mirror of
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synced 2025-12-08 11:41:39 +08:00
New Crowdin translations - ko (#25888)
Co-authored-by: Crowdin Bot <support+bot@crowdin.com>
This commit is contained in:
PX4 Build Bot
GitHub
@@ -182,6 +182,7 @@
|
||||
- [Wiring Quickstart](assembly/quick_start_durandal.md)
|
||||
- [Holybro Pix32 v5](flight_controller/holybro_pix32_v5.md)
|
||||
- [Wiring Quickstart](assembly/quick_start_holybro_pix32_v5.md)
|
||||
- [MicoAir H743 Lite](flight_controller/micoair743-lite.md)
|
||||
- [ModalAI VOXL 2](flight_controller/modalai_voxl_2.md)
|
||||
- [mRo Control Zero F7](flight_controller/mro_control_zero_f7.md)
|
||||
- [Radiolink PIX6](flight_controller/radiolink_pix6.md)
|
||||
@@ -504,6 +505,7 @@
|
||||
- [UART/Serial 포트](uart/index.md)
|
||||
- [포트 설정 가능 시리얼 드라이버](uart/user_configurable_serial_driver.md)
|
||||
- [RTK GPS (통합)](advanced/rtk_gps.md)
|
||||
- [PPS Time Synchronization](advanced/pps_time_sync.md)
|
||||
- [미들웨어](middleware/index.md)
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- [uORB 메시지 전송](middleware/uorb.md)
|
||||
- [uORB 그라프](middleware/uorb_graph.md)
|
||||
|
||||
135
docs/ko/advanced/pps_time_sync.md
Normal file
135
docs/ko/advanced/pps_time_sync.md
Normal file
@@ -0,0 +1,135 @@
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||||
# PPS Time Synchronization (PX4 Integration)
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|
||||
[Pulse Per Second](https://en.wikipedia.org/wiki/Pulse-per-second_signal) (PPS) time synchronization provides high-precision timing for GNSS receivers.
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This page explains how PPS is integrated into PX4 and how to configure it.
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|
||||
## 개요
|
||||
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||||
PPS (Pulse Per Second) is a timing signal provided by GNSS receivers that outputs an electrical pulse once per second, synchronized to UTC time.
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The PPS signal provides a highly accurate timing reference that PX4 can use to:
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|
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- Refine GNSS time measurements and compensate for clock drift
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- Provide precise UTC timestamps for camera capture events (for photogrammetry and mapping applications)
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- Enable offline position refinement through accurate time correlation
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|
||||
## 지원 하드웨어
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PPS time synchronization can be supported on flight controllers that have a hardware timer input pin that can be configured for PPS capture, by [enabling the PPS capture driver](#enable-pps-driver-in-board-configuration) in the board configuration.
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Supported boards include (at time of writing):
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- [Ark FMUv6x](../flight_controller/ark_v6x.md)
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- Auterion FMUv6x
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- Auterion FMUv6s
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|
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## 설정
|
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### Enable PPS Driver in Board Configuration
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The [PPS capture driver](../modules/modules_driver.md#pps-capture) must be enabled in the board configuration.
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This is done by adding the following to your board's configuration:
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```ini
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CONFIG_DRIVERS_PPS_CAPTURE=y
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```
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|
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### Configure PPS Parameters
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|
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The configuration varies depending on your flight controller hardware.
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|
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#### FMUv6X
|
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For FMUv6X-based flight controllers, configure PWM AUX Timer 3 and Function 9:
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|
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```sh
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param set PWM_AUX_TIM3 -2
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param set PWM_AUX_FUNC9 2064
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param set PPS_CAP_ENABLE 1
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```
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|
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#### FMUv6S
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For FMUv6S-based flight controllers, configure PWM MAIN Timer 3 and Function 10:
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|
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```sh
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param set PWM_MAIN_TIM3 -2
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param set PWM_MAIN_FUNC10 2064
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param set PPS_CAP_ENABLE 1
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```
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|
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### 배선
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The wiring configuration depends on your specific flight controller.
