mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-30 07:23:33 +08:00
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
Crowdin Bot
Crowdin Bot
parent
472e0657b5
commit
2e84e55d93
+93
-55
@@ -71,24 +71,24 @@ To check that these are present on your flight controller:
|
||||
|
||||
3. Enter the following commands in the console:
|
||||
|
||||
```sh
|
||||
pwm_out_sim status
|
||||
```
|
||||
```sh
|
||||
pwm_out_sim status
|
||||
```
|
||||
|
||||
```sh
|
||||
sensor_baro_sim status
|
||||
```
|
||||
```sh
|
||||
sensor_baro_sim status
|
||||
```
|
||||
|
||||
```sh
|
||||
sensor_gps_sim status
|
||||
```
|
||||
```sh
|
||||
sensor_gps_sim status
|
||||
```
|
||||
|
||||
```sh
|
||||
sensor_mag_sim status
|
||||
```
|
||||
```sh
|
||||
sensor_mag_sim status
|
||||
```
|
||||
|
||||
::: tip
|
||||
Note that when using SIH on real hardware you do not need to additionally enable the modules using their corresponding parameters ([SENS_EN_GPSSIM](../advanced_config/parameter_reference.md#SENS_EN_GPSSIM), [SENS_EN_BAROSIM](../advanced_config/parameter_reference.md#SENS_EN_BAROSIM), [SENS_EN_MAGSIM](../advanced_config/parameter_reference.md#SENS_EN_MAGSIM)).
|
||||
::: tip
|
||||
Note that when using SIH on real hardware you do not need to additionally enable the modules using their corresponding parameters ([SENS_EN_GPSSIM](../advanced_config/parameter_reference.md#SENS_EN_GPSSIM), [SENS_EN_BAROSIM](../advanced_config/parameter_reference.md#SENS_EN_BAROSIM), [SENS_EN_MAGSIM](../advanced_config/parameter_reference.md#SENS_EN_MAGSIM)).
|
||||
|
||||
:::
|
||||
|
||||
@@ -141,12 +141,12 @@ To set up/start SIH:
|
||||
1. Connect the flight controller to the desktop computer with a USB cable.
|
||||
2. Open QGroundControl and wait for the flight controller too boot and connect.
|
||||
3. Open [Vehicle Setup > Airframe](../config/airframe.md) then select the desired frame:
|
||||
- [SIH Quadcopter X](../airframes/airframe_reference.md#copter_simulation_sih_quadcopter_x)
|
||||
- **SIH Hexacopter X** (currently only has an airframe for SITL to safe flash so on flight control hardware it has to be manually configured equivalently).
|
||||
- [SIH plane AERT](../airframes/airframe_reference.md#plane_simulation_sih_plane_aert)
|
||||
- [SIH Tailsitter Duo](../airframes/airframe_reference.md#vtol_simulation_sih_tailsitter_duo)
|
||||
- [SIH Standard VTOL QuadPlane](../airframes/airframe_reference.md#vtol_simulation_sih_standard_vtol_quadplane)
|
||||
- [SIH Ackermann Rover](../airframes/airframe_reference.md#rover_rover_sih_rover_ackermann)
|
||||
- [SIH Quadcopter X](../airframes/airframe_reference.md#copter_simulation_sih_quadcopter_x)
|
||||
- **SIH Hexacopter X** (currently only has an airframe for SITL to safe flash so on flight control hardware it has to be manually configured equivalently).
|
||||
- [SIH plane AERT](../airframes/airframe_reference.md#plane_simulation_sih_plane_aert)
|
||||
- [SIH Tailsitter Duo](../airframes/airframe_reference.md#vtol_simulation_sih_tailsitter_duo)
|
||||
- [SIH Standard VTOL QuadPlane](../airframes/airframe_reference.md#vtol_simulation_sih_standard_vtol_quadplane)
|
||||
- [SIH Ackermann Rover](../airframes/airframe_reference.md#rover_rover_sih_rover_ackermann)
|
||||
|
||||
The autopilot will then reboot.
|
||||
The `sih` module is started on reboot, and the vehicle should be displayed on the ground control station map.
|
||||
@@ -172,19 +172,19 @@ To display the simulated vehicle:
|
||||
|
||||
3. Start jMAVSim by calling the script **jmavsim_run.sh** from a terminal:
|
||||
|
||||
```sh
|
||||
./Tools/simulation/jmavsim/jmavsim_run.sh -q -d /dev/ttyACM0 -b 2000000 -o
|
||||
```
|
||||
```sh
|
||||
./Tools/simulation/jmavsim/jmavsim_run.sh -q -d /dev/ttyACM0 -b 2000000 -o
|
||||
```
|
||||
|
||||
where the flags are:
|
||||
where the flags are:
|
||||
|
||||
- `-q` to allow the communication to _QGroundControl_ (optional).
|
||||
- `-d` to start the serial device `/dev/ttyACM0` on Linux.
|
||||
On macOS this would be `/dev/tty.usbmodem1`.
|
||||
- `-b` to set the serial baud rate to `2000000`.
|
||||
- `-o` to start jMAVSim in _display Only_ mode (i.e. the physical engine is turned off and jMAVSim only displays the trajectory given by the SIH in real-time).
|
||||
- add a flag `-a` to display an aircraft or `-t` to display a tailsitter.
|
||||
If this flag is not present a quadrotor will be displayed by default.
|
||||
- `-q` to allow the communication to _QGroundControl_ (optional).
|
||||
- `-d` to start the serial device `/dev/ttyACM0` on Linux.
|
||||
On macOS this would be `/dev/tty.usbmodem1`.
|
||||
- `-b` to set the serial baud rate to `2000000`.
