Hamish Willee
88d623bedb
* Add vitepress tree * Update existing workflows so they dont trigger on changes in the docs path * Add nojekyll, package.json, LICENCE etc * Add crowdin docs upload/download scripts * Add docs flaw checker workflows * Used docs prefix for docs workflows * Crowdin obvious fixes * ci: docs move to self hosted runner runs on a beefy server for faster builds Signed-off-by: Ramon Roche <mrpollo@gmail.com> * ci: don't run build action for docs or ci changes Signed-off-by: Ramon Roche <mrpollo@gmail.com> * ci: update runners Signed-off-by: Ramon Roche <mrpollo@gmail.com> * Add docs/en * Add docs assets and scripts * Fix up editlinks to point to PX4 sources * Download just the translations that are supported * Add translation sources for zh, uk, ko * Update latest tranlsation and uorb graphs * update vitepress to latest --------- Signed-off-by: Ramon Roche <mrpollo@gmail.com> Co-authored-by: Ramon Roche <mrpollo@gmail.com>
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지형 추적 및 유지
PX4 supports Terrain Following and Terrain Hold in Position and Altitude modes, on multicopters and VTOL vehicles in MC mode that have a distance sensor.
:::info PX4 does not "natively" support terrain following in missions. QGroundControl can be used to define missions that approximately follow terrain (this just sets waypoint altitudes based on height above terrain, where terrain height at waypoints is obtained from a map database). :::
지형 추적
Terrain following enables a vehicle to automatically maintain a relatively constant height above ground level when traveling at low altitudes. 이것은 장애물을 피하고 다양한 지형을 비행시 일정 고도 유지에 유용합니다 (예 : 항공 사진).
:::tip This feature can be enabled in Position and Altitude modes, on multicopters and VTOL vehicles in MC mode that have a distance sensor. :::
When terrain following is enabled, PX4 uses the output of the EKF estimator to provide the altitude estimate, and the estimated terrain altitude (calculated from distance sensor measurements using another estimator) to provide the altitude setpoint. 지면까지의 거리가 변하면, 고도 설정 값이 조정되어지면 위의 높이를 일정하게 유지합니다.
At higher altitudes (when the estimator reports that the distance sensor data is invalid) the vehicle switches to altitude following, and will typically fly at a near-constant height above mean sea level (AMSL) using an absolute height sensor for altitude data.
:::info More precisely, the vehicle will use the available selected sources of altitude data as defined in Using PX4's Navigation Filter (EKF2) > Height. :::
Terrain following is enabled by setting MPC_ALT_MODE to 1.
지형 유지
Terrain hold uses a distance sensor to help a vehicle to better maintain a constant height above ground in altitude control modes, when horizontally stationary at low altitude. 이를 통해 기체는 기압계 드리프트 또는 로터 세척으로 인한 과도한 기압계 간섭으로 인한 고도 변화를 피할 수 있습니다.
:::info This feature can be enabled in Position and Altitude modes, on multicopters and VTOL vehicles in MC mode that have a distance sensor. :::
When moving horizontally (speed > MPC_HOLD_MAX_XY), or above the altitude where the distance sensor is providing valid data, the vehicle will switch into altitude following.
Terrain holding is enabled by setting MPC_ALT_MODE to 2.
:::info Terrain hold is implemented similarly to terrain following. EKF 추정기의 출력을 사용하여 고도 추정치를 제공하고 추정 지형 고도 (별도의 단일 상태 지형 추정기를 사용하여 거리 센서 측정에서 계산 됨)를 사용하여 고도 설정치를 제공합니다. 외부 힘으로 인해 지면까지의 거리가 변경되면, 지면 위의 높이를 일정하게 유지하기 위해 고도 설정 값이 조정됩니다. :::