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New Crowdin translations - zh-CN (#26180)
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076b673977
@ -584,6 +584,7 @@
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- [DebugKeyValue](msg_docs/DebugKeyValue.md)
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- [DebugValue](msg_docs/DebugValue.md)
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- [DebugVect](msg_docs/DebugVect.md)
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- [DeviceInformation](msg_docs/DeviceInformation.md)
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- [DifferentialPressure](msg_docs/DifferentialPressure.md)
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- [DistanceSensor](msg_docs/DistanceSensor.md)
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- [DistanceSensorModeChangeRequest](msg_docs/DistanceSensorModeChangeRequest.md)
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@ -25,6 +25,7 @@ PX4 supports Ethernet connectivity on [Pixhawk 5X-standard](https://github.com/p
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支持的飞行控制器包括:
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- [ARK Electronics ARKV6X](../flight_controller/ark_v6x.md)
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- [CUAV Pixhawk V6X](../flight_controller/cuav_pixhawk_v6x.md)
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- [Holybro Pixhawk 5X](../flight_controller/pixhawk5x.md)
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- [Holybro Pixhawk 6X](../flight_controller/pixhawk6x.md)
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@ -99,7 +99,7 @@ EKF 实例的总数是 [EKF2_MULTI_IMU](../advanced_config/parameter_reference.m
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- [SENS_IMU_MODE](../advanced_config/parameter_reference.md#SENS_IMU_MODE):
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如果是以 IMU 传感器多样性运行多个 EKF 实例，即 [EKF2_MULTI_IMU](../advanced_config/parameter_reference.md#EKF2_MULTI_IMU) > 1，则设置为 0。
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当设置为 1（单个 EKF 操作的默认值）时，传感器模块选择 EKF 使用的 IMU 数据。
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当设置为 1（单个 EKF 的默认值）时，传感器模块选择 EKF 使用的 IMU 数据。
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这提供了针对传感器数据丢失的保护，但不提供针对错误传感器数据的保护。
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当设置为 0 时，传感器模块不进行选择。
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@ -107,7 +107,7 @@ EKF 实例的总数是 [EKF2_MULTI_IMU](../advanced_config/parameter_reference.m
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如果是以磁力计传感器多样性运行多个 EKF 实例，即 [EKF2_MULTI_MAG](../
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advanced_config/parameter_reference.md#EKF2_MULTI_MAG) > 1，则设置为 0。
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当设置为 1（单个 EKF 操作的默认值）时，传感器模块选择 EKF 使用的磁力计数据。
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当设置为 1（单个 EKF 的默认值）时，传感器模块选择 EKF 使用的磁力计数据。
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这提供了针对传感器数据丢失的保护，但不提供针对错误传感器数据的保护。
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当设置为 0 时，传感器模块不进行选择。
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@ -115,7 +115,7 @@ EKF 实例的总数是 [EKF2_MULTI_IMU](../advanced_config/parameter_reference.m
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此参数指定多个 EKF 使用的 IMU 传感器数量。
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如果 `EKF2_MULTI_IMU` <= 1，则仅使用第一个 IMU 传感器。
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当 [SENS_IMU_MODE](../advanced_config/parameter_reference.md#SENS_IMU_MODE) = 1 时，这将是传感器模块选择的传感器。
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如果 `EKF2_MULTI_IMU` >= 2，则将针对指定数量的 IMU 传感器（最多 4 个或存在的 IMU 数量，取较小值）运行单独的 EKF 实例。
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如果 `EKF2_MULTI_IMU` >= 2，然后一个单独的 EKF 实例将运行于指定数量的 IMU 传感器，最多不超过 4 个或现有的 IMU 数量。
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- [EKF2_MULTI_MAG](../advanced_config/parameter_reference.md#EKF2_MULTI_MAG):
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此参数指定多个 EKF 使用的磁力计传感器数量。
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@ -546,11 +546,11 @@ EKF 会考虑视觉位姿估计中的不确定性。
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此不确定性信息可以通过 MAVLink [ODOMETRY](https://mavlink.io/en/messages/common.html#ODOMETRY) 消息中的协方差字段发送，也可以通过参数 [EKF2_EVP_NOISE](../advanced_config/parameter_reference.md#EKF2_EVP_NOISE)、[EKF2_EVV_NOISE](../advanced_config/parameter_reference.md#EKF2_EVV_NOISE) 和 [EKF2_EVA_NOISE](../advanced_config/parameter_reference.md#EKF2_EVA_NOISE) 进行设置。
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您可以使用 [EKF2_EV_NOISE_MD](../advanced_config/parameter_reference.md#EKF2_EV_NOISE_MD) 选择不确定性的来源。
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## 如何使用 'ecl' 库 EKF？
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## 如何使用 'ecl' 库中的EKF？
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EKF2 默认启用（有关更多信息，请参阅 [切换状态估计器](../advanced/switching_state_estimators.md) 和 [EKF2_EN](../advanced_config/parameter_reference.md#EKF2_EN)）。
