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New Crowdin translations - zh-CN (#24875)
Co-authored-by: Crowdin Bot <support+bot@crowdin.com>
This commit is contained in:
PX4 Build Bot
GitHub
@@ -1,4 +1,4 @@
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# PX4 Metadata
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# PX4 元数据
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PX4 使用并生成人类和机器可读的元数据:
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@@ -48,7 +48,7 @@ PX4 元数据是在 PX4 源代码及其相关数据中定义的。
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元数据是通过 [github CI](https://github.com/PX4/PX4-Autopilot/blob/main/.github/workflows/metadata.yml) 上传的，用于所有构建目标（因此只有在参数被合并到主体后才能使用）。
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:::info
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You can identify memory constrained boards because they specify `CONFIG_BOARD_CONSTRAINED_FLASH=y` in their [px4board definition file](https://github.com/PX4/PX4-Autopilot/blob/main/boards/omnibus/f4sd/default.px4board).
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你可以识别出内存受限的开发板，因为它们在[px4board定义文件](https://github.com/PX4/PX4-Autopilot/blob/main/boards/omnibus/f4sd/default.px4board) 中指定了`CONFIG_BOARD_CONSTRAINED_FLASH=y` 。
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如果在 FLASH 受限板上进行自定义开发，您可以调整此处的 URL 以指向另一台服务器[here](https://github.com/PX4/PX4-Autopilot/blob/main/src/lib/component_information/CMakeLists.txt#L41)。
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:::
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@@ -60,7 +60,7 @@ The driver tracks these intervals, but with the "MAVLink backend" does not need
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When the camera would trigger the driver publishes a [CameraTrigger](../msg_docs/CameraTrigger.md) topic (with `feedback` field set to `false`) that causes a [CAMERA_TRIGGER](https://mavlink.io/en/messages/common.html#CAMERA_TRIGGER) MAVLink message to be emitted.
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The `camera_feedback` module should then log a corresponding `CameraCapture` topic.
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## Camera Commands in Missions
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## 任务中的相机命令
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PX4 re-emits camera items found in missions as MAVLink commands for all supported [Camera Protocol v2](https://mavlink.io/en/services/camera.html) and [Camera Protocol v1](https://mavlink.io/en/services/camera.html) commands.
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The system id of the emitted commands is the same as the ID of the autopilot.
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@@ -3,7 +3,7 @@
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本节说明了如何使用 PX4 的 MAVLink [相机](../camera/index.md), 实现了 [Camera Protocol v1 (简单触发协议)](https://mavlink.io/en/services/camera_v1.html) 的 PX4 和地面站。
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:::warning
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[MAVLink 相机](../camera/mavlink_v2_camera.md) 在可能的情况下应该使用 [MAVLink Camera Protocol v2](https://mavlink.io/en/services/camera.html) 代替！
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[MAVLink 相机](../camera/mavlink_v2_camera.md) 使用[MAVLink 相机协议 v2](https://mavlink.io/en/services/camera.html)应在可能时使用！
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此方法保留用于旧的 MAVLink 相机。
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:::
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@@ -15,11 +15,11 @@
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- 视频捕获
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- 有限的相机配置
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PX4 支持此命令集以触发通过原生支持协议的相机（如本节所述），以及连接到飞控输出的相机。
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PX4 支持此命令集以触发通过原生支持协议的相机 （如本节所述），以及连接到飞控输出的相机。
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地面站和 MAVLink SDK 通常将相机命令发送给自动驾驶仪，然后转发给连接的类型为 '板载' 的 MAVLink 通道。
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PX4 还会将其在任务中遇到的任何相机任务项重新发出为相机命令：未被接受的命令将被记录。
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在所有情况下，命令都是使用自动驾驶仪的系统 ID 和组件 ID 为0（即发送给所有组件，包括摄像头）。
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在所有情况下，命令都是使用自动驾驶仪的系统 ID 和组件 ID 为 0（即发送给所有组件，包括摄像头）。
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每次触发图像捕获时 PX4 也会发出一个 [CAMERA_TRIGGER](https://mavlink.io/en/messages/common.html#CAMERA_TRIGGER) (相机本身也可能在触发时发出此消息)。
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@@ -55,7 +55,7 @@ MAVLink 摄像头将支持这些命令的一些子集。
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理论上，您也可以直接向相机发送命令。
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### Camera Commands in Missions
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### 任务中的相机命令
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以下[Camera Protocol v1 (简单触发协议)](https://mavlink.io/en/services/camera_v1.html)命令可在任务中使用(这与上面的命令列表相同)。
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@@ -107,7 +107,7 @@ PX4 重新使用与自驾仪相同的系统 ID 和组件 ID [MAV_COMP_ID_ALL](ht
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:::info
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You can also [set the parameters directly](../advanced_config/parameters.md):
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您也可以[直接设置参数](../advanced_config/parameters.md)：
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- [TRIG_MODE](../advanced_config/parameter_reference.md#TRIG_MODE) — `4`: 基于距离，按命令触发 (勘测模式)
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- [TRIG_INTERFACE](../advanced_config/parameter_reference.md#TRIG_INTERFACE) — `3`: MAVLink
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@@ -48,7 +48,7 @@ These parameters cannot directly be set in missions and have no specific setter
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A ground station can use any feature exposed by the camera.
