From e54d1fd114a68e4305783924a15a2643b7872f24 Mon Sep 17 00:00:00 2001 From: PX4 Build Bot Date: Wed, 19 Nov 2025 15:56:20 +1100 Subject: [PATCH] New Crowdin translations - uk (#25889) Co-authored-by: Crowdin Bot --- docs/uk/SUMMARY.md | 2 + docs/uk/advanced/pps_time_sync.md | 135 ++++++++++++++++ .../bootloader_update_from_betaflight.md | 2 +- .../autopilot_manufacturer_supported.md | 1 + docs/uk/flight_controller/micoair743-lite.md | 153 ++++++++++++++++++ docs/uk/flight_modes_fw/return.md | 5 - docs/uk/gps_compass/index.md | 2 + docs/uk/gps_compass/magnetometer.md | 1 + docs/uk/middleware/uxrce_dds.md | 3 +- 9 files changed, 297 insertions(+), 7 deletions(-) create mode 100644 docs/uk/advanced/pps_time_sync.md create mode 100644 docs/uk/flight_controller/micoair743-lite.md diff --git a/docs/uk/SUMMARY.md b/docs/uk/SUMMARY.md index 4066b1dece..f8c37f188b 100644 --- a/docs/uk/SUMMARY.md +++ b/docs/uk/SUMMARY.md @@ -182,6 +182,7 @@ - [Wiring Quickstart](assembly/quick_start_durandal.md) - [Holybro Pix32 v5](flight_controller/holybro_pix32_v5.md) - [Wiring Quickstart](assembly/quick_start_holybro_pix32_v5.md) + - [MicoAir H743 Lite](flight_controller/micoair743-lite.md) - [ModalAI VOXL 2](flight_controller/modalai_voxl_2.md) - [mRo Control Zero F7](flight_controller/mro_control_zero_f7.md) - [Radiolink PIX6](flight_controller/radiolink_pix6.md) @@ -504,6 +505,7 @@ - [UART/Послідовний порт](uart/index.md) - [Драйвери послідовного порту і їх налаштування](uart/user_configurable_serial_driver.md) - [RTK GPS (Інтеграція)](advanced/rtk_gps.md) + - [PPS Time Synchronization](advanced/pps_time_sync.md) - [Проміжне програмне забезпечення](middleware/index.md) - [Повідомлення uORB](middleware/uorb.md) - [Граф uORB](middleware/uorb_graph.md) diff --git a/docs/uk/advanced/pps_time_sync.md b/docs/uk/advanced/pps_time_sync.md new file mode 100644 index 0000000000..67456cc75d --- /dev/null +++ b/docs/uk/advanced/pps_time_sync.md @@ -0,0 +1,135 @@ +# PPS Time Synchronization (PX4 Integration) + +[Pulse Per Second](https://en.wikipedia.org/wiki/Pulse-per-second_signal) (PPS) time synchronization provides high-precision timing for GNSS receivers. +This page explains how PPS is integrated into PX4 and how to configure it. + +## Загальний огляд + +PPS (Pulse Per Second) is a timing signal provided by GNSS receivers that outputs an electrical pulse once per second, synchronized to UTC time. +The PPS signal provides a highly accurate timing reference that PX4 can use to: + +- Refine GNSS time measurements and compensate for clock drift +- Provide precise UTC timestamps for camera capture events (for photogrammetry and mapping applications) +- Enable offline position refinement through accurate time correlation + +## Підтримуване обладнання + +PPS time synchronization can be supported on flight controllers that have a hardware timer input pin that can be configured for PPS capture, by [enabling the PPS capture driver](#enable-pps-driver-in-board-configuration) in the board configuration. + +Supported boards include (at time of writing): + +- [Ark FMUv6x](../flight_controller/ark_v6x.md) +- Auterion FMUv6x +- Auterion FMUv6s + +## Установка + +### Enable PPS Driver in Board Configuration + +The [PPS capture driver](../modules/modules_driver.md#pps-capture) must be enabled in the board configuration. +This is done by adding the following to your board's configuration: + +```ini +CONFIG_DRIVERS_PPS_CAPTURE=y +``` + +### Configure PPS Parameters + +The configuration