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docs(i18n): PX4 guide translations (Crowdin) - zh-CN (#26978)
Co-authored-by: Crowdin Bot <support+bot@crowdin.com>
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@ -172,6 +172,7 @@
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- [CUAV V5 nano (FMUv5)](flight_controller/cuav_v5_nano.md)
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- [CUAV V5 nano Wiring Quickstart](assembly/quick_start_cuav_v5_nano.md)
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- [CUAV X25 EVO](flight_controller/cuav_x25-evo.md)
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- [CUAV X25 EVO Wiring Quick Start](assembly/quick_start_cuav_x25_evo.md)
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- [CUAV X25 SUPER](flight_controller/cuav_x25-super.md)
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- [CubePilot Cube Orange+ (CubePilot)](flight_controller/cubepilot_cube_orangeplus.md)
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- [CubePilot Cube Orange (CubePilot)](flight_controller/cubepilot_cube_orange.md)
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@ -27,6 +27,8 @@ PX4 supports Ethernet connectivity on [Pixhawk 5X-standard](https://github.com/p
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- [ARK Electronics ARKV6X](../flight_controller/ark_v6x.md)
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- [CUAV Pixhawk V6X](../flight_controller/cuav_pixhawk_v6x.md)
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- [CUAV X25 EVO](../flight_controller/cuav_x25-evo.md)
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- [CUAV X25 SUPER](../flight_controller/cuav_x25-super.md)
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- [Holybro Pixhawk 5X](../flight_controller/pixhawk5x.md)
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- [Holybro Pixhawk 6X](../flight_controller/pixhawk6x.md)
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- [RaccoonLab FMUv6X Autopilot](../flight_controller/raccoonlab_fmu6x.md)
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@ -410,6 +410,7 @@ They recommend sensors, power systems, and other components from the same manufa
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- [CUAV Pixhawk V6X Wiring QuickStart](../assembly/quick_start_cuav_pixhawk_v6x.md)
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- [CUAV V5+ Wiring Quickstart](../assembly/quick_start_cuav_v5_plus.md)
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- [CUAV V5 nano Wiring Quickstart](../assembly/quick_start_cuav_v5_nano.md)
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- [CUAV X25 EVO Wiring Quickstart](../assembly/quick_start_cuav_x25_evo.md)
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- [Holybro Pixhawk 6C Wiring Quickstart](../assembly/quick_start_pixhawk6c.md)
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- [Holybro Pixhawk 6X Wiring Quickstart](../assembly/quick_start_pixhawk6x.md)
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- [Holybro Pixhawk 5X Wiring Quickstart](../assembly/quick_start_pixhawk5x.md)
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153
docs/zh/assembly/quick_start_cuav_x25_evo.md
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153
docs/zh/assembly/quick_start_cuav_x25_evo.md
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@ -0,0 +1,153 @@
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# CUAV X25 EVO Wiring Quick Start
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:::warning
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PX4 does not manufacture this (or any) autopilot.
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Contact the [manufacturer](https://store.cuav.net/) for hardware support or compliance issues.
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:::
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This quick start guide shows how to power the [X25 EVO](../flight_controller/cuav_x25-evo.md) flight controller and connect its most important peripherals.
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:::info
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The following flight controller models are applicable to this quick start guide.
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[CUAV X25 SUPER](../flight_controller/cuav_x25-super.md)
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:::
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## 接线图概述
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下图展示了如何连接最重要的传感器和外围设备（电机和伺服舵机输出除外）。
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我们将在下面各节中介绍它们的细节。
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| Interface | **Function** |
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| :----------------------------- | :---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
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| POWER C1/C2 | Connect the PMU2 Lite to this port; this port is used for connecting the DroneCAN power module |
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| M1 ~ M16 | PWM signal output ports, usable for controlling motors or servos; support 3.3V/5V PWM configuration |
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| RC IN | Connect remote controller receivers with one-way protocols (e.g., SBUS/DSM/PPM). Note: ELRS/CRSF receivers should be connected to any serial port, not RC IN |
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| RSSI | For connecting signal strength feedback modules |
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| GPS&SAFETY | Connect Neo-series GPS or C-RTK-series RTK; this port includes interfaces for GPS, safety switch, and buzzer |
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| GPS2 | Usable for connecting additional GPS/RTK modules |
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| DEBUG (DSU) | For FMU chip debugging and reading debug device information; with ArduPilot firmware, it can be configured for other serial port functions |
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| ADC3V3 | For analog level signal detection; the maximum detectable level signal is 3.3V |
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| ADC6V6 | For analog level signal detection; the maximum detectable level signal is 6.6V (PX4 is not supported.) |
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| TF CARD | Insert an SD card here to enable log storage functionality |
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| ETH | Ethernet port, usable for connecting Ethernet devices such as companion computers |
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| I2C1/2/3 | Connect external I2C devices (e.g., external compasses) for communication between the controller and I2C devices |
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| TELEM1/TELEM2 | Connect telemetry modules (for data transmission) to enable MAVLINK data interaction |
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| CAN1/2 | For communication between the controller and DroneCAN devices (e.g., connecting NEO4 SE GPS) |
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| TYPE C | USB port of the controller, usable for connecting to the ground station, flashing firmware, and other operations |
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| SPI6 | SPI port for external expansion; generally not used |
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## Vehicle Front
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:::info
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If the controller cannot be mounted in the recommended/default orientation (e.g. due to space constraints) you will need to configure the autopilot software with the orientation that you actually used: [Flight Controller Orientation](../config/flight_controller_orientation.md).
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:::
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## GPS + 指南针 + 蜂鸣器 + 安全开关 + LED
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We recommend using a CAN GPS/RTK (such as [Neo 4SE](https://store.cuav.net/shop/cuav-neo-4-se-gps-module/)); simply connect it to the **CAN 1** or **CAN 2** port.
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You can also use a standard GPS/RTK module(such as [NEO3 GPS](https://store.cuav.net/shop/neo-3/) (10-pin connector)) by connecting it to the **GPS&SAFETY** port.
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Most commonly used GPS modules today integrate GPS, compass, safety switch, buzzer, and LED status light.
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If you need to use assisted GPS, connect to the **GPS2** port.
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The GPS/compass should be [mounted on the frame](../assembly/mount_gps_compass.md) as far away from other electronics as possible (separating the compass from other electronics will reduce interference), with the direction markings towards the front of the vehicle (the arrow on the NEO GPS should match the arrow on the flight controller).
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:::info
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The GPS module's integrated safety switch is enabled _by default_ (when enabled, PX4 will not let you arm the vehicle).
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To disable the safety, press and hold the safety switch for 1 second.
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You can press the safety switch again to enable safety and disarm the vehicle (this can be useful if, for whatever reason, you are unable to disarm the vehicle from your remote control or ground station).
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:::
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## 遥控器
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A remote control (RC) radio system is required if you want to _manually_ control your vehicle (PX4 does not require a radio system for autonomous flight modes).
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You will need to [select a compatible transmitter/receiver](../getting_started/rc_transmitter_receiver.md) and then _bind_ them so that they communicate (read the instructions that come with your specific transmitter/receiver).
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Connection methods vary by remote controller and receiver type:
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### Android Remote Controllers
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Take the H16 as an example:
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Connect **TELEM1/TELEM2** to the UART0 port of the H16 remote controller, and link the H16’s SBUS pin to the **RC IN** port.
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### SBUS/DSM/PPM Protocol Receivers
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Use wires to connect the receiver to the **RC IN** port at the rear of the controller.
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### ELRS/CRSF Receivers
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Connect the [ELRS/CRSF](../telemetry/crsf_telemetry.md) receiver to any UART serial port of the X25 EVO (e.g., **TELEM2**).
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## 电源
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The X25 EVO comes standard with the PMU2 Lite power module, which supports 20–70V input and can measure a maximum current of 220A.
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It can be directly connected to the **Power C1/C2** port of the X25 EVO and is plug-and-play (no configuration required).
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## Telemetry (Radio) System
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[Telemetry system](../telemetry/index.md) allows you to communicate with the unmanned system via ground station software, enabling you to monitor and control the UAV’s status during flight. Connect the on-board unit of the telemetry system to the **TELEM1** or **TELEM2** port.
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You can also purchase telemetry radios from the [CUAV store](https://store.cuav.net/uav-telemetry-module/).
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## SD Card
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SD cards are highly recommended as they are required for [recording and analyzing flight details](../getting_started/flight_reporting.md), running tasks and using UAVCAN bus hardware.
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An SD card is already installed on X25 EVO when it leaves the factory.
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:::tip
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For more information see [Basic Concepts > SD Cards (Removable Memory)](../getting_started/px4_basic_concepts.md#sd-cards-removable-memory).
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:::
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## Motors/Servo
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Motors/servos are connected to the **M1~M16** ports in the order specified for your vehicle in the [Airframe Reference](../airframes/airframe_reference.md).
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## Servo Power Supply
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The X25 EVO does not supply power to servos. If you need to power servos:
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1. Connect a BEC to the positive and negative terminals of any column among **M1 ~ M16** (the positive and negative terminals of **M1 ~ M16** are interconnected).
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2. Then connect the servos to the same column.
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:::info
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The power rail voltage must be appropriate for the servo being used!
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:::
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## 其它外设
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The wiring and configuration of optional/less common components is covered within the topics for individual [peripherals](../peripherals/index.md).
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## 配置
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General configuration information is covered in: [Autopilot Configuration](../config/index.md).
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QuadPlane-specific configuration is covered here: [QuadPlane VTOL Configuration](../config_vtol/vtol_quad_configuration.md)
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## 更多信息
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- [CUAV Docs](https://doc.cuav.net/) (CUAV)
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- [X25 EVO](../flight_controller/cuav_x25-evo.md) (PX4 Doc Overview page)
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- [X25 SUPER](../flight_controller/cuav_x25-super.md) (PX4 Doc Overview page)
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@ -176,7 +176,7 @@ The fields are:
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#### Flap Scale and Spoiler Scale Configuration
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"Flap-control" and "Spoiler-control" are aerodynamic configurations that can either be commanded manually by the pilot (using RC, say), or are set automatically by the controller.
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"Flap-control" and "Spoiler-control" are aerodynamic configurations that can either be commanded manually by the pilot (using RC or a Joystick, say) (see [Flaps and Spoiler Control with Manual Control](#flaps-and-spoiler-control-with-manual-control)), or are set automatically by the controller.
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For example, a pilot or the landing system might engage "Spoiler-control" in order to reduce the airspeed before landing.
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The configurations are an _abstract_ way for the controller to tell the allocator how much it should adjust the aerodynamic properties of the wings relative to the "full flaps" or "full spoiler" configuration (between `[0,1]`, where "1" indicates the full range).