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PX4 has no role in this interaction other than forwarding MAVLink traffic between the camera and ground station or SDK, if needed.
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### Camera Commands in Missions
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### 任务中的相机命令
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PX4 allows the following subset of [Camera Protocol v2](https://mavlink.io/en/services/camera.html) commands in missions:
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+26
-26
@@ -1,25 +1,25 @@
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# CAN
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[Controller Area Network (CAN)](https://en.wikipedia.org/wiki/CAN_bus) is a robust wired network that allows drone components such as flight controller, ESCs, sensors, and other peripherals, to communicate with each other.
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因为它的设计有仲裁，使用差分信号，即使在较长的电缆 (大型车辆上) 上也非常强大，避免单点故障。
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[控制器局域网（CAN）](https://en.wikipedia.org/wiki/CAN_bus)是一种可靠的有线网络，它能让诸如飞行控制器、电调、传感器及其他外设等无人机组件相互通信。
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它被设计为分布式架构，使用差分信号，即使在较长的电缆 (大型车辆上) 上也非常强大，避免单点故障。
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CAN 还允许来自外设的状态反馈，并通过总线方便的进行固件升级。
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PX4 支持与 CAN 设备通信的两个软件协议：
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- [DroneCAN](../dronecan/index.md): PX4 recommends this for most common setups.
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- [DroneCAN](../dronecan/index.md): PX4 推荐大多数常见的设置。
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它得到了 PX4 的很好支持，是一个成熟的产品，具有广泛的外围支持，并经过多年的测试。
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- [Cyphal](https://opencyphal.org): PX4 support is a "work in progress".
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- [Cyphal](https://opencyphal.org)：PX4 支持是一个“在进行中的工作”。
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Cyphal 是一种更新的协议，允许更多的灵活性和配置，尤其是对于较大和较复杂的载具。
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它还没有被广泛应用。
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:::info
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Both DroneCAN and Cyphal originate from an earlier project named UAVCAN.
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DroneCAN 和 Cyphal 都是早先一个叫做UAVCAN的项目。
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在2022年，该项目分为两个部分：原始版本的 UAVCAN (UAVCAN v0) 更名为 DroneCAN，较新的 UAVCAN v1 更名为 Cyphal。
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The differences between the two protocols are outlined in [Cyphal vs. DroneCAN](https://forum.opencyphal.org/t/cyphal-vs-dronecan/1814).
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这两项协议之间的差异在[Cyphal vs. DroneCAN](https://forum.opencyphal.org/t/cyphal-vs-dronecan/1814)中作了概述。
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:::
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:::warning
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PX4 does not support other CAN software protocols for drones such as KDECAN (at time of writing).
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PX4不支持KDECAN等无人驾驶飞机的其他CAN软件协议(撰写时)。
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:::
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## 布线
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@@ -29,45 +29,45 @@ CAN 网络的接线对于 DroneCAN 和 Cyphal/CAN 是一样 (实际上对所有
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设备以任意顺序连接成链。
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在链的任一端，应该在两个数据线之间连接一个 120Ω 的终端电阻。
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飞控和一些 GNSS 模块为了方便使用内置了终端电阻， 因此应该放在链的终端。
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Otherwise, you can use a termination resistor such as [this one from Zubax Robotics](https://shop.zubax.com/products/uavcan-micro-termination-plug?variant=6007985111069), or solder one yourself if you have access to a JST-GH crimper.
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否则，你可以使用终端电阻，比如 [Zubax Robotics 的这款](https://shop.zubax.com/products/uavcan-micro-termination-plug?variant=6007985111069)。如果你有JST - GH压接工具，也可以自己焊接一个。
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下图显示了一个 CAN 总线连接飞控到 4 个 CAN 电调和一个 GNSS 的示例。
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图中未显示任何电源接线。
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参考制造商的说明，确认组件是否需要单独供电，还是可以通过 CAN 总线供电。
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For more information, see [Cyphal/CAN device interconnection](https://kb.zubax.com/pages/viewpage.action?pageId=2195476) (kb.zubax.com).
