New Crowdin translations - uk (#25558)

Co-authored-by: Crowdin Bot <support+bot@crowdin.com>
2026-06-01 19:07:45 +08:00 · 2025-09-16 08:57:19 +10:00
parent 0068fea2f5
commit d42aebe100
136 changed files with 3113 additions and 2676 deletions
@@ -157,6 +157,7 @@
        - [Швидке підключення mRo (3DR) Pixhawk](assembly/quick_start_pixhawk.md)
      - [Holybro Pixhawk Mini (FMUv3) - Припинено](flight_controller/pixhawk_mini.md)
    - [Автопілоти, що підтримуються виробником](flight_controller/autopilot_manufacturer_supported.md)
      - [Accton Godwit GA1](flight_controller/accton-godwit_ga1.md)
      - [AirMind MindPX](flight_controller/mindpx.md)
      - [AirMind MindRacer](flight_controller/mindracer.md)
      - [ARK Electronics ARKV6X](flight_controller/ark_v6x.md)
@@ -283,6 +284,7 @@
      - [CubePilot Here+ (Discontined)](gps_compass/rtk_gps_hex_hereplus.md)
    - [INS (Інерціальна навігація/GNSS)](sensor/inertial_navigation_systems.md)
      - [InertialLabs](sensor/inertiallabs.md)
      - [sbgECom](sensor/sbgecom.md)
      - [VectorNav](sensor/vectornav.md)
    - [Optical Flow](sensor/optical_flow.md)
      - [ARK Flow](dronecan/ark_flow.md)
@@ -679,6 +681,8 @@
        - [RoverPositionSetpoint](msg_docs/RoverPositionSetpoint.md)
        - [RoverRateSetpoint](msg_docs/RoverRateSetpoint.md)
        - [RoverRateStatus](msg_docs/RoverRateStatus.md)
        - [RoverSpeedSetpoint](msg_docs/RoverSpeedSetpoint.md)
        - [RoverSpeedStatus](msg_docs/RoverSpeedStatus.md)
        - [RoverSteeringSetpoint](msg_docs/RoverSteeringSetpoint.md)
        - [RoverThrottleSetpoint](msg_docs/RoverThrottleSetpoint.md)
        - [RoverVelocitySetpoint](msg_docs/RoverVelocitySetpoint.md)
@@ -739,6 +743,7 @@
        - [YawEstimatorStatus](msg_docs/YawEstimatorStatus.md)
        - [AirspeedValidatedV0](msg_docs/AirspeedValidatedV0.md)
        - [ArmingCheckReplyV0](msg_docs/ArmingCheckReplyV0.md)
        - [ArmingCheckRequestV0](msg_docs/ArmingCheckRequestV0.md)
        - [BatteryStatusV0](msg_docs/BatteryStatusV0.md)
        - [EventV0](msg_docs/EventV0.md)
        - [HomePositionV0](msg_docs/HomePositionV0.md)
@@ -628,7 +628,16 @@ div.frame_variant td, div.frame_variant th {
 ### Free-Flyer
 <div class="frame_common">
-<img src="../../assets/airframes/types/AirframeUnknown.svg"/>
+<img src="../../assets/airframes/types/FreeFlyer.svg"/>
 <table>
 <thead>
   <tr><th>Загальні виводи</th></tr>
 </thead>
 <tbody>
 <tr>
 <td><ul><li><b>Motor1</b>: back left thruster, +x thrust</li><li><b>Motor2</b>: front left thruster, -x thrust</li><li><b>Motor3</b>: back right thruster, +x thrust</li><li><b>Motor4</b>: front right thruster, -x thrust</li><li><b>Motor5</b>: front left thruster, +y thrust</li><li><b>Motor6</b>: front right thruster, -y thrust</li><li><b>Motor7</b>: back left thruster, +y thrust</li><li><b>Motor8</b>: back right thruster, -y thrust</li></ul></td>
 </tr>
 </tbody></table>
 </div>
 <div class="frame_variant">
@@ -638,7 +647,7 @@ div.frame_variant td, div.frame_variant th {
 </thead>
 <tbody>
 <tr id="spacecraft_free-flyer_kth-atmos">
- <td>KTH-ATMOS</td>
+ <td><a href="https://atmos.discower.io">KTH-ATMOS</a></td>
 <td>Maintainer: DISCOWER<p><code>SYS_AUTOSTART</code> = 70000</p></td>
 </tr>
 </tbody>
@@ -291,7 +291,7 @@ If you're using [DroneCAN ESC](../peripherals/esc_motors.md#dronecan) the contro
 ### Flight Controller Power
 Pixhawk FCs require a regulated power supply that can supply at around 5V/3A continuous (check your specific FC)!
-This is sufficient to power the controller itself and a few low-power peripherals, such as a GNSS module, RC transmitter, and low power telemetry radio, but not for motors, actuators, and other peripherals.
+This is sufficient to power the controller itself and a few low-power peripherals, such as a GNSS module, RC receiver, and low power telemetry radio, but not for motors, actuators, and other peripherals.
 [Power modules](../power_module/index.md) are commonly used to "split off" this regulated power supply for the FC and also to provide measurements of the battery voltage and total current to the whole system — which PX4 can use to estimate power levels.