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@ -199,6 +199,20 @@ In the following example, the vehicle has two ailerons, one elevator, one rudder
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These are the elevator deflections added to compensate for the pitching moments generated by the flaps and spoiler actuators.
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In the case here the elevator would be deflected 0.3 up when the flaps are fully deployed to counteract the pitching down moment caused by the flaps.
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#### Flaps and Spoiler Control with Manual Control
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The preferred method to manually actuate spoilers and flaps is to map a manual control switch to an `AUX` output (see [Generic Actuator Control with RC](#generic-actuator-control-with-rc)), and then map that AUX output to the flap or spoiler function using [FW_FLAPS_MAN](../advanced_config/parameter_reference.md#FW_FLAPS_MAN) or [FW_SPOILERS_MAN](../advanced_config/parameter_reference.md#FW_SPOILERS_MAN).
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The source for the manual control can be RC or MAVLink.
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:::warning
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The following method is not recommended, and will be removed in a future release.
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If using it you should migrate to using the AUX-based method.
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It is also possible to define a flaps channel directly on the RC using [RC_MAP_FLAPS](../advanced_config/parameter_reference.md#RC_MAP_FLAPS).
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This channel can also be used to control the spoilers by setting [FW_SPOILERS_MAN](../advanced_config/parameter_reference.md#FW_SPOILERS_MAN) to `Flaps channel`.
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This method is not possible when the source for the manual control is MAVLink.
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:::
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#### Actuator Roll, Pitch, and Yaw Scaling
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:::info
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@ -314,23 +314,24 @@ The relevant parameters are shown below:
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### Motor Failure Trigger
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The failure detector can be configured to detect a motor failure while armed (and trigger an associated action) in the following conditions:
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The failure detector can be configured to detect a motor failure while armed (and trigger an associated action) if the ESC current falls outside expected bounds for more than [MOTFAIL_TIME](#MOTFAIL_TIME) seconds.
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Motor failures are non-latching: if the failure condition clears, the failure is cleared.
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- A 300 ms timeout occurs in telemetry from an ESC that was previously available.
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- The input current in the telemetry of an ESC which was previously positive gets too low for more than [`FD_ACT_MOT_TOUT`](FD_ACT_MOT_TOUT) ms.
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The "too low" condition is defined by:
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The undercurrent and overcurrent conditions are defined by:
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```text
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{esc current} < {parameter FD_ACT_MOT_C2T} * {motor command between 0 and 1}
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```
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```text
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undercurrent: {esc current} < {MOTFAIL_C2T} * {motor command [0,1]} - {MOTFAIL_LOW_OFF}
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overcurrent: {esc current} > {MOTFAIL_C2T} * {motor command [0,1]} + {MOTFAIL_HIGH_OFF}
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```
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| 参数 | 描述 |
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| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
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| <a id="FD_ACT_EN"></a>[FD_ACT_EN](../advanced_config/parameter_reference.md#FD_ACT_EN) | Enable/disable the motor failure trigger completely. |
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| <a id="FD_ACT_MOT_THR"></a>[FD_ACT_MOT_THR](../advanced_config/parameter_reference.md#FD_ACT_MOT_THR) | Minimum normalized [0,1] motor command below which motor under current is ignored. |
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| <a id="FD_ACT_MOT_C2T"></a>[FD_ACT_MOT_C2T](../advanced_config/parameter_reference.md#FD_ACT_MOT_C2T) | Scale between normalized [0,1] motor command and expected minimally reported current when the rotor is healthy. |
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| <a id="FD_ACT_MOT_TOUT"></a>[FD_ACT_MOT_TOUT](../advanced_config/parameter_reference.md#FD_ACT_MOT_TOUT) | Time in milliseconds for which the under current detection condition needs to stay true. |
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| <a id="CA_FAILURE_MODE"></a>[CA_FAILURE_MODE](../advanced_config/parameter_reference.md#CA_FAILURE_MODE) | Configure to not only warn about a motor failure but remove the first motor that detects a failure from the allocation effectiveness which turns off the motor and tries to operate the vehicle without it until disarming the next time. |
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| 参数 | 描述 |
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| ----------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
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| <a id="FD_ACT_EN"></a>[FD_ACT_EN](../advanced_config/parameter_reference.md#FD_ACT_EN) | Enable/disable the motor failure trigger completely. |
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| <a id="MOTFAIL_C2T"></a>[MOTFAIL_C2T](../advanced_config/parameter_reference.md#MOTFAIL_C2T) | Slope between normalized motor command [0–1] and expected steady-state current (FD_ACT_MOT_C2T at 100%) (A/%). |
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| <a id="MOTFAIL_LOW_OFF"></a>[MOTFAIL_LOW_OFF](../advanced_config/parameter_reference.md#MOTFAIL_LOW_OFF) | Undercurrent detection threshold offset (A). Subtracted from the expected current to form the lower bound. |
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| <a id="MOTFAIL_HIGH_OFF"></a>[MOTFAIL_HIGH_OFF](../advanced_config/parameter_reference.md#MOTFAIL_HIGH_OFF) | Overcurrent detection threshold offset (A). Added to the expected current to form the upper bound. |
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| <a id="MOTFAIL_TIME"></a>[MOTFAIL_TIME](../advanced_config/parameter_reference.md#MOTFAIL_TIME) | Hysteresis time (s) for which the current threshold must remain exceeded before a motor failure is triggered. |
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| <a id="CA_FAILURE_MODE"></a>[CA_FAILURE_MODE](../advanced_config/parameter_reference.md#CA_FAILURE_MODE) | Configure to not only warn about a motor failure but remove the first motor that detects a failure from the allocation effectiveness which turns off the motor and tries to operate the vehicle without it until disarming the next time. |
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### 外部自动触发系统（ATS）
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@ -23,7 +23,7 @@ The boards in this category are:
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- [CUAV V5+](../flight_controller/cuav_v5_plus.md) (FMUv5)
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- [CUAV V5 nano](../flight_controller/cuav_v5_nano.md) (FMUv5)
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- [CUAV X25 EVO](../flight_controller/cuav_x25-evo.md)
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[CUAV X25 SUPER](../flight_controller/cuav_x25-super.md)
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- [CUAV X25 SUPER](../flight_controller/cuav_x25-super.md)
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- [CubePilot Cube Orange+](../flight_controller/cubepilot_cube_orangeplus.md)
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- [CubePilot Cube Orange](../flight_controller/cubepilot_cube_orange.md)
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- [CubePilot Cube Yellow](../flight_controller/cubepilot_cube_yellow.md)
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@ -19,12 +19,17 @@ These flight controllers are [manufacturer supported](../flight_controller/autop
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### 特性
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- Arm® Cortex-M7® processor (STM32H743XI) with Floating-Point Unit (FPU), operating at 480MHz, and featuring 2MB Flash memory. Enables developers to enhance productivity and efficiency, allowing for more complex algorithms and models.
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- Automotive-grade RM3100 compass. Designed for better stability and anti-interference capability.
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- Triple-redundant IMUs and dual-redundant barometers located on separate buses. If the PX4 autopilot detects a sensor failure, the system seamlessly switches to another sensor to maintain flight control reliability.
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- Independent LDO power control supplies power to each sensor group. A vibration isolation system filters high-frequency vibrations and reduces noise to ensure accurate readings, enabling better overall flight performance for the vehicle.
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- Arm® Cortex-M7® processor (STM32H743XI) with Floating-Point Unit (FPU), operating at 480MHz, and featuring 2MB Flash memory.
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Enables developers to enhance productivity and efficiency, allowing for more complex algorithms and models.
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- Automotive-grade RM3100 compass.
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Designed for better stability and anti-interference capability.
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- Triple-redundant IMUs and dual-redundant barometers located on separate buses.
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If the PX4 autopilot detects a sensor failure, the system seamlessly switches to another sensor to maintain flight control reliability.
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- Independent LDO power control supplies power to each sensor group.
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A vibration isolation system filters high-frequency vibrations and reduces noise to ensure accurate readings, enabling better overall flight performance for the vehicle.
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- Integrated Microchip Ethernet PHY for high-speed communication with onboard devices like mission computers via Ethernet.
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- Dual temperature compensation systems, located on the IMU board and FMU board respectively. Temperature is controlled by onboard heating resistors to achieve the optimal operating temperature for the IMUs.
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- Dual temperature compensation systems, located on the IMU board and FMU board respectively.
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Temperature is controlled by onboard heating resistors to achieve the optimal operating temperature for the IMUs.
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- PWM servo output voltage switchable between 3.3V or 5V.
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- Modular design for DIY carrier boards.
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@ -33,7 +38,7 @@ These flight controllers are [manufacturer supported](../flight_controller/autop
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- Main Processor: STM32H743XI
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- 32-bit Arm® Cortex®-M7, 480MHz, 2MB Flash, 1MB RAM
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- Onboard Sensors:
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- Accel/Gyro: IIM42652\*2
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- Accel/Gyro: IIM42652 (x2)
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- Accel/Gyro: IIM42653
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- Magnetometer: RM3100
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- Barometer: BMP581
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@ -47,14 +52,14 @@ These flight controllers are [manufacturer supported](../flight_controller/autop
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- Servo Rail Input: 0~9.9V
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- Rated Current:
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- Total Output Max Current: 10A
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- TELEM1 and TELEM2 Output Current limiter: 4A
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- CAN1 and CAN2 Output Current limiter: 2.4A
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- `TELEM1` and `TELEM2` Output Current limiter: 4A
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- `CAN1` and `CAN2` Output Current limiter: 2.4A
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- Other Ports Output Current limiter: 1.5A
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### 接口
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- 16x PWM Servo Outputs
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- 1x Dedicated R/C Input for Spektrum / DSM and S.Bus
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- 1x Dedicated R/C Input(`RC IN`) for Spektrum / DSM and S.Bus
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- 1x Analog/PWM RSSI Input
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- 2x TELEM Ports (with full flow control)
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- 1x UART4 Port
|
||||
@ -83,7 +88,12 @@ These flight controllers are [manufacturer supported](../flight_controller/autop
|
||||
|
||||
### Mechanical Data
|
||||
|
||||
- Not provided.
|
||||
- 重量
|
||||
- Flight Controller Module: 110g
|
||||
- Operating & storage temperature: -20 ~ 85°C
|
||||
- Dimensions:
|
||||
|
||||
|
||||
|
||||
## Purchase Channels {#store}
|
||||
|
||||
@ -91,11 +101,11 @@ Order from [CUAV](https://store.cuav.net/).
|
||||
|
||||
## 组装 / 设置
|
||||
|
||||
- Not provided.