varies depending on your flight controller hardware. + +#### FMUv6X + +For FMUv6X-based flight controllers, configure PWM AUX Timer 3 and Function 9: + +```sh +param set PWM_AUX_TIM3 -2 +param set PWM_AUX_FUNC9 2064 +param set PPS_CAP_ENABLE 1 +``` + +#### FMUv6S + +For FMUv6S-based flight controllers, configure PWM MAIN Timer 3 and Function 10: + +```sh +param set PWM_MAIN_TIM3 -2 +param set PWM_MAIN_FUNC10 2064 +param set PPS_CAP_ENABLE 1 +``` + +### Підключення + +The wiring configuration depends on your specific flight controller. + +#### Skynode X (FMUv6x) + +Connect the PPS signal from your GNSS module to the flight controller using the 11-pin or 6-pin GPS connector: + +For detailed pinout information, refer to: + +- [Skynode GPS Peripherals - Pinouts](https://docs.auterion.com/hardware-integration/skynode/peripherals/gps#pinouts) + +#### Skynode S (FMUv6S) + +For FMUv6S, you need to route the PPS signal separately: + +1. Connect your GNSS module using the standard 6-pin GPS connector: [Skynode S GPS Interface](https://docs.auterion.com/hardware-integration/skynode-s/interfaces#gps) +2. Connect the PPS signal from your GNSS module to the **PPM_IN** pin: [Skynode S Extras 1 Interface](https://docs.auterion.com/hardware-integration/skynode-s/interfaces#extras-1) + +#### ARK Jetson Carrier Board (FMUv6x) + +For ARK FMUv6X on the Jetson carrier board: + +1. Connect your GNSS module using either the 10-pin or 6-pin GPS connector: [ARK PAB GPS1 Interface](../flight_controller/ark_pab#gps1) +2. Connect the PPS signal to the **FMU_CAP** pin: [ARK PAB ADIO Interface](../flight_controller/ark_pab.md#adio) + +## Перевірка + +After configuring PPS, you can verify that it is working correctly: + +1. Connect to the [PX4 System Console](../debug/system_console.md) (via MAVLink shell or serial console). + +2. Wait for GNSS fix. + +3. Check the PPS capture status to confirm it is up and running: + + ```sh + pps_capture status + ``` + +4. You can also check the [PpsCapture](../msg_docs/PpsCapture.md) uORB topic + + ```sh + listener pps_capture + ``` + + Where you should see: `timestamp`, `rtc_timestamp`, and `pps_rate_exceeded_counter`. + +### PPS Capture Driver + +The PPS capture driver is located in `src/drivers/pps_capture` and uses hardware timer input capture to precisely measure the arrival time of each PPS pulse. + +Основні функції: + +- Sub-microsecond pulse capture precision (hardware-dependent) +- Automatic drift calculation and compensation +- Integration with the GNSS driver for refined time stamping + +See also: + +- [PPS Capture Driver Documentation](../modules/modules_driver.md#pps-capture) +- [PpsCapture Message](../msg_docs/PpsCapture.md) + +### Time Synchronization Flow + +1. GNSS module sends position/time data at ~1-20 Hz. +2. GNSS module outputs PPS pulse at 1 Hz, precisely aligned to UTC second boundary. +3. PPS capture driver measures the exact time of the PPS pulse arrival using hardware timer. +4. Driver calculates the offset between GNSS time (from UART data) and autopilot clock (from PPS measurement). +5. This offset is used to correct GNSS timestamps and improve sensor fusion accuracy. + +The PPS signal provides much higher temporal precision than the transmitted time data, which has latency and jitter from serial communication. + +:::warning +If the PPS driver does not sending any data for 5 seconds (despite having `PPS_CAP_ENABLE` set to 1), the `EKF2_GPS_DELAY` will be used instead for estimating the latency. +::: diff --git a/docs/uk/advanced_config/bootloader_update_from_betaflight.md b/docs/uk/advanced_config/bootloader_update_from_betaflight.md index 803e8511bc..236e06f4eb 100644 --- a/docs/uk/advanced_config/bootloader_update_from_betaflight.md +++ b/docs/uk/advanced_config/bootloader_update_from_betaflight.md @@ -89,7 +89,7 @@ dfu-util -a 0 --dfuse-address 0x08000000 -D build//.bin Список контролерів, яких це стосується, можна отримати, виконавши наступну команду `make` і зазначивши цілі `make`, які закінчуються на `_bootloader` ``` -$make list_config_targets +$ make list_config_targets ... cuav_nora_bootloader diff --git a/docs/uk/flight_controller/autopilot_manufacturer_supported.md b/docs/uk/flight_controller/autopilot_manufacturer_supported.md index 7945545734..30cd5d538f 100644 --- a/docs/uk/flight_controller/autopilot_manufacturer_supported.md +++ b/docs/uk/flight_controller/autopilot_manufacturer_supported.md @@ -30,6 +30,7 @@ This category includes boards that are not fully compliant with the pixhawk stan - [Holybro Kakute H7](../flight_controller/kakuteh7.md) - [Holybro Durandal](../flight_controller/durandal.md) - [Holybro Pix32 v5](../flight_controller/holybro_pix32_v5.md) +- [MicoAir H743 Lite](../flight_controller/micoair743-lite.md) - [ModalAI VOXL 2](../flight_controller/modalai_voxl_2.md) - [mRo Control Zero](../flight_controller/mro_control_zero_f7.md) - [Radiolink PIX6](../flight_controller/radiolink_pix6.md) diff --git a/docs/uk/flight_controller/micoair743-lite.md b/docs/uk/flight_controller/micoair743-lite.md new file mode 100644 index 0000000000..3d0f443d5f --- /dev/null +++ b/docs/uk/flight_controller/micoair743-lite.md @@ -0,0 +1,153 @@ +# MicoAir743-Lite + + + +:::warning +PX4 не розробляє цей (або будь-який інший) автопілот. +Contact the [manufacturer](https://micoair.com/) for hardware support or compliance issues. +::: + +MicoAir743-Lite is an ultra-high performance H743 flight controller with an unbeatable price, featuring the ICM45686 IMU sensor and integrated Bluetooth telemetry. + +![MicoAir743-Lite Front View](../../assets/flight_controller/micoair743_lite/front_view.png) + +Equipped with a high-performance H7 processor, the MicoAir743-Lite features a compact form factor with SH1.0 connectors (which are more suitable than Pixhawk-standard GH1.25 for this board size). +When paired with with Bluetooth telemetry, the board can be debugged with a phone or PC. + +:::info +This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md). +::: + +## MicoAir743-Lite (v1.1) + +![MicoAir743-Lite Back View](../../assets/flight_controller/micoair743_lite/back_view.png) + +## Короткий опис + +### Processors & Sensors + +- FMU Processor: STM32H743 + - 32 Bit Arm® Cortex®-M7, 480MHz, 2MB flash memory, 1MB RAM +- Сенсори на платі + - Accel/Gyro: ICM-45686 (with BalancedGyro™ Technology) + - Barometer: SPA06 +- On-board Bluetooth Telemetry + - Connected to UART8 internally, baudrate 115200 + - Connecting to QGC (PC or Android phone) via Bluetooth +- Інші характеристики: + - Operating & storage temperature: -20 ~ 85°c + +### Інтерфейси + +- 8 UART (TELEM / GPS / RC) +- 14 PWM outputs （10 supports DShot） +- Support multiple RC inputs (SBUS / CRSF / DSM) +- 1 GPS port +- 1 I2C порт +- 2 ADC port2 (VBAT, Current) +- 1 DJI O3/O4 VTX connector +- 1 MicroSD Card Slot +- 1 USB Type-C + +### Електричні дані + +- VBAT Input: + - 2\~6S (6\~27V) +- USB Power Input: + - 4.75\~5.25V +- BEC Output: + - 5V 2A (for controller, receiver, GPS, optical