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## 如何使用 'ecl' 库 EKF？
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## ecl EKF相较于其他估计器的优缺点是什么？
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像所有估计器一样，大部分性能来自于与传感器特性相匹配的调参。
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调参是精度和鲁棒性之间的折衷，虽然我们试图提供满足大多数用户需求的参数，但仍会有需要更改参数的应用。
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@ -624,7 +624,7 @@ covariances\[24\] 的索引映射如下：
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- \[19 ... 21\] 机体磁场 XYZ \(gauss^2\)
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- \[22 ... 23\] 风速 NE \(m/s\)^2
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### 观测创新量与创新方差
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### 观测新息与新息方差
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观测 `estimator_innovations`、`estimator_innovation_variances` 与 `estimator_innovation_test_ratios` 消息字段定义在 [EstimatorInnovations.msg](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorInnovations.msg) 中。
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这些消息字段名称/类型相同（但单位不同）。
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@ -654,30 +654,30 @@ covariances\[24\] 的索引映射如下：
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这些字段基本自说明，下面给出原始定义：
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```
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float32[2] gps_hvel # 水平 GPS 速度创新量 (m/sec) 与创新方差 ((m/sec)**2)
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float32 gps_vvel # 垂直 GPS 速度创新量 (m/sec) 与创新方差 ((m/sec)**2)
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float32[2] gps_hpos # 水平 GPS 位置创新量 (m) 与创新方差 (m**2)
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float32 gps_vpos # 垂直 GPS 位置创新量 (m) 与创新方差 (m**2)
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float32[2] gps_hvel # 水平 GPS 速度新息 (m/sec) 与新息方差 ((m/sec)**2)
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float32 gps_vvel # 垂直 GPS 速度新息 (m/sec) 与新息方差 ((m/sec)**2)
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float32[2] gps_hpos # 水平 GPS 位置新息 (m) 与新息方差 (m**2)
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float32 gps_vpos # 垂直 GPS 位置新息 (m) 与新息方差 (m**2)
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# External Vision
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float32[2] ev_hvel # 水平外部视觉速度创新量 (m/sec) 与创新方差 ((m/sec)**2)
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float32 ev_vvel # 垂直外部视觉速度创新量 (m/sec) 与创新方差 ((m/sec)**2)
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float32[2] ev_hpos # 水平外部视觉位置创新量 (m) 与创新方差 (m**2)
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float32 ev_vpos # 垂直外部视觉位置创新量 (m) 与创新方差 (m**2)
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float32[2] ev_hvel # 水平外部视觉速度新息 (m/sec) 与新息方差 ((m/sec)**2)
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float32 ev_vvel # 垂直外部视觉速度新息 (m/sec) 与新息方差 ((m/sec)**2)
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float32[2] ev_hpos # 水平外部视觉位置新息 (m) 与新息方差 (m**2)
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float32 ev_vpos # 垂直外部视觉位置新息 (m) 与新息方差 (m**2)
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# Fake Position and Velocity
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float32[2] fake_hvel # 虚拟水平速度创新量 (m/s) 与创新方差 ((m/s)**2)
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float32 fake_vvel # 虚拟垂直速度创新量 (m/s) 与创新方差 ((m/s)**2)
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float32[2] fake_hpos # 虚拟水平位置创新量 (m) 与创新方差 (m**2)
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float32 fake_vpos # 虚拟垂直位置创新量 (m) 与创新方差 (m**2)
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float32[2] fake_hvel # 虚拟水平速度新息 (m/s) 与新息方差 ((m/s)**2)
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float32 fake_vvel # 虚拟垂直速度新息 (m/s) 与新息方差 ((m/s)**2)
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float32[2] fake_hpos # 虚拟水平位置新息 (m) 与新息方差 (m**2)
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float32 fake_vpos # 虚拟垂直位置新息 (m) 与新息方差 (m**2)
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# Height sensors
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float32 rng_vpos # 测距高度创新量 (m) 与创新方差 (m**2)
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float32 baro_vpos # 气压计高度创新量 (m) 与创新方差 (m**2)
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float32 rng_vpos # 测距高度新息 (m) 与新息方差 (m**2)
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float32 baro_vpos # 气压计高度新息 (m) 与新息方差 (m**2)
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# Auxiliary velocity
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float32[2] aux_hvel # 来自着陆目标测量的水平辅助速度创新量 (m/sec) 与创新方差 ((m/sec)**2)
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float32 aux_vvel # 来自着陆目标测量的垂直辅助速度创新量 (m/sec) 与创新方差 ((m/sec)**2)
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float32[2] aux_hvel # 来自着陆目标测量的水平辅助速度新息 (m/sec) 与新息方差 ((m/sec)**2)
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float32 aux_vvel # 来自着陆目标测量的垂直辅助速度新息 (m/sec) 与新息方差 ((m/sec)**2)
