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New Crowdin translations - zh-CN (#26017)
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@@ -56,11 +56,14 @@
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- [DJI F450 (CUAV v5 nano)](frames_multicopter/dji_f450_cuav_5nano.md)
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- [Planes (Fixed-Wing)](frames_plane/index.md)
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- [Features](features_fw/index.md)
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- [Gain compression](features_fw/gain_compression.md)
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- [Assembly](assembly/assembly_fw.md)
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- [Config/Tuning](config_fw/index.md)
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- [Auto-tune](config/autotune_fw.md)
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- [Rate/Attitude Controller Tuning Guide](config_fw/pid_tuning_guide_fixedwing.md)
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- [Altitude/Position Controller Tuning Guide](config_fw/position_tuning_guide_fixedwing.md)
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- [Airspeed Scale Estimate Handling](config_fw/airspeed_scale_handling.md)
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- [Weight & Altitude Tuning](config_fw/weight_and_altitude_tuning.md)
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- [Trimming Guide](config_fw/trimming_guide_fixedwing.md)
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- [Flying (Basics)](flying/basic_flying_fw.md)
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@@ -692,8 +695,6 @@
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- [RoverSpeedStatus](msg_docs/RoverSpeedStatus.md)
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- [RoverSteeringSetpoint](msg_docs/RoverSteeringSetpoint.md)
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- [RoverThrottleSetpoint](msg_docs/RoverThrottleSetpoint.md)
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- [RoverVelocitySetpoint](msg_docs/RoverVelocitySetpoint.md)
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- [RoverVelocityStatus](msg_docs/RoverVelocityStatus.md)
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- [Rpm](msg_docs/Rpm.md)
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- [RtlStatus](msg_docs/RtlStatus.md)
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- [RtlTimeEstimate](msg_docs/RtlTimeEstimate.md)
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@@ -715,6 +716,7 @@
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- [SensorOpticalFlow](msg_docs/SensorOpticalFlow.md)
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- [SensorPreflightMag](msg_docs/SensorPreflightMag.md)
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- [SensorSelection](msg_docs/SensorSelection.md)
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- [SensorTemp](msg_docs/SensorTemp.md)
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- [SensorUwb](msg_docs/SensorUwb.md)
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- [SensorsStatus](msg_docs/SensorsStatus.md)
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- [SensorsStatusImu](msg_docs/SensorsStatusImu.md)
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@@ -785,6 +787,7 @@
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- [Rpm Sensor](modules/modules_driver_rpm_sensor.md)
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- [Radio Control](modules/modules_driver_radio_control.md)
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- [Transponder](modules/modules_driver_transponder.md)
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- [adc](modules/modules_driver_adc.md)
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- [估计器](modules/modules_estimator.md)
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- [仿真](modules/modules_simulation.md)
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- [系统](modules/modules_system.md)
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@@ -10,36 +10,13 @@ By default, the [Missing Data](#missing-data-check), [Data Stuck](#data-stuck-ch
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You can configure which checks are active using the [ASPD_DO_CHECKS](#aspd_do_checks_table) parameter.
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:::
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## Airspeed in PX4
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PX4 handles multiple types of airspeed:
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- **IAS (Indicated Airspeed):** The raw measurement from the airspeed sensor, directly influenced by sensor characteristics and installation effects (e.g., pitot-static errors).
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- **CAS (Calibrated Airspeed):** IAS corrected for sensor-specific and installation-related errors.
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- **EAS (Equivalent Airspeed):** _Not explicitly handled by PX4_ - Calibrated airspeed corrected for compressibility effects.
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While PX4 does not currently model EAS separately, this correction is negligible at low speeds and altitudes, so EAS is treated as equivalent to CAS for simplicity.
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- **TAS (True Airspeed):** CAS adjusted for atmospheric effects such as air pressure and temperature (i.e., altitude and atmospheric conditions).
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The standard conversion chain used in PX4 is: `IAS → CAS (= EAS) → TAS`.
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## CAS Scale Estimation
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PX4 estimates the IAS to CAS scale (referred to as the CAS scale) during flight using GNSS ground speed and wind estimation.
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To compute the final TAS, standard environment conversions are applied (CAS → TAS).
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This CAS scaling plays an important role in keeping the [innovation check](#innovation-check) reliable, since a well-estimated CAS is key to spotting inconsistencies between measured and predicted airspeed.
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Calibrated Airspeed (CAS) is the measured Indicated Airspeed (IAS) scaled to correct for sensor-specific and installation-related errors.
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CAS scaling plays an important role in keeping the [innovation check](#innovation-check) reliable, since a well-estimated CAS is key to spotting inconsistencies between measured and predicted airspeed.
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If the estimated CAS scale is inaccurate, it can mask real airspeed faults or trigger false positives.
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If you observe that the CAS scale estimate is consistently off, or if it is converging too slowly, you can manually set it using [ASPD_SCALE_n](#aspd_scale_n_table) (where `n` is the sensor number).
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[ASPD_SCALE_APPLY](#aspd_scale_apply_table) can be used to configure when/if the estimated scale is applied.
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:::info
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For a quick manual CAS scale estimate, compare groundspeed minus windspeed (from the [VehicleLocalPosition](../msg_docs/VehicleLocalPosition.md) and [Wind](../msg_docs/Wind.md) messages, respectively) to indicated airspeed values (in the [Airspeed](../msg_docs/Airspeed.md) message).
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The ratio of indicated airspeed to groundspeed minus windspeed can provide a reasonable starting estimate for [ASPD_SCALE_n](#aspd_scale_n_table).
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:::
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If you observe that the CAS scale estimate is consistently off, or if it is converging too slowly, follow the steps outlined in [Airspeed Scale Handling](../config_fw/airspeed_scale_handling.md#recommended-first-flight-process).
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## Validation Checks
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@@ -55,19 +55,17 @@ RC controllers will use different sticks for throttle and yaw [based on their mo
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- _Arm:_ Left-stick to right, right-stick to bottom.
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- _Disarm:_ Left-stick to left, right-stick to the bottom.
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The required hold time can be configured using [COM_RC_ARM_HYST](#COM_RC_ARM_HYST).
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Note that by default ([COM_DISARM_MAN](#COM_DISARM_MAN)) you can also disarm in flight using gestures/buttons: you may choose to disable this to avoid accidental disarming.
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| 参数 | 描述 |
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| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
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| <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). |
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| <a id="COM_DISARM_MAN"></a>[COM_DISARM_MAN](../advanced_config/parameter_reference.md#COM_DISARM_MAN) | Enable disarming in flight via switch/stick/button in MC manual thrust modes. `0`: Disabled, `1`: Enabled (default). |
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| <a id="COM_RC_ARM_HYST"></a>[COM_RC_ARM_HYST](../advanced_config/parameter_reference.md#COM_RC_ARM_HYST) | Time that RC stick must be held in arm/disarm position before arming/disarming occurs (default: `1` second). |
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| 参数 | 描述 |
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| -------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
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| <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). |
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| <a id="COM_DISARM_MAN"></a>[COM_DISARM_MAN](../advanced_config/parameter_reference.md#COM_DISARM_MAN) | Enable disarming in flight via switch/stick/button in MC manual thrust modes. `0`: Disabled, `1`: Enabled (default). |
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## Arming Button/Switch {#arm_disarm_switch}
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An _arming button_ or "momentary switch" can be configured to trigger arm/disarm _instead_ of [gesture-based arming](#arm_disarm_gestures) (setting an arming switch disables arming gestures).
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The button should be held down for ([nominally](#COM_RC_ARM_HYST)) one second to arm (when disarmed) or disarm (when armed).
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The button should be held down for one second to arm (when disarmed) or disarm (when armed).
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A two-position switch can also be used for arming/disarming, where the respective arm/disarm commands are sent on switch _transitions_.
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@@ -80,7 +78,7 @@ The switch or button is assigned (and enabled) using [RC_MAP_ARM_SW](#RC_MAP_ARM
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| 参数 | 描述 |
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| ----------------------------------------------------------------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
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| <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_. |
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| <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 button or momentary button where the arm/disarm command ae sent after holding down button for set time ([COM_RC_ARM_HYST](#COM_RC_ARM_HYST)). |
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| <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. |
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:::info
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The switch can also be set as part of _QGroundControl_ [Flight Mode](../config/flight_mode.md) configuration.
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@@ -350,6 +350,60 @@ The `hpos_drift_rate`, `vpos_drift_rate` and `hspd` are calculated over a period
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Note that `ekf2_gps_drift` is not logged!
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:::
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#### GNSS Fault Detection
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PX4's GNSS fault detection protects against malicious or erroneous GNSS signals using selective fusion control based on measurement validation.
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The fault detection logic depends on the GPS mode, and also operates differently for horizontal position and altitude measurements.
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The mode is set using the [EKF2_GPS_MODE](../advanced_config/parameter_reference.md#EKF2_GPS_MODE) parameter:
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- **Automatic (`0`)** (Default): Assumes that GNSS is generally reliable and is likely to be recovered.
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EKF2 resets on fusion timeouts if no other source of position is available.
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- **Dead-reckoning (`1`)**: Assumes that GNSS might be lost indefinitely, so resets should be avoided while we have other estimates of position data.
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EKF2 may reset if no other sources of position or velocity are available.
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If GNSS altitude OR horizontal position data drifts, the system disables fusion of both measurements simultaneously (even if one would still pass validation) and avoids performing resets.
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##### Detection Logic
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Horizontal Position:
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- **Automatic mode**: Horizontal position resets to GNSS data if no other horizontal position source is currently being fused (e.g., Auxiliary Global Position - AGP).
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- **Dead-reckoning mode**: Horizontal position resets to GNSS data only if no other horizontal position OR velocity source is currently being fused (e.g., AGP, airspeed, optical flow).
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Altitude:
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- The altitude logic is more complex due to the height reference sensor ([EKF2_HGT_REF](../advanced_config/parameter_reference.md#EKF2_HGT_REF)) parameter, which is typically set to GNSS or baro in GNSS-denied scenarios.
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- If height reference is set to baro, GNSS-based height resets are prevented (except when baro fusion fails completely and height reference automatically switches to GNSS).
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- When height reference is set to GNSS:
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- **Automatic mode**: Resets occur on drifting GNSS altitude measurements.
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- **Dead-reckoning mode**: When validation starts failing, the system prevents GNSS altitude resets and labels the GNSS data as faulty.
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##### Faulty GNSS Data During Boot
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The system cannot automatically detect faulty GNSS data during vehicle boot as no baseline comparison exists.
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If GNSS fusion is enabled ([EKF2_GPS_CTRL](../advanced_config/parameter_reference.md#EKF2_GPS_CTRL)), operators will observe incorrect positions on maps and should disable GNSS fusion, then manually set the correct position via ground control station.
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The global position gets corrected, and if [SENS_BAR_AUTOCAL](../advanced_config/parameter_reference.md#SENS_BAR_AUTOCAL) was enabled, baro offsets are automatically adjusted (through bias correction, not parameter changes).
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##### Enabling GNSS Fusion Mid-Flight
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With Faulty GNSS Data:
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- **Automatic mode**: Vehicle will reset to faulty position - potentially dangerous.
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- **Dead-reckoning mode**: Large measurement differences cause GNSS rejection and fault detection activation.
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With Valid GNSS Data:
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- **Automatic mode**: Vehicle will reset to GNSS measurements.
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- **Dead-reckoning mode**: If estimated position/altitude is close enough to measurements, fusion resumes; if too far apart, data gets labeled as faulty.
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##### 备注
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- **Dual Detection**: Horizontal and altitude checks run completely separately but both lead to the same result when triggered - all GNSS fusion gets disabled.
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- **Recovery**: Only the specific check that labeled data as invalid can re-enable fusion.
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- **Alternative Sources**: Dead-reckoning mode provides enhanced protection by requiring absence of alternative navigation sources before allowing resets.
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- **Boot Vulnerability**: Initial faulty GNSS data cannot be detected automatically; requires operator intervention and manual position correction.
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### 测距仪
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[Range finder](../sensor/rangefinders.md) distance to ground is used by a single state filter to estimate the vertical position of the terrain relative to the height datum.
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@@ -161,6 +161,7 @@ The fields are:
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[Generally you should use the default actuator value](#actuator-roll-pitch-and-yaw-scaling).
