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docs(i18n): PX4 guide translations (Crowdin) - zh-CN (#26851)
Co-authored-by: Crowdin Bot <support+bot@crowdin.com>
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@@ -47,74 +47,12 @@ DShot comes with different speed options: _DShot150_, _DShot300_, and _DShot600_
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电调应该初始化，电机应该按照正确的方向转动。
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- If the motors do not spin in the correct direction (for the [selected airframe](../airframes/airframe_reference.md)) you can reverse them in the UI using the **Set Spin Direction** option (this option appears after you select DShot and assign motors).
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You can also reverse motors by sending an [ESC Command](#commands).
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## ESC Commands {#commands}
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Commands can be sent to the ESC via the [MAVLink shell](../debug/mavlink_shell.md).
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See [here](../modules/modules_driver.md#dshot) for a full reference of the supported commands.
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其中最重要的是：
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- Make a motor connected to FMU output pin 1 beep (helps with identifying motors)
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```sh
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dshot beep1 -m 1
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```
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- Retrieve ESC information (requires telemetry, see below):
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```sh
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nsh> dshot esc_info -m 2
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INFO [dshot] ESC Type: #TEKKO32_4in1#
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INFO [dshot] MCU Serial Number: xxxxxx-xxxxxx-xxxxxx-xxxxxx
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INFO [dshot] Firmware version: 32.60
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INFO [dshot] Rotation Direction: normal
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INFO [dshot] 3D Mode: off
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INFO [dshot] Low voltage Limit: off
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INFO [dshot] Current Limit: off
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INFO [dshot] LED 0: unsupported
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INFO [dshot] LED 1: unsupported
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INFO [dshot] LED 2: unsupported
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INFO [dshot] LED 3: unsupported
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```
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- Permanently set the spin direction of a motor connected to FMU output pin 1 (while motors are _not_ spinning):
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- Set spin direction to `reversed`:
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```sh
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dshot reverse -m 1
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dshot save -m 1
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```
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Retrieving ESC information will then show:
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```sh
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Rotation Direction: reversed
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```
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- Set spin direction to `normal`:
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```sh
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dshot normal -m 1
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dshot save -m 1
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```
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Retrieving ESC information will then show:
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```sh
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Rotation Direction: normal
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```
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:::note
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- The commands will have no effect if the motors are spinning, or if the ESC is already set to the corresponding direction.
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- The ESC will revert to its last saved direction (normal or reversed) on reboot if `save` is not called after changing the direction.
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:::
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## ESC Telemetry
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Some ESCs are capable of sending telemetry back to the flight controller through a UART RX port.
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@@ -133,61 +71,76 @@ The provided telemetry includes:
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1. 把电调上的TELE端口连接到飞控上空的串口的 RX 端。
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2. Enable telemetry on that serial port using [DSHOT_TEL_CFG](../advanced_config/parameter_reference.md#DSHOT_TEL_CFG).
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重启后，您可以检查TELE数据传输是否正常工作（确保电池已连接），方法如下：
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```sh
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dshot esc_info -m 1
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```
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:::tip
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You may have to configure [MOT_POLE_COUNT](../advanced_config/parameter_reference.md#MOT_POLE_COUNT) to get the correct RPM values.
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You may have to configure the per-motor pole count parameters ([`DSHOT_MOT_POL1`–`DSHOT_MOT_POL12`](../advanced_config/parameter_reference.md#DSHOT_MOT_POL1)) to get correct RPM values.
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The default value for these is 14 poles, which is typical for 5-inch prop motors.
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:::
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:::tip
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Not all DSHOT-capable ESCs support `[esc_info]`(e.g. APD 80F3x), even when telemetry is supported and enabled.
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显示的错误是：
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```sh
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ERROR [dshot] No data received. If telemetry is setup correctly, try again.
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```
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查看制造商文档以获取详细信息。
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[Extended DShot Telemetry (EDT)](#extended-dshot-telemetry-edt) can provide temperature, voltage, and current through the BDShot signal — no serial telemetry wire needed.
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:::
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## Bidirectional DShot (Telemetry)
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<Badge type="tip" text="PX4 v1.16" />
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Bidirectional DShot is a protocol that can provide telemetry including: high rate ESC RPM data, voltage, current, and temperature with a single wire.
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Bidirectional DShot (BDShot) enables the ESC to send eRPM telemetry back to the flight controller on the same signal wire used for throttle commands — no additional telemetry wire is needed for RPM data.