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```
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### 输出互补滤波器
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@ -710,17 +710,17 @@ EKF 包含针对严重条件状态和协方差更新的内部错误检查。
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这种情况的一个例子是过度振动导致大的垂直位置误差，导致气压计高度测量被拒绝。
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这两者都可能导致观测数据被拒绝，如果时间足够长，使得 EKF 尝试重置状态以使用传感器观测数据。
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所有观测都会对创新量进行统计置信度检查。
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所有观测结果均对新息进行了统计置信度检查。
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各观测类型的检查标准差数由对应的 `EKF2_*_GATE` 参数控制。
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测试指标可在 [EstimatorStatus](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorStatus.msg) 中查看：
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- `mag_test_ratio`：磁力计创新量最大分量与测试限值的比值
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- `vel_test_ratio`：速度创新量最大分量与测试限值的比值
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- `pos_test_ratio`：水平位置创新量最大分量与测试限值的比值
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- `hgt_test_ratio`：垂直位置创新量与测试限值的比值
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- `tas_test_ratio`：真空速创新量与测试限值的比值
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- `hagl_test_ratio`：离地高度创新量与测试限值的比值
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- `mag_test_ratio`：磁力计新息最大分量与测试限值的比值
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- `vel_test_ratio`：速度新息最大分量与测试限值的比值
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- `pos_test_ratio`：水平位置新息最大分量与测试限值的比值
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- `hgt_test_ratio`：垂直位置新息与测试限值的比值
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- `tas_test_ratio`：真空速新息与测试限值的比值
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- `hagl_test_ratio`：离地高度新息与测试限值的比值
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若需查看每个传感器的二值通过/失败汇总，请参考 [EstimatorStatus](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorStatus.msg) 中的 `innovation_check_flags`。
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@ -749,7 +749,7 @@ EKF 对其所有计算使用单精度浮点运算，并使用一阶近似来推
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重新调参后，尤其是降低噪声变量的调参，应检查 `estimator_status.gps_check_fail_flags` 是否保持为零。
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## 如果高度估计值发散了怎么办?
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## 如何应对高度估计的发散？
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在飞行期间 EKF 高度偏离 GPS 和高度计测量的最常见原因是由振动引起的 IMU 测量的削波和/或混叠。
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出现该问题时，通常会在数据中看到以下迹象：
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@ -772,7 +772,7 @@ EKF 对其所有计算使用单精度浮点运算，并使用一阶近似来推
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注意 这些变化的影响将使 EKF 对 GPS 垂直速度和气压的误差更敏感。
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## 如果位置估计发散了应该怎么办?
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## 如何应对位置估计的发散？
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位置发散的最常见原因是：
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@ -821,7 +821,7 @@ EKF 对其所有计算使用单精度浮点运算，并使用一阶近似来推
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### 确定过度振动
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高振动通常会影响垂直位置与速度创新量以及水平分量。
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高振动通常会影响垂直位置与速度新息以及水平分量。
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磁力计测试级别仅受到很小程度的影响。
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\(在此插入示例绘图显示不好振动\)
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@ -865,11 +865,11 @@ GPS 数据精度差通常伴随着接收器报告的速度误差的增加以及
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GPS 数据丢失会表现为速度与位置创新测试比值“贴平(flat-lining)”。
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出现该情况时，请检查 `vehicle_gps_position` 中的其他 GPS 状态数据。
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下图显示了使用 SITL Gazebo 模拟 VTOL 飞行生成的 NED GPS 速度创新量 `ekf2_innovations_0.vel_pos_innov[0 ... 2]`、GPS NE 位置创新量 `ekf2_innovations_0.vel_pos_innov[3 ... 4]` 以及气压垂直位置创新量 `ekf2_innovations_0.vel_pos_innov[5]`。
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下图显示了使用 SITL Gazebo 模拟 VTOL 飞行生成的 NED GPS 速度新息 `ekf2_innovations_0.vel_pos_innov[0 ... 2]`、GPS NE 位置新息 `ekf2_innovations_0.vel_pos_innov[3 ... 4]` 以及气压垂直位置新息 `ekf2_innovations_0.vel_pos_innov[5]`。
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模拟的 GPS 在 73 秒时失锁。
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注意 GPS 丢失后 NED 速度创新量与 NE 位置创新量“贴平(flat-line)”。
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注意 GPS 丢失 10 秒后，EKF 会回退到使用最后已知位置的静态位置模式，NE 位置创新量开始再次变化。
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注意 GPS 丢失后 NED 速度新息与 NE 位置新息“贴平(flat-line)”。
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注意 GPS 丢失 10 秒后，EKF 会回退到使用最后已知位置的静态位置模式，NE 位置新息开始再次变化。
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@ -285,7 +285,7 @@ A particular vehicle might have more/fewer motors and actuators, but the wiring
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The following sections explain each part in more detail.
