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New Crowdin translations - zh-CN (#25483)

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2025-09-11 08:29:25 +10:00
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co-authored by Crowdin Bot
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commit 2e84e55d93
123 changed files with 2858 additions and 2621 deletions
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docs/zh/concept/flight_tasks.md
+40 -40
View File
@@ -38,24 +38,24 @@ The instructions below might be used to create a task named _MyTask_:
- Update the copyright to the current year
```cmake
############################################################################
#
# Copyright (c) 2021 PX4 Development Team. All rights reserved.
#
```
```cmake
############################################################################
#
# Copyright (c) 2021 PX4 Development Team. All rights reserved.
#
```
- Modify the code to reflect the new task - e.g. replace `FlightTaskOrbit` with `FlightTaskMyTask`.
The code will look something like this:
The code will look something like this:
```cmake
px4_add_library(FlightTaskMyTask
FlightTaskMyTask.cpp
)
```cmake
px4_add_library(FlightTaskMyTask
FlightTaskMyTask.cpp
)
target_link_libraries(FlightTaskMyTask PUBLIC FlightTask)
target_include_directories(FlightTaskMyTask PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
```
target_link_libraries(FlightTaskMyTask PUBLIC FlightTask)
target_include_directories(FlightTaskMyTask PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
```
4. Update the header file (in this case **FlightTaskMyTask.hpp**):
Most tasks reimplement the virtual methods `activate()` and `update()`, and in this example we also have a private variable.
@@ -141,35 +141,35 @@ The instructions below might be used to create a task named _MyTask_:
- Update `MPC_POS_MODE` ([multicopter_position_mode_params.c](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/mc_pos_control/multicopter_position_mode_params.c)) to add an option for selecting "MyTask" if the parameter has a previously unused value like 5:
```c
...
* @value 0 Direct velocity
* @value 3 Smoothed velocity
* @value 4 Acceleration based
* @value 5 My task
* @group Multicopter Position Control
*/
PARAM_DEFINE_INT32(MPC_POS_MODE, 5);
```
```c
...
* @value 0 Direct velocity
* @value 3 Smoothed velocity
* @value 4 Acceleration based
* @value 5 My task
* @group Multicopter Position Control
*/
PARAM_DEFINE_INT32(MPC_POS_MODE, 5);
```
- Add a case for your new option in the switch for the parameter [FlightModeManager.cpp](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/flight_mode_manager/FlightModeManager.cpp#L266-L285) to enable the task when `_param_mpc_pos_mode` has the right value.
```cpp
...
// manual position control
...
switch (_param_mpc_pos_mode.get()) {
...
case 3:
error = switchTask(FlightTaskIndex::ManualPositionSmoothVel);
break;
case 5: // Add case for new task: MyTask
error = switchTask(FlightTaskIndex::MyTask);
break;
case 4:
....
...
```
```cpp
...
// manual position control
...
switch (_param_mpc_pos_mode.get()) {
...
case 3:
error = switchTask(FlightTaskIndex::ManualPositionSmoothVel);
break;
case 5: // Add case for new task: MyTask
error = switchTask(FlightTaskIndex::MyTask);
break;
case 4:
....
...
```
## Test New Flight Task
docs/zh/concept/system_startup.md
+29 -2
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@@ -95,6 +95,8 @@ The whole boot can be replaced by creating a file `/etc/rc.txt` on the microSD c
The best way to customize the system startup is to introduce a [new frame configuration](../dev_airframes/adding_a_new_frame.md).
机架配置文件可以在固件中，也可以在SD卡上。
#### Dynamic customization
If you only need to "tweak" the existing configuration, such as starting one more application or setting the value of a few parameters, you can specify these by creating two files in the `/etc/` directory of the SD Card:
- [/etc/config.txt](#customizing-the-configuration-config-txt): modify parameter values
@@ -111,7 +113,7 @@ The system boot files are UNIX FILES which require UNIX LINE ENDINGS.
These files are referenced in PX4 code as `/fs/microsd/etc/config.txt` and `/fs/microsd/etc/extras.txt`, where the root folder of the microsd card is identified by the path `/fs/microsd`.
:::
#### 自定义配置（config.txt）
##### 自定义配置（config.txt）
The `config.txt` file can be used to modify parameters.
It is loaded after the main system has been configured and _before_ it is booted.
@@ -123,7 +125,7 @@ param set-default PWM_MAIN_DIS3 1000
param set-default PWM_MAIN_MIN3 1120
```
#### 启动附加应用程序 (extras.txt)
##### 启动附加应用程序 (extras.txt)
The `extras.txt` can be used to start additional applications after the main system boot.
通常，额外启动的将是有效载荷控制器或类似的可选自定义组件。
@@ -150,3 +152,28 @@ Calling an unknown command in system boot files may result in boot failure.
mandatory_app start # Will abort boot if mandatory_app is unknown or fails
```
#### Additional customization
In rare cases where the desired setup cannot be achieved through frame configuration or dynamic customization,
you can add a script that will be contained in the binary.
**Note**: In almost all cases, you should use a frame configuration. This method should only be used for
edge-cases such as customizing `cannode` based boards.
- Add a new init script in `boards/<vendor>/<board>/init` that will run during board startup. 例如：
```sh
# File: boards/<vendor>/<board>/init/rc.additional
param set-default <param> <value>
```
- Add a new board variant in `boards/<vendor>/<board>/<variant>.px4board` that includes the additional script. 例如：
```sh
# File: boards/<vendor>/<board>/var.px4board
CONFIG_BOARD_ADDITIONAL_INIT="rc.additional"
```
- Compile the firmware with your new variant by appending the variant name to the compile target. 例如：
```sh
make <target>_var
```