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docs(i18n): PX4 guide translations (Crowdin) - uk (#27528)

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docs/uk/SUMMARY.md
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@@ -432,6 +432,7 @@
- [Стандартна конфігурація](config/index.md)
- [OEM Configuration](advanced_config/oem.md)
- [Bootloader Secure Boot](advanced_config/bootloader_secure_boot.md)
- [Розширені налаштування](advanced_config/index.md)
- [Using PX4's Navigation Filter (EKF2)](advanced_config/tuning_the_ecl_ekf.md)
@@ -541,8 +542,10 @@
- [AirspeedValidated](msg_docs/AirspeedValidated.md)
- [ArmingCheckReply](msg_docs/ArmingCheckReply.md)
- [ArmingCheckRequest](msg_docs/ArmingCheckRequest.md)
- [AuxGlobalPosition](msg_docs/AuxGlobalPosition.md)
- [BatteryStatus](msg_docs/BatteryStatus.md)
- [ConfigOverrides](msg_docs/ConfigOverrides.md)
- [Event](msg_docs/Event.md)
- [FixedWingLateralSetpoint](msg_docs/FixedWingLateralSetpoint.md)
- [FixedWingLongitudinalSetpoint](msg_docs/FixedWingLongitudinalSetpoint.md)
- [GotoSetpoint](msg_docs/GotoSetpoint.md)
@@ -570,6 +573,26 @@
- [VehicleRatesSetpoint](msg_docs/VehicleRatesSetpoint.md)
- [VehicleStatus](msg_docs/VehicleStatus.md)
- [VtolVehicleStatus](msg_docs/VtolVehicleStatus.md)
- [Wind](msg_docs/Wind.md)
- [Historic (old) Versions](msg_docs/versioned_old_messages.md)
- [AirspeedValidatedV0](msg_docs/AirspeedValidatedV0.md)
- [ArmingCheckReplyV0](msg_docs/ArmingCheckReplyV0.md)
- [ArmingCheckRequestV0](msg_docs/ArmingCheckRequestV0.md)
- [BatteryStatusV0](msg_docs/BatteryStatusV0.md)
- [ConfigOverridesV0](msg_docs/ConfigOverridesV0.md)
- [EventV0](msg_docs/EventV0.md)
- [HomePositionV0](msg_docs/HomePositionV0.md)
- [RegisterExtComponentReplyV0](msg_docs/RegisterExtComponentReplyV0.md)
- [RegisterExtComponentRequestV0](msg_docs/RegisterExtComponentRequestV0.md)
- [RegisterExtComponentRequestV1](msg_docs/RegisterExtComponentRequestV1.md)
- [VehicleAttitudeSetpointV0](msg_docs/VehicleAttitudeSetpointV0.md)
- [VehicleCommandAckV0](msg_docs/VehicleCommandAckV0.md)
- [VehicleGlobalPositionV0](msg_docs/VehicleGlobalPositionV0.md)
- [VehicleLocalPositionV0](msg_docs/VehicleLocalPositionV0.md)
- [VehicleStatusV0](msg_docs/VehicleStatusV0.md)
- [VehicleStatusV1](msg_docs/VehicleStatusV1.md)
- [VehicleStatusV2](msg_docs/VehicleStatusV2.md)
- [VehicleStatusV3](msg_docs/VehicleStatusV3.md)
- [Unversioned Messages](msg_docs/unversioned_messages.md)
- [ActionRequest](msg_docs/ActionRequest.md)
- [ActuatorArmed](msg_docs/ActuatorArmed.md)
@@ -581,7 +604,6 @@
- [Airspeed](msg_docs/Airspeed.md)
- [AirspeedWind](msg_docs/AirspeedWind.md)
- [AutotuneAttitudeControlStatus](msg_docs/AutotuneAttitudeControlStatus.md)
- [AuxGlobalPosition](msg_docs/AuxGlobalPosition.md)
- [BatteryInfo](msg_docs/BatteryInfo.md)
- [ButtonEvent](msg_docs/ButtonEvent.md)
- [CameraCapture](msg_docs/CameraCapture.md)
@@ -622,9 +644,10 @@
- [EstimatorStates](msg_docs/EstimatorStates.md)
- [EstimatorStatus](msg_docs/EstimatorStatus.md)
- [EstimatorStatusFlags](msg_docs/EstimatorStatusFlags.md)
- [Event](msg_docs/Event.md)
- [FailsafeFlags](msg_docs/FailsafeFlags.md)
- [FailureDetectorStatus](msg_docs/FailureDetectorStatus.md)
- [FiducialMarkerPosReport](msg_docs/FiducialMarkerPosReport.md)
- [FiducialMarkerYawReport](msg_docs/FiducialMarkerYawReport.md)
- [FigureEightStatus](msg_docs/FigureEightStatus.md)
- [FixedWingLateralGuidanceStatus](msg_docs/FixedWingLateralGuidanceStatus.md)
- [FixedWingLateralStatus](msg_docs/FixedWingLateralStatus.md)
@@ -707,6 +730,7 @@
- [PowerButtonState](msg_docs/PowerButtonState.md)
- [PowerMonitor](msg_docs/PowerMonitor.md)
- [PpsCapture](msg_docs/PpsCapture.md)
- [PrecLandStatus](msg_docs/PrecLandStatus.md)
- [PurePursuitStatus](msg_docs/PurePursuitStatus.md)
- [PwmInput](msg_docs/PwmInput.md)
- [Px4ioStatus](msg_docs/Px4ioStatus.md)
@@ -753,6 +777,7 @@
- [SensorsStatusImu](msg_docs/SensorsStatusImu.md)
- [SystemPower](msg_docs/SystemPower.md)
- [TakeoffStatus](msg_docs/TakeoffStatus.md)
- [TargetGnss](msg_docs/TargetGnss.md)
- [TaskStackInfo](msg_docs/TaskStackInfo.md)
- [TecsStatus](msg_docs/TecsStatus.md)
- [TelemetryStatus](msg_docs/TelemetryStatus.md)
@@ -779,28 +804,15 @@
- [VehicleThrustSetpoint](msg_docs/VehicleThrustSetpoint.md)
- [VehicleTorqueSetpoint](msg_docs/VehicleTorqueSetpoint.md)
- [VelocityLimits](msg_docs/VelocityLimits.md)
- [VteAidSource1d](msg_docs/VteAidSource1d.md)
- [VteAidSource3d](msg_docs/VteAidSource3d.md)
- [VteBiasInitStatus](msg_docs/VteBiasInitStatus.md)
- [VteInput](msg_docs/VteInput.md)
- [VteOrientation](msg_docs/VteOrientation.md)
- [VtePosition](msg_docs/VtePosition.md)
- [Vtx](msg_docs/Vtx.md)
- [WheelEncoders](msg_docs/WheelEncoders.md)
- [Wind](msg_docs/Wind.md)
- [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)
- [ConfigOverridesV0](msg_docs/ConfigOverridesV0.md)
- [EventV0](msg_docs/EventV0.md)
- [HomePositionV0](msg_docs/HomePositionV0.md)
- [RegisterExtComponentReplyV0](msg_docs/RegisterExtComponentReplyV0.md)
- [RegisterExtComponentRequestV0](msg_docs/RegisterExtComponentRequestV0.md)
- [RegisterExtComponentRequestV1](msg_docs/RegisterExtComponentRequestV1.md)
- [VehicleAttitudeSetpointV0](msg_docs/VehicleAttitudeSetpointV0.md)
- [VehicleCommandAckV0](msg_docs/VehicleCommandAckV0.md)
- [VehicleGlobalPositionV0](msg_docs/VehicleGlobalPositionV0.md)
- [VehicleLocalPositionV0](msg_docs/VehicleLocalPositionV0.md)
- [VehicleStatusV0](msg_docs/VehicleStatusV0.md)
- [VehicleStatusV1](msg_docs/VehicleStatusV1.md)
- [VehicleStatusV2](msg_docs/VehicleStatusV2.md)
- [VehicleStatusV3](msg_docs/VehicleStatusV3.md)
- [MAVLink Messaging](mavlink/index.md)
- [Adding Messages](mavlink/adding_messages.md)
- [Streaming Messages](mavlink/streaming_messages.md)
@@ -961,8 +973,9 @@
- [Релізи](releases/index.md)
- [Release Process](releases/release_process.md)
- [main (alpha)](releases/main.md)
- [1.17 (alpha)](releases/1.17.md)
- [1.16 (stable)](releases/1.16.md)
- [v1.18 (alpha)](releases/1.18.md)
- [1.17 (stable)](releases/1.17.md)
- [1.16](releases/1.16.md)
- [1.15](releases/1.15.md)
- [1.14](releases/1.14.md)
- [1.13](releases/1.13.md)
docs/uk/advanced_config/bootloader_secure_boot.md
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@@ -0,0 +1,140 @@
# Bootloader Secure Boot
Secure boot is a feature that ensures that only cryptographically authorized PX4 firmware is executed.