flow or other devices) + - 9V 2A (for video transmitter, camera) + +### Механічні характеристики + +- Mounting: 30.5 x 30.5mm, Φ4mm +- Dimensions: 36 x 36 x 8 mm +- Weight: 10g + +![MicoAir743-Lite Size](../../assets/flight_controller/micoair743_lite/size.png) + +## Де купити + +Order from [MicoAir Tech Store](https://store.micoair.com/product/micoair743-lite/). + +## Схема розташування виводів + +Pinouts definition can be found in the [MicoAir743-Lite_pinout.xlsx](https://raw.githubusercontent.com/PX4/PX4-Autopilot/refs/heads/main/docs/assets/flight_controller/micoair743_lite/micoair743_lite_pinout.xlsx) file. + +## Налаштування послідовного порту + +| UART | Пристрій | Порт | +| ------ | ---------- | ------ | +| USART1 | /dev/ttyS0 | TELEM1 | +| USART2 | /dev/ttyS1 | GPS2 | +| USART3 | /dev/ttyS2 | GPS1 | +| UART4 | /dev/ttyS3 | TELEM2 | +| UART5 | /dev/ttyS4 | TELEM3 | +| USART6 | /dev/ttyS5 | RC | +| UART7 | /dev/ttyS6 | URT6 | +| UART8 | /dev/ttyS7 | TELEM4 | + +## Interfaces Diagram + +:::note +All the connectors used on the board are SH1.0 +::: + +![MicoAir743-Lite Interface Diagram](../../assets/flight_controller/micoair743_lite/interfaces_diagram.png) + +## Зразок схеми з'єднань + +![MicoAir743-Lite Wiring Diagram](../../assets/flight_controller/micoair743_lite/wiring_diagram.png) + +## Збірка прошивки + +To [build PX4](../dev_setup/building_px4.md) for this target: + +```sh +make micoair_h743-lite_default +``` + +## Встановлення прошивки PX4 + +Прошивку можна встановити будь-якими звичайними способами: + +- Збудуйте та завантажте джерело + + ```sh + make micoair_h743-lite_default upload + ``` + +- [Load the firmware](../config/firmware.md) using _QGroundControl_. + Ви можете використовувати або готове вбудоване програмне забезпечення, або власне користувацьке програмне забезпечення. + + ::: info + At time of writing the only pre-built software is `PX4 main` (see [Installing PX4 Main, Beta or Custom Firmware](../config/firmware.md#installing-px4-main-beta-or-custom-firmware)). + Release builds will be supported for PX4 v1.17 and later. + +::: + +## Радіоуправління + +A [Radio Control (RC) system](../getting_started/rc_transmitter_receiver.md) is required if you want to manually control your vehicle (PX4 does not require a radio system for autonomous flight modes). + +The RC port is connected to the FMU and you can attach a receiver that uses the protocols `DSM`, `SBUS`, `CSRF`, `GHST`, or other protocol listed in [Radio Control modules](../modules/modules_driver_radio_control.md). +You will need to enable the protocol by setting the corresponding parameter `RC_xxxx_PRT_CFG`, such as [RC_CRSF_PRT_CFG](../advanced_config/parameter_reference.md#RC_CRSF_PRT_CFG) for a [CRSF receiver](../telemetry/crsf_telemetry.md). + +## Підтримувані платформи / Конструкції + +Будь-який мультикоптер / літак / наземна платформа / човен, який може керуватися звичайними RC сервоприводами або сервоприводами Futaba S-Bus. +The complete set of supported configurations can be seen in the [Airframes Reference](../airframes/airframe_reference.md). + +## Периферійні пристрої + +- [MicoAir Telemetry Radio Modules](https://micoair.com/radio_telemetry/) +- [MicoAir Optical & Range Sensor](https://micoair.com/optical_range_sensor/) +- [MicoAir GPS](https://micoair.com/gps/) +- [MicoAir ESC Modules](https://micoair.com/esc/) + +## Подальша інформація + +- [MicoAir Tech.](https://micoair.com/) +- [Details about