|
||||
- `-o` to start jMAVSim in _display Only_ mode (i.e. the physical engine is turned off and jMAVSim only displays the trajectory given by the SIH in real-time).
|
||||
- add a flag `-a` to display an aircraft or `-t` to display a tailsitter.
|
||||
If this flag is not present a quadrotor will be displayed by default.
|
||||
|
||||
4. After few seconds, _QGroundControl_ can be opened again.
|
||||
|
||||
@@ -201,41 +201,41 @@ To run SIH as SITL:
|
||||
|
||||
1. Install the [PX4 Development toolchain](../dev_setup/dev_env.md).
|
||||
2. Run the appropriate make command for each vehicle type (at the root of the PX4-Autopilot repository):
|
||||
- Quadcopter
|
||||
- Quadcopter
|
||||
|
||||
```sh
|
||||
make px4_sitl sihsim_quadx
|
||||
```
|
||||
```sh
|
||||
make px4_sitl sihsim_quadx
|
||||
```
|
||||
|
||||
- Hexacopter
|
||||
- Hexacopter
|
||||
|
||||
```sh
|
||||
make px4_sitl sihsim_hex
|
||||
```
|
||||
```sh
|
||||
make px4_sitl sihsim_hex
|
||||
```
|
||||
|
||||
- Fixed-wing (plane)
|
||||
- Fixed-wing (plane)
|
||||
|
||||
```sh
|
||||
make px4_sitl sihsim_airplane
|
||||
```
|
||||
```sh
|
||||
make px4_sitl sihsim_airplane
|
||||
```
|
||||
|
||||
- XVert VTOL tailsitter
|
||||
- XVert VTOL tailsitter
|
||||
|
||||
```sh
|
||||
make px4_sitl sihsim_xvert
|
||||
```
|
||||
```sh
|
||||
make px4_sitl sihsim_xvert
|
||||
```
|
||||
|
||||
- 标准垂起固定翼
|
||||
- 标准垂起固定翼
|
||||
|
||||
```sh
|
||||
make px4_sitl sihsim_standard_vtol
|
||||
```
|
||||
```sh
|
||||
make px4_sitl sihsim_standard_vtol
|
||||
```
|
||||
|
||||
- Ackermann Rover
|
||||
- Ackermann Rover
|
||||
|
||||
```sh
|
||||
make px4_sitl sihsim_rover_ackermann
|
||||
```
|
||||
```sh
|
||||
make px4_sitl sihsim_rover_ackermann
|
||||
```
|
||||
|
||||
### Change Simulation Speed
|
||||
|
||||
@@ -328,6 +328,44 @@ For SIH as SITL (no FC):
|
||||
|
||||
For specific examples see the `_sihsim_` airframes in [ROMFS/px4fmu_common/init.d-posix/airframes](https://github.com/PX4/PX4-Autopilot/blob/main/ROMFS/px4fmu_common/init.d-posix/airframes/) (SIH as SITL) and [ROMFS/px4fmu_common/init.d/airframes](https://github.com/PX4/PX4-Autopilot/tree/main/ROMFS/px4fmu_common/init.d/airframes) (SIH on FC).
|
||||
|
||||
## Controlling Actuators in SIH
|
||||
|
||||
:::warning
|
||||
If you want to control throttling actuators in SIH, make sure to remove propellers for safety.
|
||||
:::
|
||||
|
||||
In some scenarios, it may be useful to control an actuator while running SIH. For example, you might want to verify that winches or grippers are functioning correctly by checking the servo responses.
|
||||
|
||||
To enable actuator control in SIH:
|
||||
|
||||
1. Configure PWM parameters in the airframe file:
|
||||
|
||||
Ensure your airframe file includes the necessary parameters to map PWM outputs to the correct channels.
|
||||
|
||||
For example, if a servo is connected to MAIN 3 and you want to map it to AUX1 on your RC, use the following command:
|
||||
|
||||
`param set-default PWM_MAIN_FUNC3 407`
|
||||
|
||||
You can find a full list of available values for `PWM_MAIN_FUNCn` [here](../advanced_config/parameter_reference.md#PWM_MAIN_FUNC1). In this case, `407` maps the MAIN 3 output to AUX1 on the RC.
|
||||
|
||||
Alternatively, you can use the [`PWM_AUX_FUNCn`](../advanced_config/parameter_reference.md#PWM_AUX_FUNC1) parameters.
|
||||
|
||||
You may also configure the output as desired:
|
||||
|
||||
- Disarmed PWM: ([`PWM_MAIN_DISn`](../advanced_config/parameter_reference.md#PWM_MAIN_DIS1) / [`PWM_AUX_DIS1`](../advanced_config/parameter_reference.md#PWM_AUX_DIS1))
|
||||
- Minimum PWM ([`PWM_MAIN_MINn`](../advanced_config/parameter_reference.md#PWM_MAIN_MIN1) / [`PWM_AUX_MINn`](../advanced_config/parameter_reference.md#PWM_AUX_MIN1))
|
||||
- Maximum PWM ([`PWM_MAIN_MAXn`](../advanced_config/parameter_reference.md#PWM_MAIN_MAX1) / [`PWM_AUX_MAXn`](../advanced_config/parameter_reference.md#PWM_AUX_MAX1))
|
||||
|
||||
2. Manually start the PWM output driver
|
||||
|
||||
For safety, the PWM driver is not started automatically in SIH. To enable it, run the following command in the MAVLink shell:
|
||||
|
||||
`pwm_out start`
|
||||
|
||||
And to disable it again:
|
||||
|
||||
`pwm_out stop`
|
||||
|
||||
## Dynamic Models
|
||||
|
||||
The dynamic models for the various vehicles are:
|
||||
|
||||
Reference in New Issue
Block a user