 The power module is connected to the FC power port, which is normally labeled `POWER` (or `POWER 1` or `POWER 2` for FCs that have redundant power supply).
@@ -13,9 +13,9 @@ They are exported at build-time into an `airframes.xml` file which is parsed by
 Наступні секції розділені відповідно до операційної системи, на яких виконується PX4.
-## Posix (Linux/MacOS)
+## POSIX (Linux/MacOS)
-На Posix системна оболонка використовується як інтерпретатор скриптів (наприклад, /bin/sh що є символьним посиланням на dash в Ubuntu).
+On POSIX, the system shell is used as script interpreter (e.g. /bin/sh, being symlinked to dash on Ubuntu).
 Щоб це працювало потрібно кілька речей:
 - Модулі PX4 повинні виглядати для системи як окремі виконувані файли.
@@ -59,7 +59,7 @@ cd <PX4-Autopilot>/build/px4_sitl_default/bin
 ### Динамічні модулі
 Зазвичай всі модулі компілюються в єдиний виконуваний файл PX4.
-Однак, на Posix системах, є можливість компіляції модуля в окремий файл, який можна завантажити в PX4 використовуючи команду `dyn`.
+However, on POSIX, there's the option of compiling a module into a separate file, which can be loaded into PX4 using the `dyn` command.
 ```sh
 dyn ./test.px4mod
@@ -95,7 +95,7 @@ NuttX має інтегрований інтерпретатор оболонк
 Найкращий спосіб змінити запуск системи - це ввести [нову конфігурацію планера](../dev_airframes/adding_a_new_frame.md).
 Файл конфігурації планеру може бути включений у прошивку або на SD карту.
-#### Dynamic customization
+#### Dynamic Customization
 Якщо вам потрібно "підлаштувати" конфігурацію що існує, наприклад запустити один або більше застосунків або встановити значення кількох параметрів, можна вказати це створивши два файли у директорії `/etc/` на SD картці:
@@ -153,27 +153,36 @@ param set-default PWM_MAIN_MIN3 1120
  mandatory_app start     # Will abort boot if mandatory_app is unknown or fails
  ```
-#### Additional customization
+#### Additional Init-File Customization
-In rare cases where the desired setup cannot be achieved through frame configuration or dynamic customization,
+In rare cases where the desired setup cannot be achieved through frame configuration or dynamic customization, you can add a script that will be compiled into the binary for a particular `make` target build variant.
 you can add a script that will be contained in the binary.
-**Note**: In almost all cases, you should use a frame configuration. This method should only be used for
+:::warning
-edge-cases such as customizing `cannode` based boards.
+In almost all cases, you should use a frame configuration.
 This method should only be used for edge-cases such as customizing `cannode` based boards.
 :::
 Кроки наступні:
 - Add a new init script in `boards/<vendor>/<board>/init` that will run during board startup.
  Наприклад:
 - Add a new init script in `boards/<vendor>/<board>/init` that will run during board startup. Наприклад:
  ```sh
  # File: boards/<vendor>/<board>/init/rc.additional
  param set-default <param> <value>
  ```
- Add a new board variant in `boards/<vendor>/<board>/<variant>.px4board` that includes the additional script. Наприклад:
+- Add a new board variant in `boards/<vendor>/<board>/<variant>.px4board` that includes the additional script.
  Наприклад:
  ```sh
  # File: boards/<vendor>/<board>/var.px4board
  CONFIG_BOARD_ADDITIONAL_INIT="rc.additional"
  ```
- Compile the firmware with your new variant by appending the variant name to the compile target. Наприклад:
+- Compile the firmware with your new variant by appending the variant name to the compile target.
  Наприклад:
  ```sh
  make <target>_var
  ```
@@ -204,23 +204,13 @@ The relevant parameters shown below.
 ### Position Loss Failsafe Action
-The failure action is controlled by [COM_POSCTL_NAVL](../advanced_config/parameter_reference.md#COM_POSCTL_NAVL), based on whether RC control is assumed to be available (and altitude information):
+Multicopters will switch to [Altitude mode](../flight_modes_mc/altitude.md) if a height estimate is available, otherwise [Stabilized mode](../flight_modes_mc/manual_stabilized.md).
 - `0`: Remote control available.
  Switch to _Altitude mode_ if a height estimate is available, otherwise _Stabilized mode_.
 - `1`: Remote control _not_ available.
  Switch to _Descend mode_ if a height estimate is available, otherwise enter flight termination.
  _Descend mode_ is a landing mode that does not require a position estimate.
 Fixed-wing planes, and VTOLs not configured to land in hover ([NAV_FORCE_VT](../advanced_config/parameter_reference.md#NAV_FORCE_VT)), have a parameter ([FW_GPSF_LT](../advanced_config/parameter_reference.md#FW_GPSF_LT)) that defines how long they will loiter (circle with a constant roll angle ([FW_GPSF_R](../advanced_config/parameter_reference.md#FW_GPSF_R)) at the current altitude) after losing position before attempting to land.
 If VTOLs have are configured to switch to hover for landing ([NAV_FORCE_VT](../advanced_config/parameter_reference.md#NAV_FORCE_VT)) then they will first transition and then descend.
