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New Crowdin translations - zh-CN (#24854)
Co-authored-by: Crowdin Bot <support+bot@crowdin.com>
This commit is contained in:
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@@ -41,8 +41,9 @@
|
||||
- [MindRacer BNF & RTF](complete_vehicles_mc/mindracer_BNF_RTF.md)
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||||
- [MindRacer 210](complete_vehicles_mc/mindracer210.md)
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- [NanoMind 110](complete_vehicles_mc/nanomind110.md)
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||||
- [Holybro Kopis 2](complete_vehicles_mc/holybro_kopis2.md)
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||||
- [Bitcraze Crazyflie 2.1](complete_vehicles_mc/crazyflie21.md)
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- [Holybro Kopis 2](complete_vehicles_mc/holybro_kopis2.md)
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- [Amov F410 Drone](complete_vehicles_mc/amov_F410_drone.md)
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- [套装](frames_multicopter/kits.md)
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- [X500 v2 (Pixhawk 6C)](frames_multicopter/holybro_x500v2_pixhawk6c.md)
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- [X500 v2 (Pixhawk 5X)](frames_multicopter/holybro_x500V2_pixhawk5x.md)
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120
docs/zh/complete_vehicles_mc/amov_F410_drone.md
Normal file
120
docs/zh/complete_vehicles_mc/amov_F410_drone.md
Normal file
@@ -0,0 +1,120 @@
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# Amovlab F410 Drone
|
||||
|
||||
The [Amovlab F410](https://amovlab.com/product/detail?pid=32) is a medium-small drone platform with a 410mm wheelbase, equipped with Pixhawk 6c open-source flight controller, M8N-GPS, brushless motors, customized hard-case battery, Minihomer data link, optical flow ranging module, camera and other devices.
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It can be used immediately after receiving, capable of meeting indoor/outdoor stable flight and teaching development requirements.
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||||
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:::info
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The vehicle comes with everything needed to fly, including the battery and a remote control.
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It is pre-installed with PX4 v1.15.4 at time of writing (a more recent version may be used in future).
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:::
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## 综述
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1. Can serve as a basic flight platform, paired with Pixhawk 6C flight controller to achieve optical flow and GPS fusion positioning, enabling stable flight both indoors and outdoors.
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It is one of the most stable basic flight platforms on the market.
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2. Sturdy and reliable structure, with key parts made of aluminium alloy and carbon fibre, high strength and not easily damaged.
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3. High stability, providing industrial-grade stability assurance, friendly to beginners, offering simplified version of interactive PC to enhance flight experience, can be initially used for outdoor aerial photography and image collection.
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4. Has rich open-source code support, and can be used with PX4, FMT, and ArduPilot.
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5. Video can be streamed from the UAV webcam to QGroundControl.
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6. The drone has a lot of room and support for expansion, including for adding on-board computers, range sensors, and other payloads.
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- Compatibility with many different components, providing platform for loading other user sensors, preparing for functional model development.
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- Abundant power supply making it perfect for installing additional sensors and onboard computers (including 5 external output voltages, 3 channels of 5V, 2 channels of 12V).
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- Pc-SDK support.
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This is a PC-based Python SDK Library based on MAVSDK that significantly simplifies UAV development compared to other approaches, such as using ROS or using C++. All you need is a basic understanding of Python programming and some simple coordinate system principles!
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- The [documentation](https://docs.amovlab.com/f450-v6c-wiki/#/en/) shows many of the options.
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7. Quasi-smart battery. The battery has a hard housing design that makes easy to install and remove.
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It provides accurate power estimates, but does not have some more advanced "smart battery" features.
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## 购买渠道
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- [Amovlab F410 Drone](https://amovlab.com/product/detail?pid=32)
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## Datasheet
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### 产品规格
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| 技术规范 | F410_V6C Flight Platform |
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| :---------------------------------------------------: | :--------------------------------------------------------------------------------------------------------------------------------------------: |
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| **Aircraft** | |
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| 尺寸 | Length 290mm × Width 290mm × Height 240mm (Wheelbase 410mm) |
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| Empty Weight | 1056g |
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| Max Takeoff Weight | 2200g |
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| Max Ascent Speed | 1.5m/s |
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| Max Descent Speed | 0.7m/s |
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| Max Horizontal Speed | 10m/s |
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| Max Hovering Time | 21min |
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| Max Tilt Angle | 30° |
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| Operating Temperature | 6℃-40℃ |
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| Hovering Accuracy | M8N GPS Vertical ±0.5m M8N GPS Horizontal ±0.8m |
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| Hovering Accuracy | RTK Vertical ±0.1m RTK Horizontal ±0.15m |
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| **Flight Control System** | |
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| 处理器 | FMU: STM32H743; IO Processor: STM32F103 |
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| Accelerometer | BMI055/ICM-42688-P |
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| Gyroscope | BMI055/ICM-42688-P |
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| 磁罗盘 | IST8310 |
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| Barometer | MS5611 |
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| 重量 | 59.3g |
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| 尺寸 | Length 84.8mm × Width 44mm × Height 12.4mm |
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| **Perception** | |
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| Optical Flow & Rangefinder Module | |
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| 重量 | 5.0g |
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| 尺寸 | Length 29mm × Width 16.5mm × Height 15mm |
