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docs(i18n): PX4 guide translations (Crowdin) - zh-CN (#27666)

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docs/zh/SUMMARY.md
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@@ -164,6 +164,7 @@
- [mRo Pixhawk (FMUv3)](flight_controller/mro_pixhawk.md)
- [mRo (3DR) Pixhawk Wiring Quickstart](assembly/quick_start_pixhawk.md)
- [Manufacturer-Supported Autopilots](flight_controller/autopilot_manufacturer_supported.md)
- [3DR Control N1](flight_controller/3dr_ctrl-n1.md)
- [Accton Godwit GA1](flight_controller/accton-godwit_ga1.md)
- [AEDROX AEDROXH7](flight_controller/aedrox_aedroxh7.md)
- [AirMind MindPX](flight_controller/mindpx.md)
@@ -174,6 +175,7 @@
- [ARK Pi6X Flow Flight Controller](flight_controller/ark_pi6x.md)
- [CBUnmanned H753-SOM](flight_controller/cbunmanned_h753-som.md)
- [CORVON 743v1](flight_controller/corvon_743v1.md)
- [CORVON 743v2](flight_controller/corvon_743v2.md)
- [CUAV Nora](flight_controller/cuav_nora.md)
- [CUAV V5+ (FMUv5)](flight_controller/cuav_v5_plus.md)
- [Wiring Quickstart](assembly/quick_start_cuav_v5_plus.md)
@@ -205,6 +207,7 @@
- [ThePeach FCC-K1](flight_controller/thepeach_k1.md)
- [ThePeach FCC-R1](flight_controller/thepeach_r1.md)
- [AP-H743-R1](flight_controller/x-mav_ap-h743r1.md)
- [VOLOLAND NarinFC-H7](flight_controller/vololand_narinfc_h7.md)
- [Experimental Autopilots](flight_controller/autopilot_experimental.md)
- [BeagleBone Blue](flight_controller/beaglebone_blue.md)
- [Raspberry Pi 2/3 Navio2](flight_controller/raspberry_pi_navio2.md)
docs/zh/advanced_config/airspeed_validation.md
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@@ -182,7 +182,7 @@ Only when the measured airspeed began decreasing very quickly would the innovati
Listed below are all the relevant parameters.
| 参数 | 描述 | Used In |
| Parameter | 描述 | Used In |
| -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------- |
| <a id="aspd_do_checks_table"></a>[ASPD_DO_CHECKS](../advanced_config/parameter_reference.md#ASPD_DO_CHECKS) | Bitmask to enable/disable individual airspeed validation checks. | |
| <a id="aspd_fs_innov_table"></a>[ASPD_FS_INNOV](../advanced_config/parameter_reference.md#ASPD_FS_INNOV) | Innovation threshold between estimated and predicted TAS. | [Innovation Check](#innovation-check) |
docs/zh/advanced_config/ethernet_setup.md
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@@ -165,7 +165,7 @@ You must separately configure the PX4 IP address and other _network settings_ ([
PX4配置串行端口以通过MAVLink连接到地面站，使用下面的参数:
| 参数 | 值 | 描述 |
| Parameter | 值 | 描述 |
| --------------------------------------------------------------------------------------------------------------------------------------------- | ------ | ------------------------------ |
| [MAV_2_CONFIG](../advanced_config/parameter_reference.md#MAV_2_CONFIG) | 1000 | 配置以太网端口 |
| [MAV_2_BROADCAST](../advanced_config/parameter_reference.md#MAV_2_BROADCAST) | 1 | Broadcast `HEARTBEAT` messages |
docs/zh/advanced_config/prearm_arm_disarm.md
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@@ -58,7 +58,7 @@ RC controllers will use different sticks for throttle and yaw [based on their mo
Note that disarming in any altitude controlled mode is only possible after landing was detected.
In manually piloted modes without altitude control, such as Stabilized, Acro, and Manual, it's always possible to disarm using gestures or buttons — even in flight.
| 参数 | 描述 |
| Parameter | 描述 |
| -------------------------------------------------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="MAN_ARM_GESTURE"></a>[MAN_ARM_GESTURE](../advanced_config/parameter_reference.md#MAN_ARM_GESTURE) | Enable arm/disarm stick guesture. `0`: Disabled, `1`: Enabled (default). |
@@ -75,7 +75,7 @@ Two-position arming switches are primarily used in/recommended for racing drones
The switch or button is assigned (and enabled) using [RC_MAP_ARM_SW](#RC_MAP_ARM_SW), and the switch "type" is configured using [COM_ARM_SWISBTN](#COM_ARM_SWISBTN).
| 参数 | 描述 |
| Parameter | 描述 |
| ----------------------------------------------------------------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="RC_MAP_ARM_SW"></a>[RC_MAP_ARM_SW](../advanced_config/parameter_reference.md#RC_MAP_ARM_SW) | RC arm switch channel (default: 0 - unassigned). If defined, the specified RC channel (button/switch) is used for arming instead of a stick gesture. <br>**Note:**<br>- This setting _disables the stick gesture_!<br>- This setting applies to RC controllers. It does not apply to Joystick controllers that are connected via _QGroundControl_. |
| <a id="COM_ARM_SWISBTN"></a>[COM_ARM_SWISBTN](../advanced_config/parameter_reference.md#COM_ARM_SWISBTN) | Arm switch is a momentary button. <br>- `0`: Arm switch is a 2-position switch where arm/disarm commands are sent on switch transitions.<br>-`1`: Arm switch is a momentary button where the arm/disarm command is sent after holding down the button for one second. |
@@ -89,7 +89,7 @@ The switch can also be set as part of _QGroundControl_ [Flight Mode](../config/f
By default vehicles will automatically disarm on landing, or if you take too long to take off after arming.
The feature is configured using the following timeouts.
| 参数 | 描述 |
| Parameter | 描述 |
| ----------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="COM_DISARM_LAND"></a>[COM_DISARM_LAND](../advanced_config/parameter_reference.md#COM_DISARM_LAND) | 降落后自动锁定超时时间. Default: 2s (-1 to disable). |
| <a id="COM_DISARM_PRFLT"></a>[COM_DISARM_PRFLT](../advanced_config/parameter_reference.md#COM_DISARM_PRFLT) | Time-out for auto disarm if too slow to takeoff. Default: 10s (-1 to disable). |
@@ -112,7 +112,7 @@ A vehicle that arms automatically can spin up motors and actuators without any o
Ensure the vehicle is in a safe state before powering on.
:::
| 参数 | 描述 |
| Parameter | 描述 |
| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="COM_ARM_ON_BOOT"></a>[COM_ARM_ON_BOOT](../advanced_config/parameter_reference.md#COM_ARM_ON_BOOT) | Arm automatically once preflight checks pass after boot. Default: `0` (Disabled). |
@@ -246,7 +246,7 @@ The startup sequence is:
### 参数
| 参数 | 描述 |
| Parameter | 描述 |
| -------------------------------------------------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="COM_PREARM_MODE"></a>[COM_PREARM_MODE](../advanced_config/parameter_reference.md#COM_PREARM_MODE) | Condition to enter prearmed mode. `0`: Disabled, `1`: Safety switch (prearm mode enabled by safety switch; if no switch present cannot be enabled), `2`: Always (prearm mode enabled from power up). Default: `1` (safety button). |
| <a id="CBRK_IO_SAFETY"></a>[CBRK_IO_SAFETY](../advanced_config/parameter_reference.md#CBRK_IO_SAFETY) | Circuit breaker for IO safety. |
docs/zh/advanced_config/tuning_the_ecl_ekf.md
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@@ -326,7 +326,7 @@ GSF 应用于各个 3 状态 EKF 输出的权重位于 `weight` 字段中。
为了让 ECL 接受 GNSS 数据进行导航，需要在一段时间内满足某些最低要求，该时间由 [EKF2_REQ_GPS_H](../advanced_config/parameter_reference.md#EKF2_REQ_GPS_H) 定义（默认为 10 秒）。
最小值在 [EKF2_REQ_\*](../advanced_config/parameter_reference.md#EKF2_REQ_EPH) 参数中定义，并且可以使用 [EKF2_GPS_CHECK](../advanced_config/parameter_reference.md#EKF2_GPS_CHECK) 参数启用/禁用每个检查。
最小值在 [EKF&#x32;_&#x52;EQ_\*](../advanced_config/parameter_reference.md#EKF2_REQ_EPH) 参数中定义，并且可以使用 [EKF2_GPS_CHECK](../advanced_config/parameter_reference.md#EKF2_GPS_CHECK) 参数启用/禁用每个检查。
下表列出了直接从 GNSS 数据中报告或计算的不同指标，以及 ECL 使用这些数据所需满足的最低要求值。
此外，_平均值 (Average Value)_ 列显示了可能从标准 GNSS 模块（例如 u-blox M8 系列）合理获得的典型值 - 即被认为良好/可接受的值。
docs/zh/advanced_features/precland.md
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@@ -164,7 +164,7 @@ If `LTEST_MODE` is set to stationary, the target measurements are also used by t
Other relevant parameters are listed in the parameter reference under [Landing_target estimator](../advanced_config/parameter_reference.md#landing-target-estimator) and [Precision land](../advanced_config/parameter_reference.md#precision-land) parameters.
Some of the most useful ones are listed below.
| 参数 | 描述 |
| Parameter | 描述 |
| -------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="SENS_EN_IRLOCK"></a>[SENS_EN_IRLOCK](../advanced_config/parameter_reference.md#SENS_EN_IRLOCK) | IR-LOCK Sensor (external I2C). Disable: `0` (default): Enable: `1`). |
| <a id="LTEST_MODE"></a>[LTEST_MODE](../advanced_config/parameter_reference.md#LTEST_MODE) | Landing target is moving (`0`) or stationary (`1`). Default is moving. |
docs/zh/advanced_features/vision_target_estimator_advanced.md
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@@ -169,7 +169,7 @@ $$
R_{\text{eff}} = \max\bigl(R_{\text{reported}},\ \text{VTE\_*\_NOISE}^2\bigr).
$$
| 参数 | 单位 (Units) | 默认值 | Applies to |
| Parameter | 单位 (Units) | 默认值 | Applies to |
| ------------------------------------------------------------------------------------------------------------------------------------------- | ----------------------------- | -------------------- | ----------------------------------------------------- |
| [VTE_EVP_NOISE](../advanced_config/parameter_reference.md#VTE_EVP_NOISE) | 米 | 0.10 | Vision relative position |
| [VTE_EVA_NOISE](../advanced_config/parameter_reference.md#VTE_EVA_NOISE) | rad | 0.07 | Vision yaw |
@@ -192,7 +192,7 @@ All process-noise parameters are continuous-time **power spectral densities** (P
A PSD describes the strength of a continuous white-noise process: it is the variance the noise injects per second into the state it directly drives, with units chosen so that `PSD × time` is the variance of that state.
See [Spectral density (Wikipedia)](https://en.wikipedia.org/wiki/Spectral_density) for background.
| 参数 | Drives directly | Unit | What it represents |
| Parameter | Drives directly | Unit | What it represents |
| ------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------- | ------------------------------------ | ------------------------------------------------------------------------------------------------------------- |
| [VTE_BIAS_UNC](../advanced_config/parameter_reference.md#VTE_BIAS_UNC) | `bias` (m) | m²/s | PSD of the bias random walk |
| [VTE_ACC_D_UNC](../advanced_config/parameter_reference.md#VTE_ACC_D_UNC) | `vel_uav` (m/s) | m²/s³ | PSD of white acceleration noise on the UAV acceleration input |
docs/zh/airframes/airframe_reference.md
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@@ -585,9 +585,9 @@ div.frame_variant td, div.frame_variant th {
</table>
</div>
## 无人车
## Rover
### 无人车
### Rover
<div class="frame_common">
<img src="../../assets/airframes/types/Rover.svg"/>
docs/zh/assembly/quick_start_durandal.md
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@@ -113,7 +113,7 @@ It has the following characteristics/limits:
- PCB Current: total 120A outputs (MAX)
- UBEC 5V output current: 3A
- UBEC input voltage : 7~51v (2~12s LiPo)
- Dimensions: 68_50_8 mm
- Dimensions: 6&#x38;_&#x35;&#x30;_&#x38; mm
- Mounting Holes: 45\*45mm
- Weight: 36g
- Package includes:
docs/zh/camera/fc_connected_camera.md
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@@ -139,7 +139,7 @@ At time of writing triggering only works on FMU pins:
### 其他参数
| 参数 | 描述 |
| Parameter | 描述 |
| ------------------------------------------------------------------------------------------------------------------ | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| [TRIG_POLARITY](../advanced_config/parameter_reference.md#TRIG_POLARITY) | Relevant only while using the GPIO interface. Sets the polarity of the trigger pin. Active high means that the pin is pulled low normally and pulled high on a trigger event. Active low is vice-versa. |
| [TRIG_INTERVAL](../advanced_config/parameter_reference.md#TRIG_INTERVAL) | Defines the time between two consecutive trigger events in milliseconds. |
docs/zh/computer_vision/collision_prevention.md
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@@ -54,7 +54,7 @@ PX4 v1.14 (and later) supports the [LightWare LiDAR SF45](../sensor/sf45_rotatin
Configure collision prevention by [setting the following parameters](../advanced_config/parameters.md) in _QGroundControl_:
| 参数 | 描述 |
| Parameter | 描述 |
| ----------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
| <a id="CP_DIST"></a>[CP_DIST](../advanced_config/parameter_reference.md#CP_DIST) | Set the minimum allowed distance (the closest distance that the vehicle can approach the obstacle). Set negative to disable _collision prevention_. <br>> **Warning** This value is the distance to the sensors, not the outside of your vehicle or propellers. Be sure to leave a safe margin! |
| <a id="CP_DELAY"></a>[CP_DELAY](../advanced_config/parameter_reference.md#CP_DELAY) | Set the sensor and velocity setpoint tracking delay. See [Delay Tuning](#delay_tuning) below. |
docs/zh/computer_vision/visual_inertial_odometry.md
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@@ -69,7 +69,7 @@ These should identify the component as `MAV_COMP_ID_VISUAL_INERTIAL_ODOMETRY` (1
将相机连接到机载计算机并将其安装到框架：
| 参数 | 外部位置估计的设置 |
| Parameter | 外部位置估计的设置 |
| ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------- |
| [EKF2_EV_CTRL](../advanced_config/parameter_reference.md#EKF2_EV_CTRL) | Set _horizontal position fusion_, _vertical vision fusion_, _velocity fusion_, and _yaw fusion_ according to your desired fusion model. |
| [EKF2_HGT_REF](../advanced_config/parameter_reference.md#EKF2_HGT_REF) | Set to _Vision_ to use the vision as the reference sensor for altitude estimation. |
docs/zh/config/compass.md
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@@ -141,7 +141,7 @@ The calibration process:
commander calibrate mag quick [heading]
```
| 参数 | 描述 |
| Parameter | 描述 |
| --------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------- |
| `heading` (optional) | True heading of the vehicle in degrees (0–359). Defaults to 0° (North) if omitted. |
@@ -204,7 +204,7 @@ Further compass configuration should generally not be required.
### Enable/Disable a Compass
While no further configuration should be _required_, developers who wish to disable/enable compasses for any reason, such as testing, can do so using the compass parameters.
These are prefixed with [CAL_MAGx_](../advanced_config/parameter_reference.md#CAL_MAG0_ID) (where `x=0-3`):
These are prefixed with [CA&#x4C;_&#x4D;AGx_](../advanced_config/parameter_reference.md#CAL_MAG0_ID) (where `x=0-3`):
- [CAL_MAGn_ROT](../advanced_config/parameter_reference.md#CAL_MAG0_ROT) can be used to determine which compasses are internal.
