From f77c1e425abadc67bf7c41ede32a1397eba9467a Mon Sep 17 00:00:00 2001 From: PX4 Build Bot Date: Thu, 25 Sep 2025 12:34:45 +1000 Subject: [PATCH] New Crowdin translations - ko (#25627) Co-authored-by: Crowdin Bot --- docs/ko/SUMMARY.md | 1 + docs/ko/dev_log/ulog_file_format.md | 1 + .../autopilot_manufacturer_supported.md | 1 + docs/ko/flight_controller/radiolink_pix6.md | 347 ++++++++++++++++++ docs/ko/flight_modes_fw/return.md | 5 + docs/ko/middleware/uxrce_dds.md | 63 +++- docs/ko/sensor/sfxx_lidar.md | 11 +- 7 files changed, 419 insertions(+), 10 deletions(-) create mode 100644 docs/ko/flight_controller/radiolink_pix6.md diff --git a/docs/ko/SUMMARY.md b/docs/ko/SUMMARY.md index e383e68ffb..ba8a6263ca 100644 --- a/docs/ko/SUMMARY.md +++ b/docs/ko/SUMMARY.md @@ -184,6 +184,7 @@ - [Wiring Quickstart](assembly/quick_start_holybro_pix32_v5.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) - [Sky-Drones AIRLink](flight_controller/airlink.md) - [SPRacing SPRacingH7EXTREME](flight_controller/spracingh7extreme.md) - [ThePeach FCC-K1](flight_controller/thepeach_k1.md) diff --git a/docs/ko/dev_log/ulog_file_format.md b/docs/ko/dev_log/ulog_file_format.md index 2af8fc1e78..70e1ac0510 100644 --- a/docs/ko/dev_log/ulog_file_format.md +++ b/docs/ko/dev_log/ulog_file_format.md @@ -491,6 +491,7 @@ Since the Definitions and Data Sections use the same message header format, they - [replay module](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/replay) - [hardfault_log module](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/hardfault_log): append hardfault crash data. - [pyulog](https://github.com/PX4/pyulog): python, ULog reader and writer library with CLI scripts. + The project also has tools to convert ULog to rosbag and other formats. - [ulog_cpp](https://github.com/PX4/ulog_cpp): C++, ULog reader and writer library. - [FlightPlot](https://github.com/PX4/FlightPlot): Java, log plotter. - [MAVLink](https://github.com/mavlink/mavlink): Messages for ULog streaming via MAVLink (note that appending data is not supported, at least not for cut off messages). diff --git a/docs/ko/flight_controller/autopilot_manufacturer_supported.md b/docs/ko/flight_controller/autopilot_manufacturer_supported.md index 02ab0e7724..e4d997d783 100644 --- a/docs/ko/flight_controller/autopilot_manufacturer_supported.md +++ b/docs/ko/flight_controller/autopilot_manufacturer_supported.md @@ -32,6 +32,7 @@ This category includes boards that are not fully compliant with the pixhawk stan - [Holybro Pix32 v5](../flight_controller/holybro_pix32_v5.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) - [Sky-Drones AIRLink](../flight_controller/airlink.md) - [SPRacing SPRacingH7EXTREME](../flight_controller/spracingh7extreme.md) - [ThePeach FCC-K1](../flight_controller/thepeach_k1.md) diff --git a/docs/ko/flight_controller/radiolink_pix6.md b/docs/ko/flight_controller/radiolink_pix6.md new file mode 100644 index 0000000000..4fe686a8b7 --- /dev/null +++ b/docs/ko/flight_controller/radiolink_pix6.md @@ -0,0 +1,347 @@ +# RadiolinkPIX6 Flight Controller + + + +:::warning +PX4 does not manufacture this (or any) autopilot. +Contact