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| Range Measurement | 0.01-8m |
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| Ranging FOV | 6° |
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| Optical Flow FOV | 42° |
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| Power Consumption | 500mW |
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| Operating Voltage | 4.0-5.5V |
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| Optical Flow Working Distance | > 80mm |
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| Output Interface | UART |
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| **Data Link** | |
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| Data Link Solution | MINI HOMER |
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| Frequency Band | Sub 1G Band |
|
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| Operating Voltage | 12V |
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| Max Effective Range | 1200m |
|
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| **Camera** | |
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| Model | IVG-G4 |
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| Video Processing | H.265+ Encoding, Dual Streams, AVI Format |
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| Video Output | Main Stream: 2560×1440@18fps, 2304×1296@20fps；Sub Stream: 800×448@25fps |
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| Operating Voltage | 12V |
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| 尺寸 | Length 38mm × Width 38mm |
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| **Battery** | |
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| Model | FB45 |
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| Dimensions (L×W×H) | Length 130mm × Width 65mm × Height 40mm |
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| 重量 | 470g |
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| Charge Limit Voltage | 16.8V |
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| Nominal Voltage | 14.8V |
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| Rated Capacity | 5000mAh |
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| Rated Energy | 74Wh |
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| 配置 | 4s 1P |
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| **Charger** | |
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| Input Voltage | DC:9V-12V |
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| Max Output Power | 25W |
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| Max Output Current | 1500mA |
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| Display Accuracy | ±10mV |
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| 尺寸 | Length 81mm × Width 50mm × Height 20mm |
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| 重量 | 76g |
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| **Remote Controller** | |
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| Operating Voltage | 4.5V-9V |
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| Channels | 8 |
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| Transmit Power | ＜ 10mW |
|
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| 重量 | 310g |
|
||||
| Dimensions (L×W×H) | Length 179mm × Width 81mm × Height 161mm |
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## Tutorials
|
||||
|
||||
- Tutorials [English](https://docs.amovlab.com/f450-v6c-wiki/#/en/)/[Chinese](https://docs.amovlab.com/F450-V6C-wiki/#/src/%E8%A7%84%E6%A0%BC%E5%8F%82%E6%95%B0/%E8%A7%84%E6%A0%BC%E5%8F%82%E6%95%B0) (docs.amovlab.com/)
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||||
|
||||
## Upgrading
|
||||
|
||||
Amovlab previously supplied this vehicle with PX4 v1.13.
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|
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In order to upgrade to PX4 v1.15, you should select the [X500 airframe](../config/airframe.md) and import [this parameter file](https://github.com/PX4/PX4-Autopilot/blob/main/docs/assets/airframes/multicopter/amovlab_f410/amovlabf410_drone_v1.15.4.params) to apply the new [actuator output configuration](../config/actuators.md) (used from PX4 v1.14).
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||||
Then retune as necessary.
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||||
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||||
Contact Amovlab for information about upgrading to other versions.
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||||
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||||
## 视频
|
||||
|
||||
<lite-youtube videoid="RzmI1d5093I" title="F410 Mid-Axis UAVs"/>
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@@ -24,6 +24,7 @@ This section lists vehicles that are sold fully assembled and ready to fly (RTF)
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||||
- [ModalAI Sentinel](https://www.modalai.com/sentinel)
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||||
- [MindRacer 210](../complete_vehicles_mc/mindracer210.md)
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||||
- [NanoMind 110](../complete_vehicles_mc/nanomind110.md)
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||||
- [Amovlab F410](../complete_vehicles_mc/amov_F410_drone.md)
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||||
|
||||
## PX4 Compatible
|
||||
|
||||
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||||
@@ -54,6 +54,30 @@ The following topics explain how to start on-target debugging:
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||||
- [MCU Eclipse/J-Link Debugging for PX4](eclipse_jlink.md).
|
||||
- [Visual Studio Code IDE (VSCode)](../dev_setup/vscode.md).
|
||||
|
||||
## 视频
|
||||
|
||||
The following video provides an overview of the tooling available for advanced debugging of PX4 via GDB.
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||||
It was presented at the PX4 Developer Conference 2023.
|
||||
|
||||
<lite-youtube videoid="1c4TqEn3MZ0" title="Debugging PX4 - Niklas Hauser, Auterion AG"/>
|
||||
|
||||
**Overview:** The inspection tools built into PX4 via Mavlink Shell (NSH) as well as interpretation of the PX4 uLog after a flight require PX4 to still be functioning. However, the most problematic bugs often manifest themselves in a (partially) hanging or crashed system. Therefore, we present the open-source Embedded Debug Tools project, which manages and configures probe, debugging and analysis tools for PX4 and NuttX:
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||||
|
||||
- Debug interfaces (SWD) and the associated debug probes (J-Link, STLink) and libraries (JLinkGDBServer, OpenOCD).
|
||||
- How to install and configure `arm-none-eabi-gdb(-py3)` for debugging your ELF.
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||||
- Commonly used GDB commands and scripts.
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||||
- Advanced GDB scripting via its Python API.
|
||||
- Inspection of NuttX RTOS component internals: tasks, semaphores, scheduler.
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||||
- Inspecting peripheral state with CMSIS-SVD files and custom visualizations.
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||||
- Coredumping for post-mortem debugging via CrashDebug.
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||||
- Hardfault analysis in a live system and via the hardfault log.
|
||||
- Remote GDB scripting via the Machine Interface.
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||||
- Automated HiL testing of PX4 via combined GDB and NSH scripting.
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||||
- ITM profiling over SWO pin using Orbuculum.
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||||
- Thread/IRQ/Workqueue/Heap visualization and latency analysis using perfetto.
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||||
- High-bandwidth ETM tracing over TRACE pins: J-Trace and ORBtrace mini.