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|
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#### Skynode X (FMUv6x)
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|
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Connect the PPS signal from your GNSS module to the flight controller using the 11-pin or 6-pin GPS connector:
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|
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For detailed pinout information, refer to:
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- [Skynode GPS Peripherals - Pinouts](https://docs.auterion.com/hardware-integration/skynode/peripherals/gps#pinouts)
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|
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#### Skynode S (FMUv6S)
|
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||||
For FMUv6S, you need to route the PPS signal separately:
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|
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1. Connect your GNSS module using the standard 6-pin GPS connector: [Skynode S GPS Interface](https://docs.auterion.com/hardware-integration/skynode-s/interfaces#gps)
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2. Connect the PPS signal from your GNSS module to the **PPM_IN** pin: [Skynode S Extras 1 Interface](https://docs.auterion.com/hardware-integration/skynode-s/interfaces#extras-1)
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|
||||
#### ARK Jetson Carrier Board (FMUv6x)
|
||||
|
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For ARK FMUv6X on the Jetson carrier board:
|
||||
|
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1. Connect your GNSS module using either the 10-pin or 6-pin GPS connector: [ARK PAB GPS1 Interface](../flight_controller/ark_pab#gps1)
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2. Connect the PPS signal to the **FMU_CAP** pin: [ARK PAB ADIO Interface](../flight_controller/ark_pab.md#adio)
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|
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## 검증
|
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|
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After configuring PPS, you can verify that it is working correctly:
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1. Connect to the [PX4 System Console](../debug/system_console.md) (via MAVLink shell or serial console).
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|
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2. Wait for GNSS fix.
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|
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3. Check the PPS capture status to confirm it is up and running:
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|
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```sh
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pps_capture status
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```
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|
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4. You can also check the [PpsCapture](../msg_docs/PpsCapture.md) uORB topic
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|
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```sh
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listener pps_capture
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||||
```
|
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|
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Where you should see: `timestamp`, `rtc_timestamp`, and `pps_rate_exceeded_counter`.
|
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|
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### PPS Capture Driver
|
||||
|
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The PPS capture driver is located in `src/drivers/pps_capture` and uses hardware timer input capture to precisely measure the arrival time of each PPS pulse.
|
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|
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주요 기능:
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|
||||
- Sub-microsecond pulse capture precision (hardware-dependent)
|
||||
- Automatic drift calculation and compensation
|
||||
- Integration with the GNSS driver for refined time stamping
|
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|
||||
See also:
|
||||
|
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- [PPS Capture Driver Documentation](../modules/modules_driver.md#pps-capture)
|
||||
- [PpsCapture Message](../msg_docs/PpsCapture.md)
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|
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### Time Synchronization Flow
|
||||
|
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1. GNSS module sends position/time data at ~1-20 Hz.
|
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2. GNSS module outputs PPS pulse at 1 Hz, precisely aligned to UTC second boundary.
|
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3. PPS capture driver measures the exact time of the PPS pulse arrival using hardware timer.
|
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4. Driver calculates the offset between GNSS time (from UART data) and autopilot clock (from PPS measurement).
|
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5. This offset is used to correct GNSS timestamps and improve sensor fusion accuracy.
|
||||
|
||||
The PPS signal provides much higher temporal precision than the transmitted time data, which has latency and jitter from serial communication.
|
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|
||||
:::warning
|
||||
If the PPS driver does not sending any data for 5 seconds (despite having `PPS_CAP_ENABLE` set to 1), the `EKF2_GPS_DELAY` will be used instead for estimating the latency.
|
||||
:::
|
||||
@@ -89,7 +89,7 @@ Flight controllers that have bootloader PX4-Autopilot `make` targets, can build
|
||||
The list of controllers for which this applies can be obtained by running the following `make` command, and noting the `make` targets that end in `_bootloader`
|
||||
|
||||
```
|
||||
$make list_config_targets
|
||||
$ make list_config_targets
|
||||
|
||||
...
|
||||
cuav_nora_bootloader
|
||||
|
||||
@@ -30,6 +30,7 @@ This category includes boards that are not fully compliant with the pixhawk stan
|
||||
- [Holybro Kakute H7](../flight_controller/kakuteh7.md)
|
||||
- [Holybro Durandal](../flight_controller/durandal.md)
|
||||
- [Holybro Pix32 v5](../flight_controller/holybro_pix32_v5.md)
|
||||
- [MicoAir H743 Lite](../flight_controller/micoair743-lite.md)
|
||||
- [ModalAI VOXL 2](../flight_controller/modalai_voxl_2.md)
|
||||
- [mRo Control Zero](../flight_controller/mro_control_zero_f7.md)
|
||||
- [Radiolink PIX6](../flight_controller/radiolink_pix6.md)
|
||||
|
||||
153
docs/ko/flight_controller/micoair743-lite.md
Normal file
153
docs/ko/flight_controller/micoair743-lite.md
Normal file
@@ -0,0 +1,153 @@
|
||||
# MicoAir743-Lite
|
||||
|
||||
<Badge type="tip" text="main (planned for: PX4 v1.17)" />
|
||||
|
||||
:::warning
|
||||
PX4 does not manufacture this (or any) autopilot.