A compass is internal if `CAL_MAGn_ROT==1`.
docs/zh/config/safety.md
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@@ -86,7 +86,7 @@ The most common configuration is to set the values and action as above (with `Wa
The settings and underlying parameters are shown below.
| 设置 | 参数 | 描述 |
| 设置 | Parameter | 描述 |
| --------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------- |
| <a id="COM_LOW_BAT_ACT"></a>Failsafe Action | [COM_LOW_BAT_ACT](../advanced_config/parameter_reference.md#COM_LOW_BAT_ACT) | Warn, Return, or Land based when capacity drops below the trigger levels. |
| <a id="BAT_LOW_THR"></a>Battery Warn Level | [BAT_LOW_THR](../advanced_config/parameter_reference.md#BAT_LOW_THR) | 需做出警告（或其他动作）的电量百分比。 |
@@ -104,7 +104,7 @@ There are several other "battery related" failsafe mechanisms that may be config
The settings and underlying parameters are shown below.
| 设置 | 参数 | 描述 |
| 设置 | Parameter | 描述 |
| -------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="COM_FLTT_LOW_ACT"></a> Low flight time for safe return action | [COM_FLTT_LOW_ACT](../advanced_config/parameter_reference.md#COM_FLTT_LOW_ACT) | Action when return mode can only just reach safety with remaining battery. `0`: None (default), `1`: Warning, `3`: Return mode. |
| <a id="COM_FLT_TIME_MAX"></a> Maximum flight time failsafe level | [COM_FLT_TIME_MAX](../advanced_config/parameter_reference.md#COM_FLT_TIME_MAX) | Maximum allowed flight time before Return mode will be engaged, in seconds. `-1`: Disabled (default). |
@@ -124,7 +124,7 @@ PX4 and the receiver may also need to be configured in order to _detect RC loss_
Additional (and underlying) parameter settings are shown below.
| 参数 | 设置 | 描述 |
| Parameter | 设置 | 描述 |
| -------------------------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="COM_RC_LOSS_T"></a>[COM_RC_LOSS_T](../advanced_config/parameter_reference.md#COM_RC_LOSS_T) | Manual Control Loss Timeout | Time after last setpoint received from the selected manual control source after which manual control is considered lost. This must be kept short because the vehicle will continue to fly using the last known stick position until the timeout triggers. |
| <a id="COM_FAIL_ACT_T"></a>[COM_FAIL_ACT_T](../advanced_config/parameter_reference.md#COM_FAIL_ACT_T) | Failsafe Reaction Delay | Delay in seconds between failsafe condition being triggered (`COM_RC_LOSS_T`) and failsafe action (RTL, Land, Hold). In this state the vehicle waits in hold mode for the manual control source to reconnect. This might be set longer for long-range flights so that intermittent connection loss doesn't immediately invoke the failsafe. It can be to zero so that the failsafe triggers immediately. |
@@ -140,7 +140,7 @@ Users that want to disable this failsafe in specific modes can do so using the p
The settings and underlying parameters are shown below.
| 设置 | 参数 | 描述 |
| 设置 | Parameter | 描述 |
| ----------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------- |
| 数据链路丢失超时 | [COM_DL_LOSS_T](../advanced_config/parameter_reference.md#COM_DL_LOSS_T) | 数据连接断开后到故障保护触发之前的时间。 |
| 故障保护动作 | [NAV_DLL_ACT](../advanced_config/parameter_reference.md#NAV_DLL_ACT) | Disabled, Hold mode, Return mode, Land mode, Disarm, Terminate. |
@@ -169,7 +169,7 @@ PX4 separately supports more complicated Geofence geometries with multiple arbit
The settings and underlying [geofence parameters](../advanced_config/parameter_reference.md#geofence) are shown below.
| 设置 | 参数 | 描述 |
| 设置 | Parameter | 描述 |
| ---------- | ------------------------------------------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------- |
| 冲出围栏时的响应动作 | [GF_ACTION](../advanced_config/parameter_reference.md#GF_ACTION) | None, Warning, Hold mode, Return mode, Terminate, Land. |
| 最大半径 | [GF_MAX_HOR_DIST](../advanced_config/parameter_reference.md#GF_MAX_HOR_DIST) | 地理围栏圆柱体的水平半径。 如果为 0，则禁用地理围栏。 |
@@ -182,7 +182,7 @@ Due to the inherent danger of this, this function is disabled using [CBRK_FLIGHT
The following settings also apply, but are not displayed in the QGC UI.
| 设置 | 参数 | 描述 |
| 设置 | Parameter | 描述 |
| ------------------------------------------------------------------ | ------------------------------------------------------------------------------------------------- | --------------------------- |
| <a id="GF_SOURCE"></a>Geofence source | [GF_SOURCE](../advanced_config/parameter_reference.md#GF_SOURCE) | 设置定位是来自全局位置估计还是直接来自 GPS 设备。 |
| <a id="CBRK_FLIGHTTERM"></a>Circuit breaker for flight termination | [CBRK_FLIGHTTERM](../advanced_config/parameter_reference.md#CBRK_FLIGHTTERM) | 启用/禁用飞行终止操作（默认禁用）。 |
@@ -206,7 +206,7 @@ The position loss failsafe triggers if the position estimate becomes _invalid_.
The relevant parameters shown below.
| 参数 | 描述 |
| Parameter | 描述 |
| -------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
| <a id="EKF2_NOAID_TOUT"></a>[EKF2_NOAID_TOUT](../advanced_config/parameter_reference.md#EKF2_NOAID_TOUT) | Maximum inertial dead-reckoning time, so the time after the last data sample was received of any sensor that constrains the velocity drift [microseconds]. |
| <a id="COM_POS_FS_EPH"></a>[COM_POS_FS_EPH](../advanced_config/parameter_reference.md#COM_POS_FS_EPH) | Horizontal position error threshold for hovering vehicles (Multicopters and VTOLs in hover). Fixed-wing vehicles have this value set to infinity. |
@@ -220,7 +220,7 @@ If VTOLs have are configured to switch to hover for landing ([NAV_FORCE_VT](../a
The relevant parameters are:
| 参数 | 描述 |
| Parameter | 描述 |
| ----------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="FW_GPSF_LT"></a>[FW_GPSF_LT](../advanced_config/parameter_reference.md#FW_GPSF_LT) | Fixed-wing only: Loiter time (waiting at current altitude for position estimation recovery before starting to descend). 设置为 0 以禁用。 |
| <a id="FW_GPSF_R"></a>[FW_GPSF_R](../advanced_config/parameter_reference.md#FW_GPSF_R) | 以一定的横滚/侧倾角盘旋。 |
@@ -230,7 +230,7 @@ The relevant parameters are:
In Fixed-wing, the position estimate is never strictly invalidated as long as we have a horizontal aiding source, such as an airspeed sensor. In that case, a separate failsafe can be configured that triggers if the position estimate inacuraccy exceeds the threshold [COM_POS_LOW_EPH](../advanced_config/parameter_reference.md#COM_POS_LOW_EPH). The failsafe action is taken if the vehicle is in mission or hold mode, otherwise it is only a warning. The relevant parameters are:
| 参数 | 描述 |
| Parameter | 描述 |
| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="COM_POS_LOW_EPH"></a>[COM_POS_LOW_EPH](../advanced_config/parameter_reference.md#COM_POS_LOW_EPH) | Position inaccuracy threshold above which COM_POS_LOW_ACT is taken. |
| <a id="COM_POS_LOW_ACT"></a>[COM_POS_LOW_ACT](../advanced_config/parameter_reference.md#COM_POS_LOW_ACT) | Failsafe action taken when position inaccuracy is above configured threshold. |
@@ -249,7 +249,7 @@ Triggers on either of:
At least a warning is emitted, additional failsafe actions can be configured using [COM_GNSSLOSS_ACT](#COM_GNSSLOSS_ACT).
Loss of a single GPS when none are required is handled by other GPS health checks.
| 参数 | 描述 |
| Parameter | 描述 |
| -------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="SYS_HAS_NUM_GNSS"></a>[SYS_HAS_NUM_GNSS](../advanced_config/parameter_reference.md#SYS_HAS_NUM_GNSS) | Number of usable GNSS receivers required for arming and flight. If two are required then they also need to be consistent. |
| <a id="COM_GNSSLOSS_ACT"></a>[COM_GNSSLOSS_ACT](../advanced_config/parameter_reference.md#COM_GNSSLOSS_ACT) | Failsafe action when a GNSS failure is detected. Actions other than a warning also lead to arming being blocked. |
@@ -257,14 +257,13 @@ Loss of a single GPS when none are required is handled by other GPS health check
## Offboard 中断故障保护
The _Offboard Loss Failsafe_ is triggered if the offboard link is lost while under [Offboard control](../flight_modes/offboard.md).
Different failsafe behaviour can be specified based on whether or not there is also an RC connection available.
The relevant parameters are shown below:
| 参数 | 描述 |
| ----------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------- |
| [COM_OF_LOSS_T](../advanced_config/parameter_reference.md#COM_OF_LOSS_T) | Offboard 连接中断后到触发故障保护前的延迟。 |
| [COM_OBL_RC_ACT](../advanced_config/parameter_reference.md#COM_OBL_RC_ACT) | 如果遥控可用，则故障保护动作：定点模式、定高模式、手动模式、返航模式、降落模式、保持模式。 |
| Parameter | 描述 |
| ----------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------- |
| [COM_OF_LOSS_T](../advanced_config/parameter_reference.md#COM_OF_LOSS_T) | Offboard 连接中断后到触发故障保护前的延迟。 |
| [COM_OBL_RC_ACT](../advanced_config/parameter_reference.md#COM_OBL_RC_ACT) | Flight mode to switch to if offboard control is lost. |
## 交通规避故障保护
@@ -272,7 +271,7 @@ The Traffic Avoidance Failsafe allows PX4 to respond to transponder data (e.g. f
The relevant parameters are shown below:
| 参数 | 描述 |
| Parameter | 描述 |
| ---------------------------------------------------------------------------------------------------------------------- | ------------------------- |
| [NAV_TRAFF_AVOID](../advanced_config/parameter_reference.md#NAV_TRAFF_AVOID) | 设置故障保护动作：禁用、警告、返航模式、降落模式。 |
@@ -284,7 +283,7 @@ The Remote ID failsafe is triggered when the [Remote ID (Open Drone ID)](../peri
The failsafe action and arming behaviour are both configured by the `COM_ARM_ODID` parameter:
| 参数 | 描述 |
| Parameter | 描述 |
| ----------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="COM_ARM_ODID"></a>[COM_ARM_ODID](../advanced_config/parameter_reference.md#COM_ARM_ODID) | Remote ID arming check and in-flight failsafe. `0`: Disabled (default), `1`: Warning only, `2`: Error only (prevents arming), `3`: Return, `4`: Land, `5`: Terminate.<br><br>On failsafe:<br>- `Error`, `Return`, `Land` and `Terminate` prevent arming.<br>- `Return`, `Land` and `Terminate` start the associated action/mode when airborne. |
@@ -294,7 +293,7 @@ The failsafe action and arming behaviour are both configured by the `COM_ARM_ODI
The parachute health failsafe is triggered when a [MAVLink parachute](../peripherals/parachute.md) system is missing or unhealthy while the vehicle is armed or airborne.
| 参数 | 描述 |
| Parameter | 描述 |
| ----------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
| <a id="COM_PARACHUTE"></a>[COM_PARACHUTE](../advanced_config/parameter_reference.md#COM_PARACHUTE) | Parachute system monitoring and failsafe action.<br>`0`: Disabled (default), `1`: [Warning](#act_warn), `2`: [Return](#act_return), `3`: [Land](#act_land).<br><br>- Everything but `Disabled` prevents arming with a failing check.<br>- [Return](#act_return) and [Land](#act_land) start the associated action when a failure happens in-flight. |
@@ -309,7 +308,7 @@ The quad-chute can also be triggered by sending a MAVLINK [MAV_CMD_DO_VTOL_TRANS
The parameters that control when the quad-chute will trigger are listed in the table below.
| 参数 | 描述 |
| Parameter | 描述 |
| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="COM_QC_ACT"></a>[COM_QC_ACT](../advanced_config/parameter_reference.md#COM_QC_ACT) | Quad-chute action after switching to multicopter flight. Can be set to: [Warning](#act_warn), [Return](#act_return), [Land](#act_land), [Hold](#act_hold). |
| <a id="VT_FW_QC_HMAX"></a>[VT_FW_QC_HMAX](../advanced_config/parameter_reference.md#VT_FW_QC_HMAX) | Maximum quad-chute height, below which the quad-chute failsafe cannot trigger. This prevents high altitude quad-chute descent, which can drain the battery (and itself cause a crash). The height is relative to ground, home, or the local origin (in preference order, depending on what is available). |
@@ -324,7 +323,7 @@ The parameters that control when the quad-chute will trigger are listed in the t
The high wind failsafe can trigger a warning and/or other mode change when the wind speed exceeds the warning and maximum wind-speed threshold values.
The relevant parameters are listed in the table below.
| 参数 | 描述 |
| Parameter | 描述 |
| -------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
| <a id="COM_WIND_MAX"></a>[COM_WIND_MAX](../advanced_config/parameter_reference.md#COM_WIND_MAX) | Wind speed threshold that triggers failsafe action, in m/s ([COM_WIND_MAX_ACT](#COM_WIND_MAX_ACT)). |
| <a id="COM_WIND_MAX_ACT"></a>[COM_WIND_MAX_ACT](../advanced_config/parameter_reference.md#COM_WIND_MAX_ACT) | High wind failsafe action (following [COM_WIND_MAX](#COM_WIND_MAX) trigger). Can be set to: `0`: None (Default), `1`: [Warning](#act_warn), `2`: [Hold](#act_hold), `3`: [Return](#act_return), `4`: [Terminate](#act_term), `5`: [Land](#act_land). |
@@ -353,7 +352,7 @@ The failure detector can be configured to trigger if a rotary-wing vehicle loses
If the vehicle descends more than [FD_ALT_LOSS](#FD_ALT_LOSS) meters below the setpoint, [flight termination](../advanced_config/flight_termination.md) is triggered, which may deploy a [parachute](../peripherals/parachute.md).
| 参数 | 描述 |
| Parameter | 描述 |
| ----------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
| <a id="FD_ALT_LOSS"></a>[FD_ALT_LOSS](../advanced_config/parameter_reference.md#FD_ALT_LOSS) | Altitude loss threshold (m). Flight termination is triggered when the vehicle drops this far below the setpoint. 设置为 0 以禁用。 |
| <a id="FD_ALT_LOSS_T"></a>[FD_ALT_LOSS_T](../advanced_config/parameter_reference.md#FD_ALT_LOSS_T) | Time (s) the vehicle must remain below the threshold before flight termination is triggered. |
@@ -364,7 +363,7 @@ The failure detector can be configured to trigger if the vehicle attitude exceed
The relevant parameters are shown below:
| 参数 | 描述 |
| Parameter | 描述 |
| -------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="CBRK_FLIGHTTERM"></a>[CBRK_FLIGHTTERM](../advanced_config/parameter_reference.md#CBRK_FLIGHTTERM) | 飞行终止断路器。 从 121212（默认）取消设置，以启用由于故障检测器或 FMU 丢失而导致的飞行终止。 |
| <a id="FD_FAIL_P"></a>[FD_FAIL_P](../advanced_config/parameter_reference.md#FD_FAIL_P) | 最大允许俯仰角（角度制）。 |
@@ -384,7 +383,7 @@ undercurrent: {esc current} < {MOTFAIL_C2T} * {motor command [0,1]} - {MOTFAIL_O
overcurrent: {esc current} > {MOTFAIL_C2T} * {motor command [0,1]} + {MOTFAIL_OFF}
```
| 参数 | 描述 |
| Parameter | 描述 |
| -------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="FD_ACT_EN"></a>[FD_ACT_EN](../advanced_config/parameter_reference.md#FD_ACT_EN) | Enable/disable the motor failure trigger completely. |
| <a id="MOTFAIL_C2T"></a>[MOTFAIL_C2T](../advanced_config/parameter_reference.md#MOTFAIL_C2T) | Slope between normalized motor command [0–1] and expected steady-state current (FD_ACT_MOT_C2T at 100%) (A/%). |
@@ -403,7 +402,7 @@ External ATS is required by [ASTM F3322-18](https://webstore.ansi.org/standards/
One example of an ATS device is the [FruityChutes Sentinel Automatic Trigger System (SATS-MINI)](https://fruitychutes.com/uav_rpv_drone_recovery_parachutes/sentinel-automatic-trigger-system).
