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1
docs/uk/SUMMARY.md
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@ -584,6 +584,7 @@
- [DebugKeyValue](msg_docs/DebugKeyValue.md)
- [DebugValue](msg_docs/DebugValue.md)
- [DebugVect](msg_docs/DebugVect.md)
- [DeviceInformation](msg_docs/DeviceInformation.md)
- [DifferentialPressure](msg_docs/DifferentialPressure.md)
- [DistanceSensor](msg_docs/DistanceSensor.md)
- [DistanceSensorModeChangeRequest](msg_docs/DistanceSensorModeChangeRequest.md)

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docs/uk/advanced_config/ethernet_setup.md
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@ -25,6 +25,7 @@ PX4 supports Ethernet connectivity on [Pixhawk 5X-standard](https://github.com/p
Підтримувані автопілоти включають:
- [ARK Electronics ARKV6X](../flight_controller/ark_v6x.md)
- [CUAV Pixhawk V6X](../flight_controller/cuav_pixhawk_v6x.md)
- [Holybro Pixhawk 5X](../flight_controller/pixhawk5x.md)
- [Holybro Pixhawk 6X](../flight_controller/pixhawk6x.md)

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docs/uk/assembly/_assembly.md
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@ -285,7 +285,7 @@ A particular vehicle might have more/fewer motors and actuators, but the wiring
The following sections explain each part in more detail.
:::tip
If you're using [DroneCAN ESC](../peripherals/esc_motors.md#dronecan) the control signals will be connected to the CAN BUS instead of the PWM outputs as shown.
If you're using [DroneCAN ESC](../dronecan/escs.md) the control signals will be connected to the CAN BUS instead of the PWM outputs as shown.
:::
### Flight Controller Power
@ -426,7 +426,6 @@ They recommend sensors, power systems, and other components from the same manufa
- [Drone Components & Parts](../getting_started/px4_basic_concepts.md#drone-components-parts) (Basic Concepts)
- [Payloads](../getting_started/px4_basic_concepts.md#payloads) (Basic Concepts)
- [Hardware Selection & Setup](../hardware/drone_parts.md) — information about connecting and configuring specific flight controllers, sensors and other peripherals (e.g. airspeed sensor for planes).
- [Mounting the Flight Controller](../assembly/mount_and_orient_controller.md)
- [Vibration Isolation](../assembly/vibration_isolation.md)
- [Mounting a Compass](../assembly/mount_gps_compass.md)

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docs/uk/config_mc/filter_tuning.md
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@ -70,7 +70,7 @@ Airframes with more than two frequency noise spikes typically clean the first tw
Dynamic notch filters use ESC RPM feedback and/or the onboard FFT analysis.
The ESC RPM feedback is used to track the rotor blade pass frequency and its harmonics, while the FFT analysis can be used to track a frequency of another vibration source, such as a fuel engine.
ESC RPM feedback requires ESCs capable of providing RPM feedback such as [DShot](../peripherals/esc_motors.md#dshot) with telemetry connected, a bidirectional DShot set up ([work in progress](https://github.com/PX4/PX4-Autopilot/pull/23863)), or [UAVCAN/DroneCAN ESCs](../dronecan/escs.md).
ESC RPM feedback requires ESCs capable of providing RPM feedback such as [DShot](../peripherals/dshot.md) with telemetry connected, a bidirectional DShot set up ([work in progress](https://github.com/PX4/PX4-Autopilot/pull/23863)), or [UAVCAN/DroneCAN ESCs](../dronecan/escs.md).
Before enabling, make sure that the ESC RPM is correct.
You might have to adjust the [pole count of the motors](../advanced_config/parameter_reference.md#MOT_POLE_COUNT).

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docs/uk/dronecan/escs.md
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@ -1,7 +1,14 @@
# DroneCAN ESCs
PX4 підтримує ESCs, які відповідають стандарту DroneCAN.
Для отримання додаткової інформації дивіться наступні статті для конкретного обладнання/прошивки:
PX4 supports DroneCAN compliant ESCs.
## Supported ESC
:::info
[Supported ESCs](../peripherals/esc_motors#supported-esc) in _ESCs & Motors_ may include additional devices that are not listed below.
:::
The following articles have specific hardware/firmware information:
- [PX4 Sapog ESC Firmware](sapog.md)
- [Holybro Kotleta 20](holybro_kotleta.md)