MicoAir743-Lite](https://micoair.com/flightcontroller_micoair743lite/) +- [QGroundControl Download and Install](https://docs.qgroundcontrol.com/Stable_V5.0/en/qgc-user-guide/getting_started/download_and_install.html) diff --git a/docs/uk/flight_modes_fw/return.md b/docs/uk/flight_modes_fw/return.md index 6a7e62d0af..3296524af6 100644 --- a/docs/uk/flight_modes_fw/return.md +++ b/docs/uk/flight_modes_fw/return.md @@ -25,11 +25,6 @@ ::: -:::warning -There is a known issue ([PX4-Autopilot#25436](https://github.com/PX4/PX4-Autopilot/issues/25436)) with fixed-wing approaches and landings while in RTL mode. -Please review the issue and verify in simulation that the behavior you get is safe in an RTL landing scenario (if not, consider using rally points). -::: - ## Технічний підсумок Літальні апарати з фіксованим крилом за замовчуванням використовують тип повернення до призначення _місії посадки/точка збору_. diff --git a/docs/uk/gps_compass/index.md b/docs/uk/gps_compass/index.md index 96ab9ae8a4..f44e79a66c 100644 --- a/docs/uk/gps_compass/index.md +++ b/docs/uk/gps_compass/index.md @@ -201,7 +201,9 @@ EPH/EPV values therefore provide a more immediate and practical estimate of the - GPS/RTK-GPS - [RTK-GPS](../advanced/rtk_gps.md) + - [PPS Time Synchronization](../advanced/pps_time_sync.md) - [GPS driver](../modules/modules_driver.md#gps) + - [PPS driver](../modules/modules_driver.md#pps-capture) - [DroneCAN Example](../dronecan/index.md) - Компас - [Driver source code](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/magnetometer) (Compasses) diff --git a/docs/uk/gps_compass/magnetometer.md b/docs/uk/gps_compass/magnetometer.md index f7f12e2026..42d0d72b4e 100644 --- a/docs/uk/gps_compass/magnetometer.md +++ b/docs/uk/gps_compass/magnetometer.md @@ -40,6 +40,7 @@ PX4 можна використовувати з багатьма деталям | Пристрій | Компас | DroneCan | | :-------------------------------------------------------------------------------------------------------------- | :----: | :------: | +| [ARK MAG](https://arkelectron.com/product/ark-mag/) | RM3100 | ✓ | | [Магнітометр UAVCAN Avionics Anonymous](https://www.tindie.com/products/avionicsanonymous/uavcan-magnetometer/) | ? | | | [Компас/Магнітометр Holybro DroneCAN RM3100](https://holybro.com/products/dronecan-rm3100-compass) | RM3100 | ✓ | | [RaccoonLab DroneCAN/Cyphal Magnetometer RM3100](https://holybro.com/products/dronecan-rm3100-compass) | RM3100 | ✓ | diff --git a/docs/uk/middleware/uxrce_dds.md b/docs/uk/middleware/uxrce_dds.md index 8d21539d78..8a9d2e2ec3 100644 --- a/docs/uk/middleware/uxrce_dds.md +++ b/docs/uk/middleware/uxrce_dds.md @@ -454,6 +454,7 @@ uxrce_dds_client start -n fancy_uav ``` This can be included in `etc/extras.txt` as part of a custom [System Startup](../concept/system_startup.md). +::: ## PX4 ROS 2 QoS Settings @@ -588,7 +589,7 @@ For a list of services, details and examples see the [service documentation](../ These guidelines explain how to migrate from using PX4 v1.13 [Fast-RTPS](../middleware/micrortps.md) middleware to PX4 v1.14 `uXRCE-DDS` middleware. These are useful if you have [ROS 2 applications written for PX4 v1.13](https://docs.px4.io/v1.13/en/ros/ros2_comm.html), or you have used Fast-RTPS to interface your applications to PX4 [directly](https://docs.px4.io/v1.13/en/middleware/micrortps.html#agent-in-an-offboard-fast-dds-interface-ros-independent). -::: info +:::info This section contains migration-specific information. You should also read the rest of this page to properly understand uXRCE-DDS. :::