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New Crowdin translations - zh-CN (#25483)
Co-authored-by: Crowdin Bot <support+bot@crowdin.com>
This commit is contained in:
PX4 Build Bot
co-authored by
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parent
472e0657b5
commit
2e84e55d93
@@ -22,7 +22,7 @@ It is pre-installed with PX4 v1.15.4 at time of writing (a more recent version m
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- Compatibility with many different components, providing platform for loading other user sensors, preparing for functional model development.
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- Abundant power supply making it perfect for installing additional sensors and onboard computers (including 5 external output voltages, 3 channels of 5V, 2 channels of 12V).
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- Pc-SDK support.
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This is a PC-based Python SDK Library based on MAVSDK that significantly simplifies UAV development compared to other approaches, such as using ROS or using C++. All you need is a basic understanding of Python programming and some simple coordinate system principles!
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This is a PC-based Python SDK Library based on MAVSDK that significantly simplifies UAV development compared to other approaches, such as using ROS or using C++. All you need is a basic understanding of Python programming and some simple coordinate system principles!
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- The [documentation](https://docs.amovlab.com/f450-v6c-wiki/#/en/) shows many of the options.
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7. Quasi-smart battery. The battery has a hard housing design that makes easy to install and remove.
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It provides accurate power estimates, but does not have some more advanced "smart battery" features.
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@@ -51,54 +51,54 @@ After setting up the PX4 development environment, follow these steps to install
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1. Download the source code of the PX4 Bootloader:
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```sh
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git clone https://github.com/PX4/PX4-Bootloader.git
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```
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```sh
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git clone https://github.com/PX4/PX4-Bootloader.git
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```
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2. Navigate into the top directory of the source code and compile it using:
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```sh
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make crazyflie_bl
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```
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```sh
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make crazyflie_bl
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```
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3. Put the Crazyflie 2.0 into DFU mode by following these steps:
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- Ensure it is initially unpowered.
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- Hold down the reset button (see figure below...).
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- Plug into computer's USB port.
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- After a second, the blue LED should start blinking and after 5 seconds should start blinking faster.
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- Release button.
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- Ensure it is initially unpowered.
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- Hold down the reset button (see figure below...).
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- Plug into computer's USB port.
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- After a second, the blue LED should start blinking and after 5 seconds should start blinking faster.
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- Release button.
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4. Install _dfu-util_:
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```sh
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sudo apt-get update
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sudo apt-get install dfu-util
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```
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```sh
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sudo apt-get update
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sudo apt-get install dfu-util
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```
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5. Flash bootloader using _dfu-util_ and unplug Crazyflie 2.0 when done:
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```sh
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sudo dfu-util -d 0483:df11 -a 0 -s 0x08000000 -D ./build/crazyflie_bl/crazyflie_bl.bin
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```
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```sh
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sudo dfu-util -d 0483:df11 -a 0 -s 0x08000000 -D ./build/crazyflie_bl/crazyflie_bl.bin
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```
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When powering on the Crazyflie 2.0 the yellow LED should blink.
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When powering on the Crazyflie 2.0 the yellow LED should blink.
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6. Download the source code of the PX4 autopilot:
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```sh
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git clone https://github.com/PX4/PX4-Autopilot.git
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```
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```sh
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git clone https://github.com/PX4/PX4-Autopilot.git
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```
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7. Navigate into the top directory of the source code and compile it using:
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```sh
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make bitcraze_crazyflie_default upload
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```
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```sh
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make bitcraze_crazyflie_default upload
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```
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8. When prompted to plug in device, plug in Crazyflie 2.0.
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The yellow LED should start blinking indicating bootloader mode.
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Then the red LED should turn on indicating that the flashing process has started.
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The yellow LED should start blinking indicating bootloader mode.
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Then the red LED should turn on indicating that the flashing process has started.
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9. Wait for completion.
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@@ -64,56 +64,56 @@ After setting up the PX4 development environment, follow these steps to install
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1. Download the source code of the PX4 Bootloader:
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```sh
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git clone https://github.com/PX4/PX4-Bootloader.git --recurse-submodules
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```
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```sh
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git clone https://github.com/PX4/PX4-Bootloader.git --recurse-submodules
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```
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2. Navigate into the top directory of the source code and compile it using:
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```sh
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make crazyflie21_bl
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```
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```sh
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make crazyflie21_bl
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```
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3. Put the Crazyflie 2.1 into DFU mode by following these steps:
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- Ensure it is initially unpowered.
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- Ensure battery is disconnected.