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||||
- We conclude with an overview of interesting related project and an outlook on the future of PX4 debugging.
|
||||
|
||||
## Embedded Debug Tools
|
||||
|
||||
The [Embedded Debug Tools](https://pypi.org/project/emdbg/) connect several software and hardware debugging tools together in a user friendly Python package to more easily enable advanced use cases for ARM Cortex-M microcontrollers and related devices.
|
||||
|
||||
@@ -10,6 +10,13 @@ It was presented at the PX4 Developer Conference 2019.
|
||||
|
||||
<lite-youtube videoid="KZkAM_PVOi0" title="Hardfault debugging on PX4"/>
|
||||
|
||||
---
|
||||
|
||||
The following video provides an overview of the tooling available for advanced debugging of PX4 via GDB (including hard fault debugging).
|
||||
It was presented at the PX4 Developer Conference 2023.
|
||||
|
||||
<lite-youtube videoid="1c4TqEn3MZ0" title="Debugging PX4 - Niklas Hauser, Auterion AG"/>
|
||||
|
||||
## Debugging Hard Faults in NuttX
|
||||
|
||||
A typical scenario that can cause a hard fault is when the processor overwrites the stack and then the processor returns to an invalid address from the stack.
|
||||
|
||||
@@ -377,5 +377,5 @@ In landing mode, the distance sensor is used to determine proximity to the groun
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## See Also
|
||||
|
||||
- [Missions](../flying/missions.md)
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||||
- [Package Delivery Mission](../flying/package_delivery_mission.md)
|
||||
- [包裹投递任务](../flying/package_delivery_mission.md)
|
||||
- [Mission Mode (MC)](../flight_modes_mc/mission.md)
|
||||
|
||||
@@ -231,5 +231,5 @@ If the vehicle is already flying when the mission is started, a takeoff mission
|
||||
## See Also
|
||||
|
||||
- [Missions](../flying/missions.md)
|
||||
- [Package Delivery Mission](../flying/package_delivery_mission.md)
|
||||
- [包裹投递任务](../flying/package_delivery_mission.md)
|
||||
- [Mission Mode (FW)](../flight_modes_fw/mission.md)
|
||||
|
||||
@@ -54,4 +54,4 @@ A VTOL mission requires a `VTOL Takeoff` mission item (`MAV_CMD_NAV_VTOL_TAKEOFF
|
||||
- [Mission Mode (MC)](../flight_modes_mc/mission.md)
|
||||
- [Mission Mode (FW)](../flight_modes_fw/mission.md)
|
||||
- [Missions](../flying/missions.md)
|
||||
- [Package Delivery Mission](../flying/package_delivery_mission.md)
|
||||
- [包裹投递任务](../flying/package_delivery_mission.md)
|
||||
|
||||
@@ -338,9 +338,11 @@ If motors/servos were connected to different outputs than suggested, you will ne
|
||||
|
||||
|
||||
|
||||
3. Adjust the minimum or maximum value that the servo is pointing vertical up.
|
||||
3. Adjust the minimum (or, if revesed: maximum) value such that the rotor thrust can point backward (needed for proper yaw allocation in Multicopter mode).
|
||||
|
||||
4. Then type `commander transition` into the MAVLink shell to adjust the horizontal position.
|
||||
4. Adjust the parameter `VT_TILT_MC` such that the rotors point exactly upwards when given zero input.
|
||||
|
||||
5. Then type `commander transition` into the MAVLink shell to adjust the horizontal position.
|
||||
|
||||
#### Control Surfaces
|
||||
|
||||
@@ -368,8 +370,8 @@ The direction can't be changed in software because the vehicle does not use [DSh
|
||||
## 第一次飞行
|
||||
|
||||
- Check tilt rotor reactions in [Stabilized mode](../flight_modes_fw/stabilized.md). Keep the throttle stick at the minimum and place the vehicle at the ground. To enable the tilt servos you need to arm the vehicle.
|
||||
- Yaw the vehicle to the right (nose to the right) -> left motor should tilt down
|
||||
- Yaw the vehicle to the left (nose to the left) -> right motor should tilt down
|
||||
- Command a yaw to the right (nose to the right) -> left motor should tilt forward, right motor should tilt backward
|
||||
- Command a yaw to the left (nose to the left) -> left motor should tilt backward, right motor should tilt forward
|
||||
- Mount the propellers.
|
||||
- Check center of gravity (GG).
|
||||
Switch the vehicle into forward flight mode.
|
||||
|
||||
@@ -86,7 +86,7 @@ _PX4_ 是一款专业级飞控。
|
||||
|
||||
如何贡献代码和文档的信息可以在 [贡献](contribute/index.md部分中找到：
|
||||
|
||||
- [Code](contribute/index.md)
|
||||
- [代码](contribute/index.md)
|
||||
- [Documentation](contribute/docs.md)
|
||||
- [Translation](contribute/translation.md)
|
||||
|
||||
@@ -133,8 +133,8 @@ _Dronecode 日历_ 展示了面向平台用户和开发者的重要社区活动
|
||||
|
||||
PX4 飞行控制架构由[Dronecode Project](https://www.dronecode.org/)负责管理。
|
||||
|
||||
<a href="https://www.dronecode.org/" style="padding:20px" ><img src="https://mavlink.io/assets/site/logo_dronecode.png" alt="Dronecode Logo" width="110px"/></a> <a href="https://www.linuxfoundation.org/projects" style="padding:20px;"><img src="https://mavlink.io/assets/site/logo_linux_foundation.png" alt="Linux Foundation Logo" width="80px" /></a>
|
||||
<a href="https://www.dronecode.org/" style="padding:20px" ><img src="../assets/site/logo_dronecode.png" alt="Dronecode Logo" width="110px"/></a> <a href="https://www.linuxfoundation.org/projects" style="padding:20px;"><img src="../assets/site/logo_linux_foundation.png" alt="Linux Foundation Logo" width="80px" /></a>
|
||||
|
||||
<div style="padding:10px"> </div>
|
||||
|
||||
Doc build time: {{ $buildTime }}
|
||||
文档构建时间：{{ $buildTime }}
|
||||
|
||||
@@ -2,16 +2,16 @@
|
||||
|
||||
子分类
|
||||
|
||||
- [Imu](modules_driver_imu.md)
|
||||
- [Distance Sensor](modules_driver_distance_sensor.md)
|
||||
- [Ins](modules_driver_ins.md)
|
||||
- [Airspeed Sensor](modules_driver_airspeed_sensor.md)
|
||||
- [Baro](modules_driver_baro.md)
|
||||
- [Transponder](modules_driver_transponder.md)
|
||||
- [Imu](modules_driver_imu.md)
|
||||
- [Rpm Sensor](modules_driver_rpm_sensor.md)
|
||||
- [Optical Flow](modules_driver_optical_flow.md)
|
||||
- [Camera](modules_driver_camera.md)
|
||||
- [Magnetometer](modules_driver_magnetometer.md)
|
||||
- [Camera](modules_driver_camera.md)
|
||||
- [Distance Sensor](modules_driver_distance_sensor.md)
|
||||
- [Optical Flow](modules_driver_optical_flow.md)
|
||||
- [Ins](modules_driver_ins.md)
|
||||
- [Baro](modules_driver_baro.md)
|
||||
|
||||
## MCP23009
|
||||
|
||||
|
||||
@@ -218,11 +218,11 @@ lightware_sf45_serial <command> [arguments...]