|
||||
Contact the [manufacturer](https://micoair.com/) for hardware support or compliance issues.
|
||||
:::
|
||||
|
||||
MicoAir743-Lite is an ultra-high performance H743 flight controller with an unbeatable price, featuring the ICM45686 IMU sensor and integrated Bluetooth telemetry.
|
||||
|
||||
|
||||
|
||||
Equipped with a high-performance H7 processor, the MicoAir743-Lite features a compact form factor with SH1.0 connectors (which are more suitable than Pixhawk-standard GH1.25 for this board size).
|
||||
When paired with with Bluetooth telemetry, the board can be debugged with a phone or PC.
|
||||
|
||||
:::info
|
||||
This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
|
||||
:::
|
||||
|
||||
## MicoAir743-Lite (v1.1)
|
||||
|
||||
|
||||
|
||||
## 요약
|
||||
|
||||
### Processors & Sensors
|
||||
|
||||
- FMU Processor: STM32H743
|
||||
- 32 Bit Arm® Cortex®-M7, 480MHz, 2MB flash memory, 1MB RAM
|
||||
- 내장 센서 :
|
||||
- Accel/Gyro: ICM-45686 (with BalancedGyro™ Technology)
|
||||
- Barometer: SPA06
|
||||
- On-board Bluetooth Telemetry
|
||||
- Connected to UART8 internally, baudrate 115200
|
||||
- Connecting to QGC (PC or Android phone) via Bluetooth
|
||||
- 기타 특성:
|
||||
- Operating & storage temperature: -20 ~ 85°c
|
||||
|
||||
### 인터페이스
|
||||
|
||||
- 8 UART (TELEM / GPS / RC)
|
||||
- 14 PWM outputs （10 supports DShot）
|
||||
- Support multiple RC inputs (SBUS / CRSF / DSM)
|
||||
- 1 GPS port
|
||||
- 1 I2C port
|
||||
- 2 ADC port2 (VBAT, Current)
|
||||
- 1 DJI O3/O4 VTX connector
|
||||
- 1 MicroSD Card Slot
|
||||
- 1 USB Type-C
|
||||
|
||||
### Electrical data
|
||||
|
||||
- VBAT Input:
|
||||
- 2\~6S (6\~27V)
|
||||
- USB Power Input:
|
||||
- 4.75\~5.25V
|
||||
- BEC Output:
|
||||
- 5V 2A (for controller, receiver, GPS, optical flow or other devices)
|
||||
- 9V 2A (for video transmitter, camera)
|
||||
|
||||
### Mechanical data
|
||||
|
||||
- Mounting: 30.5 x 30.5mm, Φ4mm
|
||||
- Dimensions: 36 x 36 x 8 mm
|
||||
- Weight: 10g
|
||||
|
||||
|
||||
|
||||
## 구매처
|
||||
|
||||
Order from [MicoAir Tech Store](https://store.micoair.com/product/micoair743-lite/).
|
||||
|
||||
## 핀배열
|
||||
|
||||
Pinouts definition can be found in the [MicoAir743-Lite_pinout.xlsx](https://raw.githubusercontent.com/PX4/PX4-Autopilot/refs/heads/main/docs/assets/flight_controller/micoair743_lite/micoair743_lite_pinout.xlsx) file.
|
||||
|
||||
## 시리얼 포트 매핑
|
||||
|
||||
| UART | 장치 | 포트 |
|
||||
| ------ | ---------- | ------ |
|
||||
| USART1 | /dev/ttyS0 | TELEM1 |
|
||||
| USART2 | /dev/ttyS1 | GPS2 |
|
||||
| USART3 | /dev/ttyS2 | GPS1 |
|
||||
| UART4 | /dev/ttyS3 | TELEM2 |
|
||||
| UART5 | /dev/ttyS4 | TELEM3 |
|
||||
| USART6 | /dev/ttyS5 | RC |
|
||||
| UART7 | /dev/ttyS6 | URT6 |
|
||||
| UART8 | /dev/ttyS7 | TELEM4 |
|
||||
|
||||
## Interfaces Diagram
|
||||
|
||||
:::note
|
||||
All the connectors used on the board are SH1.0
|
||||
:::
|
||||
|
||||
|
||||
|
||||
## Sample Wiring Diagram
|
||||
|
||||
|
||||
|
||||
## 펌웨어 빌드
|
||||
|
||||
To [build PX4](../dev_setup/building_px4.md) for this target:
|
||||
|
||||
```sh
|
||||
make micoair_h743-lite_default
|
||||
```
|
||||
|
||||
## 펌웨어 설치
|
||||
|
||||
펌웨어는 일반적인 방법으로 설치할 수 있습니다.