the [manufacturer](https://radiolink.com.cn/) for hardware support or compliance issues. +::: + +자동조종장치는 상용시스템 통합에 권장되지만, 학술 연구와 기타 용도에도 적합합니다. + +![RadiolinkPIX6](http://www.radiolink.com.cn/firmware/wiki/RadiolinkPIX6/RadiolinkPIX6.png) + +The Radiolink PIX6 is a high-performance flight controller. +Featuring STM32F7 CPU, vibration isolation of IMUs, redundant IMUs, integrated OSD chip, IMU heating, and DShot. + +:::info +This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md). +::: + +## 요약 + +- 프로세서 + - 32-bit ARM Cortex M7 core with DPFPU - STM32F765VIT6 + - 216 MHz/512 KB RAM/2 MB 플래시 + - 32-bit IOMCU co-processor - STM32F100 + - 32KB FRAM - FM25V02A + - AT7456E OSD +- 센서 + - Bosh BMI088 IMU (accel, gyro) + - InvenSense ICM-42688 IMU (accel, gyro) + - SPA06 barometer + - IST8310 magnetometer +- 전원 + - SMBUS/I2C Power Module Inputs (I2C) + - voltage and current monitor inputs (Analog) +- 인터페이스 + - 16 PWM Outputs with independent power rail for external power source + - 5x UART serial ports, 2 with HW flow control + - Camera Input and Video Output + - PPM/SBUS input, DSM/SBUS input + - RSSI(PWM 또는 전압) 입력 + - I2C, SPI, 2x CAN, USB + - 3.3V and 6.6V ADC inputs + - 부저와 안전 스위치 + - microSD card +- 중량과 크기 + - Weight 80g + - Size 94mm x 51.5mm x 14.5mm + +## 구매처 + +[Radiolink Amazon](https://www.radiolink.com.cn/pix6_where_to_buy)（International users） + +[Radiolink Taobao](https://item.taobao.com/item.htm?spm=a21dvs.23580594.0.0.1d292c1bNMdSqV&ft=t&id=815993357068&skuId=5515756705284)（China Mainland user） + +## 커넥터 할당 + +### Top View + +![Pix6 top view](../../assets/flight_controller/radiolink_pix6/top_view.png) + +### Left View + +![Pix6 left view](../../assets/flight_controller/radiolink_pix6/left_view.png) + +### Right View + +![Pix6 right view](../../assets/flight_controller/radiolink_pix6/right_view.png) + +### Rear View + +![Pix6 rear view](../../assets/flight_controller/radiolink_pix6/rear_view.png) + +## 핀배열 + +Unless noted otherwise all connectors are JST GH. + +### TELEM1, TELEM2 포트 + +| 핀 | 신호 | 전압 | +| - | -------------------------- | --------------------- | +| 1 | VCC | +5V | +| 2 | TX(OUT) | +3.3V | +| 3 | RX(IN) | +3.3V | +| 4 | CTS | +3.3V | +| 5 | RTS | +3.3V | +| 6 | GND | GND | + +### OSD + +| 핀 | 신호 | 전압 | +| - | ---- | --------------------- | +| 1 | GND | GND | +| 2 | VOUT | +3.3V | +| 3 | VCC | +5V | +| 4 | GND | GND | +| 5 | VCC | +5V | +| 6 | VIN | +3.3V | + +### I2C port + +| 핀 | 신호 | 전압 | +| - | --- | -------------------------------------------------- | +| 1 | VCC | +5V | +| 2 | SCL | +3.3V (pullups) | +| 3 | SDA | +3.3V (pullups) | +| 4 | GND | GND | + +### CAN1, CAN2 ports + +| 핀 | 신호 | 전압 | +| - | -------------------------- | ---- | +| 1 | VCC | +5V | +| 2 | CAN_H | +12V | +| 3 | CAN_L | +12V | +| 4 | GND | GND | + +### GPS1 port + +| 핀 | 신호 | 전압 | +| - | -------------------------- | --------------------- | +| 1 | VCC | +5V | +| 2 | TX(OUT) | +3.3V | +| 3 | RX(IN) | +3.3V | +| 4 | SCL | +3.3V | +| 5 | SDA | +3.3V | +| 6 | GND | GND | + +### GPS2 Port + +| 핀 | 신호 | 전압 | +| - | -------------------------- | --------------------- | +| 1 | VCC | +5V | +| 