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docs/zh/flight_modes/offboard.md
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@@ -62,6 +62,11 @@ bool thrust_and_torque
bool direct_actuator
```
:::warning
The following list shows the `OffboardControlMode` options for copter, fixed-wing, and VTOL.
For rovers see the [rover section](#rover).
:::
The fields are ordered in terms of priority such that `position` takes precedence over `velocity` and later fields, `velocity` takes precedence over `acceleration`, and so on.
第一个非零字段(从上到下) 定义了Offboard模式所需的有效估计以及可用的设定值消息。
For example, if the `acceleration` field is the first non-zero value, then PX4 requires a valid `velocity estimate`, and the setpoint must be specified using the `TrajectorySetpoint` message.
@@ -90,20 +95,93 @@ Before using offboard mode with ROS 2, please spend a few minutes understanding
- Velocity setpoint (`velocity` different from `NaN` and `position` set to `NaN`). Non-`NaN` values acceleration are used as feedforward terms for the inner loop controllers.
- Acceleration setpoint (`acceleration` different from `NaN` and `position` and `velocity` set to `NaN`)
- 所有值都是基于NED(北, 东, 地)坐标系，位置、速度和加速的单位分别为\[m\], \[m/s\] 和\[m/s^2\] 。
- All values are interpreted in NED (Nord, East, Down) coordinate system and the units are `[m]`, `[m/s]` and `[m/s^2]` for position, velocity and acceleration, respectively.
- [px4_msgs::msg::VehicleAttitudeSetpoint](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleAttitudeSetpoint.msg)
- 支持以下输入组合：
- quaternion `q_d` + thrust setpoint `thrust_body`.
Non-`NaN` values of `yaw_sp_move_rate` are used as feedforward terms expressed in Earth frame and in \[rad/s\].
Non-`NaN` values of `yaw_sp_move_rate` are used as feedforward terms expressed in Earth frame and in `[rad/s]`.
- 姿态四元数表示无人机机体坐标系FRD(前、右、下) 与NED坐标系之间的旋转。 这个推力是在无人机体轴FRD坐标系下，并归一化为 \[-1, 1\] 。
- 姿态四元数表示无人机机体坐标系FRD(前、右、下) 与NED坐标系之间的旋转。
这个推力是在无人机体轴FRD坐标系下，并归一化为 \[-1, 1\] 。
- [px4_msgs::msg::VehicleRatesSetpoint](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleRatesSetpoint.msg)
- 支持以下输入组合：
- `roll`, `pitch`, `yaw` and `thrust_body`.
- 所有值都表示在无人机体轴FRD坐标系下。 角速率(roll, pitch, yaw) 单位为\[rad/s\] ，thrust_body归一化为 \[-1, 1\]。
- 所有值都表示在无人机体轴FRD坐标系下。
The rates are in `[rad/s]` while thrust_body is normalized in `[-1, 1]`.
### 无人车
Rover modules must set the control mode using `OffboardControlMode` and use the appropriate messages to configure the corresponding setpoints.
The approach is similar to other vehicle types, but the allowed control mode combinations and setpoints are different:
| Category | 用法 | Setpoints |
| -------------------------------------------------------------------------------------- | ----------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| (Recommended) [Rover Setpoints](#rover-setpoints) | General rover control | [RoverPositionSetpoint](../msg_docs/RoverPositionSetpoint.md), [RoverSpeedSetpoint](../msg_docs/RoverSpeedSetpoint.md), [RoverAttitudeSetpoint](../msg_docs/RoverAttitudeSetpoint.md), [RoverRateSetpoint](../msg_docs/RoverRateSetpoint.md), [RoverThrottleSetpoint](../msg_docs/RoverThrottleSetpoint.md), [RoverSteeringSetpoint](../msg_docs/RoverSteeringSetpoint.md) |
| [Actuator Setpoints](#actuator-setpoints) | Direct actuator control | [ActuatorMotors](../msg_docs/ActuatorMotors.md), [ActuatorServos](../msg_docs/ActuatorServos.md) |
| (Deprecated) [Trajectory Setpoint](#deprecated-trajectory-setpoint) | General vehicle control | [TrajectorySetpoint](../msg_docs/TrajectorySetpoint.md) |
#### Rover Setpoints
The rover modules use a hierarchical structure to propagate setpoints:
![Rover Control Structure](../../assets/middleware/ros2/px4_ros2_interface_lib/rover_control_structure.svg)
The "highest" setpoint that is provided will be used within the PX4 rover modules to generate the setpoints that are below it (overriding them!).