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- `Trim`: An offset added to the actuator so that it is centered without input.
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This might be determined by trial and error.
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Prefer using the improved `PWM_CENT` instead: [PWM control surfaces](actuators.md#pwm-control-surfaces-that-move-both-directions-about-a-neutral-point).
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- <a id="slew_rate"></a>(Advanced) `Slew Rate`: Limits the minimum time in which the motor/servo signal is allowed to pass through its full output range, in seconds.
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- The setting limits the rate of change of an actuator (if not specified then no rate limit is applied).
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It is intended for actuators that may be damaged or cause flight disturbance if they move too fast — such as the tilting actuators on a tiltrotor VTOL vehicle, or fast moving flaps, respectively.
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@@ -542,12 +543,43 @@ If you're using PWM servos, PWM50 is far more common.
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If a high rate servo is _really_ needed, DShot offers better value.
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:::
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#### Control surfaces that move both directions about a neutral point
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##### PWM: Control surfaces that move both directions about a neutral point
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To facilitate setting the neutral point of the servos, a bilinear curve function can be defined using the following parameters `PWM_MAIN_CENTx` / `PWM_AUX_CENTx` for each servo. This allows for unequal deflections in the positive and negative direction:
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To set this up:
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1. Set all surface `Trim` to `0.00` for all surfaces:
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2. Set the `PWM_MAIN_CENTx` / `PWM_AUX_CENTx` value so that the surface will stay at the neutral (aligned with airfoil) position.
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This is usually around `1500` for PWM servos (near the center of the servo range).
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3. Gradually increase the `Maximum` for each servo until the desired deflection is reached. Check the deflection with a remote manual mode while [`COM_PREARM_MODE`](../advanced_config/parameter_reference.md#COM_PREARM_MODE) is set to `Always` or use the sliders.
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4. Gradually decrease the `Minimum` for each servo, until the desired deflection is reached.
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5. Set `Disarmed` value to the desired value. It is usually desirable to have it the same as the `Center` value.
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:::info
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If you want to retain the linear behaviour of the servo after setting the `Center`, make sure to adjust the `Minimum` or `Maximum`, such that both intervals (`min` to `cent` & `cent` to `max`) are equally large.
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:::
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#### Non-PWM: Control surfaces that move both directions about a neutral point
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Control surfaces that move either direction around a neutral point include: ailerons, elevons, V-tails, A-tails, and rudders.
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To set these up:
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0. Set all `PWM_MAIN_CENTx` and `PWM_AUX_CENTx` to default (-1), or trimming will not be possible.
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1. Set the `Disarmed` value so that the surfaces will stay at neutral position when disarmed.
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This is usually around `1500` for PWM servos (near the centre of the servo range).
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@@ -566,17 +598,22 @@ To set these up:
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If the control surface moves in the opposite direction, click on the `Rev Range` checkbox to reverse the range.
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3. Move the slider again to the middle and check if the Control Surfaces are aligned in the neutral position of the wing.
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- If it is not aligned, you can set the **Trim** value for the control surface.
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::: info
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This is done in the `Trim` setting of the Geometry panel, usually by "trial and error".
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::: info
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||||
This is done in the `Trim` setting of the Geometry panel, usually by "trial and error".
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:::
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- After setting the trim for a control surface, move its slider away from the centre, release, and then back into disarmed (middle) position.
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Confirm that surface is in the neutral position.
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:::tip
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If any servo has a `PWM_MAIN_CENTx` or `PWM_AUX_CENTx` not set to default (-1), the system will automatically remove `Trim` from all surfaces. This is done to prevent mixing of old and new trimming tools.
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:::
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||||
:::info
|
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Another way to test without using the sliders would be to set the [`COM_PREARM_MODE`](../advanced_config/parameter_reference.md#COM_PREARM_MODE) parameter to `Always`:
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||||
@@ -595,6 +632,7 @@ For a flap, that is when the flap is fully retracted and flush with the wing.
|
||||
|
||||
One approach for setting these up is:
|
||||
|
||||
0. Set all `PWM_MAIN_CENTx` and `PWM_AUX_CENTx` to default (-1), or trimming will not be possible.
|
||||
1. Set values `Disarmed` to `1500`, `Min` to `1200`, `Max` to `1700` so that the values are around the centre of the servo range.
|
||||
2. Move the corresponding slider up and check the control moves and that it is extending (moving away from the disarmed position).
|
||||
If not, click on the `Rev Range` checkbox to reverse the range.
|
||||
@@ -604,6 +642,7 @@ One approach for setting these up is:
|
||||
- If the value was increased towards `Max`, then set `Max` to match `Disarmed`.
|
||||
4. The value that you did _not_ set to match `Disarmed` controls the maximum amount that the control surface can extend.
|
||||
Set the slider to the top of the control, then change the value (`Max` or `Min`) so that the control surface is fully extended when the slider is at top.
|
||||
5. (Only PWM servos) Set the `Center` value to the middle between `Min` and `Max`.
|
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|
||||
:::info Special note for flaps
|
||||
In some vehicle builds, flaps may be configured such that both flaps are controlled from a single output.
|
||||
@@ -642,6 +681,11 @@ For each of the tilt servos:
|
||||
- Standard VTOL : Motors defined as multicopter motors will be turned off
|
||||
- Tiltrotors : Motors that have no associated tilt servo will turn off
|
||||
- Tailsitters do not turn off any motors in fixed-wing flight
|
||||
- The following formula can be used to migrate from surface trim to PWM trim:
|
||||
|
||||
```plain
|
||||
PWM_MAIN_CENTx = ((PWM_MAX - PWM_MIN) / 2) * CA_SV_CSx_TRIM + PWM_MIN + ((PWM_MAX - PWM_MIN) / 2)
|
||||
```
|
||||
|
||||
### Reversing Motors
|
||||
|
||||
|
||||
106
docs/zh/config_fw/airspeed_scale_handling.md
Normal file
106
docs/zh/config_fw/airspeed_scale_handling.md
Normal file
@@ -0,0 +1,106 @@
|
||||
# Airspeed Scale Handling
|
||||
|
||||
:::info
|
||||
This section complements the existing [Airspeed Validation](../advanced_config/airspeed_validation.md) documentation.
|
||||
:::
|
||||
|
||||
The airspeed scale is used by PX4 to convert the measured airspeed (indicated airspeed) to the calibrated airspeed.
|
||||
This scale can be set by [ASPD_SCALE_n](../advanced_config/parameter_reference.md#ASPD_SCALE_1) (where `n` is the sensor number), and logged in [AirspeedWind.msg](../msg_docs/AirspeedWind.md).
|
||||
|
||||
Note that the airspeed scale is different from the airspeed sensor offset calibration done on the ground at 0 m/s. The airspeed scale accounts for errors in the airspeed measurement during flight, such as those caused by sensor placement or installation effects.
|
||||
|
||||
This topic describes how to set an initial airspeed scale for a new fixed-wing vehicle during its first flight. Correct scale calibration ensures reliable airspeed data, accurate TAS calculation, robust PX4 airspeed validation, and consistent controller performance.
|
||||
|
||||
## Airspeed in PX4
|
||||
|
||||
PX4 handles multiple types of airspeed:
|
||||
|
||||
- **IAS (Indicated Airspeed):** The raw measurement from the airspeed sensor, directly influenced by sensor characteristics and installation effects (e.g., pitot-static errors).
|
||||
- **CAS (Calibrated Airspeed):** IAS corrected for sensor-specific and installation-related errors.
|
||||
- **EAS (Equivalent Airspeed):** _Not explicitly handled by PX4_ - Calibrated airspeed corrected for compressibility effects.
|
||||
While PX4 does not currently model EAS separately, this correction is negligible at low speeds and altitudes, so EAS is treated as equivalent to CAS for simplicity.
|
||||
- **TAS (True Airspeed):** CAS adjusted for atmospheric effects such as air pressure and temperature (i.e., altitude and atmospheric conditions).
|
||||
|
||||
The standard conversion chain used in PX4 is: `IAS → CAS (= EAS) → TAS`.
|
||||
|
||||
## CAS Scale Estimation
|
||||
|
||||
PX4 estimates the IAS to CAS scale (referred to as the CAS scale) during flight using GNSS ground speed and wind estimation.
|
||||
To compute the final TAS, standard environment conversions are applied (CAS → TAS).
|
||||
|
||||
:::warning
|
||||
Important
|
||||
A GNSS is required for scale estimation.
|
||||
:::
|
||||
|
||||
PX4 uses a two-stage approach to robustly estimate the scale:
|
||||
|
||||
1. **Continuous EKF Estimation**: A wind estimator constantly compares your measured airspeed against what it expects based on ground velocity (from GNSS) and estimated wind.
|
||||
If there's a consistent bias, it adjusts the scale estimate.
|
||||
The estimated scale is logged in the `AirspeedWind.msg` as the `tas_scale_raw`.
|
||||
2. **Validation**: To ensure robustness, PX4 collects airspeed and ground speed data across 12 different heading segments (every 30°).
|
||||
This averages out wind estimation errors.
|
||||
The validated scale is only updated when the new estimate demonstrably reduces the error between predicted and actual ground speeds across all headings.
|
||||
The validated scale is logged in the `AirspeedWind.msg` as the `tas_scale_validated`.
|
||||
|
||||
### Understanding the Scale: Physical Intuition
|
||||
|
||||
The CAS scale is essentially a correction factor that accounts for systematic errors in your airspeed sensor installation.
|
||||
|
||||
- A scale of 1.0 means your sensor reads perfectly (no correction needed)
|
||||
- A scale > 1.0 (e.g., 1.1) means your sensor _under-reads_ by 10%, so measured airspeed (IAS) must be multiplied by 1.1
|
||||
- A scale < 1.0 (e.g., 0.9) means your sensor _over-reads_ by ~11%, so measured airspeed (IAS) must be multiplied by 0.9
|
||||
|
||||
### What Affects the Airspeed Scale
|
||||
|
||||
The primary factor influencing the airspeed scale is **sensor placement**.
|
||||
|
||||
Biased readings can be reflected in the scale estimate for pitot tubes installed:
|
||||
|
||||
- In regions experiencing disturbed flow (commonly near blunt aircraft noses)
|
||||
- Near propellers
|
||||
- Under aerodynamic surfaces
|
||||
- At an angle with respect to the airflow
|
||||
|
||||
### Symptoms of Incorrect Scale
|
||||
|
||||
Symptoms of an incorrectly scaled airspeed measurement include:
|
||||
|
||||
- Stalling or overspeeding
|
||||
- Persistent under- or overestimation of the TAS relative to wind-corrected groundspeed
|
||||
- False positives or missed detections in [airspeed innovation checks](../advanced_config/airspeed_validation.md#innovation-check)
|
||||
- Degraded tracking of the rate controllers
|
||||
|
||||
## Recommended First Flight Process
|
||||
|
||||
During the first flight of a new fixed-wing vehicle, allocate time for the CAS scale to converge to a reasonable initial estimate.
|
||||
Follow these steps:
|
||||
|
||||
1. **Set an Initial Scale**
|
||||
|
||||
Use a conservative starting point: set the CAS scale (`ASPD_SCALE_n`) slightly under 1.0 (for example 0.95).
|
||||
This biases the system toward over-speed rather than under-speed, reducing stall risk.
|
||||
|
||||
2. **Perform a Flight**
|
||||
|
||||
After takeoff, place the vehicle in loiter for about 15 minutes to allow the scale estimation to converge.
|
||||
|
||||
3. **Check Scale Convergence**
|
||||
|
||||
After the flight, review the estimated scale in logs.
|
||||
Verify that:
|
||||
|
||||
- `tas_scale_validated` in `AirspeedWind.msg` converged during flight.
|
||||
- `true_airspeed_m_s` (TAS) in [AirspeedValidated.msg](../msg_docs/AirspeedValidated.md) is consistent with groundspeed corrected for wind.
|
||||
|
||||
4. **Update the Airframe Configuration**
|
||||
|
||||
If using an [airframe configuration file](../dev_airframes/adding_a_new_frame.md): update `ASPD_SCALE_n`with the estimated CAS scale for future flights.
|
||||
For similar vehicles with similarly mounted sensors, this value is typically a reliable starting point.
|
||||
|
||||
:::info
|
||||
If you are not able to perform the steps outlined above ...
