diff --git a/docs/zh/advanced/tflm.md b/docs/zh/advanced/tflm.md index e46efdd4db..8d856c3bd5 100644 --- a/docs/zh/advanced/tflm.md +++ b/docs/zh/advanced/tflm.md @@ -1,6 +1,6 @@ # TensorFlow Lite Micro (TFLM) -The PX4 [Multicopter Neural Network](advanced/neural_networks.md) module ([mc_nn_control](../modules/modules_controller.md#mc-nn-control)) integrates a neural network that uses the [TensorFlow Lite Micro (TFLM)](https://github.com/tensorflow/tflite-micro) inference library. +The PX4 [Multicopter Neural Network](../advanced/neural_networks.md) module ([mc_nn_control](../modules/modules_controller.md#mc-nn-control)) integrates a neural network that uses the [TensorFlow Lite Micro (TFLM)](https://github.com/tensorflow/tflite-micro) inference library. This is a mature inference library intended for use on embedded devices, and is hence a suitable choice for PX4. diff --git a/docs/zh/airframes/airframe_reference.md b/docs/zh/airframes/airframe_reference.md index baaa38c821..cc3884a39e 100644 --- a/docs/zh/airframes/airframe_reference.md +++ b/docs/zh/airframes/airframe_reference.md @@ -595,6 +595,10 @@ div.frame_variant td, div.frame_variant th { 参数名 + + SIH Rover Ackermann + Maintainer: John Doe <john@example.com>

SYS_AUTOSTART = 1104

+ Generic Rover Differential Maintainer: John Doe <john@example.com>

SYS_AUTOSTART = 50000

diff --git a/docs/zh/modules/modules_communication.md b/docs/zh/modules/modules_communication.md index d5f172e79a..86a9eb78a6 100644 --- a/docs/zh/modules/modules_communication.md +++ b/docs/zh/modules/modules_communication.md @@ -85,7 +85,8 @@ mavlink [arguments...] default: 127.0.0.1 [-m ] Mode: sets default streams and rates values: custom|camera|onboard|osd|magic|config|iridium|minimal| - extvision|extvisionmin|gimbal|uavionix, default: normal + extvision|extvisionmin|gimbal|onboard_low_bandwidth|uavionix|lo + w_bandwidth|distance_sensor, default: normal [-n ] wifi/ethernet interface name values: [-c ] Multicast address (multicasting can be enabled via diff --git a/docs/zh/modules/modules_controller.md b/docs/zh/modules/modules_controller.md index d4c082c3b4..59bb432bb4 100644 --- a/docs/zh/modules/modules_controller.md +++ b/docs/zh/modules/modules_controller.md @@ -198,7 +198,7 @@ It takes in 15 input values and outputs 4 control actions. Inputs: [pos_err(3), att(6), vel(3), ang_vel(3)] Outputs: [Actuator motors(4)] -### Usage {#mc-nn-control_usage} +### Usage {#mc_nn_control_usage} ``` mc_nn_control [arguments...] diff --git a/docs/zh/sim_sih/index.md b/docs/zh/sim_sih/index.md index e96d0b6afc..7b09b1442f 100644 --- a/docs/zh/sim_sih/index.md +++ b/docs/zh/sim_sih/index.md @@ -28,6 +28,7 @@ The Desktop computer is only used to display the virtual vehicle. - SIH as SITL (without hardware) from PX4 v1.14. - SIH for Standard VTOL from PX4 v1.16. - SIH for MC Hexacopter X from `main` (expected to be PX4 v1.17). +- SIH for Ackermann Rover from `main`. ### Benefits @@ -129,6 +130,10 @@ make px4_fmu-v6x boardconfig After uploading, check that the required modules are present. +:::note +To use rover in SIH you must use the [rover build](../config_rover/index.md#flashing-the-rover-build) or add the rover modules to your board configuration. +::: + ## Starting SIH To set up/start SIH: @@ -141,6 +146,7 @@ To set up/start SIH: - [SIH plane AERT](../airframes/airframe_reference.md#plane_simulation_sih_plane_aert) - [SIH Tailsitter Duo](../airframes/airframe_reference.md#vtol_simulation_sih_tailsitter_duo) - [SIH Standard VTOL QuadPlane](../airframes/airframe_reference.md#vtol_simulation_sih_standard_vtol_quadplane) + - [SIH Ackermann Rover](../airframes/airframe_reference.md#rover_rover_sih_rover_ackermann) The autopilot will then reboot. The `sih` module is started on reboot, and the vehicle should be displayed on the ground control station map. @@ -225,6 +231,12 @@ To run SIH as SITL: make px4_sitl sihsim_standard_vtol ``` + - Ackermann Rover + + ```sh + make px4_sitl sihsim_rover_ackermann + ``` + ### Change Simulation Speed SITL allows the simulation to be run faster than real time. @@ -324,6 +336,7 @@ The dynamic models for the various vehicles are: - Hexacopter: Equivalent to the Quadcopter but with a symmetric hexacopter x actuation setup. - Fixed-wing: Inspired by the PhD thesis: "Dynamics modeling of agile fixed-wing unmanned aerial vehicles." Khan, Waqas, supervised by Nahon, Meyer, McGill University, PhD thesis, 2016. - Tailsitter: Inspired by the master's thesis: "Modeling and control of a flying wing tailsitter unmanned aerial vehicle." Chiappinelli, Romain, supervised by Nahon, Meyer, McGill University, Masters thesis, 2018. +- Ackermann Rover: Based on lateral vehicle dynamics of the bicycle model adapted from [Sri Anumakonda, Everything you need to know about Self-Driving Cars in <30 minutes](https://srianumakonda.medium.com/everything-you-need-to-know-about-self-driving-in-30-minutes-b38d68bd3427) ## 视频 diff --git a/docs/zh/simulation/community_supported_simulators.md b/docs/zh/simulation/community_supported_simulators.md index ce1b33857d..34a9a56f51 100644 --- a/docs/zh/simulation/community_supported_simulators.md +++ b/docs/zh/simulation/community_supported_simulators.md @@ -12,10 +12,10 @@ See [Toolchain Installation](../dev_setup/dev_env.md) for information about the 这些工具有来自其社区的不同程度的支持 (有些得到很好的支持，有些则没有) 。 Questions about these tools should be raised on the [discussion forums](../contribute/support.md#forums-and-chat) -| 仿真器 | 描述 | -| ---------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -| [Simulation-In-Hardware](../sim_sih/index.md) (SIH) |