:::
| 参数 | 描述 |
| Parameter | 描述 |
| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="FD_EXT_ATS_EN"></a>[FD_EXT_ATS_EN](../advanced_config/parameter_reference.md#FD_EXT_ATS_EN) | Enable PWM input on AUX5 or MAIN5 (depending on board) for engaging failsafe from an external automatic trigger system (ATS). Default: Disabled. |
| <a id="FD_EXT_ATS_TRIG"></a>[FD_EXT_ATS_TRIG](../advanced_config/parameter_reference.md#FD_EXT_ATS_TRIG) | The PWM threshold from external automatic trigger system for engaging failsafe. Default: 1900 ms. |
@@ -469,7 +468,7 @@ A kill gesture immediately stops all motor outputs — if flying, the vehicle wi
The action cannot be reverted without a reboot (this differs from a [Kill Switch](#kill-switch), where the operation can be reverted within 5 seconds).
| 参数 | 描述 |
| Parameter | 描述 |
| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="MAN_KILL_GEST_T"></a>[MAN_KILL_GEST_T](../advanced_config/parameter_reference.md#MAN_KILL_GEST_T) | Time to hold sticks in gesture position before killing the motors. Default: `-1` seconds (Disabled). |
@@ -484,7 +483,7 @@ You can set timeouts to automatically disarm a vehicle if it is too slow to take
The [relevant parameters](../advanced_config/parameters.md) are shown below:
| 参数 | 描述 |
| Parameter | 描述 |
| ----------------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------- |
| <a id="COM_DISARM_LAND"></a>[COM_DISARM_LAND](../advanced_config/parameter_reference.md#COM_DISARM_LAND) | Timeout for auto-disarm after landing. |
| <a id="COM_DISARM_PRFLT"></a>[COM_DISARM_PRFLT](../advanced_config/parameter_reference.md#COM_DISARM_PRFLT) | Timeout for auto disarm if vehicle is too slow to takeoff. |
@@ -493,7 +492,7 @@ The [relevant parameters](../advanced_config/parameters.md) are shown below:
These parameters can be used to set conditions that prevent arming.
| 参数 | 描述 |
| Parameter | 描述 |
| -------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="COM_ARMABLE"></a>[COM_ARMABLE](../advanced_config/parameter_reference.md#COM_ARMABLE) | Enable arming (at all). `0`: Disabled, `1`: Enabled (default). |
| <a id="COM_ARM_BAT_MIN"></a>[COM_ARM_BAT_MIN](../advanced_config/parameter_reference.md#COM_ARM_BAT_MIN) | Minimum battery level for arming. `0`: Disabled (default). Values: `0`-`0.9`, |
docs/zh/config_mc/filter_tuning.md
+1 -1
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@@ -76,7 +76,7 @@ You might have to adjust the per-motor pole count (`DSHOT_MOT_POL1`–`DSHOT_MOT
The following parameters should be set to enable and configure dynamic notch filters:
| 参数 | 描述 |
| Parameter | 描述 |
| -------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="IMU_GYRO_DNF_EN"></a>[IMU_GYRO_DNF_EN](../advanced_config/parameter_reference.md#IMU_GYRO_DNF_EN) | Enable IMU gyro dynamic notch filtering (bitmask). Bit `0`: ESC RPM, Bit `1`: Onboard FFT. |
| <a id="IMU_GYRO_FFT_EN"></a>[IMU_GYRO_FFT_EN](../advanced_config/parameter_reference.md#IMU_GYRO_FFT_EN) | Enable onboard FFT (required if bit `1` of `IMU_GYRO_DNF_EN` is set). |
docs/zh/config_mc/pid_tuning_guide_multicopter.md
+1 -1
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@@ -240,7 +240,7 @@ _normalized_value = ( raw_value - min (raw_value) ) / ( max ( raw_value ) - min
After you have a scatter plot of the normalized values, you can try and make the curve match by plotting the equation
_rel_thrust = ( `THR_MDL_FAC` ) _ rel_signal^2 + ( 1 - `THR_MDL_FAC` ) \* rel_signal\*
_rel_thrust = ( `THR_MDL_FAC` ) _ re&#x6C;_&#x73;ignal^2 + ( 1 - `THR_MDL_FAC` ) \* re&#x6C;_&#x73;ignal\*
over a linear range of normalized motor command values between 0 and 1.
Note that this is the equation that is used in the firmware to map thrust and motor command, as shown in the [THR_MDL_FAC](../advanced_config/parameter_reference.md#THR_MDL_FAC) parameter reference.
docs/zh/config_rover/attitude_tuning.md
+1 -1
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@@ -35,6 +35,6 @@ We placed the integrator in the rate controller since it can run without the att
## Parameter Overview
| 参数 | 描述 | Unit |
| Parameter | 描述 | Unit |
| ----------------------------------------------------------------------------------------------------------------------------- | ------------------------------------ | ---- |
| <a id="RO_YAW_P"></a>[RO_YAW_P](../advanced_config/parameter_reference.md#RO_YAW_P) | Proportional gain for yaw controller | - |
docs/zh/config_rover/basic_setup.md
+4 -4
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@@ -154,7 +154,7 @@ You can now continue the configuration process with [rate tuning](rate_tuning.md
## Parameter Overview
| 参数 | 描述 | Unit |
| Parameter | 描述 | Unit |
| -------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------- | ------- |
| <a id="RO_MAX_THR_SPEED"></a>[RO_MAX_THR_SPEED](../advanced_config/parameter_reference.md#RO_MAX_THR_SPEED) | Speed the rover drives at maximum throttle | $m/s$ |
| <a id="RO_ACCEL_LIM"></a>[RO_ACCEL_LIM](../advanced_config/parameter_reference.md#RO_ACCEL_LIM) | (Optional) Maximum allowed acceleration | $m/s^2$ |
@@ -164,7 +164,7 @@ You can now continue the configuration process with [rate tuning](rate_tuning.md
### Ackermann Specific
| 参数 | 描述 | Unit |
| Parameter | 描述 | Unit |
| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------- | ----- |
| <a id="RA_WHEEL_BASE"></a>[RA_WHEEL_BASE](../advanced_config/parameter_reference.md#RA_WHEEL_BASE) | Wheel base | $m$ |
| <a id="RA_MAX_STR_ANG"></a>[RA_MAX_STR_ANG](../advanced_config/parameter_reference.md#RA_MAX_STR_ANG) | Maximum steering angle | $deg$ |
@@ -172,14 +172,14 @@ You can now continue the configuration process with [rate tuning](rate_tuning.md
### Differential Specific
| 参数 | 描述 | Unit |
| Parameter | 描述 | Unit |
| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------ | ---- |
| <a id="RD_WHEEL_TRACK"></a>[RD_WHEEL_TRACK](../advanced_config/parameter_reference.md#RD_WHEEL_TRACK) | Wheel track | $m$ |
| <a id="RD_YAW_STK_GAIN"></a>[RD_YAW_STK_GAIN](../advanced_config/parameter_reference.md#RD_YAW_STK_GAIN) | (Optional) Yaw stick gain for Manual mode | $-$ |
### Mecanum Specific
| 参数 | 描述 | Unit |
| Parameter | 描述 | Unit |
| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------ | ---- |
| <a id="RM_WHEEL_TRACK"></a>[RM_WHEEL_TRACK](../advanced_config/parameter_reference.md#RM_WHEEL_TRACK) | Wheel track | $m$ |
| <a id="RM_YAW_STK_GAIN"></a>[RM_YAW_STK_GAIN](../advanced_config/parameter_reference.md#RM_YAW_STK_GAIN) | (Optional) Yaw stick gain for Manual mode | $-$ |
docs/zh/config_rover/position_tuning.md
+3 -3
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@@ -183,7 +183,7 @@ The position controller uses the following structure:
## Parameter Overview
| 参数 | 描述 | Unit |
| Parameter | 描述 | Unit |
| -------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------ | ---- |
| <a id="RO_SPEED_RED"></a>[RO_SPEED_RED](../advanced_config/parameter_reference.md#RO_SPEED_RED) | (Optional) Tuning parameter for the speed reduction based on the course error | - |
| <a id="PP_LOOKAHD_GAIN"></a>[PP_LOOKAHD_GAIN](../advanced_config/parameter_reference.md#PP_LOOKAHD_GAIN) | Pure pursuit: Main tuning parameter | - |
@@ -192,14 +192,14 @@ The position controller uses the following structure:
## Ackermann Specific
| 参数 | 描述 | Unit |
| Parameter | 描述 | Unit |
| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------- | ---- |
| <a id="RA_ACC_RAD_MAX"></a>[RA_ACC_RAD_MAX](../advanced_config/parameter_reference.md#RA_ACC_RAD_MAX) | (Optional) Maximum radius the acceptance radius can be scaled to | 米 |
| <a id="RA_ACC_RAD_GAIN"></a>[RA_ACC_RAD_GAIN](../advanced_config/parameter_reference.md#RA_ACC_RAD_GAIN) | (Optional) Tuning parameter for the acceptance radius scaling | - |
## Differential Specific
| 参数 | 描述 | Unit |
| Parameter | 描述 | Unit |
| -------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------- | ---- |
| <a id="RD_TRANS_DRV_TRN"></a>[RD_TRANS_DRV_TRN](../advanced_config/parameter_reference.md#RD_TRANS_DRV_TRN) | Heading error threshold to switch from driving to spot turning | deg |
| <a id="RD_TRANS_TRN_DRV"></a>[RD_TRANS_TRN_DRV](../advanced_config/parameter_reference.md#RD_TRANS_TRN_DRV) | Heading error threshold to switch from spot turning to driving | deg |
docs/zh/config_rover/rate_tuning.md
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@@ -135,7 +135,7 @@ These mappings based on the idealized kinematic models can be adjusted with the
## Parameter Overview
| 参数 | 描述 | Unit |
| Parameter | 描述 | Unit |
| -------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------ | --------- |
| <a id="RO_YAW_RATE_LIM"></a>[RO_YAW_RATE_LIM](../advanced_config/parameter_reference.md#RO_YAW_RATE_LIM) | Maximum allowed yaw rate | $m/s^2$ |
| <a id="RO_YAW_RATE_P"></a>[RO_YAW_RATE_P](../advanced_config/parameter_reference.md#RO_YAW_RATE_P) | Proportional gain for yaw rate controller | - |
docs/zh/config_rover/velocity_tuning.md
+2 -2
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@@ -116,7 +116,7 @@ Both these setpoint are then sent to their own closed loop speed controllers.
## Parameter Overview
| 参数 | 描述 | Unit |
| Parameter | 描述 | Unit |
| -------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------- | ----- |
| <a id="RO_MAX_THR_SPEED"></a>[RO_MAX_THR_SPEED](../advanced_config/parameter_reference.md#RO_MAX_THR_SPEED) | Speed the rover drives at maximum throttle | $m/s$ |
| <a id="RO_SPEED_LIM"></a>[RO_SPEED_LIM](../advanced_config/parameter_reference.md#RO_SPEED_LIM) | Maximum allowed speed | $m/s$ |
@@ -126,7 +126,7 @@ Both these setpoint are then sent to their own closed loop speed controllers.
### Pure Pursuit
| 参数 | 描述 | Unit |
| Parameter | 描述 | Unit |
| -------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------- | ---- |
| <a id="PP_LOOKAHD_GAIN"></a>[PP_LOOKAHD_GAIN](../advanced_config/parameter_reference.md#PP_LOOKAHD_GAIN) | Pure pursuit: Main tuning parameter | - |
| <a id="PP_LOOKAHD_MAX"></a>[PP_LOOKAHD_MAX](../advanced_config/parameter_reference.md#PP_LOOKAHD_MAX) | Pure pursuit: Maximum value for the look ahead radius | 米 |
docs/zh/config_vtol/vtol_weathervane.md
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@@ -27,7 +27,7 @@ Any yaw angle commanded in a mission will be ignored.
This functionality is configured using the [WV\_\* parameters](../advanced_config/parameter_reference.md#WV_EN).
| 参数 | 描述 |
| Parameter | 描述 |
| ---------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------- |
| [WV_EN](../advanced_config/parameter_reference.md#WV_EN) | Enable weather vane. |
| [WV_ROLL_MIN](../advanced_config/parameter_reference.md#WV_ROLL_MIN) | Minimum roll angle setpoint for weathervane controller to demand a yaw-rate. |
docs/zh/debug/profiling.md
+1 -1
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@@ -48,7 +48,7 @@ Then pass in the appropriate device using the `--gdbdev` argument like this:
### Running
在火焰图上，水平水平表示堆叠帧，而每个帧的宽度与采样次数成正比。
For example, the following command builds and profiles px4_fmu-v4pro target with 10000 samples (fetching \_FlameGraph_ and adding it to the path as needed).
For example, the following command builds and profiles px&#x34;_&#x66;mu-v4pro target with 10000 samples (fetching \_FlameGraph_ and adding it to the path as needed).
```sh
./poor-mans-profiler.sh --elf=build/px4_fmu-v4_default/px4_fmu-v4_default.elf --nsamples=30000 --append
docs/zh/dev_log/logging.md
+1 -1
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@@ -33,7 +33,7 @@ The logging system is configured by default to collect sensible logs for [flight
Logging may further be configured using the [SD Logging](../advanced_config/parameter_reference.md#sd-logging) parameters.
The parameters you are most likely to change are listed below.
| 参数 | 描述 |
| Parameter | 描述 |
| --------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| [SDLOG_MODE](../advanced_config/parameter_reference.md#SDLOG_MODE) | 日志模式 Defines when logging starts and stops.<br />- `0`: Log when armed until disarm (default).<br />- `1`: Log from boot until disarm.<br />- `2`: Log from boot until shutdown.<br />- `3`: Log based on the [AUX1 RC channel](../advanced_config/parameter_reference.md#RC_MAP_AUX1).<br />- `4`: Log from first armed until shutdown. |
| [SDLOG_BACKEND](../advanced_config/parameter_reference.md#SDLOG_BACKEND) | Logging Backend (bitmask). Setting a bit enables the corresponding backend. If no backend is selected, the logger is disabled.<br />- bit `0`: SD card logging.</br >- bit `1`: Mavlink logging. |
docs/zh/dev_setup/dev_env.md
+8 -8
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@@ -15,14 +15,14 @@ The _supported platforms_ for PX4 development are:
下表显示了您可以在每个操作系统上构建何种 PX平台的固件编译。
| 平台 | Linux (Ubuntu) | macOS | Windows |
| ------------------------------------------------------------------------------------------------------------------------------------------------------ | :-------------------------------: | :-------------------------: | :-------------------------: |
| **NuttX based hardware:** [Pixhawk Series](../flight_controller/pixhawk_series.md), [Crazyflie](../complete_vehicles_mc/crazyflie2.md) | &check; | &check; | &check; |
| **Linux-based hardware:** [Raspberry Pi 2/3](../flight_controller/raspberry_pi_navio2.md) | &check; | | |
| **Simulation:** [Gazebo SITL](../sim_gazebo_gz/index.md) | &check; | &check; | &check; |
| **Simulation:** ROS 2 with Gazebo | &check; | | &check; |
| **Simulation:** [Gazebo Classic SITL](../sim_gazebo_classic/index.md) | | &check; | &check; |
| **Simulation:** [ROS with Gazebo Classic](../simulation/ros_interface.md) | | | &check; |
| 平台 | Linux (Ubuntu) | macOS | Windows |
| ------------------------------------------------------------------------------------------------------------------------------------------------------ | :-------------------------------: | :---: | :-----: |
| **NuttX based hardware:** [Pixhawk Series](../flight_controller/pixhawk_series.md), [Crazyflie](../complete_vehicles_mc/crazyflie2.md) | ✓ | ✓ | ✓ |
| **Linux-based hardware:** [Raspberry Pi 2/3](../flight_controller/raspberry_pi_navio2.md) | ✓ | | |
| **Simulation:** [Gazebo SITL](../sim_gazebo_gz/index.md) | ✓ | ✓ | ✓ |
| **Simulation:** ROS 2 with Gazebo | ✓ | | ✓ |
| **Simulation:** [Gazebo Classic SITL](../sim_gazebo_classic/index.md) | | ✓ | ✓ |
| **Simulation:** [ROS with Gazebo Classic](../simulation/ros_interface.md) | | | ✓ |
Experienced Docker users can also build with the containers used by our continuous integration system: [Docker Containers](../test_and_ci/docker.md)
docs/zh/development/development.md
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@@ -16,7 +16,8 @@
- 支持新的 [airframes](../dev_airframes/index.md)。
- 学习如何将PX4集成到新的硬件上：
- 支持新的传感器和执行器, 包括摄像头、测距仪等。
- 修改PX4使之能够在新的自驾仪硬件上运行。
- Modify PX4 to run on [new autopilot hardware](../hardware/porting_guide.md).