|
||||
|
||||
For a quick manual CAS scale estimate, compare groundspeed minus windspeed (from the [VehicleLocalPosition](../msg_docs/VehicleLocalPosition.md) and [Wind](../msg_docs/Wind.md) messages, respectively) to indicated airspeed values (in the [Airspeed](../msg_docs/Airspeed.md) message).
|
||||
The ratio of indicated airspeed to groundspeed minus windspeed can provide a reasonable starting estimate for `ASPD_SCALE_n`.
|
||||
:::
|
||||
@@ -3,7 +3,7 @@
|
||||
Fixed-wing configuration and calibration follows the same high level steps as other frames: selection of firmware, configuration of the frame including actuator/motor geometry and output mappings, sensor configuration and calibration, configuration of safety and other features, and finally tuning.
|
||||
|
||||
:::info
|
||||
This topic is the recommended entry point when performing first-time configuration and calibration of a new multicopter frame.
|
||||
This topic is the recommended entry point when performing first-time configuration and calibration of a new fixed-wing frame.
|
||||
:::
|
||||
|
||||
The main steps are:
|
||||
@@ -20,3 +20,5 @@ The main steps are:
|
||||
- [Fixed-wing Altitude/Position Controller Tuning Guide](../config_fw/position_tuning_guide_fixedwing.md)
|
||||
|
||||
- [Fixed-wing Trimming Guide](../config_fw/trimming_guide_fixedwing.md)
|
||||
|
||||
- [Fixed-Wing Airspeed Scale Handling](../config_fw/airspeed_scale_handling.md)
|
||||
|
||||
@@ -17,6 +17,8 @@
|
||||
- 过高地增益(和快速的舵面响应)可能会超过你的机体结构允许最大过载――增加增益时需谨慎。
|
||||
- 滚转和俯仰参数调整都遵循相同的顺序。
|
||||
The only difference is that pitch is more sensitive to trim offsets, so [trimming](../config_fw/trimming_guide_fixedwing.md) has to be done carefully and integrator gains need more attention to compensate this.
|
||||
- Disable automatic [gain compression](../features_fw/gain_compression.md) ([FW_GC_EN](../advanced_config/parameter_reference.md#FW_GC_EN)) to avoid over-tuning.
|
||||
Remember to re-enable it when tuning is done.
|
||||
|
||||
## 建立机型基准线
|
||||
|
||||
|
||||
@@ -93,7 +93,7 @@ Navigate to [Parameters](../advanced_config/parameters.md) in QGroundControl and
|
||||
One approach to determine an appropriate value is:
|
||||
|
||||
1. From a standstill, give the rover full throttle until it reaches the maximum speed.
|
||||
2. Disarm the rover and plot the `measured_speed_body_x` from [RoverVelocityStatus](../msg_docs/RoverVelocityStatus.md).
|
||||
2. Disarm the rover and plot the `measured_speed_body_x` from [RoverSpeedStatus](../msg_docs/RoverSpeedStatus.md).
|
||||
3. Divide the maximum speed by the time it took to reach it and set this as the value for [RO_ACCEL_LIM](#RO_ACCEL_LIM).
|
||||
|
||||
Some RC rovers have enough torque to lift up if the maximum acceleration is not limited.
|
||||
|
||||
@@ -43,7 +43,7 @@ To tune the position controller configure the [parameters](../advanced_config/pa
|
||||
|
||||
:::
|
||||
|
||||
3. Plot the `adjusted_speed_body_x_setpoint` and `measured_speed_body_x` from the [RoverVelocityStatus](../msg_docs/RoverVelocityStatus.md) message over each other.
|
||||
3. Plot the `adjusted_speed_body_x_setpoint` and `measured_speed_body_x` from the [RoverSpeedStatus](../msg_docs/RoverSpeedStatus.md) message over each other.
|
||||
If the tracking of these setpoints is not satisfactory adjust the values for [RO_SPEED_P](../advanced_config/parameter_reference.md#RO_SPEED_P) and [RO_SPEED_I](../advanced_config/parameter_reference.md#RO_SPEED_I).
|
||||
|
||||
## Path Following
|
||||
|
||||
@@ -28,7 +28,7 @@ To tune the velocity controller configure the following [parameters](../advanced
|
||||
1. Set [RO_SPEED_P](#RO_SPEED_P) and [RO_SPEED_I](#RO_SPEED_I) to zero.
|
||||
This way the speed is only controlled by the feed-forward term, which makes it easier to tune.
|
||||
2. Put the rover in [Position mode](../flight_modes_rover/manual.md#position-mode) and then move the left stick of your controller up and/or down and hold it at a few different levels for a couple of seconds each.
|
||||
3. Disarm the rover and from the flight log plot the `adjusted_speed_body_x_setpoint` and the `measured_speed_body_x` from the [RoverVelocityStatus](../msg_docs/RoverVelocityStatus.md) message over each other.
|
||||
3. Disarm the rover and from the flight log plot the `adjusted_speed_body_x_setpoint` and the `measured_speed_body_x` from the [RoverSpeedStatus](../msg_docs/RoverSpeedStatus.md) message over each other.
|
||||
4. If the actual speed of the rover is higher than the speed setpoint, increase [RO_MAX_THR_SPEED](#RO_MAX_THR_SPEED).
|
||||
If it is the other way around decrease the parameter and repeat until you are satisfied with the setpoint tracking.
|
||||
|
||||
|
||||
@@ -218,7 +218,7 @@ A key defined in the Information message must be unique. Meaning there must not
|
||||
| `char[value_len] ver_sw_branch` | git branch | "master" |
|
||||
| `uint32_t ver_sw_release` | 软件版本 (见下文) | 0x010401ff |
|
||||
| `char[value_len] sys_os_name` | 操作系统名称 | "Linux" |
|
||||
| `char[value_len] sys_os_ve`r | 操作系统版本 (git 标签) | "9f82919" |
|
||||
| `char[value_len] sys_os_ver` | 操作系统版本 (git 标签) | "9f82919" |
|
||||
| `uint32_t ver_os_release` | 操作系统版本 (见下文) | 0x010401ff |
|
||||
| `char[value_len] sys_toolchain` | 工具链名称 | "GNU GCC" |
|
||||
| `char[value_len] sys_toolchain_ver` | 工具链版本 | "6.2.1" |
|
||||
|
||||
24
docs/zh/features_fw/gain_compression.md
Normal file
24
docs/zh/features_fw/gain_compression.md
Normal file
@@ -0,0 +1,24 @@
|
||||
# Gain compression
|
||||
|
||||
<Badge type="tip" text="main (planned for: PX4 v1.17)" />
|
||||
|
||||
Automatic gain compression reduces the gains of the angular-rate PID whenever oscillations are detected.
|
||||
It monitors the angular-rate controller output through a band-pass filter to identify these oscillations.
|
||||
|
||||
This approach is a safe adaptive mechanism for stable aircraft: the PID gains remain unchanged when no oscillations are present, they are never increased beyond their nominal values, and they are bounded by a minimum limit.
|
||||
|
||||
Gain compression can help prevent actuator damage and even loss of the vehicle in cases such as airspeed-sensor failure (loss of airspeed scaling) or in-flight changes in dynamics (e.g.: CG shifts, inertia changes), or other failures that could cause the angular-rate loop to become oscillatory.
|
||||
|
||||
|
||||
|
||||
## 用法
|
||||
|
||||
Gain compression is enabled by default ([FW_GC_EN](../advanced_config/parameter_reference.md#FW_GC_EN)).
|
||||
|
||||
It should be disabled during fixed wing [manual tuning](../config_fw/pid_tuning_guide_fixedwing.md) to avoid over-tuning.
|
||||
It does not need to be disabled when autotuning.
|
||||
|
||||
## 参数
|
||||
|
||||
- [FW_GC_EN](../advanced_config/parameter_reference.md#FW_GC_EN)
|
||||
- [FW_GC_GAIN_MIN](../advanced_config/parameter_reference.md#FW_GC_GAIN_MIN)
|
||||
5
docs/zh/features_fw/index.md
Normal file
5
docs/zh/features_fw/index.md
Normal file
@@ -0,0 +1,5 @@
|
||||
# Fixedwing-Specific Features
|
||||
|
||||
This section lists features that are specific to (or customised for) fixed-wings:
|
||||
|
||||
- [Gain Compression](../features_fw/gain_compression.md)
|
||||
@@ -4,38 +4,41 @@
|
||||
This document is [auto-generated](https://github.com/PX4/PX4-Autopilot/blob/main/Tools/msg/generate_msg_docs.py) from the source code.
|
||||
:::
|
||||
|
||||
The [dds_topics.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml) file specifies which uORB message definitions are compiled into the [uxrce_dds_client](../modules/modules_system.md#uxrce-dds-client) and/or [zenoh](../modules/modules_driver.md#zenoh) module when [PX4 is built](../middleware/uxrce_dds.md#code-generation), and hence which topics are available for ROS 2 applications to subscribe or publish (by default).
|
||||
The [dds_topics.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml) file specifies which uORB message definitions are compiled into the [uxrce_dds_client](../modules/modules_system.md#uxrce-dds-client) module when [PX4 is built](../middleware/uxrce_dds.md#code-generation), and hence which topics are available for ROS 2 applications to subscribe or publish (by default).
|
||||
|
||||
This document shows a markdown-rendered version of [dds_topics.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml), listing the publications, subscriptions, and so on.