 Відповідні параметри для всіх транспортних засобів наведено нижче.
 | Параметр                                                                                                                                           | Опис                                                                                                                                                          |
 | -------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------- |
 | <a id="COM_POSCTL_NAVL"></a>[COM_POSCTL_NAVL](../advanced_config/parameter_reference.md#COM_POSCTL_NAVL) | Position control navigation loss response during mission. Values: `0` - assume use of RC, `1` - Assume no RC. |
 Параметри, які впливають лише на повітряні судна з фіксованим крилом:
 | Параметр                                                                                                                            | Опис                                                                                                                                                                       |
@@ -349,3 +349,9 @@ sudo add-apt-repository ppa:kisak/kisak-mesa
 sudo apt update
 sudo apt upgrade
 ```
 ### QGroundControl not connecting to PX4 SITL
 - The connection between PX4 SITL on WSL2 and QGroundControl on Windows requires [broadcasting](../simulation/index.md#enable-udp-broadcasting) or [streaming to a specific address](../simulation/index.md#enable-streaming-to-specific-address) to be enabled.
  Streaming to a specific address should be enabled by default, but is something to check if a connection can't be established.
 - Network traffic might be blocked by firewall or antivirus on you system.
@@ -0,0 +1,153 @@
 # Accton Godwit G-A1
 :::warning
 PX4 не розробляє цей (або будь-який інший) автопілот.
 Contact the [manufacturer](https://cubepilot.org/#/home) for hardware support or compliance issues.
 :::
 The G-A1 is a state-of-the-art flight controller developed derived from the [Pixhawk Autopilot v6X Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-012%20Pixhawk%20Autopilot%20v6X%20Standard.pdf).
 It includes an STM32H753 double-precision floating-point FMU processor and an STM32F103 IO coprocessor, multiple IMUs with 6-axis inertial sensors, two pressure/temperature sensors, and a geomagnetic sensor.
 It also has independent buses and power supplies, and is designed for safety and rich expansion capabilities.
 With an integrated 10/100M Ethernet Physical Layer (PHY), the G-A1 can also communicate with a mission computer (airborne computer), high-end surveying and mapping cameras, and other UxV-mounted equipment for high-speed communications, meeting the needs of advanced UxV systems.
 :::tip
 Visit [Accton-IoT Godwit](https://www.accton-iot.com/godwit/) for more information.
 :::
 ![AccGodwitGA1](../../assets/flight_controller/accton-godwit/ga1/outlook.png "Accton Godwit G-A1")
 ![AccGodwitGA1 Top View](../../assets/flight_controller/accton-godwit/ga1/orientation.png "Accton Godwit G-A1 Top View")
 :::info
 This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
 :::
 ## Характеристики
 ### Процесор
 - STM32H753IIK (Arm® Cortex®-M7 480MHz)
 - STM32F103 (Arm® Cortex®-M3, 72MHz)
 ### Датчики
 - Bosch BMI088 (vibration isolated)
 - TDK InvenSense ICM-42688-P x 2 (one vibration isolated)
 - TDK Barometric Pressure and Temperature Sensor CP-20100 x 2 (one vibration isolated)
 - PNI RM3100 Geomagnetic Sensor (vibration isolated)
 ### Power
 - 4.6V to 5.7V
 ### External ports
 - 2 CAN Buses (CAN1 and CAN2)
 - 3 TELEM Ports (TELEM1, TELEM2 and TELEM3)
 - 2 GPS Ports (GPS1 with safety switch, LED, buzzer, and GPS2)
 - 1 PPM IN
 - 1 SBUS OUT
 - 2 USB Ports (1 TYPE-C and 1 JST GH1.25)
 - 1 10/100Base-T Ethernet Port
 - 1 DSM/SBUS RC
 - 1 UART 4
 - 1 AD&IO Port
 - 2 Debug Ports (1 IO Debug and 1 FMU Debug)
 - 1 SPI6 Bus
 - 4 Power Inputs (Power 1, Power 2, Power C1 and Power C2)
 - 16 PWM Servo Outputs (A1-A8 from FMU and M1-M8 from IO)
 - Micro SD Socket (supports SD 4.1 & SDIO 4.0 in two databus modes: 1 bit (default) and 4 bits)
 ### Size and Dimensions
 - 92.2 (L) x 51.2 (W) x 28.3 (H) mm
 - 77.6g (carrier board with IMU)
 ## Де купити
 - [Accton-IoT Godwit](https://www.accton-iot.com/godwit/)
 - [sales@accton-iot.com](sales@accton-iot.com)
 ## Схема розташування виводів
 ![G-A1 Pin definition](../../assets/flight_controller/accton-godwit/ga1/pin_definition.png "G-A1 Pin definition")
 ## UART Mapping
 | Serial# | Протокол  | Порт   | Примітки   |
 | ------- | --------- | ------ | ---------- |
 | SERIAL1 | Telem1    | UART7  | /dev/ttyS6 |
 | SERIAL2 | Telem2    | UART5  | /dev/ttyS4 |
 | SERIAL3 | GPS1      | USART1 | /dev/ttyS0 |
 | SERIAL4 | GPS2      | UART8  | /dev/ttyS7 |
 | SERIAL5 | Telem3    | USART2 | /dev/ttyS1 |
 | SERIAL6 | UART4     | UART4  | /dev/ttyS3 |
 | SERIAL7 | FMU Debug | USART3 |            |
 | SERIAL8 | OTG2      | USB    |            |
 ## Wiring Diagram
 ![G-A1 Wiring](../../assets/flight_controller/accton-godwit/ga1/wiring.png "G-A1 Wiring")
 ## PWM Output
 PWM M1-M8 (IO Main PWM), A1-A8(FMU PWM).