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High-rate eRPM data significantly improves the performance of [Dynamic Notch Filters](../config_mc/filter_tuning.md#dynamic-notch-filters) and enables more precise vehicle tuning.
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The PX4 implementation currently enables only ESC RPM (eRPM) data collection from each ESC at high frequencies.
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This telemetry significantly improves the performance of [Dynamic Notch Filters](../config_mc/filter_tuning.md#dynamic-notch-filters) and enables more precise vehicle tuning.
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With [Extended DShot Telemetry (EDT)](#extended-dshot-telemetry-edt) enabled, BDShot can also provide temperature, voltage, and current data.
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### Hardware Support
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BDShot requires a flight controller with DMA-capable timers.
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Any FMU output on a supported timer can be used for BDShot — multiple timers are supported through sequential burst/capture.
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Supported processors:
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- **STM32H7**: All FMU outputs on DMA-capable timers
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- **i.MXRT** (V6X-RT & Tropic): All FMU outputs
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:::info
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The [ESC Telemetry](#esc-telemetry) described above is currently still necessary if you want voltage, current, or temperature information.
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It's setup and use is independent of bidirectional DShot.
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:::
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### 硬件安装
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The ESC must be connected to FMU outputs only.
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These will be labeled `MAIN` on flight controllers that only have one PWM bus, and `AUX` on controllers that have both `MAIN` and `AUX` ports (i.e. FCs that have an IO board).
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:::warning
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**Limited hardware support**
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This feature is only supported on flight controllers with the following processors:
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- STM32H7: First four FMU outputs
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- Must be connected to the first 4 FMU outputs, and these outputs must also be mapped to the same timer.
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- [KakuteH7](../flight_controller/kakuteh7v2.md) is not supported because the outputs are not mapped to the same timer.
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- [i.MXRT](../flight_controller/nxp_mr_vmu_rt1176.md) (V6X-RT & Tropic): 8 FMU outputs.
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No other boards are supported.
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These are labeled `MAIN` on controllers with a single PWM bus, and `AUX` on controllers with both `MAIN` and `AUX` ports (i.e. those with an IO board).
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:::
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### Configuration {#bidirectional-dshot-configuration}
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### PX4 Configuration {#bidirectional-dshot-configuration}
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To enable bidirectional DShot, set the [DSHOT_BIDIR_EN](../advanced_config/parameter_reference.md#DSHOT_BIDIR_EN) parameter.
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BDShot is enabled **per-timer** in the [Actuator Configuration](../config/actuators.md) UI.
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Select **BDShot150**, **BDShot300**, or **BDShot600** as the output protocol instead of the corresponding DShot speed.
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There is no separate enable parameter — choosing a BDShot protocol activates bidirectional telemetry on that timer's outputs.
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The system calculates actual motor RPM from the received eRPM data using the [MOT_POLE_COUNT](../advanced_config/parameter_reference.md#MOT_POLE_COUNT) parameter.
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This parameter must be set correctly for accurate RPM reporting.
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The system calculates actual motor RPM from eRPM data using per-motor pole count parameters: `DSHOT_MOT_POL1` through `DSHOT_MOT_POL12` (one per motor output).
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The default is 14 poles, which is typical for 5-inch prop motors.
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If you are using AM32 ESCs, the motor pole count must also be set in the AM32 firmware configuration (e.g. via the AM32 configurator tool) to match.
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### Extended DShot Telemetry (EDT)
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EDT extends BDShot by interleaving temperature, voltage, and current data into the eRPM telemetry frames.
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This allows ESC health monitoring through the same signal wire, without requiring a separate serial telemetry connection.
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To enable EDT:
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1. Configure BDShot on the desired outputs (see above).
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2. Set `DSHOT_BIDIR_EDT` to `1` and reboot.
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The ESC firmware must support EDT (e.g. [AM32](https://github.com/am32-firmware/AM32)).
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When both serial telemetry and BDShot/EDT are enabled, the driver merges data from both sources.
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## AM32 ESC Settings (EEPROM)
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PX4 can read and write AM32 ESC firmware settings (EEPROM) via a ground station, enabling remote ESC configuration without connecting directly to each ESC.