- As a manufacturer, [get your board officially supported by PX4](../hardware/board_support_guide.md).
- 获取一个[最小的开发者设置](../dev_setup/config_initial.md), [从源代码生成PX4](../dev_setup/building_px4.md) 并部署在[众多支持的自动化设备](../flight_controller/index.md)。
- 与外部机器人的 API 进行联调通信/集成。
docs/zh/dronecan/ark_cannode.md
+1 -1
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@@ -83,7 +83,7 @@ This is done using the parameters named like `UAVCAN_SUB_*` in the parameter ref
On the ARK CANnode, you may need to configure the following parameters:
| 参数 | 描述 |
| Parameter | 描述 |
| -------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="CANNODE_NODE_ID"></a>[CANNODE_NODE_ID](../advanced_config/parameter_reference.md#CANNODE_NODE_ID) | CAN node ID (0 for dynamic allocation). If set to 0 (default), dynamic node allocation is used. Set to 1-127 to use a static node ID. |
| <a id="CANNODE_TERM"></a>[CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM) | CAN built-in bus termination. |
docs/zh/dronecan/ark_flow.md
+1 -1
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@@ -110,7 +110,7 @@ When optical flow is the only source of horizontal position/velocity, then lower
On the ARK Flow, you may need to configure the following parameters:
| 参数 | 描述 |
| Parameter | 描述 |
| -------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="CANNODE_NODE_ID"></a>[CANNODE_NODE_ID](../advanced_config/parameter_reference.md#CANNODE_NODE_ID) | CAN node ID (0 for dynamic allocation). If set to 0 (default), dynamic node allocation is used. Set to 1-127 to use a static node ID. |
| <a id="CANNODE_TERM"></a>[CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM) | CAN built-in bus termination. |
docs/zh/dronecan/ark_flow_mr.md
+1 -1
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@@ -105,7 +105,7 @@ Set the following parameters in _QGroundControl_:
You may need to [configure the following parameters](../dronecan/index.md#qgc-cannode-parameter-configuration) on the ARK Flow MR itself:
| 参数 | 描述 |
| Parameter | 描述 |
| -------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="CANNODE_NODE_ID"></a>[CANNODE_NODE_ID](../advanced_config/parameter_reference.md#CANNODE_NODE_ID) | CAN node ID (0 for dynamic allocation). If set to 0 (default), dynamic node allocation is used. Set to 1-127 to use a static node ID. |
| <a id="CANNODE_TERM"></a>[CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM) | CAN built-in bus termination. |
docs/zh/dronecan/ark_gps.md
+1 -1
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@@ -97,7 +97,7 @@ If the sensor is not centred within the vehicle you will also need to define sen
You may need to [configure the following parameters](../dronecan/index.md#qgc-cannode-parameter-configuration) on the ARK GPS itself:
| 参数 | 描述 |
| Parameter | 描述 |
| -------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="CANNODE_NODE_ID"></a>[CANNODE_NODE_ID](../advanced_config/parameter_reference.md#CANNODE_NODE_ID) | CAN node ID (0 for dynamic allocation). If set to 0 (default), dynamic node allocation is used. Set to 1-127 to use a static node ID. |
| <a id="CANNODE_TERM"></a>[CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM) | CAN built-in bus termination. Set to `1` if this is the last node on the CAN bus. |
docs/zh/dronecan/ark_rtk_gps.md
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@@ -92,7 +92,7 @@ You need to set necessary [DroneCAN](index.md) parameters and define offsets if
You may need to [configure the following parameters](../dronecan/index.md#qgc-cannode-parameter-configuration) on the ARK RTK GPS itself:
| 参数 | 描述 |
| Parameter | 描述 |
| -------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="CANNODE_NODE_ID"></a>[CANNODE_NODE_ID](../advanced_config/parameter_reference.md#CANNODE_NODE_ID) | CAN node ID (0 for dynamic allocation). If set to 0 (default), dynamic node allocation is used. Set to 1-127 to use a static node ID. |
| <a id="CANNODE_TERM"></a>[CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM) | CAN built-in bus termination. Set to `1` if this is the last node on the CAN bus. |
docs/zh/dronecan/ark_rtk_gps_l1_l2.md
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@@ -91,7 +91,7 @@ You need to set necessary [DroneCAN](index.md) parameters and define offsets if
You may need to [configure the following parameters](../dronecan/index.md#qgc-cannode-parameter-configuration) on the ARK RTK GPS L1 L5 itself:
| 参数 | 描述 |
| Parameter | 描述 |
| -------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="CANNODE_NODE_ID"></a>[CANNODE_NODE_ID](../advanced_config/parameter_reference.md#CANNODE_NODE_ID) | CAN node ID (0 for dynamic allocation). If set to 0 (default), dynamic node allocation is used. Set to 1-127 to use a static node ID. |
| <a id="CANNODE_TERM"></a>[CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM) | CAN built-in bus termination. Set to `1` if this is the last node on the CAN bus. |
docs/zh/dronecan/ark_x20_rtk_gps.md
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@@ -94,7 +94,7 @@ You need to set necessary [DroneCAN](index.md) parameters and define offsets if
You may need to [configure the following parameters](../dronecan/index.md#qgc-cannode-parameter-configuration) on the ARK X20 RTK GPS itself:
| 参数 | 描述 |
| Parameter | 描述 |
| -------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="CANNODE_NODE_ID"></a>[CANNODE_NODE_ID](../advanced_config/parameter_reference.md#CANNODE_NODE_ID) | CAN node ID (0 for dynamic allocation). If set to 0 (default), dynamic node allocation is used. Set to 1-127 to use a static node ID. |
| <a id="CANNODE_TERM"></a>[CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM) | CAN built-in bus termination. Set to `1` if this is the last node on the CAN bus. |
docs/zh/dronecan/index.md
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@@ -6,7 +6,7 @@
- DroneCAN is not enabled by default, and nor are specific sensors and features that use it.
For setup information see [PX4 Configuration](#px4-configuration).
- PX4 requires an SD card to enable dynamic node allocation and for firmware update.
- PX4 requires an SD card to enable dynamic node allocation and for [firmware update](#firmware-update).
The SD card is not used in flight.
:::
@@ -316,10 +316,64 @@ Most DroneCAN nodes require no further setup, unless specifically noted in their
## 固件更新
PX4 can upgrade device firmware over DroneCAN.
To upgrade the device, all you need to do is copy the firmware binary into the root directory of the flight controller's SD card and reboot.
Upon boot the flight controller will automatically transfer the firmware onto the device and upgrade it.
If successful, the firmware binary will be removed from the root directory and there will be a file named **XX.bin** in the **/ufw** directory of the SD card.
:::info
PX4 identifies valid firmware binaries (`.bin`) based on the presence of an **APDescriptor** — a metadata block embedded in the `.bin` file that contains the target board ID, firmware version, and a checksum.
PX4 uses this descriptor to match each binary to the correct node and to determine whether an update is needed.
:::
### Firmware Directories
Place firmware binaries in one of these locations on the SD card before rebooting:
- **SD card root** (`/fs/microsd/`): Simplest option for manual updates.
- **Staging directory** (`/fs/microsd/ufw_staging/`): Preferred for remote/programmatic updates.
Files are moved to `/fs/microsd/ufw/` at boot before any node is flashed, avoiding write conflicts if firmware is uploaded while the vehicle is running.
On boot, PX4 scans both locations, reads the board ID from the _APDescriptor_ of each file, and copies them to `/fs/microsd/ufw/<board_id>.bin`.
The source file is then deleted.
Any connected node whose running version does not match is then flashed over the CAN bus.
### Firmware Database
A flat-file database at `/fs/microsd/ufw/FW.db` maps each board ID to the original firmware filename that was installed.
This may be queried by external tools to determine current firmware versions.
Example entry:
```txt
122.bin=122-1.17.63eeff1a.uavcan.bin
```
Entries are removed on boot if their corresponding firmware is not present.
### Remote Update
Remote updates can be made by uploading the corresponding bin files to `/fs/microsd/ufw_staging/`.
PX4 will then update firmware on next boot.
This approach enables efficient mass-update of binaries from archives (`.zip` or `.tar` that contains `.bin` files for the target CAN nodes).
Tools can:
1. Read the PX4 firmware database to determine what firmware is present
2. Extract the more-recent versions of matching firmware to the staging directory
PX4 does not provide such tools.
:::info
Auterion uses a form of this workflow to update CAN firmware to SkyNode based devices.
The `upload_skynode.sh` script with multiple `--ext-fw` flags is used to bundle a number of firmware files and upload them to a directory on the companion-computer part.
```sh
./Tools/auterion/upload_skynode.sh \
--ext-fw=build/auterion_canio_default/auterion_canio_default.uavcan.bin
--ext-fw=build/auterion_canio_default/another_default.uavcan.bin
...
--ext-fw=build/auterion_canio_default/some_other_default.uavcan.bin
```
Another tool then checks the firmware database and extracts just the relevant files to the PX4 firmware staging area.
:::
## 故障处理
docs/zh/flight_controller/3dr_ctrl-n1.md
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@@ -0,0 +1,143 @@
# 3DR Control N1 Flight Controller
<Badge type="tip" text="PX4 v1.18" />
:::warning
PX4 does not manufacture this (or any) autopilot.
Contact [3DR](https://3dr.com/) for hardware support or compliance issues.
:::
The _3DR Control N1_ is a compact, high-performance, low-profile and lightweight flight controller designed and assembled in USA.
It runs PX4 on the [NuttX](https://nuttx.apache.org/) OS.
![3DR Control N1](../../assets/flight_controller/3dr_ctrl-n1/3dr_ctrl-n1.jpg)
:::info
This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
:::
:::tip
This flight controller requires a carrier board to work correctly.
Visit [3DR](https://3dr.wiki/autopilots/control-n1/) for available carrier boards and purchase information.
:::
## 主要特性
- **Processor:** STMicro STM32H743 Arm Cortex-M7 up to 480 MHz, 1 MB RAM, 2 MB flash, 8 MB external flash
- **Sensors:**
- 2x InvenSense IIM-42653 IMU (6-DoF)
- Asahi Kasei AK09940A magnetometer
- Infineon DPS368 barometer
- **Interfaces:**
- 12x PWM motor outputs (DShot, bidirectional DShot, GPIO)
- 7x serial ports (3x with hardware flow control)
- 2x FD-CAN (up to 8 Mbps)
- 2x I2C (up to 400 kHz)
- 1x SPI (up to 40 MHz)
- 4x GPIO (push-pull, direct from MCU)
- 1x USB Full Speed (native STM32H7 port)
- 1x SDIO/SDMMC interface
- 1x addressable LED output (NeoPixel-compatible)
- Serial Wire Debug (SWD)
- **Dimensions:** 28 × 17.6 × 3.7 mm
- **Weight:** 2.32 g
- **Input Voltage:** 4.8 – 6.0 V
- **Typical Current draw**: ~230 mA
- **Operating Temperature:** -20 to 75 °C
- **Storage Temperature:** -40 to 85 °C
## 编译固件
:::tip
Most users will not need to build this firmware!
It is pre-built and automatically installed by _QGroundControl_ when appropriate hardware is connected (PX4 v1.18 and later).
:::
To [build PX4](../dev_setup/building_px4.md) for this target:
```sh
make 3dr_ctrl-n1_default
```
## 连接器
The Control N1 uses three Hirose DF40-series board-to-board connectors:
| Connector | Pins | Part Number | Signals |
| --------- | ---- | ----------------------------------------------------------------------------------------------- | ---------------------------------------------------------- |
| J100 | 30 | DF40HC(3.5)-30DS-0.4V(51) | USART1, USART2, USART3, UART4, SDMMC, USB, ALARM |
| J200 | 30 | DF40HC(3.5)-30DS-0.4V(51) | USART6, FDCAN1, SPI, SWD, LED, BRD_EN |
| J300 | 80 | DF40HC(3.5)-80DS-0.4V(51) | UART7, UART8, FDCAN2, I2C, ADC, Motor outputs CH1–CH12 |
## 针脚定义
This board is designed to be used with different carrier boards.
For the full pinout, visit the [3DR Control N1 Pinout Tool](https://docs.3dr.com/autopilots/control-n1/#pinout).
## 串口映射
| Port | Connector | Peripheral | Flow Control | Default Function |
| ---- | --------- | ---------- | ------------ | ---------------- |
| SG1 | J100 | USART2 | Yes | TELEM1 |
| SG2 | J100 | UART4 | Yes | TELEM2 |
| SG3 | J300 | UART7 | Yes | User |
| SG4 | J100 | USART3 | No | GPS2 |
| SG5 | J100 | USART1 | No | User |
| SG6 | J200 | USART6 | No | RC |
| SG7 | J300 | UART8 | No | GPS1 |
## PWM Outputs
The Control N1 has 12 PWM outputs, all routed through connector J300.
All outputs are FMU outputs with no separate IO coprocessor.
Each output supports PWM, OneShot, DShot, and bidirectional DShot.
GPIO mode is also available on all channels.
Outputs are grouped for DShot timing purposes.
All channels within a group must use the same protocol and rate.
| Group | Channels |
| ------- | -------- |
| Group 1 | CH1–CH4 |
| Group 2 | CH5–CH8 |
| Group 3 | CH9–CH12 |
## RC Setup
Serial port SG6 (USART6, connector J200) is mapped to `RC` by default and supports any protocol compatible with PX4's COMMON_RC driver: ELRS, CRSF, DSM/DSMX, GHST, and SBUS.
Connect your RC receiver's serial output to the SG6 RX line on J200.
Select and assign your preferred protocol in QGroundControl during initial setup.
## Carrier Boards
The Control N1 is designed to be used with a carrier board.