|
||||
The [X25 EVO Wiring Quick Start](../assembly/quick_start_cuav_x25_evo.md) provides instructions on how to assemble required/important peripherals including GPS, Power Module etc.
|
||||
|
||||
## Pin Definitions
|
||||
## 针脚定义
|
||||
|
||||
- Not provided.
|
||||
|
||||
|
||||
## 串口映射
|
||||
|
||||
@ -106,12 +116,34 @@ Order from [CUAV](https://store.cuav.net/).
|
||||
| USART3 | /dev/ttyS2 | 调试控制台 |
|
||||
| UART4 | /dev/ttyS3 | UART4 |
|
||||
| UART5 | /dev/ttyS4 | TELEM2 |
|
||||
| USART6 | /dev/ttyS5 | RC |
|
||||
| USART6 | /dev/ttyS5 | RC IN |
|
||||
| UART7 | /dev/ttyS6 | TELEM1 |
|
||||
|
||||
## PWM Outputs {#pwm_outputs}
|
||||
|
||||
This flight controller supports up to 16 FMU PWM outputs (MAIN).
|
||||
|
||||
Outputs:
|
||||
|
||||
- Outputs 1-8 support [DShot](../peripherals/dshot.md).
|
||||
- Outputs 9-16 do not support DShot.
|
||||
- Outputs 1-7 support [Bidirectional DShot](../peripherals/dshot.md#bidirectional-dshot-telemetry).
|
||||
- Output 8 supports Bidirectional DShot output only (no eRPM capture).
|
||||
|
||||
The 16 outputs are in 5 groups:
|
||||
|
||||
- Outputs 1-4 in group1 (Timer5)
|
||||
- Outputs 5-8 in group2 (Timer4)
|
||||
- Outputs 9-11 in group3 (Timer1)
|
||||
- Outputs 12-14 in group4 (Timer8)
|
||||
- Outputs 15-16 in group5 (Timer12)
|
||||
|
||||
All outputs within the same group must use the same output protocol and rate.
|
||||
|
||||
## 额定电压
|
||||
|
||||
The _X25-EVO_ achieves triple redundancy on power supplies if three power sources are provided. The three power rails are POWERC1, POWERC2, and USB.
|
||||
The _X25-EVO_ achieves triple redundancy on power supplies if three power sources are provided.
|
||||
The three power rails are `POWERC1`, `POWERC2`, and `USB`.
|
||||
|
||||
- **POWER C1** and **POWER C2** are DroneCAN/UAVCAN battery interfaces.
|
||||
|
||||
@ -154,7 +186,8 @@ The [PX4 System Console](../debug/system_console.md) and [SWD Interface](../debu
|
||||
|
||||
## 支持的平台/机身
|
||||
|
||||
Any multirotor/airplane/rover or boat that can be controlled using normal RC servos or Futaba S-Bus servos. The complete set of supported configurations can be found in the [Airframe Reference](../airframes/airframe_reference.md).
|
||||
Any multicopter / airplane / rover or boat that can be controlled with normal RC servos or Futaba S-Bus servos.
|
||||
The complete set of supported configurations can be seen in the [Airframes Reference](../airframes/airframe_reference.md).
|
||||
|
||||
## 更多信息
|
||||
|
||||
|
||||
@ -1,6 +1,6 @@
|
||||
# CUAV X25-SUPER
|
||||
|
||||
<Badge type="tip" text="PX4 v1.18)" />
|
||||
<Badge type="tip" text="PX4 v1.18" />
|
||||
|
||||
:::warning
|
||||
PX4 does not manufacture this (or any) autopilot.
|
||||
@ -21,12 +21,17 @@ These flight controllers are [manufacturer supported](../flight_controller/autop
|
||||
|
||||
### 特性
|
||||
|
||||
- Arm® Cortex-M7® processor (STM32H743XI) with Floating-Point Unit (FPU), operating at 480MHz, and featuring 2MB Flash memory. Enables developers to enhance productivity and efficiency, allowing for more complex algorithms and models.
|
||||
- Automotive-grade RM3100 compass. Designed for better stability and anti-interference capability.
|
||||
- Triple-redundant IMUs and dual-redundant barometers located on separate buses. If the PX4 autopilot detects a sensor failure, the system seamlessly switches to another sensor to maintain flight control reliability.
|
||||
- Independent LDO power control supplies power to each sensor group. A vibration isolation system filters high-frequency vibrations and reduces noise to ensure accurate readings, enabling better overall flight performance for the vehicle.
|
||||
- Arm® Cortex-M7® processor (STM32H743XI) with Floating-Point Unit (FPU), operating at 480MHz, and featuring 2MB Flash memory.
|
||||
Enables developers to enhance productivity and efficiency, allowing for more complex algorithms and models.
|
||||
- Automotive-grade RM3100 compass.
|
||||
Designed for better stability and anti-interference capability.
|
||||
- Triple-redundant IMUs and dual-redundant barometers located on separate buses.
|
||||
If the PX4 autopilot detects a sensor failure, the system seamlessly switches to another sensor to maintain flight control reliability.
|
||||
- Independent LDO power control supplies power to each sensor group.
|
||||
A vibration isolation system filters high-frequency vibrations and reduces noise to ensure accurate readings, enabling better overall flight performance for the vehicle.
|
||||
- Integrated Microchip Ethernet PHY for high-speed communication with onboard devices like mission computers via Ethernet.
|
||||
- Dual temperature compensation systems, located on the IMU board and FMU board respectively. Temperature is controlled by onboard heating resistors to achieve the optimal operating temperature for the IMUs.
|
||||
- Dual temperature compensation systems, located on the IMU board and FMU board respectively.
|
||||
Temperature is controlled by onboard heating resistors to achieve the optimal operating temperature for the IMUs.
|
||||
- PWM servo output voltage switchable between 3.3V or 5V.
|
||||
- Modular design for DIY carrier boards.
|
||||
|
||||
@ -50,14 +55,14 @@ These flight controllers are [manufacturer supported](../flight_controller/autop
|
||||
- Servo Rail Input: 0~9.9V
|
||||
- Rated Current:
|
||||
- Total Output Max Current: 10A
|
||||
- TELEM1 and TELEM2 Output Current limiter: 4A
|
||||
- CAN1 and CAN2 Output Current limiter: 2.4A
|
||||
- `TELEM1` and `TELEM2` Output Current limiter: 4A
|
||||
- `CAN1` and `CAN2` Output Current limiter: 2.4A
|
||||
- Other Ports Output Current limiter: 1.5A
|
||||
|
||||
### 接口
|
||||
|
||||
- 16x PWM Servo Outputs
|
||||
- 1x Dedicated R/C Input for Spektrum / DSM and S.Bus
|
||||
- 1x Dedicated R/C Input(`RC IN`) for Spektrum / DSM and S.Bus
|
||||
- 1x Analog/PWM RSSI Input
|
||||
- 2x TELEM Ports (with full flow control)
|
||||
- 1x UART4 Port
|
||||
@ -80,16 +85,15 @@ These flight controllers are [manufacturer supported](../flight_controller/autop
|
||||
- DroneCAN/UAVCAN Power Input
|
||||
- 2x AD Ports
|
||||
- Analog Input (3.3V)
|
||||
- Analog Input (6.6V - not supported)
|
||||
- Analog Input (6.6V - not supported by PX4)
|
||||
- 1x Dedicated Debug Port
|
||||
- FMU Debug
|
||||
|
||||
### Mechanical Data
|
||||
|
||||
- Size
|
||||
- Flight controller
|
||||
- Dimensions:
|
||||
|
||||
|
||||
|
||||
|
||||
## Purchase Channels {#store}
|
||||
|
||||
@ -97,7 +101,7 @@ Order from [CUAV](https://store.cuav.net/).
|
||||
|
||||
## 组装 / 设置
|
||||
|
||||
- Not provided.
|
||||
The [X25 SUPER Wiring Quick Start](../assembly/quick_start_cuav_x25_evo.md) provides instructions on how to assemble required/important peripherals including GPS, Power Module etc.
|
||||
|
||||
## 针脚定义
|
||||
|
||||
@ -113,7 +117,7 @@ Order from [CUAV](https://store.cuav.net/).
|
||||
| USART3 | /dev/ttyS2 | 调试控制台 |
|
||||
| UART4 | /dev/ttyS3 | UART4 |
|
||||
| UART5 | /dev/ttyS4 | TELEM2 |
|
||||
| USART6 | /dev/ttyS5 | RC |
|
||||
| USART6 | /dev/ttyS5 | RC IN |
|
||||
| UART7 | /dev/ttyS6 | TELEM1 |
|
||||
|
||||
## RC Input
|
||||
@ -122,7 +126,8 @@ The RC input pin is directly connected to the FMU UART6 TX.
|
||||
|
||||
## 额定电压
|
||||
|
||||
The _X25-SUPER_ achieves triple redundancy on power supplies if three power sources are provided. The three power rails are POWERC1, POWERC2, and USB.
|
||||
The _X25-SUPER_ achieves triple redundancy on power supplies if three power sources are provided.
|
||||
The three power rails are `POWERC1`, `POWERC2`, and `USB`.
|
||||
|
||||
- **POWER C1** and **POWER C2** are DroneCAN/UAVCAN battery interfaces.
|
||||
|
||||
@ -140,13 +145,13 @@ Digital DroneCAN/UAVCAN battery monitoring is enabled by default.
|
||||
## 编译固件
|
||||
|
||||
:::tip
|
||||
Most users will not need to build this firmware from PX4 v1.18.
|
||||
Most users will not need to build this firmware (from PX4 v1.18).
|
||||
It is pre-built and automatically installed by _QGroundControl_ when appropriate hardware is connected.
|
||||
:::
|
||||
|
||||
To [build PX4](../dev_setup/building_px4.md) for this target, execute:
|
||||
|
||||
```
|
||||
```sh
|
||||
make cuav_x25-super_default
|
||||
```
|
||||
|
||||
|
||||
@ -159,7 +159,7 @@ Runs after the package is installed. Common tasks:
|
||||
- Board-specific setup (e.g., DSP signature generation)
|
||||
|
||||
```bash
|
||||
#!/bin/bash
|
||||
#!/usr/bin/env bash
|
||||
set -e
|
||||
|
||||
# Create px4-* symlinks
|
||||
@ -185,7 +185,7 @@ fi
|
||||
Runs before the package is removed:
|
||||
|
||||
```bash
|
||||
#!/bin/bash
|
||||
#!/usr/bin/env bash
|
||||
set -e
|
||||
|
||||
# Stop the service
|
||||
|
||||
@ -70,3 +70,19 @@ The command line and GUI interfaces are shown below.