 All these 16 support normal PWM output formats.
 FMU PWM A1-A6 can support DShot and B-Directional DShot.
 A1-A8(FMU PWM) are grouped as:
 - Group 1: A1, A2, A3, A4
 - Group 2: A5, A6
 - Group 3: A7, A8
 The motor and servo system should be connected to these ports according to the order outlined in the fuselage reference for your carrier.
 ![G-A1 PWM Motor Servo](../../assets/flight_controller/accton-godwit/ga1/motor_servo.png "G-A1 PWM Motor Servo")
 ## RC-вхід
 For DSM/SBUS receivers, connect them to the DSM/SBUS interface which provides dedicated 3.3V and 5V power pins respectively, and check above "Pinout" for detailed pin definition.
 PPM receivers should be connected to the PPM interface. And other RC systems can be connected via other spare telemetry ports.
 ![G-A1 Radio](../../assets/flight_controller/accton-godwit/ga1/radio.png "G-A1 Radio")
 ## GPS/компас
 The Godwit G-A1 has a built-in compass
 Due to potential interference, the autopilot is usually used with an external I2C compass as part of a GPS/Compass combination.
 ![G-A1 GPS](../../assets/flight_controller/accton-godwit/ga1/gps.png "G-A1 GPS")
 ## Power Connection and Battery Monitor
 This universal controller features a CAN PMU module that supports 3 to 14s lithium batteries.
 To ensure proper connection, attach the module's 6-pin connector to the flight control Power C1 and/or Power C2 interface.
 This universal controller does not provide power to the servos.
 To power them, an external BEC must be connected to the positive and negative terminals of any A1–A8 or M1–M8 port.
 ![G-A1 Power](../../assets/flight_controller/accton-godwit/ga1/power.png "G-A1 Power")
 ## SD-карта
 The SD card is NOT included in the package, you need to prepare the SD card and insert it into the slot.
 ![G-A1 SD Card](../../assets/flight_controller/accton-godwit/ga1/sdcard.png "G-A1 SD Card")
 ## Прошивка
 The autopilot is compatible with PX4 firmware. And G-A1 can be detected by QGroundControl automatically. Users can also build it with target "accton-godwit_ga1"
 To [build PX4](../dev_setup/building_px4.md) for this target, open up the terminal and enter:
 ```sh
 make accton-godwit_ga1
 ```
 ## More Information and Support
 - [Accton-IoT Godwit](https://www.accton-iot.com/godwit/)
 - [sales@accton-iot.com](sales@accton-iot.com)
 - [support@accton-iot.com](mailto:support@accton-iot.com)
@@ -12,6 +12,7 @@ This category includes boards that are not fully compliant with the pixhawk stan
 Плати цієї категорії:
 - [Accton Godwit GA1](../flight_controller/accton-godwit_ga1.md)
 - [AirMind MindPX](../flight_controller/mindpx.md)
 - [AirMind MindRacer](../flight_controller/mindracer.md)
 - [ARK Electronics ARKV6X](../flight_controller/ark_v6x.md) (and [ARK Electronics Pixhawk Autopilot Bus Carrier](../flight_controller/ark_pab.md))
@@ -45,6 +45,41 @@ MicroStrain <command> [arguments...]
   status        Driver status
 ```
 ## eulernav_bahrs
 Source: [drivers/ins/eulernav_bahrs](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/ins/eulernav_bahrs)
 ### Опис
 Serial bus driver for the EULER-NAV Baro-Inertial AHRS.
 ### Приклади
 Attempt to start driver on a specified serial device.
 ```
 eulernav_bahrs start -d /dev/ttyS1
 ```
 Stop driver
 ```
 eulernav_bahrs stop
 ```
 ### Usage {#eulernav_bahrs_usage}
 ```
 eulernav_bahrs <command> [arguments...]
 Commands:
   start         Start driver
     -d <val>    Serial device
   status        Print driver status
   stop          Stop driver
 ```
 ## ilabs
 Source: [drivers/ins/ilabs](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/ins/ilabs)
@@ -26,7 +26,7 @@ uint8 ACTION_KILL = 4 # Kill vehicle (instantly stop the motors)
 uint8 ACTION_SWITCH_MODE = 5                     # Switch mode. The target mode is set in the `mode` field.