|
||||
|
||||
## ll40ls
|
||||
|
||||
Source: [drivers/distance_sensor/ll40ls](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/ll40ls)
|
||||
Source: [drivers/distance_sensor/ll40ls_pwm](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/ll40ls_pwm)
|
||||
|
||||
### 描述
|
||||
|
||||
源码：<a href="https://github.com/PX4/Firmware/tree/master/src/drivers/distance_sensor/pga460">drivers/distance_sensor/pga460</a>
|
||||
PWM driver for LidarLite rangefinders.
|
||||
|
||||
超声笔测距仪驱动，负责处理与设备的用心并通过 uORB 将距离信息发布出去。
|
||||
|
||||
@@ -235,23 +235,13 @@ Setup/usage information: https://docs.px4.io/main/en/sensor/lidar_lite.html
|
||||
```
|
||||
ll40ls <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: 98
|
||||
start Start driver
|
||||
[-R <val>] Sensor rotation - downward facing by default
|
||||
default: 25
|
||||
|
||||
regdump
|
||||
status Print driver status information
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
stop Stop driver
|
||||
```
|
||||
|
||||
## pga460
|
||||
@@ -503,8 +493,6 @@ tfmini <command> [arguments...]
|
||||
|
||||
stop Stop driver
|
||||
|
||||
test Test driver (basic functional tests)
|
||||
|
||||
status Print driver status
|
||||
```
|
||||
|
||||
|
||||
@@ -225,38 +225,6 @@ ist8310 <command> [arguments...]
|
||||
status print status info
|
||||
```
|
||||
|
||||
## iis2mdc
|
||||
|
||||
Source: [drivers/magnetometer/iis2mdc](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/magnetometer/iis2mdc)
|
||||
|
||||
<a id="iis2mdc_usage"></a>
|
||||
|
||||
### 用法
|
||||
|
||||
```
|
||||
iis2mdc <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
[-I] Internal I2C bus(es)
|
||||
[-X] External I2C bus(es)
|
||||
[-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)
|
||||
[-a <val>] I2C address
|
||||
default: 30
|
||||
[-R <val>] Rotation
|
||||
default: 0
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## lis3mdl
|
||||
|
||||
Source: [drivers/magnetometer/lis3mdl](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/magnetometer/lis3mdl)
|
||||
|
||||
@@ -1,19 +1,18 @@
|
||||
# VehicleConstraints (UORB message)
|
||||
# 载具限制 (UORB 消息)
|
||||
|
||||
Local setpoint constraints in NED frame
|
||||
setting something to NaN means that no limit is provided
|
||||
|
||||
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleConstraints.msg)
|
||||
[源文件](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleConstraints.msg)
|
||||
|
||||
```c
|
||||
# Local setpoint constraints in NED frame
|
||||
# setting something to NaN means that no limit is provided
|
||||
# 本地设定点在东北天（NED）坐标系中的约束条件
|
||||
# 将某个值设为 NaN 意味着未设置限制
|
||||
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
uint64 timestamp # 自系统启动以来的时间（微秒）
|
||||
|
||||
float32 speed_up # in meters/sec
|
||||
float32 speed_down # in meters/sec
|
||||
|
||||
bool want_takeoff # tell the controller to initiate takeoff when idling (ignored during flight)
|
||||
float32 speed_up # 上升速度（米 / 秒）
|
||||
float32 speed_down # 下降速度（米 / 秒）
|
||||
|
||||
bool want_takeoff # 告知控制器在怠速时启动起飞（飞行过程中此指令被忽略）
|
||||
```
|
||||
|
||||
@@ -1,17 +1,16 @@
|
||||
# VehicleMagnetometer (UORB message)
|
||||
# 载具磁力计器 (UORB 消息)
|
||||
|
||||
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleMagnetometer.msg)
|
||||
[源文件](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleMagnetometer.msg)
|
||||
|
||||
```c
|
||||
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
uint64 timestamp # 原始数据的时间戳（微秒）
|
||||
|
||||
uint64 timestamp_sample # the timestamp of the raw data (microseconds)
|
||||
uint64 timestamp_sample # 所选磁力计的唯一设备 ID
|
||||
|
||||
uint32 device_id # unique device ID for the selected magnetometer
|
||||
uint32 device_id # 所选磁力计的唯一设备 ID
|
||||
|
||||
float32[3] magnetometer_ga # Magnetic field in the FRD body frame XYZ-axis in Gauss
|
||||
|
||||
uint8 calibration_count # Calibration changed counter. Monotonically increases whenever calibration changes.