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docs/uk/modules/modules_driver.md
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@ -15,38 +15,6 @@
- [Rpm Sensor](modules_driver_rpm_sensor.md)
- [Transponder](modules_driver_transponder.md)
## MCP23009
Source: [drivers/gpio/mcp23009](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/gpio/mcp23009)
### Usage {#MCP23009_usage}
```
MCP23009 <command> [arguments...]
Commands:
start
[-I] Internal I2C bus(es)
[-X] External I2C bus(es)
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
(default=1))
[-f <val>] bus frequency in kHz
[-q] quiet startup (no message if no device found)
[-a <val>] I2C address
default: 37
[-D <val>] Direction
default: 0
[-O <val>] Output
default: 0
[-P <val>] Pullups
default: 0
[-U <val>] Update Interval [ms]
default: 0
stop
status print status info
```
## atxxxx
Source: [drivers/osd/atxxxx](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/osd/atxxxx)
@ -749,6 +717,40 @@ lsm303agr <command> [arguments...]
status print status info
```
## mcp230xx
Source: [lib/drivers/mcp_common](https://github.com/PX4/PX4-Autopilot/tree/main/src/lib/drivers/mcp_common)
### Usage {#mcp230xx_usage}
```
mcp230xx <command> [arguments...]
Commands:
start
[-I] Internal I2C bus(es)
[-X] External I2C bus(es)
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
(default=1))
[-f <val>] bus frequency in kHz
[-q] quiet startup (no message if no device found)
[-a <val>] I2C address
default: 39
[-D <val>] Direction (1=Input, 0=Output)
default: 0
[-O <val>] Output
default: 0
[-P <val>] Pullups
default: 0
[-U <val>] Update Interval [ms]
default: 0
[-M <val>] First minor number
default: 0
stop
status print status info
```
## mcp9808
Source: [drivers/temperature_sensor/mcp9808](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/temperature_sensor/mcp9808)
@ -899,8 +901,6 @@ fetching the latest mixing result and write them to PCA9685 at its scheduling ti
It can do full 12bits output as duty-cycle mode, while also able to output precious pulse width
that can be accepted by most ESCs and servos.
The I2C bus and address can be configured via parameters `PCA9685_EN_BUS` and `PCA9685_I2C_ADDR`, or via command line arguments.
### Приклади
It is typically started with:

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docs/uk/modules/modules_system.md
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@ -127,6 +127,10 @@ commander <command> [arguments...]
check Run preflight checks
safety Change prearm safety state
on|off [on] to activate safety, [off] to deactivate safety and allow
control surface movements
arm
[-f] Force arming (do not run preflight checks)

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docs/uk/msg_docs/BatteryStatus.md
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@ -2,7 +2,7 @@
Battery status
Battery status information for up to 4 battery instances.
Battery status information for up to 3 battery instances.
These are populated from power module and smart battery device drivers, and one battery updated from MAVLink.
Battery instance information is also logged and streamed in MAVLink telemetry.
@ -11,7 +11,7 @@ Battery instance information is also logged and streamed in MAVLink telemetry.
```c
# Battery status
#
# Battery status information for up to 4 battery instances.
# Battery status information for up to 3 battery instances.
# These are populated from power module and smart battery device drivers, and one battery updated from MAVLink.
# Battery instance information is also logged and streamed in MAVLink telemetry.
@ -33,9 +33,9 @@ uint8 cell_count # [-] [@invalid 0] Number of cells
uint8 source # [@enum SOURCE] Battery source
uint8 SOURCE_POWER_MODULE = 0 # Power module
uint8 SOURCE_EXTERNAL = 1 # External
uint8 SOURCE_ESCS = 2 # ESCs
uint8 SOURCE_POWER_MODULE = 0 # Power module (analog ADC or I2C power monitor)
uint8 SOURCE_EXTERNAL = 1 # External (MAVLink, CAN, or external driver)
uint8 SOURCE_ESCS = 2 # ESCs (via ESC telemetry)
uint8 priority # [-] Zero based priority is the connection on the Power Controller V1..Vn AKA BrickN-1
uint16 capacity # [mAh] Capacity of the battery when fully charged

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docs/uk/msg_docs/BatteryStatusV0.md
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@ -32,9 +32,9 @@ uint8 cell_count # [@invalid 0] Number of cells
uint8 source # [@enum SOURCE] Battery source
uint8 SOURCE_POWER_MODULE = 0 # Power module
uint8 SOURCE_EXTERNAL = 1 # External
uint8 SOURCE_ESCS = 2 # ESCs
uint8 SOURCE_POWER_MODULE = 0 # Power module (analog ADC or I2C power monitor)
uint8 SOURCE_EXTERNAL = 1 # External (MAVLink, CAN, or external driver)
uint8 SOURCE_ESCS = 2 # ESCs (via ESC telemetry)
uint8 priority # Zero based priority is the connection on the Power Controller V1..Vn AKA BrickN-1
uint16 capacity # [mAh] Capacity of the battery when fully charged

