New Crowdin translations - ko (#26015)

Co-authored-by: Crowdin Bot <support+bot@crowdin.com>
2026-10-28 07:23:33 +08:00 · 2025-12-03 10:07:32 +11:00
parent 789babae8e
commit 00509d540d
26 changed files with 800 additions and 426 deletions
@@ -10,36 +10,13 @@ By default, the [Missing Data](#missing-data-check), [Data Stuck](#data-stuck-ch
 You can configure which checks are active using the [ASPD_DO_CHECKS](#aspd_do_checks_table) parameter.
 :::

-## Airspeed in PX4
-
-PX4 handles multiple types of airspeed:
-
- **IAS (Indicated Airspeed):** The raw measurement from the airspeed sensor, directly influenced by sensor characteristics and installation effects (e.g., pitot-static errors).
-
- **CAS (Calibrated Airspeed):** IAS corrected for sensor-specific and installation-related errors.
-
- **EAS (Equivalent Airspeed):** _Not explicitly handled by PX4_ - Calibrated airspeed corrected for compressibility effects.
-  While PX4 does not currently model EAS separately, this correction is negligible at low speeds and altitudes, so EAS is treated as equivalent to CAS for simplicity.
-
- **TAS (True Airspeed):** CAS adjusted for atmospheric effects such as air pressure and temperature (i.e., altitude and atmospheric conditions).
-
-The standard conversion chain used in PX4 is: `IAS → CAS (= EAS) → TAS`.
-
 ## CAS Scale Estimation

-PX4 estimates the IAS to CAS scale (referred to as the CAS scale) during flight using GNSS ground speed and wind estimation.
-To compute the final TAS, standard environment conversions are applied (CAS → TAS).
-
-This CAS scaling plays an important role in keeping the [innovation check](#innovation-check) reliable, since a well-estimated CAS is key to spotting inconsistencies between measured and predicted airspeed.
+Calibrated Airspeed (CAS) is the measured Indicated Airspeed (IAS) scaled to correct for sensor-specific and installation-related errors.
+CAS scaling plays an important role in keeping the [innovation check](#innovation-check) reliable, since a well-estimated CAS is key to spotting inconsistencies between measured and predicted airspeed.
 If the estimated CAS scale is inaccurate, it can mask real airspeed faults or trigger false positives.

-If you observe that the CAS scale estimate is consistently off, or if it is converging too slowly, you can manually set it using [ASPD_SCALE_n](#aspd_scale_n_table) (where `n` is the sensor number).
-[ASPD_SCALE_APPLY](#aspd_scale_apply_table) can be used to configure when/if the estimated scale is applied.
-
-:::info
-For a quick manual CAS scale estimate, compare groundspeed minus windspeed (from the [VehicleLocalPosition](../msg_docs/VehicleLocalPosition.md) and [Wind](../msg_docs/Wind.md) messages, respectively) to indicated airspeed values (in the [Airspeed](../msg_docs/Airspeed.md) message).
-The ratio of indicated airspeed to groundspeed minus windspeed can provide a reasonable starting estimate for [ASPD_SCALE_n](#aspd_scale_n_table).
-:::
+If you observe that the CAS scale estimate is consistently off, or if it is converging too slowly, follow the steps outlined in [Airspeed Scale Handling](../config_fw/airspeed_scale_handling.md#recommended-first-flight-process).

 ## Validation Checks

@@ -55,19 +55,17 @@ RC controllers will use different sticks for throttle and yaw [based on their mo
  - _Arm:_ Left-stick to right, right-stick to bottom.
  - _Disarm:_ Left-stick to left, right-stick to the bottom.

-The required hold time can be configured using [COM_RC_ARM_HYST](#COM_RC_ARM_HYST).
 Note that by default ([COM_DISARM_MAN](#COM_DISARM_MAN)) you can also disarm in flight using gestures/buttons: you may choose to disable this to avoid accidental disarming.