|
||||
|
||||
## Publications
|
||||
|
||||
| Topic | 类型 | Rate Limit |
|
||||
| --------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------------------- |
|
||||
| `/fmu/out/register_ext_component_reply` | [px4_msgs::msg::RegisterExtComponentReply](../msg_docs/RegisterExtComponentReply.md) | |
|
||||
| `/fmu/out/arming_check_request` | [px4_msgs::msg::ArmingCheckRequest](../msg_docs/ArmingCheckRequest.md) | 5.0 |
|
||||
| `/fmu/out/mode_completed` | [px4_msgs::msg::ModeCompleted](../msg_docs/ModeCompleted.md) | 50.0 |
|
||||
| `/fmu/out/battery_status` | [px4_msgs::msg::BatteryStatus](../msg_docs/BatteryStatus.md) | 1.0 |
|
||||
| `/fmu/out/collision_constraints` | [px4_msgs::msg::CollisionConstraints](../msg_docs/CollisionConstraints.md) | 50.0 |
|
||||
| `/fmu/out/estimator_status_flags` | [px4_msgs::msg::EstimatorStatusFlags](../msg_docs/EstimatorStatusFlags.md) | 5.0 |
|
||||
| `/fmu/out/failsafe_flags` | [px4_msgs::msg::FailsafeFlags](../msg_docs/FailsafeFlags.md) | 5.0 |
|
||||
| `/fmu/out/manual_control_setpoint` | [px4_msgs::msg::ManualControlSetpoint](../msg_docs/ManualControlSetpoint.md) | 25.0 |
|
||||
| `/fmu/out/message_format_response` | [px4_msgs::msg::MessageFormatResponse](../msg_docs/MessageFormatResponse.md) | |
|
||||
| `/fmu/out/position_setpoint_triplet` | [px4_msgs::msg::PositionSetpointTriplet](../msg_docs/PositionSetpointTriplet.md) | 5.0 |
|
||||
| `/fmu/out/sensor_combined` | [px4_msgs::msg::SensorCombined](../msg_docs/SensorCombined.md) | |
|
||||
| `/fmu/out/timesync_status` | [px4_msgs::msg::TimesyncStatus](../msg_docs/TimesyncStatus.md) | 10.0 |
|
||||
| `/fmu/out/vehicle_land_detected` | [px4_msgs::msg::VehicleLandDetected](../msg_docs/VehicleLandDetected.md) | 5.0 |
|
||||
| `/fmu/out/vehicle_attitude` | [px4_msgs::msg::VehicleAttitude](../msg_docs/VehicleAttitude.md) | |
|
||||
| `/fmu/out/vehicle_control_mode` | [px4_msgs::msg::VehicleControlMode](../msg_docs/VehicleControlMode.md) | 50.0 |
|
||||
| `/fmu/out/vehicle_command_ack` | [px4_msgs::msg::VehicleCommandAck](../msg_docs/VehicleCommandAck.md) | |
|
||||
| `/fmu/out/vehicle_global_position` | [px4_msgs::msg::VehicleGlobalPosition](../msg_docs/VehicleGlobalPosition.md) | 50.0 |
|
||||
| `/fmu/out/vehicle_gps_position` | [px4_msgs::msg::SensorGps](../msg_docs/SensorGps.md) | 50.0 |
|
||||
| `/fmu/out/vehicle_local_position` | [px4_msgs::msg::VehicleLocalPosition](../msg_docs/VehicleLocalPosition.md) | 50.0 |
|
||||
| `/fmu/out/vehicle_odometry` | [px4_msgs::msg::VehicleOdometry](../msg_docs/VehicleOdometry.md) | |
|
||||
| `/fmu/out/vehicle_status` | [px4_msgs::msg::VehicleStatus](../msg_docs/VehicleStatus.md) | 5.0 |
|
||||
| `/fmu/out/airspeed_validated` | [px4_msgs::msg::AirspeedValidated](../msg_docs/AirspeedValidated.md) | 50.0 |
|
||||
| `/fmu/out/vtol_vehicle_status` | [px4_msgs::msg::VtolVehicleStatus](../msg_docs/VtolVehicleStatus.md) | |
|
||||
| `/fmu/out/home_position` | [px4_msgs::msg::HomePosition](../msg_docs/HomePosition.md) | 5.0 |
|
||||
| Topic | 类型 | Rate Limit |
|
||||
| ---------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------- |
|
||||
| `/fmu/out/register_ext_component_reply` | [px4_msgs::msg::RegisterExtComponentReply](../msg_docs/RegisterExtComponentReply.md) | |
|
||||
| `/fmu/out/arming_check_request` | [px4_msgs::msg::ArmingCheckRequest](../msg_docs/ArmingCheckRequest.md) | 5.0 |
|
||||
| `/fmu/out/mode_completed` | [px4_msgs::msg::ModeCompleted](../msg_docs/ModeCompleted.md) | 50.0 |
|
||||
| `/fmu/out/battery_status` | [px4_msgs::msg::BatteryStatus](../msg_docs/BatteryStatus.md) | 1.0 |
|
||||
| `/fmu/out/collision_constraints` | [px4_msgs::msg::CollisionConstraints](../msg_docs/CollisionConstraints.md) | 50.0 |
|
||||
| `/fmu/out/estimator_status_flags` | [px4_msgs::msg::EstimatorStatusFlags](../msg_docs/EstimatorStatusFlags.md) | 5.0 |
|
||||
| `/fmu/out/failsafe_flags` | [px4_msgs::msg::FailsafeFlags](../msg_docs/FailsafeFlags.md) | 5.0 |
|
||||
| `/fmu/out/manual_control_setpoint` | [px4_msgs::msg::ManualControlSetpoint](../msg_docs/ManualControlSetpoint.md) | 25.0 |
|
||||
| `/fmu/out/message_format_response` | [px4_msgs::msg::MessageFormatResponse](../msg_docs/MessageFormatResponse.md) | |
|
||||
| `/fmu/out/position_setpoint_triplet` | [px4_msgs::msg::PositionSetpointTriplet](../msg_docs/PositionSetpointTriplet.md) | 5.0 |
|
||||
| `/fmu/out/sensor_combined` | [px4_msgs::msg::SensorCombined](../msg_docs/SensorCombined.md) | |
|
||||
| `/fmu/out/timesync_status` | [px4_msgs::msg::TimesyncStatus](../msg_docs/TimesyncStatus.md) | 10.0 |
|
||||
| `/fmu/out/transponder_report` | [px4_msgs::msg::TransponderReport](../msg_docs/TransponderReport.md) | |
|
||||
| `/fmu/out/vehicle_land_detected` | [px4_msgs::msg::VehicleLandDetected](../msg_docs/VehicleLandDetected.md) | 5.0 |
|
||||
| `/fmu/out/vehicle_attitude` | [px4_msgs::msg::VehicleAttitude](../msg_docs/VehicleAttitude.md) | 50.0 |
|
||||
| `/fmu/out/vehicle_control_mode` | [px4_msgs::msg::VehicleControlMode](../msg_docs/VehicleControlMode.md) | 50.0 |
|
||||
| `/fmu/out/vehicle_command_ack` | [px4_msgs::msg::VehicleCommandAck](../msg_docs/VehicleCommandAck.md) | |
|
||||
| `/fmu/out/vehicle_global_position` | [px4_msgs::msg::VehicleGlobalPosition](../msg_docs/VehicleGlobalPosition.md) | 50.0 |
|
||||
| `/fmu/out/vehicle_gps_position` | [px4_msgs::msg::SensorGps](../msg_docs/SensorGps.md) | 50.0 |
|
||||
| `/fmu/out/vehicle_local_position` | [px4_msgs::msg::VehicleLocalPosition](../msg_docs/VehicleLocalPosition.md) | 50.0 |
|
||||
| `/fmu/out/vehicle_odometry` | [px4_msgs::msg::VehicleOdometry](../msg_docs/VehicleOdometry.md) | 100.0 |
|
||||
| `/fmu/out/vehicle_status` | [px4_msgs::msg::VehicleStatus](../msg_docs/VehicleStatus.md) | 5.0 |
|
||||
| `/fmu/out/airspeed_validated` | [px4_msgs::msg::AirspeedValidated](../msg_docs/AirspeedValidated.md) | 50.0 |
|
||||
| `/fmu/out/vtol_vehicle_status` | [px4_msgs::msg::VtolVehicleStatus](../msg_docs/VtolVehicleStatus.md) | |
|
||||
| `/fmu/out/home_position` | [px4_msgs::msg::HomePosition](../msg_docs/HomePosition.md) | 5.0 |
|
||||
| `/fmu/out/wind` | [px4_msgs::msg::Wind](../msg_docs/Wind.md) | 1.0 |
|
||||
| `/fmu/out/gimbal_device_attitude_status` | [px4_msgs::msg::GimbalDeviceAttitudeStatus](../msg_docs/GimbalDeviceAttitudeStatus.md) | 20.0 |
|
||||
|
||||
## Subscriptions
|
||||
|
||||
@@ -72,6 +75,13 @@ This document shows a markdown-rendered version of [dds_topics.yaml](https://git
|
||||
| /fmu/in/fixed_wing_lateral_setpoint | [px4_msgs::msg::FixedWingLateralSetpoint](../msg_docs/FixedWingLateralSetpoint.md) |
|
||||
| /fmu/in/longitudinal_control_configuration | [px4_msgs::msg::LongitudinalControlConfiguration](../msg_docs/LongitudinalControlConfiguration.md) |
|
||||
| /fmu/in/lateral_control_configuration | [px4_msgs::msg::LateralControlConfiguration](../msg_docs/LateralControlConfiguration.md) |
|
||||
| /fmu/in/rover_position_setpoint | [px4_msgs::msg::RoverPositionSetpoint](../msg_docs/RoverPositionSetpoint.md) |
|
||||
| /fmu/in/rover_speed_setpoint | [px4_msgs::msg::RoverSpeedSetpoint](../msg_docs/RoverSpeedSetpoint.md) |
|
||||
| /fmu/in/rover_attitude_setpoint | [px4_msgs::msg::RoverAttitudeSetpoint](../msg_docs/RoverAttitudeSetpoint.md) |
|
||||
| /fmu/in/rover_rate_setpoint | [px4_msgs::msg::RoverRateSetpoint](../msg_docs/RoverRateSetpoint.md) |
|
||||
| /fmu/in/rover_throttle_setpoint | [px4_msgs::msg::RoverThrottleSetpoint](../msg_docs/RoverThrottleSetpoint.md) |
|
||||
| /fmu/in/rover_steering_setpoint | [px4_msgs::msg::RoverSteeringSetpoint](../msg_docs/RoverSteeringSetpoint.md) |
|
||||
| /fmu/in/landing_gear | [px4_msgs::msg::LandingGear](../msg_docs/LandingGear.md) |
|
||||
|
||||
## Subscriptions Multi
|
||||
|
||||
@@ -85,193 +95,192 @@ They are not build into the module, and hence are neither published or subscribe
|
||||
:::details
|
||||
See messages
|
||||
|
||||
- [SensorCorrection](../msg_docs/SensorCorrection.md)
|
||||
- [ActuatorOutputs](../msg_docs/ActuatorOutputs.md)
|
||||
- [FixedWingRunwayControl](../msg_docs/FixedWingRunwayControl.md)
|
||||
- [EstimatorInnovations](../msg_docs/EstimatorInnovations.md)
|
||||
- [FlightPhaseEstimation](../msg_docs/FlightPhaseEstimation.md)
|
||||
- [PurePursuitStatus](../msg_docs/PurePursuitStatus.md)
|
||||
- [Px4ioStatus](../msg_docs/Px4ioStatus.md)
|
||||
- [SatelliteInfo](../msg_docs/SatelliteInfo.md)
|
||||
- [GeofenceResult](../msg_docs/GeofenceResult.md)
|
||||
- [GimbalManagerStatus](../msg_docs/GimbalManagerStatus.md)
|
||||
- [ManualControlSwitches](../msg_docs/ManualControlSwitches.md)
|
||||
- [OpenDroneIdSelfId](../msg_docs/OpenDroneIdSelfId.md)
|
||||
- [OpenDroneIdSystem](../msg_docs/OpenDroneIdSystem.md)
|
||||
- [EventV0](../msg_docs/EventV0.md)
|
||||
- [QshellRetval](../msg_docs/QshellRetval.md)
|
||||
- [RoverThrottleSetpoint](../msg_docs/RoverThrottleSetpoint.md)
|
||||
- [AirspeedValidatedV0](../msg_docs/AirspeedValidatedV0.md)
|
||||
- [RcChannels](../msg_docs/RcChannels.md)
|
||||
- [SensorAccel](../msg_docs/SensorAccel.md)
|
||||
- [GimbalDeviceAttitudeStatus](../msg_docs/GimbalDeviceAttitudeStatus.md)
|
||||
- [EscStatus](../msg_docs/EscStatus.md)
|
||||
- [RoverAttitudeSetpoint](../msg_docs/RoverAttitudeSetpoint.md)
|
||||
- [RateCtrlStatus](../msg_docs/RateCtrlStatus.md)
|
||||
- [AirspeedWind](../msg_docs/AirspeedWind.md)
|
||||
- [InputRc](../msg_docs/InputRc.md)
|
||||
- [GpioIn](../msg_docs/GpioIn.md)
|
||||
- [LaunchDetectionStatus](../msg_docs/LaunchDetectionStatus.md)
|
||||
- [VehicleImu](../msg_docs/VehicleImu.md)
|
||||
- [Event](../msg_docs/Event.md)
|
||||
- [SensorUwb](../msg_docs/SensorUwb.md)
|
||||
- [ActuatorServosTrim](../msg_docs/ActuatorServosTrim.md)
|
||||
- [DatamanResponse](../msg_docs/DatamanResponse.md)
|
||||
- [OrbTest](../msg_docs/OrbTest.md)
|
||||
- [VehicleLocalPositionSetpoint](../msg_docs/VehicleLocalPositionSetpoint.md)
|
||||
- [VehicleAngularVelocity](../msg_docs/VehicleAngularVelocity.md)
|
||||
- [FollowTargetStatus](../msg_docs/FollowTargetStatus.md)
|
||||
- [NormalizedUnsignedSetpoint](../msg_docs/NormalizedUnsignedSetpoint.md)
