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New Crowdin translations - ko
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Crowdin Bot
committed by
Hamish Willee
Hamish Willee
parent
fea845082f
commit
f413b0c4d2
@@ -9,10 +9,10 @@ Vehicles are [hand or catapult launched](#catapult-hand-launch) by default, but
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::: info
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- Mode is automatic - no user intervention is _required_ to control the vehicle.
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- Mode requires at least a valid local position estimate (does not require a global position).
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- Flying vehicles can't switch to this mode without valid local position.
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- Flying vehicles will failsafe if they lose the position estimate.
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- Disarmed vehicles can switch to mode without valid position estimate but can't arm.
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- Mode requires at least a valid altitude estimation.
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- Flying vehicles can't switch to this mode without valid altitude.
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- Flying vehicles will failsafe if they lose the altitude estimate.
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- Disarmed vehicles can switch to mode without valid altitude estimate but can't arm.
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- RC control switches can be used to change flight modes.
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- RC stick movement is ignored in catapult takeoff but can can be used to nudge the vehicle in runway takeoff.
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- The [Failure Detector](../config/safety.md#failure-detector) will automatically stop the engines if there is a problem on takeoff.
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@@ -26,39 +26,61 @@ Vehicles are [hand or catapult launched](#catapult-hand-launch) by default, but
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Takeoff mode (and [fixed wing mission takeoff](../flight_modes_fw/mission.md#mission-takeoff)) has two modalities: [catapult/hand-launch](#catapult-hand-launch) or [runway takeoff](#runway-takeoff) (hardware-dependent).
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The mode defaults to catapult/hand launch, but can be set to runway takeoff by setting [RWTO_TKOFF](#RWTO_TKOFF) to 1.
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To use _Takeoff mode_ you first switch to the mode, and then arm the vehicle.
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To use _Takeoff mode_ you first switch to the mode, and then arm the vehicle (or send the [MAV_CMD_NAV_TAKEOFF](https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_TAKEOFF) command which does both).
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The acceleration of hand/catapult launch triggers the motors to start.
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For runway launch, motors ramp up automatically once the vehicle has been armed.
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Irrespective of the modality, a flight path (starting point and takeoff course) and clearance altitude are defined:
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- The starting point is the vehicle position when the takeoff mode is first entered.
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- The course is set to the vehicle heading on arming
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- The clearance altitude is set to [MIS_TAKEOFF_ALT](#MIS_TAKEOFF_ALT).
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- The course is set to the vehicle heading on arming by default.
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If a valid waypoint latitude/longitude is set the vehicle will instead track towards the waypoint.
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- The clearance altitude is set to [MIS_TAKEOFF_ALT](#MIS_TAKEOFF_ALT) by default.
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If a valid waypoint altitude is set is set the vehicle will instead use it as the clearance altitude.
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On takeoff, the aircraft will follow line defined by the starting point and course, climbing at the maximum climb rate ([FW_T_CLMB_MAX](../advanced_config/parameter_reference.md#FW_T_CLMB_MAX)) until reaching the clearance altitude.
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By default, on takeoff the aircraft will follow the line defined by the starting point and course, climbing at the maximum climb rate ([FW_T_CLMB_MAX](../advanced_config/parameter_reference.md#FW_T_CLMB_MAX)) until reaching the clearance altitude.
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Reaching the clearance altitude causes the vehicle to enter [Hold mode](../flight_modes_fw/takeoff.md).
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If a valid waypoint target is set, using `MAV_CMD_NAV_TAKEOFF` or the [VehicleCommand](../msg_docs/VehicleCommand.md) uORB topic, the vehicle will instead track towards the waypoint, and enter [Hold mode](../flight_modes_fw/takeoff.md) after reaching the waypoint altitude (within the acceptance radius).
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:::tip
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If the local position is invalid or becomes invalid while executing the takeoff, the controller is not able to track a course setpoint and will instead proceed climbing while keeping the wings level until the clearance altitude is reached.
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:::
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::: info
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- Takeoff towards a target position was added in <Badge type="tip" text="main (planned for: PX4 v1.17)" />.
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- Holding wings level and ascending to clearance attitude when local position is invalid during takeoff was added in <Badge type="tip" text="main (planned for: PX4 v1.17)" />.
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- QGroundControl does not support `MAV_CMD_NAV_TAKEOFF` (at time of writing).
