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docs/ko/SUMMARY.md
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@@ -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)

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docs/ko/dev_log/ulog_file_format.md
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@@ -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).

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docs/ko/flight_controller/autopilot_manufacturer_supported.md
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@@ -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)

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# RadiolinkPIX6 Flight Controller
<Badge type="tip" text="main (planned for: PX4 v1.17)" />
:::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).

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@@ -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.

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@@ -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.

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@@ -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