This is used by OEMs to ensure that only their validated, tested firmware runs on the vehicle — protecting safety, brand integrity, and regulatory compliance, and stopping others from running unauthorized software on their hardware.
The _PX4 Bootloader_ can verify a cryptographic signature over the PX4 firmware before it is run.
When enabled, only a firmware image signed with a private key whose matching public key is baked into the bootloader will boot.
For any unsigned image, tampered image, or image signed by the wrong key, the device will wait in the bootloader screen (where it can be recovered safely over USB), and will not start the rest of the PX4 flight stack.
:::warning
This feature is intended for OEMs.
If you flash a bootloader that trusts a public key whose private counterpart you have lost, you can no longer sign new firmware for that device and will need a debug probe to recover it.
Keep private keys backed up and never commit them to source control.
:::
## How It Works
PX4's secure boot uses [ed25519](https://en.wikipedia.org/wiki/EdDSA#Ed25519) signatures (via [monocypher](https://monocypher.org)).
The signing key is 32 bytes and the resulting signature is 64 bytes.
Verification is fast (no random number generator is required on the device), and the implementation is small enough to fit in a 128 KB bootloader sector alongside the rest of the bootloader.
A signed firmware image lays out in flash like this:
```txt
+---------------------------+ APP_LOAD_ADDRESS ─┐
| Vector table | │
+---------------------------+ APP_LOAD_ADDRESS │
| Image TOC | + BOARD_IMAGE_TOC_OFFSET │ BOOT region
+---------------------------+ │ (hashed and signed)
| .text / .rodata / .data | │
+---------------------------+ &_boot_signature ─┤
| 64-byte ed25519 signature | │ SIG1
+---------------------------+ ─┘
```
The **Table of Contents (TOC)** is a small data structure compiled into the firmware that tells the bootloader which region to hash and which key slot to verify against.
Its format is defined in [`src/include/image_toc.h`](https://github.com/PX4/PX4-Autopilot/blob/main/src/include/image_toc.h).
For px4_fmu-v6x the TOC declares two entries: **BOOT** (the firmware bytes to verify) and **SIG1** (the 64-byte ed25519 signature to verify them against).
On reset the bootloader reads the TOC at a fixed offset, computes an ed25519 signature over the BOOT region, and compares it to the SIG1 entry.
If the signature verifies it jumps to the app; otherwise it stays in the bootloader and waits for a new upload.
The host-side uploader (`Tools/px4_uploader.py`) also asks the bootloader to verify the signature before sending the final reboot, via a dedicated `VERIFY_SIG` opcode.
This means a signature mismatch is reported as a clean error from `px_uploader.py` instead of a silent "device stays in bootloader after reboot".
## Trying It Out
PX4 ships a secure-boot example for **px4_fmu-v6x**.
This consists of two build variants:
- `px4_fmu-v6x_bootloader_secureboot` — the secure bootloader, with ed25519 verification enabled, and the upstream _test public key_ baked in.
- `px4_fmu-v6x_secureboot` — PX4 firmware, with TOC and automatic signing.
Кроки наступні:
1. Build and flash the secure bootloader (one-time, via SWD)
- Build the bootloader:
```sh
make px4_fmu-v6x_bootloader_secureboot
```
- Flash the resulting `build/px4_fmu-v6x_bootloader_secureboot/px4_fmu-v6x_bootloader_secureboot.elf` via a debug probe.
See [Bootloader Update](../advanced_config/bootloader_update).
::: tip
This is the only step that needs SWD — once the secure bootloader is in place, all firmware updates go over USB.
:::
2. Build and upload signed firmware
```sh
make px4_fmu-v6x_secureboot upload
```
The build produces an unsigned `.bin`, signs it with the upstream test key (`Tools/test_keys/test_keys.json`), wraps it in a `.px4` envelope marked `image_signed: true`, and uploads it.
You will see something like:
```sh
Verify ▕██████████████████████████████▏ 100%
Verifying image signature... passed
Uploaded in 18s
```
If you upload an image that the bootloader can't verify (e.g. an unsigned `.px4`, a tampered `.bin`, or one signed with a different key), `px_uploader.py` reports the failure before reboot:
```sh
Upload failed: Signature verification failed: image will not boot.
The bootloader computed a signature over the flashed image that does not
match any public key it trusts.
```
## Generating Your Own Keys
The default test key is committed to the PX4 tree, so a real deployment must replace it (in order to protect the public key).
Generate a new ed25519 key pair with:
```shell
python3 Tools/secure_bootloader/generate_signing_keys.py /path/to/my_key
```
This writes:
- `my_key.json` — the private key used by `sign_firmware.py`. **Keep this private. Do not commit it.**
- `my_key.pub` — the public key as a C-array fragment, suitable for `#include` in the bootloader's keystore.
Make the following changes use your new keys in the build:
1. **Update the bootloader to trust your public key.**
Edit `boards/px4/fmu-v6x/bootloader_secureboot.px4board` and change `CONFIG_PUBLIC_KEY0` to point at `my_key.pub`. Rebuild and reflash the bootloader via SWD.
2. **Tell the app build to sign with the matching private key.**
Either edit `boards/px4/fmu-v6x/secureboot.px4board` and change `CONFIG_BOARD_SECUREBOOT_KEY` to point at `my_key.json`, or set the environment variable at build time:
```sh
BOARD_SECUREBOOT_KEY=/path/to/my_key.json make px4_fmu-v6x_secureboot upload
```
The keys used must always be the corresponding cryptographic pair — if you flash a bootloader that trusts a key whose private half you don't have, you can only recover via SWD.
## Enabling Secure Boot on a New Board
To enable secure boot up on a board that doesn't already have a `secureboot` variant, you'll need:
- a `toc.c` file placed in the board's `src/` (modeled on `boards/px4/fmu-v6x/src/toc.c`),
- a linker script with `_main_toc` reserved at a fixed offset past the vector table and a `.signature` section at the end of FLASH (see `boards/px4/fmu-v6x/nuttx-config/scripts/secureboot-script.ld`)
- a `secureboot.px4board` setting `CONFIG_BOARD_SECUREBOOT=y` and the linker prefix,
- a `bootloader_secureboot.px4board` enabling `CONFIG_BOARD_CRYPTO`, `CONFIG_DRIVERS_SW_CRYPTO`, `CONFIG_DRIVERS_STUB_KEYSTORE` and the public-key path,
- `BOOTLOADER_USE_SECURITY` + `BOOTLOADER_SIGNING_ALGORITHM` + `BOARD_IMAGE_TOC_OFFSET` defines in the board's `hw_config.h`, gated on `PX4_CRYPTO`.
The fmu-v6x variant files are kept small and self-contained for exactly this reason — they are intended to be copied as a starting point.
## Дивіться також
- [Оновлення бутлоадера](../advanced_config/bootloader_update.md)
- [OEM/Factory Configuration](../advanced_config/oem.md)
docs/uk/advanced_config/bootloader_update.md
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_PX4 Bootloader_ використовується для завантаження прошивки для [Pixhawk boards](../flight_controller/pixhawk_series.md) (PX4FMU, PX4IO).
Зазвичай контролери Pixhawk поставляються з попередньо встановленою відповідною версією завантажувача.
Pixhawk controllers usually come with an appropriate bootloader version pre-installed.
Однак у деяких випадках його може бути відсутній, або може бути присутня старіша версія, яку потрібно оновити, або плата може бути відключена і потребує стирання та перевстановлення завантажувача.