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docs/uk/msg_docs/DeviceInformation.md Normal file
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@ -0,0 +1,45 @@
# DeviceInformation (UORB message)
Device information
Can be used to uniquely associate a device_id from a sensor topic with a physical device using serial number.
as well as tracking of the used firmware versions on the devices.
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/DeviceInformation.msg)
```c
# Device information
#
# Can be used to uniquely associate a device_id from a sensor topic with a physical device using serial number.
# as well as tracking of the used firmware versions on the devices.
uint64 timestamp # time since system start (microseconds)
uint8 device_type # [@enum DEVICE_TYPE] Type of the device. Matches MAVLink DEVICE_TYPE enum
uint8 DEVICE_TYPE_GENERIC = 0 # Generic/unknown sensor
uint8 DEVICE_TYPE_AIRSPEED = 1 # Airspeed sensor
uint8 DEVICE_TYPE_ESC = 2 # ESC
uint8 DEVICE_TYPE_SERVO = 3 # Servo
uint8 DEVICE_TYPE_GPS = 4 # GPS
uint8 DEVICE_TYPE_MAGNETOMETER = 5 # Magnetometer
uint8 DEVICE_TYPE_PARACHUTE = 6 # Parachute
uint8 DEVICE_TYPE_RANGEFINDER = 7 # Rangefinder
uint8 DEVICE_TYPE_WINCH = 8 # Winch
uint8 DEVICE_TYPE_BAROMETER = 9 # Barometer
uint8 DEVICE_TYPE_OPTICAL_FLOW = 10 # Optical flow
uint8 DEVICE_TYPE_ACCELEROMETER = 11 # Accelerometer
uint8 DEVICE_TYPE_GYROSCOPE = 12 # Gyroscope
uint8 DEVICE_TYPE_DIFFERENTIAL_PRESSURE = 13 # Differential pressure
uint8 DEVICE_TYPE_BATTERY = 14 # Battery
uint8 DEVICE_TYPE_HYGROMETER = 15 # Hygrometer
char[32] vendor_name # Name of the device vendor
char[32] model_name # Name of the device model
uint32 device_id # [-] [@invalid 0 if not available] Unique device ID for the sensor. Does not change between power cycles.
char[24] firmware_version # [-] [@invalid empty if not available] Firmware version.
char[24] hardware_version # [-] [@invalid empty if not available] Hardware version.
char[33] serial_number # [-] [@invalid empty if not available] Device serial number or unique identifier.
```

1
docs/uk/msg_docs/EstimatorStatus.md
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@ -21,6 +21,7 @@ uint8 GPS_CHECK_FAIL_MAX_VERT_DRIFT = 7 # 7 : maximum allowed vertical position
uint8 GPS_CHECK_FAIL_MAX_HORZ_SPD_ERR = 8 # 8 : maximum allowed horizontal speed fail - requires stationary vehicle
uint8 GPS_CHECK_FAIL_MAX_VERT_SPD_ERR = 9 # 9 : maximum allowed vertical velocity discrepancy fail
uint8 GPS_CHECK_FAIL_SPOOFED = 10 # 10 : GPS signal is spoofed
uint8 GPS_CHECK_FAIL_JAMMED = 11 # 11 : GPS signal is jammed
uint64 control_mode_flags # Bitmask to indicate EKF logic state
uint8 CS_TILT_ALIGN = 0 # 0 - true if the filter tilt alignment is complete

1
docs/uk/msg_docs/GpioIn.md
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@ -6,6 +6,7 @@
```c
# GPIO mask and state
uint8 MAX_INSTANCES = 8
uint64 timestamp # time since system start (microseconds)
uint32 device_id # Device id

6
docs/uk/msg_docs/GpsDump.md
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@ -9,11 +9,15 @@ This message is used to dump the raw gps communication to the log.
uint64 timestamp # time since system start (microseconds)
uint8 INSTANCE_MAIN = 0
uint8 INSTANCE_SECONDARY = 1
uint8 instance # Instance of GNSS receiver
uint32 device_id
uint8 len # length of data, MSB bit set = message to the gps device,
# clear = message from the device
uint8[79] data # data to write to the log
uint8 ORB_QUEUE_LENGTH = 8
uint8 ORB_QUEUE_LENGTH = 16
```