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- Hold down the reset button (see figure below...).
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- Plug into computer's USB port.
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- After a second, the blue LED should start blinking and after 5 seconds should start blinking faster.
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- Release button.
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- Ensure it is initially unpowered.
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- Ensure battery is disconnected.
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- Hold down the reset button (see figure below...).
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- Plug into computer's USB port.
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- After a second, the blue LED should start blinking and after 5 seconds should start blinking faster.
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- Release button.
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4. Install _dfu-util_:
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```sh
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sudo apt-get update
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sudo apt-get install dfu-util
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```
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```sh
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sudo apt-get update
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sudo apt-get install dfu-util
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```
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5. Flash bootloader using _dfu-util_ and unplug Crazyflie 2.1 when done:
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```sh
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sudo dfu-util -d 0483:df11 -a 0 -s 0x08000000 -D ./build/crazyflie21_bl/crazyflie21_bl.bin
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```
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```sh
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sudo dfu-util -d 0483:df11 -a 0 -s 0x08000000 -D ./build/crazyflie21_bl/crazyflie21_bl.bin
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```
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When powering on the Crazyflie 2.1 the yellow LED should blink.
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When powering on the Crazyflie 2.1 the yellow LED should blink.
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6. Download the source code of the PX4 autopilot:
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```sh
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git clone https://github.com/PX4/PX4-Autopilot.git
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```
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```sh
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git clone https://github.com/PX4/PX4-Autopilot.git
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```
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7. Navigate into the top directory of the source code and compile it using:
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```sh
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cd PX4-Autopilot/
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make bitcraze_crazyflie21_default upload
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```
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```sh
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cd PX4-Autopilot/
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make bitcraze_crazyflie21_default upload
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```
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8. When prompted to plug in device, plug in Crazyflie 2.1.
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The yellow LED should start blinking indicating bootloader mode.
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Then the red LED should turn on indicating that the flashing process has started.
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The yellow LED should start blinking indicating bootloader mode.
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Then the red LED should turn on indicating that the flashing process has started.
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9. Wait for completion.
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@@ -124,20 +124,20 @@ After setting up the PX4 development environment, follow these steps to install
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1. Download the latest [Crazyflie 2.1 bootloader](https://github.com/bitcraze/crazyflie2-stm-bootloader/releases)
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2. Put the Crazyflie 2.1 into DFU mode by following these steps:
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- Ensure it is initially unpowered.
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- Ensure battery is disconnected.
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- Hold down the reset button.
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- Plug into computer's USB port.
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- After a second, the blue LED should start blinking and after 5 seconds should start blinking faster.
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- Release button.
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- Ensure it is initially unpowered.
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- Ensure battery is disconnected.
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- Hold down the reset button.
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- Plug into computer's USB port.
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- After a second, the blue LED should start blinking and after 5 seconds should start blinking faster.
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- Release button.
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3. Flash bootloader using _dfu-util_ and unplug Crazyflie 2.1 when done:
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```sh
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sudo dfu-util -d 0483:df11 -a 0 -s 0x08000000 -D cf2loader-1.0.bin
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```
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```sh
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sudo dfu-util -d 0483:df11 -a 0 -s 0x08000000 -D cf2loader-1.0.bin
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```
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When powering on the Crazyflie 2.1 the yellow LED should blink.
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When powering on the Crazyflie 2.1 the yellow LED should blink.
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4. Install the latest Bitcraze Crazyflie 2.1 Firmware using [this](https://www.bitcraze.io/documentation/tutorials/getting-started-with-crazyflie-2-x/#update-fw) tutorial.
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@@ -84,26 +84,26 @@ Follow this guide to bind your ELRS receiver to your transmitter.
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#### Setting up the Receiver
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1. **Power On the Receiver**: Once your drone is powered on, you'll notice the ELRS receiver's blue LED flashing.
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This is an indication that the receiver is on but has not yet established a connection with a transmitter.
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This is an indication that the receiver is on but has not yet established a connection with a transmitter.
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2. **Enter Binding Mode**: To initiate binding, open a terminal and execute the `adb shell` and `voxl-elrs -bind` commands.
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You'll observe the receiver's LED switch to a flashing in a heartbeat pattern, signaling that it is now in binding mode.
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You'll observe the receiver's LED switch to a flashing in a heartbeat pattern, signaling that it is now in binding mode.
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#### Setting up the Transmitter
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1. **Access the Menu**: On your Commando 8 radio transmitter included in the kit, press the left mode button to open the menu system.