Ця тема пояснює, як побудувати завантажувач PX4 та кілька методів для його прошивки на плату.
@@ -38,7 +38,7 @@ You can enable this key in your own custom firmware if needed.
2. [Оновіть прошивку](../config/firmware.md#custom) з образом, що містить новий/потрібний завантажувач.
::: info
The updated bootloader might be included the default firmware for your board or supplied in custom firmware.
The updated bootloader might be included in the default firmware for your board or supplied in custom firmware.
:::
@@ -51,7 +51,7 @@ You can enable this key in your own custom firmware if needed.
Зазвичай на цьому етапі ви можливо захочете [оновити прошивку](../config/firmware.md) ще раз, використовуючи правильно/ново встановлений загрузчик.
An specific example of this process for updating the [FMUv2 bootloader](#fmuv2-bootloader-update) is given below.
A specific example of this process for updating the [FMUv2 bootloader](#fmuv2-bootloader-update) is given below.
## Створення завантажувача PX4
@@ -89,7 +89,7 @@ PX4 boards up to FMUv5X (before STM32H7) used the [PX4 bootloader](https://githu
1. Отримайте бінарний файл, який містить завантажувальник (або від команди розробників, або [зіберіть його самостійно](#building-the-px4-bootloader)).
2. Get a [Debug Probe](../debug/swd_debug.md#debug-probes-for-px4-hardware).
Підключіть зонд до комп'ютера за допомогою USB та налаштуйте `gdbserver`.
Connect the probe to your PC via USB and setup the `gdbserver`.
3. Перейдіть до каталогу, що містить бінарний файл, і запустіть команду для обраного вами завантажувача в терміналі:
@@ -151,7 +151,7 @@ PX4 boards up to FMUv5X (before STM32H7) used the [PX4 bootloader](https://githu
:::
8. Використовуйте таку команду, щоб знайти SWD Pixhawk і підключитися до нього:
8. Use the following command to scan for the Pixhawk's SWD and connect to it:
```sh
(gdb) mon swdp_scan
@@ -211,4 +211,5 @@ This example explains how you can use [QGC Bootloader Update](#qgc-bootloader-up
## Дивіться також
- [Bootloader Secure Boot](../advanced_config/bootloader_secure_boot.md)
- [OEM/Factory Configuration](../advanced_config/oem.md)
docs/uk/advanced_config/oem.md
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# OEM/Factory Configuration
This topic lists configuration and calibration topics that are more relevant to manufacturers/OEMs (though is some cases individual developers may find some relevant).
This topic lists configuration and calibration topics that are more relevant to manufacturers/OEMs (though in some cases individual developers may find some relevant).
- [IMU Factory Calibration](../advanced_config/imu_factory_calibration.md)
- [Sensor Thermal Compensation](../advanced_config/sensor_thermal_calibration.md)
@@ -8,6 +8,7 @@ This topic lists configuration and calibration topics that are more relevant to
- [Розширена орієнтація контролера](../advanced_config/advanced_flight_controller_orientation_leveling.md)
- [Static Pressure Buildup](../advanced_config/static_pressure_buildup.md)
- [Оновлення бутлоадера](../advanced_config/bootloader_update.md)
- [Bootloader Secure Boot](../advanced_config/bootloader_secure_boot.md)
## Дивіться також
docs/uk/advanced_features/vision_target_estimator.md
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docs/uk/advanced_features/vision_target_estimator_advanced.md
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docs/uk/complete_vehicles_rover/hiwonder_ackermann.md
+2 -2
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@@ -17,7 +17,7 @@ Make sure all parts are compatible with your flight controller's ports, and adju
Alternatives are listed in:
- [Flight Controllers](../flight_controller/index.md)
- [PX4-Compatible Receivers](../getting_started/rc_transmitter_receiver.md#px4-compatible-receivers-compatible_receivers)
- [PX4-Compatible Receivers](../getting_started/rc_transmitter_receiver.md#compatible_receivers)
- [Data Links](../data_links/index.md)
- [Global Navigation Satellite Systems (GNSS)](../gps_compass/index.md#supported-gnss) or [RTK GNSS](../gps_compass/rtk_gps.md)
@@ -86,7 +86,7 @@ For a longer term solution we highly recommend 3d printing mounts that you attac
This frame works with the usual Rover firmware variants on most flight controllers.
You can use either prebuilt versions or build the firmware yourself (see [Flashing the Rover Build](../config_rover/index.md#flashing-the-rover-build) and [Building Rover](../config_rover/index.md#building-rover) in _Rover Configuration/Tuning_).
A few boards may omit the [`hiwonder_emm` driver](../modules/modules_driver.md#hiwonder_emm) for the [Hiwonder 4-Channel Encoder Motor Module](../peripherals/hiwonder_emm.md) used by this vehicle.
A few boards may omit the [`hiwonder_emm` driver](../modules/modules_driver.md#hiwonder-emm) for the [Hiwonder 4-Channel Encoder Motor Module](../peripherals/hiwonder_emm.md) used by this vehicle.
If your board does not ship with it you will need a custom build — see [Hiwonder 4-Channel Encoder Motor Module > Building the Firmware](../peripherals/hiwonder_emm.md#building-the-firmware) for instructions.
## Конфігурація PX4
docs/uk/complete_vehicles_rover/hiwonder_mecanum.md
+2 -2
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@@ -17,7 +17,7 @@ Make sure all parts are compatible with your flight controller's ports, and adju
Alternatives are listed in:
- [Flight Controllers](../flight_controller/index.md)
- [PX4-Compatible Receivers](../getting_started/rc_transmitter_receiver.md#px4-compatible-receivers-compatible_receivers)
- [PX4-Compatible Receivers](../getting_started/rc_transmitter_receiver.md#compatible_receivers)
- [Data Links](../data_links/index.md)
- [Global Navigation Satellite Systems (GNSS)](../gps_compass/index.md#supported-gnss) or [RTK GNSS](../gps_compass/rtk_gps.md)
@@ -76,7 +76,7 @@ For a longer term solution we highly recommend 3d printing mounts that you attac
This frame works with the usual Rover firmware variants on most flight controllers.
You can use either prebuilt versions or build the firmware yourself (see [Flashing the Rover Build](../config_rover/index.md#flashing-the-rover-build) and [Building Rover](../config_rover/index.md#building-rover) in _Rover Configuration/Tuning_).
A few boards may omit the [`hiwonder_emm` driver](../modules/modules_driver.md#hiwonder_emm) for the [Hiwonder 4-Channel Encoder Motor Module](../peripherals/hiwonder_emm.md) used by this vehicle.
A few boards may omit the [`hiwonder_emm` driver](../modules/modules_driver.md#hiwonder-emm) for the [Hiwonder 4-Channel Encoder Motor Module](../peripherals/hiwonder_emm.md) used by this vehicle.
If your board does not ship with it you will need a custom build — see [Hiwonder 4-Channel Encoder Motor Module > Building the Firmware](../peripherals/hiwonder_emm.md#building-the-firmware) for instructions.
## Конфігурація PX4
docs/uk/complete_vehicles_rover/hiwonder_tracked.md
+2 -2
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@@ -17,7 +17,7 @@ Make sure all parts are compatible with your flight controller's ports, and adju
Alternatives are listed in:
- [Flight Controllers](../flight_controller/index.md)
- [PX4-Compatible Receivers](../getting_started/rc_transmitter_receiver.md#px4-compatible-receivers-compatible_receivers)
- [PX4-Compatible Receivers](../getting_started/rc_transmitter_receiver.md#compatible_receivers)
- [Data Links](../data_links/index.md)
- [Global Navigation Satellite Systems (GNSS)](../gps_compass/index.md#supported-gnss) or [RTK GNSS](../gps_compass/rtk_gps.md)
@@ -76,7 +76,7 @@ For a longer term solution we highly recommend 3d printing mounts that you attac
This frame works with the usual Rover firmware variants on most flight controllers.
You can use either prebuilt versions or build the firmware yourself (see [Flashing the Rover Build](../config_rover/index.md#flashing-the-rover-build) and [Building Rover](../config_rover/index.md#building-rover) in _Rover Configuration/Tuning_).