2 | TX(OUT) | +3.3V | +| 3 | RX(IN) | +3.3V | +| 4 | SCL | +3.3V | +| 5 | SDA | +3.3V | +| 6 | GND | GND | + +### SPI + +| 핀 | 신호 | 전압 | +| - | ------------------------------ | --------------------- | +| 1 | VCC | +5V | +| 2 | SPI_SCK | +3.3V | +| 3 | SPI_MISO | +3.3V | +| 4 | SPI_MOSI | +3.3V | +| 5 | !SPI_NSS1 | +3.3V | +| 6 | !SPI_NSS2 | +3.3V | +| 7 | DRDY | +3.3V | +| 8 | GND | GND | + +### POWER1 (HY2.0-6P) + +Port for analog power monitors. + +| 핀 | 신호 | 전압 | +| - | ------- | ------------------------ | +| 1 | VCC | +5V | +| 2 | VCC | +5V | +| 3 | CURRENT | 최대 +3.3V | +| 4 | VOLTAGE | 최대 +3.3V | +| 5 | GND | GND | +| 6 | GND | GND | + +### POWER2 (HY2.0-6P) + +Port for digital (I2C) power monitor. + +| 핀 | 신호 | 전압 | +| - | --- | --------------------- | +| 1 | VCC | +5V | +| 2 | VCC | +5V | +| 3 | SCL | +3.3V | +| 4 | SDA | +3.3V | +| 5 | GND | GND | +| 6 | GND | GND | + +### ADC 3.3V + +| 핀 | 신호 | 전압 | +| - | ------- | --------------------------- | +| 1 | VCC | +5V | +| 2 | ADC IN1 | 최대 +3.3V | +| 3 | GND | GND | +| 4 | ADC IN2 | up to +3.3v | +| 5 | GND | GND | + +### ADC 6.6V + +| 핀 | 신호 | 전압 | +| - | ------ | -------------------------- | +| 1 | VCC | +5V | +| 2 | ADC 입력 | up to 6.6V | +| 3 | GND | GND | + +### USB remote port + +| 핀 | 신호 | 전압 | +| - | ------- | --------------------- | +| 1 | USB VDD | +5V | +| 2 | DM | +3.3V | +| 3 | DP | +3.3V | +| 4 | GND | GND | + +### 스위치 + +| 핀 | 신호 | 전압 | +| - | -------------------------------------------------------- | --------------------- | +| 1 | VCC | +3.3V | +| 2 | !IO_LED_SAFETY | GND | +| 3 | SAFETY | GND | + +### Buzzer port + +| 핀 | 신호 | 전압 | +| - | ------- | --- | +| 1 | VCC | +5V | +| 2 | BUZZER- | +5V | + +### Spektrum/DSM Port (PH1.25-3P) + +| 핀 | 신호 | 전압 | +| - | --- | --------------------- | +| 1 | VCC | +3.3V | +| 2 | GND | GND | +| 3 | 신호 | +3.3V | + +### Debug port (SH1.0-8P) + +| 핀 | 신호 | 전압 | +| - | ------------------------------ | --------------------- | +| 1 | VCC | +5V | +| 2 | FMU_SWCLK | +3.3V | +| 3 | FMU_SWDIO | +3.3V | +| 4 | TX(UART7) | +3.3V | +| 5 | RX(UART7) | +3.3V | +| 6 | IO_SWCLK | +3.3V | +| 7 | IO_SWDIO | +3.3V | +| 8 | GND | GND | + +## 펌웨어 빌드 + +To [build PX4](../dev_setup/building_px4.md) for this target: + +```sh +make radiolink_PIX6_default +``` + +## 펌웨어 설치 + +펌웨어는 일반적인 방법으로 설치할 수 있습니다. + +- 소스 빌드 및 업로드 + + ```sh + make radiolink_PIX6_default upload + ``` + +- [Load the firmware](../config/firmware.md) using _QGroundControl_. + 미리 빌드된 펌웨어나 사용자 지정 펌웨어를 사용할 수 있습니다. + + ::: 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. + +::: + +## PX4 설정 + +In addition to the [basic configuration](../config/index.md), the following parameters are important: + +| 매개변수 | 설정 | +| -------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------ | +| [SYS_HAS_MAG](../advanced_config/parameter_reference.md#SYS_HAS_MAG) | 보드에 내부 자력계가 없기 때문에 비활성화하여야 합니다. 