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docs(i18n): PX4 guide translations (Crowdin) - ko (#26976)
Co-authored-by: Crowdin Bot <support+bot@crowdin.com>
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@@ -176,7 +176,7 @@ The fields are:
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#### Flap Scale and Spoiler Scale Configuration
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"Flap-control" and "Spoiler-control" are aerodynamic configurations that can either be commanded manually by the pilot (using RC, say), or are set automatically by the controller.
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"Flap-control" and "Spoiler-control" are aerodynamic configurations that can either be commanded manually by the pilot (using RC or a Joystick, say) (see [Flaps and Spoiler Control with Manual Control](#flaps-and-spoiler-control-with-manual-control)), or are set automatically by the controller.
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For example, a pilot or the landing system might engage "Spoiler-control" in order to reduce the airspeed before landing.
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The configurations are an _abstract_ way for the controller to tell the allocator how much it should adjust the aerodynamic properties of the wings relative to the "full flaps" or "full spoiler" configuration (between `[0,1]`, where "1" indicates the full range).
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@@ -199,6 +199,20 @@ In the following example, the vehicle has two ailerons, one elevator, one rudder
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These are the elevator deflections added to compensate for the pitching moments generated by the flaps and spoiler actuators.
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In the case here the elevator would be deflected 0.3 up when the flaps are fully deployed to counteract the pitching down moment caused by the flaps.
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#### Flaps and Spoiler Control with Manual Control
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The preferred method to manually actuate spoilers and flaps is to map a manual control switch to an `AUX` output (see [Generic Actuator Control with RC](#generic-actuator-control-with-rc)), and then map that AUX output to the flap or spoiler function using [FW_FLAPS_MAN](../advanced_config/parameter_reference.md#FW_FLAPS_MAN) or [FW_SPOILERS_MAN](../advanced_config/parameter_reference.md#FW_SPOILERS_MAN).
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The source for the manual control can be RC or MAVLink.
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:::warning
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The following method is not recommended, and will be removed in a future release.
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If using it you should migrate to using the AUX-based method.
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It is also possible to define a flaps channel directly on the RC using [RC_MAP_FLAPS](../advanced_config/parameter_reference.md#RC_MAP_FLAPS).
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This channel can also be used to control the spoilers by setting [FW_SPOILERS_MAN](../advanced_config/parameter_reference.md#FW_SPOILERS_MAN) to `Flaps channel`.
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This method is not possible when the source for the manual control is MAVLink.
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:::
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#### 액추에이터 롤, 피치 및 요 스케일링
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:::info
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+15
-14
@@ -314,23 +314,24 @@ The failure detector is active in all vehicle types and modes, except for those
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### Motor Failure Trigger
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The failure detector can be configured to detect a motor failure while armed (and trigger an associated action) in the following conditions:
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The failure detector can be configured to detect a motor failure while armed (and trigger an associated action) if the ESC current falls outside expected bounds for more than [MOTFAIL_TIME](#MOTFAIL_TIME) seconds.
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Motor failures are non-latching: if the failure condition clears, the failure is cleared.
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- A 300 ms timeout occurs in telemetry from an ESC that was previously available.
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- The input current in the telemetry of an ESC which was previously positive gets too low for more than [`FD_ACT_MOT_TOUT`](FD_ACT_MOT_TOUT) ms.
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The "too low" condition is defined by:
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The undercurrent and overcurrent conditions are defined by:
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```text
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{esc current} < {parameter FD_ACT_MOT_C2T} * {motor command between 0 and 1}
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```
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```text
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undercurrent: {esc current} < {MOTFAIL_C2T} * {motor command [0,1]} - {MOTFAIL_LOW_OFF}
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overcurrent: {esc current} > {MOTFAIL_C2T} * {motor command [0,1]} + {MOTFAIL_HIGH_OFF}
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```
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| 매개변수 | 설명 |
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| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
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| <a id="FD_ACT_EN"></a>[FD_ACT_EN](../advanced_config/parameter_reference.md#FD_ACT_EN) | Enable/disable the motor failure trigger completely. |
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| <a id="FD_ACT_MOT_THR"></a>[FD_ACT_MOT_THR](../advanced_config/parameter_reference.md#FD_ACT_MOT_THR) | Minimum normalized [0,1] motor command below which motor under current is ignored. |
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| <a id="FD_ACT_MOT_C2T"></a>[FD_ACT_MOT_C2T](../advanced_config/parameter_reference.md#FD_ACT_MOT_C2T) | Scale between normalized [0,1] motor command and expected minimally reported current when the rotor is healthy. |
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| <a id="FD_ACT_MOT_TOUT"></a>[FD_ACT_MOT_TOUT](../advanced_config/parameter_reference.md#FD_ACT_MOT_TOUT) | Time in milliseconds for which the under current detection condition needs to stay true. |
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| <a id="CA_FAILURE_MODE"></a>[CA_FAILURE_MODE](../advanced_config/parameter_reference.md#CA_FAILURE_MODE) | Configure to not only warn about a motor failure but remove the first motor that detects a failure from the allocation effectiveness which turns off the motor and tries to operate the vehicle without it until disarming the next time. |
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| 매개변수 | 설명 |
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| ----------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
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| <a id="FD_ACT_EN"></a>[FD_ACT_EN](../advanced_config/parameter_reference.md#FD_ACT_EN) | Enable/disable the motor failure trigger completely. |
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| <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/%). |
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| <a id="MOTFAIL_LOW_OFF"></a>[MOTFAIL_LOW_OFF](../advanced_config/parameter_reference.md#MOTFAIL_LOW_OFF) | Undercurrent detection threshold offset (A). Subtracted from the expected current to form the lower bound. |
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| <a id="MOTFAIL_HIGH_OFF"></a>[MOTFAIL_HIGH_OFF](../advanced_config/parameter_reference.md#MOTFAIL_HIGH_OFF) | Overcurrent detection threshold offset (A). Added to the expected current to form the upper bound. |
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| <a id="MOTFAIL_TIME"></a>[MOTFAIL_TIME](../advanced_config/parameter_reference.md#MOTFAIL_TIME) | Hysteresis time (s) for which the current threshold must remain exceeded before a motor failure is triggered. |
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| <a id="CA_FAILURE_MODE"></a>[CA_FAILURE_MODE](../advanced_config/parameter_reference.md#CA_FAILURE_MODE) | Configure to not only warn about a motor failure but remove the first motor that detects a failure from the allocation effectiveness which turns off the motor and tries to operate the vehicle without it until disarming the next time. |
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### 외부 자동 작동 시스템 (ATS)
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