A few boards may omit the [`hiwonder_emm` driver](../modules/modules_driver.md#hiwonder_emm) for the [Hiwonder 4-Channel Encoder Motor Module](../peripherals/hiwonder_emm.md) used by this vehicle.
A few boards may omit the [`hiwonder_emm` driver](../modules/modules_driver.md#hiwonder-emm) for the [Hiwonder 4-Channel Encoder Motor Module](../peripherals/hiwonder_emm.md) used by this vehicle.
If your board does not ship with it you will need a custom build — see [Hiwonder 4-Channel Encoder Motor Module > Building the Firmware](../peripherals/hiwonder_emm.md#building-the-firmware) for instructions.
## Конфігурація PX4
docs/uk/concept/flight_tasks.md
-1
View File
@@ -142,7 +142,6 @@ _Польотні завдання_ використовуються у [Реж
```c
...
* @value 0 Direct velocity
* @value 3 Smoothed velocity
* @value 4 Acceleration based
* @value 5 My task
* @group Multicopter Position Control
docs/uk/config_mc/mc_jerk_limited_type_trajectory.md
+4 -15
View File
@@ -1,15 +1,9 @@
# Траєкторія Jerk-limited типу для Мультикоперів
Тип траєкторії з обмеженим рухом джерка забезпечує плавний рух у відповідь на введення палиці користувача або зміни місії (наприклад: для зйомки, картографування, вантажу).
The Jerk-limited trajectory type provides smooth motion in autonomous flight e.g. for filming, mapping, cargo.
Він генерує симетричні плавні S-криві, де обмеження різкості та прискорення завжди гарантовані.
This trajectory type is always enabled in [Mission mode](../flight_modes_mc/mission.md).
To enable it in [Position mode](../flight_modes_mc/position.md) set the parameter [MPC_POS_MODE](../advanced_config/parameter_reference.md#MPC_POS_MODE) to `Smoothed velocity`.
:::info
The jerk-limited type is not used _by default_ in position mode.
Це може бути не підходить для транспортних засобів / випадків використання, які вимагають швидкої відповіді - наприклад, гонщицькі квадрокоптери.
:::
This trajectory type is always enabled in autonomous modes like [Mission mode](../flight_modes_mc/mission.md).
## Генератор траєкторії
@@ -30,16 +24,11 @@ The constraints `jMax`, `aMax` are configurable by the user via parameters and c
## Ручний режим
In manual position mode, the sticks are mapped to velocity where a full XY-stick deflection corresponds to [MPC_VEL_MANUAL](../advanced_config/parameter_reference.md#MPC_VEL_MANUAL) and a full Z-stick deflection corresponds to [MPC_Z_VEL_MAX_UP](../advanced_config/parameter_reference.md#MPC_Z_VEL_MAX_UP) (upward motion) or [MPC_Z_VEL_MAX_DN](../advanced_config/parameter_reference.md#MPC_Z_VEL_MAX_DN) (downward motion).
In manual position and altitude mode, jerk limiting is applied only to the vertical axis. Full throttle stick deflection commands the maximum vertical velocity which is [MPC_Z_VEL_MAX_UP](../advanced_config/parameter_reference.md#MPC_Z_VEL_MAX_UP) upwards and [MPC_Z_VEL_MAX_DN](../advanced_config/parameter_reference.md#MPC_Z_VEL_MAX_DN) downwards.
### Обмеження
XY-plane:
- `jMax`: [MPC_JERK_MAX](../advanced_config/parameter_reference.md#MPC_JERK_MAX)
- `aMax`: [MPC_ACC_HOR_MAX](../advanced_config/parameter_reference.md#MPC_ACC_HOR_MAX)
Z-axis:
Z-axis
- `jMax`: [MPC_JERK_MAX](../advanced_config/parameter_reference.md#MPC_JERK_MAX)
- `aMax` (upward motion): [MPC_ACC_UP_MAX](../advanced_config/parameter_reference.md#MPC_ACC_UP_MAX)
docs/uk/config_mc/mc_trajectory_tuning.md
-5
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@@ -54,11 +54,6 @@ The following list provides an _overview_ of the different implementations of ho
- Неочікувані зміни нахилу при досягненні швидкості руху.
- Вертикальний вхід палиці відображений з обмеженим ривком траєкторії.
- Set in position mode using `MPC_POS_MODE=Acceleration based`.
- [Jerk-limited](../config_mc/mc_jerk_limited_type_trajectory.md)
- Використовується, коли потрібен плавний рух (наприклад: зйомка, картографування, вантаж).
- Генерує симетричні плавні S-криві, де обмеження різкості та прискорення завжди гарантовані.
- Можливо, не підходить для транспортних засобів / випадків використання, які вимагають швидкої відповіді - наприклад, гонщицькі квадрокоптери.
- Set in position mode using `MPC_POS_MODE=Smoothed velocity`.
- **Simple position control**
- Палиці безпосередньо відображаються на встановлені точки швидкості без згладжування.
- Корисно для налаштування контролю швидкості.
docs/uk/dev_log/logging.md
+16 -9
View File
@@ -52,21 +52,28 @@ _Developers_ can further configure what information is logged via the [logger](.
### Конфігурація SD-карти
Окремо, список зареєстрованих тем також може бути налаштований за допомогою файлу на картці SD.
Create a file `etc/logging/logger_topics.txt` on the card with a list of topics (For SITL, it's `build/px4_sitl_default/rootfs/fs/microsd/etc/logging/logger_topics.txt`):
The list of logged topics can also be customized with a file on the SD card: `etc/logging/logger_topics.txt` (for SITL, it's `build/px4_sitl_default/rootfs/fs/microsd/etc/logging/logger_topics.txt`).
Each topic to be logged is listed on a separate line, with the following format:
```plain
<topic_name> <interval> <instance>
```
The `<interval>` is optional, and if specified, defines the minimum interval in ms between two logged messages of this topic.
Якщо не вказано, тема реєструється з повною швидкістю.
Де:
The `<instance>` is optional, and if specified, defines the instance to log.
Якщо не вказано, всі екземпляри теми реєструються.
To specify `<instance>`, `<interval>` must be specified. Може бути встановлено на 0 для реєстрації з повною швидкістю
- `<interval>` (optional).
Defines the minimum interval in ms between two logged messages of this topic.
If not specified or `0`, the topic is logged at full rate.
- `<instance>` (optional).
Defines the instance to log.
NOte that `<interval>` must be specified in order to set `instance`
Теми в цьому файлі замінюють всі теми за замовчуванням, які були зареєстровані.
Якщо не вказано, всі екземпляри теми реєструються.
The topics in this file will be added on top of the already selected topics.
To just log the topics defined in this file, set [SDLOG_PROFILE=0](../advanced_config/parameter_reference.md#SDLOG_PROFILE).
If a topic is already included, it will update it's rate.
Приклади :
@@ -77,7 +84,7 @@ sensor_gyro 200
sensor_mag 200 1
```
Ця конфігурація буде реєструвати sensor_accel 0 з повною швидкістю, sensor_accel 1 з частотою 10 Гц, всі екземпляри sensor_gyro з частотою 5 Гц та sensor_mag 1 з частотою 5 Гц.
This configuration will log sensor_accel 0 at full rate, sensor_accel 1 at 10Hz, all `sensor_gyro` instances at 5Hz and `sensor_mag` 1 at 5Hz.
## Скрипти
docs/uk/flight_controller/corvon_743v1.md
+1 -1
View File
@@ -11,7 +11,7 @@ It features a powerful STM32H743 processor, dual high-performance IMUs (BMI088/B
With its highly integrated 36x36mm footprint and 9g weight, and specialized interfaces like a direct plug-and-play DJI O3 Air Unit connector, this flight controller is optimized for space-constrained FPV builds and agile multirotors that require top-tier processing power and sensor redundancy.
The board uses [Pixhawk Autopilot Standard Connections](https://docs.px4.io/main/en/flight_controller/autopilot_pixhawk_standard.html).
The board uses [Pixhawk Autopilot Standard Connections](../flight_controller/autopilot_pixhawk_standard.md).