5
docs/uk/msg_docs/VehicleCommand.md
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@ -108,6 +108,7 @@ uint16 VEHICLE_CMD_LOGGING_START = 2510 # Start streaming ULog data.
uint16 VEHICLE_CMD_LOGGING_STOP = 2511 # Stop streaming ULog data.
uint16 VEHICLE_CMD_CONTROL_HIGH_LATENCY = 2600 # Control starting/stopping transmitting data over the high latency link.
uint16 VEHICLE_CMD_DO_VTOL_TRANSITION = 3000 # Command VTOL transition.
uint16 VEHICLE_CMD_DO_SET_SAFETY_SWITCH_STATE = 5300 # Command safety on/off. |1 to activate safety, 0 to deactivate safety and allow control surface movements|Unused|Unused|Unused|Unused|Unused|Unused|
uint16 VEHICLE_CMD_ARM_AUTHORIZATION_REQUEST = 3001 # Request arm authorization.
uint16 VEHICLE_CMD_PAYLOAD_PREPARE_DEPLOY = 30001 # Prepare a payload deployment in the flight plan.
uint16 VEHICLE_CMD_PAYLOAD_CONTROL_DEPLOY = 30002 # Control a pre-programmed payload deployment.
@ -187,6 +188,10 @@ int8 ARMING_ACTION_ARM = 1
uint8 GRIPPER_ACTION_RELEASE = 0
uint8 GRIPPER_ACTION_GRAB = 1
# Used as param1 in DO_SET_SAFETY_SWITCH_STATE command.
uint8 SAFETY_OFF = 0
uint8 SAFETY_ON = 1
uint8 ORB_QUEUE_LENGTH = 8
float32 param1 # Parameter 1, as defined by MAVLink uint16 VEHICLE_CMD enum.

1
docs/uk/msg_docs/index.md
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@ -105,6 +105,7 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
- [DebugKeyValue](DebugKeyValue.md)
- [DebugValue](DebugValue.md)
- [DebugVect](DebugVect.md)
- [DeviceInformation](DeviceInformation.md) — Device information
- [DifferentialPressure](DifferentialPressure.md) — Differential-pressure (airspeed) sensor
- [DistanceSensor](DistanceSensor.md) — DISTANCE_SENSOR message data
- [DistanceSensorModeChangeRequest](DistanceSensorModeChangeRequest.md)

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docs/uk/peripherals/dshot.md
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@ -11,6 +11,10 @@ DShot is an alternative ESC protocol that has several advantages over [PWM](../p
Ця тема показує, як підключити та налаштувати DShot ESC.
## Supported ESC
[ESCs & Motors > Supported ESCs](../peripherals/esc_motors#supported-esc) has a list of supported ESC (check "Protocols" column for DShot ESC).
## Wiring/Connections {#wiring}
DShot ESC are wired the same way as [PWM ESCs](pwm_escs_and_servo.md).

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docs/uk/peripherals/esc_motors.md
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@ -9,13 +9,14 @@ PX4 supports a number of [common protocols](../esc/esc_protocols.md) for sending
The following list is non-exhaustive.
| ESC Device | Протоколи | Firmwares | Примітки |
| ---------------------------- | ------------------------------------ | ------------------------ | ----------------------------------------------------- |
| [ARK 4IN1 ESC] | [Dshot], [PWM] | [AM32] | Has versions with/without connnectors |
| [Holybro Kotleta 20] | [DroneCAN], [PWM] | [PX4 Sapog ESC Firmware] | |
| [Vertiq Motor & ESC modules] | [Dshot], [OneShot], Multishot, [PWM] | Vertiq firmware | Larger modules support DroneCAN, ESC and Motor in one |
| [VESC ESCs] | [DroneCAN], [PWM] | VESC project firmware | |
| [Zubax Telega] | [DroneCAN], [PWM] | Telega-based | ESC and Motor in one |
| ESC Device | Протоколи | Firmwares | Примітки |
| ---------------------------------------------------------------------------------- | ------------------------------------ | ------------------------ | ----------------------------------------------------- |
| [ARK 4IN1 ESC] | [Dshot], [PWM] | [AM32] | Has versions with/without connnectors |
| [Holybro Kotleta 20] | [DroneCAN], [PWM] | [PX4 Sapog ESC Firmware] | |
| [Vertiq Motor & ESC modules] | [Dshot], [OneShot], Multishot, [PWM] | Vertiq firmware | Larger modules support DroneCAN, ESC and Motor in one |
| [RaccoonLab CAN PWM ESC nodes] | [DroneCAN], Cyphal | | Cyphal and DroneCAN notes for PWM ESC |
| [VESC ESCs] | [DroneCAN], [PWM] | VESC project firmware | |
| [Zubax Telega] | [DroneCAN], [PWM] | Telega-based | ESC and Motor in one |
<!-- Links for table above -->
@ -29,6 +30,7 @@ The following list is non-exhaustive.
[PWM]: ../peripherals/pwm_escs_and_servo.md
[Holybro Kotleta 20]: ../dronecan/holybro_kotleta.md
[Vertiq Motor & ESC modules]: ../peripherals/vertiq.md
[RaccoonLab CAN PWM nodes]: ../dronecan/raccoonlab_nodes.md
[Zubax Telega]: ../dronecan/zubax_telega.md
## Дивіться також