|
||||
float32[3] magnetometer_ga # 机体框架 FRD 下，XYZ 轴方向的磁场强度（单位：高斯）
|
||||
|
||||
uint8 calibration_count # 校准变化计数器。每当校准发生变化时，该计数器单调递增。
|
||||
```
|
||||
|
||||
@@ -1,15 +1,15 @@
|
||||
# VehicleThrustSetpoint (UORB message)
|
||||
# 载具推力设定点（UORB 消息）
|
||||
|
||||
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleThrustSetpoint.msg)
|
||||
[源文件](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleThrustSetpoint.msg)
|
||||
|
||||
```c
|
||||
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
uint64 timestamp_sample # timestamp of the data sample on which this message is based (microseconds)
|
||||
uint64 timeestamp # 从系统启动起的时间(微秒)
|
||||
uint64 timestamp_samp #此消息所基于的数据样本的时间戳（微秒）
|
||||
|
||||
float32[3] xyz # thrust setpoint along X, Y, Z body axis [-1, 1]
|
||||
float32[3] xyz # 沿机体 X、Y、Z 轴的推力设定点 [ - 1, 1]
|
||||
|
||||
# TOPICS vehicle_thrust_setpoint
|
||||
# TOPICS vehicle_thrust_setpoint_virtual_fw vehicle_thrust_setpoint_virtual_mc
|
||||
# TOPICS vehicle_thent_setpoint
|
||||
# TOPICS vehicle_thentust_setpoint_virtual_fw vehicle_thent_setpoint_virtual_mc
|
||||
|
||||
```
|
||||
|
||||
@@ -1,17 +1,16 @@
|
||||
# VelocityLimits (UORB message)
|
||||
# 速度限制 (UORB 消息)
|
||||
|
||||
Velocity and yaw rate limits for a multicopter position slow mode only
|
||||
仅适用于多旋翼飞行器位置慢速模式的速度和偏航率限制
|
||||
|
||||
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VelocityLimits.msg)
|
||||
[源文件](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VelocityLimits.msg)
|
||||
|
||||
```c
|
||||
# Velocity and yaw rate limits for a multicopter position slow mode only
|
||||
# 多片段位置的速度和yaw 率限制仅限
|
||||
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
|
||||
# absolute speeds, NAN means use default limit
|
||||
float32 horizontal_velocity # [m/s]
|
||||
float32 vertical_velocity # [m/s]
|
||||
float32 yaw_rate # [rad/s]
|
||||
uint64 时间戳 # 系统启动后的时间 (微秒)
|
||||
|
||||
# 绝对速度， NAN 表示使用默认限制
|
||||
float32 水平速度 # [m/]
|
||||
float32 vertical_速度 # [m/]
|
||||
float32 yaw_rate # [rad/]
|
||||
```
|
||||
|
||||
@@ -1,12 +1,11 @@
|
||||
# WheelEncoders (UORB message)
|
||||
# 滚轮编码器 (UORB 消息)
|
||||
|
||||
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/WheelEncoders.msg)
|
||||
[源文件](https://github.com/PX4/PX4-Autopilot/blob/main/msg/WheelEncoders.msg)
|
||||
|
||||
```c
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
uint64 timestamp #系统启动后的时间（微秒）
|
||||
|
||||
# Two wheels: 0 right, 1 left
|
||||
float32[2] wheel_speed # [rad/s]
|
||||
float32[2] wheel_angle # [rad]
|
||||
|
||||
```
|
||||
|
||||
@@ -1,3 +1,3 @@
|
||||
# Versioned Messages (uORB Message Reference)
|
||||
|
||||
See [list here](../msg_docs/index.md#versioned-messages).
|
||||
请查看[这个列表](../msg_docs/index.md#versioned-messages) 。
|
||||
|
||||
@@ -1,13 +1,13 @@
|
||||
# Payloads and Cameras
|
||||
# 有效载荷和摄像机
|
||||
|
||||
Payloads are equipment carried by the vehicle to meet user or mission objectives.
|
||||
PX4 supports a wide range of vehicle payloads, including cameras of various types, cargo, instrumentation, and so on.
|
||||
载荷是指载具为达到用户或任务目标而携带的设备。
|
||||
PX4支持广泛的载具有效载荷，包括各类照相机、货物、仪器等等。
|
||||
|
||||
Payloads are connected to [Flight Controller outputs](../getting_started/px4_basic_concepts.md#outputs-motors-servos-actuators), and can be triggered automatically in missions, manually from an RC Controller or Joystick, or from a Ground Station (via MAVLink/MAVSDK commands).
|
||||
有效载荷连接到飞行控制器输出端口，并且可以在任务中自动触发，也能通过遥控控制器或操纵杆手动触发，还能从地面站（通过 MAVLink/MAVSDK 命令）触发。
|
||||
|
||||
- [Payload Use Cases](../payloads/use_cases.md)
|
||||
- [Package Delivery Mission](../flying/package_delivery_mission.md)
|
||||
- [Generic Actuator Control](../payloads/generic_actuator_control.md)
|
||||
- [Camera](../camera/index.md)
|
||||
- [Gimbal \(Mount\) Configuration](../advanced/gimbal_control.md)
|
||||
- [Grippers](../peripherals/gripper.md)
|
||||
- [有效载荷使用案例](../payloads/use_cases.md)
|
||||
- [包裹投递任务](../flying/package_delivery_mission.md)
|
||||
- [通用执行器控制](../payloads/generic_actuator_control.md)
|
||||
- [相机](../camera/index.md)
|
||||
- [云台 \(挂载\) 配置](../advanced/gimbal_control.md)
|
||||
- [机械臂](../peripherals/gripper.md)
|
||||
|
||||
@@ -8,7 +8,8 @@ This section explains how to connect and configure a [gripper](../peripherals/gr
|
||||
|
||||
The following PWM-connected servos have been tested with PX4:
|
||||
|
||||
- [R4-EM-R22-161 : push-to-close latch electronic lock](https://southco.com/en_any_int/r4-em-r22-161).
