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New Crowdin translations - ko
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Hamish Willee
Hamish Willee
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@@ -1,6 +1,6 @@
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# Auterion Skynode
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# Auterion Skynode X
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[Skynode](https://auterion.com/product/skynode/) is a powerful flight computer that combines a mission computer, flight controller, video streaming, networking, and cellular connection, in a single tightly integrated device.
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[Skynode](https://auterion.com/product/skynode-x/) is a powerful flight computer that combines a mission computer, flight controller, video streaming, networking, and cellular connection, in a single tightly integrated device.
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@@ -12,10 +12,11 @@ Auterion OS and Skynode allow seamless integration with Auterion's other softwar
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For information about Auterion and Skynode:
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- [auterion.com](https://auterion.com/)
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- [Skynode](https://auterion.com/product/skynode/) (auterion.com)
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- [Skynode X](https://auterion.com/product/skynode-x/) (auterion.com)
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- Skynode Guides:
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- [Manufacturer's Guide](https://docs.auterion.com/manufacturers/getting-started/readme)
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- [App Developer's Guide](https://docs.auterion.com/developers/getting-started/readme)
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- [Vehicle Operation](https://docs.auterion.com/vehicle-operation/auterion-sign-up)
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- [App Development](https://docs.auterion.com/app-development/app-development)
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- [Hardware Integration](https://docs.auterion.com/app-development/app-development)
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## Skynode with Vanilla PX4
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@@ -34,7 +35,7 @@ Upstream PX4 will generally work, with the following caveats:
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PX4 `px4_fmu-v5x` binaries for Skynode are built from source using the normal [developer environment](../dev_setup/dev_env.md) and [build commands](../dev_setup/building_px4.md), and are uploaded using either `upload_skynode_usb` or `upload_skynode_wifi` upload targets.
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`upload_skynode_usb` and `upload_skynode_wifi` connect to Skynode via SSH over a network interface using the default (fixed) IP addresses for [USB](https://docs.auterion.com/manufacturers/avionics/skynode/advanced-configuration/connecting-to-skynode) and [WiFi](https://docs.auterion.com/manufacturers/avionics/skynode/advanced-configuration/configuration), and upload a TAR compressed binary to the mission computer.
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`upload_skynode_usb` and `upload_skynode_wifi` connect to Skynode via SSH over a network interface using the default (fixed) IP addresses for USB and WiFi, respectively (see [AuterionOS System Guide > Building and Flashing PX4 Firmware](https://docs.auterion.com/hardware-integration/auterionos-system-guide/flashing-px4-upstream-firmware)), and upload a TAR compressed binary to the mission computer.
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The mission computer then decompresses the binary and installs it to the flight controller.
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:::info
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@@ -30,7 +30,7 @@ A few "turnkey" options are listed below:
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[mro_usb_ftdi_serial_to_jst_gh]: https://store.mrobotics.io/USB-FTDI-Serial-to-JST-GH-p/mro-ftdi-jstgh01-mr.htm
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[sparkfun_ftdi basic_breakout]: https://www.sparkfun.com/products/9873
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You can also use an off-the-shelf FTDI cable [like this one](https://www.sparkfun.com/products/9717) and connect it to flight controller using the appropriate header adaptor
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You can also use an off-the-shelf FTDI cable [like this one](https://www.sparkfun.com/ftdi-cable-5v-vcc-3-3v-i-o.html) and connect it to flight controller using the appropriate header adaptor
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(JST-GH connectors are specified in the Pixhawk standard, but you should confirm the connectors for your flight controller).
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### Logic Level Shifters
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@@ -40,7 +40,7 @@ In order to resolve this, a level shifter can be implemented to safely convert t
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Options include:
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- [SparkFun Logic Level Converter - Bi-Directional](https://www.sparkfun.com/products/12009)
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- [SparkFun Logic Level Converter - Bi-Directional](https://www.sparkfun.com/sparkfun-logic-level-converter-bi-directional.html)
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- [4-channel I2C-safe Bi-directional Logic Level Converter - BSS138](https://www.adafruit.com/product/757)
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## Cameras
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@@ -78,7 +78,7 @@ However NAT has no way to know where to direct the traffic from an arbitrary ext
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:::
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A common approach is to set up a virtual private network between the companion and GCS computer (i.e. install a VPN system like [zerotier](https://www.zerotier.com/) on both computers).
