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docs(i18n): PX4 guide translations (Crowdin) - ko (#26898)

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시뮬레이터는 PX4 비행 코드가 시뮬레이션된 가상 "세계"에서 컴퓨터로 모델링된 기체를 제어합니다.
You can interact with this vehicle just as you might with a real vehicle, using _QGroundControl_, an offboard API, or a radio controller/gamepad.
:::tip
Simulation is a quick, easy, and most importantly, _safe_ way to test changes to PX4 code before attempting to fly in the real world.
실험할 기체가 없은 경우 PX4로 비행을 시작하는 것도 좋은 방법입니다.
:::
PX4 supports both _Software In the Loop (SITL)_ simulation, where the flight stack runs on computer (either the same computer or another computer on the same network) and _Hardware In the Loop (HITL)_ simulation using a simulation firmware on a real flight controller board.
사용 가능한 시뮬레이터와 설정 방법을 다음 섹션에서 설명합니다.
The other sections provide general information about how the simulator works, and are not required to _use_ the simulators.
:::tip
Simulation is a quick, easy, and most importantly, _safe_ way to test changes to PX4 code before attempting to fly in the real world.
실험할 기체가 없은 경우 PX4로 비행을 시작하는 것도 좋은 방법입니다.
:::
## 지원되는 시뮬레이터
The following simulators are supported by the PX4 core development team.
:::info
Gazebo Classic is being downgraded to [community supported](../simulation/community_supported_simulators.md) and is no longer recommended as the default simulation solution.
Use [Gazebo](../sim_gazebo_gz/index.md) (formerly Gazebo Ignition) for new projects.
If you have an older workflow that does not yet work in newer Gazebo, Gazebo Classic remains available but will not receive core team maintenance going forward.
See [PX4-Autopilot#23602](https://github.com/PX4/PX4-Autopilot/issues/23602) for the deprecation timeline and migration status.
:::
| 시뮬레이터 | 설명 |
| ------------------------------------------------ | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| [Gazebo](../sim_gazebo_gz/index.md) | Gazebo supersedes [Gazebo Classic](../sim_gazebo_classic/index.md), featuring more advanced rendering, physics and sensor models. It is the only version of Gazebo available from Ubuntu Linux 22.04<br><br>A powerful 3D simulation environment that is particularly suitable for testing object-avoidance and computer vision. [다중 차량시뮬레이션](../simulation/multi-vehicle-simulation.md)에도 사용할 수 있으며 일반적으로 차량 제어 자동화를 위한 도구 모음인 [ROS](../simulation/ros_interface.md)와 함께 사용됩니다. <br><br><strong>Supported Vehicles:</strong> Quad, VTOL (Standard, Tailsitter, Tiltroter), Plane, Rovers |
| [Gazebo Classic](../sim_gazebo_classic/index.md) | A powerful 3D simulation environment that is particularly suitable for testing object-avoidance and computer vision. It can also be used for [multi-vehicle simulation](../simulation/multi-vehicle-simulation.md) and is commonly used with [ROS](../simulation/ros_interface.md), a collection of tools for automating vehicle control.<br><br>**Supported Vehicles:** Quad ([Iris](../airframes/airframe_reference.md#copter_quadrotor_x_generic_quadcopter)), Hex (Typhoon H480), [Generic Standard VTOL (QuadPlane)](../airframes/airframe_reference.md#vtol_standard_vtol_generic_standard_vtol), Tailsitter, Plane, Rover, Submarine |
| [SIH](../sim_sih/index.md) | A lightweight, headless simulator that runs physics directly inside PX4 as a C++ module (no external dependencies). Headless by default for fastest iteration. Supports ROS 2 via uXRCE-DDS. Can also run on flight controller hardware (`SYS_HITL=2`).<br><br>**Supported Vehicles:** Quad, Hex, Plane, Tailsitter, Standard VTOL, Rover |
There are also a number of [Community Supported Simulators](../simulation/community_supported_simulators.md).
---
### Simulator Comparison
이 항목의 나머지 부분은 시뮬레이션 인프라 작동 방식에 대한 "다소 일반적인" 설명입니다.
It is not required to _use_ the simulators.
| 기능 | Gazebo | SIH |
| ------------------------- | ------------------------------------------------- | -------------------------------------------------------------------------------------- |
| **Default Mode** | GUI with 3D rendering | Headless (fastest iteration) |
| **3D Visualization** | Built-in (photorealistic) | Optional: QGC map or jMAVSim display-only |
| **Physics Engine** | External (gz-physics) | Internal (C++ module, uORB) |
| **External Dependencies** | Gazebo packages, rendering libs | None |
| **Vehicle Types** | Quad, VTOL, Plane, Rovers | Quad, Hex, Plane, Tailsitter, Std VTOL, Rover |
| **Multi-vehicle** | Yes (documented) | Yes ([multi-vehicle](../sim_sih/index.md#multi-vehicle-simulation)) |
| **Sensor Simulation** | Camera, LiDAR, depth, IMU, GPS, baro, mag | IMU, GPS, baro, mag, airspeed |
| **Custom Worlds/Models** | Yes (SDF, large model library) | No |
| **ROS 2 Integration** | Yes (uXRCE-DDS) | Yes (uXRCE-DDS) |
| **Extensibility** | Plugins, custom sensors, environments | Modify C++ source, tune SIH\_\* parameters |
| **Community/Ecosystem** | Large Gazebo community, model repos | PX4-internal |
| **Faster-than-Realtime** | Yes | Yes |
| **Runs on FC Hardware** | No | Yes (SYS_HITL=2) |
| **macOS Apple Silicon** | Unstable (known issues) | Works natively |
| **Lockstep** | Yes | Yes |
:::tip
For a detailed analysis of PX4 simulation user needs, priorities, and pain points, see the [PX4 Simulation Integration Survey Report](https://www.mcguirerobotics.com/px4_sim_research_report/) (K. McGuire, Dronecode Foundation, Dec 2025, 120 respondents).