|
||||
### menuconfig Command Line Interface
|
||||
|
||||
|
||||
|
||||
## Fortified Toolchain Compatibility
|
||||
|
||||
Some toolchains define `_FORTIFY_SOURCE` by default. Those toolchains generally require some optimization, which means PX4 configurations that use `-O0` may fail.
|
||||
|
||||
PX4 keeps the default debug optimization unchanged unless you explicitly opt in. To switch `PX4_DEBUG_OPT_LEVEL` from `-O0` to `-Og`, enable:
|
||||
|
||||
- `Toolchain > Fortified toolchain support`
|
||||
|
||||
This is the Kconfig symbol:
|
||||
|
||||
```sh
|
||||
CONFIG_BOARD_SUPPORT_FORTIFIED_TOOLCHAIN=y
|
||||
```
|
||||
|
||||
You can set it either in `boardconfig`/`boardguiconfig` or directly in your board's `*.px4board` file.
|
||||
|
||||
@ -96,206 +96,208 @@ They are not build into the module, and hence are neither published or subscribe
|
||||
:::details
|
||||
See messages
|
||||
|
||||
- [VehicleGlobalPositionV0](../msg_docs/VehicleGlobalPositionV0.md)
|
||||
- [CameraStatus](../msg_docs/CameraStatus.md)
|
||||
- [LandingGearWheel](../msg_docs/LandingGearWheel.md)
|
||||
- [UlogStreamAck](../msg_docs/UlogStreamAck.md)
|
||||
- [RcParameterMap](../msg_docs/RcParameterMap.md)
|
||||
- [Rpm](../msg_docs/Rpm.md)
|
||||
- [EscStatus](../msg_docs/EscStatus.md)
|
||||
- [SensorGyroFifo](../msg_docs/SensorGyroFifo.md)
|
||||
- [SensorHygrometer](../msg_docs/SensorHygrometer.md)
|
||||
- [RadioStatus](../msg_docs/RadioStatus.md)
|
||||
- [PositionControllerStatus](../msg_docs/PositionControllerStatus.md)
|
||||
- [SensorAirflow](../msg_docs/SensorAirflow.md)
|
||||
- [LedControl](../msg_docs/LedControl.md)
|
||||
- [HealthReport](../msg_docs/HealthReport.md)
|
||||
- [GimbalDeviceInformation](../msg_docs/GimbalDeviceInformation.md)
|
||||
- [AutotuneAttitudeControlStatus](../msg_docs/AutotuneAttitudeControlStatus.md)
|
||||
- [VehicleOpticalFlow](../msg_docs/VehicleOpticalFlow.md)
|
||||
- [GpsInjectData](../msg_docs/GpsInjectData.md)
|
||||
- [NeuralControl](../msg_docs/NeuralControl.md)
|
||||
- [RateCtrlStatus](../msg_docs/RateCtrlStatus.md)
|
||||
- [AirspeedValidatedV0](../msg_docs/AirspeedValidatedV0.md)
|
||||
- [PositionSetpoint](../msg_docs/PositionSetpoint.md)
|
||||
- [RtlStatus](../msg_docs/RtlStatus.md)
|
||||
- [DebugValue](../msg_docs/DebugValue.md)
|
||||
- [VehicleLocalPositionSetpoint](../msg_docs/VehicleLocalPositionSetpoint.md)
|
||||
- [InternalCombustionEngineControl](../msg_docs/InternalCombustionEngineControl.md)
|
||||
- [PpsCapture](../msg_docs/PpsCapture.md)
|
||||
- [RcChannels](../msg_docs/RcChannels.md)
|
||||
- [SensorMag](../msg_docs/SensorMag.md)
|
||||
- [EstimatorAidSource3d](../msg_docs/EstimatorAidSource3d.md)
|
||||
- [DeviceInformation](../msg_docs/DeviceInformation.md)
|
||||
- [FollowTarget](../msg_docs/FollowTarget.md)
|
||||
- [EstimatorEventFlags](../msg_docs/EstimatorEventFlags.md)
|
||||
- [ControlAllocatorStatus](../msg_docs/ControlAllocatorStatus.md)
|
||||
- [Mission](../msg_docs/Mission.md)
|
||||
- [VehicleCommandAckV0](../msg_docs/VehicleCommandAckV0.md)
|
||||
- [SensorGnssRelative](../msg_docs/SensorGnssRelative.md)
|
||||
- [VehicleRoi](../msg_docs/VehicleRoi.md)
|
||||
- [InputRc](../msg_docs/InputRc.md)
|
||||
- [GimbalControls](../msg_docs/GimbalControls.md)
|
||||
- [SystemPower](../msg_docs/SystemPower.md)
|
||||
- [VehicleLocalPositionV0](../msg_docs/VehicleLocalPositionV0.md)
|
||||
- [ActuatorTest](../msg_docs/ActuatorTest.md)
|
||||
- [ParameterSetValueResponse](../msg_docs/ParameterSetValueResponse.md)
|
||||
- [VehicleImu](../msg_docs/VehicleImu.md)
|
||||
- [GimbalManagerSetManualControl](../msg_docs/GimbalManagerSetManualControl.md)
|
||||
- [InternalCombustionEngineStatus](../msg_docs/InternalCombustionEngineStatus.md)
|
||||
- [EstimatorInnovations](../msg_docs/EstimatorInnovations.md)
|
||||
- [EstimatorSensorBias](../msg_docs/EstimatorSensorBias.md)
|
||||
- [Cpuload](../msg_docs/Cpuload.md)
|
||||
- [NormalizedUnsignedSetpoint](../msg_docs/NormalizedUnsignedSetpoint.md)
|
||||
- [TuneControl](../msg_docs/TuneControl.md)
|
||||
- [VehicleAcceleration](../msg_docs/VehicleAcceleration.md)
|
||||
- [DebugVect](../msg_docs/DebugVect.md)
|
||||
- [TecsStatus](../msg_docs/TecsStatus.md)
|
||||
- [ButtonEvent](../msg_docs/ButtonEvent.md)
|
||||
- [DebugArray](../msg_docs/DebugArray.md)
|
||||
- [VelocityLimits](../msg_docs/VelocityLimits.md)
|
||||
- [NavigatorMissionItem](../msg_docs/NavigatorMissionItem.md)
|
||||
- [SensorUwb](../msg_docs/SensorUwb.md)
|
||||
- [DebugKeyValue](../msg_docs/DebugKeyValue.md)
|
||||
- [ParameterResetRequest](../msg_docs/ParameterResetRequest.md)
|
||||
- [MavlinkLog](../msg_docs/MavlinkLog.md)
|
||||
- [SensorsStatus](../msg_docs/SensorsStatus.md)
|
||||
- [HomePositionV0](../msg_docs/HomePositionV0.md)
|
||||
- [GimbalManagerInformation](../msg_docs/GimbalManagerInformation.md)
|
||||
- [OrbTestLarge](../msg_docs/OrbTestLarge.md)
|
||||
- [EventV0](../msg_docs/EventV0.md)
|
||||
- [EstimatorStates](../msg_docs/EstimatorStates.md)
|
||||
- [VehicleConstraints](../msg_docs/VehicleConstraints.md)
|
||||
- [VehicleImuStatus](../msg_docs/VehicleImuStatus.md)
|
||||
- [ArmingCheckRequestV0](../msg_docs/ArmingCheckRequestV0.md)
|
||||
- [YawEstimatorStatus](../msg_docs/YawEstimatorStatus.md)
|
||||
- [ActuatorArmed](../msg_docs/ActuatorArmed.md)
|
||||
- [ManualControlSwitches](../msg_docs/ManualControlSwitches.md)
|
||||
- [VehicleAirData](../msg_docs/VehicleAirData.md)
|
||||
- [RegisterExtComponentReplyV0](../msg_docs/RegisterExtComponentReplyV0.md)
|
||||
- [GimbalDeviceSetAttitude](../msg_docs/GimbalDeviceSetAttitude.md)
|
||||
- [RoverRateStatus](../msg_docs/RoverRateStatus.md)
|
||||
- [BatteryStatusV0](../msg_docs/BatteryStatusV0.md)
|
||||
- [FailureDetectorStatus](../msg_docs/FailureDetectorStatus.md)
|
||||
- [IridiumsbdStatus](../msg_docs/IridiumsbdStatus.md)
|
||||
- [RtlTimeEstimate](../msg_docs/RtlTimeEstimate.md)
|
||||
- [VehicleStatusV1](../msg_docs/VehicleStatusV1.md)
|
||||
- [PurePursuitStatus](../msg_docs/PurePursuitStatus.md)
|
||||
- [ActuatorServosTrim](../msg_docs/ActuatorServosTrim.md)
|
||||
- [MagWorkerData](../msg_docs/MagWorkerData.md)
|
||||
- [EstimatorAidSource1d](../msg_docs/EstimatorAidSource1d.md)
|
||||
- [Vtx](../msg_docs/Vtx.md)
|
||||
- [UavcanParameterRequest](../msg_docs/UavcanParameterRequest.md)
|
||||
- [Gripper](../msg_docs/Gripper.md)
|
||||
- [ParameterSetValueRequest](../msg_docs/ParameterSetValueRequest.md)
|
||||
- [EstimatorGpsStatus](../msg_docs/EstimatorGpsStatus.md)
|
||||
- [FigureEightStatus](../msg_docs/FigureEightStatus.md)
|
||||
- [OpenDroneIdSystem](../msg_docs/OpenDroneIdSystem.md)
|
||||
- [GeofenceResult](../msg_docs/GeofenceResult.md)
|
||||
- [OpenDroneIdArmStatus](../msg_docs/OpenDroneIdArmStatus.md)
|
||||
- [BatteryInfo](../msg_docs/BatteryInfo.md)
|
||||
- [ActionRequest](../msg_docs/ActionRequest.md)
|
||||
- [EstimatorStatus](../msg_docs/EstimatorStatus.md)
|
||||
- [CanInterfaceStatus](../msg_docs/CanInterfaceStatus.md)
|
||||
- [EstimatorBias](../msg_docs/EstimatorBias.md)
|
||||
- [Px4ioStatus](../msg_docs/Px4ioStatus.md)
|
||||
- [Ping](../msg_docs/Ping.md)
|
||||
- [GainCompression](../msg_docs/GainCompression.md)