The following carrier boards are available from 3DR:
| Board | 描述 |
| --------------------------------------------------------------------------------------------------- | --------------------------------------------- |
| [CB1 Cuby](https://docs.3dr.com/autopilots/carrier-boards/r0026-cb1-cuby) | Compact square form factor |
| [CB2 Longy](https://docs.3dr.com/autopilots/carrier-boards/r0027-cb2-longy) | Thin form factor for space-constrained builds |
| [CB3 FPV](https://docs.3dr.com/autopilots/carrier-boards/r0033-cb3-fpv) | Optimized for FPV platforms |
| [CB4 Wing](https://docs.3dr.com/autopilots/carrier-boards/r0036-cb4-wing) | Fixed-wing and VTOL applications |
| [CN1 Prototyping Board](https://docs.3dr.com/autopilots/carrier-boards/r0037-cn1-prototyping-board) | Full signal access for development |
| [CN1 to CZ OEM Adapter](https://docs.3dr.com/autopilots/carrier-boards/r0034-cn1-to-czoem-adapter) | Adapter for Control Zero OEM carrier boards |
The image below shows the pinout of the CB2 Longy as a reference for connector layout and signal assignment.
![3DR Control N1 CB2 Longy Pinout](../../assets/flight_controller/3dr_ctrl-n1/3dr_ctrl-n1_cb2_longy_pinout.png)
## 调试接口
The [SWD debug port](../debug/swd_debug.md) signals (SWCLK, SWDIO) and BOOT0 are routed through connector **J200** on the Control N1 module.
The physical debug interface (connector type, pinout, and location) depends on the carrier board.
Depending on the carrier board, the debug connector may be a TC2030-compatible pad-of-nails (requires a [Tag-Connect TC2030](https://www.tag-connect.com/product/tc2030-ctx-nl-6-pin-no-legs-cable-for-use-with-cortex-processors) cable) or a 14-pin ARM Cortex JTAG/SWD header (Samtec FTSH-107, 2×7, 1.27 mm pitch).
Note that some carrier boards may not expose a debug interface.
Refer to your carrier board's documentation for the exact connector location and pinout.
## 更多信息
- [3DR Control N1 documentation](https://docs.3dr.com/autopilots/control-n1)
docs/zh/flight_controller/airlink.md
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@@ -114,7 +114,7 @@ SmartAP AIRLink's Core edition is intended for medium to high volume production
![AIRLink Core](../../assets/flight_controller/airlink/airlink-core.jpg)
| 参数 | AIRLink Enterprise | AIRLink Core |
| Parameter | AIRLink Enterprise | AIRLink Core |
| ------------------- | --------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------- |
| Enclosure | Aluminum, with integrated heatsink and fan mounting option. | External heatsink or reasonable power dissipation should be provided by the design. |
| 尺寸 | L103 x W61 x H37 mm | L100 x W57 x H22 mm |
docs/zh/flight_controller/autopilot_experimental.md
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@@ -1,5 +1,9 @@
# Community Supported & Experimental Autopilots
:::tip
**Are you a manufacturer who wants to get a board supported by PX4?** See the [Manufacturer's Board Support Guide](../hardware/board_support_guide.md).
:::
:::tip
For more information about PX4 project autopilot board support levels see: [px4.io/autopilots/](https://px4.io/autopilots/).
:::
docs/zh/flight_controller/autopilot_manufacturer_supported.md
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# 由制造商支持的自动驾驶仪
Manufacturer-supported autopilots are maintained and supported by a board manufacturer (manufacturers commit to delivering compatibility with the current stable PX4 release within 4 months of the official release announcement).
Manufacturer-supported autopilots are maintained and supported by a board manufacturer, who owns support for the board and keeps it working across PX4 releases.
:::tip
**Are you a manufacturer who wants to get a board supported by PX4?** See the [Manufacturer's Board Support Guide](../hardware/board_support_guide.md). It covers the process for all support levels, not just this category.
:::
:::tip
For more information about PX4 project autopilot board support levels see: [px4.io/autopilots/](https://px4.io/autopilots/).
@@ -12,6 +16,7 @@ This category includes boards that are not fully compliant with the pixhawk stan
The boards in this category are:
- [3DR Control N1](../flight_controller/3dr_ctrl-n1.md)
- [Accton Godwit GA1](../flight_controller/accton-godwit_ga1.md)
- [AEDROX AEDROXH7](../flight_controller/aedrox_aedroxh7.md)
- [AirMind MindPX](../flight_controller/mindpx.md)
@@ -22,6 +27,7 @@ The boards in this category are:
- [ARK Pi6X Flow Flight Controller](../flight_controller/ark_pi6x.md)
- [CBUnmanned H753-SOM](../flight_controller/cbunmanned_h753-som.md)
- [CORVON 743v1](../flight_controller/corvon_743v1.md)
- [CORVON 743v2](../flight_controller/corvon_743v2.md)
- [CUAV Nora](../flight_controller/cuav_nora.md) (CUAV X7 variant)
- [CUAV V5+](../flight_controller/cuav_v5_plus.md) (FMUv5)
- [CUAV V5 nano](../flight_controller/cuav_v5_nano.md) (FMUv5)
docs/zh/flight_controller/corvon_743v2.md
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# CORVON 743v2
<Badge type="tip" text="PX4 v1.18" />
:::warning
PX4 does not manufacture this (or any) autopilot.
Contact the [manufacturer](https://corvon.tech) for hardware support or compliance issues.
:::
The _CORVON 743v2_ is a flight controller designed by Feikong Technology Co., Ltd under the CORVON brand.
It builds on the [CORVON 743v1](corvon_743v1.md) platform with significantly upgraded sensor and connectivity options: dual high-grade IMUs (ICM-42688P + BMI088), a high-precision BMP581 barometer, a dedicated DJI O4 Air Unit connector, an onboard Bluetooth module with a ceramic antenna, and dual analog battery monitoring channels.
The board uses [Pixhawk Autopilot Standard Connections](../flight_controller/autopilot_pixhawk_standard.md).
<img src="../../assets/flight_controller/corvon_743v2/corvon_743v2_top.jpg" width="300px" title="CORVON 743v2 Top Baseboard" /> <img src="../../assets/flight_controller/corvon_743v2/corvon_743v2_bottom.jpg" width="300px" title="CORVON 743v2 Bottom Interfaces" />
:::info
This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
:::
## 主要特性
- **MCU:** STM32H743VIH6 (32 Bit Arm® Cortex®-M7, 480 MHz, 2MB Flash, 1MB RAM, TFBGA100 package)
- **IMU (Dual):** TDK InvenSense ICM-42688P (primary) + Bosch BMI088 accel/gyro (secondary)
- **Barometer:** Bosch BMP581 (high-precision)
- **Magnetometer:** iSentek IST8310
- **Interfaces:**
- 8x UARTs (including dedicated DJI O4 and Bluetooth ports)
- 1x CAN (DroneCAN / UAVCAN)
- 1x external I²C (with isolated 5V supply)
- 1x dedicated RC Input (SBUS / CRSF / ELRS)
- 12x PWM outputs (M1–M10 DShot-capable, M11 / M12 standard PWM for servos)
- SDMMC1 4-bit Micro-SD slot (high-speed logging)
- Dedicated DJI O4 Air Unit connector
- Onboard Bluetooth module with ceramic antenna (UART8, MAVLink pre-configured)
- **Power:**
- Dual analog battery voltage/current channels (BAT1 via the `PWM` 4-in-1 ESC connector, BAT2 via `B2V`/`B2I` pads)
- Voltage sensing up to 10S LiPo by default
- On-board BECs for peripheral power (consult manufacturer for exact rail specifications)
## 购买渠道
Order from [CORVON](https://corvon.tech).
## Physical / Mechanical
Refer to the manufacturer's datasheet for the latest mechanical drawing, mounting pattern, and weight specifications.
## 产品规格
### Processors & Sensors
- **FMU Processor:** STM32H743VIH6
- 32 Bit Arm® Cortex®-M7, 480 MHz
- 2MB Flash, 1MB RAM
- TFBGA100 (8 × 8 mm) package
- **On-board Sensors:**
- Accel/Gyro 1: TDK InvenSense ICM-42688P (SPI3)
- Accel/Gyro 2: Bosch BMI088 (SPI3)
- Barometer: Bosch BMP581 (I²C2, address `0x46`)
- Compass: iSentek IST8310 (I²C2, address `0x0E`)
### Power Configuration
The board provides **two independent analog battery monitoring channels**:
- **BAT1** - Battery voltage and current sensed from the `PWM` 4-in-1 ESC connector, on `ADC1_INP10` (voltage) and `ADC1_INP11` (current).
- **BAT2** - Auxiliary `B2V` / `B2I` solder pads for a second / redundant battery pack, sensed on `ADC1_INP4` (voltage) and `ADC1_INP8` (current).
Both channels feed PX4's standard analog battery driver with a default 21.2 voltage divider and 40 A/V current ratio, supporting up to 10S LiPo batteries out of the box.
:::info
The board does not expose the 5V rail / `system_power` sensing pins that PX4's commander power checks expect, so `CBRK_SUPPLY_CHK` (894281) is set by default to bypass the power supply and battery health checks used for arming and failsafe decisions. BAT1/BAT2 voltage and current monitoring is unaffected.
:::
## Connectors & Pinouts
The following image shows the physical connector and solder-pad layout, with the labels used in this document and in the firmware's `default.px4board`:
![CORVON 743v2 Ports & Connectors](../../assets/flight_controller/corvon_743v2/corvon743v2_portsconnection.png)
The board exposes the following connectors and solder pads:
- `TELEM1` (4-pin) - primary MAVLink radio link
- `04-AIR` (6-pin) - DJI O4 Air Unit (Digital VTX with MSP DisplayPort)
- `GPS` (6-pin JST-GH) - UBX / NMEA GPS, with the external compass I²C bus broken out on the same connector
- `TELEM2` (4-pin) - companion computer / secondary MAVLink
- `UART5` (4-pin) - generic auxiliary UART breakout
- `RCIN` (4-pin) - SBUS / CRSF / ELRS receiver input
- `UART7` pads (TX7 / RX7) - ESC Telemetry
- `CAN` (4-pin) - FDCAN1 (DroneCAN / UAVCAN)
- `I2C` (4-pin) - external I²C, isolated 5V supply for short-circuit protection
- `PWM` (8-pin) - 4-in-1 ESC connector (M1–M4 + power + ESC Telemetry)
- Onboard Bluetooth module (UART8) with ceramic antenna - MAVLink pre-configured
- `SWD` (4-pin) - hardware debug (SWCLK / SWDIO / 3V3 / GND)
The next image shows the individual solder-pad signal assignments on both the top and bottom of the board for advanced wiring (GPIO breakouts, ADC pads, etc.):
![CORVON 743v2 Solder Pad Map](../../assets/flight_controller/corvon_743v2/corvon743v2_pads.png)
### Standard Serial Port Mapping
| Physical UART | PCB Silk Label | PX4 Slot (QGC) | Default Usage |
| ------------- | ------------------------------- | --------------------------------- | --------------------------------------------------------------------------- |
| USART1 | `TELEM1` | TELEM 1 | MAVLink |
| USART2 | `04-AIR` | - | DJI O4 Air Unit (MSP DisplayPort) |
| USART3 | `GPS` | GPS 1 | GPS (plus external compass on shared I²C) |
| UART4 | `TELEM2` | TELEM 2 | MAVLink (Companion Link) |
| UART5 | `UART5` | **TELEM 3** | User Auxiliary |
| USART6 | `RCIN` | RC | RC Input (SBUS / CRSF / ELRS) |
| UART7 | `UART7` | **UART 6** | ESC Telemetry |
| UART8 | (onboard BT) | TELEM 4 | Bluetooth MAVLink @ 115200 (pre-configured) |
:::tip
The silk labels `UART5` and `UART7` on the PCB refer to the STM32H743's physical UART numbers.
In QGroundControl these ports appear as `TELEM 3` and `UART 6` respectively, because of PX4's internal serial-slot abstraction.
When assigning a service in QGroundControl, look up the silk label in the **PCB Silk Label** column to find the corresponding **PX4 Slot** name.
:::
### 调试接口
The board features a **4-pin SWD Debug** interface (SWCLK / SWDIO / 3V3 / GND) for hardware debugging.
There is no dedicated NSH console UART; the NSH console is exposed over USB CDC out of the box and is available via QGroundControl's MAVLink Console.
### RC Input
RC Input is mapped to **USART6** through the dedicated `RCIN` connector.
Both the receive line (`RX6`, internally invert-capable for SBUS) and the transmit line (`TX6`) are broken out, so the port supports:
- Single-wire SBUS (inverted)
- TBS Crossfire (CRSF)
- ExpressLRS (ELRS)
- FPort, Spektrum DSM, Graupner SUMD, and others
Configure the receiver protocol with the relevant `RC_*_PRT_CFG` parameter from QGroundControl, pointing it at the `RC` slot.
### PWM Output Groups
The 12 PWM outputs are organized into four timer groups. Channels in the same group must use the same output rate and DShot mode:
| Group | Timer | Channels | Default Protocol |
| ----- | ----- | -------- | -------------------------------------------- |
| 1 | TIM1 | M1–M4 | DShot600 |
| 2 | TIM3 | M5–M6 | DShot600 |
| 3 | TIM4 | M7–M10 | DShot600 |
| 4 | TIM12 | M11–M12 | PWM only (servo / gimbal) |
M1–M9 support BDShot telemetry readback; M10 is DShot-only because `TIM4_CH4` has no input-capture DMA channel on STM32H7. Bidirectional DShot can be enabled by setting `PWM_MAIN_TIM0..2` to a BDShot value (`-6` BDShot600, `-7` BDShot300, `-8` BDShot150) in QGroundControl.
Channels within the same group need to use the same output rate.
If any channel in a group uses DShot then all channels in the group need to use DShot.
### Bluetooth Telemetry (Pre-configured)
The board has an onboard Bluetooth module with a ceramic antenna, wired internally to `UART8`.
The factory firmware pre-binds MAVLink instance 2 to this port at **115200 baud with no flow control**, so the link works out of the box: just pair the board from a phone or tablet GCS - no QGroundControl parameter changes required.
## Building / Loading Firmware
:::tip
Most users will not need to build this firmware (from PX4 v1.18).
It is pre-built and automatically installed by _QGroundControl_ when appropriate hardware is connected.
:::
To [build PX4](../dev_setup/building_px4.md) for this target from source:
```sh
make corvon_743v2_default
```
Initial firmware flashing can be done over USB via QGroundControl.
The bootloader status follows the standard generic PX4 LED indications (Red = Bootloader / Error, Blue = Active / Activity, Green = Powered).
docs/zh/flight_controller/index.md
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@@ -18,6 +18,10 @@ Information about how to choose a PX4-compatible flight controller and the avail
There may be other [Pixhawk Series](../flight_controller/pixhawk_series.md) compatible flight controllers and variants, including those [documented here on Github](https://github.com/PX4/PX4-Autopilot/#supported-hardware).
:::
:::tip
**Hardware manufacturers:** to get a new flight controller supported by PX4, see the [Manufacturer's Board Support Guide](../hardware/board_support_guide.md).
:::
## Flight Controller Mounting and Setup
Information about how to mount the flight controller, upload firmware (replacing an incompatible bootloader if needed), and configure its internal sensors and orientation:
docs/zh/flight_controller/kakuteh7.md
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@@ -109,7 +109,7 @@ If you are loading the pre-built firmware via QGroundControl, you must use QGC D
In addition to the [basic configuration](../config/index.md), the following parameters are important:
| 参数 | 设置 |
| Parameter | 设置 |
| -------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------- |
| [SYS_HAS_MAG](../advanced_config/parameter_reference.md#SYS_HAS_MAG) | This should be disabled since the board does not have an internal mag. You can enable it if you attach an external mag. |
docs/zh/flight_controller/kakuteh7mini.md
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@@ -116,7 +116,7 @@ KakuteH7mini is supported with PX4 main and v1.14 or newer.