:::
### Which Simulator Should I Use?
- **Full-featured simulation with 3D rendering, custom worlds, camera/lidar sensors, or rich sensor ecosystems:** Use [Gazebo](../sim_gazebo_gz/index.md). Largest ecosystem, custom models and plugins, photorealistic rendering, extensive sensor library, large community.
- **Fast headless iteration, controls research, zero-dependency setup, or macOS:** Use [SIH](../sim_sih/index.md). Runs entirely inside PX4 with no external dependencies, headless by default for maximum speed, physics parameters directly tunable via `SIH_*` params. Supports ROS 2 via uXRCE-DDS.
- **Hardware integration testing without propellers:** Use [SIH on flight controller hardware](../sim_sih/index.md#sih-on-flight-controller-hardware) (`SYS_HITL=2`).
:::info
SIH is headless by default. For optional 3D visualization, you can use [jMAVSim in display-only mode](../sim_sih/index.md#visualization-optional) or monitor the vehicle in QGroundControl's map view.
:::
## Simulator MAVLink API
All simulators except for Gazebo communicate with PX4 using the Simulator MAVLink API.
Most external simulators communicate with PX4 using the Simulator MAVLink API.
이 API는 시뮬레이션된 세계에서 PX4로 센서 데이터를 제공하고, 시뮬레이션된 차량에 적용될 비행 코드에서 모터 및 액추에이터 값을 반환하는 MAVLink 메시지 세트를 정의합니다.
아래 이미지는 메시지 흐름을 나타냅니다.
:::info
SIH does not use the MAVLink simulator API. It runs physics internally via uORB messages. Gazebo communicates with PX4 via gz_bridge (Gazebo transport), not MAVLink.
:::
![Simulator MAVLink API](../../assets/simulation/px4_simulator_messages.svg)
:::info
@@ -96,7 +137,7 @@ See [System Startup](../concept/system_startup.md) to learn more.
## SITL 시뮬레이션 환경
The diagram below shows a typical SITL simulation environment for any of the supported simulators that use MAVLink (i.e. all of them except Gazebo).
The diagram below shows a typical SITL simulation environment for any of the supported simulators that use MAVLink (i.e. most external simulators, but not Gazebo or SIH).
![PX4 SITL overview](../../assets/simulation/px4_sitl_overview.svg)
@@ -153,8 +194,16 @@ make px4_sitl jmavsim
# Start PX4 with no simulator (i.e. to use your own "custom" simulator)
make px4_sitl none_iris
# SIH (headless, zero dependencies)
make px4_sitl_sih sihsim_quadx
make px4_sitl_sih sihsim_airplane
```
:::info
Use `px4_sitl_sih` instead of `px4_sitl` to avoid building Gazebo dependencies.
:::
시뮬레이션은 환경 변수를 통하여 추가로 설정이 가능합니다.
- Any of the [PX4 parameters](../advanced_config/parameter_reference.md) can be overridden via `export PX4_PARAM_{name}={value}`.
@@ -165,7 +214,7 @@ For more information see: [Building the Code > PX4 Make Build Targets](../dev_se
### Run Simulation Faster than Realtime {#simulation_speed}
SITL can be run faster or slower than real-time when using Gazebo, Gazebo Classic, or jMAVSim.
SITL can be run faster or slower than real-time when using Gazebo, Gazebo Classic, jMAVSim, or SIH.
The speed factor is set using the environment variable `PX4_SIM_SPEED_FACTOR`.
@@ -179,6 +228,7 @@ This is what makes it possible to run the simulation at different speeds, and al
- Gazebo: [Change Simulation Speed](../sim_gazebo_gz/index.md#change-simulation-speed)
- Gazebo Classic: [Change Simulation Speed](../sim_gazebo_classic/index.md#change-simulation-speed) and [Lockstep](../sim_gazebo_classic/index.md#lockstep)
- jMAVSim: [Change Simulation Speed](../sim_jmavsim/index.md#change-simulation-speed) and [Lockstep](../sim_jmavsim/index.md#lockstep)
- SIH: Supports `PX4_SIM_SPEED_FACTOR` for faster-than-realtime simulation.
### 시작 스크립트