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2. **Navigate to ExpressLRS**: Use the right button to select the first menu entry, which should be "ExpressLRS."
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3. **Find the Bind Option**: With the "ExpressLRS" option selected, scroll down to the bottom of the menu to locate the "Bind" section. This can be done by pressing the right button downwards until you reach the "Bind" option.
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4. **Initiate Binding**: Select "Bind" to put the transmitter into binding mode. You will know the process has been successful when the transmitter emits a beep, indicating a successful bind.
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@@ -42,17 +42,17 @@ This kit is still highly recommended for developing and testing vision solutions
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## Warnings and Notifications
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1. The kit is intended for computer vision projects that use a forward-facing camera (it does not have downward or rear-facing depth cameras).
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Consequently it can't be used (without modification) for testing features that require a downward-facing camera.
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Consequently it can't be used (without modification) for testing features that require a downward-facing camera.
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2. Obstacle avoidance in missions can only be tested when GPS is available (missions use GPS coordinates).
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Collision prevention can be tested in position mode provided there is a good position lock from either GPS or optical flow.
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Collision prevention can be tested in position mode provided there is a good position lock from either GPS or optical flow.
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3. The port labeled `USB1` may jam the GPS if used with a _USB3_ peripheral (disable GPS-dependent functionality including missions).
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This is why the boot image is supplied on a _USB2.0_ memory stick.
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This is why the boot image is supplied on a _USB2.0_ memory stick.
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4. PX4 Vision v1 with ECN 010 or above (carrier board RC05 and up), the _UP Core_ can be powered by either the DC plug or with battery.
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5. All PX4 Vision v1.5 _UP Core_ can be powered by either the DC plug or with battery.
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@@ -132,37 +132,37 @@ In addition, users will need ground station hardware/software:
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## First-time Setup
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1. Attach a [compatible RC receiver](../getting_started/rc_transmitter_receiver.md#connecting-receivers) to the vehicle (not supplied with kit):
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- Remove/unscrew the top plate (where the battery goes) using an H2.0 hex key tool.
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- [Connect the receiver to the flight controller](../assembly/quick_start_pixhawk4.md#radio-control).
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- Re-attach the top plate.
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- Mount the RC receiver on the _UP Core_ carrier board plate at the back of the vehicle (use zipties or double-sided tape).
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- Ensure the antennas are clear of any obstructions and electrically isolated from the frame (e.g. secure them under the carrier board or to the vehicle arms or legs).
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- Remove/unscrew the top plate (where the battery goes) using an H2.0 hex key tool.
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- [Connect the receiver to the flight controller](../assembly/quick_start_pixhawk4.md#radio-control).
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- Re-attach the top plate.
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- Mount the RC receiver on the _UP Core_ carrier board plate at the back of the vehicle (use zipties or double-sided tape).
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- Ensure the antennas are clear of any obstructions and electrically isolated from the frame (e.g. secure them under the carrier board or to the vehicle arms or legs).
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2. [Bind](../getting_started/rc_transmitter_receiver.md#binding) the RC ground and air units (if not already done).
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The binding procedure depends on the specific radio system used (read the receiver manual).
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The binding procedure depends on the specific radio system used (read the receiver manual).
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3. Raise the GPS mast to the vertical position and screw the cover onto the holder on the base plate. (Not required for v1.5)
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4. Insert the pre-imaged USB2.0 stick from the kit into the _UP Core_ port labeled `USB1` (highlighted below).
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5. Power the vehicle with a fully charged battery.
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::: info
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Ensure propellers are removed before connecting the battery.
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::: info
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Ensure propellers are removed before connecting the battery.
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:::
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6. Connect the ground station to the vehicle WiFi network (after a few seconds) using the following default credentials:
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- **SSID:** pixhawk4
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- **Password:** pixhawk4
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- **SSID:** pixhawk4
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- **Password:** pixhawk4
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:::tip
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WiFi network SSID, password, and other credentials may be changed after connecting (if desired), by using a web browser to open the URL: `http://192.168.4.1`.
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The baud rate must not be changed from 921600.
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:::tip
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WiFi network SSID, password, and other credentials may be changed after connecting (if desired), by using a web browser to open the URL: `http://192.168.4.1`.
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The baud rate must not be changed from 921600.
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:::
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@@ -170,39 +170,39 @@ In addition, users will need ground station hardware/software:
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8. [Configure/calibrate](../config/index.md) the vehicle:
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::: info
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The vehicle should arrive pre-calibrated (e.g. with firmware, airframe, battery, and sensors all setup).