In addition to the [basic configuration](../config/index.md), the following parameters are important:
| 参数 | 设置 |
| Parameter | 设置 |
| -------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------- |
| [SYS_HAS_MAG](../advanced_config/parameter_reference.md#SYS_HAS_MAG) | This should be disabled since the board does not have an internal mag. You can enable it if you attach an external mag. |
docs/zh/flight_controller/kakuteh7v2.md
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@@ -113,7 +113,7 @@ KakuteH7v2 is supported with PX4 main and v1.14 or newer.
In addition to the [basic configuration](../config/index.md), the following parameters are important:
| 参数 | 设置 |
| Parameter | 设置 |
| -------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------- |
| [SYS_HAS_MAG](../advanced_config/parameter_reference.md#SYS_HAS_MAG) | This should be disabled since the board does not have an internal mag. You can enable it if you attach an external mag. |
docs/zh/flight_controller/pixhawk4.md
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@@ -45,7 +45,7 @@ This autopilot is [supported](../flight_controller/autopilot_pixhawk_standard.md
- 伺服导轨输入电压：0~36V
- 重量和尺寸:
- 重量：15.8g
- 尺寸：44_84_12mm
- 尺寸：4&#x34;_&#x38;&#x34;_&#x31;2mm
- 其它特性:
- 工作温度：-40 ~ 85°C
docs/zh/flight_controller/pixhawk_series.md
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@@ -146,6 +146,6 @@ _Pixhawk_ is a trademark, and cannot be used in product names without permission
All _Pixhawk-series_ flight controllers support:
- A user facing RGB _UI LED_ to indicate the current _readiness to fly_ status of the vehicle. This is typically a superbright I2C peripheral, which may or may not be mounted on the board (i.e. FMUv4 does not have one on board and typically uses an LED mounted on the GPS).
- Three _Status LED_s that provide lower level power status, bootloader mode and activity, and error information.
- Three _Status LE&#x44;_&#x73; that provide lower level power status, bootloader mode and activity, and error information.
To interpret the LEDs see: [LED Meanings](../getting_started/led_meanings.md).
docs/zh/flight_controller/radiolink_pix6.md
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@@ -271,7 +271,7 @@ The firmware can be installed in any of the normal ways:
In addition to the [basic configuration](../config/index.md), the following parameters are important:
| 参数 | 设置 |
| Parameter | 设置 |
| -------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------- |
| [SYS_HAS_MAG](../advanced_config/parameter_reference.md#SYS_HAS_MAG) | This should be disabled since the board does not have an internal mag. You can enable it if you attach an external mag. |
docs/zh/flight_controller/vololand_narinfc_h7.md
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@@ -0,0 +1,205 @@
# VOLOLAND NarinFC-H7
<Badge type="tip" text="PX4 v1.17" />
:::warning
PX4 does not manufacture this (or any) autopilot.
Contact the [manufacturer](https://vololand.com) for hardware support or compliance issues.
:::
The NarinFC-H7 is an advanced flight controller produced by [VOLOLAND Inc.](https://vololand.com).
It uses a high-performance STM32H7 processor and integrates industrial-grade sensors for improved performance and reliability.
![NarinFC-H7](../../assets/flight_controller/narinfc_h7/narinfc_header.jpg)
:::info
This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
:::
## 主要特性
### Processors & Sensors
- FMU Processor: STM32H743
- 内置传感器：
- Accelerometer/Gyroscope: ADIS16470
- 加速度计/陀螺仪：ICM-20649
- Accelerometer/Gyroscope: BMI088
- Magnetometer: RM3100
- Barometer: MS5611 x2
### 接口
- 14 PWM servo outputs
- Multiple RC inputs (SBUS / CPPM / DSM)
- Analog/PWM RSSI input
- 2 GPS ports (GPS and UART4)
- 4x I2C buses
- 2x CAN bus ports
- 2x Power ports
- 2x ADC ports
- 1x USB port
### Electrical Data
- Power input: 4.3V ~ 5.4V
- USB input: 4.75V ~ 5.25V
### Mechanical Data
- Dimensions: 93.4 x 46.4 x 34.1 mm
- Weight: 106g
## Where to Buy {#store}
Order from [VOLOLAND Inc.](https://vololand.com).
## Connections
![Wire Diagram](../../assets/flight_controller/narinfc_h7/3_wire_diagram.png)
## 尺寸
![Outline Dimensions](../../assets/flight_controller/narinfc_h7/2_outline_dimensions.png)
## 针脚定义
![Port Diagram A](../../assets/flight_controller/narinfc_h7/4_port_diagram_pin_outs_diagram-a.png)
### TELEM1 / TELEM2 Port
![TELEM Pinout](../../assets/flight_controller/narinfc_h7/4_1_telem1_telem2_port_jst_gh_6p_connector.png)
- JST GH 6P connector
### CAN1 / CAN2 Port
![CAN Port](../../assets/flight_controller/narinfc_h7/4_2_can1_can2_port_jst_hg_4p_connector.png)
- JST GH 4P connector
- Communication Protocol: UAVCAN v0 (default), UAVCAN v1 (limited support)
- Pin Configuration: CAN_H, CAN_L, VCC, GND
### I2C1, I2C2, I2C3, I2C4 Port
![I2C Port](../../assets/flight_controller/narinfc_h7/4_3_i2c1_i2c2_i2c3_i2c4_port_jst_gh_4p_connector.png)
- JST GH 4P connector
### UART4 Port
![UART Port](../../assets/flight_controller/narinfc_h7/4_4_uart4_port_jst_gh_6p_connector.png)
- JST GH 6P connector
### RSSI Port
![RSSI input](../../assets/flight_controller/narinfc_h7/13_rssi.png)
- RSSI input
### GPS & Safety Port
![GPS & Safety Port](../../assets/flight_controller/narinfc_h7/4_5_gps_safety_port_jst_gh_10p_connector.png)
- JST GH 10P connector
![Port Diagram B](../../assets/flight_controller/narinfc_h7/4_port_diagram_pin_outs_diagram-b.png)
### PWM & RC_IN
The NarinFC-H7 supports up to 14 PWM outputs.
![PWM Out](../../assets/flight_controller/narinfc_h7/4_6_pwm_out_m1-m14.png)
- 2.54mm pitch DuPont connector
- RC_IN: Remote control receiver input is wired directly to the FMU and is enabled via the `rc_input` driver. Compatible with SBUS, CPPM, and DSM protocols.
### Power Input
![Power Input](../../assets/flight_controller/narinfc_h7/4_7_power_input.png)
- 2mm pitch DuPont connector
### ADC Port
![ADC input](../../assets/flight_controller/narinfc_h7/12_adc.png)
### DEBUG / UART7 Port
UART7 is labelled DEBUG RX/TX.
![DEBUG Port](../../assets/flight_controller/narinfc_h7/4_8_debug_port_jst_hg_6p_connector.png)
- JST GH 6P connector
### USB Port
- USB-C
### SPI Port
![SPI Port](../../assets/flight_controller/narinfc_h7/4_10_spi_port_jst_gh_7p_connector.png)
- JST GH 7P connector
## 串口映射
| UART | 设备 | Port |
| ------ | ---------- | ------ |
| USART1 | /dev/ttyS0 | GPS1 |
| USART2 | /dev/ttyS1 | TELEM1 |
| UART4 | /dev/ttyS2 | GPS2 |
| USART6 | /dev/ttyS3 | TELEM2 |
| UART8 | /dev/ttyS4 | User |
| UART7 | /dev/ttyS5 | Debug |
## PWM Output
The NarinFC-H7 supports up to 14 PWM outputs.
All outputs except M13 and M14 support DShot.
Outputs 1-8 support Bi-Directional DShot.
The 14 PWM outputs are in 4 groups:
- Outputs 1, 2, 3, and 4 in group1
- Outputs 5, 6, 7, and 8 in group2
- Outputs 9, 10, 11, and 12 in group3
- Outputs 13 and 14 in group4
All outputs within the same group must use the same output rate and protocol.
## Analog Inputs
The NarinFC-H7 has 2 user-accessible analog inputs:
- ADC Pin4 → SPARE1_ADC1 (6.6V tolerant)
- ADC Pin18 → SPARE2_ADC1 (3.3V tolerant)
Additional internal ADC channels:
- ADC Pin16 → BATT_VOLTAGE_SENS
- ADC Pin17 → BATT_CURRENT_SENS
- ADC Pin14 → BATT2_VOLTAGE_SENS
- ADC Pin2 → BATT2_CURRENT_SENS
- ADC Pin6 → RSSI_IN
- ADC Pin8 → VDD_5V_SENS
- ADC Pin11 → SCALED_V3V3
## 编译固件
:::tip
Most users will not need to build this firmware!
It is pre-built and automatically installed by _QGroundControl_ when appropriate hardware is connected.
:::
To [build PX4](../dev_setup/building_px4.md) for this target:
```sh
make narinfc_h7_default
```
## 支持的平台/机身
Any multicopter / airplane / rover or boat that can be controlled with normal RC servos or Futaba S-Bus servos.
The complete set of supported configurations can be seen in the [Airframes Reference](../airframes/airframe_reference.md).
docs/zh/flight_modes/offboard.md
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@@ -17,15 +17,15 @@ A good understanding of [PX4 controller diagrams](../flight_stack/controller_dia
飞行器根据飞行控制栈外部（如机载计算机）提供的设定值控制位置、速度、加速度、姿态以及推力/力矩。
The setpoints may be provided using MAVLink (or a MAVLink API such as [MAVSDK](https://mavsdk.mavlink.io/)) or by [ROS 2](../ros2/index.md).
PX4 requires that the external controller provides a continuous 2Hz "proof of life" signal, by streaming any of the supported MAVLink setpoint messages or the ROS 2 [OffboardControlMode](../msg_docs/OffboardControlMode.md) message.
PX4 enables switching to offboard control mode only after receiving the signal for more than a second, and will failsafe (controlled by [COM_OBL_RC_ACT](../advanced_config/parameter_reference.md#COM_OBL_RC_ACT)) if the signal stops.
PX4 requires that the external controller provides a continuous "proof of life" signal by streaming any of the supported MAVLink setpoint messages or the ROS 2 [OffboardControlMode](../msg_docs/OffboardControlMode.md) message.
The stream should be active before switching to Offboard mode, and PX4 will trigger the configured Offboard-loss failsafe action ([COM_OBL_RC_ACT](../advanced_config/parameter_reference.md#COM_OBL_RC_ACT)) if proof-of-life messages are not received within the timeout configured by [COM_OF_LOSS_T](#COM_OF_LOSS_T).
::: info
- This mode requires position or pose/attitude information - e.g. GPS, optical flow, visual-inertial odometry, mocap, etc. depending on the type of offboard setpoints that the external controller sends.
- Manual control is disabled except to change modes (you can also fly without any manual controller at all by setting the parameter [COM_RC_IN_MODE](../advanced_config/parameter_reference.md#COM_RC_IN_MODE) to `4: Disable manual control`).
- The vehicle must already be receiving a stream of MAVLink setpoint messages or ROS 2 [OffboardControlMode](../msg_docs/OffboardControlMode.md) messages before arming in offboard mode or switching to offboard mode when flying.
- The vehicle will exit offboard mode if MAVLink setpoint messages or `OffboardControlMode` are not received at a rate of > 2Hz.
- The vehicle will exit Offboard mode if MAVLink setpoint messages or `OffboardControlMode` messages stop being received for longer than the timeout configured by [COM_OF_LOSS_T](#COM_OF_LOSS_T).
- 并非所有 MAVLink 支持的坐标系和字段值都被设定值消息和飞行器支持。
Read the sections below _carefully_ to ensure only supported values are used.
@@ -33,22 +33,21 @@ PX4 enables switching to offboard control mode only after receiving the signal f
## 描述
Offboard模式通过设置位置、速度、加速、姿态、姿态角速率或力/扭矩设定值来控制飞行器的位置和姿态。
PX4 must receive a stream of MAVLink setpoint messages or the ROS 2 [OffboardControlMode](../msg_docs/OffboardControlMode.md) at 2 Hz as proof that the external controller is healthy.
该消息必须持续发送1秒以上PX4才能在Offboard模式下解锁或在飞行中切换至Offboard模式。
If the rate falls below 2Hz while under external control PX4 will switch out of offboard mode after a timeout ([COM_OF_LOSS_T](#COM_OF_LOSS_T)), and attempt to land or perform some other failsafe action.
Offboard mode is used for controlling vehicle movement and attitude, by setting position, velocity, acceleration, attitude, attitude rates or thrust/torque setpoints.
PX4 must receive a stream of MAVLink setpoint messages or the ROS 2 [OffboardControlMode](../msg_docs/OffboardControlMode.md) message as proof that the external controller is healthy.
The stream should be active before PX4 arms in Offboard mode or switches to Offboard mode when flying.
If MAVLink setpoint messages or `OffboardControlMode` messages stop being received for longer than the timeout configured by [COM_OF_LOSS_T](#COM_OF_LOSS_T), PX4 will switch out of Offboard mode and attempt to land or perform some other failsafe action.
The action depends on whether or not RC control is available, and is defined in the parameter [COM_OBL_RC_ACT](#COM_OBL_RC_ACT).
当使用 MAVLink 时，设定值消息既传达了外部控制器"正常运行"的信号也传达了设定值本身。
Offboard模式下要保持位置，飞行器必须接收到一个包含当前位置设定值的消息指令。
When using MAVLink the setpoint messages convey both the signal to indicate that the external source is "alive", and the setpoint value itself.
In order to hold position in this case the vehicle must receive a stream of setpoints for the current position.
When using ROS 2 the proof that the external source is alive is provided by a stream of [OffboardControlMode](../msg_docs/OffboardControlMode.md) messages, while the actual setpoint is provided by publishing to one of the setpoint uORB topics, such as [TrajectorySetpoint](../msg_docs/TrajectorySetpoint.md).
In order to hold position in this case the vehicle must receive a stream of `OffboardControlMode` but would only need the `TrajectorySetpoint` once.
请注意，Offboard模式只支持比较有限的 MAVLink 指令和消息。
其他操作如起飞、降落、返航，最好使用适当的模式来处理。
像上传、下载任务这样的操作可以在任何模式下执行。
Note that offboard mode only supports a very limited set of MAVLink commands and messages.
Operations, like taking off, landing, return to launch, may be best handled using the appropriate modes.
Operations like uploading, downloading missions can be performed in any mode.
## ROS 2 Offboard Control
@@ -76,7 +75,7 @@ This will result in unexpected, and possibly catastrophic, behaviour.
### The `OffboardControlMode` PX4 message
以下 ROS 2 消息及其特定字段和字段值在特定的框架下是允许的。
The following ROS 2 messages and their particular fields and field values are allowed for the specified frames.
In addition to providing heartbeat functionality, `OffboardControlMode` has two other main purposes:
1. Controls which internal PX4 control modules of the [PX4 control architecture](../flight_stack/controller_diagrams.md) shall remain active and which ones shall be disabled when the vehicle is in Offboard Mode.
@@ -104,18 +103,18 @@ For rovers see the [rover section](#rover).
:::
The fields are ordered in terms of priority such that `position` takes precedence over `velocity` and later fields, `velocity` takes precedence over `acceleration`, and so on.
第一个非零字段(从上到下) 定义了Offboard模式所需的有效估计以及可用的设定值消息。
The first field that has a non-zero value (from top to bottom) defines what valid estimate is required in order to use offboard mode, and the setpoint message(s) that can be used.