With this hierarchy there are clear rules for providing a valid control input:
- Provide a position setpoint **or**
- One of the setpoints on the "left" (speed **or** throttle) **and** one of the setpoints on the "right" (attitude, rate **or** steering).
All combinations of "left" and "right" setpoints are valid.
The following are all valid setpoint combinations and their respective control flags that must be set through [OffboardControlMode](../msg_docs/OffboardControlMode.md) (set all others to _false_).
Additionally, for some combinations we require certain setpoints to be published with `NAN` values so that the setpoints of interest are not overridden by the rover module (due to the hierarchy above).
&check; are the relevant setpoints we publish, and &cross; are the setpoint that need to be published with `NAN` values.
| Setpoint Combination | Control Flag | [RoverPositionSetpoint](../msg_docs/RoverPositionSetpoint.md) | [RoverSpeedSetpoint](../msg_docs/RoverSpeedSetpoint.md) | [RoverThrottleSetpoint](../msg_docs/RoverThrottleSetpoint.md) | [RoverAttitudeSetpoint](../msg_docs/RoverAttitudeSetpoint.md) | [RoverRateSetpoint](../msg_docs/RoverRateSetpoint.md) | [RoverSteeringSetpoint](../msg_docs/RoverSteeringSetpoint.md) |
| -------------------- | ----------------------------------------------------------- | ------------------------------------------------------------- | ------------------------------------------------------- | ------------------------------------------------------------- | ------------------------------------------------------------- | ----------------------------------------------------- | ------------------------------------------------------------- |
| 安装位置 | 位置 | &check; | | | | | |
| Speed + Attitude | 速度 | | &check; | | &check; | | |
| Speed + Rate | 速度 | | &check; | | &cross; | &check; | |
| Speed + Steering | 速度 | | &check; | | &cross; | &cross; | &check; |
| Throttle + Attitude | attitude | | | &check; | &check; | | |
| Throttle + Rate | body_rate | | | &check; | | &check; | |
| Throttle + Steering | thrust_and_torque | | | &check; | | | &check; |
:::info
If you intend to use the rover setpoints, we recommend using the [PX4 ROS 2 Interface Library](../ros2/px4_ros2_interface_lib.md) instead since it simplifies the publishing of these setpoints.
:::
#### Actuator Setpoints
Instead of controlling the vehicle using position, speed, rate and other setpoints, you can directly control the motors and actuators using [ActuatorMotors](../msg_docs/ActuatorMotors.md) and [ActuatorServos](../msg_docs/ActuatorServos.md).
In [OffboardControlMode](../msg_docs/OffboardControlMode.md) set `direct_actuator` to _true_ and all other flags to _false_.
:::info
This bypasses the rover modules including any limits on steering rates or accelerations and the inverse kinematics step.
We recommend using [RoverSteeringSetpoint](../msg_docs/RoverSteeringSetpoint.md) and [RoverThrottleSetpoint](../msg_docs/RoverThrottleSetpoint.md) instead for low level control (see [Rover Setpoints](#rover-setpoints)).
:::
#### (Deprecated) Trajectory Setpoint
:::warning
The [Rover Setpoints](#rover-setpoints) are a replacement for the [TrajectorySetpoint](../msg_docs/TrajectorySetpoint.md) and we highly recommend using those instead as they have a well defined behaviour and offer more flexibility.
