann) The autopilot will then reboot. The `sih` module is started on reboot, and the vehicle should be displayed on the ground control station map. @@ -225,6 +231,12 @@ To run SIH as SITL: make px4_sitl sihsim_standard_vtol ``` + - Ackermann Rover + + ```sh + make px4_sitl sihsim_rover_ackermann + ``` + ### Change Simulation Speed SITL allows the simulation to be run faster than real time. @@ -324,6 +336,7 @@ The dynamic models for the various vehicles are: - Hexacopter: Equivalent to the Quadcopter but with a symmetric hexacopter x actuation setup. - Fixed-wing: Inspired by the PhD thesis: "Dynamics modeling of agile fixed-wing unmanned aerial vehicles." Khan, Waqas, supervised by Nahon, Meyer, McGill University, PhD thesis, 2016. - Tailsitter: Inspired by the master's thesis: "Modeling and control of a flying wing tailsitter unmanned aerial vehicle." Chiappinelli, Romain, supervised by Nahon, Meyer, McGill University, Masters thesis, 2018. +- Ackermann Rover: Based on lateral vehicle dynamics of the bicycle model adapted from [Sri Anumakonda, Everything you need to know about Self-Driving Cars in <30 minutes](https://srianumakonda.medium.com/everything-you-need-to-know-about-self-driving-in-30-minutes-b38d68bd3427) ## 비디오 diff --git a/docs/ko/simulation/community_supported_simulators.md b/docs/ko/simulation/community_supported_simulators.md index 459e3daa57..707e9db855 100644 --- a/docs/ko/simulation/community_supported_simulators.md +++ b/docs/ko/simulation/community_supported_simulators.md @@ -12,10 +12,10 @@ See [Toolchain Installation](../dev_setup/dev_env.md) for information about the The tools have variable levels of support from their communities (some are well supported and others are not). Questions about these tools should be raised on the [discussion forums](../contribute/support.md#forums-and-chat) -| 시뮬레이터 | 설명 | -| ---------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -| [Simulation-In-Hardware](../sim_sih/index.md) (SIH) |

A simulator implemented in C++ as a PX4 module directly in the Firmware [code](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/simulation/simulator_sih). It can be ran in SITL directly on the computer or as an alternative to HITL offering a hard real-time simulation directly on the hardware autopilot.

Supported Vehicles: Quad, Hexa, Plane, Tailsitter, Standard VTOL

| -| [FlightGear](../sim_flightgear/index.md) |

A simulator that provides physically and visually realistic simulations. In particular it can simulate many weather conditions, including thunderstorms, snow, rain and hail, and can also simulate thermals and different types of atmospheric flows. [Multi-vehicle simulation](../sim_flightgear/multi_vehicle.md) is also supported.

Supported Vehicles: Plane, Autogyro, Rover

| -| [JMAVSim](../sim_jmavsim/index.md) |

A simple multirotor/quad simulator. This was previously part of the PX4 development toolchain but was removed in favour of [Gazebo](../sim_gazebo_gz/index.md).

Supported Vehicles: Quad

| -| [JSBSim](../sim_jsbsim/index.md) |

A simulator that provides advanced flight dynamics models. This can be used to model realistic flight dynamics based on wind tunnel data.

Supported Vehicles: Plane, Quad, Hex

| -| [AirSim](../sim_airsim/index.md) |

A cross platform simulator that provides physically and visually realistic simulations. This simulator is resource intensive, and requires a significantly more powerful computer than the other simulators described here.

Supported Vehicles: Iris (MultiRotor model and a configuration for PX4 QuadRotor in the X configuration).

| +| 시뮬레이터 | 설명 | +| ---------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| [Simulation-In-Hardware](../sim_sih/index.md) (SIH) |

A simulator implemented in C++ as a PX4 module directly in the Firmware [code](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/simulation/simulator_sih). It can be ran in SITL directly on the computer or as an alternative to HITL offering a hard real-time simulation directly on the hardware autopilot.

Supported Vehicles: Quad, Hexa, Plane, Tailsitter, Standard VTOL, Ackermann Rover

| +| [FlightGear](../sim_flightgear/index.md) |

A simulator that provides physically and visually realistic simulations. In particular it can simulate many weather conditions, including thunderstorms, snow, rain and hail, and can also simulate thermals and different types of atmospheric flows. [Multi-vehicle simulation](../sim_flightgear/multi_vehicle.md) is also supported.

Supported Vehicles: Plane, Autogyro, Rover

| +| [JMAVSim](../sim_jmavsim/index.md) |

A simple multirotor/quad simulator. This was previously part of the PX4 development toolchain but was removed in favour of [Gazebo](../sim_gazebo_gz/index.md).

Supported Vehicles: Quad

| +| [JSBSim](../sim_jsbsim/index.md) |

A simulator that provides advanced flight dynamics models. This can be used to model realistic flight dynamics based on wind tunnel data.

Supported Vehicles: Plane, Quad, Hex

| +| [AirSim](../sim_airsim/index.md) |

A cross platform simulator that provides physically and visually realistic simulations. This simulator is resource intensive, and requires a significantly more powerful computer than the other simulators described here.

Supported Vehicles: Iris (MultiRotor model and a configuration for PX4 QuadRotor in the X configuration).

|