|
||||
|
||||
- 소스 빌드 및 업로드
|
||||
|
||||
```sh
|
||||
make micoair_h743-lite_default upload
|
||||
```
|
||||
|
||||
- [Load the firmware](../config/firmware.md) using _QGroundControl_.
|
||||
미리 빌드된 펌웨어나 사용자 지정 펌웨어를 사용할 수 있습니다.
|
||||
|
||||
::: info
|
||||
At time of writing the only pre-built software is `PX4 main` (see [Installing PX4 Main, Beta or Custom Firmware](../config/firmware.md#installing-px4-main-beta-or-custom-firmware)).
|
||||
Release builds will be supported for PX4 v1.17 and later.
|
||||
|
||||
:::
|
||||
|
||||
## 무선 조종
|
||||
|
||||
A [Radio Control (RC) system](../getting_started/rc_transmitter_receiver.md) is required if you want to manually control your vehicle (PX4 does not require a radio system for autonomous flight modes).
|
||||
|
||||
The RC port is connected to the FMU and you can attach a receiver that uses the protocols `DSM`, `SBUS`, `CSRF`, `GHST`, or other protocol listed in [Radio Control modules](../modules/modules_driver_radio_control.md).
|
||||
You will need to enable the protocol by setting the corresponding parameter `RC_xxxx_PRT_CFG`, such as [RC_CRSF_PRT_CFG](../advanced_config/parameter_reference.md#RC_CRSF_PRT_CFG) for a [CRSF receiver](../telemetry/crsf_telemetry.md).
|
||||
|
||||
## 지원 플랫폼 및 기체
|
||||
|
||||
일반 RC 서보 또는 Futaba S-Bus 서보로 제어 가능한 모든 멀티콥터/비행기/로버 또는 보트.
|
||||
The complete set of supported configurations can be seen in the [Airframes Reference](../airframes/airframe_reference.md).
|
||||
|
||||
## 주변 장치
|
||||
|
||||
- [MicoAir Telemetry Radio Modules](https://micoair.com/radio_telemetry/)
|
||||
- [MicoAir Optical & Range Sensor](https://micoair.com/optical_range_sensor/)
|
||||
- [MicoAir GPS](https://micoair.com/gps/)
|
||||
- [MicoAir ESC Modules](https://micoair.com/esc/)
|
||||
|
||||
## 추가 정보
|
||||
|
||||
- [MicoAir Tech.](https://micoair.com/)
|
||||
- [Details about MicoAir743-Lite](https://micoair.com/flightcontroller_micoair743lite/)
|
||||
- [QGroundControl Download and Install](https://docs.qgroundcontrol.com/Stable_V5.0/en/qgc-user-guide/getting_started/download_and_install.html)
|
||||
@@ -25,11 +25,6 @@ The default type is recommended.
|
||||
|
||||
:::
|
||||
|
||||
:::warning
|
||||
There is a known issue ([PX4-Autopilot#25436](https://github.com/PX4/PX4-Autopilot/issues/25436)) with fixed-wing approaches and landings while in RTL mode.
|
||||
Please review the issue and verify in simulation that the behavior you get is safe in an RTL landing scenario (if not, consider using rally points).
|
||||
:::
|
||||
|
||||
## Technical Summary
|
||||
|
||||
Fixed-wing vehicles use the _mission landing/rally point_ return type by default.
|
||||
|
||||
@@ -145,21 +145,21 @@ To ensure the port is set up correctly perform a [Serial Port Configuration](../
|
||||
The following steps show how to configure a secondary GPS on the `GPS 2` port in _QGroundControl_:
|
||||
|
||||
1. [Find and set](../advanced_config/parameters.md) the parameter [GPS_2_CONFIG](../advanced_config/parameter_reference.md#GPS_2_CONFIG) to **GPS 2**.
|
||||
- Open _QGroundControl_ and navigate to the **Vehicle Setup > Parameters** section.