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The companion then uses [mavlink-router](https://github.com/intel/mavlink-router) to route traffic between the serial interface (flight controller) and GCS computer on the VPN network.
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The companion then uses [mavlink-router](https://github.com/mavlink-router/mavlink-router) to route traffic between the serial interface (flight controller) and GCS computer on the VPN network.
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This method has the benefit that the GCS computer address can be static within the VPN, so the configuration of the _mavlink router_ does not need to change over time.
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In addition, the communication link is secure because all VPN traffic is encrypted (MAVLink 2 itself does not support encryption).
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@@ -90,5 +90,6 @@ This approach means that you do not need to know the IP address of the GCS compu
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Some USB modules that are known to work include:
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- [Huawei E8372](https://consumer.huawei.com/en/mobile-broadband/e8372/) and [Huawei E3372](https://consumer.huawei.com/en/mobile-broadband/e3372/)
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- The _E8372_ includes WiFi which you can use to configure the SIM while it is plugged into the companion (making the development workflow a little easier). The _E3372_ lacks WiFi, so you have to configure it by plugging the stick into a laptop.
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- [Huawei E8372](https://consumer.huawei.com/au/support/routers/e8372/) and [Huawei E3372](https://consumer.huawei.com/au/support/routers/e3372/)
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- The _E8372_ includes WiFi which you can use to configure the SIM while it is plugged into the companion (making the development workflow a little easier).
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The _E3372_ lacks WiFi, so you have to configure it by plugging the stick into a laptop.
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@@ -4,7 +4,7 @@ The [Holybro Pixhawk Jetson Baseboard](https://holybro.com/products/pixhawk-jets
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The board comes with either the [Jetson Orin NX (16GB RAM)](https://holybro.com/products/nvidia-jetson-orin-nx-16g) or [Jetson Orin Nano (4GB RAM)](https://holybro.com/products/nvidia-jetson-orin-nx-16g?variant=44391410598077).
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The board comes with either the _Jetson Orin NX_ (16GB RAM) or _Jetson Orin Nano_ (4GB RAM) (see [NVIDIA Jetson Orin™](https://www.nvidia.com/en-us/autonomous-machines/embedded-systems/jetson-orin/)).
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It can be used with any Pixhawk Autopilot Bus (PAB) specification-compliant Pixhawk flight controller, such as the Pixhawk 6 or Pixhawk 6X.