<img src="../../assets/flight_controller/corvon_743v1/corvon_743v1_top.jpg" width="400px" title="CORVON 743v1 Top Baseboard" /> <img src="../../assets/flight_controller/corvon_743v1/corvon_743v1_bottom.jpg" width="400px" title="CORVON 743v1 Bottom Interfaces" />
docs/uk/flight_modes_fw/guided_course.md
+1 -1
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@@ -3,7 +3,7 @@
<img src="../../assets/site/position_fixed.svg" title="Position required (e.g. GPS)" width="30px" />
_Guided Course mode_ maintains a constant ground track (course), altitude, and airspeed without any manual stick input.
The operator controls the vehicle entirely via [GCS commands](#in-flight-commands), making it the guided equivalent of [Position mode](../flight_modes_fw/position.md).
The operator controls the vehicle entirely using [GCS commands](#supported-commands), making it the guided equivalent of [Position mode](../flight_modes_fw/position.md).
:::tip
This mode is suited to situations where an operator wants to guide a fixed-wing vehicle from a GCS without manual control.
docs/uk/mavlink/security_hardening.md
+1 -1
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@@ -92,7 +92,7 @@ If your threat model includes physical access, secure the SD card slot and debug
PX4 is open-source flight controller firmware used by manufacturers and system integrators to build commercial and custom drone platforms.
Securing the communication links for a specific deployment is the responsibility of the system integrator.
Це включає:
This includes:
- Choosing appropriate radio hardware and link security
- Enabling and managing MAVLink message signing
docs/uk/middleware/dds_topics.md
+207 -207
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docs/uk/msg_docs/versioned_old_messages.md
+3
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@@ -0,0 +1,3 @@
# Historic (Old) Versioned Messages (uORB Message Reference)
See [list here](../msg_docs/index.md#historic-versions).
docs/uk/releases/1.12.md
+12
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@@ -1,5 +1,17 @@
# Реліз 1.12
<script setup>
import { useData } from 'vitepress'
const { site } = useData();
</script>
<div v-if="site.title !== 'PX4 Guide (main)'">
<div class="custom-block danger">
<p class="custom-block-title">This page is on a release branch, and hence probably out of date. <a href="https://docs.px4.io/main/en/releases/1.12">See the latest version</a>.</p>
</div>
<Redirect to="https://docs.px4.io/main/en/releases/1.12" />
</div>
- [Release 1.12](#release-1-12)
- [Pre Releases](#pre-releases)
- [Changes](#changes)
docs/uk/releases/1.13.md
+12
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@@ -1,5 +1,17 @@
# Реліз 1.13
<script setup>
import { useData } from 'vitepress'
const { site } = useData();
</script>
<div v-if="site.title !== 'PX4 Guide (main)'">
<div class="custom-block danger">
<p class="custom-block-title">This page is on a release branch, and hence probably out of date. <a href="https://docs.px4.io/main/en/releases/1.13">See the latest version</a>.</p>
</div>
<Redirect to="https://docs.px4.io/main/en/releases/1.13" />
</div>
- [Release 1.13](#release-1-13)
- [Pre Releases](#pre-releases)
- [Changes](#changes)
docs/uk/releases/1.14.md
+12
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@@ -1,5 +1,17 @@
# PX4-Autopilot v1.14 Нотатки щодо релізу
<script setup>
import { useData } from 'vitepress'
const { site } = useData();
</script>
<div v-if="site.title !== 'PX4 Guide (main)'">
<div class="custom-block danger">
<p class="custom-block-title">This page is on a release branch, and hence probably out of date. <a href="https://docs.px4.io/main/en/releases/1.14">See the latest version</a>.</p>
</div>
<Redirect to="https://docs.px4.io/main/en/releases/1.14" />
</div>
## Прочитайте перед оновленням
The v1.14 release includes a few breaking changes for users upgrading from previous versions, in particular we are moving away from using mixer files to define the vehicle geometry, motor mappings and actuators.
docs/uk/releases/1.15.md
+12
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@@ -1,5 +1,17 @@
# PX4-Autopilot v1.15 Release Notes
<script setup>
import { useData } from 'vitepress'
const { site } = useData();
</script>
<div v-if="site.title !== 'PX4 Guide (main)'">
<div class="custom-block danger">
<p class="custom-block-title">This page is on a release branch, and hence probably out of date. <a href="https://docs.px4.io/main/en/releases/1.15">See the latest version</a>.</p>
</div>
<Redirect to="https://docs.px4.io/main/en/releases/1.15" />
</div>
The v1.15 release brings lots of new upgrades and fixes, thanks in part to the tremendous community response to the 1.14 release.
In particular, PX4 v1.15 brings significant improvements for developers and integrators using PX4 as a target through [ROS 2](../ros2/index.md) and the [uXRCE-DDS middleware](../middleware/uxrce_dds.md).
In addition to networking and middleware updates, the new [PX4 ROS 2 Interface Library](../ros2/px4_ros2_interface_lib.md) allows flight modes written as ROS 2 applications to be peers of PX4 flight modes.
docs/uk/releases/1.16.md
+11 -1
View File
@@ -1,6 +1,16 @@
# PX4-Autopilot v1.16.0 Release Notes
<Badge type="info" text="Stable" />
<script setup>
import { useData } from 'vitepress'
const { site } = useData();
</script>
<div v-if="site.title !== 'PX4 Guide (main)'">
<div class="custom-block danger">
<p class="custom-block-title">This page is on a release branch, and hence probably out of date. <a href="https://docs.px4.io/main/en/releases/1.16">See the latest version</a>.</p>
</div>
<Redirect to="https://docs.px4.io/main/en/releases/1.16" />
</div>
PX4 v1.16 builds on the momentum of v1.15 with significant new features and expanded hardware support thanks to our community contributions.
This release introduces bidirectional DShot support sponsored by ARK, a full rover rework with dedicated firmware builds and modular control modes for Ackermann, differential and mecanum rovers, and a switch to Gazebo Harmonic LTS for more reliable simulation.
docs/uk/releases/1.17.md
+3 -2
View File
@@ -1,6 +1,6 @@
# PX4-Autopilot v1.17.0 Release Notes
<Badge type="danger" text="Alpha/Beta" />
<Badge type="info" text="Stable" />
<script setup>
import { useData } from 'vitepress'
@@ -9,8 +9,9 @@ const { site } = useData();
<div v-if="site.title !== 'PX4 Guide (main)'">
<div class="custom-block danger">
<p class="custom-block-title">This page is on a release branch, and hence probably out of date. <a href="https://docs.px4.io/main/en/releases/main">See the latest version</a>.</p>
<p class="custom-block-title">This page is on a release branch, and hence probably out of date. <a href="https://docs.px4.io/main/en/releases/1.17">See the latest version</a>.</p>
</div>
<Redirect to="https://docs.px4.io/main/en/releases/1.17" />
</div>
PX4 v1.17 builds on [PX4 v1.16](../releases/1.16.md), with the changes below landing since v1.16.2.
docs/uk/releases/1.18.md
+149
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@@ -0,0 +1,149 @@
# PX4-Autopilot v1.18.0 Release Notes
<Badge type="danger" text="Alpha" />
<script setup>
import { useData } from 'vitepress'
const { site } = useData();
</script>
<div v-if="site.title !== 'PX4 Guide (main)'">
<div class="custom-block danger">
<p class="custom-block-title">This page is on a release branch, and hence possibly out of date. <a href="https://docs.px4.io/main/en/releases/1.18">See the latest version</a>.</p>
</div>
<Redirect to="https://docs.px4.io/main/en/releases/1.18" />
</div>
PX4 v1.18 builds on [PX4 v1.17](../releases/1.17.md)
:::warning
PX4 v1.18 is in alpha testing.
Update these notes with features that are going to be in `v1.18`.
For new features that aren't going into v1.18, update [`main`](../releases/main.md).