|
||||
- Select the **GPS** tab, then open the [GPS_2_CONFIG](../advanced_config/parameter_reference.md#GPS_2_CONFIG) parameter and select `GPS 2` from the dropdown list.
|
||||
- Open _QGroundControl_ and navigate to the **Vehicle Setup > Parameters** section.
|
||||
- Select the **GPS** tab, then open the [GPS_2_CONFIG](../advanced_config/parameter_reference.md#GPS_2_CONFIG) parameter and select `GPS 2` from the dropdown list.
|
||||
|
||||
|
||||
|
||||
|
||||
2. 다른 매개변수를 표시하려면 기체를 재부팅하십시오.
|
||||
|
||||
3. Select the **Serial** tab, and open the [SER_GPS2_BAUD](../advanced_config/parameter_reference.md#SER_GPS2_BAUD) parameter (`GPS 2` port baud rate): set it to _Auto_ (or 115200 for the Trimble).
|
||||
|
||||
|
||||
|
||||
|
||||
보조 GPS 포트를 설정 후 :
|
||||
|
||||
1. 두 GPS 시스템의 데이터를 혼합하도록 ECL/EKF2 추정기를 설정합니다.
|
||||
For detailed instructions see: [Using the ECL EKF > Dual Receivers](../advanced_config/tuning_the_ecl_ekf.md#dual-receivers).
|
||||
For detailed instructions see: [Using the ECL EKF > Dual Receivers](../advanced_config/tuning_the_ecl_ekf.md#dual-receivers).
|
||||
|
||||
### DroneCAN GNSS Configuration
|
||||
|
||||
@@ -201,7 +201,9 @@ EPH/EPV values therefore provide a more immediate and practical estimate of the
|
||||
|
||||
- GPS/RTK-GPS
|
||||
- [RTK-GPS](../advanced/rtk_gps.md)
|
||||
- [PPS Time Synchronization](../advanced/pps_time_sync.md)
|
||||
- [GPS driver](../modules/modules_driver.md#gps)
|
||||
- [PPS driver](../modules/modules_driver.md#pps-capture)
|
||||
- [DroneCAN Example](../dronecan/index.md)
|
||||
- 나침반
|
||||
- [Driver source code](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/magnetometer) (Compasses)
|
||||
|
||||
@@ -40,6 +40,7 @@ This list contains stand-alone magnetometer modules (without GNSS).
|
||||
|
||||
| 장치 | 나침반 | DroneCan |
|
||||
| :--------------------------------------------------------------------------------------------------------------- | :----: | :------: |
|
||||
| [ARK MAG](https://arkelectron.com/product/ark-mag/) | RM3100 | ✓ |
|
||||
| [Avionics Anonymous UAVCAN Magnetometer](https://www.tindie.com/products/avionicsanonymous/uavcan-magnetometer/) | ? | |
|
||||
| [Holybro DroneCAN RM3100 Compass/Magnetometer](https://holybro.com/products/dronecan-rm3100-compass) | RM3100 | ✓ |
|
||||
| [RaccoonLab DroneCAN/Cyphal Magnetometer RM3100](https://holybro.com/products/dronecan-rm3100-compass) | RM3100 | ✓ |
|
||||
|
||||
@@ -454,6 +454,7 @@ uxrce_dds_client start -n fancy_uav
|
||||
```
|
||||
|
||||
This can be included in `etc/extras.txt` as part of a custom [System Startup](../concept/system_startup.md).
|
||||
:::
|
||||
|
||||
## PX4 ROS 2 QoS Settings
|
||||
|
||||
@@ -588,7 +589,7 @@ For a list of services, details and examples see the [service documentation](../
|
||||
These guidelines explain how to migrate from using PX4 v1.13 [Fast-RTPS](../middleware/micrortps.md) middleware to PX4 v1.14 `uXRCE-DDS` middleware.
|
||||
These are useful if you have [ROS 2 applications written for PX4 v1.13](https://docs.px4.io/v1.13/en/ros/ros2_comm.html), or you have used Fast-RTPS to interface your applications to PX4 [directly](https://docs.px4.io/v1.13/en/middleware/micrortps.html#agent-in-an-offboard-fast-dds-interface-ros-independent).
|
||||
|
||||
::: info
|
||||
:::info
|
||||
This section contains migration-specific information.
|
||||
You should also read the rest of this page to properly understand uXRCE-DDS.
|
||||
:::
|
||||
|
||||
Reference in New Issue
Block a user