 uint8 ACTION_VTOL_TRANSITION_TO_MULTICOPTER = 6  # Transition to hover flight
 uint8 ACTION_VTOL_TRANSITION_TO_FIXEDWING = 7    # Transition to fast forward flight
-uint8 ACTION_TERMINATION = 8 # Irreversably output failsafe values on all outputs, trigger parachute
+uint8 ACTION_TERMINATION = 8                     # Irreversibly output failsafe values on all outputs, trigger parachute
 uint8 source                    # [@enum SOURCE] Request trigger type, such as a switch, button or gesture
 uint8 SOURCE_STICK_GESTURE = 0  # Triggered by holding the sticks in a certain position
@@ -20,9 +20,9 @@ uint64 timestamp_sample # [us] Sampling timestamp of the data this control respo
 uint16 reversible_flags  # Bitset indicating which motors are configured to be reversible
-uint8 ACTUATOR_FUNCTION_MOTOR1 = 101
+uint8 ACTUATOR_FUNCTION_MOTOR1 = 101 #
-uint8 NUM_CONTROLS = 12
+uint8 NUM_CONTROLS = 12  #
 float32[12] control                  # [@range -1, 1] Normalized thrust. where 1 means maximum positive thrust, -1 maximum negative (if not supported by the output, <0 maps to NaN). NaN maps to disarmed (stop the motors)
 ```
@@ -18,7 +18,7 @@ uint32 MESSAGE_VERSION = 0
 uint64 timestamp         # [us] Time since system start
 uint64 timestamp_sample  # [us] Sampling timestamp of the data this control response is based on
-uint8 NUM_CONTROLS = 8
+uint8 NUM_CONTROLS = 8  #
 float32[8] control      # [@range -1, 1] Normalized output. 1 means maximum positive position. -1 maximum negative position (if not supported by the output, <0 maps to NaN). NaN maps to disarmed.
 ```
@@ -54,6 +54,6 @@ bool mode_req_home_position # Requires a home position (such as RTL/Return mode)
 bool mode_req_prevent_arming           # Prevent arming (such as in Land mode).
 bool mode_req_manual_control           # Requires a manual controller
-uint8 ORB_QUEUE_LENGTH = 4 #
+uint8 ORB_QUEUE_LENGTH  = 4
 ```
@@ -21,10 +21,12 @@ The reply will also include the registration_id for each external component, pro
 # The reply will include the published request_id, allowing correlation of all arming check information for a particular request.
 # The reply will also include the registration_id for each external component, provided to it during the registration process (RegisterExtComponentReply).
-uint32 MESSAGE_VERSION = 0
+uint32 MESSAGE_VERSION = 1
 uint64 timestamp  # [us] Time since system start.
 uint8 request_id  # Id of this request. Allows correlation with associated ArmingCheckReply messages.
 uint32 valid_registrations_mask # Bitmask of valid registration ID's (the bit is also cleared if flagged as unresponsive)
 ```
@@ -0,0 +1,30 @@
 # ArmingCheckRequestV0 (UORB message)
 Arming check request.
 Broadcast message to request arming checks be reported by all registered components, such as external ROS 2 navigation modes.
 All registered components should respond with an ArmingCheckReply message that indicates their current mode requirements, and any arming failure information.
 The request is sent regularly, even while armed, so that the FMU always knows the current arming state for external modes, and can forward it to ground stations.
 The reply will include the published request_id, allowing correlation of all arming check information for a particular request.
 The reply will also include the registration_id for each external component, provided to it during the registration process (RegisterExtComponentReply).
 [source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/ArmingCheckRequestV0.msg)
 ```c
 # Arming check request.
 #
 # Broadcast message to request arming checks be reported by all registered components, such as external ROS 2 navigation modes.
 # All registered components should respond with an ArmingCheckReply message that indicates their current mode requirements, and any arming failure information.
 # The request is sent regularly, even while armed, so that the FMU always knows the current arming state for external modes, and can forward it to ground stations.
 #
 # The reply will include the published request_id, allowing correlation of all arming check information for a particular request.
 # The reply will also include the registration_id for each external component, provided to it during the registration process (RegisterExtComponentReply).
 uint32 MESSAGE_VERSION = 0
 uint64 timestamp  # [us] Time since system start.
 uint8 request_id  # Id of this request. Allows correlation with associated ArmingCheckReply messages.
 ```
@@ -0,0 +1,14 @@
 # RoverSpeedSetpoint (UORB message)
 Rover Speed Setpoint
 [source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RoverSpeedSetpoint.msg)
 ```c
 # Rover Speed Setpoint
 uint64 timestamp # [us] Time since system start
 float32 speed_body_x # [m/s] [@range -inf (Backwards), inf (Forwards)] [@frame Body] Speed setpoint in body x direction
 float32 speed_body_y # [m/s] [@range -inf (Left), inf (Right)] [@frame Body] [@invalid NaN If not mecanum] Mecanum only: Speed setpoint in body y direction
 ```
@@ -0,0 +1,18 @@
 # RoverSpeedStatus (UORB message)
 Rover Velocity Status
 [source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RoverSpeedStatus.msg)
 ```c
 # Rover Velocity Status
 uint64 timestamp # [us] Time since system start
 float32 measured_speed_body_x # [m/s] [@range -inf (Backwards), inf (Forwards)] [@frame Body] Measured speed in body x direction
 float32 adjusted_speed_body_x_setpoint # [m/s] [@range -inf (Backwards), inf (Forwards)] [@frame Body] Speed setpoint in body x direction that is being tracked (Applied slew rates)
 float32 pid_throttle_body_x_integral # [] [@range -1, 1] Integral of the PID for the closed loop controller of the speed in body x direction
 float32 measured_speed_body_y # [m/s] [@range -inf (Left), inf (Right)] [@frame Body] [@invalid NaN If not mecanum] Mecanum only: Measured speed in body y direction
 float32 adjusted_speed_body_y_setpoint # [m/s] [@range -inf (Left), inf (Right)] [@frame Body] [@invalid NaN If not mecanum] Mecanum only: Speed setpoint in body y direction that is being tracked (Applied slew rates)
 float32 pid_throttle_body_y_integral # [] [@range -1, 1] [@invalid NaN If not mecanum] Mecanum only: Integral of the PID for the closed loop controller of the speed in body y direction
 ```
@@ -1,22 +1,26 @@
 # VehicleAirData (повідомлення UORB)
 Vehicle air data
 Data from the currently selected barometer (plus ambient temperature from the source specified in temperature_source).