|
||||
- [YawEstimatorStatus](../msg_docs/YawEstimatorStatus.md)
|
||||
- [BatteryInfo](../msg_docs/BatteryInfo.md)
|
||||
- [TakeoffStatus](../msg_docs/TakeoffStatus.md)
|
||||
- [UlogStreamAck](../msg_docs/UlogStreamAck.md)
|
||||
- [OrbTestLarge](../msg_docs/OrbTestLarge.md)
|
||||
- [RoverSteeringSetpoint](../msg_docs/RoverSteeringSetpoint.md)
|
||||
- [SensorGnssStatus](../msg_docs/SensorGnssStatus.md)
|
||||
- [Airspeed](../msg_docs/Airspeed.md)
|
||||
- [PpsCapture](../msg_docs/PpsCapture.md)
|
||||
- [ActuatorControlsStatus](../msg_docs/ActuatorControlsStatus.md)
|
||||
- [CameraCapture](../msg_docs/CameraCapture.md)
|
||||
- [VehicleRoi](../msg_docs/VehicleRoi.md)
|
||||
- [ActuatorArmed](../msg_docs/ActuatorArmed.md)
|
||||
- [FixedWingLateralGuidanceStatus](../msg_docs/FixedWingLateralGuidanceStatus.md)
|
||||
- [ParameterSetValueResponse](../msg_docs/ParameterSetValueResponse.md)
|
||||
- [GeofenceStatus](../msg_docs/GeofenceStatus.md)
|
||||
- [VehicleAngularAccelerationSetpoint](../msg_docs/VehicleAngularAccelerationSetpoint.md)
|
||||
- [SensorGnssRelative](../msg_docs/SensorGnssRelative.md)
|
||||
- [PowerMonitor](../msg_docs/PowerMonitor.md)
|
||||
- [RoverVelocityStatus](../msg_docs/RoverVelocityStatus.md)
|
||||
- [ParameterResetRequest](../msg_docs/ParameterResetRequest.md)
|
||||
- [RoverAttitudeStatus](../msg_docs/RoverAttitudeStatus.md)
|
||||
- [TecsStatus](../msg_docs/TecsStatus.md)
|
||||
- [EstimatorSelectorStatus](../msg_docs/EstimatorSelectorStatus.md)
|
||||
- [CanInterfaceStatus](../msg_docs/CanInterfaceStatus.md)
|
||||
- [Ping](../msg_docs/Ping.md)
|
||||
- [LedControl](../msg_docs/LedControl.md)
|
||||
- [Wind](../msg_docs/Wind.md)
|
||||
- [VehicleStatusV0](../msg_docs/VehicleStatusV0.md)
|
||||
- [ActuatorTest](../msg_docs/ActuatorTest.md)
|
||||
- [IridiumsbdStatus](../msg_docs/IridiumsbdStatus.md)
|
||||
- [FailureDetectorStatus](../msg_docs/FailureDetectorStatus.md)
|
||||
- [GimbalManagerSetAttitude](../msg_docs/GimbalManagerSetAttitude.md)
|
||||
- [Gripper](../msg_docs/Gripper.md)
|
||||
- [SensorMag](../msg_docs/SensorMag.md)
|
||||
- [DebugValue](../msg_docs/DebugValue.md)
|
||||
- [SensorPreflightMag](../msg_docs/SensorPreflightMag.md)
|
||||
- [RcParameterMap](../msg_docs/RcParameterMap.md)
|
||||
- [LandingGear](../msg_docs/LandingGear.md)
|
||||
- [GimbalDeviceInformation](../msg_docs/GimbalDeviceInformation.md)
|
||||
- [Px4ioStatus](../msg_docs/Px4ioStatus.md)
|
||||
- [FuelTankStatus](../msg_docs/FuelTankStatus.md)
|
||||
- [VehicleAngularVelocity](../msg_docs/VehicleAngularVelocity.md)
|
||||
- [VehicleOpticalFlow](../msg_docs/VehicleOpticalFlow.md)
|
||||
- [UlogStream](../msg_docs/UlogStream.md)
|
||||
- [GimbalControls](../msg_docs/GimbalControls.md)
|
||||
- [RoverRateSetpoint](../msg_docs/RoverRateSetpoint.md)
|
||||
- [LogMessage](../msg_docs/LogMessage.md)
|
||||
- [RoverVelocitySetpoint](../msg_docs/RoverVelocitySetpoint.md)
|
||||
- [AirspeedWind](../msg_docs/AirspeedWind.md)
|
||||
- [OrbTest](../msg_docs/OrbTest.md)
|
||||
- [GimbalDeviceInformation](../msg_docs/GimbalDeviceInformation.md)
|
||||
- [GpioOut](../msg_docs/GpioOut.md)
|
||||
- [TaskStackInfo](../msg_docs/TaskStackInfo.md)
|
||||
- [PurePursuitStatus](../msg_docs/PurePursuitStatus.md)
|
||||
- [Gripper](../msg_docs/Gripper.md)
|
||||
- [VehicleAirData](../msg_docs/VehicleAirData.md)
|
||||
- [TuneControl](../msg_docs/TuneControl.md)
|
||||
- [DebugVect](../msg_docs/DebugVect.md)
|
||||
- [HoverThrustEstimate](../msg_docs/HoverThrustEstimate.md)
|
||||
- [HomePositionV0](../msg_docs/HomePositionV0.md)
|
||||
- [SensorsStatusImu](../msg_docs/SensorsStatusImu.md)
|
||||
- [EstimatorAidSource3d](../msg_docs/EstimatorAidSource3d.md)
|
||||
- [EstimatorBias](../msg_docs/EstimatorBias.md)
|
||||
- [GpioConfig](../msg_docs/GpioConfig.md)
|
||||
- [SystemPower](../msg_docs/SystemPower.md)
|
||||
- [RateCtrlStatus](../msg_docs/RateCtrlStatus.md)
|
||||
- [MissionResult](../msg_docs/MissionResult.md)
|
||||
- [PowerButtonState](../msg_docs/PowerButtonState.md)
|
||||
- [EscStatus](../msg_docs/EscStatus.md)
|
||||
- [HealthReport](../msg_docs/HealthReport.md)
|
||||
- [VehicleMagnetometer](../msg_docs/VehicleMagnetometer.md)
|
||||
- [SensorGyro](../msg_docs/SensorGyro.md)
|
||||
- [GpioRequest](../msg_docs/GpioRequest.md)
|
||||
- [DebugKeyValue](../msg_docs/DebugKeyValue.md)
|
||||
- [DistanceSensorModeChangeRequest](../msg_docs/DistanceSensorModeChangeRequest.md)
|
||||
- [ParameterUpdate](../msg_docs/ParameterUpdate.md)
|
||||
- [SensorAirflow](../msg_docs/SensorAirflow.md)
|
||||
- [UavcanParameterValue](../msg_docs/UavcanParameterValue.md)
|
||||
- [EstimatorSensorBias](../msg_docs/EstimatorSensorBias.md)
|
||||
- [CanInterfaceStatus](../msg_docs/CanInterfaceStatus.md)
|
||||
- [GimbalDeviceSetAttitude](../msg_docs/GimbalDeviceSetAttitude.md)
|
||||
- [ActionRequest](../msg_docs/ActionRequest.md)
|
||||
- [LandingTargetInnovations](../msg_docs/LandingTargetInnovations.md)
|
||||
- [PwmInput](../msg_docs/PwmInput.md)
|
||||
- [PowerMonitor](../msg_docs/PowerMonitor.md)
|
||||
- [Mission](../msg_docs/Mission.md)
|
||||
- [ArmingCheckReplyV0](../msg_docs/ArmingCheckReplyV0.md)
|
||||
- [FigureEightStatus](../msg_docs/FigureEightStatus.md)
|
||||
- [RadioStatus](../msg_docs/RadioStatus.md)
|
||||
- [VehicleRoi](../msg_docs/VehicleRoi.md)
|
||||
- [RtlTimeEstimate](../msg_docs/RtlTimeEstimate.md)
|
||||
- [GimbalManagerStatus](../msg_docs/GimbalManagerStatus.md)
|
||||
- [EstimatorSelectorStatus](../msg_docs/EstimatorSelectorStatus.md)
|
||||
- [Rpm](../msg_docs/Rpm.md)
|
||||
- [VehicleAngularAccelerationSetpoint](../msg_docs/VehicleAngularAccelerationSetpoint.md)
|
||||
- [Ping](../msg_docs/Ping.md)
|
||||
- [QshellReq](../msg_docs/QshellReq.md)
|
||||
- [SensorMag](../msg_docs/SensorMag.md)
|
||||
- [EstimatorStates](../msg_docs/EstimatorStates.md)
|
||||
- [SensorUwb](../msg_docs/SensorUwb.md)
|
||||
- [OpenDroneIdArmStatus](../msg_docs/OpenDroneIdArmStatus.md)
|
||||
- [TiltrotorExtraControls](../msg_docs/TiltrotorExtraControls.md)
|
||||
- [ControlAllocatorStatus](../msg_docs/ControlAllocatorStatus.md)
|
||||
- [ParameterResetRequest](../msg_docs/ParameterResetRequest.md)
|
||||
- [SensorHygrometer](../msg_docs/SensorHygrometer.md)
|
||||
- [VehicleLocalPositionSetpoint](../msg_docs/VehicleLocalPositionSetpoint.md)
|
||||
- [AdcReport](../msg_docs/AdcReport.md)
|
||||
- [DronecanNodeStatus](../msg_docs/DronecanNodeStatus.md)
|
||||
- [EstimatorAidSource2d](../msg_docs/EstimatorAidSource2d.md)
|
||||
- [SensorAccelFifo](../msg_docs/SensorAccelFifo.md)
|
||||
- [RoverAttitudeStatus](../msg_docs/RoverAttitudeStatus.md)
|
||||
- [SensorCorrection](../msg_docs/SensorCorrection.md)
|
||||
- [UlogStream](../msg_docs/UlogStream.md)
|
||||
- [PositionControllerLandingStatus](../msg_docs/PositionControllerLandingStatus.md)
|
||||
- [GpsInjectData](../msg_docs/GpsInjectData.md)
|
||||
- [MagnetometerBiasEstimate](../msg_docs/MagnetometerBiasEstimate.md)
|
||||
- [LoggerStatus](../msg_docs/LoggerStatus.md)
|
||||
- [ParameterSetValueRequest](../msg_docs/ParameterSetValueRequest.md)
|
||||
- [SensorBaro](../msg_docs/SensorBaro.md)
|
||||
- [OrbTestMedium](../msg_docs/OrbTestMedium.md)
|
||||
- [RoverSpeedStatus](../msg_docs/RoverSpeedStatus.md)
|
||||
- [FollowTargetStatus](../msg_docs/FollowTargetStatus.md)
|
||||
- [ParameterSetUsedRequest](../msg_docs/ParameterSetUsedRequest.md)
|
||||
- [PositionControllerStatus](../msg_docs/PositionControllerStatus.md)
|
||||
- [UlogStreamAck](../msg_docs/UlogStreamAck.md)
|
||||
- [DatamanRequest](../msg_docs/DatamanRequest.md)
|
||||
- [InternalCombustionEngineControl](../msg_docs/InternalCombustionEngineControl.md)
|
||||
- [PositionSetpoint](../msg_docs/PositionSetpoint.md)
|
||||
- [DatamanResponse](../msg_docs/DatamanResponse.md)
|
||||
- [LedControl](../msg_docs/LedControl.md)
|
||||
- [MavlinkTunnel](../msg_docs/MavlinkTunnel.md)
|
||||
- [VehicleLocalPositionV0](../msg_docs/VehicleLocalPositionV0.md)
|
||||
- [Event](../msg_docs/Event.md)
|
||||
- [ActuatorArmed](../msg_docs/ActuatorArmed.md)
|
||||
- [GpioIn](../msg_docs/GpioIn.md)
|
||||
- [SensorGyroFft](../msg_docs/SensorGyroFft.md)
|
||||
- [SensorAccel](../msg_docs/SensorAccel.md)
|
||||
- [SensorsStatus](../msg_docs/SensorsStatus.md)
|
||||
- [VehicleAttitudeSetpointV0](../msg_docs/VehicleAttitudeSetpointV0.md)
|
||||
- [GeneratorStatus](../msg_docs/GeneratorStatus.md)
|
||||
- [DifferentialPressure](../msg_docs/DifferentialPressure.md)
|
||||
- [FixedWingRunwayControl](../msg_docs/FixedWingRunwayControl.md)
|
||||
- [NormalizedUnsignedSetpoint](../msg_docs/NormalizedUnsignedSetpoint.md)
|
||||
- [TrajectorySetpoint6dof](../msg_docs/TrajectorySetpoint6dof.md)
|
||||
- [LaunchDetectionStatus](../msg_docs/LaunchDetectionStatus.md)
|
||||
- [RoverRateStatus](../msg_docs/RoverRateStatus.md)
|
||||
- [AirspeedValidatedV0](../msg_docs/AirspeedValidatedV0.md)
|
||||
- [GimbalManagerSetAttitude](../msg_docs/GimbalManagerSetAttitude.md)
|
||||
- [VelocityLimits](../msg_docs/VelocityLimits.md)
|
||||
- [MagWorkerData](../msg_docs/MagWorkerData.md)
|
||||
- [ParameterUpdate](../msg_docs/ParameterUpdate.md)
|
||||
- [TrajectorySetpoint6dof](../msg_docs/TrajectorySetpoint6dof.md)
|
||||
- [SensorBaro](../msg_docs/SensorBaro.md)
|
||||
- [VehicleImuStatus](../msg_docs/VehicleImuStatus.md)
|
||||
- [InternalCombustionEngineStatus](../msg_docs/InternalCombustionEngineStatus.md)
|
||||
- [VehicleOpticalFlowVel](../msg_docs/VehicleOpticalFlowVel.md)
|
||||
- [GimbalManagerSetManualControl](../msg_docs/GimbalManagerSetManualControl.md)
|
||||
- [Rpm](../msg_docs/Rpm.md)
|
||||
- [MagnetometerBiasEstimate](../msg_docs/MagnetometerBiasEstimate.md)
|
||||
- [MountOrientation](../msg_docs/MountOrientation.md)
|
||||
- [ActionRequest](../msg_docs/ActionRequest.md)
|
||||
- [OpenDroneIdArmStatus](../msg_docs/OpenDroneIdArmStatus.md)
|
||||
- [SensorAccelFifo](../msg_docs/SensorAccelFifo.md)
|
||||
- [LoggerStatus](../msg_docs/LoggerStatus.md)
|
||||
- [GeneratorStatus](../msg_docs/GeneratorStatus.md)