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:::
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### 매개변수
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Parameters that affect both catapult/hand-launch and runway takeoffs:
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| 매개변수 | 설명 |
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| -------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
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| <a id="MIS_TAKEOFF_ALT"></a>[MIS_TAKEOFF_ALT](../advanced_config/parameter_reference.md#MIS_TAKEOFF_ALT) | Minimum altitude setpoint above Home that the vehicle will climb to during takeoff. |
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| <a id="FW_TKO_AIRSPD"></a>[FW_TKO_AIRSPD](../advanced_config/parameter_reference.md#FW_TKO_AIRSPD) | Takeoff airspeed (is set to [FW_AIRSPD_MIN](../advanced_config/parameter_reference.md#FW_AIRSPD_MIN) if not defined by operator) |
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| <a id="FW_TKO_PITCH_MIN"></a>[FW_TKO_PITCH_MIN](../advanced_config/parameter_reference.md#FW_TKO_PITCH_MIN) | This is the minimum pitch angle setpoint during the climbout phase |
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| <a id="FW_T_CLMB_MAX"></a>[FW_T_CLMB_MAX](../advanced_config/parameter_reference.md#FW_T_CLMB_MAX) | Maximum climb rate. |
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| <a id="FW_FLAPS_TO_SCL"></a>[FW_FLAPS_TO_SCL](../advanced_config/parameter_reference.md#FW_FLAPS_TO_SCL) | Flaps setpoint during takeoff |
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| <a id="FW_AIRSPD_FLP_SC"></a>[FW_AIRSPD_FLP_SC](../advanced_config/parameter_reference.md#FW_AIRSPD_FLP_SC) | Factor applied to the minimum airspeed when flaps are fully deployed. Necessary if FW_TKO_AIRSPD is below FW_AIRSPD_MIN. |
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| 매개변수 | 설명 |
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| -------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
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| <a id="MIS_TAKEOFF_ALT"></a>[MIS\_TAKEOFF\_ALT][MIS_TAKEOFF_ALT] | This is the relative altitude (above launch altitude) the system will take off to if not otherwise specified. takeoff. |
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| <a id="FW_TKO_AIRSPD"></a>[FW\_TKO\_AIRSPD][FW_TKO_AIRSPD] | Takeoff airspeed (is set to [FW\_AIRSPD\_MIN][FW_AIRSPD_MIN] if not defined by operator) |
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| <a id="FW_TKO_PITCH_MIN"></a>[FW\_TKO\_PITCH\_MIN][FW_TKO_PITCH_MIN] | This is the minimum pitch angle setpoint during the climbout phase |
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| <a id="FW_T_CLMB_MAX"></a>[FW\_T\_CLMB\_MAX][FW_T_CLMB_MAX] | Climb rate setpoint during climbout to takeoff altitude. |
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| <a id="FW_FLAPS_TO_SCL"></a>[FW\_FLAPS\_TO\_SCL][FW_FLAPS_TO_SCL] | Flaps setpoint during takeoff |
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| <a id="FW_AIRSPD_FLP_SC"></a>[FW\_AIRSPD\_FLP\_SC][FW_AIRSPD_FLP_SC] | Factor applied to the minimum airspeed when flaps are fully deployed. Needed if [FW\_TKO\_AIRSPD](#FW_TKO_AIRSPD) is below [FW\_AIRSPD\_MIN][FW_AIRSPD_MIN]. |
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[FW_AIRSPD_MIN]: ../advanced_config/parameter_reference.md#FW_AIRSPD_MIN
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[FW_FLAPS_TO_SCL]: ../advanced_config/parameter_reference.md#FW_FLAPS_TO_SCL
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[FW_AIRSPD_FLP_SC]: ../advanced_config/parameter_reference.md#FW_AIRSPD_FLP_SC
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[FW_TKO_AIRSPD]: ../advanced_config/parameter_reference.md#FW_TKO_AIRSPD
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[MIS_TAKEOFF_ALT]: ../advanced_config/parameter_reference.md#MIS_TAKEOFF_ALT
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[FW_TKO_PITCH_MIN]: ../advanced_config/parameter_reference.md#FW_TKO_PITCH_MIN
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[FW_T_CLMB_MAX]: ../advanced_config/parameter_reference.md#FW_T_CLMB_MAX
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:::info
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The vehicle always respects normal FW max/min throttle settings during takeoff ([FW_THR_MIN](../advanced_config/parameter_reference.md#FW_THR_MIN), [FW_THR_MAX](../advanced_config/parameter_reference.md#FW_THR_MAX)).
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:::
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<a id="hand_launch"></a>
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## Catapult/Hand Launch
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## Catapult/Hand Launch {#hand_launch}
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In _catapult/hand-launch mode_ the vehicle waits to detect launch (based on acceleration trigger).
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On launch it enables the motor(s) and climbs with the maximum climb rate [FW_T_CLMB_MAX](#FW_T_CLMB_MAX) while keeping the pitch setpoint above [FW_TKO_PITCH_MIN](#FW_TKO_PITCH_MIN).
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@@ -84,9 +106,7 @@ The _launch detector_ is affected by the following parameters:
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| <a id="FW_LAUN_AC_T"></a>[FW_LAUN_AC_T](../advanced_config/parameter_reference.md#FW_LAUN_AC_T) | Trigger time (acceleration must be above threshold for this amount of seconds) |
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| <a id="FW_LAUN_MOT_DEL"></a>[FW_LAUN_MOT_DEL](../advanced_config/parameter_reference.md#FW_LAUN_MOT_DEL) | Delay from launch detection to motor spin up |
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<a id="runway_launch"></a>
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## Runway Takeoff
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## Runway Takeoff {#runway_launch}
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Runway takeoffs can be used by vehicles with landing gear and and steerable wheel (only).
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You will first need to enable the wheel controller using the parameter [FW_W_EN](#FW_W_EN).
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