For example, if the `acceleration` field is the first non-zero value, then PX4 requires a valid `attitude estimate`, and the setpoint must be specified using the `TrajectorySetpoint` message.
| 期望控制对象 | 位置 | 速度 | 加速度 | 姿态 | 姿态角速率 | 执行器字段 | 直接给电机 | 所需状态估计 | 所需消息 |
| ------------------------------ | --------------------------- | --------------------------- | --------------------------- | --------------------------- | --------------------------- | --------------------------- | --------------------------- | ---------------- | ------------------------------------------------------------------------------------------------------------------------------- |
| 位置 (NED) | &check; | - | - | - | - | - | - | 位置 | [TrajectorySetpoint](../msg_docs/TrajectorySetpoint.md) |
| 速度 (NED) | &cross; | &check; | - | - | - | - | - | 速度 | [TrajectorySetpoint](../msg_docs/TrajectorySetpoint.md) |
| 加速度（NED） | &cross; | &cross; | &check; | - | - | - | - | attitude | [TrajectorySetpoint](../msg_docs/TrajectorySetpoint.md) |
| 姿态(FRD) | &cross; | &cross; | &cross; | &check; | - | - | - | attitude | [VehicleAttitudeSetpoint](../msg_docs/VehicleAttitudeSetpoint.md) |
| 体轴角速率 (FRD) | &cross; | &cross; | &cross; | &cross; | &check; | - | - | angular velocity | [VehicleRatesSetpoint](../msg_docs/VehicleRatesSetpoint.md) |
| 推力和力矩(FRD) | &cross; | &cross; | &cross; | &cross; | &cross; | &check; | - | 无 | [VehicleThrustSetpoint](../msg_docs/VehicleThrustSetpoint.md) and [VehicleTorqueSetpoint](../msg_docs/VehicleTorqueSetpoint.md) |
| 直接给电机和舵机 | &cross; | &cross; | &cross; | &cross; | &cross; | &cross; | &check; | 无 | [ActuatorMotors](../msg_docs/ActuatorMotors.md) and [ActuatorServos](../msg_docs/ActuatorServos.md) |
| desired control quantity | position field | velocity field | acceleration field | attitude field | body_rate field | thrust_and_torque field | direct_actuator field | required estimate | required message |
| ------------------------------------------------------- | -------------- | -------------- | ------------------ | -------------- | ------------------------------------ | ----------------------------------------------------------------- | ------------------------------------------ | ----------------- | ------------------------------------------------------------------------------------------------------------------------------- |
| position (NED) | ✓ | - | - | - | - | - | - | position | [TrajectorySetpoint](../msg_docs/TrajectorySetpoint.md) |
| velocity (NED) | ✗ | ✓ | - | - | - | - | - | velocity | [TrajectorySetpoint](../msg_docs/TrajectorySetpoint.md) |
| acceleration (NED) | ✗ | ✗ | ✓ | - | - | - | - | attitude | [TrajectorySetpoint](../msg_docs/TrajectorySetpoint.md) |
| attitude (FRD) | ✗ | ✗ | ✗ | ✓ | - | - | - | attitude | [VehicleAttitudeSetpoint](../msg_docs/VehicleAttitudeSetpoint.md) |
| body_rate (FRD) | ✗ | ✗ | ✗ | ✗ | ✓ | - | - | angular velocity | [VehicleRatesSetpoint](../msg_docs/VehicleRatesSetpoint.md) |
| thrust and torque (FRD) | ✗ | ✗ | ✗ | ✗ | ✗ | ✓ | - | none | [VehicleThrustSetpoint](../msg_docs/VehicleThrustSetpoint.md) and [VehicleTorqueSetpoint](../msg_docs/VehicleTorqueSetpoint.md) |
| direct motors and servos | ✗ | ✗ | ✗ | ✗ | ✗ | ✗ | ✓ | none | [ActuatorMotors](../msg_docs/ActuatorMotors.md) and [ActuatorServos](../msg_docs/ActuatorServos.md) |
where ✓ means that the bit is set, ✘ means that the bit is not set and `-` means that the bit value is irrelevant.
@@ -130,7 +129,7 @@ For fixed-wing offboard control, please refer to the [PX4 ROS 2 Interface Librar
- [px4_msgs::msg::TrajectorySetpoint](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/TrajectorySetpoint.msg)
- 支持以下输入组合：
- The following input combinations are supported:
- Position setpoint (`position` different from `NaN`). Non-`NaN` values of velocity and acceleration are used as feedforward terms for the inner loop controllers.
- Velocity setpoint (`velocity` different from `NaN` and `position` set to `NaN`). Non-`NaN` values of acceleration are used as feedforward terms for the inner loop controllers.
- Acceleration setpoint (`acceleration` different from `NaN` and `position` and `velocity` set to `NaN`)
@@ -149,21 +148,21 @@ For fixed-wing offboard control, please refer to the [PX4 ROS 2 Interface Librar
:::
- [px4_msgs::msg::VehicleAttitudeSetpoint](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleAttitudeSetpoint.msg)
- 支持以下输入组合：
- The following input combination is supported:
- quaternion `q_d` + thrust setpoint `thrust_body`.
Non-`NaN` values of `yaw_sp_move_rate` are used as feedforward terms expressed in Earth frame and in `[rad/s]`.
- 姿态四元数表示无人机机体坐标系FRD(前、右、下) 与NED坐标系之间的旋转。
这个推力是在无人机体轴FRD坐标系下，并归一化为 \[-1, 1\] 。
- The quaternion represents the rotation between the drone body FRD (front, right, down) frame and the NED frame.
The thrust is in the drone body FRD frame and expressed in normalized \[-1, 1\] values.
- [px4_msgs::msg::VehicleRatesSetpoint](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleRatesSetpoint.msg)
- 支持以下输入组合：
- The following input combination is supported:
- `roll`, `pitch`, `yaw` and `thrust_body`.
- 所有值都表示在无人机体轴FRD坐标系下。
- All the values are in the drone body FRD frame.
The rates are in `[rad/s]` while thrust_body is normalized in `[-1, 1]`.
### 无人车
### Rover
Rover modules must set the control mode using `OffboardControlMode` and use the appropriate messages to configure the corresponding setpoints.
The approach is similar to other vehicle types, but the allowed control mode combinations and setpoints are different:
@@ -193,10 +192,10 @@ Additionally, for some combinations we require certain setpoints to be published
| Setpoint Combination | Control Flag | [RoverPositionSetpoint](../msg_docs/RoverPositionSetpoint.md) | [RoverSpeedSetpoint](../msg_docs/RoverSpeedSetpoint.md) | [RoverThrottleSetpoint](../msg_docs/RoverThrottleSetpoint.md) | [RoverAttitudeSetpoint](../msg_docs/RoverAttitudeSetpoint.md) | [RoverRateSetpoint](../msg_docs/RoverRateSetpoint.md) | [RoverSteeringSetpoint](../msg_docs/RoverSteeringSetpoint.md) |
| -------------------- | ----------------------------------------------------------- | ------------------------------------------------------------- | ------------------------------------------------------- | ------------------------------------------------------------- | ------------------------------------------------------------- | ----------------------------------------------------- | ------------------------------------------------------------- |
| 安装位置 | 位置 | &check; | | | | | |
| Speed + Attitude | 速度 | | &check; | | &check; | | |
| Speed + Rate | 速度 | | &check; | | &cross; | &check; | |
| Speed + Steering | 速度 | | &check; | | &cross; | &cross; | &check; |
| 安装位置 | position | &check; | | | | | |
| Speed + Attitude | velocity | | &check; | | &check; | | |
| Speed + Rate | velocity | | &check; | | &cross; | &check; | |
| Speed + Steering | velocity | | &check; | | &cross; | &cross; | &check; |
| Throttle + Attitude | attitude | | | &check; | &check; | | |
| Throttle + Rate | body_rate | | | &check; | | &check; | |
| Throttle + Steering | thrust_and_torque | | | &check; | | | &check; |
@@ -226,8 +225,8 @@ However, only one of the fields is active at a time and is defined by the flags
| Control Mode Flag | Active Trajectory Setpoint Field |
| ----------------- | -------------------------------- |
| 位置 | 位置 |
| 速度 | 速度 |
| position | position |
| velocity | velocity |
| attitude | yaw |
:::info
@@ -236,24 +235,24 @@ Ackermann rovers do not support the yaw setpoint.
### Generic Vehicle
下面的offboard控制模式会绕过所有PX4内部的控制环，应当非常谨慎地使用。
The following offboard control modes bypass all internal PX4 control loops and should be used with great care.
- [px4_msgs::msg::VehicleThrustSetpoint](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleThrustSetpoint.msg) + [px4_msgs::msg::VehicleTorqueSetpoint](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleTorqueSetpoint.msg)
- 支持以下输入组合：
- The following input combination is supported:
- `xyz` for thrust and `xyz` for torque.
- 所有值都在无人机体轴 FRD 坐标系中表示，并且归一化为\[-1, 1\]。
- All the values are in the drone body FRD frame and normalized in \[-1, 1\].
- [px4_msgs::msg::ActuatorMotors](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ActuatorMotors.msg) + [px4_msgs::msg::ActuatorServos](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ActuatorServos.msg)
- 直接控制电机输出和/或伺服系统（舵机）输出。
- You directly control the motor outputs and/or servo outputs.
- All the values normalized in `[-1, 1]`.
For outputs that do not support negative values, negative entries map to `NaN`.
- `NaN` maps to disarmed.
## MAVLink Offboard Control
下面的 MAVLink 消息及其特定字段和字段值在特定的帧下是允许的。
The following MAVLink messages and their particular fields and field values are allowed for the specified vehicle frames.
### 直升机/垂直起降
### Copter/VTOL
- [SET_POSITION_TARGET_LOCAL_NED](https://mavlink.io/en/messages/common.html#SET_POSITION_TARGET_LOCAL_NED)
- The following input combinations are supported: <!-- https://github.com/PX4/PX4-Autopilot/blob/main/src/lib/FlightTasks/tasks/Offboard/FlightTaskOffboard.cpp#L166-L170 -->
@@ -283,7 +282,7 @@ Ackermann rovers do not support the yaw setpoint.
- PX4 supports the following `coordinate_frame` values (only): [MAV_FRAME_GLOBAL_INT](https://mavlink.io/en/messages/common.html#MAV_FRAME_GLOBAL_INT), [MAV_FRAME_GLOBAL_RELATIVE_ALT_INT](https://mavlink.io/en/messages/common.html#MAV_FRAME_GLOBAL_RELATIVE_ALT_INT), [MAV_FRAME_GLOBAL_TERRAIN_ALT_INT](https://mavlink.io/en/messages/common.html#MAV_FRAME_GLOBAL_TERRAIN_ALT_INT).
- [SET_ATTITUDE_TARGET](https://mavlink.io/en/messages/common.html#SET_ATTITUDE_TARGET)
- 支持以下输入组合：
- The following input combinations are supported:
- Attitude/orientation (`SET_ATTITUDE_TARGET.q`) with thrust setpoint (`SET_ATTITUDE_TARGET.thrust`).
- Body rate (`SET_ATTITUDE_TARGET` `.body_roll_rate` ,`.body_pitch_rate`, `.body_yaw_rate`) with thrust setpoint (`SET_ATTITUDE_TARGET.thrust`).
@@ -298,15 +297,15 @@ Ackermann rovers do not support the yaw setpoint.
:::
值为：
The values are:
- 292：滑动设定值。
这会将 TECS 配置为空速优先于高度，以便在没有推力时使无人机滑行（即控制俯仰以调节空速）。
- 292: Gliding setpoint.
This configures TECS to prioritize airspeed over altitude in order to make the vehicle glide when there is no thrust (i.e. pitch is controlled to regulate airspeed).
It is equivalent to setting `type_mask` as `POSITION_TARGET_TYPEMASK_Z_IGNORE`, `POSITION_TARGET_TYPEMASK_VZ_IGNORE`, `POSITION_TARGET_TYPEMASK_AZ_IGNORE`.
- 4096：起飞设定值。
- 8192：降落设定值。
- 12288：悬停设定值（以设定值为中心绕圈飞行）。
- 16384：空闲设定值（油门为0， 横滚 / 俯仰为0）。
- 4096: Takeoff setpoint.
- 8192: Land setpoint.
- 12288: Loiter setpoint (fly a circle centred on setpoint).
- 16384: Idle setpoint (zero throttle, zero roll / pitch).
- PX4 supports the coordinate frames (`coordinate_frame` field): [MAV_FRAME_LOCAL_NED](https://mavlink.io/en/messages/common.html#MAV_FRAME_LOCAL_NED) and [MAV_FRAME_BODY_NED](https://mavlink.io/en/messages/common.html#MAV_FRAME_BODY_NED).
@@ -320,21 +319,21 @@ Ackermann rovers do not support the yaw setpoint.
:::
值为：
The values are:
- 4096：起飞设定值。
- 8192：降落设定值。
- 12288：悬停设定值（以设定值为中心绕圈飞行）。
- 16384：空闲设定值（油门为0， 横滚 / 俯仰为0）。
- 4096: Takeoff setpoint.
- 8192: Land setpoint.
- 12288: Loiter setpoint (fly a circle centred on setpoint).
- 16384: Idle setpoint (zero throttle, zero roll / pitch).
- PX4 supports the following `coordinate_frame` values (only): [MAV_FRAME_GLOBAL_INT](https://mavlink.io/en/messages/common.html#MAV_FRAME_GLOBAL_INT), [MAV_FRAME_GLOBAL_RELATIVE_ALT_INT](https://mavlink.io/en/messages/common.html#MAV_FRAME_GLOBAL_RELATIVE_ALT_INT), [MAV_FRAME_GLOBAL_TERRAIN_ALT_INT](https://mavlink.io/en/messages/common.html#MAV_FRAME_GLOBAL_TERRAIN_ALT_INT).
- [SET_ATTITUDE_TARGET](https://mavlink.io/en/messages/common.html#SET_ATTITUDE_TARGET)
- 支持以下输入组合：
- The following input combinations are supported:
- Attitude/orientation (`SET_ATTITUDE_TARGET.q`) with thrust setpoint (`SET_ATTITUDE_TARGET.thrust`).
- Body rate (`SET_ATTITUDE_TARGET` `.body_roll_rate` ,`.body_pitch_rate`, `.body_yaw_rate`) with thrust setpoint (`SET_ATTITUDE_TARGET.thrust`).
### 无人车
### Rover
Rover supports offboard control using the generic MAVLink position/velocity setpoint messages listed below.
These are converted into a [TrajectorySetpoint](../msg_docs/TrajectorySetpoint.md) internally, and then into rover setpoints by the rover offboard modes.
@@ -360,23 +359,23 @@ Rover MAVLink setpoints are gated by the MAVLink parameter [MAV_FWDEXTSP](../adv
- [SET_ATTITUDE_TARGET](https://mavlink.io/en/messages/common.html#SET_ATTITUDE_TARGET)
- Not supported for rover offboard control.