|
||||
- [GimbalManagerSetAttitude](../msg_docs/GimbalManagerSetAttitude.md)
|
||||
- [VehicleStatusV2](../msg_docs/VehicleStatusV2.md)
|
||||
- [RaptorInput](../msg_docs/RaptorInput.md)
|
||||
- [TakeoffStatus](../msg_docs/TakeoffStatus.md)
|
||||
- [Event](../msg_docs/Event.md)
|
||||
- [GpioConfig](../msg_docs/GpioConfig.md)
|
||||
- [OpenDroneIdOperatorId](../msg_docs/OpenDroneIdOperatorId.md)
|
||||
- [RaptorStatus](../msg_docs/RaptorStatus.md)
|
||||
- [GpioOut](../msg_docs/GpioOut.md)
|
||||
- [SensorAccel](../msg_docs/SensorAccel.md)
|
||||
- [SensorTemp](../msg_docs/SensorTemp.md)
|
||||
- [ArmingCheckReplyV0](../msg_docs/ArmingCheckReplyV0.md)
|
||||
- [PowerButtonState](../msg_docs/PowerButtonState.md)
|
||||
- [OrbTest](../msg_docs/OrbTest.md)
|
||||
- [OpenDroneIdSelfId](../msg_docs/OpenDroneIdSelfId.md)
|
||||
- [SensorsStatusImu](../msg_docs/SensorsStatusImu.md)
|
||||
- [DatamanRequest](../msg_docs/DatamanRequest.md)
|
||||
- [EscEepromRead](../msg_docs/EscEepromRead.md)
|
||||
- [OrbitStatus](../msg_docs/OrbitStatus.md)
|
||||
- [SatelliteInfo](../msg_docs/SatelliteInfo.md)
|
||||
- [VehicleMagnetometer](../msg_docs/VehicleMagnetometer.md)
|
||||
- [CameraTrigger](../msg_docs/CameraTrigger.md)
|
||||
- [QshellRetval](../msg_docs/QshellRetval.md)
|
||||
- [NavigatorStatus](../msg_docs/NavigatorStatus.md)
|
||||
- [CameraCapture](../msg_docs/CameraCapture.md)
|
||||
- [TrajectorySetpoint6dof](../msg_docs/TrajectorySetpoint6dof.md)
|
||||
- [DatamanResponse](../msg_docs/DatamanResponse.md)
|
||||
- [OpenDroneIdSystem](../msg_docs/OpenDroneIdSystem.md)
|
||||
- [VehicleOpticalFlow](../msg_docs/VehicleOpticalFlow.md)
|
||||
- [DistanceSensorModeChangeRequest](../msg_docs/DistanceSensorModeChangeRequest.md)
|
||||
- [EstimatorAidSource3d](../msg_docs/EstimatorAidSource3d.md)
|
||||
- [SatelliteInfo](../msg_docs/SatelliteInfo.md)
|
||||
- [GimbalDeviceInformation](../msg_docs/GimbalDeviceInformation.md)
|
||||
- [FixedWingLateralGuidanceStatus](../msg_docs/FixedWingLateralGuidanceStatus.md)
|
||||
- [GeofenceResult](../msg_docs/GeofenceResult.md)
|
||||
- [TiltrotorExtraControls](../msg_docs/TiltrotorExtraControls.md)
|
||||
- [QshellReq](../msg_docs/QshellReq.md)
|
||||
- [VehicleCommandAckV0](../msg_docs/VehicleCommandAckV0.md)
|
||||
- [VehicleImu](../msg_docs/VehicleImu.md)
|
||||
- [PositionControllerLandingStatus](../msg_docs/PositionControllerLandingStatus.md)
|
||||
- [EstimatorSensorBias](../msg_docs/EstimatorSensorBias.md)
|
||||
- [GpioRequest](../msg_docs/GpioRequest.md)
|
||||
- [UavcanParameterValue](../msg_docs/UavcanParameterValue.md)
|
||||
- [ParameterResetRequest](../msg_docs/ParameterResetRequest.md)
|
||||
- [EstimatorBias3d](../msg_docs/EstimatorBias3d.md)
|
||||
- [CameraStatus](../msg_docs/CameraStatus.md)
|
||||
- [UavcanParameterRequest](../msg_docs/UavcanParameterRequest.md)
|
||||
- [VehicleStatusV1](../msg_docs/VehicleStatusV1.md)
|
||||
- [MountOrientation](../msg_docs/MountOrientation.md)
|
||||
- [Gripper](../msg_docs/Gripper.md)
|
||||
- [RtlStatus](../msg_docs/RtlStatus.md)
|
||||
- [PositionSetpoint](../msg_docs/PositionSetpoint.md)
|
||||
- [GpsInjectData](../msg_docs/GpsInjectData.md)
|
||||
- [Cpuload](../msg_docs/Cpuload.md)
|
||||
- [SensorAccelFifo](../msg_docs/SensorAccelFifo.md)
|
||||
- [ParameterUpdate](../msg_docs/ParameterUpdate.md)
|
||||
- [EstimatorAidSource2d](../msg_docs/EstimatorAidSource2d.md)
|
||||
- [HoverThrustEstimate](../msg_docs/HoverThrustEstimate.md)
|
||||
- [HealthReport](../msg_docs/HealthReport.md)
|
||||
- [DatamanRequest](../msg_docs/DatamanRequest.md)
|
||||
- [FailureDetectorStatus](../msg_docs/FailureDetectorStatus.md)
|
||||
- [RangingBeacon](../msg_docs/RangingBeacon.md)
|
||||
- [AirspeedWind](../msg_docs/AirspeedWind.md)
|
||||
- [VelocityLimits](../msg_docs/VelocityLimits.md)
|
||||
- [SensorGyro](../msg_docs/SensorGyro.md)
|
||||
- [GimbalControls](../msg_docs/GimbalControls.md)
|
||||
- [LandingTargetInnovations](../msg_docs/LandingTargetInnovations.md)
|
||||
- [YawEstimatorStatus](../msg_docs/YawEstimatorStatus.md)
|
||||
- [NeuralControl](../msg_docs/NeuralControl.md)
|
||||
- [DebugArray](../msg_docs/DebugArray.md)
|
||||
- [WheelEncoders](../msg_docs/WheelEncoders.md)
|
||||
- [EstimatorSelectorStatus](../msg_docs/EstimatorSelectorStatus.md)
|
||||
- [ConfigOverridesV0](../msg_docs/ConfigOverridesV0.md)
|
||||
- [NormalizedUnsignedSetpoint](../msg_docs/NormalizedUnsignedSetpoint.md)
|
||||
- [VehicleStatusV0](../msg_docs/VehicleStatusV0.md)
|
||||
- [SensorGnssRelative](../msg_docs/SensorGnssRelative.md)
|
||||
- [SensorGyroFft](../msg_docs/SensorGyroFft.md)
|
||||
- [GpioOut](../msg_docs/GpioOut.md)
|
||||
- [OpenDroneIdSelfId](../msg_docs/OpenDroneIdSelfId.md)
|
||||
- [RaptorStatus](../msg_docs/RaptorStatus.md)
|
||||
- [VehicleGlobalPositionV0](../msg_docs/VehicleGlobalPositionV0.md)
|
||||
- [OrbTestLarge](../msg_docs/OrbTestLarge.md)
|
||||
- [MissionResult](../msg_docs/MissionResult.md)
|
||||
- [GeofenceStatus](../msg_docs/GeofenceStatus.md)
|
||||
- [VehicleAngularVelocity](../msg_docs/VehicleAngularVelocity.md)
|
||||
- [DifferentialPressure](../msg_docs/DifferentialPressure.md)
|
||||
- [IrlockReport](../msg_docs/IrlockReport.md)
|
||||
- [PowerMonitor](../msg_docs/PowerMonitor.md)
|
||||
- [ArmingCheckRequestV0](../msg_docs/ArmingCheckRequestV0.md)
|
||||
- [Ping](../msg_docs/Ping.md)
|
||||
- [DeviceInformation](../msg_docs/DeviceInformation.md)
|
||||
- [VehicleStatusV2](../msg_docs/VehicleStatusV2.md)
|
||||
- [EstimatorStatus](../msg_docs/EstimatorStatus.md)
|
||||
- [HeaterStatus](../msg_docs/HeaterStatus.md)
|
||||
- [SensorMag](../msg_docs/SensorMag.md)
|
||||
- [ParameterSetUsedRequest](../msg_docs/ParameterSetUsedRequest.md)
|
||||
- [EscEepromRead](../msg_docs/EscEepromRead.md)
|
||||
- [TecsStatus](../msg_docs/TecsStatus.md)
|
||||
- [UlogStream](../msg_docs/UlogStream.md)
|
||||
- [ParameterSetValueRequest](../msg_docs/ParameterSetValueRequest.md)
|
||||
- [VehicleConstraints](../msg_docs/VehicleConstraints.md)
|
||||
- [Ekf2Timestamps](../msg_docs/Ekf2Timestamps.md)
|
||||
- [VehicleImuStatus](../msg_docs/VehicleImuStatus.md)
|
||||
- [SensorBaro](../msg_docs/SensorBaro.md)
|
||||
- [SensorsStatus](../msg_docs/SensorsStatus.md)
|
||||
- [TrajectorySetpoint6dof](../msg_docs/TrajectorySetpoint6dof.md)
|
||||
- [IridiumsbdStatus](../msg_docs/IridiumsbdStatus.md)
|
||||
- [Mission](../msg_docs/Mission.md)
|
||||
- [VehicleLocalPositionV0](../msg_docs/VehicleLocalPositionV0.md)
|
||||
- [EscStatus](../msg_docs/EscStatus.md)
|
||||
- [AutotuneAttitudeControlStatus](../msg_docs/AutotuneAttitudeControlStatus.md)
|
||||
- [CameraCapture](../msg_docs/CameraCapture.md)
|
||||
- [ManualControlSwitches](../msg_docs/ManualControlSwitches.md)
|
||||
- [ActionRequest](../msg_docs/ActionRequest.md)
|
||||
- [InternalCombustionEngineStatus](../msg_docs/InternalCombustionEngineStatus.md)
|
||||
- [LogMessage](../msg_docs/LogMessage.md)
|
||||
- [SensorGyroFifo](../msg_docs/SensorGyroFifo.md)
|
||||
- [FigureEightStatus](../msg_docs/FigureEightStatus.md)
|
||||
- [VehicleMagnetometer](../msg_docs/VehicleMagnetometer.md)
|
||||
- [ActuatorTest](../msg_docs/ActuatorTest.md)
|
||||