 Includes calculated data such as barometric altitude and air density.
 [source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleAirData.msg)
 ```c
 # Vehicle air data
 #
 # Data from the currently selected barometer (plus ambient temperature from the source specified in temperature_source).
 # Includes calculated data such as barometric altitude and air density.
-uint64 timestamp            # time since system start (microseconds)
+uint64 timestamp             # [us] Time since system start
-
+uint64 timestamp_sample      # [us] Timestamp of the raw data
-uint64 timestamp_sample     # the timestamp of the raw data (microseconds)
+uint32 baro_device_id        # Unique device ID for the selected barometer
-
+float32 baro_alt_meter       # [m] [@frame MSL] Altitude above MSL calculated from temperature compensated baro sensor data using an ISA corrected for sea level pressure SENS_BARO_QNH
-uint32 baro_device_id       # unique device ID for the selected barometer
+float32 baro_pressure_pa     # [Pa] Absolute pressure
-
+float32 ambient_temperature  # [degC] Ambient temperature
 float32 baro_alt_meter			# Altitude above MSL calculated from temperature compensated baro sensor data using an ISA corrected for sea level pressure SENS_BARO_QNH.
 float32 baro_pressure_pa		# Absolute pressure in Pascals
 float32 ambient_temperature		# Abient temperature in degrees Celsius
 uint8 temperature_source     # Source of temperature data: 0: Default Temperature (15°C), 1: External Baro, 2: Airspeed
-
+float32 rho                  # [kg/m^3] Air density
 float32 rho				# air density
 uint8 calibration_count      # Calibration changed counter. Monotonically increases whenever calibration changes.
 ```
@@ -229,10 +229,10 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
 - [RoverPositionSetpoint](RoverPositionSetpoint.md) — Rover Position Setpoint
 - [RoverRateSetpoint](RoverRateSetpoint.md) — Rover Rate setpoint
 - [RoverRateStatus](RoverRateStatus.md) — Rover Rate Status
 - [RoverSpeedSetpoint](RoverSpeedSetpoint.md) — Rover Speed Setpoint
 - [RoverSpeedStatus](RoverSpeedStatus.md) — Rover Velocity Status
 - [RoverSteeringSetpoint](RoverSteeringSetpoint.md) — Rover Steering setpoint
 - [RoverThrottleSetpoint](RoverThrottleSetpoint.md) — Rover Throttle setpoint
 - [RoverVelocitySetpoint](RoverVelocitySetpoint.md) — Rover Velocity Setpoint
 - [RoverVelocityStatus](RoverVelocityStatus.md) — Rover Velocity Status
 - [Rpm](Rpm.md)
 - [RtlStatus](RtlStatus.md)
 - [RtlTimeEstimate](RtlTimeEstimate.md)
@@ -281,7 +281,7 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
 - [UlogStreamAck](UlogStreamAck.md) — Ack a previously sent ulog_stream message that had
  the NEED_ACK flag set
 - [VehicleAcceleration](VehicleAcceleration.md)
- [VehicleAirData](VehicleAirData.md)
+- [VehicleAirData](VehicleAirData.md) — Vehicle air data
 - [VehicleAngularAccelerationSetpoint](VehicleAngularAccelerationSetpoint.md)
 - [VehicleConstraints](VehicleConstraints.md) — Local setpoint constraints in NED frame
  setting something to NaN means that no limit is provided
@@ -301,6 +301,7 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
 - [YawEstimatorStatus](YawEstimatorStatus.md)
 - [AirspeedValidatedV0](AirspeedValidatedV0.md)
 - [ArmingCheckReplyV0](ArmingCheckReplyV0.md)
 - [ArmingCheckRequestV0](ArmingCheckRequestV0.md) — Arming check request.
 - [BatteryStatusV0](BatteryStatusV0.md) — Battery status
 - [EventV0](EventV0.md) — this message is required here in the msg_old folder because other msg are depending on it
  Events interface
@@ -52,7 +52,7 @@ Please continue reading for [upgrade instructions](#upgrade-guide).
 ### Датчики
- Уточнюється
+- Add [sbgECom INS driver](../sensor/sbgecom.md) ([PX4-Autopilot#24137](https://github.com/PX4/PX4-Autopilot/pull/24137))
 ### Симуляція
@@ -5,7 +5,7 @@ PX4 використовує дані акселерометра для оцін
 Вам не потрібно прикріплювати акселерометр як окремий зовнішній пристрій:
 - Більшість польотних контролерів, таких, як в [Pixhawk Series](/flight_controller/pixhawk_series.md), включають в себе акселерометр як частину польот контролеру [Inertial Motion (IMU)](https://en.wikipedia.org/wiki/Inertial_measurement_unit).