외부 자력계를 연결하여 활성화 할 수 있습니다. | + +### Powering the PIX6 + +The PIX6 has 2 dedicated power monitor ports, each with a 6 pin connector. +One is the Analog power monitor (`POWER1`), and the others is the I2C power monitor (`POWER2`). + +The power module that comes with the flight controller with a wide voltage input range of 2-12S (7.4-50.4V), a maximum detection current of 90A (single ESC maximum detection current is 22.5A), a BEC output voltage of 5.3±0.2V, and a BEC output current of 2A. + +![Radiolink power modules MODULES](../../assets/flight_controller/radiolink_pix6/radiolink_power_modules.png) + +The PIX6 also supports power modules from other manufacturers, such as [holybro_pm02d](../power_module/holybro_pm02d.md). + +## Recommended Accessories + +### GPS Modules + +Radiolink manufactures a variety of high-performance GPS，Dual Anti-interference Technology Worry-free of UAV High-power Image Transmission, High-Voltage Lines, or Other Strong Signal Interference. + +The PIX6 has 2 dedicated GPS ports, `GPS1` and `GPS2`, each with a 6 pin connector. + +Recommended modules include: + +- [Radiolink SE100](https://radiolink.com.cn/se100) +- [Radiolink TS100](https://radiolink.com.cn/ts100v2) +- [Radiolink RTK F9P](https://radiolink.com.cn/rtk_f9p) + +## 시리얼 포트 매핑 + +| UART | 장치 | 포트 | +| ------ | ---------- | --------------------------------- | +| UART1 | /dev/ttyS0 | GPS1 | +| USART2 | /dev/ttyS1 | TELEM1 (흐름 제어) | +| USART3 | /dev/ttyS2 | TELEM2 (흐름 제어) | +| UART4 | /dev/ttyS3 | GPS2 | +| UART7 | /dev/ttyS4 | 디버그 콘솔 | +| UART8 | /dev/ttyS5 | PX4IO | + +## Analog inputs + +The Radiolink PIX6 has 3 analog inputs, one 6V tolerant and two 3.3V tolerant. + +- ADC Pin12 -> ADC 6.6V Sense +- ADC Pin4 -> ADC IN1 3.3V Sense +- ADC Pin13 -> ADC IN2 3.3V Sense + +## 무선 조종 + +A [Radio Control (RC)](../getting_started/rc_transmitter_receiver.md) system is required if you want to _manually_ control your vehicle (PX4 does not require a radio system for autonomous flight modes). + +You will need to [select a compatible transmitter/receiver](../getting_started/rc_transmitter_receiver.md) and then _bind_ them so that they communicate (read the instructions that come with your specific transmitter/receiver). + +- Spektrum/DSM receivers connect to the **DSM/SBUS RC** input. +- PPM or SBUS receivers connect to the **RC IN** input port. +- CRSF receiver must be wired to a spare port (UART) on the Flight Controller. + Then you can bind the transmitter and receiver together. + +#### CRSF Parameter Configuration + +[Find and set](../advanced_config/parameters.md) the following parameters: + +1. Set [RC_CRSF_PRT_CFG](../advanced_config/parameter_reference.md#RC_CRSF_PRT_CFG) to the port that is connected to the CRSF receiver (such as `TELEM1`). + + This [configures the serial port](../peripherals/serial_configuration.md) to use the CRSF protocol. + Note that some serial ports may already have a [default serial port mapping](../peripherals/serial_configuration.md#default-serial-port-configuration) or [default MAVLink serial port mapping](../peripherals/mavlink_peripherals.md#default-mavlink-ports) that you will have to un-map before you can assign the port to CRSF. + For example, if you want to use `TELEM1` or `TELEM2` you first need to modify [MAV_0_CONFIG](../advanced_config/parameter_reference.md#MAV_0_CONFIG) or [MAV_1_CONFIG](../advanced_config/parameter_reference.md#MAV_1_CONFIG) to