- [SensorGnssStatus](../msg_docs/SensorGnssStatus.md)
|
||||
- [TaskStackInfo](../msg_docs/TaskStackInfo.md)
|
||||
- [GimbalManagerStatus](../msg_docs/GimbalManagerStatus.md)
|
||||
- [AirspeedWind](../msg_docs/AirspeedWind.md)
|
||||
- [PositionControllerLandingStatus](../msg_docs/PositionControllerLandingStatus.md)
|
||||
- [PwmInput](../msg_docs/PwmInput.md)
|
||||
- [GeofenceStatus](../msg_docs/GeofenceStatus.md)
|
||||
- [IrlockReport](../msg_docs/IrlockReport.md)
|
||||
- [QshellReq](../msg_docs/QshellReq.md)
|
||||
- [FollowTargetEstimator](../msg_docs/FollowTargetEstimator.md)
|
||||
- [ParameterSetUsedRequest](../msg_docs/ParameterSetUsedRequest.md)
|
||||
- [ConfigOverridesV0](../msg_docs/ConfigOverridesV0.md)
|
||||
- [SensorCorrection](../msg_docs/SensorCorrection.md)
|
||||
- [CellularStatus](../msg_docs/CellularStatus.md)
|
||||
- [UlogStream](../msg_docs/UlogStream.md)
|
||||
- [GpioIn](../msg_docs/GpioIn.md)
|
||||
- [SensorGyroFft](../msg_docs/SensorGyroFft.md)
|
||||
- [WheelEncoders](../msg_docs/WheelEncoders.md)
|
||||
- [EscReport](../msg_docs/EscReport.md)
|
||||
- [ActuatorOutputs](../msg_docs/ActuatorOutputs.md)
|
||||
- [VehicleAttitudeSetpointV0](../msg_docs/VehicleAttitudeSetpointV0.md)
|
||||
- [MissionResult](../msg_docs/MissionResult.md)
|
||||
- [LogMessage](../msg_docs/LogMessage.md)
|
||||
- [LaunchDetectionStatus](../msg_docs/LaunchDetectionStatus.md)
|
||||
- [PowerMonitor](../msg_docs/PowerMonitor.md)
|
||||
- [SensorPreflightMag](../msg_docs/SensorPreflightMag.md)
|
||||
- [HeaterStatus](../msg_docs/HeaterStatus.md)
|
||||
- [VehicleStatusV0](../msg_docs/VehicleStatusV0.md)
|
||||
- [GpioRequest](../msg_docs/GpioRequest.md)
|
||||
- [EstimatorBias3d](../msg_docs/EstimatorBias3d.md)
|
||||
- [OrbTestMedium](../msg_docs/OrbTestMedium.md)
|
||||
- [RoverSpeedStatus](../msg_docs/RoverSpeedStatus.md)
|
||||
- [VehicleAngularVelocity](../msg_docs/VehicleAngularVelocity.md)
|
||||
- [Ekf2Timestamps](../msg_docs/Ekf2Timestamps.md)
|
||||
- [RegisterExtComponentRequestV0](../msg_docs/RegisterExtComponentRequestV0.md)
|
||||
- [DifferentialPressure](../msg_docs/DifferentialPressure.md)
|
||||
- [ActuatorControlsStatus](../msg_docs/ActuatorControlsStatus.md)
|
||||
- [SensorBaro](../msg_docs/SensorBaro.md)
|
||||
- [VehicleOpticalFlowVel](../msg_docs/VehicleOpticalFlowVel.md)
|
||||
- [GpsDump](../msg_docs/GpsDump.md)
|
||||
- [DistanceSensorModeChangeRequest](../msg_docs/DistanceSensorModeChangeRequest.md)
|
||||
- [Airspeed](../msg_docs/Airspeed.md)
|
||||
- [LoggerStatus](../msg_docs/LoggerStatus.md)
|
||||
- [GeneratorStatus](../msg_docs/GeneratorStatus.md)
|
||||
- [SensorGyro](../msg_docs/SensorGyro.md)
|
||||
- [EstimatorSelectorStatus](../msg_docs/EstimatorSelectorStatus.md)
|
||||
- [FixedWingRunwayControl](../msg_docs/FixedWingRunwayControl.md)
|
||||
- [HoverThrustEstimate](../msg_docs/HoverThrustEstimate.md)
|
||||
- [VehicleAngularAccelerationSetpoint](../msg_docs/VehicleAngularAccelerationSetpoint.md)
|
||||
- [LandingTargetPose](../msg_docs/LandingTargetPose.md)
|
||||
- [LandingTargetInnovations](../msg_docs/LandingTargetInnovations.md)
|
||||
- [MountOrientation](../msg_docs/MountOrientation.md)
|
||||
- [EscEepromWrite](../msg_docs/EscEepromWrite.md)
|
||||
- [MagnetometerBiasEstimate](../msg_docs/MagnetometerBiasEstimate.md)
|
||||
- [MavlinkTunnel](../msg_docs/MavlinkTunnel.md)
|
||||
- [FollowTargetStatus](../msg_docs/FollowTargetStatus.md)
|
||||
- [FixedWingLateralStatus](../msg_docs/FixedWingLateralStatus.md)
|
||||
- [RoverAttitudeStatus](../msg_docs/RoverAttitudeStatus.md)
|
||||
- [FuelTankStatus](../msg_docs/FuelTankStatus.md)
|
||||
- [EstimatorAidSource2d](../msg_docs/EstimatorAidSource2d.md)
|
||||
- [FlightPhaseEstimation](../msg_docs/FlightPhaseEstimation.md)
|
||||
- [FixedWingLateralGuidanceStatus](../msg_docs/FixedWingLateralGuidanceStatus.md)
|
||||
- [SensorSelection](../msg_docs/SensorSelection.md)
|
||||
- [TiltrotorExtraControls](../msg_docs/TiltrotorExtraControls.md)
|
||||
- [PositionControllerStatus](../msg_docs/PositionControllerStatus.md)
|
||||
- [AdcReport](../msg_docs/AdcReport.md)
|
||||
- [UlogStreamAck](../msg_docs/UlogStreamAck.md)
|
||||
- [TakeoffStatus](../msg_docs/TakeoffStatus.md)
|
||||
- [FollowTargetEstimator](../msg_docs/FollowTargetEstimator.md)
|
||||
- [OpenDroneIdArmStatus](../msg_docs/OpenDroneIdArmStatus.md)
|
||||
- [VehicleOpticalFlowVel](../msg_docs/VehicleOpticalFlowVel.md)
|
||||
- [FixedWingRunwayControl](../msg_docs/FixedWingRunwayControl.md)
|
||||
- [GpioConfig](../msg_docs/GpioConfig.md)
|
||||
- [SensorPreflightMag](../msg_docs/SensorPreflightMag.md)
|
||||
- [OrbitStatus](../msg_docs/OrbitStatus.md)
|
||||
- [Rpm](../msg_docs/Rpm.md)
|
||||
- [InputRc](../msg_docs/InputRc.md)
|
||||
- [SensorTemp](../msg_docs/SensorTemp.md)
|
||||
- [TuneControl](../msg_docs/TuneControl.md)
|
||||
- [SensorAccel](../msg_docs/SensorAccel.md)
|
||||
- [CameraTrigger](../msg_docs/CameraTrigger.md)
|
||||
- [GimbalManagerSetManualControl](../msg_docs/GimbalManagerSetManualControl.md)
|
||||
- [PurePursuitStatus](../msg_docs/PurePursuitStatus.md)
|
||||
- [CanInterfaceStatus](../msg_docs/CanInterfaceStatus.md)
|
||||
- [AirspeedValidatedV0](../msg_docs/AirspeedValidatedV0.md)
|
||||
- [EstimatorBias](../msg_docs/EstimatorBias.md)
|
||||
- [RtlTimeEstimate](../msg_docs/RtlTimeEstimate.md)
|
||||
- [MagWorkerData](../msg_docs/MagWorkerData.md)
|
||||
- [PowerButtonState](../msg_docs/PowerButtonState.md)
|
||||
- [QshellRetval](../msg_docs/QshellRetval.md)
|
||||
- [RcChannels](../msg_docs/RcChannels.md)
|
||||
- [Px4ioStatus](../msg_docs/Px4ioStatus.md)
|
||||
- [ActuatorControlsStatus](../msg_docs/ActuatorControlsStatus.md)
|
||||
- [FlightPhaseEstimation](../msg_docs/FlightPhaseEstimation.md)
|
||||
- [EstimatorGpsStatus](../msg_docs/EstimatorGpsStatus.md)
|
||||
- [EscEepromWrite](../msg_docs/EscEepromWrite.md)
|
||||
- [OpenDroneIdOperatorId](../msg_docs/OpenDroneIdOperatorId.md)
|
||||
- [GimbalDeviceSetAttitude](../msg_docs/GimbalDeviceSetAttitude.md)
|
||||
- [VehicleAttitudeSetpointV0](../msg_docs/VehicleAttitudeSetpointV0.md)
|
||||
- [CellularStatus](../msg_docs/CellularStatus.md)
|
||||
- [BatteryStatusV0](../msg_docs/BatteryStatusV0.md)
|
||||
- [ButtonEvent](../msg_docs/ButtonEvent.md)
|
||||
- [SystemPower](../msg_docs/SystemPower.md)
|
||||
- [FuelTankStatus](../msg_docs/FuelTankStatus.md)
|
||||
- [LandingGearWheel](../msg_docs/LandingGearWheel.md)
|
||||
- [VehicleLocalPositionSetpoint](../msg_docs/VehicleLocalPositionSetpoint.md)
|
||||
- [DronecanNodeStatus](../msg_docs/DronecanNodeStatus.md)
|
||||
- [UavcanParameterValue](../msg_docs/UavcanParameterValue.md)
|
||||
- [SensorCorrection](../msg_docs/SensorCorrection.md)
|
||||
- [SensorHygrometer](../msg_docs/SensorHygrometer.md)
|
||||
- [EscReport](../msg_docs/EscReport.md)
|
||||
- [EstimatorAidSource1d](../msg_docs/EstimatorAidSource1d.md)
|
||||
- [MavlinkTunnel](../msg_docs/MavlinkTunnel.md)
|
||||
- [ParameterUpdate](../msg_docs/ParameterUpdate.md)
|
||||
- [GimbalManagerStatus](../msg_docs/GimbalManagerStatus.md)
|
||||
- [GimbalManagerInformation](../msg_docs/GimbalManagerInformation.md)
|
||||
- [SensorSelection](../msg_docs/SensorSelection.md)