- Гіроскопи присутні як частина зовнішньої системи інерціальної навігації, ARHS або системи підвищеної точності глобальної навігації INS (../sensor/inertial_navigation_systems.md).
+- Gyroscopes are present as part of an [external INS, AHRS or INS-enhanced GNSS system](../sensor/inertial_navigation_systems.md).
 Потрібно відкалібрувати акселерометр перед першим використанням безпілотника:
@@ -9,6 +9,7 @@ However PX4 can also use some INS devices as either sources of raw data, or as a
 INS systems that can be used as a replacement for EKF2 in PX4:
 - [InertialLabs](../sensor/inertiallabs.md)
 - [SBG Systems](../sensor/sbgecom.md): IMU/AHRS, GNSS/INS, Dual GNSS/INS systems that can be used as an external INS or as a source of raw sensor data.
 - [VectorNav](../sensor/vectornav.md): ІВП/AHRS, ССН/INS, Dual GNSS/INS системи, котрі можуть бути використані як зовнішній INS, або джерело вхідної інформації датчиків.
 ## PX4 Firmware
@@ -0,0 +1,159 @@
 # SBG Systems INS/AHRS (Pulse, Ellipse, etc.)
 [SBG-Systems](https://www.sbg-systems.com/) designs, manufactures, and support an extensive range of state-of-the-art inertial sensors such as Inertial Measurement Units (IMU), Attitude and Heading Reference Systems (AHRS), Inertial Navigation Systems with embedded GNSS (INS/GNSS), and so on.
 PX4 supports [all SBG Systems products](https://www.sbg-systems.com/products/) and can use these as an [external INS](../sensor/inertial_navigation_systems.md) (bypassing/replacing the EKF2 estimator), or as a source of raw sensor data provided to the navigation estimator.
 ![Ellipse](../../assets/hardware/sensors/inertial/ellipse-inertial-navigation-system.png)
 ## Загальний огляд
 SBG Systems products provide a range of benefits to PX4 users and can be integrated for:
 - Вища точність оцінки напрямку, крену та кочення
 - Більш надійна геоприв'язка GNSS
 - Покращена точність позиціонування та установки під час конфлікту супутникового зв'язку
 - Продуктивність при динамічних умовах (наприклад, запуски катапультою, операції VTOL, високі g або високі операції з великою кутовою швидкістю)
 The sbgECom PX4 driver is streamlined to provide a simple plug-and-play architecture, removing engineering obstacles and allowing the acceleration of the design, development, and launch of platforms to keep pace with the rapid rate of innovation.
 The driver supports [all SBG Systems products](https://www.sbg-systems.com/products/).
 Зокрема, рекомендуємо наступні системи:
 - **Pulse:** Recommended for fixed-wing systems without hovering, where static heading is not necessary.
 - **Ellipse:** Recommended for multicopter systems where hovering and low dynamics requires the use of static heading.
 ## Де купити
 SBG Systems solutions are available directly from [MySBG](https://my.sbg-systems.com) (FR) or through their Global Sales Representatives. For more information on their solutions or for international orders, please contact contact@sbg-systems.com.
 ## Налаштування програмного забезпечення
 ### Підключення
 Connect any unused flight controller serial interface, such as a spare `GPS` or `TELEM` port, to the SBG Systems product MAIN port (required by PX4).
 ### Встановлення
 The SBG Systems product sensor can be mounted in any orientation, in any position on the vehicle, without regard to center of gravity.
 All SBG Systems product sensors default to a coordinate system of x-forward, y-right, and z-down, making the default mounting as connector-back, base down.
 This can be changed to any rigid rotation using the sbgECom Reference Frame Rotation register.
 Якщо використовується продукт з підтримкою GNSS, антена GNSS повинна бути жорстко монтуватися щодо інерційного датчика та мати необмежений вид на небо. If using a dual-GNSS-enabled product (Ellipse-D), the secondary antenna must be mounted rigidly with respect to the primary antenna and the inertial sensor with an unobstructed sky view.
 For more mounting and configuration requirements and recommendations, see the relevant [SBG SUPPORT CENTER](https://support.sbg-systems.com/sc).
 ## Конфігурація прошивки
 ### Конфігурація PX4
 To use the sbgECom driver:
 1. Include the module in firmware in the [kconfig board configuration](../hardware/porting_guide_config.md#px4-board-configuration-kconfig) by setting the kconfig variables: `CONFIG_DRIVERS_INS_SBGECOM` or `CONFIG_COMMON_INS`.
 2. [Set the parameter](../advanced_config/parameters.md) [SENS_SBG_CFG](../advanced_config/parameter_reference.md#SENS_SBG_CFG) to the hardware port connected to the SBG Systems product (for more information see [Serial Port Configuration](../peripherals/serial_configuration.md)).
   ::: warning
   Disable or change port of other sensors that are using the same one, for example [GPS_1_CONFIG](../advanced_config/parameter_reference.md#GPS_1_CONFIG) if using GPS1 port.
 :::
 3. Set [SBG_BAUDRATE](../advanced_config/parameter_reference.md#SBG_BAUDRATE) to the desired default baudrate value.
 4. Allow the sbgECom driver to initialize by restarting PX4.
 5. Configure driver to provide IMU data, GNSS data and INS :
   1. Set [SBG_MODE](../advanced_config/parameter_reference.md#SBG_MODE) to the desired mode.
   2. Make sensor module select sensors by enabling [SENS_IMU_MODE](../advanced_config/parameter_reference.md#SENS_IMU_MODE).