:::
## Прочитайте перед оновленням
- Log rotation is now enabled by default. Previously, a single log file grew for the entire flight and old logs were only deleted at boot once free space fell below a fixed 300 MB floor. The logger now caps each log file at [SDLOG_MAX_SIZE](../advanced_config/parameter_reference.md#SDLOG_MAX_SIZE) (new parameter, default `1024` MB) and keeps a configurable percentage of the disk free via [SDLOG_ROTATE](../advanced_config/parameter_reference.md#SDLOG_ROTATE) (new parameter, default `90`, so at least 10% free). Cleanup runs at log start rather than boot, so logs can still be downloaded via FTP before they are deleted. See [Log Cleanup](../dev_log/logging.md#log-cleanup) for details.
- `SDLOG_DIRS_MAX` behaviour changed: it is now an orthogonal directory-count cap that runs on top of the new space-based cleanup, and the default is `0` (disabled). Previously it enforced a fixed ~300 MB free-space floor even when set to `0`. If you relied on that implicit floor, set [SDLOG_ROTATE](../advanced_config/parameter_reference.md#SDLOG_ROTATE) instead.
Please continue reading for [upgrade instructions](#upgrade-guide).
## Основні зміни
- Уточнюється
## Інструкції для оновлення
## Інші зміни
### Підтримка обладнання
- Уточнюється
### Загальні
- [Remote ID (Open Drone ID) in-flight failsafe](../peripherals/remote_id.md): extended [COM_ARM_ODID](../advanced_config/parameter_reference.md#COM_ARM_ODID) to also trigger a configurable failsafe action (Return, Land, or Terminate) if the Remote ID heartbeat is lost while airborne. Users previously on `COM_ARM_ODID=2` retain the same arming behaviour; set to `3` or higher to enable the in-flight action. ([PX4-Autopilot#27029](https://github.com/PX4/PX4-Autopilot/pull/27029))
- [QGroundControl Bootloader Update](../advanced_config/bootloader_update.md#qgc-bootloader-update-sys-bl-update) via the [SYS_BL_UPDATE](../advanced_config/parameter_reference.md#SYS_BL_UPDATE) parameter has been re-enabled after being broken for a number of releases. ([PX4-Autopilot#25032: build: romf: fix generation of rc.board_bootloader_upgrade](https://github.com/PX4/PX4-Autopilot/pull/25032)).
- [Feature: Allow prioritization of manual control inputs based on their instance number in ascending or descending order](../config/manual_control.md#px4-configuration). ([PX4-Autopilot#25602: Ascending and descending manual control input priorities](https://github.com/PX4/PX4-Autopilot/pull/25602)).
### Управління
- Added new flight mode(s): [Altitude Cruise (MC)](../flight_modes_mc/altitude_cruise.md), Altitude Cruise (FW).
For fixed-wing the mode behaves the same as Altitude mode but you can disable the manual control loss failsafe. ([PX4-Autopilot#25435: Add new flight mode: Altitude Cruise](https://github.com/PX4/PX4-Autopilot/pull/25435)).
### Безпека
- Rotary-wing vehicles now support uncommanded altitude loss detection: if the vehicle descends more than [FD_ALT_LOSS](../advanced_config/parameter_reference.md#FD_ALT_LOSS) meters below its setpoint in altitude-controlled flight, flight termination (and parachute deployment) is triggered. See [Altitude Loss Trigger](../config/safety.md#altitude-loss-trigger). ([PX4-Autopilot#26837](https://github.com/PX4/PX4-Autopilot/pull/26837))
- [Parachute health failsafe](../peripherals/parachute.md): extended [COM_PARACHUTE](../advanced_config/parameter_reference.md#COM_PARACHUTE) from a boolean into a configurable in-flight failsafe action (Return or Land) parameter. The previously enabled value `COM_PARACHUTE=1` causes a warning like before. ([PX4-Autopilot#26918](https://github.com/PX4/PX4-Autopilot/pull/26918))
- [GNSS check failsafe](../config/safety.md#gnss-check-failsafe): new failsafe that monitors the number of usable GNSS receivers with a 3D fix and their position consistency. The required number of receivers is set via [SYS_HAS_NUM_GNSS](../advanced_config/parameter_reference.md#SYS_HAS_NUM_GNSS) and the failsafe action via [COM_GNSSLOSS_ACT](../advanced_config/parameter_reference.md#COM_GNSSLOSS_ACT). ([PX4-Autopilot#26863](https://github.com/PX4/PX4-Autopilot/pull/26863))
### Оцінки
- Added [EKF2_POS_LOCK](../advanced_config/parameter_reference.md#EKF2_POS_LOCK) to force constant position fusion while landed, useful for vehicles relying on dead-reckoning sensors (airspeed, optical flow) that provide no aiding on the ground.
### Датчики
- Add [sbgECom INS driver](../sensor/sbgecom.md) ([PX4-Autopilot#24137](https://github.com/PX4/PX4-Autopilot/pull/24137))
- Quick magnetometer calibration now supports specifying an arbitrary initial heading ([PX4-Autopilot#24637](https://github.com/PX4/PX4-Autopilot/pull/24637))
### Симуляція
- SIH: Add option to set wind velocity ([PX4-Autopilot#26467](https://github.com/PX4-Autopilot/pull/26467))
<!-- MOVED THIS TO v1.17
- Overhaul rover simulation:
- Add synthetic differential rover model: [PX4-gazebo-models#107](https://github.com/PX4/PX4-gazebo-models/pull/107)
- Add synthetic mecanum rover model: [PX4-gazebo-models#113](https://github.com/PX4/PX4-gazebo-models/pull/113)
- Update synthetic ackermann rover model: [PX4-gazebo-models#117](https://github.com/PX4/PX4-gazebo-models/pull/117)
-->
### Debug & Logging
- [Asset Tracking](../debug/asset_tracking.md): Automatic tracking and logging of external device information including vendor name, firmware and hardware version, serial numbers. Currently supports DroneCAN devices. ([PX4-Autopilot#25617](https://github.com/PX4/PX4-Autopilot/pull/25617))
- Logger: support for small flash storage (e.g. 128 MB W25N NAND on kakuteh7mini, kakuteh7v2, airbrainh743). Logs can now be written directly to an internal littlefs volume instead of requiring an SD card.
- Logger: reworked log rotation and cleanup. Log rotation is now on by default, and cleanup runs at log start rather than boot so logs can be downloaded via FTP before being deleted.
- New [SDLOG_MAX_SIZE](../advanced_config/parameter_reference.md#SDLOG_MAX_SIZE) (default `1024` MB) caps the size of a single log file; once reached, the logger closes the current file and starts a new one.
- New [SDLOG_ROTATE](../advanced_config/parameter_reference.md#SDLOG_ROTATE) (default `90`) sets the maximum disk usage percentage. Cleanup guarantees `(100 - SDLOG_ROTATE)%` of the disk stays free at all times, even while writing a new log file. Set `0` to disable space-based cleanup, `100` to allow filling the disk completely.
- `SDLOG_DIRS_MAX` is now an orthogonal cap on the number of log directories (default `0` = disabled), on top of the space-based cleanup driven by `SDLOG_ROTATE` and `SDLOG_MAX_SIZE`. SITL defaults to `7`.
- New `mklittlefs` systemcmd for reformatting a littlefs volume from the NSH console, analogous to `mkfatfs` for FAT filesystems.
### Ethernet
- Уточнюється
### uXRCE-DDS / Zenoh / ROS2
- Уточнюється
<!-- MOVED THIS TO v1.17
- [PX4 ROS 2 Interface Library](../ros2/px4_ros2_control_interface.md) support for [Fixed Wing lateral/longitudinal setpoint](../ros2/px4_ros2_control_interface.md#fw-lateral-longitudinal-setpoint) (`FwLateralLongitudinalSetpointType`) and [VTOL transitions](../ros2/px4_ros2_control_interface.md#controlling-a-vtol). ([PX4-Autopilot#24056](https://github.com/PX4/PX4-Autopilot/pull/24056)).
- [PX4 ROS 2 Interface Library](../ros2/px4_ros2_control_interface.md) support for [ROS-based waypoint missions](../ros2/px4_ros2_waypoint_missions.md).
-->
### MAVLink
- Removed support for deprecated request commands `MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES`, `MAV_CMD_REQUEST_PROTOCOL_VERSION`, `MAV_CMD_GET_HOME_POSITION`, `MAV_CMD_REQUEST_FLIGHT_INFORMATION`, `MAV_CMD_REQUEST_STORAGE_INFORMATION` (Replaced by `MAV_CMD_REQUEST_MESSAGE`).