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This guide walks through the process of setting up the board and connecting to PX4, including:
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@@ -44,7 +44,6 @@ This information comes from the [Holybro Pixhawk-Jetson Baseboard Documentation]
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[Dimensions and weight](https://docs.holybro.com/autopilot/pixhawk-baseboards/pixhawk-jetson-baseboard/dimension-and-weight) (Holybro)
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- 크기
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- 126 x 80 x 45mm (with Jetson Orin NX + Heatsink/Fan & FC Module)
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- 126 x 80 x 22.9mm (without Jetson and FC Module)
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@@ -56,37 +55,30 @@ This information comes from the [Holybro Pixhawk-Jetson Baseboard Documentation]
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:::tab Jetson connectors
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- 2x Gigabit Ethernet Port
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- Connected to both Jetson & Autopilot via Ethernet switch (RTL8367S)
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- Ethernet Switch powered by the same circuit as the Pixhawk
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- 8-pin JST-GH
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- RJ45
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- 2x MIPI CSI Camera Inputs
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- 4 Lanes each
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- 22-Pin Raspberry Pi Cam FFC
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- 2x USB 3.0 Host Port
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- USB A
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- 5A Current Limit
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- 2x USB 2.0 Host Port
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- 5-Pin JST-GH
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- 0A Current Limit
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- USB 2.0 for Programming/Debugging
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- USB-C
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- 2 Key M 2242/2280 for NVMe SSD
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- PCIEx4
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- 2 Key E 2230 for WiFi/BT
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- PCIEx2
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- USB
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- UART
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@@ -95,27 +87,21 @@ This information comes from the [Holybro Pixhawk-Jetson Baseboard Documentation]
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- Mini HDMI Out
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- 4x GPIO
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- 6-pin JST-GH
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- CAN Port
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- Connected to Autopilot's CAN2 (4 Pin JST-GH)
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- SPI Port
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- 7-Pin JST-GH
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- I2C Port
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- 4-Pin JST-GH
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- I2S Port
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- 7-Pin JST-GH
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- 2x UART Port
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- 1 for debug
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- 1 connected to Autopilot's telem2
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@@ -128,12 +114,10 @@ This information comes from the [Holybro Pixhawk-Jetson Baseboard Documentation]
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:::tab Autopilot connectors
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- Pixhawk Autopilot Bus Interface
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- 100 Pin Hirose DF40
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- 50 Pin Hirose DF40
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- Redundant Digital Power Module Inputs
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- I2C Power Monitor Support
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- 2x 6-Pin Molex CLIK-Mate
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@@ -142,66 +126,52 @@ This information comes from the [Holybro Pixhawk-Jetson Baseboard Documentation]
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- Overvoltage Protection
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- 정격 전압
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- 최대 입력 전압: 6V
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- USB 전원 입력: 4.75~5.25V
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- Full GPS Plus Safety Switch Port
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- 10-Pin JST-GH
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- Secondary (GPS2) Port
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- 6-Pin JST-GH
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- 2x CAN Ports
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- 4-Pin JST-GH
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- 3x Telemetry Ports with Flow Control
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- 2x 6-Pin JST-GH
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- 1 is connected to Jetson's `UART1` Port
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- 16 PWM Outputs
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- 2x 10-Pin JST-GH
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- UART4 & I2C Port
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- 6-Pin JST-GH
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- 2x Gigabit Ethernet Port
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- Connected to both Jetson & Autopilot via Ethernet switch (RTL8367S)
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- 8-Pin JST-GH
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- RJ45
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- AD & IO
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- 8-Pin JST-GH
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- USB 2.0
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- USB-C
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- 4-Pin JST-GH
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- DSM Input
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- 3-Pin JST-ZH 1.5mm Pitch
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- RC In
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- PPM/SBUS
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- 5-Pin JST-GH
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- SPI Port
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- External Sensor Bus (SPI5)
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- 11-Pin JST-GH
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- 2x Debug Port
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- 1 for FMU
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- 1 for IO
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- 10-Pin JST-SH
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@@ -1333,7 +1303,7 @@ You can now start your ROS2 nodes and continue the development.
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You can test the Client and agent by using the `sensor_combined` example in [Build ROS 2 Workspace](../ros2/user_guide.md#build-ros-2-workspace) (ROS2 User Guide).
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:::tip
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[VSCode over SSH](https://code.visualstudio.com/learn/develop-cloud/ssh-lab-machines) enables faster development and application of changes to your ROS 2 code!
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[VSCode over SSH](https://code.visualstudio.com/docs/remote/ssh) enables faster development and application of changes to your ROS 2 code!