|
||||
- [InternalCombustionEngineControl](../msg_docs/InternalCombustionEngineControl.md)
|
||||
- [Ekf2Timestamps](../msg_docs/Ekf2Timestamps.md)
|
||||
- [LandingTargetPose](../msg_docs/LandingTargetPose.md)
|
||||
- [PositionControllerLandingStatus](../msg_docs/PositionControllerLandingStatus.md)
|
||||
- [UavcanParameterValue](../msg_docs/UavcanParameterValue.md)
|
||||
- [OrbitStatus](../msg_docs/OrbitStatus.md)
|
||||
- [PositionControllerStatus](../msg_docs/PositionControllerStatus.md)
|
||||
- [EstimatorStatus](../msg_docs/EstimatorStatus.md)
|
||||
- [DatamanRequest](../msg_docs/DatamanRequest.md)
|
||||
- [HoverThrustEstimate](../msg_docs/HoverThrustEstimate.md)
|
||||
- [FixedWingLateralStatus](../msg_docs/FixedWingLateralStatus.md)
|
||||
- [NavigatorMissionItem](../msg_docs/NavigatorMissionItem.md)
|
||||
- [Cpuload](../msg_docs/Cpuload.md)
|
||||
- [EstimatorAidSource3d](../msg_docs/EstimatorAidSource3d.md)
|
||||
- [RoverRateStatus](../msg_docs/RoverRateStatus.md)
|
||||
- [EscReport](../msg_docs/EscReport.md)
|
||||
- [DebugArray](../msg_docs/DebugArray.md)
|
||||
- [ControlAllocatorStatus](../msg_docs/ControlAllocatorStatus.md)
|
||||
- [SensorHygrometer](../msg_docs/SensorHygrometer.md)
|
||||
- [EstimatorSensorBias](../msg_docs/EstimatorSensorBias.md)
|
||||
- [EstimatorBias3d](../msg_docs/EstimatorBias3d.md)
|
||||
- [GimbalManagerInformation](../msg_docs/GimbalManagerInformation.md)
|
||||
- [QshellReq](../msg_docs/QshellReq.md)
|
||||
- [CameraStatus](../msg_docs/CameraStatus.md)
|
||||
- [GpsInjectData](../msg_docs/GpsInjectData.md)
|
||||
- [FigureEightStatus](../msg_docs/FigureEightStatus.md)
|
||||
- [TransponderReport](../msg_docs/TransponderReport.md)
|
||||
- [UavcanParameterRequest](../msg_docs/UavcanParameterRequest.md)
|
||||
- [InternalCombustionEngineStatus](../msg_docs/InternalCombustionEngineStatus.md)
|
||||
- [SensorGnssRelative](../msg_docs/SensorGnssRelative.md)
|
||||
- [MavlinkLog](../msg_docs/MavlinkLog.md)
|
||||
- [EstimatorGpsStatus](../msg_docs/EstimatorGpsStatus.md)
|
||||
- [FuelTankStatus](../msg_docs/FuelTankStatus.md)
|
||||
- [Mission](../msg_docs/Mission.md)
|
||||
- [PositionSetpoint](../msg_docs/PositionSetpoint.md)
|
||||
- [MissionResult](../msg_docs/MissionResult.md)
|
||||
- [EstimatorEventFlags](../msg_docs/EstimatorEventFlags.md)
|
||||
- [VehicleMagnetometer](../msg_docs/VehicleMagnetometer.md)
|
||||
- [MavlinkTunnel](../msg_docs/MavlinkTunnel.md)
|
||||
- [DifferentialPressure](../msg_docs/DifferentialPressure.md)
|
||||
- [CellularStatus](../msg_docs/CellularStatus.md)
|
||||
- [GpsDump](../msg_docs/GpsDump.md)
|
||||
- [GimbalDeviceSetAttitude](../msg_docs/GimbalDeviceSetAttitude.md)
|
||||
- [ArmingCheckReplyV0](../msg_docs/ArmingCheckReplyV0.md)
|
||||
- [NavigatorStatus](../msg_docs/NavigatorStatus.md)
|
||||
- [RoverPositionSetpoint](../msg_docs/RoverPositionSetpoint.md)
|
||||
- [FollowTarget](../msg_docs/FollowTarget.md)
|
||||
- [SensorsStatusImu](../msg_docs/SensorsStatusImu.md)
|
||||
- [EstimatorStates](../msg_docs/EstimatorStates.md)
|
||||
- [SensorGyro](../msg_docs/SensorGyro.md)
|
||||
- [SensorAirflow](../msg_docs/SensorAirflow.md)
|
||||
- [ButtonEvent](../msg_docs/ButtonEvent.md)
|
||||
- [DebugKeyValue](../msg_docs/DebugKeyValue.md)
|
||||
- [GpioConfig](../msg_docs/GpioConfig.md)
|
||||
- [CameraTrigger](../msg_docs/CameraTrigger.md)
|
||||
- [SensorTemp](../msg_docs/SensorTemp.md)
|
||||
- [LandingGearWheel](../msg_docs/LandingGearWheel.md)
|
||||
- [VehicleConstraints](../msg_docs/VehicleConstraints.md)
|
||||
- [HealthReport](../msg_docs/HealthReport.md)
|
||||
- [PowerButtonState](../msg_docs/PowerButtonState.md)
|
||||
- [RadioStatus](../msg_docs/RadioStatus.md)
|
||||
- [SensorGyroFifo](../msg_docs/SensorGyroFifo.md)
|
||||
- [EstimatorBias](../msg_docs/EstimatorBias.md)
|
||||
- [DebugVect](../msg_docs/DebugVect.md)
|
||||
- [DistanceSensorModeChangeRequest](../msg_docs/DistanceSensorModeChangeRequest.md)
|
||||
- [RtlTimeEstimate](../msg_docs/RtlTimeEstimate.md)
|
||||
- [PpsCapture](../msg_docs/PpsCapture.md)
|
||||
- [SensorSelection](../msg_docs/SensorSelection.md)
|
||||
- [SystemPower](../msg_docs/SystemPower.md)
|
||||
- [ActuatorControlsStatus](../msg_docs/ActuatorControlsStatus.md)
|
||||
- [SensorGyroFft](../msg_docs/SensorGyroFft.md)
|
||||
- [VehicleAirData](../msg_docs/VehicleAirData.md)
|
||||
- [OrbTestLarge](../msg_docs/OrbTestLarge.md)
|
||||
- [FollowTargetEstimator](../msg_docs/FollowTargetEstimator.md)
|
||||
- [ParameterSetUsedRequest](../msg_docs/ParameterSetUsedRequest.md)
|
||||
- [GpioRequest](../msg_docs/GpioRequest.md)
|
||||
- [OpenDroneIdOperatorId](../msg_docs/OpenDroneIdOperatorId.md)
|
||||
- [RtlStatus](../msg_docs/RtlStatus.md)
|
||||
- [Airspeed](../msg_docs/Airspeed.md)
|
||||
- [VehicleAcceleration](../msg_docs/VehicleAcceleration.md)
|
||||
- [ParameterSetValueRequest](../msg_docs/ParameterSetValueRequest.md)
|
||||
- [IrlockReport](../msg_docs/IrlockReport.md)
|
||||
- [HeaterStatus](../msg_docs/HeaterStatus.md)
|
||||
- [AdcReport](../msg_docs/AdcReport.md)
|
||||
- [PwmInput](../msg_docs/PwmInput.md)
|
||||
- [TiltrotorExtraControls](../msg_docs/TiltrotorExtraControls.md)
|
||||
- [EstimatorAidSource1d](../msg_docs/EstimatorAidSource1d.md)
|
||||
- [OrbTestMedium](../msg_docs/OrbTestMedium.md)
|
||||
- [VehicleAttitudeSetpointV0](../msg_docs/VehicleAttitudeSetpointV0.md)
|
||||
- [EstimatorAidSource2d](../msg_docs/EstimatorAidSource2d.md)
|
||||
- [TuneControl](../msg_docs/TuneControl.md)
|
||||
- [WheelEncoders](../msg_docs/WheelEncoders.md)
|
||||
- [CellularStatus](../msg_docs/CellularStatus.md)
|
||||
- [QshellRetval](../msg_docs/QshellRetval.md)
|
||||
- [OrbitStatus](../msg_docs/OrbitStatus.md)
|
||||
- [VehicleStatusV0](../msg_docs/VehicleStatusV0.md)
|
||||
- [FailureDetectorStatus](../msg_docs/FailureDetectorStatus.md)
|
||||
- [LogMessage](../msg_docs/LogMessage.md)
|
||||
- [SatelliteInfo](../msg_docs/SatelliteInfo.md)
|
||||
- [SensorPreflightMag](../msg_docs/SensorPreflightMag.md)
|
||||
- [NavigatorMissionItem](../msg_docs/NavigatorMissionItem.md)
|
||||
- [FixedWingLateralGuidanceStatus](../msg_docs/FixedWingLateralGuidanceStatus.md)
|
||||
- [BatteryStatusV0](../msg_docs/BatteryStatusV0.md)
|
||||
- [EstimatorInnovations](../msg_docs/EstimatorInnovations.md)
|
||||
- [EstimatorStatus](../msg_docs/EstimatorStatus.md)
|
||||
- [NeuralControl](../msg_docs/NeuralControl.md)
|
||||
- [TaskStackInfo](../msg_docs/TaskStackInfo.md)
|
||||
- [RcParameterMap](../msg_docs/RcParameterMap.md)
|
||||
- [SensorSelection](../msg_docs/SensorSelection.md)
|
||||
- [FlightPhaseEstimation](../msg_docs/FlightPhaseEstimation.md)
|
||||
- [ParameterSetValueResponse](../msg_docs/ParameterSetValueResponse.md)
|
||||
- [ActuatorTest](../msg_docs/ActuatorTest.md)
|
||||
- [VehicleImuStatus](../msg_docs/VehicleImuStatus.md)
|
||||
- [MountOrientation](../msg_docs/MountOrientation.md)
|
||||
- [CameraStatus](../msg_docs/CameraStatus.md)
|
||||
- [AutotuneAttitudeControlStatus](../msg_docs/AutotuneAttitudeControlStatus.md)
|
||||
- [LandingTargetInnovations](../msg_docs/LandingTargetInnovations.md)
|
||||
- [SensorsStatus](../msg_docs/SensorsStatus.md)
|
||||
- [FollowTarget](../msg_docs/FollowTarget.md)
|
||||
- [EstimatorGpsStatus](../msg_docs/EstimatorGpsStatus.md)
|
||||
- [ButtonEvent](../msg_docs/ButtonEvent.md)
|
||||
- [DebugArray](../msg_docs/DebugArray.md)
|
||||
- [Ekf2Timestamps](../msg_docs/Ekf2Timestamps.md)
|
||||
- [GimbalManagerSetManualControl](../msg_docs/GimbalManagerSetManualControl.md)
|
||||
- [IridiumsbdStatus](../msg_docs/IridiumsbdStatus.md)
|
||||
- [OpenDroneIdSystem](../msg_docs/OpenDroneIdSystem.md)
|
||||
- [VehicleImu](../msg_docs/VehicleImu.md)
|
||||
- [GpsDump](../msg_docs/GpsDump.md)
|
||||
- [WheelEncoders](../msg_docs/WheelEncoders.md)
|
||||
- [EstimatorEventFlags](../msg_docs/EstimatorEventFlags.md)
|
||||
- [DebugValue](../msg_docs/DebugValue.md)
|
||||
- [LandingTargetPose](../msg_docs/LandingTargetPose.md)
|
||||
- [OpenDroneIdOperatorId](../msg_docs/OpenDroneIdOperatorId.md)
|
||||
- [VehicleOpticalFlowVel](../msg_docs/VehicleOpticalFlowVel.md)
|
||||
- [RtlStatus](../msg_docs/RtlStatus.md)
|
||||
- [VehicleAcceleration](../msg_docs/VehicleAcceleration.md)
|
||||
- [GimbalControls](../msg_docs/GimbalControls.md)
|
||||
- [ActuatorServosTrim](../msg_docs/ActuatorServosTrim.md)
|
||||
- [FixedWingLateralStatus](../msg_docs/FixedWingLateralStatus.md)
|
||||
- [HeaterStatus](../msg_docs/HeaterStatus.md)
|
||||
- [YawEstimatorStatus](../msg_docs/YawEstimatorStatus.md)
|
||||
- [RcChannels](../msg_docs/RcChannels.md)
|
||||
- [TecsStatus](../msg_docs/TecsStatus.md)
|
||||
- [EstimatorAidSource1d](../msg_docs/EstimatorAidSource1d.md)
|
||||
- [InputRc](../msg_docs/InputRc.md)
|
||||
- [SensorGyroFifo](../msg_docs/SensorGyroFifo.md)
|
||||
- [GeofenceResult](../msg_docs/GeofenceResult.md)
|
||||
- [OpenDroneIdSelfId](../msg_docs/OpenDroneIdSelfId.md)
|
||||
- [UavcanParameterRequest](../msg_docs/UavcanParameterRequest.md)
|
||||
- [ManualControlSwitches](../msg_docs/ManualControlSwitches.md)
|
||||
- [NavigatorStatus](../msg_docs/NavigatorStatus.md)
|
||||
- [CameraTrigger](../msg_docs/CameraTrigger.md)
|
||||
- [EscReport](../msg_docs/EscReport.md)
|
||||
- [EstimatorBias3d](../msg_docs/EstimatorBias3d.md)
|
||||
- [GeofenceStatus](../msg_docs/GeofenceStatus.md)
|
||||
- [GimbalManagerInformation](../msg_docs/GimbalManagerInformation.md)
|
||||
- [ActuatorOutputs](../msg_docs/ActuatorOutputs.md)
|
||||
- [EventV0](../msg_docs/EventV0.md)
|
||||
- [ArmingCheckRequestV0](../msg_docs/ArmingCheckRequestV0.md)
|
||||
- [VehicleConstraints](../msg_docs/VehicleConstraints.md)
|
||||
- [IrlockReport](../msg_docs/IrlockReport.md)
|
||||
|
||||
:::
|
||||
|
||||
@@ -2,6 +2,7 @@
|
||||
|
||||
子分类
|
||||
|
||||
- [Adc](modules_driver_adc.md)
|
||||
- [Airspeed Sensor](modules_driver_airspeed_sensor.md)
|
||||
- [Baro](modules_driver_baro.md)
|
||||
- [Camera](modules_driver_camera.md)
|
||||
@@ -46,66 +47,6 @@ MCP23009 <command> [arguments...]