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欲了解更多信息，请查看[Cyphal/CAN设备互联](https://kb.zubax.com/pages/viewpage.action?pageId=2195476) (kb.zubax.com)。
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虽然本文是以 Cyphal 协议为基础编写的，但同样适用于 DroneCAN 硬件和任何其他 CAN 设置。
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For more advanced scenarios, consult with [On CAN bus topology and termination](https://forum.opencyphal.org/t/on-can-bus-topology-and-termination/1685).
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如需了解更复杂的场景，请参考 [论CAN总线拓扑结构与终端匹配](https://forum.opencyphal.org/t/on-can-bus-topology-and-termination/1685)。
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### 连接器
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Pixhawk standard compatible CAN devices use 4 pin JST-GH connectors for CAN.
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Two connectors are used for input and output when wiring in a chain (except for flight controllers and some GNSS devices with builtin termination, which only have a single JST-GH connector).
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Pixhawk标准兼容的 CAN 设备使用 4 引脚的 JST-GH 连接器为 CAN。
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在连线接线时，有两个连接器用于输入和输出（飞行控制器除外和一些内置终止的全球导航卫星系统（GNSS）设备除外）； 它仅有一个JST-GH连接器)。
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Other (non-Pixhawk compatible) devices may use different connectors.
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However, as long as the device firmware supports DroneCAN or Cyphal, it can be used.
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其他(非Pixhawk兼容的)设备可能使用不同的连接器。
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然而，只要设备固件支持DroneCAN 或Cyphal，它就可以使用。
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### Redundancy
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### 冗余
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DroneCAN and Cyphal/CAN support using a second (redundant) CAN interface.
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This is completely optional but increases the robustness of the connection.
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All Pixhawk flight controllers come with 2 CAN interfaces; if your peripherals support 2 CAN interfaces as well, it is recommended to wire both up for increased safety.
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DroneCAN 和 Cyphal/CAN支持使用第二个(冗余) CAN 接口。
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这是完全可选的，但会增加连接的强度。
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所有Pixhawk飞行控制器都带有两个CAN接口； 如果您的外围设备也支持 2 CAN 接口，建议您同时进行电线连接以提高安全。
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## 固件
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CAN peripherals may run proprietary or open source firmware (check manufacturer guides to confirm the required setup).
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CAN 外围设备可以运行专有或开源固件(请检查制造商指南以确认所需的设置)。
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PX4 can be built to run as open-source DroneCAN firmware on supported CAN hardware.
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See [PX4 DroneCAN Firmware](../dronecan/px4_cannode_fw.md) for more information.
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PX4 可以构建在支持的 CAN 硬件上作为开源的 DroneCAN 固件运行。
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更多信息请参考 [PX4 DroneCAN 固件](../dronecan/px4_cannode_fw.md)。
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## 支持和配置
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[DroneCAN Setup and Configuration](../dronecan/index.md)
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[DroneCAN 设置和配置](../dronecan/index.md)
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[PX4 DroneCAN Firmware](../dronecan/px4_cannode_fw.md)
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[PX4 DroneCAN 固件](../dronecan/px4_cannode_fw.md)
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## 视频
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@@ -79,13 +79,13 @@ See [PX4 DroneCAN Firmware](../dronecan/px4_cannode_fw.md) for more information.
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### Cyphal
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UAVCAN v1 for drones (Cyphal) — PX4 Developer Summit Virtual 2020
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无人机的 UAVCAN v1 (Cyphal) - PX4 开发者峰会虚拟2020
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<lite-youtube videoid="6Bvtn_g8liU" title="UAVCAN v1 for drones — PX4 Developer Summit Virtual 2020"/>
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---
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Getting started using UAVCAN v1 with PX4 on the NXP UAVCAN Board — PX4 Developer Summit Virtual 2020
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在NXP UAVCAN板上使用UAVCAN v1和PX4入门——2020年PX4开发者峰会线上会议
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<lite-youtube videoid="MwdHwjaXYKs" title="Getting started using UAVCAN v1 with PX4 on the NXP UAVCAN Board"/>
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@@ -94,12 +94,10 @@ Explanations and requirements:
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Disabled,
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```
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```
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- Above we specify a separate external and internal log level, which are the levels displayed to GCS users and in the log file, respectively: `{events::Log::Error, events::LogInternal::Info}`.