   3. Prioritize SBG Systems sensors using [CAL_GYROn_PRIO](../advanced_config/parameter_reference.md#CAL_GYRO0_PRIO), [CAL_ACCn_PRIO](../advanced_config/parameter_reference.md#CAL_ACC0_PRIO), [CAL_BAROn_PRIO](../advanced_config/parameter_reference.md#CAL_BARO0_PRIO), [CAL_MAGn_PRIO](../advanced_config/parameter_reference.md#CAL_MAG0_PRIO), where _n_ is the instance number of the IMU component (0, 1, etc.).
   ::: tip
   In most cases the external IMU (SBG) is the highest-numbered.
   Ви можете отримати список доступних компонентів IMU, використовуючи [`uorb top -1`](../middleware/uorb.md#uorb-top-command), ви можете відрізняти їх за допомогою команди [`listener`](../modules/modules_command.md#listener) та розглядаючи дані чи просто швидкості.
   За потреби ви можете перевірити [CAL_GYROn_ID](../advanced_config/parameter_reference.md#CAL_GYRO0_ID), щоб побачити ідентифікатор пристрою.
   Пріоритет становить 0-255, де 0 абсолютно вимкнено, а 255 - найвищий пріоритет.
 :::
   ::: warning
   When configuring both SBG Systems and Pixhawk sensors to have non-zero priority, if the selected sensor is errored (timeout), it can change during operation without being notified.
   In this case, MAVLink messages will be updated with the newly selected sensor.
   If you don't want to have this fallback mechanism, you must disable unwanted sensors.
 :::
   4. If using the sbgECom as an INS, disable EKF2 using [EKF2_EN](../advanced_config/parameter_reference.md#EKF2_EN).
 6. Перезавантажте PX4.
 Після активації модуль буде виявлено при завантаженні.
 IMU data should be published at 200Hz.
 ## SBG Systems Configuration
 All High Performance and Ellipse 3.0 and higher SBG Systems INS can be configured directly from PX4 firmware:
 1. Enable [SBG_CONFIGURATION_EN](../advanced_config/parameter_reference.md#SBG_CONFIGURATION_EN)
 2. Provide a JSON file `sbg_settings.json` containing SBG Systems INS settings to be applied in your PX4 board `extras` directory (ex: `boards/px4/fmu-v5/extras`). The settings JSON file will be installed in `/etc/extras/sbg_settings.json` on the board.
   ::: tip
   The settings can be retrieved using [sbgEComAPI](https://github.com/SBG-Systems/sbgECom/tree/main/tools/sbgEComApi) or [sbgInsRestApi](https://developer.sbg-systems.com/sbgInsRestApi/1.3/#tag/Settings) and then modified as a JSON file.
 :::
   ::: tip
   The settings file can be provided in the SD card in q`/fs/microsd/etc/extras/sbg_settings.json` to avoid rebuilding a new firmware to change JSON settings file.
 :::
 3. For testing purpose, it's also possible to modify SBG Systems INS settings on the fly:
   - By passing a JSON file path as argument when starting sbgecom driver (ex: `sbgecom start -f /fs/microsd/new_sbg_settings.json`)
   - By passing a JSON string as argument when starting sbgecom driver: (ex: `sbgecom start -s {"output":{"comA":{"messages":{"airData":"onChange"}}}}`)
 For older Ellipse SBG Systems INS or to configure any SBG Systems INS directly, all commands and registers can be found in the [SBG SUPPORT CENTER](https://support.sbg-systems.com/sc).
 :::warning
 If the baudrate of the serial port on the INS product (used to communicate with PX4) is changed, the parameter [SBG_BAUDRATE](../advanced_config/parameter_reference.md#SBG_BAUDRATE) must be changed to match.
 :::
 ## Опубліковані дані
 При ініціалізації водій повинен надрукувати наступну інформацію до консолі (надруковано за допомогою `PX4_INFO`)
 - Номер моделі блока
 - Версія апаратної одиниці
 - Номер серійного номеру блока
 - Номер прошивки одиниці
 Цей текст має бути доступний за допомогою команди [`dmesg`](../modules/modules_system.md#dmesg).
 The sbgECom driver always publishes the unit's data to the following uORB topics:
 - [sensor_accel](../msg_docs/SensorAccel.md)
 - [датчик_гіроскопа](../msg_docs/SensorGyro.md)
 - [sensor_mag](../msg_docs/SensorMag.md)
 if configured as a GNSS, publishes:
 - [sensor_gps](../msg_docs/SensorGps.md)
 and, if configured as an INS, publishes:
 - [estimator_status](../msg_docs/EstimatorStatus.md)
 - [vehicle_local_position](../msg_docs/VehicleLocalPosition.md)
 - [vehicle_global_positon](../msg_docs/VehicleGlobalPosition.md)
 - [vehicle_attitude](../msg_docs/VehicleAttitude.md)
 :::tip
 Опубліковані теми можна переглянути за допомогою команди `listener`.
 :::
 ## Характеристики обладнання
 - [Product Briefs](https://www.sbg-systems.com/products/)
 - [Datasheets](https://www.sbg-systems.com/contact/#products)