|
||||
- [R4-EM-R22-161 push-to-close latch electronic lock](https://southco.com/en_any_int/r4-em-r22-161) (SouthCo)
|
||||
- [FluxGrip FG40 electro-permanent magnetic gripper](http://zubax.com/fg40) (Zubax)
|
||||
|
||||
## Connecting a PWM-controlled Gripper
|
||||
|
||||
|
||||
@@ -1,11 +1,11 @@
|
||||
# 版本发布
|
||||
|
||||
A list of PX4 release notes, they contain a list of the changes that went into each release, explaining the included features, bug fixes, deprecations and updates in detail.
|
||||
这是一份 PX4 发行说明列表，其中包含每次发布所做更改的清单，详细说明了新增功能、漏洞修复、弃用内容以及更新情况。
|
||||
|
||||
- [main](../releases/main.md) (changes since v1.15)
|
||||
- [main](../releases/main.md) (v1.15以来的变化)
|
||||
- [v1.15](../releases/1.15.md)
|
||||
- [v1.14](../releases/1.14.md)
|
||||
- [v1.13](../releases/1.13.md)
|
||||
- [v1.12](../releases/1.12.md)
|
||||
|
||||
The full archive of releases for the PX4 autopilot project can be found on [GitHub](https://github.com/PX4/PX4-Autopilot/releases)
|
||||
PX4自动驾驶仪项目的完整发布存档可在[GitHub](https://github.com/PX4/PX4-Autopilot/releases)上找到。
|
||||
|
||||
@@ -5,15 +5,15 @@
|
||||
## 系统必备组件
|
||||
|
||||
- 具有显示器、键盘或配置 ssh 连接的工作树莓派
|
||||
- 本指南假定您的 RPi 上安装了 Raspbian "JESSIE"。 If not: [install it](https://www.raspberrypi.org/downloads/raspbian/) or [upgrade](http://raspberrypi.stackexchange.com/questions/27858/upgrade-to-raspbian-jessie) your Raspbian Wheezy to Jessie.
|
||||
- 本指南假定您的 RPi 上安装了 Raspbian "JESSIE"。 如果没有：[安装它](https://www.raspberrypi.org/downloads/raspbian/) ，或者将你的树莓派操作系统Raspbian Wheezy [升级](http://raspberrypi.stackexchange.com/questions/27858/upgrade-to-raspbian-jessie)至Jessie版本。
|
||||
|
||||
## 安装
|
||||
|
||||
Follow [this guide](http://wiki.ros.org/ROSberryPi/Installing%20ROS%20Indigo%20on%20Raspberry%20Pi) for the actual installation of ROS Indigo. 注意：安装 "ROS-Comm" 变体。 桌面变体太臃肿了。
|
||||
请遵循[本指南](http://wiki.ros.org/ROSberryPi/Installing%20ROS%20Indigo%20on%20Raspberry%20Pi)来实际安装ROS Indigo。 注意：安装 "ROS-Comm" 变体。 桌面变体太臃肿了。
|
||||
|
||||
### 安装程序包时出错
|
||||
|
||||
If you want to download packages (e.g. `sudo apt-get install ros-indigo-ros-tutorials`), you might get an error saying: "unable to locate package ros-indigo-ros-tutorials".
|
||||
如果你想要下载软件包(例如`sudo apt-get install ros-indigo-ros-tutorials`)，你可能会遇到一个错误，说："unable to locate package ros-indigo-ros-tutorials"。
|
||||
|
||||
如果是这样，请按以下步骤操作：转到您的 catkin 工作区（例如 ~/ros_catkin_ws）并更改包的名称。
|
||||
|
||||
|
||||
@@ -1,12 +1,12 @@
|
||||
# Accelerometer Hardware & Setup
|
||||
# 加速度计硬件与设置
|
||||
|
||||
PX4 uses accelerometer data for velocity estimation.
|
||||
PX4使用加速计数据进行速度估计。
|
||||
|
||||
You should not need to attach an accelometer as a stand-alone external device:
|
||||
你无需将加速度计作为独立的外部设备进行连接。
|
||||
|
||||
- Most flight controllers, such as those in the [Pixhawk Series](../flight_controller/pixhawk_series.md), include an accelerometer as part of the flight controller's [Inertial Motion Unit (IMU)](https://en.wikipedia.org/wiki/Inertial_measurement_unit).
|
||||
- Gyroscopes are present as part of an [external INS, ARHS or INS-enhanced GNSS system](../sensor/inertial_navigation_systems.md).
|
||||
- 大多数飞行控制器，例如[Pixhawk系列](../flight_controller/pixhawk_series.md)中的飞行控制器，都将加速度计作为飞行控制器[惯性测量单元（IMU）](https://en.wikipedia.org/wiki/Inertial_measurement_unit)的一部分。
|
||||
- 陀螺仪作为[外部惯性导航系统、姿态与航向参考系统或惯性导航增强型全球导航卫星系统](../sensor/inertial_navigation_systems.md)的一部分而存在。
|
||||
|
||||
The accelerometer must be calibrated before first use of the vehicle:
|
||||
在首次使用载具之前必须校准加速计：
|
||||
|
||||
- [Accelerometer Calibration](../config/accelerometer.md)
|
||||
- [加速度计校准](../config/accelerometer.md)
|
||||
|
||||
@@ -1,12 +1,12 @@
|
||||
# Gyroscope Hardware & Setup
|
||||
# 陀螺仪硬件和设置
|
||||
|
||||
PX4 uses a gyroscope for estimating the vehicle attitude (orientation).