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:::
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After getting to the point of running the example:
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@@ -42,7 +42,7 @@ Larger high power examples:
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- [NXP NavQPlus](https://nxp.gitbook.io/navqplus/user-contributed-content/ros2/microdds)
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- [Nvidia Jetson TX2](https://developer.nvidia.com/embedded/jetson-tx2)
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* [Intel NUC](https://www.intel.com/content/www/us/en/products/details/nuc.html)
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* [Intel NUC](https://www.asus.com/au/content/nuc-overview/)
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* [Gigabyte Brix](https://www.gigabyte.com/Mini-PcBarebone/BRIX)
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Small/lower power examples:
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@@ -78,7 +78,7 @@ You can also write your own custom MAVLink libraries from scratch:
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You will need a router if you need to bridge MAVLink from the vehicle to a ground station or IP network, or if you need multiple connections:
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- [MAVLink Router](https://github.com/intel/mavlink-router) (recommended)
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- [MAVLink Router](https://github.com/mavlink-router/mavlink-router) (recommended)
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- [MAVProxy](https://ardupilot.org/mavproxy/)
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## Ethernet Setup
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@@ -20,7 +20,7 @@ The high level benefits of _WFB-ng_ include:
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- Bidirectional telemetry link (MAVLink).
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- TCP/IP tunnel.
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- Automatic TX diversity - use multiple cards on the ground to avoid antenna tracker.
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- Full link encryption and authentication (using [libsodium](https://download.libsodium.org/doc/)).
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- Full link encryption and authentication (using [libsodium](https://doc.libsodium.org/)).
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- Aggregation of MAVLink packets (pack small packets into batches before transmitting).
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- Enhanced [OSD](https://github.com/svpcom/wfb-ng-osd) for Raspberry PI or generic linux desktop with gstreamer.
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@@ -36,21 +36,19 @@ The vehicle setup consists of:
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- A camera.
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These have been tested:
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- [Raspberry Pi camera](https://www.raspberrypi.org/products/camera-module-v2/) connected via CSI.
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- [Logitech camera C920](https://www.logitech.com/en-us/product/hd-pro-webcam-c920?crid=34) connected via USB
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- [Logitech camera C920](https://support.logi.com/hc/en-us/articles/360024326953-Getting-started-HD-Pro-Webcam-C920) connected via USB
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- WiFi module [ALPHA AWUS036ACH](https://www.alfa.com.tw/products_detail/1.htm) or any other **RTL8812au** card.
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- WiFi module [ALPHA AWUS036ACH](https://www.alfa.com.tw/products/awus036ach_1?variant=40319795789896) or any other **RTL8812au** card.
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### Ground Station
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- Ground Station Computer.
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These options have been tested:
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- Any Linux computer with a USB port (tested on Ubuntu 18.04 x86-64)
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- A computer with any OS running QGround control and Raspberry PI connected via Ethernet (RPi provides the wifi connection).
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- WiFi module [ALPHA AWUS036ACH](https://www.alfa.com.tw/products_detail/1.htm) or any other **RTL8812au** card.
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- WiFi module [ALPHA AWUS036ACH](https://www.alfa.com.tw/products/awus036ach_1?variant=40319795789896) or any other **RTL8812au** card.
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See [WFB-ng wiki > WiFi hardware](https://github.com/svpcom/wfb-ng/wiki/WiFi-hardware) for more information on supported modules.
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## Hardware Modification
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@@ -125,7 +123,7 @@ If you need a higher bandwidth you can use other MCS index (for example 2 or gre
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## Antennas and Diversity
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For simple cases you can use omnidirectional antennas with linear (that bundled with wifi cards) or circular leaf ([circularly polarized Coverleaf Antenna](http://www.antenna-theory.com/antennas/cloverleaf.php)) polarization.
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For simple cases you can use omnidirectional antennas with linear (that bundled with wifi cards) or circular leaf ([circularly polarized Coverleaf Antenna](https://www.antenna-theory.com/antennas/cloverleaf.php)) polarization.
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If you want to setup long distance link you can use multiple wifi adapters with directional and omnidirectional antennas. TX/RX diversity for multiple adapters supported out of box (just add multiple NICs to `/etc/default/wifibroadcast`).
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If your WiFi adapter has two antennas (like Alfa AWU036ACH) TX diversity is implemented via [STBC](https://en.wikipedia.org/wiki/Space%E2%80%93time_block_code).
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Cards with 4 ports (like Alfa AWUS1900) are currently not supported.
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