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New Crowdin translations - uk (#25558)

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docs/uk/computer_vision/collision_prevention.md
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@@ -203,85 +203,85 @@ The Lua script works by extracting the `obstacle_distance_fused` data at each ti
2. Configure PX4 to publish obstacle distance data (so that it is available to PlotJuggler):
Add the [`obstacle_distance_fused`](../msg_docs/ObstacleDistance.md) UORB topic to your [`dds_topics.yaml`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml) so that it is published by PX4:
Add the [`obstacle_distance_fused`](../msg_docs/ObstacleDistance.md) UORB topic to your [`dds_topics.yaml`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml) so that it is published by PX4:
```sh
- topic: /fmu/out/obstacle_distance_fused
type: px4_msgs::msg::ObstacleDistance
```
```sh
- topic: /fmu/out/obstacle_distance_fused
type: px4_msgs::msg::ObstacleDistance
```
For more information see [DDS Topics YAML](../middleware/uxrce_dds.md#dds-topics-yaml) in [uXRCE-DDS](../middleware/uxrce_dds.md) (PX4-ROS 2/DDS Bridge)\_.
For more information see [DDS Topics YAML](../middleware/uxrce_dds.md#dds-topics-yaml) in [uXRCE-DDS](../middleware/uxrce_dds.md) (PX4-ROS 2/DDS Bridge)\_.
3. Open PlotJuggler and navigate to the **Tools > Reactive Script Editor** section.
In the **Script Editor** tab, add following scripts in the appropriate sections:
In the **Script Editor** tab, add following scripts in the appropriate sections:
- **Global code, executed once:**
- **Global code, executed once:**
```lua
obs_dist_fused_xy = ScatterXY.new("obstacle_distance_fused_xy")
obs_dist_min = Timeseries.new("obstacle_distance_minimum")
```
```lua
obs_dist_fused_xy = ScatterXY.new("obstacle_distance_fused_xy")
obs_dist_min = Timeseries.new("obstacle_distance_minimum")
```
- **function(tracker_time)**
- **function(tracker_time)**
```lua
obs_dist_fused_xy:clear()
```lua
obs_dist_fused_xy:clear()
i = 0
angle_offset = TimeseriesView.find("/fmu/out/obstacle_distance_fused/angle_offset")
increment = TimeseriesView.find("/fmu/out/obstacle_distance_fused/increment")
min_dist = 65535
i = 0
angle_offset = TimeseriesView.find("/fmu/out/obstacle_distance_fused/angle_offset")
increment = TimeseriesView.find("/fmu/out/obstacle_distance_fused/increment")
min_dist = 65535
-- Cache increment and angle_offset values at tracker_time to avoid repeated calls
local angle_offset_value = angle_offset:atTime(tracker_time)
local increment_value = increment:atTime(tracker_time)
-- Cache increment and angle_offset values at tracker_time to avoid repeated calls
local angle_offset_value = angle_offset:atTime(tracker_time)
local increment_value = increment:atTime(tracker_time)
if increment_value == nil or increment_value <= 0 then
print("Invalid increment value: " .. tostring(increment_value))
return
end
if increment_value == nil or increment_value <= 0 then
print("Invalid increment value: " .. tostring(increment_value))
return
end
local max_steps = math.floor(360 / increment_value)
local max_steps = math.floor(360 / increment_value)
while i < max_steps do
local str = string.format("/fmu/out/obstacle_distance_fused/distances[%d]", i)
local distance = TimeseriesView.find(str)
if distance == nil then
print("No distance data for: " .. str)
break
end
while i < max_steps do
local str = string.format("/fmu/out/obstacle_distance_fused/distances[%d]", i)
local distance = TimeseriesView.find(str)
if distance == nil then
print("No distance data for: " .. str)
break
end
local dist = distance:atTime(tracker_time)
if dist ~= nil and dist < 65535 then
-- Calculate angle and Cartesian coordinates
local angle = angle_offset_value + i * increment_value
local y = dist * math.cos(math.rad(angle))
local x = dist * math.sin(math.rad(angle))
local dist = distance:atTime(tracker_time)
if dist ~= nil and dist < 65535 then
-- Calculate angle and Cartesian coordinates
local angle = angle_offset_value + i * increment_value
local y = dist * math.cos(math.rad(angle))
local x = dist * math.sin(math.rad(angle))
obs_dist_fused_xy:push_back(x, y)
obs_dist_fused_xy:push_back(x, y)
-- Update minimum distance
if dist < min_dist then
min_dist = dist
end
end
-- Update minimum distance
if dist < min_dist then
min_dist = dist
end
end
i = i + 1
end
i = i + 1
end
-- Push minimum distance once after the loop
if min_dist < 65535 then
obs_dist_min:push_back(tracker_time, min_dist)
else
print("No valid minimum distance found")
end
```
-- Push minimum distance once after the loop
if min_dist < 65535 then
obs_dist_min:push_back(tracker_time, min_dist)
else
print("No valid minimum distance found")
end
```
4. Enter a name for the script on the top right, and press **Save**.
Once saved, the script should appear in the _Active Scripts_ section.
Once saved, the script should appear in the _Active Scripts_ section.
5. Start streaming the data using the approach described in [Plotting uORB Topic Data in Real Time using PlotJuggler](../debug/plotting_realtime_uorb_data.md).
You should see the `obstacle_distance_fused_xy` and `obstacle_distance_minimum` timeseries on the left.
You should see the `obstacle_distance_fused_xy` and `obstacle_distance_minimum` timeseries on the left.
Note that you have to press **Save** again to re-enable the scripts after loading a new log file or otherwise clearing data.