([PX4-Autopilot#27251: fix(mavlink): Remove deprecated MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES](https://github.com/PX4/PX4-Autopilot/pull/27251), [PX4-Autopilot#27252: fix(mavlink): Remove legacy mavlink message requestors#27252](https://github.com/PX4/PX4-Autopilot/pull/27252))
### RC
- Parse ELRS Status and Link Statistics TX messages in the CRSF parser.
### Мульти-Ротор
- Removed parameters `MPC_{XY/Z/YAW}_MAN_EXPO` and use default value instead, as they were not deemed necessary anymore. ([PX4-Autopilot#25435: Add new flight mode: Altitude Cruise](https://github.com/PX4/PX4-Autopilot/pull/25435)).
- Renamed `MPC_HOLD_DZ` to `MAN_DEADZONE` to have it globally available in modes that allow for a dead zone. ([PX4-Autopilot#25435: Add new flight mode: Altitude Cruise](https://github.com/PX4/PX4-Autopilot/pull/25435)).
### VTOL
- Уточнюється
### Літак з фіксованим крилом
- Уточнюється
<!-- MOVED THIS TO v1.17
- [Fixed Wing Takeoff mode](../flight_modes_fw/takeoff.md) will now keep climbing with level wings on position loss.
A target takeoff waypoint can be set to control takeoff course and loiter altitude. ([PX4-Autopilot#25083](https://github.com/PX4/PX4-Autopilot/pull/25083)).
- Automatically suppress angular rate oscillations using [Gain compression](../features_fw/gain_compression.md). ([PX4-Autopilot#25840: FW rate control: add gain compression algorithm](https://github.com/PX4/PX4-Autopilot/pull/25840))
-->
### Ровер
- Уточнюється
<!-- MOVED THIS TO v1.17
- Removed deprecated rover module ([PX4-Autopilot#25054](https://github.com/PX4/PX4-Autopilot/pull/25054)).
- Add support for [Apps & API](../flight_modes_rover/api.md) ([PX4-Autopilot#25074](https://github.com/PX4/PX4-Autopilot/pull/25074), [PX4-ROS2-Interface-Lib#140](https://github.com/Auterion/px4-ros2-interface-lib/pull/140)).
- Update [rover simulation](../frames_rover/index.md#simulation) ([PX4-Autopilot#25644](https://github.com/PX4/PX4-Autopilot/pull/25644)) (see [Simulation](#simulation) release note for details).
-->
### ROS 2
- Уточнюється
docs/uk/releases/index.md
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@@ -1,9 +1,22 @@
# Релізи
<script setup>
import { useData } from 'vitepress'
const { site } = useData();
</script>
<div v-if="site.title !== 'PX4 Guide (main)'">
<div class="custom-block danger">
<p class="custom-block-title">This page is on a release branch, and hence probably out of date. <a href="https://docs.px4.io/main/en/releases/">See the latest version</a>.</p>
</div>
<Redirect to="https://docs.px4.io/main/en/releases/" />
</div>
Перелік PX4 реліз, вони містять список змін, що відбулися в кожному релізі, пояснення включених функцій, виправлень, застарілих та оновлень.
- [main](../releases/main.md) (changes planned for v1.18 or later)
- [v1.17](../releases/1.17.md) (changes in v1.17, since v1.16)
- [main](../releases/main.md) (changes planned for v1.19 or later)
- [v1.18](../releases/1.18.md) (changes in v1.18, since v1.17)
- [v1.17](../releases/1.17.md)
- [v1.16](../releases/1.16.md)
- [v1.15](../releases/1.15.md)
- [v1.14](../releases/1.14.md)
docs/uk/releases/main.md
+14 -58
View File
@@ -13,17 +13,16 @@ const { site } = useData();
</div>
</div>
This contains changes to PX4 `main` branch since the last major release ([PX v1.16](../releases/1.16.md)).
This contains changes to PX4 `main` branch after the next major release ([PX v1.18](../releases/1.16.md)).
:::warning
PX4 v1.17 is in alpha/beta testing.
Update these notes with features that are going to be in `main` (PX4 v1.18 or later) but not the PX4 v1.17 release.
PX4 v1.18 is in alpha/beta testing.
Update these notes with features that are going to be in `main` (PX4 v1.18 or later) but not the PX4 v1.18 release.
:::
## Прочитайте перед оновленням
- Log rotation is now enabled by default. Previously, a single log file grew for the entire flight and old logs were only deleted at boot once free space fell below a fixed 300 MB floor. The logger now caps each log file at [SDLOG_MAX_SIZE](../advanced_config/parameter_reference.md#SDLOG_MAX_SIZE) (new parameter, default `1024` MB) and keeps a configurable percentage of the disk free via [SDLOG_ROTATE](../advanced_config/parameter_reference.md#SDLOG_ROTATE) (new parameter, default `90`, so at least 10% free). Cleanup runs at log start rather than boot, so logs can still be downloaded via FTP before they are deleted. See [Log Cleanup](../dev_log/logging.md#log-cleanup) for details.
- `SDLOG_DIRS_MAX` behaviour changed: it is now an orthogonal directory-count cap that runs on top of the new space-based cleanup, and the default is `0` (disabled). Previously it enforced a fixed ~300 MB free-space floor even when set to `0`. If you relied on that implicit floor, set [SDLOG_ROTATE](../advanced_config/parameter_reference.md#SDLOG_ROTATE) instead.
- Уточнюється
Please continue reading for [upgrade instructions](#upgrade-guide).
@@ -41,52 +40,31 @@ Please continue reading for [upgrade instructions](#upgrade-guide).
### Загальні
- [Remote ID (Open Drone ID) in-flight failsafe](../peripherals/remote_id.md): extended [COM_ARM_ODID](../advanced_config/parameter_reference.md#COM_ARM_ODID) to also trigger a configurable failsafe action (Return, Land, or Terminate) if the Remote ID heartbeat is lost while airborne. Users previously on `COM_ARM_ODID=2` retain the same arming behaviour; set to `3` or higher to enable the in-flight action. ([PX4-Autopilot#27029](https://github.com/PX4/PX4-Autopilot/pull/27029))
- [QGroundControl Bootloader Update](../advanced_config/bootloader_update.md#qgc-bootloader-update-sys-bl-update) via the [SYS_BL_UPDATE](../advanced_config/parameter_reference.md#SYS_BL_UPDATE) parameter has been re-enabled after being broken for a number of releases. ([PX4-Autopilot#25032: build: romf: fix generation of rc.board_bootloader_upgrade](https://github.com/PX4/PX4-Autopilot/pull/25032)).
- [Feature: Allow prioritization of manual control inputs based on their instance number in ascending or descending order](../config/manual_control.md#px4-configuration). ([PX4-Autopilot#25602: Ascending and descending manual control input priorities](https://github.com/PX4/PX4-Autopilot/pull/25602)).
- Уточнюється
### Управління
- Added new flight mode(s): [Altitude Cruise (MC)](../flight_modes_mc/altitude_cruise.md), Altitude Cruise (FW).
For fixed-wing the mode behaves the same as Altitude mode but you can disable the manual control loss failsafe. ([PX4-Autopilot#25435: Add new flight mode: Altitude Cruise](https://github.com/PX4/PX4-Autopilot/pull/25435)).
