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New Crowdin translations - ko (#26487)

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Co-authored-by: Crowdin Bot <support+bot@crowdin.com>
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2026-02-18 16:44:57 +11:00
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docs/ko/sensor/microstrain.md
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@@ -41,9 +41,7 @@ To use the MicroStrain driver:
1. Include the module in firmware in the [kconfig board configuration](../hardware/porting_guide_config.md#px4-board-configuration-kconfig) by setting the kconfig variables: `CONFIG_DRIVERS_INS_MICROSTRAIN` or `CONFIG_COMMON_INS`.
2. Configure the driver mode by setting [MS_MODE](../advanced_config/parameter_reference.md#MS_MODE)
- To use the MicroStrain sensor to provide raw IMU data to EKF2
1. Set [MS_MODE](../advanced_config/parameter_reference.md#MS_MODE) to 0
2. Update the [EKF2_MULTI_IMU](../advanced_config/parameter_reference.md#EKF2_MULTI_IMU) parameter to account for the added MicroStrain sensor.
3. Enable EKF2 by setting [EKF2_EN](../advanced_config/parameter_reference.md#EKF2_EN) to 1
@@ -78,22 +76,18 @@ To use the MicroStrain driver:
## MicroStrain Configuration
1. Rates:
- By default, accel and gyro data are published at 500 Hz, magnetometer at 50 Hz, and barometric pressure at 50 Hz.
This can be changed by adjusting the following parameters:
- [MS_IMU_RATE_HZ](../advanced_config/parameter_reference.md#MS_IMU_RATE_HZ)
- [MS_MAG_RATE_HZ](../advanced_config/parameter_reference.md#MS_MAG_RATE_HZ)
- [MS_BARO_RATE_HZ](../advanced_config/parameter_reference.md#MS_BARO_RATE_HZ)
- Global position, local position, attitude and odometry will be published at 250 Hz by default.
This can be configured via:
- [MS_FILT_RATE_HZ](../advanced_config/parameter_reference.md#MS_FILT_RATE_HZ)
- For the CV7-GNSS/INS, the GNSS receiver 1 and 2 will publish data at 5Hz by default.
This can be changed using:
- [MS_GNSS_RATE_HZ](../advanced_config/parameter_reference.md#MS_GNSS_RATE_HZ)
- The driver will automatically configure data outputs based on the specific sensor model and available data streams.
@@ -105,7 +99,6 @@ To use the MicroStrain driver:
- If supported, GNSS position and velocity aiding are always enabled.
- Internal/external magnetometer and heading aiding, as well as optical flow aiding, are disabled by default. They can be enabled using the following parameters:
- [MS_INT_MAG_EN](../advanced_config/parameter_reference.md#MS_INT_MAG_EN)
- [MS_INT_HEAD_EN](../advanced_config/parameter_reference.md#MS_INT_HEAD_EN)
- [MS_EXT_HEAD_EN](../advanced_config/parameter_reference.md#MS_EXT_HEAD_EN)
@@ -113,7 +106,6 @@ To use the MicroStrain driver:
- [MS_OPT_FLOW_EN](../advanced_config/parameter_reference.md#MS_OPT_FLOW_EN)
- The aiding frames for external sources can be configured using the following parameters:
- [MS_EHEAD_YAW](../advanced_config/parameter_reference.md#MS_EHEAD_YAW)
- [MS_EMAG_ROLL](../advanced_config/parameter_reference.md#MS_EMAG_ROLL)
- [MS_EMAG_PTCH](../advanced_config/parameter_reference.md#MS_EMAG_PTCH)
@@ -124,7 +116,6 @@ To use the MicroStrain driver:
- [SENS_FLOW_ROT](../advanced_config/parameter_reference.md#SENS_FLOW_ROT)
- The uncertainty for optical flow and external magnetometer aiding must be specified using the following parameters:
- [MS_EMAG_UNCERT](../advanced_config/parameter_reference.md#MS_EMAG_UNCERT)
- [MS_OFLW_UNCERT](../advanced_config/parameter_reference.md#MS_OFLW_UNCERT)
@@ -137,25 +128,18 @@ To use the MicroStrain driver:
:::
3. Initial heading alignment:
- Initial heading alignment is set to kinematic by default. This can be changed by adjusting
- [MS_ALIGNMENT](../advanced_config/parameter_reference.md#MS_ALIGNMENT)
4. GNSS Aiding Source Control (GNSS/INS only)
- The Source of the GNSS aiding data can be configured using:
- [MS_GNSS_AID_SRC](../advanced_config/parameter_reference.md#MS_GNSS_AID_SRC)
5. Sensor to vehicle transform:
- If the sensor is mounted in an orientation different from the vehicle frame. A sensor to vehicle transform can be enabled using
- [MS_SVT_EN](../advanced_config/parameter_reference.md#MS_SVT_EN)
- The transform is defined using the following parameters
- [MS_SENSOR_ROLL](../advanced_config/parameter_reference.md#MS_SENSOR_ROLL)
- [MS_SENSOR_PTCH](../advanced_config/parameter_reference.md#MS_SENSOR_PTCH)
- [MS_SENSOR_YAW](../advanced_config/parameter_reference.md#MS_SENSOR_YAW)
@@ -163,7 +147,6 @@ To use the MicroStrain driver:
6. IMU ranges:
- The accelerometer and gyroscope ranges on the device are configurable using:
- [MS_ACCEL_RANGE](../advanced_config/parameter_reference.md#MS_ACCEL_RANGE)
- [MS_GYRO_RANGE](../advanced_config/parameter_reference.md#MS_GYRO_RANGE)
@@ -175,15 +158,12 @@ To use the MicroStrain driver:
:::
7. GNSS Lever arm offsets:
- The lever arm offset for the external GNSS receiver can be configured using:
- [MS_GNSS_OFF1_X](../advanced_config/parameter_reference.md#MS_GNSS_OFF1_X)
- [MS_GNSS_OFF1_Y](../advanced_config/parameter_reference.md#MS_GNSS_OFF1_Y)
- [MS_GNSS_OFF1_Z](../advanced_config/parameter_reference.md#MS_GNSS_OFF1_Z)
- For dual-antenna configurations, the second GNSS receiver’s offset is configured using:
- [MS_GNSS_OFF2_X](../advanced_config/parameter_reference.md#MS_GNSS_OFF2_X)
- [MS_GNSS_OFF2_Y](../advanced_config/parameter_reference.md#MS_GNSS_OFF2_Y)
- [MS_GNSS_OFF2_Z](../advanced_config/parameter_reference.md#MS_GNSS_OFF2_Z)