stop setting those ports. + + 포트 전송속도는 드라이버에 의해 설정되므로, 추가로 설정하지 않아도 됩니다. + +2. Enable [RC_CRSF_TEL_EN](../advanced_config/parameter_reference.md#RC_CRSF_TEL_EN) to activate Crossfire telemetry. + +For more information about selecting a radio system, receiver compatibility, and binding your transmitter/receiver pair, see: [Remote Control Transmitters & Receivers](../getting_started/rc_transmitter_receiver.md). diff --git a/docs/ko/flight_modes_fw/return.md b/docs/ko/flight_modes_fw/return.md index 92119f1ed5..3643254996 100644 --- a/docs/ko/flight_modes_fw/return.md +++ b/docs/ko/flight_modes_fw/return.md @@ -25,6 +25,11 @@ The default type is recommended. ::: +:::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). +::: + ## Technical Summary Fixed-wing vehicles use the _mission landing/rally point_ return type by default. diff --git a/docs/ko/middleware/uxrce_dds.md b/docs/ko/middleware/uxrce_dds.md index 25856d4cf4..844574bbcb 100644 --- a/docs/ko/middleware/uxrce_dds.md +++ b/docs/ko/middleware/uxrce_dds.md @@ -106,12 +106,19 @@ The development version, fetched using `--edge` above, does work. ### Build/Run within ROS 2 Workspace -The agent can be built and launched within a ROS 2 workspace (or build standalone and launched from a workspace. +The agent can be built and launched within a ROS 2 workspace (or build standalone and launched from a workspace). You must already have installed ROS 2 following the instructions in: [ROS 2 User Guide > Install ROS 2](../ros2/user_guide.md#install-ros-2). :::warning This approach will use the existing ROS 2 versions of the Agent dependencies, such as `fastcdr` and `fastdds`. -This considerably speeds up the build process but requires that the Agent dependency versions match the ROS 2 ones. +This considerably speeds up the build process but requires that the Agent dependency versions match the ROS 2 ones: + +| ROS 2 version | Micro-XRCE-DDS-Agent version | +| ------------- | -------------------------------------- | +| Foxy | v2.4.2 | +| Humble | v2.4.2 | +| Jazzy | v2.4.3 | + ::: To build the agent within ROS: @@ -124,15 +131,54 @@ To build the agent within ROS: 2. Clone the source code for the eProsima [Micro-XRCE-DDS-Agent](https://github.com/eProsima/Micro-XRCE-DDS-Agent) to the `/src` directory (the `main` branch is cloned by default): + ::::tabs + + ::: tab jazzy + ```sh cd ~/px4_ros_uxrce_dds_ws/src git clone -b v2.4.3 https://github.com/eProsima/Micro-XRCE-DDS-Agent.git ``` + +::: + + ::: tab humble + + ```sh + cd ~/px4_ros_uxrce_dds_ws/src + git clone -b v2.4.2 https://github.com/eProsima/Micro-XRCE-DDS-Agent.git + ``` + + +::: + + ::: tab foxy + + ```sh + cd ~/px4_ros_uxrce_dds_ws/src + git clone -b v2.4.2 https://github.com/eProsima/Micro-XRCE-DDS-Agent.git + ``` + + +::: + + :::: + 3. Source the ROS 2 development environment, and compile the workspace using `colcon`: :::: tabs + ::: tab jazzy + + ```sh + source /opt/ros/jazzy/setup.bash + colcon build + ``` + + +::: + ::: tab humble ```sh @@ -163,6 +209,16 @@ To run the micro XRCE-DDS agent in the workspace: :::: tabs + ::: tab jazzy + + ```sh + source /opt/ros/jazzy/setup.bash + source install/local_setup.bash + ``` + + +::: + ::: tab humble ```sh @@ -235,7 +291,6 @@ The configuration can be done using the [UXRCE-DDS parameters](../advanced_confi - [UXRCE_DDS_CFG](../advanced_config/parameter_reference.md#UXRCE_DDS_CFG): Set the port to connect on, such as `TELEM2`, `Ethernet`, or `Wifi`. - If using an Ethernet connection: - - [UXRCE_DDS_PRT](../advanced_config/parameter_reference.md#UXRCE_DDS_PRT): Use this to specify the agent UDP listening port. The default value is `8888`. @@ -259,14 +314,12 @@ The configuration can be done using the [UXRCE-DDS parameters](../advanced_confi ``` - If using a serial connection: - - [SER_TEL2_BAUD](../advanced_config/parameter_reference.md#SER_TEL2_BAUD), [SER_URT6_BAUD](../advanced_config/parameter_reference.md#SER_URT6_BAUD) (and so on): Use the `_BAUD` parameter associated with the serial port to set the baud rate. For example, you'd set a value for `SER_TEL2_BAUD` if you are connecting to the companion using `TELEM2`. For more information see [Serial port configuration](../peripherals/serial_configuration.md#serial-port-configuration). - Some setups might also need these parameters to be set: - - [UXRCE_DDS_KEY](../advanced_config/parameter_reference.md#UXRCE_DDS_KEY): The uXRCE-DDS key. If you're working in a multi-client, single agent configuration, each client should have a unique non-zero key. This is primarily important for multi-vehicle simulations, where all clients are connected in UDP to the same agent. diff --git a/docs/ko/sensor/sfxx_lidar.md b/docs/ko/sensor/sfxx_lidar.md index 8d0abeb0ae..ed1ee88bab 100644 --- a/docs/ko/sensor/sfxx_lidar.md +++ b/docs/ko/sensor/sfxx_lidar.md @@ -9,11 +9,12 @@ LightWare는 UAV에 장착에 적합한 경량의 범용 레이저 고도계( " 아래의 모델들은 PX4에서 지원되며, I2C 또는 직렬 버스에 연결할 수 있습니다 (아래 표는 각 모델에 사용할 수 있는 버스를 나타냄). -| 모델 | 범위 (m) | 버스 | 설명 | -| ---------------------------------------------------------- | ------------------------- | ------------ | ------------------------------------------------------------------------------------------------------------- | -| [SF11/C](https://lightwarelidar.com/products/sf11-c-100-m) | 100 | 직렬 또는 I2C 버스 | | -| [LW20/C](https://lightware.co.za/products/lw20-c-100-m) | 100 | I2C 버스 | 감지 및 회피 애플리케이션을 위한 서보가 있는 방수 (IP67) | -| [SF45/B](../sensor/sf45_rotating_lidar.md) | 50 | 직렬 | Rotary Lidar (Used for [Collision Prevention](../computer_vision/collision_prevention.md)) | +| 모델 | 범위 (m) | 버스 | 설명 | +| ------------------------------------------------------- | ------------------------- | ------------ | ------------------------------------------------------------------------------------------------------------- | +| [SF11/C](https://lightwarelidar.com/shop/sf11-c-100-m/) | 100 | 직렬 또는 I2C 버스 | | +| [LW20/C](https://lightware.co.za/products/lw20-c-100-m) | 100 | I2C 버스 | 감지 및 회피 애플리케이션을 위한 서보가 있는 방수 (IP67) | +| [SF30/D](https://lightwarelidar.com/shop/sf30-d-200-m/) | 200 | I2C 버스 | Waterproofed (IP67) | +| [SF45/B](../sensor/sf45_rotating_lidar.md) | 50 | 직렬 | Rotary Lidar (Used for [Collision Prevention](../computer_vision/collision_prevention.md)) | :::details Discontinued