|
||||
status print status info
|
||||
```
|
||||
|
||||
## adc
|
||||
|
||||
Source: [drivers/adc/board_adc](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/adc/board_adc)
|
||||
|
||||
### 描述
|
||||
|
||||
ADC driver.
|
||||
|
||||
### Usage {#adc_usage}
|
||||
|
||||
```
|
||||
adc <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
|
||||
test
|
||||
[-n] Do not publish ADC report, only system power
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## ads1115
|
||||
|
||||
Source: [drivers/adc/ads1115](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/adc/ads1115)
|
||||
|
||||
### 描述
|
||||
|
||||
Driver to enable an external [ADS1115](https://www.adafruit.com/product/1085) ADC connected via I2C.
|
||||
|
||||
The driver is included by default in firmware for boards that do not have an internal analog to digital converter,
|
||||
such as [PilotPi](../flight_controller/raspberry_pi_pilotpi.md) or [CUAV Nora](../flight_controller/cuav_nora.md)
|
||||
(search for `CONFIG_DRIVERS_ADC_ADS1115` in board configuration files).
|
||||
|
||||
It is enabled/disabled using the
|
||||
[ADC_ADS1115_EN](../advanced_config/parameter_reference.md#ADC_ADS1115_EN)
|
||||
parameter, and is disabled by default.
|
||||
If enabled, internal ADCs are not used.
|
||||
|
||||
### Usage {#ads1115_usage}
|
||||
|
||||
```
|
||||
ads1115 <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
[-I] Internal I2C bus(es)
|
||||
[-X] External I2C bus(es)
|
||||
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
|
||||
(default=1))
|
||||
[-f <val>] bus frequency in kHz
|
||||
[-q] quiet startup (no message if no device found)
|
||||
[-a <val>] I2C address
|
||||
default: 72
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## atxxxx
|
||||
|
||||
Source: [drivers/osd/atxxxx](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/osd/atxxxx)
|
||||
@@ -808,6 +749,30 @@ lsm303agr <command> [arguments...]
|
||||
status print status info
|
||||
```
|
||||
|
||||
## mcp9808
|
||||
|
||||
Source: [drivers/temperature_sensor/mcp9808](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/temperature_sensor/mcp9808)
|
||||
|
||||
### Usage {#mcp9808_usage}
|
||||
|
||||
```
|
||||
mcp9808 <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
[-I] Internal I2C bus(es)
|
||||
[-X] External I2C bus(es)
|
||||
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
|
||||
(default=1))
|
||||
[-f <val>] bus frequency in kHz
|
||||
[-q] quiet startup (no message if no device found)
|
||||
[-a <val>] I2C address
|
||||
default: 24
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## msp_osd
|
||||
|
||||
Source: [drivers/osd/msp_osd](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/osd/msp_osd)
|
||||
|
||||
107
docs/zh/modules/modules_driver_adc.md
Normal file
107
docs/zh/modules/modules_driver_adc.md
Normal file
@@ -0,0 +1,107 @@
|
||||
# Modules Reference: Adc (Driver)
|
||||
|
||||
## TLA2528
|
||||
|
||||
Source: [drivers/adc/tla2528](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/adc/tla2528)
|
||||
|
||||
### Usage {#TLA2528_usage}
|
||||
|
||||
```
|
||||
TLA2528 <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
[-I] Internal I2C bus(es)
|
||||
[-X] External I2C bus(es)
|
||||
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
|
||||
(default=1))
|
||||
[-f <val>] bus frequency in kHz
|
||||
[-q] quiet startup (no message if no device found)
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## adc
|
||||
|
||||
Source: [drivers/adc/board_adc](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/adc/board_adc)
|
||||
|
||||
### 描述
|
||||
|
||||
ADC driver.
|
||||
|
||||
### Usage {#adc_usage}
|
||||
|
||||
```
|
||||
adc <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
|
||||
test
|
||||
[-n] Do not publish ADC report, only system power
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## ads1115
|
||||
|
||||
Source: [drivers/adc/ads1115](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/adc/ads1115)
|
||||
|
||||
### 描述
|
||||
|
||||
Driver to enable an external [ADS1115](https://www.adafruit.com/product/1085) ADC connected via I2C.
|
||||
|
||||
The driver is included by default in firmware for boards that do not have an internal analog to digital converter,
|
||||
such as [PilotPi](../flight_controller/raspberry_pi_pilotpi.md) or [CUAV Nora](../flight_controller/cuav_nora.md)
|
||||
(search for `CONFIG_DRIVERS_ADC_ADS1115` in board configuration files).
|
||||
|
||||
It is enabled/disabled using the
|
||||
[ADC_ADS1115_EN](../advanced_config/parameter_reference.md#ADC_ADS1115_EN)
|
||||
parameter, and is disabled by default.
|
||||
If enabled, internal ADCs are not used.
|
||||
|
||||
### Usage {#ads1115_usage}
|
||||
|
||||
```
|
||||
ads1115 <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
[-I] Internal I2C bus(es)
|
||||
[-X] External I2C bus(es)
|
||||
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
|
||||
(default=1))
|
||||
[-f <val>] bus frequency in kHz
|
||||
[-q] quiet startup (no message if no device found)
|
||||
[-a <val>] I2C address
|
||||
default: 72
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## ads7953
|
||||
|
||||
Source: [drivers/adc/ads7953](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/adc/ads7953)
|
||||
|
||||
### Usage {#ads7953_usage}
|
||||
|
||||
```
|
||||
ads7953 <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
[-s] Internal SPI bus(es)
|
||||
[-S] External SPI bus(es)
|
||||
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
|
||||
(default=1))
|
||||
[-c <val>] chip-select pin (for internal SPI) or index (for external SPI)
|
||||
[-m <val>] SPI mode
|
||||
[-f <val>] bus frequency in kHz
|
||||
[-q] quiet startup (no message if no device found)
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
@@ -16,6 +16,10 @@ crsf_rc <command> [arguments...]
|
||||
start
|
||||
[-d <val>] RC device
|
||||
values: <file:dev>, default: /dev/ttyS3
|
||||
[-b <val>] RC baudrate
|
||||
default: 420000
|
||||
|
||||
inject Inject frame data bytes (for testing)
|
||||
|
||||
stop
|
||||
|
||||
|
||||
@@ -1,13 +1,21 @@
|
||||
# AdcReport (UORB message)
|
||||
|
||||
ADC raw data.
|
||||
|
||||
Communicates raw data from an analog-to-digital converter (ADC) to other modules, such as battery status.
|
||||
|
||||
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/AdcReport.msg)
|
||||
|
||||
```c
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
uint32 device_id # unique device ID for the sensor that does not change between power cycles
|
||||
int16[12] channel_id # ADC channel IDs, negative for non-existent, TODO: should be kept same as array index
|
||||
int32[12] raw_data # ADC channel raw value, accept negative value, valid if channel ID is positive
|
||||
uint32 resolution # ADC channel resolution
|
||||
float32 v_ref # ADC channel voltage reference, use to calculate LSB voltage(lsb=scale/resolution)
|
||||
# ADC raw data.
|
||||
#
|
||||
# Communicates raw data from an analog-to-digital converter (ADC) to other modules, such as battery status.
|
||||
|
||||
uint64 timestamp # [us] Time since system start
|
||||
uint32 device_id # [-] unique device ID for the sensor that does not change between power cycles
|
||||
int16[16] channel_id # [-] ADC channel IDs, negative for non-existent, TODO: should be kept same as array index
|
||||
int32[16] raw_data # [-] ADC channel raw value, accept negative value, valid if channel ID is positive
|
||||
uint32 resolution # [-] ADC channel resolution
|
||||
float32 v_ref # [V] ADC channel voltage reference, use to calculate LSB voltage(lsb=scale/resolution)
|
||||
|
||||
```
|
||||
|
||||
@@ -16,6 +16,19 @@ uint8 esc_state # State of ESC - depend on Vendor
|
||||
|
||||
uint8 actuator_function # actuator output function (one of Motor1...MotorN)
|
||||
|
||||
uint8 ACTUATOR_FUNCTION_MOTOR1 = 101
|
||||
uint8 ACTUATOR_FUNCTION_MOTOR2 = 102
|
||||
uint8 ACTUATOR_FUNCTION_MOTOR3 = 103
|
||||
uint8 ACTUATOR_FUNCTION_MOTOR4 = 104
|
||||
uint8 ACTUATOR_FUNCTION_MOTOR5 = 105
|
||||
uint8 ACTUATOR_FUNCTION_MOTOR6 = 106
|
||||
uint8 ACTUATOR_FUNCTION_MOTOR7 = 107
|
||||
uint8 ACTUATOR_FUNCTION_MOTOR8 = 108
|
||||
uint8 ACTUATOR_FUNCTION_MOTOR9 = 109
|
||||
uint8 ACTUATOR_FUNCTION_MOTOR10 = 110
|
||||
uint8 ACTUATOR_FUNCTION_MOTOR11 = 111
|
||||
uint8 ACTUATOR_FUNCTION_MOTOR12 = 112
|
||||
|
||||
uint16 failures # Bitmask to indicate the internal ESC faults
|
||||
int8 esc_power # Applied power 0-100 in % (negative values reserved)
|
||||
|
||||
|
||||
@@ -37,11 +37,13 @@ bool rc_lost # RC receiver connection status: True,if no frame has arrived in
|
||||
uint16 rc_lost_frame_count # Number of lost RC frames. Note: intended purpose: observe the radio link quality if RSSI is not available. This value must not be used to trigger any failsafe-alike functionality.