|
||||
PX4使用一个陀螺仪来估计载具的姿态（方向）。
|
||||
|
||||
You should not need to attach a gyroscope as a stand-alone external device:
|
||||
你无需将陀螺仪作为独立的外部设备进行连接：
|
||||
|
||||
- Most flight controllers, such as those in the [Pixhawk Series](../flight_controller/pixhawk_series.md), include a gyroscope as part of the flight controller's [Inertial Motion Unit (IMU)](https://en.wikipedia.org/wiki/Inertial_measurement_unit).
|
||||
- Gyroscopes are present as part of an [external INS, ARHS or INS-enhanced GNSS system](../sensor/inertial_navigation_systems.md).
|
||||
- 大多数飞行控制器，如 [Pixhawk Series](../flight_controller/pixhawk_series.md) 都将陀螺仪作为飞行控制器 [惯性测量单元（IMU）](https://en.wikipedia.org/wiki/Inertial_measurement_unit) 的一部分。
|
||||
- 陀螺仪作为[外部惯性导航系统、姿态与航向参考系统或惯性导航增强型全球导航卫星系统](../sensor/inertial_navigation_systems.md)的一部分而存在。
|
||||
|
||||
The gyroscope must be calibrated before first use of the vehicle:
|
||||
在首次使用载具之前必须校准陀螺仪：
|
||||
|
||||
- [Gyroscope Calibration](../config/gyroscope.md)
|
||||
- [陀螺仪校准](../config/gyroscope.md)
|
||||
|
||||
@@ -1,8 +1,8 @@
|
||||
# PX4FLOW Smart Camera (Deprecated)
|
||||
# PX4FLOW 智能摄像机(过时)
|
||||
|
||||
<Badge type="info" text="Discontinued" />
|
||||
|
||||
PX4 does not support the PX4Flow [optical flow](../sensor/optical_flow.md) sensor from PX4 v1.13 (it doesn't work with current firmware).
|
||||
PX4 may work with older PX4Flow firmware.
|
||||
PX4 不支持 PX4 v1.13 的 PX4Flow [光流](../sensor/optical_flow.md)传感器（它不适用于当前固件）。
|
||||
PX4可以使用旧的 PX4Flow 固件。
|
||||
|
||||
Documentation has been removed (if needed, see [Legacy Docs for PX4Flow in v1.13](https://docs.px4.io/v1.13/en/sensor/px4flow.html)).
|
||||
文档已被删除（如果需要, 请参阅[v1.13中的 PX4Flow 的旧文档](https://docs.px4.io/v1.13/en/sensor/px4flow.html)）。
|
||||
|
||||
@@ -1,9 +1,9 @@
|
||||
# 转速计（转数计数器）
|
||||
|
||||
Tachometers (also known as [revolution-counter sensors](https://en.wikipedia.org/wiki/Tachometer#In_automobiles,_trucks,_tractors_and_aircraft)) can be used to measure the rate of rotation turning vehicle parts like rotors, engines, or wheels.
|
||||
转速表（又称[也被称为转数计数器传感器](https://en.wikipedia.org/wiki/Tachometer#In_automobiles,_trucks,_tractors_and_aircraft)）可用于测量诸如旋翼、发动机或车轮等车辆转动部件的旋转速率。
|
||||
|
||||
:::info
|
||||
Currently PX4 just logs RPM data: it is not used for state estimation or control.
|
||||
当前 PX4 仅记录 RPM 数据：它没有用于状态估计或控制。
|
||||
:::
|
||||
|
||||
本节列出了 PX4 支持的转速计传感器（更详细的文档点击链接）。
|
||||
@@ -13,4 +13,4 @@ Currently PX4 just logs RPM data: it is not used for state estimation or control
|
||||
|
||||
## 支持的硬件
|
||||
|
||||
- [ThunderFly TFRPM01 Tachometer](../sensor/thunderfly_tachometer.md)
|
||||
- [ThunderFly TFRPM01 转速传感器](../sensor/thunderfly_tachometer.md)
|
||||
|
||||
@@ -1,4 +1,4 @@
|
||||
# 传感器和执行器 I/O
|
||||
|
||||
本节包含有关 PX4 中集成的传感器和执行器的主题。
|
||||
It covers both sensor buses ([I2C](../sensor_bus/i2c_general.md), [CAN](../can/index.md), [UART](../uart/index.md), SPI) and also the main PWM ports.
|
||||
它涵盖传感器总线([I2C](../sensor_bus/i2c_general.md)、 [CAN](../can/index.md)、 [UART](../uart/index.md)、SPI)以及主要的 PWM 端口。
|
||||
|
||||
@@ -35,16 +35,20 @@ This allows for greater flexibility and customization.
|
||||
[Multiple vehicles with ROS 2](../ros2/multi_vehicle.md) are possible.
|
||||
|
||||
- First follow the installation instructions for [Gazebo](../sim_gazebo_gz/index.md).
|
||||
|
||||
- Then configure your system for [ROS 2 / PX4 operations](../ros2/user_guide.md#installation-setup).
|
||||
|
||||
- In different terminals manually start a multi vehicle simulation.
|
||||
This example spawns 2 X500 Quadrotors and aFPX fixed-wing.
|
||||
|
||||
::: info
|
||||
Note that in the first terminal you **do not** specify standalone mode. The first terminal will start the gz-server and the other two
|
||||
instances will connect to it.