-| 매개변수                                                                                                                                                                    | 설명                                                                                                                                                                                                      |
-| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
-| <a id="MAN_ARM_GESTURE"></a>[MAN_ARM_GESTURE](../advanced_config/parameter_reference.md#MAN_ARM_GESTURE)                      | Enable arm/disarm stick guesture. `0`: Disabled, `1`: Enabled (default).                                             |
-| <a id="COM_DISARM_MAN"></a>[COM_DISARM_MAN](../advanced_config/parameter_reference.md#COM_DISARM_MAN)                         | Enable disarming in flight via switch/stick/button in MC manual thrust modes. `0`: Disabled, `1`: Enabled (default). |
-| <a id="COM_RC_ARM_HYST"></a>[COM_RC_ARM_HYST](../advanced_config/parameter_reference.md#COM_RC_ARM_HYST) | Time that RC stick must be held in arm/disarm position before arming/disarming occurs (default: `1` second).                                         |
+| 매개변수                                                                                                                                               | 설명                                                                                                                                                                                                      |
+| -------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| <a id="MAN_ARM_GESTURE"></a>[MAN_ARM_GESTURE](../advanced_config/parameter_reference.md#MAN_ARM_GESTURE) | Enable arm/disarm stick guesture. `0`: Disabled, `1`: Enabled (default).                                             |
+| <a id="COM_DISARM_MAN"></a>[COM_DISARM_MAN](../advanced_config/parameter_reference.md#COM_DISARM_MAN)    | Enable disarming in flight via switch/stick/button in MC manual thrust modes. `0`: Disabled, `1`: Enabled (default). |

 ## Arming Button/Switch {#arm_disarm_switch}

 An _arming button_ or "momentary switch" can be configured to trigger arm/disarm _instead_ of [gesture-based arming](#arm_disarm_gestures) (setting an arming switch disables arming gestures).
-The button should be held down for ([nominally](#COM_RC_ARM_HYST)) one second to arm (when disarmed) or disarm (when armed).
+The button should be held down for one second to arm (when disarmed) or disarm (when armed).

 A two-position switch can also be used for arming/disarming, where the respective arm/disarm commands are sent on switch _transitions_.

@@ -77,10 +75,10 @@ Two-position arming switches are primarily used in/recommended for racing drones

 The switch or button is assigned (and enabled) using [RC_MAP_ARM_SW](#RC_MAP_ARM_SW), and the switch "type" is configured using [COM_ARM_SWISBTN](#COM_ARM_SWISBTN).

-| 매개변수                                                                                                                                                              | 설명                                                                                                                                                                                                                                                                                                                                                                                                                                                                        |
-| ----------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
-| <a id="RC_MAP_ARM_SW"></a>[RC_MAP_ARM_SW](../advanced_config/parameter_reference.md#RC_MAP_ARM_SW) | RC arm 스위치 채널 (기본값 : 0 - 할당되지 않음). 정의된 경우 지정된 RC 채널(버튼/스위치)이 스틱 제스처 대신 시동용으로 사용됩니다. <br>**Note:**<br>- This setting _disables the stick gesture_!<br>- This setting applies to RC controllers. It does not apply to Joystick controllers that are connected via _QGroundControl_.                                                   |
-| <a id="COM_ARM_SWISBTN"></a>[COM_ARM_SWISBTN](../advanced_config/parameter_reference.md#COM_ARM_SWISBTN)                | 시동 스위치는 순간적으로 동작하는 버튼입니다. <br>- `0`: Arm switch is a 2-position switch where arm/disarm commands are sent on switch transitions.<br>-`1`: Arm switch is a button or momentary button where the arm/disarm command ae sent after holding down button for set time ([COM_RC_ARM_HYST](#COM_RC_ARM_HYST)). |
+| 매개변수                                                                                                                                                              | 설명                                                                                                                                                                                                                                                                                                                                                                                                                      |
+| ----------------------------------------------------------------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| <a id="RC_MAP_ARM_SW"></a>[RC_MAP_ARM_SW](../advanced_config/parameter_reference.md#RC_MAP_ARM_SW) | RC arm 스위치 채널 (기본값 : 0 - 할당되지 않음). 정의된 경우 지정된 RC 채널(버튼/스위치)이 스틱 제스처 대신 시동용으로 사용됩니다. <br>**Note:**<br>- This setting _disables the stick gesture_!<br>- This setting applies to RC controllers. It does not apply to Joystick controllers that are connected via _QGroundControl_. |
+| <a id="COM_ARM_SWISBTN"></a>[COM_ARM_SWISBTN](../advanced_config/parameter_reference.md#COM_ARM_SWISBTN)                | 시동 스위치는 순간적으로 동작하는 버튼입니다. <br>- `0`: Arm switch is a 2-position switch where arm/disarm commands are sent on switch transitions.<br>-`1`: Arm switch is a momentary button where the arm/disarm command is sent after holding down the button for one second.                                                                           |

 :::info
 The switch can also be set as part of _QGroundControl_ [Flight Mode](../config/flight_mode.md) configuration.
@@ -153,14 +151,14 @@ It corresponds to: [COM_PREARM_MODE=1](#COM_PREARM_MODE) (safety switch) and [CB
 시작 절차는 다음과 같습니다:

 1. 전원 인가
-  - 모든 액츄에이터를 시동 해제 상태로 잠금
-  - 시동 걸기 불가능
+   - 모든 액츄에이터를 시동 해제 상태로 잠금
+   - 시동 걸기 불가능
 2. 안전 스위치 누름
-  - 시스템이 시동전 상태로 전환: 추진 모터를 제외한 모든 액츄에이터 동작 가능(예: 보조익)
-  - 시스템 안전 장치 꺼짐: 시동 가능
+   - 시스템이 시동전 상태로 전환: 추진 모터를 제외한 모든 액츄에이터 동작 가능(예: 보조익)
+   - 시스템 안전 장치 꺼짐: 시동 가능
 3. 시동 명령 인가
-  - 시스템에 시동이 걸림
-  - 모든 모터와 액츄에이터를 움직일 수 있음
+   - 시스템에 시동이 걸림
+   - 모든 모터와 액츄에이터를 움직일 수 있음

 ### COM_PREARM_MODE = Disabled and Safety Switch

@@ -170,14 +168,14 @@ This corresponds to [COM_PREARM_MODE=0](#COM_PREARM_MODE) (Disabled) and [CBRK_I
 시작 절차는 다음과 같습니다:

 1. 전원 인가
-  - 모든 액츄에이터를 시동 해제 상태로 잠금
-  - 시동 걸기 불가능
+   - 모든 액츄에이터를 시동 해제 상태로 잠금
+   - 시동 걸기 불가능
 2. 안전 스위치 누름
-  - _All actuators stay locked into disarmed position (same as disarmed)._
-  - 시스템 안전 장치 꺼짐: 시동 가능
+   - _All actuators stay locked into disarmed position (same as disarmed)._
+   - 시스템 안전 장치 꺼짐: 시동 가능
 3. 시동 명령 인가
-  - 시스템에 시동이 걸림
-  - 모든 모터와 액츄에이터를 움직일 수 있음
+   - 시스템에 시동이 걸림
+   - 모든 모터와 액츄에이터를 움직일 수 있음

 ### COM_PREARM_MODE = Always and Safety Switch

@@ -188,13 +186,13 @@ This corresponds to [COM_PREARM_MODE=2](#COM_PREARM_MODE) (Always) and [CBRK_IO_
 시작 절차는 다음과 같습니다:

 1. 전원 인가
-  - 시스템이 시동전 상태로 전환: 추진 모터를 제외한 모든 액츄에이터 동작 가능(예: 보조익)
-  - 시동 걸기 불가능
+   - 시스템이 시동전 상태로 전환: 추진 모터를 제외한 모든 액츄에이터 동작 가능(예: 보조익)
+   - 시동 걸기 불가능
 2. 안전 스위치 누름
-  - 시스템 안전 장치 꺼짐: 시동 가능
+   - 시스템 안전 장치 꺼짐: 시동 가능
 3. 시동 명령 인가
-  - 시스템에 시동이 걸림
-  - 모든 모터와 액츄에이터를 움직일 수 있음
+   - 시스템에 시동이 걸림
+   - 모든 모터와 액츄에이터를 움직일 수 있음

 ### COM_PREARM_MODE = Safety or Disabled and No Safety Switch

@@ -204,11 +202,11 @@ This corresponds to [COM_PREARM_MODE=0 or 1](#COM_PREARM_MODE) (Disabled/Safety
 시작 절차는 다음과 같습니다:

 1. 전원 인가
-  - 모든 액츄에이터를 시동 해제 상태로 잠금
-  - 시스템 안전 장치 꺼짐: 시동 가능
+   - 모든 액츄에이터를 시동 해제 상태로 잠금
+   - 시스템 안전 장치 꺼짐: 시동 가능
 2. 시동 명령 인가
-  - 시스템에 시동이 걸림
-  - 모든 모터와 액츄에이터를 움직일 수 있음
+   - 시스템에 시동이 걸림
+   - 모든 모터와 액츄에이터를 움직일 수 있음

 ### COM_PREARM_MODE = Always and No Safety Switch

@@ -218,11 +216,11 @@ This corresponds to [COM_PREARM_MODE=2](#COM_PREARM_MODE) (Always) and [CBRK_IO_
 시작 절차는 다음과 같습니다:

 1. 전원 인가
-  - 시스템이 시동전 상태로 전환: 추진 모터를 제외한 모든 액츄에이터 동작 가능(예: 보조익)
-  - 시스템 안전 장치 꺼짐: 시동 가능
+   - 시스템이 시동전 상태로 전환: 추진 모터를 제외한 모든 액츄에이터 동작 가능(예: 보조익)
+   - 시스템 안전 장치 꺼짐: 시동 가능
 2. 시동 명령 인가
-  - 시스템에 시동이 걸림
-  - 모든 모터와 액츄에이터를 움직일 수 있음
+   - 시스템에 시동이 걸림
+   - 모든 모터와 액츄에이터를 움직일 수 있음

 ### 매개변수

@@ -158,29 +158,29 @@ Three axis body fixed magnetometer data at a minimum rate of 5Hz is required to
 Magnetometer data fusion can be configured using [EKF2_MAG_TYPE](../advanced_config/parameter_reference.md#EKF2_MAG_TYPE):

 0. Automatic:
-  - The magnetometer readings only affect the heading estimate before arming, and the whole attitude after arming.
-  - Heading and tilt errors are compensated when using this method.
-  - Incorrect magnetic field measurements can degrade the tilt estimate.
-  - The magnetometer biases are estimated whenever observable.
+   - The magnetometer readings only affect the heading estimate before arming, and the whole attitude after arming.
+   - Heading and tilt errors are compensated when using this method.
+   - Incorrect magnetic field measurements can degrade the tilt estimate.
+   - The magnetometer biases are estimated whenever observable.
 1. Magnetic heading:
-  - Only the heading is corrected.
-    The tilt estimate is never affected by incorrect magnetic field measurements.
-  - Tilt errors that could arise when flying without velocity/position aiding are not corrected when using this method.
-  - The magnetometer biases are estimated whenever observable.
+   - Only the heading is corrected.
+     The tilt estimate is never affected by incorrect magnetic field measurements.
+   - Tilt errors that could arise when flying without velocity/position aiding are not corrected when using this method.
+   - The magnetometer biases are estimated whenever observable.
 2. Deprecated
 3. Deprecated
 4. Deprecated
 5. None:
-  - Magnetometer data is never used.
-    This is useful when the data can never be trusted (e.g.: high current close to the sensor, external anomalies).
-  - The estimator will use other sources of heading: [GPS heading](#yaw-measurements) or external vision.
-  - When using GPS measurements without another source of heading, the heading can only be initialized after sufficient horizontal acceleration.
-    See [Estimate yaw from vehicle movement](#yaw-from-gps-velocity) below.
+   - Magnetometer data is never used.
+     This is useful when the data can never be trusted (e.g.: high current close to the sensor, external anomalies).
+   - The estimator will use other sources of heading: [GPS heading](#yaw-measurements) or external vision.
+   - When using GPS measurements without another source of heading, the heading can only be initialized after sufficient horizontal acceleration.
+     See [Estimate yaw from vehicle movement](#yaw-from-gps-velocity) below.
 6. Init only:
-  - Magnetometer data is only used to initialize the heading estimate.
-    This is useful when the data can be used before arming but not afterwards (e.g.: high current after the vehicle is armed).
-  - After initialization, the heading is constrained using other observations.
-  - Unlike mag type `None`, when combined with GPS measurements, this method allows position controlled modes to run directly during takeoff.
+   - Magnetometer data is only used to initialize the heading estimate.
+     This is useful when the data can be used before arming but not afterwards (e.g.: high current after the vehicle is armed).
+   - After initialization, the heading is constrained using other observations.
+   - Unlike mag type `None`, when combined with GPS measurements, this method allows position controlled modes to run directly during takeoff.

 The following selection tree can be used to select the right option:

@@ -242,8 +242,8 @@ A good tuning is obtained as follows:

 2. Extract the `.ulg` log file using, for example, [QGroundControl: Analyze > Log Download](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/analyze_view/log_download.html)

-  ::: info
-  The same log file can be used to tune the [multirotor wind estimator](#mc_wind_estimation_using_drag).
+   ::: info
+   The same log file can be used to tune the [multirotor wind estimator](#mc_wind_estimation_using_drag).