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:::tip
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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.
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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.
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:::
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### Flight Controller Power
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@ -426,7 +426,6 @@ They recommend sensors, power systems, and other components from the same manufa
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- [Drone Components & Parts](../getting_started/px4_basic_concepts.md#drone-components-parts) (Basic Concepts)
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- [Payloads](../getting_started/px4_basic_concepts.md#payloads) (Basic Concepts)
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- [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).
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- [Mounting the Flight Controller](../assembly/mount_and_orient_controller.md)
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- [Vibration Isolation](../assembly/vibration_isolation.md)
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- [Mounting a Compass](../assembly/mount_gps_compass.md)
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@ -70,7 +70,7 @@ Airframes with more than two frequency noise spikes typically clean the first tw
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Dynamic notch filters use ESC RPM feedback and/or the onboard FFT analysis.
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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.
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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).
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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).
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Before enabling, make sure that the ESC RPM is correct.
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You might have to adjust the [pole count of the motors](../advanced_config/parameter_reference.md#MOT_POLE_COUNT).
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@ -1,7 +1,14 @@
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# DroneCAN ESCs
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PX4 supports DroneCAN compliant ESCs.
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For more information, see the following articles for specific hardware/firmware:
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## Supported ESC
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:::info
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[Supported ESCs](../peripherals/esc_motors#supported-esc) in _ESCs & Motors_ may include additional devices that are not listed below.
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:::
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The following articles have specific hardware/firmware information:
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- [PX4 Sapog ESC Firmware](sapog.md)
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- [Holybro Kotleta 20](holybro_kotleta.md)
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@ -15,38 +15,6 @@
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- [Rpm Sensor](modules_driver_rpm_sensor.md)
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- [Transponder](modules_driver_transponder.md)
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## MCP23009
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Source: [drivers/gpio/mcp23009](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/gpio/mcp23009)
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### Usage {#MCP23009_usage}
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```
|
||||
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.
|
||||
|
||||
### 示例
|
||||
|
||||
It is typically started with:
|
||||
|
||||
@ -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)
|
||||
|
||||
|
||||
@ -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
|
||||
|
||||
@ -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
|
||||
|
||||
45
docs/zh/msg_docs/DeviceInformation.md
Normal file
45
docs/zh/msg_docs/DeviceInformation.md
Normal file
@ -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.
|
||||
|
||||
```
|
||||
@ -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
|
||||
|
||||
@ -6,6 +6,7 @@ GPIO mask and state
|
||||
|
||||
```c
|
||||
# GPIO mask and state
|
||||
uint8 MAX_INSTANCES = 8
|
||||
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
uint32 device_id # Device id
|
||||
|
||||
@ -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
|
||||
|
||||
```
|
||||
|
||||
@ -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.
|
||||
|
||||
@ -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)
|
||||
|
||||
@ -11,6 +11,10 @@ DShot is an alternative ESC protocol that has several advantages over [PWM](../p
|
||||
|
||||
本章介绍了如何连接和配置 DShot 电调。
|
||||
|
||||
## 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).
|
||||
|
||||
@ -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 | Protocols | Firmwares | 备注 |
|
||||
| ---------------------------- | ------------------------------------ | ------------------------ | ----------------------------------------------------- |
|
||||
| [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 | Protocols | Firmwares | 备注 |
|
||||
| ---------------------------------------------------------------------------------- | ------------------------------------ | ------------------------ | ----------------------------------------------------- |
|
||||
| [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
|
||||
|
||||
## 另见
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user