|
||||
**Terminal 1**
|
||||
|
||||
:::
|
||||
|
||||
**Terminal 1**
|
||||
|
||||
```sh
|
||||
PX4_SYS_AUTOSTART=4001 PX4_SIM_MODEL=gz_x500 ./build/px4_sitl_default/bin/px4 -i 1
|
||||
```
|
||||
|
||||
@@ -1,15 +1,15 @@
|
||||
# 智能电池
|
||||
|
||||
智能电池提供的电池状态信息比自动驾驶仪估计的“哑”电池更准确(通常也更详细)。
|
||||
This allows for more more reliable flight planning notification of failure conditions.
|
||||
这使得能够更可靠地通知故障条件。
|
||||
这些信息可能包括:剩余电量、空电时间(估计)、电池电压(额定最大/最小电压、电流电压等)、温度、电流、故障信息、电池供应商、化学成分等。
|
||||
|
||||
PX4至少支持以下智能电池:
|
||||
PX4（至少）支持以下智能电池：
|
||||
|
||||
- [Rotoye Batmon](../smart_batteries/rotoye_batmon.md)
|
||||
- [Rotoye 电池监测器](../smart_batteries/rotoye_batmon.md)
|
||||
|
||||
### 更多信息
|
||||
|
||||
- [Mavlink Battery Protocol](https://mavlink.io/en/services/battery.html)
|
||||
- [batt_smbus](../modules/modules_driver.md) - PX4 SMBus Battery Driver docs
|
||||
- [Safety > Low Battery Failsafe](../config/safety.md#battery-level-failsafe).
|
||||
- [Mavlink 电池协议](https://mavlink.io/en/services/battery.html)
|
||||
- [batt_smbus](../modules/modules_driver.md) - PX4 系统管理总线（SMBus）电池驱动文档
|
||||
- [安全 > 低电量故障保护](../config/safety.md#battery-level-failsafe)。
|
||||
|
||||
@@ -1,6 +1,6 @@
|
||||
# 补充信息
|
||||
|
||||
[Rotoye Batmon](https://rotoye.com/batmon/) is a kit for adding smart battery functionality to off-the-shelf Lithium-Ion and LiPo batteries.
|
||||
[Rotoye 电池监测器](https://rotoye.com/batmon/) 是一款套件，用于为现成的锂离子和锂聚合物电池增添智能电池功能。
|
||||
It can be purchased as a standalone unit or as part of a factory-assembled smart-battery.
|
||||
|
||||
:::info
|
||||
@@ -8,27 +8,27 @@ At time of writing you can only use Batmon by [building a custom branch of PX4](
|
||||
Support in the codeline is pending [PR approval](https://github.com/PX4/PX4-Autopilot/pull/16723).
|
||||
:::
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
## 购买渠道
|
||||
|
||||
[Rotoye Store](https://rotoye.com/batmon/): Batmon kits, custom smart-batteries, and accessories
|
||||
[Rotoye 商店](https://rotoye.com/batmon/)：电池套件、自定义智能电池和配件
|
||||
|
||||
## Wiring/Connections
|
||||
|
||||
The Rotoye Batmon system uses an XT-90 battery connector with I2C pins, and an opti-isolator board to transmit data.
|
||||
Rotoye 电池监测系统系统采用带有 I2C 引脚的 XT - 90 电池连接器，以及一块光隔离板来传输数据。
|
||||
|
||||
|
||||
|
||||
|
||||
More details can be found [here](https://github.com/rotoye/batmon_reader)
|
||||
更多详细信息在[这里](https://github.com/rotoye/batmon_reader)可以找到
|
||||
|
||||
## 软件设置
|
||||
|
||||
### Build PX4 Firmware
|
||||
|
||||
1. Clone or download [Rotoye's fork of PX4:](https://github.com/rotoye/PX4-Autopilot/tree/batmon_4.03)
|
||||
1. 克隆或下载 [Rotoye的 PX4 分支：](https://github.com/rotoye/PX4-Autopilot/tree/batmon_4.03)
|
||||
```sh
|
||||
git clone https://github.com/rotoye/PX4-Autopilot.git
|
||||
cd PX4-Autopilot
|
||||
@@ -58,4 +58,4 @@ In _QGroundControl_:
|
||||
|
||||
## 更多信息
|
||||
|
||||
[Quick Start Guide](https://rotoye.com/batmon-tutorial/) (Rotoye)
|
||||
快速入门指南(https://rotoye.com/batmon-tutorial/) (Rotoye)
|
||||
|
||||
@@ -6,7 +6,7 @@
|
||||
|
||||
改动的数量，因此对文件所做的更改次数可以指示哪些文件/部件可能需要重构。
|
||||
|
||||
To find churn metrics a tool such as [Churn](https://github.com/danmayer/churn) can be used:
|
||||
要查找变更量指标，可以使用诸如[Churn](https://github.com/danmayer/churn)这样的工具：
|
||||
|
||||
```sh
|
||||
gem install churn
|
||||
|
||||
@@ -33,7 +33,7 @@
|
||||
|
||||
❏ 以稳定或高度模式着陆，油门低于 40％
|
||||
|
||||
❏ Upon touching ground, copter should disarm automatically within 2 seconds (disarm time set by parameter: [COM_DISARM_LAND](../advanced_config/parameter_reference.md#COM_DISARM_LAND))
|
||||
一旦触地，直升机应在2秒内自动上锁（上锁时间由参数[COM_DISARM_LAND](../advanced_config/parameter_reference.md#COM_DISARM_LAND)设置）
|
||||
|
||||
## 预期成果
|
||||
|
||||
|
||||
@@ -2,4 +2,4 @@
|
||||
|
||||
本节包含关于串行总线和串行驱动程序的主题:
|
||||
|
||||
- [Making Serial Port Drivers User-Configurable](../uart/user_configurable_serial_driver.md)
|
||||
- [串行端口驱动程序可由用户配置](../uart/user_configurable_serial_driver.md)
|
||||
|
||||
Reference in New Issue
Block a user