:::
The rover modules support the _position_, _velocity_ and _yaw_ fields of the [TrajectorySetpoint](../msg_docs/TrajectorySetpoint.md).
However, only one of the fields is active at a time and is defined by the flags of [OffboardControlMode](../msg_docs/OffboardControlMode.md):
| Control Mode Flag | Active Trajectory Setpoint Field |
| ----------------- | -------------------------------- |
| 位置 | 位置 |
| 速度 | 速度 |
| attitude | yaw |
:::info
Ackermann rovers do not support the yaw setpoint.
:::
### Generic Vehicle
@@ -116,8 +194,10 @@ Before using offboard mode with ROS 2, please spend a few minutes understanding
- [px4_msgs::msg::ActuatorMotors](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ActuatorMotors.msg) + [px4_msgs::msg::ActuatorServos](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ActuatorServos.msg)
- 直接控制电机输出和/或伺服系统（舵机）输出。
- Currently works at lower level than then `control_allocator` module. Do not publish these messages when not in offboard mode.
- 所有值归一化为\[-1, 1\]。 For outputs that do not support negative values, negative entries map to `NaN`.
- Currently works at lower level than then `control_allocator` module.
Do not publish these messages when not in offboard mode.
- All the values normalized in `[-1, 1]`.
For outputs that do not support negative values, negative entries map to `NaN`.
- `NaN` maps to disarmed.
## MAVLink 消息
@@ -207,41 +287,7 @@ Before using offboard mode with ROS 2, please spend a few minutes understanding
### 无人车
- [SET_POSITION_TARGET_LOCAL_NED](https://mavlink.io/en/messages/common.html#SET_POSITION_TARGET_LOCAL_NED)
- The following input combinations are supported (in `type_mask`): <!-- https://github.com/PX4/PX4-Autopilot/blob/main/src/lib/FlightTasks/tasks/Offboard/FlightTaskOffboard.cpp#L166-L170 -->
- Position setpoint (only `x`, `y`, `z`)
- Specify the _type_ of the setpoint in `type_mask`:
::: info
The _setpoint type_ values below are not part of the MAVLink standard for the `type_mask` field.
::
值为：
- 12288：悬停设定值（无人机足够接近设定值时会停止）。
- Velocity setpoint (only `vx`, `vy`, `vz`)
- PX4 supports the coordinate frames (`coordinate_frame` field): [MAV_FRAME_LOCAL_NED](https://mavlink.io/en/messages/common.html#MAV_FRAME_LOCAL_NED) and [MAV_FRAME_BODY_NED](https://mavlink.io/en/messages/common.html#MAV_FRAME_BODY_NED).
- [SET_POSITION_TARGET_GLOBAL_INT](https://mavlink.io/en/messages/common.html#SET_POSITION_TARGET_GLOBAL_INT)
- The following input combinations are supported (in `type_mask`): <!-- https://github.com/PX4/PX4-Autopilot/blob/main/src/lib/FlightTasks/tasks/Offboard/FlightTaskOffboard.cpp#L166-L170 -->
- Position setpoint (only `lat_int`, `lon_int`, `alt`)
- Specify the _type_ of the setpoint in `type_mask` (not part of the MAVLink standard).
值为：
- 下面的比特位没有置位，是正常表现。
- 12288：悬停设定值（无人机足够接近设定值时会停止）。
- PX4 supports the coordinate frames (`coordinate_frame` field): [MAV_FRAME_GLOBAL](https://mavlink.io/en/messages/common.html#MAV_FRAME_GLOBAL).
- [SET_ATTITUDE_TARGET](https://mavlink.io/en/messages/common.html#SET_ATTITUDE_TARGET)
- 支持以下输入组合：
- Attitude/orientation (`SET_ATTITUDE_TARGET.q`) with thrust setpoint (`SET_ATTITUDE_TARGET.thrust`).
::: info
Only the yaw setting is actually used/extracted.
:::
Rover does not support a MAVLink offboard API (ROS2 is supported).
## Offboard参数