 :::

@@ -351,6 +351,60 @@ The `hpos_drift_rate`, `vpos_drift_rate` and `hspd` are calculated over a period
 Note that `ekf2_gps_drift` is not logged!
 :::

+#### GNSS Fault Detection
+
+PX4's GNSS fault detection protects against malicious or erroneous GNSS signals using selective fusion control based on measurement validation.
+
+The fault detection logic depends on the GPS mode, and also operates differently for horizontal position and altitude measurements.
+The mode is set using the [EKF2_GPS_MODE](../advanced_config/parameter_reference.md#EKF2_GPS_MODE) parameter:
+
+- **Automatic (`0`)** (Default): Assumes that GNSS is generally reliable and is likely to be recovered.
+  EKF2 resets on fusion timeouts if no other source of position is available.
+- **Dead-reckoning (`1`)**: Assumes that GNSS might be lost indefinitely, so resets should be avoided while we have other estimates of position data.
+  EKF2 may reset if no other sources of position or velocity are available.
+  If GNSS altitude OR horizontal position data drifts, the system disables fusion of both measurements simultaneously (even if one would still pass validation) and avoids performing resets.
+
+##### Detection Logic
+
+Horizontal Position:
+
+- **Automatic mode**: Horizontal position resets to GNSS data if no other horizontal position source is currently being fused (e.g., Auxiliary Global Position - AGP).
+- **Dead-reckoning mode**: Horizontal position resets to GNSS data only if no other horizontal position OR velocity source is currently being fused (e.g., AGP, airspeed, optical flow).
+
+Altitude:
+
+- The altitude logic is more complex due to the height reference sensor ([EKF2_HGT_REF](../advanced_config/parameter_reference.md#EKF2_HGT_REF)) parameter, which is typically set to GNSS or baro in GNSS-denied scenarios.
+- If height reference is set to baro, GNSS-based height resets are prevented (except when baro fusion fails completely and height reference automatically switches to GNSS).
+- When height reference is set to GNSS:
+- **Automatic mode**: Resets occur on drifting GNSS altitude measurements.
+- **Dead-reckoning mode**: When validation starts failing, the system prevents GNSS altitude resets and labels the GNSS data as faulty.
+
+##### Faulty GNSS Data During Boot
+
+The system cannot automatically detect faulty GNSS data during vehicle boot as no baseline comparison exists.
+
+If GNSS fusion is enabled ([EKF2_GPS_CTRL](../advanced_config/parameter_reference.md#EKF2_GPS_CTRL)), operators will observe incorrect positions on maps and should disable GNSS fusion, then manually set the correct position via ground control station.
+The global position gets corrected, and if [SENS_BAR_AUTOCAL](../advanced_config/parameter_reference.md#SENS_BAR_AUTOCAL) was enabled, baro offsets are automatically adjusted (through bias correction, not parameter changes).
+
+##### Enabling GNSS Fusion Mid-Flight
+
+With Faulty GNSS Data:
+
+- **Automatic mode**: Vehicle will reset to faulty position - potentially dangerous.
+- **Dead-reckoning mode**: Large measurement differences cause GNSS rejection and fault detection activation.
+
+With Valid GNSS Data:
+
+- **Automatic mode**: Vehicle will reset to GNSS measurements.
+- **Dead-reckoning mode**: If estimated position/altitude is close enough to measurements, fusion resumes; if too far apart, data gets labeled as faulty.
+
+##### 참고
+
+- **Dual Detection**: Horizontal and altitude checks run completely separately but both lead to the same result when triggered - all GNSS fusion gets disabled.
+- **Recovery**: Only the specific check that labeled data as invalid can re-enable fusion.
+- **Alternative Sources**: Dead-reckoning mode provides enhanced protection by requiring absence of alternative navigation sources before allowing resets.
+- **Boot Vulnerability**: Initial faulty GNSS data cannot be detected automatically; requires operator intervention and manual position correction.
+
 ### 거리 측정기

 [Range finder](../sensor/rangefinders.md) distance to ground is used by a single state filter to estimate the vertical position of the terrain relative to the height datum.
@@ -458,8 +512,8 @@ A good tuning is obtained as follows:

 1. Fly once in [Position mode](../flight_modes_mc/position.md) repeatedly forwards/backwards/left/right/up/down between rest and maximum speed (best results are obtained when this testing is conducted in still conditions).
 2. Extract the **.ulg** log file using, for example, [QGroundControl: Analyze > Log Download](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/analyze_view/log_download.html)
-  ::: info
-  The same **.ulg** log file can also be used to tune the [static pressure position error coefficients](#correction-for-static-pressure-position-error).
+   ::: info
+   The same **.ulg** log file can also be used to tune the [static pressure position error coefficients](#correction-for-static-pressure-position-error).

 :::
 3. Use the log with the [mc_wind_estimator_tuning.py](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/ekf2/EKF/python/tuning_tools/mc_wind_estimator) Python script to obtain the optimal set of parameters.