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You will however need to calibrate the radio system (that you just connected) and it is often worth re-doing the compass calibration.
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::: info
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The vehicle should arrive pre-calibrated (e.g. with firmware, airframe, battery, and sensors all setup).
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You will however need to calibrate the radio system (that you just connected) and it is often worth re-doing the compass calibration.
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:::
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- [Calibrate the Radio System](../config/radio.md)
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- [Calibrate the Compass](../config/compass.md)
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- [Calibrate the Radio System](../config/radio.md)
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- [Calibrate the Compass](../config/compass.md)
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9. (Optional) Configure a [Flight Mode selector switch](../config/flight_mode.md) on the remote controller.
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::: info
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Modes can also be changed using _QGroundControl_
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::: info
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Modes can also be changed using _QGroundControl_
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:::
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We recommend RC controller switches are define for:
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We recommend RC controller switches are define for:
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- [Position Mode](../flight_modes_mc/position.md) - a safe manual flight mode that can be used to test collision prevention.
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- [Mission Mode](../flight_modes_mc/mission.md) - run missions and test obstacle avoidance.
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- [Return Mode](../flight_modes_mc/return.md) - return vehicle safely to its launch point and land.
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- [Position Mode](../flight_modes_mc/position.md) - a safe manual flight mode that can be used to test collision prevention.
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- [Mission Mode](../flight_modes_mc/mission.md) - run missions and test obstacle avoidance.
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- [Return Mode](../flight_modes_mc/return.md) - return vehicle safely to its launch point and land.
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10. Attach the propellers with the rotations as shown:
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- The propellers directions can be determined from the labels: _6045_ (normal, counter-clockwise) and _6045_**R** (reversed, clockwise).
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- The propellers directions can be determined from the labels: _6045_ (normal, counter-clockwise) and _6045_**R** (reversed, clockwise).
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- Screw down firmly using the provided propellor nuts:
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- Screw down firmly using the provided propellor nuts:
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## Fly the Drone with Avoidance
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@@ -212,30 +212,30 @@ When the vehicle setup described above is complete:
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2. Wait until the boot sequence completes and the avoidance system has started (the vehicle will reject arming commands during boot).
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:::tip
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The boot/startup process takes around 1 minute from the supplied USB stick (or 30 seconds from [internal memory](#install_image_mission_computer)).
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:::tip
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The boot/startup process takes around 1 minute from the supplied USB stick (or 30 seconds from [internal memory](#install_image_mission_computer)).
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:::
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3. Check that the avoidance system has started properly:
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- The _QGroundControl_ notification log displays the message: **Avoidance system connected**.
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- The _QGroundControl_ notification log displays the message: **Avoidance system connected**.
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- A red laser is visible on the front of the _Structure Core_ camera.
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- A red laser is visible on the front of the _Structure Core_ camera.
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4. Wait for the GPS LED to turn green.
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This means that the vehicle has a GPS fix and is ready to fly!
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This means that the vehicle has a GPS fix and is ready to fly!
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5. Connect the ground station to the vehicle WiFi network.
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6. Find a safe outdoor location for flying, ideally with a tree or some other convenient obstacle for testing PX4 Vision.
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7. To test [collision prevention](../computer_vision/collision_prevention.md), enable [Position Mode](../flight_modes_mc/position.md) and fly manually towards an obstacle.
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The vehicle should slow down and then stop within 6m of the obstacle (the distance can be [changed](../advanced_config/parameters.md) using the [CP_DIST](../advanced_config/parameter_reference.md#CP_DIST) parameter).
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The vehicle should slow down and then stop within 6m of the obstacle (the distance can be [changed](../advanced_config/parameters.md) using the [CP_DIST](../advanced_config/parameter_reference.md#CP_DIST) parameter).
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8. To test obstacle avoidance, create a mission where the path is blocked by an obstacle.
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Then switch to [Mission Mode](../flight_modes_mc/mission.md) to run the mission, and observe the vehicle moving around the obstacle and then returning to the planned course.
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Then switch to [Mission Mode](../flight_modes_mc/mission.md) to run the mission, and observe the vehicle moving around the obstacle and then returning to the planned course.
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## Development using the Kit
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||||
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||||
@@ -280,22 +280,22 @@ To flash the USB image to the _UP Core_:
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2. [Login to the companion computer](#login_mission_computer) (as described above).
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3. Open a terminal and run the following command to copy the image onto internal memory (eMMC).