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### Requirements
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- ESCs running [AM32 firmware](https://github.com/am32-firmware/AM32) with serial telemetry connected ([DSHOT_TEL_CFG](../advanced_config/parameter_reference.md#DSHOT_TEL_CFG))
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- `DSHOT_ESC_TYPE` set to `1` (AM32)
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- Ground station with ESC EEPROM support (QGroundControl feature in development)
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- MAVLink development dialect enabled on the flight controller
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### How It Works
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PX4 automatically reads the full EEPROM from each ESC on boot.
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The ground station can then display individual settings and allow the user to modify them.
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Changes are written back to the ESC one byte at a time using the DShot programming protocol.
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@@ -26,38 +26,12 @@ The parameters for each instance are:
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- <a id="MAV_X_CONFIG"></a>[MAV_X_CONFIG](../advanced_config/parameter_reference.md#MAV_0_CONFIG) - Set the serial port (UART) for this instance "X", where X is 0, 1, 2.
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It can be any unused port, e.g.: `TELEM2`, `TELEM3`, `GPS2` etc.
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For more information see [Serial Port Configuration](../peripherals/serial_configuration.md).
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- <a id="MAV_X_MODE"></a>[MAV_X_MODE](../advanced_config/parameter_reference.md#MAV_0_MODE) - Specify the telemetry mode/target (the set of messages to stream for the current instance and their rate).
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The default values are:
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- _Normal_: Standard set of messages for a GCS.
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- _Custom_ or _Magic_: Nothing (in the default PX4 implementation).
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Modes may be used for testing when developing a new mode.
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- _Onboard_: Standard set of messages for a companion computer.
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- _OSD_: Standard set of messages for an OSD system.
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- _Config_: Standard set of messages and rate configuration for a fast link (e.g. USB).
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- _Minimal_: Minimal set of messages for use with a GCS connected on a high latency link.
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- _External Vision_: Messages for offboard vision systems.
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- _Gimbal_: Messages for a gimbal. Note this also enables [message forwarding](#MAV_X_FORWARD)
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- _Onboard Low Bandwidth_: Standard set of messages for a companion computer connected on a lower speed link.
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- _uAvionix_: Messages for a uAvionix ADS-B beacon.
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::: info
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If you need to find the specific set of message for each mode search for `MAVLINK_MODE_` in [/src/modules/mavlink/mavlink_main.cpp](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/mavlink/mavlink_main.cpp).
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:::
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:::tip
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The mode defines the _default_ messages and rates.
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A connected MAVLink system can still request the streams/rates that it wants using [MAV_CMD_SET_MESSAGE_INTERVAL](https://mavlink.io/en/messages/common.html#MAV_CMD_SET_MESSAGE_INTERVAL).
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:::
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- <a id="MAV_X_MODE"></a>[MAV_X_MODE](../advanced_config/parameter_reference.md#MAV_0_MODE) - Specify the [MAVLink profile](../mavlink/mavlink_profiles.md) for the instance, such as _Normal_ or _OSD_.
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Profiles define a particular set of streamed messages and their rates — you should choose a profile that is appropriate for your channel and the peripheral.
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- <a id="MAV_X_RATE"></a>[MAV_X_RATE](../advanced_config/parameter_reference.md#MAV_0_MODE) - Set the maximum _data rate_ for this instance (bytes/second).
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- This is the combined rate for all streams of individual message (the rates for individual messages are reduced if the total rate exceeds this value).
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- The default setting will generally be acceptable, but might be reduced if the telemetry link becomes saturated and too many messages are being dropped.
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- A value of 0 sets the data rate to half the theoretical value.
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- <a id="MAV_X_FORWARD"></a>[MAV_X_FORWARD](../advanced_config/parameter_reference.md#MAV_0_FORWARD) - Enable forwarding of MAVLink packets received by the current instance onto other interfaces.
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This might be used, for example, to transfer messages between a GCS and a companion computer so that the GCS can talk to a MAVLink enabled camera connected to the companion computer.
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@@ -121,6 +95,7 @@ Links to setup instructions for specific MAVLink components:
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## 另见
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- [MAVLink Profiles](../mavlink/mavlink_profiles.md)
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- [串口配置](../peripherals/serial_configuration.md)
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- [PX4 Ethernet Setup > PX4 MAVLink Serial Port Configuration](../advanced_config/ethernet_setup.md#px4-mavlink-serial-port-configuration)
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- [串口映射](../hardware/serial_port_mapping.md)
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