|
||||
- [DebugValue](../msg_docs/DebugValue.md)
|
||||
- [GpioIn](../msg_docs/GpioIn.md)
|
||||
- [RateCtrlStatus](../msg_docs/RateCtrlStatus.md)
|
||||
- [EstimatorFusionControl](../msg_docs/EstimatorFusionControl.md)
|
||||
- [LaunchDetectionStatus](../msg_docs/LaunchDetectionStatus.md)
|
||||
- [DatamanResponse](../msg_docs/DatamanResponse.md)
|
||||
- [ControlAllocatorStatus](../msg_docs/ControlAllocatorStatus.md)
|
||||
- [Vtx](../msg_docs/Vtx.md)
|
||||
- [Event](../msg_docs/Event.md)
|
||||
- [OrbTest](../msg_docs/OrbTest.md)
|
||||
- [BatteryInfo](../msg_docs/BatteryInfo.md)
|
||||
- [RoverRateStatus](../msg_docs/RoverRateStatus.md)
|
||||
- [VehicleAcceleration](../msg_docs/VehicleAcceleration.md)
|
||||
- [RcParameterMap](../msg_docs/RcParameterMap.md)
|
||||
- [InternalCombustionEngineControl](../msg_docs/InternalCombustionEngineControl.md)
|
||||
- [RoverSpeedStatus](../msg_docs/RoverSpeedStatus.md)
|
||||
- [MagnetometerBiasEstimate](../msg_docs/MagnetometerBiasEstimate.md)
|
||||
- [PwmInput](../msg_docs/PwmInput.md)
|
||||
- [NavigatorMissionItem](../msg_docs/NavigatorMissionItem.md)
|
||||
- [RadioStatus](../msg_docs/RadioStatus.md)
|
||||
- [ArmingCheckReplyV0](../msg_docs/ArmingCheckReplyV0.md)
|
||||
- [VehicleAirData](../msg_docs/VehicleAirData.md)
|
||||
- [ActuatorOutputs](../msg_docs/ActuatorOutputs.md)
|
||||
- [GimbalManagerSetAttitude](../msg_docs/GimbalManagerSetAttitude.md)
|
||||
- [EstimatorInnovations](../msg_docs/EstimatorInnovations.md)
|
||||
- [RoverAttitudeStatus](../msg_docs/RoverAttitudeStatus.md)
|
||||
- [EstimatorStates](../msg_docs/EstimatorStates.md)
|
||||
- [LedControl](../msg_docs/LedControl.md)
|
||||
- [RegisterExtComponentRequestV0](../msg_docs/RegisterExtComponentRequestV0.md)
|
||||
- [EstimatorEventFlags](../msg_docs/EstimatorEventFlags.md)
|
||||
- [FixedWingLateralStatus](../msg_docs/FixedWingLateralStatus.md)
|
||||
- [VehicleAngularAccelerationSetpoint](../msg_docs/VehicleAngularAccelerationSetpoint.md)
|
||||
- [ActuatorArmed](../msg_docs/ActuatorArmed.md)
|
||||
- [SensorsStatusImu](../msg_docs/SensorsStatusImu.md)
|
||||
- [OrbTestMedium](../msg_docs/OrbTestMedium.md)
|
||||
- [MavlinkLog](../msg_docs/MavlinkLog.md)
|
||||
- [ParameterSetValueResponse](../msg_docs/ParameterSetValueResponse.md)
|
||||
- [EventV0](../msg_docs/EventV0.md)
|
||||
- [GpsDump](../msg_docs/GpsDump.md)
|
||||
- [GeneratorStatus](../msg_docs/GeneratorStatus.md)
|
||||
- [LandingTargetPose](../msg_docs/LandingTargetPose.md)
|
||||
- [DebugKeyValue](../msg_docs/DebugKeyValue.md)
|
||||
- [GainCompression](../msg_docs/GainCompression.md)
|
||||
- [VehicleRoi](../msg_docs/VehicleRoi.md)
|
||||
- [FollowTargetStatus](../msg_docs/FollowTargetStatus.md)
|
||||
- [FollowTarget](../msg_docs/FollowTarget.md)
|
||||
- [SensorUwb](../msg_docs/SensorUwb.md)
|
||||
- [PpsCapture](../msg_docs/PpsCapture.md)
|
||||
- [HomePositionV0](../msg_docs/HomePositionV0.md)
|
||||
- [LoggerStatus](../msg_docs/LoggerStatus.md)
|
||||
- [RegisterExtComponentReplyV0](../msg_docs/RegisterExtComponentReplyV0.md)
|
||||
- [SensorAirflow](../msg_docs/SensorAirflow.md)
|
||||
- [DebugVect](../msg_docs/DebugVect.md)
|
||||
- [ActuatorServosTrim](../msg_docs/ActuatorServosTrim.md)
|
||||
- [Airspeed](../msg_docs/Airspeed.md)
|
||||
- [RaptorInput](../msg_docs/RaptorInput.md)
|
||||
|
||||
:::
|
||||
|
||||
@ -4,7 +4,7 @@ pageClass: is-wide-page
|
||||
|
||||
# EstimatorAidSource1d (UORB message)
|
||||
|
||||
**TOPICS:** estimator_aid_src_baro_hgt estimator_aid_src_ev_hgt estimator_aid_src_gnss_hgt estimator_aid_src_rng_hgt estimator_aid_src_airspeed estimator_aid_src_sideslip estimator_aid_src_fake_hgt estimator_aid_src_gnss_yaw estimator_aid_src_ev_yaw
|
||||
**TOPICS:** estimator_aid_src_baro_hgt estimator_aid_src_ev_hgt estimator_aid_src_gnss_hgt estimator_aid_src_rng_hgt estimator_aid_src_ranging_beacon estimator_aid_src_airspeed estimator_aid_src_sideslip estimator_aid_src_fake_hgt estimator_aid_src_gnss_yaw estimator_aid_src_ev_yaw
|
||||
|
||||
## Fields
|
||||
|
||||
@ -56,7 +56,7 @@ float32 test_ratio_filtered # signed filtered test ratio
|
||||
bool innovation_rejected # true if the observation has been rejected
|
||||
bool fused # true if the sample was successfully fused
|
||||
|
||||
# TOPICS estimator_aid_src_baro_hgt estimator_aid_src_ev_hgt estimator_aid_src_gnss_hgt estimator_aid_src_rng_hgt
|
||||
# TOPICS estimator_aid_src_baro_hgt estimator_aid_src_ev_hgt estimator_aid_src_gnss_hgt estimator_aid_src_rng_hgt estimator_aid_src_ranging_beacon
|
||||
# TOPICS estimator_aid_src_airspeed estimator_aid_src_sideslip
|
||||
# TOPICS estimator_aid_src_fake_hgt
|
||||
# TOPICS estimator_aid_src_gnss_yaw estimator_aid_src_ev_yaw
|
||||
|
||||
66
docs/zh/msg_docs/EstimatorFusionControl.md
Normal file
66
docs/zh/msg_docs/EstimatorFusionControl.md
Normal file
@ -0,0 +1,66 @@
|
||||
---
|
||||
pageClass: is-wide-page
|
||||
---
|
||||
|
||||
# EstimatorFusionControl (UORB message)
|
||||
|
||||
**TOPICS:** estimator_fusion_control
|
||||
|
||||
## Fields
|
||||
|
||||
| 参数名 | 类型 | Unit [Frame] | Range/Enum | 描述 |
|
||||
| ------------------------------------ | --------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- |
|
||||
| timestamp | `uint64` | | | time since system start (microseconds) |
|
||||
| gps_intended | `bool[2]` | | | |
|
||||
| of_intended | `bool` | | | |
|
||||
| ev_intended | `bool` | | | |
|
||||
| agp_intended | `bool[4]` | | | |
|
||||
| baro_intended | `bool` | | | |
|
||||
| rng_intended | `bool` | | | |
|
||||
| mag_intended | `bool` | | | |
|
||||
| aspd_intended | `bool` | | | |
|
||||
| rngbcn_intended | `bool` | | | |
|
||||
| gps_active | `bool[2]` | | | |
|
||||
| of_active | `bool` | | | |
|
||||
| ev_active | `bool` | | | |
|
||||
| agp_active | `bool[4]` | | | |
|
||||
| baro_active | `bool` | | | |
|
||||
| rng_active | `bool` | | | |
|
||||
| mag_active | `bool` | | | |
|
||||
| aspd_active | `bool` | | | |
|
||||
| rngbcn_active | `bool` | | | |
|
||||
|
||||
## Source Message
|
||||
|
||||
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorFusionControl.msg)
|
||||
|
||||
:::details
|
||||
Click here to see original file
|
||||
|
||||
```c
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
|
||||
# sensor intended for fusion (enabled via EKF2_SENS_EN AND CTRL param != disabled)
|
||||
bool[2] gps_intended
|
||||
bool of_intended
|
||||
bool ev_intended
|
||||
bool[4] agp_intended
|
||||
bool baro_intended
|
||||
bool rng_intended
|
||||
bool mag_intended
|
||||
bool aspd_intended
|
||||
bool rngbcn_intended
|
||||
|
||||
# whether the estimator is actively fusing data from each source
|
||||
bool[2] gps_active
|
||||
bool of_active
|
||||
bool ev_active
|
||||
bool[4] agp_active
|
||||
bool baro_active
|
||||
bool rng_active
|
||||
bool mag_active
|
||||
bool aspd_active
|
||||
bool rngbcn_active
|
||||
```
|
||||
|
||||
:::
|
||||
73
docs/zh/msg_docs/RangingBeacon.md
Normal file
73
docs/zh/msg_docs/RangingBeacon.md
Normal file
@ -0,0 +1,73 @@
|
||||
---
|
||||
pageClass: is-wide-page
|
||||
---
|
||||
|
||||
# RangingBeacon (UORB message)
|
||||
|
||||
Ranging beacon measurement data (e.g. LoRa, UWB).