## Offboard参数
## Offboard Parameters
_Offboard mode_ is affected by the following parameters:
| 参数 | 描述 |
| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="COM_OF_LOSS_T"></a>[COM_OF_LOSS_T](../advanced_config/parameter_reference.md#COM_OF_LOSS_T) | Time-out (in seconds) to wait when offboard connection is lost before triggering offboard lost failsafe (`COM_OBL_RC_ACT`) |
| <a id="COM_OBL_RC_ACT"></a>[COM_OBL_RC_ACT](../advanced_config/parameter_reference.md#COM_OBL_RC_ACT) | Flight mode to switch to if offboard control is lost (Values are - `0`: _Position_, `1`: _Altitude_, `2`: _Manual_, `3`: _Return_, `4`: _Land_). |
| <a id="COM_RC_OVERRIDE"></a>[COM_RC_OVERRIDE](../advanced_config/parameter_reference.md#COM_RC_OVERRIDE) | Controls whether stick movement on a multicopter (or VTOL in MC mode) causes a mode change to [Position mode](../flight_modes_mc/position.md). 默认情况下未启用此功能。 |
| <a id="COM_RC_STICK_OV"></a>[COM_RC_STICK_OV](../advanced_config/parameter_reference.md#COM_RC_STICK_OV) | The amount of stick movement that causes a transition to [Position mode](../flight_modes_mc/position.md) (if [COM_RC_OVERRIDE](#COM_RC_OVERRIDE) is enabled). |
| <a id="COM_RCL_EXCEPT"></a>[COM_RCL_EXCEPT](../advanced_config/parameter_reference.md#COM_RCL_EXCEPT) | 该参数指定一种模式，在该模式下将忽略RC丢失及不会触发RC丢失的失效保护动作。 Set bit `2` to ignore RC loss in Offboard mode. |
| Parameter | 描述 |
| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="COM_OF_LOSS_T"></a>[COM_OF_LOSS_T](../advanced_config/parameter_reference.md#COM_OF_LOSS_T) | Time-out (in seconds) to wait when offboard connection is lost before triggering offboard lost failsafe (`COM_OBL_RC_ACT`) |
| <a id="COM_OBL_RC_ACT"></a>[COM_OBL_RC_ACT](../advanced_config/parameter_reference.md#COM_OBL_RC_ACT) | Flight mode to switch to if offboard control is lost. |
| <a id="COM_RC_OVERRIDE"></a>[COM_RC_OVERRIDE](../advanced_config/parameter_reference.md#COM_RC_OVERRIDE) | Controls whether stick movement on a multicopter (or VTOL in MC mode) causes a mode change to [Position mode](../flight_modes_mc/position.md). This is not enabled for offboard mode by default. |
| <a id="COM_RC_STICK_OV"></a>[COM_RC_STICK_OV](../advanced_config/parameter_reference.md#COM_RC_STICK_OV) | The amount of stick movement that causes a transition to [Position mode](../flight_modes_mc/position.md) (if [COM_RC_OVERRIDE](#COM_RC_OVERRIDE) is enabled). |
| <a id="COM_RCL_EXCEPT"></a>[COM_RCL_EXCEPT](../advanced_config/parameter_reference.md#COM_RCL_EXCEPT) | Specify modes in which RC loss is ignored and the failsafe action not triggered. Set bit `2` to ignore RC loss in Offboard mode. |
## 开发者资源
## Developer Resources
Typically developers do not directly work at the MAVLink layer, but instead use a robotics API like [MAVSDK](https://mavsdk.mavlink.io/) or [ROS](https://www.ros.org/) (these provide a developer friendly API, and take care of managing and maintaining connections, sending messages and monitoring responses - the minutiae of working with _Offboard mode_ and MAVLink).
以下资源可能对开发者有用：
The following resources may be useful for a developer audience:
- [Offboard Control from Linux](../ros/offboard_control.md)
- [ROS/MAVROS Offboard Example (C++)](../ros/mavros_offboard_cpp.md)
docs/zh/flight_modes/return.md
+15 -20
View File
@@ -17,9 +17,9 @@ PX4 提供了几种机制来选择安全的返航路径，返航目的地和着
- Flying vehicles can't switch to this mode without global position.
- Flying vehicles will failsafe if they lose the position estimate.
- Mode requires home position is set.
- Mode prevents arming (vehicle must be armed when switching to this mode).
- Mode prevents arming (vehicle cannot be armed while this mode is selected).
- 遥控开关可以在任何无人机上更改飞行模式。
- RC stick movement in a multicopter (or VTOL in multicopter mode) will [by default](#COM_RC_OVERRIDE) change the vehicle to [Position mode](../flight_modes_mc/position.md) unless handling a critical battery failsafe.
- RC stick movement in a multicopter (or VTOL in multicopter mode) will [by default](#COM_RC_OVERRIDE) change the vehicle to [Position mode](../flight_modes_mc/position.md) unless prevented by the active failsafe state.
- A VTOL will return as MC or FW based on its mode at the point the return mode was triggered.
In MC mode it will respect multicopter parameters, such as the landing "cone".
In FW mode it will respect fixed-wing parameters (ignore the cone), but unless using a mission landing, will transition to MC mode and land at the destination after loitering at the descent altitude.
@@ -40,9 +40,7 @@ This topic covers all the possible return types that any vehicle _might_ be conf
The following sections explain how to configure the [return type](#return_types), [minimum return altitude](#minimum-return-altitude) and [landing/arrival behaviour](#loiter-landing-at-destination).
<a id="return_types"></a>
## 返航类型（RTL_TYPE）
## Return Types (RTL_TYPE) {#return_types}
PX4 provides four alternative approaches for finding an unobstructed path to a safe destination and/or landing, which are set using the [RTL_TYPE](#RTL_TYPE) parameter.
@@ -169,7 +167,7 @@ In this case the vehicle follows mission waypoints, which we assume are planned
The return altitude for a fixed-wing vehicle or a VTOL in fixed-wing mode is configured using the parameter [RTL_RETURN_ALT](#RTL_RETURN_ALT) (does not use the code described in the next paragraph).
The return altitude for a multicopter or a VTOL vehicles in MC mode is configured using the parameters [RTL_RETURN_ALT](#RTL_RETURN_ALT) and [RTL_CONE_ANG](#RTL_CONE_ANG), which define a half cone centered around the destination (home location or safety point).
The return altitude for a multicopter (or VTOL vehicle in MC mode) is configured using the parameters [RTL_RETURN_ALT](#RTL_RETURN_ALT), [RTL_CONE_ANG](#RTL_CONE_ANG), and [RTL_MIN_DIST](#RTL_MIN_DIST), which together define a half cone centered around the destination (home location or safety point).
![Return mode cone](../../assets/flying/rtl_cone.jpg)
@@ -178,22 +176,19 @@ The return altitude for a multicopter or a VTOL vehicles in MC mode is configure
如果无人机是：
- Above [RTL_RETURN_ALT](#RTL_RETURN_ALT) (1) it will return at its current altitude.
- Below the cone it will return where it intersects the cone (2) or [RTL_DESCEND_ALT](#RTL_DESCEND_ALT) (whichever is higher).
- Outside the cone (3) it will first climb until it reaches [RTL_RETURN_ALT](#RTL_RETURN_ALT).
- 在圆锥内：
- Above [RTL_DESCEND_ALT](#RTL_DESCEND_ALT) (4) it will return at its current altitude.
- Below [RTL_DESCEND_ALT](#RTL_DESCEND_ALT) (5) it will first ascend to `RTL_DESCEND_ALT`.
- Outside of the radius defined [RTL_MIN_DIST](#RTL_MIN_DIST) (3) it will first climb until it reaches [RTL_RETURN_ALT](#RTL_RETURN_ALT).
- Below the cone and within [RTL_MIN_DIST](#RTL_MIN_DIST) it will climb to return at the cone intersection altitude (2), up to [RTL_RETURN_ALT](#RTL_RETURN_ALT).
- Inside the cone (4, 5) it will return at its current altitude.
注意：
- If [RTL_CONE_ANG](#RTL_CONE_ANG) is 0 degrees there is no "cone":
- the vehicle returns at `RTL_RETURN_ALT` (or above).
- If [RTL_CONE_ANG](#RTL_CONE_ANG) is 90 degrees the vehicle will return at the greater of `RTL_DESCEND_ALT` and the current altitude.
- The vehicle will always ascend at least [RTL_DESCEND_ALT](#RTL_DESCEND_ALT) for the return.
- If [RTL_CONE_ANG](#RTL_CONE_ANG) is 90 degrees the vehicle will generally return at its current altitude when close to the destination. The return altitude may still be constrained to avoid flying too low while approaching the destination.
## 无人机默认行为
Unless executing a [mission landing pattern](#mission-landing-pattern) as part of the return mode, the vehicle will arrive at its destination, and rapidly descend to the [RTL_DESCEND_ALT](#RTL_DESCEND_ALT) altitude, where it will loiter for [RTL_LAND_DELAY](#RTL_LAND_DELAY) before landing.
Unless executing a [mission landing pattern](#mission-landing-pattern) as part of the return mode, the vehicle will arrive at its destination, and rapidly descend to the [RTL_DESCEND_ALT](#RTL_DESCEND_ALT) altitude (if above that altitude), where it will loiter for [RTL_LAND_DELAY](#RTL_LAND_DELAY) before landing.
If `RTL_LAND_DELAY=-1` it will loiter indefinitely.
The default landing configuration is vehicle dependent:
@@ -217,16 +212,16 @@ For this reason fixed-wing vehicles are configured to use [Mission landing/reall
The RTL parameters are listed in [Parameter Reference > Return Mode](../advanced_config/parameter_reference.md#return-mode) (and summarised below).
| 参数 | 描述 |
| Parameter | 描述 |
| -------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="RTL_TYPE"></a>[RTL_TYPE](../advanced_config/parameter_reference.md#RTL_TYPE) | Return mechanism (path and destination).<br>`0`: Return to a rally point or home (whichever is closest) via direct path.<br>`1`: Return to a rally point or the mission landing pattern start point (whichever is closest), via direct path. 如果未定义任务着陆点或集结点，通过直接路径返回起始位置。 If the destination is a mission landing pattern, follow the pattern to land.<br>`2`: Use the mission path to landing while skipping DO_JUMP and other non-position mission items if a landing pattern is defined, otherwise fast-reverse to home with the same traversal rules. 忽略集结点。 Fly direct to home if no mission plan is defined.<br>`3`: Return via direct path to closest destination: home, start of mission landing pattern or safe point. 如果目的地是飞行任务着陆模式，则按照该模式降落。 |
| <a id="RTL_RETURN_ALT"></a>[RTL_RETURN_ALT](../advanced_config/parameter_reference.md#RTL_RETURN_ALT) | Return altitude in meters (default: 60m) when [RTL_CONE_ANG](../advanced_config/parameter_reference.md#RTL_CONE_ANG) is 0. 如果已经超过这个值, 飞机将返回当前的高度。 |
| <a id="RTL_DESCEND_ALT"></a>[RTL_DESCEND_ALT](../advanced_config/parameter_reference.md#RTL_DESCEND_ALT) | 最小返航高度和无人机从较高的返航高度到减速或者停止的初始下降高度（默认： 30米）。 |
| <a id="RTL_LAND_DELAY"></a>[RTL_LAND_DELAY](../advanced_config/parameter_reference.md#RTL_LAND_DELAY) | Time to wait at `RTL_DESCEND_ALT` before landing (default: 0.5s) -by default this period is short so that the vehicle will simply slow and then land immediately. If set to -1 the system will loiter at `RTL_DESCEND_ALT` rather than landing. 延迟能够使你为起落架的展开部署配置时间（自动触发）。 |
| <a id="RTL_MIN_DIST"></a>[RTL_MIN_DIST](../advanced_config/parameter_reference.md#RTL_MIN_DIST) | 能够触发无人机上升到返航高度，距离起始位置的最小水平距离由那个"锥形"指定。 If the vehicle is horizontally closer than this distance to home, it will return at its current altitude or `RTL_DESCEND_ALT` (whichever is higher) instead of first ascending to RTL_RETURN_ALT. |
| <a id="RTL_CONE_ANG"></a>[RTL_CONE_ANG](../advanced_config/parameter_reference.md#RTL_CONE_ANG) | 圆锥半角决定无人机的 RTL 返航高度。 数值(度数)：0、25、45、65、80、90。 Note that 0 is "no cone" (always return at `RTL_RETURN_ALT` or higher), while 90 indicates that the vehicle must return at the current altitude or `RTL_DESCEND_ALT` (whichever is higher). |
| <a id="RTL_DESCEND_ALT"></a>[RTL_DESCEND_ALT](../advanced_config/parameter_reference.md#RTL_DESCEND_ALT) | Altitude above the destination used for the final descent before landing or loitering (default: 30m). |
| <a id="RTL_LAND_DELAY"></a>[RTL_LAND_DELAY](../advanced_config/parameter_reference.md#RTL_LAND_DELAY) | Time to wait at `RTL_DESCEND_ALT` before landing (default: 0.5s) - by default this period is short so that the vehicle will simply slow and then land immediately. If set to -1 the system will loiter at `RTL_DESCEND_ALT` rather than landing. 延迟能够使你为起落架的展开部署配置时间（自动触发）。 |
| <a id="RTL_MIN_DIST"></a>[RTL_MIN_DIST](../advanced_config/parameter_reference.md#RTL_MIN_DIST) | Within this distance from the return destination, the return altitude is calculated from the "cone" rather than directly from `RTL_RETURN_ALT`. |
| <a id="RTL_CONE_ANG"></a>[RTL_CONE_ANG](../advanced_config/parameter_reference.md#RTL_CONE_ANG) | 圆锥半角决定无人机的 RTL 返航高度。 Values (in degrees): `0`, `25`, `45`, `65`, `80`, `90`. Note that `0` is "no cone" (always return at `RTL_RETURN_ALT` or higher), while `90` indicates an almost vertical cone, so the vehicle generally returns at its current altitude when close to the destination. The return altitude may still be constrained to avoid flying too low while approaching the destination. |
| <a id="RTL_APPR_FORCE"></a>[RTL_APPR_FORCE](../advanced_config/parameter_reference.md#RTL_APPR_FORCE) | [VTOL FW only] If set, home or rally-point RTL destinations are only considered when a valid VTOL approach loiter is defined for that landing location. Mission landing patterns are unaffected. |
| <a id="COM_RC_OVERRIDE"></a>[COM_RC_OVERRIDE](../advanced_config/parameter_reference.md#COM_RC_OVERRIDE) | Controls whether stick movement on a multicopter (or VTOL in MC mode) causes a mode change to [Position mode](../flight_modes_mc/position.md) (except when vehicle is handling a critical battery failsafe). 可以分别为自动模式和 offboard 模式启用此功能，默认情况下在自动模式下启用此功能。 |
| <a id="COM_RC_OVERRIDE"></a>[COM_RC_OVERRIDE](../advanced_config/parameter_reference.md#COM_RC_OVERRIDE) | Controls whether stick movement on a multicopter (or VTOL in MC mode) causes a mode change to [Position mode](../flight_modes_mc/position.md) (unless prevented by the active failsafe state). 可以分别为自动模式和 offboard 模式启用此功能，默认情况下在自动模式下启用此功能。 |
| <a id="COM_RC_STICK_OV"></a>[COM_RC_STICK_OV](../advanced_config/parameter_reference.md#COM_RC_STICK_OV) | The amount of stick movement that causes a transition to [Position mode](../flight_modes_mc/position.md) (if [COM_RC_OVERRIDE](#COM_RC_OVERRIDE) is enabled). |
| <a id="RTL_LOITER_RAD"></a>[RTL_LOITER_RAD](../advanced_config/parameter_reference.md#RTL_LOITER_RAD) | [Fixed-wing Only] The radius of the loiter circle (at [RTL_LAND_DELAY](#RTL_LAND_DELAY)). |
| <a id="MIS_TKO_LAND_REQ"></a>[MIS_TKO_LAND_REQ](../advanced_config/parameter_reference.md#MIS_TKO_LAND_REQ) | Specify whether a mission landing or takeoff pattern is _required_. Generally fixed-wing vehicles set this to require a landing pattern but VTOL do not. |
docs/zh/flight_modes_fw/acro.md
+1 -1
View File
@@ -18,7 +18,7 @@ Throttle is passed directly to control allocation.
## 参数
| 参数 | 描述 |
| Parameter | 描述 |
| -------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="FW_ACRO_X_MAX"></a>[FW_ACRO_X_MAX](../advanced_config/parameter_reference.md#FW_ACRO_X_MAX) | 机体轴x轴最大速率（用户在acro模式下施加滚转轴满杆操纵时，控制器试图达到的机体轴x轴速率） 默认：90度 Default: 90 degrees. |
| <a id="FW_ACRO_Y_MAX"></a>[FW_ACRO_Y_MAX](../advanced_config/parameter_reference.md#FW_ACRO_Y_MAX) | Acro body y max rate (the body y rate the controller is trying to achieve if the user applies full pitch stick input in acro mode). Default: 90 degrees. |

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