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For the majority of cases you can pass a single log level, and this will be used for both exernal and internal cases.
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There are cases it makes sense to have two different log levels.
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For example an RTL failsafe action: the user should see it as Warning/Error, whereas in the log, it is an expected system response, so it can be set to `Info`.
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```
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For the majority of cases you can pass a single log level, and this will be used for both exernal and internal cases.
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There are cases it makes sense to have two different log levels.
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For example an RTL failsafe action: the user should see it as Warning/Error, whereas in the log, it is an expected system response, so it can be set to `Info`.
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- **Event Message**:
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- Single-line, short message of the event.
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@@ -1,15 +1,15 @@
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# PX4 开发
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本章节讲述了如何支持新的无人机/无人车类型及变种，如何修改飞行算法，如何添加新的飞行模式，如何集成新的硬件，如何通过外部飞控和PX4通信。
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本节解释如何支持新型载具及其变体，修改飞行算法。 添加新模式，整合新的硬件，并与飞行控制器外的 PX4 通信。
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:::tip
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This section is for software developers and (new) hardware integrators.
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本节针对软件开发者和(新)硬件集成器。
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如果要构建现有的机身或者PX4已有的，可以跳过此章节。
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:::
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它解释了如何：
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- Get a [minimum developer setup](../dev_setup/config_initial.md), [build PX4 from source](../dev_setup/building_px4.md) and deploy on [numerous supported autopilots](../flight_controller/index.md).
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- 获取一个[最小的开发者设置](../dev_setup/config_initial.md), [从源代码生成PX4](../dev_setup/building_px4.md) 并部署在[众多支持的自动化设备](../flight_controller/index.md)。
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- 理解[PX4系统架构](../concept/architecture.md)及其他核心概念。
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- 学习如何更改飞行栈及中间层：
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- 修改飞行算法并添加新的 [飞行模式](../concept/flight_modes.md)。
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@@ -17,12 +17,12 @@ This section is for software developers and (new) hardware integrators.
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- 学习如何将PX4集成到新的硬件上：
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- 支持新的传感器和执行器, 包括摄像头、测距仪等。
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- 修改PX4使之能够在新的自驾仪硬件上运行。
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- [Simulate](../simulation/index.md), [test](../test_and_ci/index.md) and [debug/log](../debug/index.md) PX4.
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- 获取一个[最小的开发者设置](../dev_setup/config_initial.md), [从源代码生成PX4](../dev_setup/building_px4.md) 并部署在[众多支持的自动化设备](../flight_controller/index.md)。
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- 与外部机器人的 API 进行联调通信/集成。
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## 开发者可用的关键链接
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||||
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||||
- [Support](../contribute/support.md): Get help using the [discussion boards](https://discuss.px4.io//) and other support channels.
|
||||
- [Weekly Dev Call](../contribute/dev_call.md): A great opportunity to meet the PX4 dev team and discuss platform technical details (including pull requests, major issues, general Q&A).
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||||
- [Licences](../contribute/licenses.md): What you can do with the code (free to use and modify under terms of the permissive [BSD 3-clause license](https://opensource.org/licenses/BSD-3-Clause)!)
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||||
- [Contributing](../contribute/index.md): How to work with our [source code](../contribute/code.md).
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- [支持](../contribute/support.md)：使用 [讨论板](https://discuss.px4.io//) 和其他支持渠道获得帮助。
|
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- [每周开发者电话会议](../contribute/dev_call.md)：这是一个很好的机会来会见 PX4 开发团队，讨论平台技术细节(包括pull requests， 主要问题，一般性问答）。
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- [协议](../contribute/licenses.md): 你可以做什么代码(根据允许的 [BSD 3 条款许可](https://opensource.org/licenses/BSD-3-Clause)！)
|
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- [贡献](../contribute/index.md): 如何使用我们的 [源代码](../contribute/code.md)。
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@@ -38,7 +38,7 @@ The Pixhawk® 5X is perfect for developers at corporate research labs, startups,
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- Modular flight controller
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- separated IMU, FMU, and Base system connected by a 100-pin & a 50-pin Pixhawk® Autopilot Bus connector, designed for flexible and customizable systems
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- Redundancy
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- 冗余
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- 3x IMU sensors & 2x Barometer sensors on separate buses, allowing parallel and continuous operation even in the event of a hardware failure
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- Triple redundancy domains
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- Completely isolated sensor domains with separate buses and separate power control
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Reference in New Issue
Block a user