|
||||
|
||||
**TOPICS:** ranging_beacon
|
||||
|
||||
## Fields
|
||||
|
||||
| 参数名 | 类型 | Unit [Frame] | Range/Enum | 描述 |
|
||||
| ------------------------------------- | --------- | ---------------------------------------------------------------- | ------------------------------------------ | ----------------------------------------------------------------------------------- |
|
||||
| timestamp | `uint64` | us | | time since system start |
|
||||
| timestamp_sample | `uint64` | us | | the timestamp of the raw data |
|
||||
| beacon_id | `uint8` | | | |
|
||||
| range | `float32` | 米 | | Range measurement |
|
||||
| lat | `float64` | deg | | Latitude |
|
||||
| lon | `float64` | deg | | Longitude |
|
||||
| alt | `float32` | 米 | | Beacon altitude (frame defined in alt_type) |
|
||||
| alt_type | `uint8` | | [ALT_TYPE](#ALT_TYPE) | Altitude frame for alt field |
|
||||
| hacc | `float32` | 米 | | Groundbeacon horizontal accuracy |
|
||||
| vacc | `float32` | 米 | | Groundbeacon vertical accuracy |
|
||||
| sequence_nr | `uint8` | | | |
|
||||
| status | `uint8` | | | |
|
||||
| carrier_freq | `uint16` | MHz | | Carrier frequency |
|
||||
| range_accuracy | `float32` | 米 | | Range accuracy estimate |
|
||||
|
||||
## Enums
|
||||
|
||||
### ALT_TYPE {#ALT_TYPE}
|
||||
|
||||
| 参数名 | 类型 | 值 | 描述 |
|
||||
| ------------------------------------------------------------------------------------- | ------- | - | ------------------------------------------------------- |
|
||||
| <a id="#ALT_TYPE_WGS84"></a> ALT_TYPE_WGS84 | `uint8` | 0 | Altitude above WGS84 ellipsoid |
|
||||
| <a id="#ALT_TYPE_MSL"></a> ALT_TYPE_MSL | `uint8` | 1 | Altitude above Mean Sea Level (AMSL) |
|
||||
|
||||
## Source Message
|
||||
|
||||
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RangingBeacon.msg)
|
||||
|
||||
:::details
|
||||
Click here to see original file
|
||||
|
||||
```c
|
||||
# Ranging beacon measurement data (e.g. LoRa, UWB)
|
||||
|
||||
uint64 timestamp # [us] time since system start
|
||||
uint64 timestamp_sample # [us] the timestamp of the raw data
|
||||
uint8 beacon_id
|
||||
float32 range # [m] Range measurement
|
||||
|
||||
float64 lat # [deg] Latitude
|
||||
float64 lon # [deg] Longitude
|
||||
float32 alt # [m] Beacon altitude (frame defined in alt_type)
|
||||
uint8 alt_type # [@enum ALT_TYPE] Altitude frame for alt field
|
||||
uint8 ALT_TYPE_WGS84 = 0 # Altitude above WGS84 ellipsoid
|
||||
uint8 ALT_TYPE_MSL = 1 # Altitude above Mean Sea Level (AMSL)
|
||||
|
||||
float32 hacc # [m] Groundbeacon horizontal accuracy
|
||||
float32 vacc # [m] Groundbeacon vertical accuracy
|
||||
|
||||
uint8 sequence_nr
|
||||
uint8 status
|
||||
uint16 carrier_freq # [MHz] Carrier frequency
|
||||
float32 range_accuracy # [m] Range accuracy estimate
|
||||
|
||||
|
||||
# TOPICS ranging_beacon
|
||||
```
|
||||
|
||||
:::
|
||||
@ -1458,6 +1458,20 @@ None
|
||||
| 6 | | | ? |
|
||||
| 7 | | | ? |
|
||||
|
||||
### VEHICLE_CMD_ESTIMATOR_SENSOR_ENABLE (43006)
|
||||
|
||||
Enable/disable estimator sensor fusion.
|
||||
|
||||
| Param | 单位 (Units) | Range/Enum | 描述 |
|
||||
| ----- | ----------------------------- | ---------- | --------------------------------------------------------------------- |
|
||||
| 1 | | | Source (FUSION_SOURCE_\*) |
|
||||
| 2 | | | Sensor instance (0-based) |
|
||||
| 3 | | | Enable (1) or Disable (0) |
|
||||
| 4 | | | Estimator Instance (NaN: not used) |
|
||||
| 5 | | | 空 |
|
||||
| 6 | | | 空 |
|
||||
| 7 | | | 空 |
|
||||
|
||||
### VEHICLE_CMD_PX4_INTERNAL_START (65537)
|
||||
|
||||
Start of PX4 internal only vehicle commands (> UINT16_MAX).
|
||||
@ -1544,6 +1558,15 @@ Change mode by specifying nav_state directly.
|
||||
| --------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | ---- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
|
||||
| <a id="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 0 | |
|
||||
| <a id="#PREFLIGHT_CALIBRATION_TEMPERATURE_CALIBRATION"></a> PREFLIGHT_CALIBRATION_TEMPERATURE_CALIBRATION | `uint16` | 3 | Param value for VEHICLE_CMD_PREFLIGHT_CALIBRATION to start temperature calibration. |
|
||||
| <a id="#FUSION_SOURCE_GPS"></a> FUSION_SOURCE_GPS | `uint8` | 0 | GNSS (EKF2_GPS{i}\_CTRL, use instance param) |
|
||||
| <a id="#FUSION_SOURCE_OF"></a> FUSION_SOURCE_OF | `uint8` | 1 | Optical Flow (EKF2_OF_CTRL) |
|
||||
| <a id="#FUSION_SOURCE_EV"></a> FUSION_SOURCE_EV | `uint8` | 2 | External Vision (EKF2_EV_CTRL) |
|
||||
| <a id="#FUSION_SOURCE_AGP"></a> FUSION_SOURCE_AGP | `uint8` | 3 | Auxiliary Global Position (EKF2_AGP{i}\_CTRL, use instance param) |
|
||||
| <a id="#FUSION_SOURCE_BARO"></a> FUSION_SOURCE_BARO | `uint8` | 4 | Barometer (EKF2_BARO_CTRL) |
|
||||
| <a id="#FUSION_SOURCE_RNG"></a> FUSION_SOURCE_RNG | `uint8` | 5 | Range Finder (EKF2_RNG_CTRL) |
|
||||
| <a id="#FUSION_SOURCE_MAG"></a> FUSION_SOURCE_MAG | `uint8` | 6 | Magnetometer (EKF2_MAG_TYPE) |
|
||||
| <a id="#FUSION_SOURCE_ASPD"></a> FUSION_SOURCE_ASPD | `uint8` | 7 | Airspeed (EKF2_ARSP_THR) |
|
||||
| <a id="#FUSION_SOURCE_RNGBCN"></a> FUSION_SOURCE_RNGBCN | `uint8` | 8 | Ranging Beacon |
|
||||
| <a id="#VEHICLE_MOUNT_MODE_RETRACT"></a> VEHICLE_MOUNT_MODE_RETRACT | `uint8` | 0 | Load and keep safe position (Roll,Pitch,Yaw) from permanent memory and stop stabilization. |
|
||||
| <a id="#VEHICLE_MOUNT_MODE_NEUTRAL"></a> VEHICLE_MOUNT_MODE_NEUTRAL | `uint8` | 1 | Load and keep neutral position (Roll,Pitch,Yaw) from permanent memory. |
|
||||
| <a id="#VEHICLE_MOUNT_MODE_MAVLINK_TARGETING"></a> VEHICLE_MOUNT_MODE_MAVLINK_TARGETING | `uint8` | 2 | Load neutral position and start MAVLink Roll,Pitch,Yaw control with stabilization. |
|
||||
@ -1711,6 +1734,17 @@ uint16 VEHICLE_CMD_DO_WINCH = 42600 # Command to operate winch.
|
||||
|
||||
uint16 VEHICLE_CMD_EXTERNAL_POSITION_ESTIMATE = 43003 # External reset of estimator global position when dead reckoning.
|
||||
uint16 VEHICLE_CMD_EXTERNAL_WIND_ESTIMATE = 43004
|
||||
uint16 VEHICLE_CMD_ESTIMATOR_SENSOR_ENABLE = 43006 # Enable/disable estimator sensor fusion. |Source (FUSION_SOURCE_*)|Sensor instance (0-based)|Enable (1) or Disable (0)|Estimator Instance (NaN: not used)|Empty|Empty|Empty|
|
||||
# Sensor fusion source types for VEHICLE_CMD_ESTIMATOR_SENSOR_ENABLE
|
||||
uint8 FUSION_SOURCE_GPS = 0 # GNSS (EKF2_GPS{i}_CTRL, use instance param)
|
||||
uint8 FUSION_SOURCE_OF = 1 # Optical Flow (EKF2_OF_CTRL)
|
||||
uint8 FUSION_SOURCE_EV = 2 # External Vision (EKF2_EV_CTRL)
|
||||
uint8 FUSION_SOURCE_AGP = 3 # Auxiliary Global Position (EKF2_AGP{i}_CTRL, use instance param)
|
||||
uint8 FUSION_SOURCE_BARO = 4 # Barometer (EKF2_BARO_CTRL)
|
||||
uint8 FUSION_SOURCE_RNG = 5 # Range Finder (EKF2_RNG_CTRL)
|
||||
uint8 FUSION_SOURCE_MAG = 6 # Magnetometer (EKF2_MAG_TYPE)
|
||||
uint8 FUSION_SOURCE_ASPD = 7 # Airspeed (EKF2_ARSP_THR)
|
||||
uint8 FUSION_SOURCE_RNGBCN = 8 # Ranging Beacon
|
||||
|
||||
# PX4 vehicle commands (beyond 16 bit MAVLink commands).
|
||||
uint32 VEHICLE_CMD_PX4_INTERNAL_START = 65537 # Start of PX4 internal only vehicle commands (> UINT16_MAX).
|
||||
|
||||
@ -95,6 +95,7 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
|
||||
- [EstimatorBias](EstimatorBias.md)
|
||||
- [EstimatorBias3d](EstimatorBias3d.md)
|
||||
- [EstimatorEventFlags](EstimatorEventFlags.md)
|
||||
- [EstimatorFusionControl](EstimatorFusionControl.md)
|
||||
- [EstimatorGpsStatus](EstimatorGpsStatus.md)
|
||||
- [EstimatorInnovations](EstimatorInnovations.md)
|
||||
- [EstimatorSelectorStatus](EstimatorSelectorStatus.md)
|
||||
@ -192,6 +193,7 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
|
||||
- [QshellReq](QshellReq.md)
|
||||
- [QshellRetval](QshellRetval.md)
|
||||
- [RadioStatus](RadioStatus.md)
|
||||
- [RangingBeacon](RangingBeacon.md) — Ranging beacon measurement data (e.g. LoRa, UWB).
|
||||
- [RateCtrlStatus](RateCtrlStatus.md)
|
||||
- [RcChannels](RcChannels.md)
|
||||
- [RcParameterMap](RcParameterMap.md)
|
||||
|
||||
@ -23,6 +23,7 @@ Recommended digital airspeed sensors include:
|
||||
- [Holybro High Precision DroneCAN Airspeed Sensor - DLVR](https://holybro.com/collections/sensors/products/high-precision-dronecan-airspeed-sensor-dlvr)
|
||||
- [RaccoonLab Cyphal/CAN and DroneCAN Airspeed Sensor - MS4525DO](https://raccoonlab.co/tproduct/360882105-652259850171-cyphal-and-dronecan-airspeed-v2)
|
||||
- [Avionics Anonymous Air Data Computer with OAT probe](https://www.tindie.com/products/avionicsanonymous/uavcan-air-data-computer-airspeed-sensor/)
|
||||
- [UAV-DEV GmbH DroneCAN Airspeed and Barometer Sensor - AUAV](https://wiki.uav-dev.com/en/product/airspeed/auav)
|
||||
- Based on [Venturi effect](https://en.wikipedia.org/wiki/Venturi_effect)
|
||||
- [TFSLOT](airspeed_tfslot.md) Venturi effect airspeed sensor.
|
||||
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user