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The terminal will prompt for a number of responses during the flashing process.
|
||||
The terminal will prompt for a number of responses during the flashing process.
|
||||
|
||||
```sh
|
||||
cd ~/catkin_ws/src/px4vision_ros/tools
|
||||
sudo ./flash_emmc.sh
|
||||
```
|
||||
```sh
|
||||
cd ~/catkin_ws/src/px4vision_ros/tools
|
||||
sudo ./flash_emmc.sh
|
||||
```
|
||||
|
||||
::: info
|
||||
All information saved in the _UP Core_ computer will be removed when executing this script.
|
||||
::: info
|
||||
All information saved in the _UP Core_ computer will be removed when executing this script.
|
||||
|
||||
:::
|
||||
|
||||
4. Pull out the USB stick.
|
||||
|
||||
5. Restart the vehicle.
|
||||
The _UP Core_ computer will now boot from internal memory (eMMC).
|
||||
The _UP Core_ computer will now boot from internal memory (eMMC).
|
||||
|
||||
### Boot the Companion Computer
|
||||
|
||||
@@ -319,23 +319,23 @@ To login to the companion computer:
|
||||
|
||||
1. Connect a keyboard and mouse to the _UP Core_ via port `USB2`:
|
||||
|
||||
|
||||
|
||||
|
||||
- Use the USB-JST cable from the kit to get a USB A connector
|
||||
- Use the USB-JST cable from the kit to get a USB A connector
|
||||
|
||||
|
||||
|
||||
|
||||
- A USB hub can be attached to the cable if the keyboard and mouse have separate connectors.
|
||||
- A USB hub can be attached to the cable if the keyboard and mouse have separate connectors.
|
||||
|
||||
2. Connect a monitor to the _UP Core_ HDMI port.
|
||||
|
||||
|
||||
|
||||
|
||||
The Ubuntu login screen should then appear on the monitor.
|
||||
The Ubuntu login screen should then appear on the monitor.
|
||||
|
||||
3. Login to the _UP Core_ using the credentials:
|
||||
- **Username:** px4vision
|
||||
- **Password:** px4vision
|
||||
- **Username:** px4vision
|
||||
- **Password:** px4vision
|
||||
|
||||
### Developing/Extending PX4 Avoidance
|
||||
|
||||
@@ -350,39 +350,39 @@ To integrate a different planner, this needs to be disabled.
|
||||
|
||||
1. Disable the avoidance process using the following command:
|
||||
|
||||
```sh
|
||||
systemctl stop avoidance.service
|
||||
```
|
||||
```sh
|
||||
systemctl stop avoidance.service
|
||||
```
|
||||
|
||||
You can simply reboot the machine to restart the service.
|
||||
You can simply reboot the machine to restart the service.
|
||||
|
||||
Other useful commands are:
|
||||
Other useful commands are:
|
||||
|
||||
```sh
|
||||
# restart service
|
||||
systemctl start avoidance.service
|
||||
```sh
|
||||
# restart service
|
||||
systemctl start avoidance.service
|
||||
|
||||
# disable service (stop service and do not restart after boot)
|
||||
systemctl disable avoidance.service
|
||||
# disable service (stop service and do not restart after boot)
|
||||
systemctl disable avoidance.service
|
||||
|
||||
# enable service (start service and enable restart after boot)
|
||||
systemctl enable avoidance.service
|
||||
```
|
||||
# enable service (start service and enable restart after boot)
|
||||
systemctl enable avoidance.service
|
||||
```
|
||||
|
||||
2. The source code of the obstacle avoidance package can be found in https://github.com/PX4/PX4-Avoidance which is located in `~/catkin_ws/src/avoidance`.
|
||||
|
||||
3. Make changes to the code! To get the latest code of avoidance pull the code from the avoidance repo:
|
||||
|
||||
```sh
|
||||
git pull origin
|
||||
git checkout origin/master
|
||||
```
|
||||
```sh
|
||||
git pull origin
|
||||
git checkout origin/master
|
||||
```
|
||||
|
||||
4. Build the package
|
||||
|
||||
```sh
|
||||
catkin build local_planner
|
||||
```
|
||||
```sh
|
||||
catkin build local_planner
|
||||
```
|
||||
|
||||
The ROS workspace is placed in `~/catkin_ws`.
|
||||
For reference on developing in ROS and using the catkin workspace, see the [ROS catkin tutorials](https://wiki.ros.org/catkin/Tutorials).
|
||||
|
||||
Reference in New Issue
Block a user