|
||||
uint16 rc_total_frame_count # Number of total RC frames. Note: intended purpose: observe the radio link quality if RSSI is not available. This value must not be used to trigger any failsafe-alike functionality.
|
||||
uint16 rc_ppm_frame_length # Length of a single PPM frame. Zero for non-PPM systems
|
||||
uint16 rc_frame_rate # RC frame rate in msg/second. 0 = invalid
|
||||
|
||||
uint8 input_source # Input source
|
||||
uint16[18] values # measured pulse widths for each of the supported channels
|
||||
|
||||
int8 link_quality # link quality. Percentage 0-100%. -1 = invalid
|
||||
float32 rssi_dbm # Actual rssi in units of dBm. NaN = invalid
|
||||
int8 link_snr # link signal to noise ratio in units of dB. -1 = invalid
|
||||
|
||||
```
|
||||
|
||||
11
docs/zh/msg_docs/SensorTemp.md
Normal file
11
docs/zh/msg_docs/SensorTemp.md
Normal file
@@ -0,0 +1,11 @@
|
||||
# SensorTemp (UORB message)
|
||||
|
||||
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorTemp.msg)
|
||||
|
||||
```c
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
|
||||
uint32 device_id # unique device ID for the sensor that does not change between power cycles
|
||||
float32 temperature # Temperature provided by sensor (Celsius)
|
||||
|
||||
```
|
||||
@@ -28,7 +28,7 @@ uint16 VEHICLE_CMD_DO_ORBIT = 34 # Start orbiting on the circumference of a circ
|
||||
uint16 VEHICLE_CMD_DO_FIGUREEIGHT = 35 # Start flying on the outline of a figure eight defined by the parameters. |[m] Major radius|[m] Minor radius|[m/s] Velocity|Orientation|Latitude/X|Longitude/Y|Altitude/Z|
|
||||
uint16 VEHICLE_CMD_NAV_ROI = 80 # Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |[@enum VEHICLE_ROI] Region of interest mode.|MISSION index/ target ID.|ROI index (allows a vehicle to manage multiple ROI's)|Unused|x the location of the fixed ROI (see MAV_FRAME)|y|z|
|
||||
uint16 VEHICLE_CMD_NAV_PATHPLANNING = 81 # Control autonomous path planning on the MAV. |0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planning|0: Disable full path planning (without resetting map), 1: Enable, 2: Enable and reset map/occupancy grid, 3: Enable and reset planned route, but not occupancy grid|Unused|[deg] [@range 0, 360] Yaw angle at goal, in compass degrees|Latitude/X of goal|Longitude/Y of goal|Altitude/Z of goal|
|
||||
uint16 VEHICLE_CMD_NAV_VTOL_TAKEOFF = 84 # Takeoff from ground / hand and transition to fixed wing. |Minimum pitch (if airspeed sensor present), desired pitch without sensor|Unused|Unused|Yaw angle (if magnetometer present), ignored without magnetometer|Latitude|Longitude|Altitude|
|
||||
uint16 VEHICLE_CMD_NAV_VTOL_TAKEOFF = 84 # Takeoff from ground / hand and transition to fixed wing. |Minimum pitch (if airspeed sensor present), desired pitch without sensor|Transition heading, 0: Default, 3: Use specified transition heading|Unused|Yaw angle (if magnetometer present), ignored without magnetometer|Latitude|Longitude|Altitude|
|
||||
uint16 VEHICLE_CMD_NAV_VTOL_LAND = 85 # Transition to MC and land at location. |Unused|Unused|Unused|Desired yaw angle.|Latitude|Longitude|Altitude|
|
||||
uint16 VEHICLE_CMD_NAV_GUIDED_LIMITS = 90 # Set limits for external control. |[s] Timeout - maximum time that external controller will be allowed to control vehicle. 0 means no timeout|[m] Absolute altitude min AMSL - if vehicle moves below this alt, the command will be aborted and the mission will continue. 0 means no lower altitude limit|[m] Absolute altitude max - if vehicle moves above this alt, the command will be aborted and the mission will continue. 0 means no upper altitude limit|[m] Horizontal move limit (AMSL) - if vehicle moves more than this distance from it's location at the moment the command was executed, the command will be aborted and the mission will continue. 0 means no horizontal altitude limit|Unused|Unused|Unused|
|
||||
uint16 VEHICLE_CMD_NAV_GUIDED_MASTER = 91 # Set id of master controller. |System ID|Component ID|Unused|Unused|Unused|Unused|Unused|
|
||||
|
||||
@@ -84,7 +84,7 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
|
||||
- [ActuatorOutputs](ActuatorOutputs.md)
|
||||
- [ActuatorServosTrim](ActuatorServosTrim.md) — Servo trims, added as offset to servo outputs
|
||||
- [ActuatorTest](ActuatorTest.md)
|
||||
- [AdcReport](AdcReport.md)
|
||||
- [AdcReport](AdcReport.md) — ADC raw data.
|
||||
- [Airspeed](Airspeed.md) — Airspeed data from sensors
|
||||
- [AirspeedWind](AirspeedWind.md) — Wind estimate (from airspeed_selector)
|
||||
- [AutotuneAttitudeControlStatus](AutotuneAttitudeControlStatus.md) — Autotune attitude control status
|
||||
@@ -259,6 +259,7 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
|
||||
The topic will not be updated when the vehicle is armed
|
||||
- [SensorSelection](SensorSelection.md) — Sensor ID's for the voted sensors output on the sensor_combined topic.
|
||||
Will be updated on startup of the sensor module and when sensor selection changes
|
||||
- [SensorTemp](SensorTemp.md)
|
||||
- [SensorUwb](SensorUwb.md) — UWB distance contains the distance information measured by an ultra-wideband positioning system,
|
||||
such as Pozyx or NXP Rddrone.
|
||||
- [SensorsStatus](SensorsStatus.md) — Sensor check metrics. This will be zero for a sensor that's primary or unpopulated.
|
||||
|
||||
@@ -76,6 +76,10 @@ Please continue reading for [upgrade instructions](#upgrade-guide).
|
||||
|
||||
- TBD
|
||||
|
||||
### RC
|
||||
|
||||
- Parse ELRS Status and Link Statistics TX messages in the CRSF parser.
|
||||
|
||||
### Multi-Rotor
|
||||
|
||||
- Removed parameters `MPC_{XY/Z/YAW}_MAN_EXPO` and use default value instead, as they were not deemed necessary anymore. ([PX4-Autopilot#25435: Add new flight mode: Altitude Cruise](https://github.com/PX4/PX4-Autopilot/pull/25435)).
|
||||
@@ -89,6 +93,7 @@ Please continue reading for [upgrade instructions](#upgrade-guide).
|
||||
|
||||
- [Fixed Wing Takeoff mode](../flight_modes_fw/takeoff.md) will now keep climbing with level wings on position loss.
|
||||
A target takeoff waypoint can be set to control takeoff course and loiter altitude. ([PX4-Autopilot#25083](https://github.com/PX4/PX4-Autopilot/pull/25083)).
|
||||
- Automatically suppress angular rate oscillations using [Gain compression](../features_fw/gain_compression.md). ([PX4-Autopilot#25840: FW rate control: add gain compression algorithm](https://github.com/PX4/PX4-Autopilot/pull/25840))
|
||||
|
||||
### 无人车
|
||||
|
||||
|
||||
@@ -30,17 +30,51 @@ If needed, you can:
|
||||
- Change the selection order of barometers using the [CAL_BAROx_PRIO](../advanced_config/parameter_reference.md#CAL_BARO0_PRIO) parameters for each barometer.
|
||||
- Disable a barometer by setting its [CAL_BAROx_PRIO](../advanced_config/parameter_reference.md#CAL_BARO0_PRIO) value to `0`.
|
||||
|
||||
## Calibration
|
||||
## Baro Auto-Calibration (Developers)
|
||||
|
||||
Barometers don't require calibration.
|
||||
:::tip
|
||||
This section documents the automated calibration mechanisms that ensure accurate altitude measurements throughout flight operations.
|
||||
It is intended primarily for a developer audience who want to understand the underlying mechanisms.
|
||||
:::
|
||||
|
||||
<!-- Notes:
|
||||
- Absolute value isn't important since we just use the difference in altitude between "now" and the value when initializing EKF2
|
||||
- There is usually a scale factor error but it's compensated by the GNSS altitude using a bias estimator in EKF2 (we don't provide a way to calibrate that). This method is fine as long as the height change of the drone isn't too fast (below 200-300km/h probably; don't have real data on that).
|
||||
- The baro readings can be corrected using a param SENS_BARO_QNH (https://en.wikipedia.org/wiki/Altimeter_setting) parameter, but again, it is only necessary to adjust it if the absolute barometric altitude is required by the pilot.
|
||||
-->
|
||||
The system implements two complementary calibration approaches that work together to maintain altitude measurement precision.
|
||||
Both calibrations are initiated at the beginning after a system boot.
|
||||
Relative calibration is performed first, followed by GNSS-barometric calibration.
|
||||
|
||||
## 开发人员信息
|
||||
### Relative Calibration
|
||||
|
||||
Relative baro calibration is **always enabled** and operates automatically during system initialization.
|
||||
This calibration establishes offset corrections for all secondary baro sensors relative to the primary (selected) sensor.
|
||||
|
||||
This calibration:
|
||||
|
||||
- Eliminates altitude jumps when switching between baro sensors during flight.
|
||||
- Ensures consistent altitude readings across all available baro sensors.
|
||||
- Maintains seamless sensor redundancy and failover capability.
|
||||
|
||||
### GNSS-Baro Calibration
|
||||
|
||||
:::info
|
||||
GNSS-baro calibration requires an operational GNSS receiver with vertical accuracy (EPV) ≤ 8 meters.
|
||||
Relative calibration must already have completed.
|
||||
:::
|
||||
|
||||
GNSS-baro calibration adjusts baro sensor offsets to align with absolute altitude measurements from the GNSS receiver.
|
||||
This calibration is controlled by the [SENS_BAR_AUTOCAL](../advanced_config/parameter_reference.md#SENS_BAR_AUTOCAL) parameter (enabled by default).
|
||||
|
||||
The algorithm monitors GNSS quality, collects altitude differences over a 2-second filtered window, and verifies stability within 4m tolerance.
|
||||
Once stable, it uses binary search to calculate pressure offsets that align baro altitude with GNSS altitude (0.1m precision), then applies the offset to all sensors and saves the parameters.
|
||||
|
||||
备注：
|
||||
|
||||
- **EKF Independence**: GNSS-baro calibration operates independently of EKF2 altitude fusion settings.
|
||||
- **Execution Timing**: Calibration runs even when [EKF2_GPS_CTRL](../advanced_config/parameter_reference.md#EKF2_GPS_CTRL) altitude fusion is disabled.
|
||||
- **One-Time Process**: Each calibration session completes once per system startup.
|
||||
- **Persistence**: Calibration offsets are saved to parameters and persist across reboots.
|
||||
- **Faulty GNSS Vulnerability**: If GNSS data is faulty during boot, the calibration will use incorrect altitude reference.
|
||||
See [Faulty GNSS Data During Boot](../advanced_config/tuning_the_ecl_ekf.md#faulty-gnss-data-during-boot) for mitigation strategies.
|
||||
|
||||
## 另见
|
||||
|
||||
- [Baro driver source code](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/barometer)
|
||||
- [Modules Reference: Baro (Driver)](../modules/modules_driver_baro.md) documentation.
|
||||
|
||||
Reference in New Issue
Block a user