A simulator implemented in C++ as a PX4 module directly in the Firmware [code](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/simulation/simulator_sih). It can be ran in SITL directly on the computer or as an alternative to HITL offering a hard real-time simulation directly on the hardware autopilot.

Supported Vehicles: Quad, Hexa, Plane, Tailsitter, Standard VTOL

| -| [FlightGear](../sim_flightgear/index.md) |

A simulator that provides physically and visually realistic simulations. In particular it can simulate many weather conditions, including thunderstorms, snow, rain and hail, and can also simulate thermals and different types of atmospheric flows. [Multi-vehicle simulation](../sim_flightgear/multi_vehicle.md) is also supported.

Supported Vehicles: Plane, Autogyro, Rover

| -| [JMAVSim](../sim_jmavsim/index.md) |

A simple multirotor/quad simulator. This was previously part of the PX4 development toolchain but was removed in favour of [Gazebo](../sim_gazebo_gz/index.md).

Supported Vehicles: Quad

| -| [JSBSim](../sim_jsbsim/index.md) |

A simulator that provides advanced flight dynamics models. This can be used to model realistic flight dynamics based on wind tunnel data.

Supported Vehicles: Plane, Quad, Hex

| -| [AirSim](../sim_airsim/index.md) |

A cross platform simulator that provides physically and visually realistic simulations. This simulator is resource intensive, and requires a significantly more powerful computer than the other simulators described here.

Supported Vehicles: Iris (MultiRotor model and a configuration for PX4 QuadRotor in the X configuration).

| +| 仿真器 | 描述 | +| ---------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| [Simulation-In-Hardware](../sim_sih/index.md) (SIH) |

A simulator implemented in C++ as a PX4 module directly in the Firmware [code](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/simulation/simulator_sih). It can be ran in SITL directly on the computer or as an alternative to HITL offering a hard real-time simulation directly on the hardware autopilot.

Supported Vehicles: Quad, Hexa, Plane, Tailsitter, Standard VTOL, Ackermann Rover

| +| [FlightGear](../sim_flightgear/index.md) |

A simulator that provides physically and visually realistic simulations. In particular it can simulate many weather conditions, including thunderstorms, snow, rain and hail, and can also simulate thermals and different types of atmospheric flows. [Multi-vehicle simulation](../sim_flightgear/multi_vehicle.md) is also supported.

Supported Vehicles: Plane, Autogyro, Rover

| +| [JMAVSim](../sim_jmavsim/index.md) |

A simple multirotor/quad simulator. This was previously part of the PX4 development toolchain but was removed in favour of [Gazebo](../sim_gazebo_gz/index.md).

Supported Vehicles: Quad

| +| [JSBSim](../sim_jsbsim/index.md) |

A simulator that provides advanced flight dynamics models. This can be used to model realistic flight dynamics based on wind tunnel data.

Supported Vehicles: Plane, Quad, Hex

| +| [AirSim](../sim_airsim/index.md) |

A cross platform simulator that provides physically and visually realistic simulations. This simulator is resource intensive, and requires a significantly more powerful computer than the other simulators described here.

Supported Vehicles: Iris (MultiRotor model and a configuration for PX4 QuadRotor in the X configuration).

|