- Уточнюється
### Безпека
- Rotary-wing vehicles now support uncommanded altitude loss detection: if the vehicle descends more than [FD_ALT_LOSS](../advanced_config/parameter_reference.md#FD_ALT_LOSS) meters below its setpoint in altitude-controlled flight, flight termination (and parachute deployment) is triggered. See [Altitude Loss Trigger](../config/safety.md#altitude-loss-trigger). ([PX4-Autopilot#26837](https://github.com/PX4/PX4-Autopilot/pull/26837))
- [Parachute health failsafe](../peripherals/parachute.md): extended [COM_PARACHUTE](../advanced_config/parameter_reference.md#COM_PARACHUTE) from a boolean into a configurable in-flight failsafe action (Return or Land) parameter. The previously enabled value `COM_PARACHUTE=1` causes a warning like before. ([PX4-Autopilot#26918](https://github.com/PX4/PX4-Autopilot/pull/26918))
- [GNSS check failsafe](../config/safety.md#gnss-check-failsafe): new failsafe that monitors the number of usable GNSS receivers with a 3D fix and their position consistency. The required number of receivers is set via [SYS_HAS_NUM_GNSS](../advanced_config/parameter_reference.md#SYS_HAS_NUM_GNSS) and the failsafe action via [COM_GNSSLOSS_ACT](../advanced_config/parameter_reference.md#COM_GNSSLOSS_ACT). ([PX4-Autopilot#26863](https://github.com/PX4/PX4-Autopilot/pull/26863))
- Уточнюється
### Оцінки
- Added [EKF2_POS_LOCK](../advanced_config/parameter_reference.md#EKF2_POS_LOCK) to force constant position fusion while landed, useful for vehicles relying on dead-reckoning sensors (airspeed, optical flow) that provide no aiding on the ground.
- Уточнюється
### Датчики
- Add [sbgECom INS driver](../sensor/sbgecom.md) ([PX4-Autopilot#24137](https://github.com/PX4/PX4-Autopilot/pull/24137))
- Quick magnetometer calibration now supports specifying an arbitrary initial heading ([PX4-Autopilot#24637](https://github.com/PX4/PX4-Autopilot/pull/24637))
- Уточнюється
### Симуляція
- SIH: Add option to set wind velocity ([PX4-Autopilot#26467](https://github.com/PX4-Autopilot/pull/26467))
<!-- MOVED THIS TO v1.17
- Overhaul rover simulation:
- Add synthetic differential rover model: [PX4-gazebo-models#107](https://github.com/PX4/PX4-gazebo-models/pull/107)
- Add synthetic mecanum rover model: [PX4-gazebo-models#113](https://github.com/PX4/PX4-gazebo-models/pull/113)
- Update synthetic ackermann rover model: [PX4-gazebo-models#117](https://github.com/PX4/PX4-gazebo-models/pull/117)
-->
- Уточнюється
### Debug & Logging
- [Asset Tracking](../debug/asset_tracking.md): Automatic tracking and logging of external device information including vendor name, firmware and hardware version, serial numbers. Currently supports DroneCAN devices. ([PX4-Autopilot#25617](https://github.com/PX4/PX4-Autopilot/pull/25617))
- Logger: support for small flash storage (e.g. 128 MB W25N NAND on kakuteh7mini, kakuteh7v2, airbrainh743). Logs can now be written directly to an internal littlefs volume instead of requiring an SD card.
- Logger: reworked log rotation and cleanup. Log rotation is now on by default, and cleanup runs at log start rather than boot so logs can be downloaded via FTP before being deleted.
- New [SDLOG_MAX_SIZE](../advanced_config/parameter_reference.md#SDLOG_MAX_SIZE) (default `1024` MB) caps the size of a single log file; once reached, the logger closes the current file and starts a new one.
- New [SDLOG_ROTATE](../advanced_config/parameter_reference.md#SDLOG_ROTATE) (default `90`) sets the maximum disk usage percentage. Cleanup guarantees `(100 - SDLOG_ROTATE)%` of the disk stays free at all times, even while writing a new log file. Set `0` to disable space-based cleanup, `100` to allow filling the disk completely.
- `SDLOG_DIRS_MAX` is now an orthogonal cap on the number of log directories (default `0` = disabled), on top of the space-based cleanup driven by `SDLOG_ROTATE` and `SDLOG_MAX_SIZE`. SITL defaults to `7`.
- New `mklittlefs` systemcmd for reformatting a littlefs volume from the NSH console, analogous to `mkfatfs` for FAT filesystems.
- Уточнюється
### Ethernet
@@ -96,25 +74,17 @@ Please continue reading for [upgrade instructions](#upgrade-guide).
- Уточнюється
<!-- MOVED THIS TO v1.17
- [PX4 ROS 2 Interface Library](../ros2/px4_ros2_control_interface.md) support for [Fixed Wing lateral/longitudinal setpoint](../ros2/px4_ros2_control_interface.md#fw-lateral-longitudinal-setpoint) (`FwLateralLongitudinalSetpointType`) and [VTOL transitions](../ros2/px4_ros2_control_interface.md#controlling-a-vtol). ([PX4-Autopilot#24056](https://github.com/PX4/PX4-Autopilot/pull/24056)).
- [PX4 ROS 2 Interface Library](../ros2/px4_ros2_control_interface.md) support for [ROS-based waypoint missions](../ros2/px4_ros2_waypoint_missions.md).
-->
### MAVLink
- Removed support for deprecated request commands `MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES`, `MAV_CMD_REQUEST_PROTOCOL_VERSION`, `MAV_CMD_GET_HOME_POSITION`, `MAV_CMD_REQUEST_FLIGHT_INFORMATION`, `MAV_CMD_REQUEST_STORAGE_INFORMATION` (Replaced by `MAV_CMD_REQUEST_MESSAGE`).
([PX4-Autopilot#27251: fix(mavlink): Remove deprecated MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES](https://github.com/PX4/PX4-Autopilot/pull/27251), [PX4-Autopilot#27252: fix(mavlink): Remove legacy mavlink message requestors#27252](https://github.com/PX4/PX4-Autopilot/pull/27252))
- Уточнюється
### RC
- Parse ELRS Status and Link Statistics TX messages in the CRSF parser.
- Уточнюється
### Мульти-Ротор
- Removed parameters `MPC_{XY/Z/YAW}_MAN_EXPO` and use default value instead, as they were not deemed necessary anymore. ([PX4-Autopilot#25435: Add new flight mode: Altitude Cruise](https://github.com/PX4/PX4-Autopilot/pull/25435)).
- Renamed `MPC_HOLD_DZ` to `MAN_DEADZONE` to have it globally available in modes that allow for a dead zone. ([PX4-Autopilot#25435: Add new flight mode: Altitude Cruise](https://github.com/PX4/PX4-Autopilot/pull/25435)).
- Уточнюється
### VTOL
@@ -124,24 +94,10 @@ Please continue reading for [upgrade instructions](#upgrade-guide).
- Уточнюється
<!-- MOVED THIS TO v1.17
- [Fixed Wing Takeoff mode](../flight_modes_fw/takeoff.md) will now keep climbing with level wings on position loss.
A target takeoff waypoint can be set to control takeoff course and loiter altitude. ([PX4-Autopilot#25083](https://github.com/PX4/PX4-Autopilot/pull/25083)).
- Automatically suppress angular rate oscillations using [Gain compression](../features_fw/gain_compression.md). ([PX4-Autopilot#25840: FW rate control: add gain compression algorithm](https://github.com/PX4/PX4-Autopilot/pull/25840))
-->
### Ровер
- Уточнюється
<!-- MOVED THIS TO v1.17
- Removed deprecated rover module ([PX4-Autopilot#25054](https://github.com/PX4/PX4-Autopilot/pull/25054)).
- Add support for [Apps & API](../flight_modes_rover/api.md) ([PX4-Autopilot#25074](https://github.com/PX4/PX4-Autopilot/pull/25074), [PX4-ROS2-Interface-Lib#140](https://github.com/Auterion/px4-ros2-interface-lib/pull/140)).
- Update [rover simulation](../frames_rover/index.md#simulation) ([PX4-Autopilot#25644](https://github.com/PX4/PX4-Autopilot/pull/25644)) (see [Simulation](#simulation) release note for details).
-->
### ROS 2
- Уточнюється
docs/uk/releases/release_process.md
+12
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@@ -1,5 +1,17 @@
# Процес випуску
<script setup>
import { useData } from 'vitepress'
const { site } = useData();
</script>
<div v-if="site.title !== 'PX4 Guide (main)'">
<div class="custom-block danger">
<p class="custom-block-title">This page is on a release branch, and hence probably out of date. <a href="https://docs.px4.io/main/en/releases/release_process">See the latest version</a>.</p>
</div>
<Redirect to="https://docs.px4.io/main/en/releases/release_process" />
</div>
This page documents the PX4 release process for maintainers. It covers the steps from preparing a release candidate through to the final announcement.
## Загальний огляд