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New Crowdin translations - uk (#26016)
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@@ -10,36 +10,13 @@ By default, the [Missing Data](#missing-data-check), [Data Stuck](#data-stuck-ch
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You can configure which checks are active using the [ASPD_DO_CHECKS](#aspd_do_checks_table) parameter.
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:::
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## Airspeed in PX4
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PX4 handles multiple types of airspeed:
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- **IAS (Indicated Airspeed):** The raw measurement from the airspeed sensor, directly influenced by sensor characteristics and installation effects (e.g., pitot-static errors).
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- **CAS (Calibrated Airspeed):** IAS corrected for sensor-specific and installation-related errors.
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- **EAS (Equivalent Airspeed):** _Not explicitly handled by PX4_ - Calibrated airspeed corrected for compressibility effects.
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While PX4 does not currently model EAS separately, this correction is negligible at low speeds and altitudes, so EAS is treated as equivalent to CAS for simplicity.
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- **TAS (True Airspeed):** CAS adjusted for atmospheric effects such as air pressure and temperature (i.e., altitude and atmospheric conditions).
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The standard conversion chain used in PX4 is: `IAS → CAS (= EAS) → TAS`.
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## CAS Scale Estimation
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PX4 estimates the IAS to CAS scale (referred to as the CAS scale) during flight using GNSS ground speed and wind estimation.
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To compute the final TAS, standard environment conversions are applied (CAS → TAS).
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This CAS scaling plays an important role in keeping the [innovation check](#innovation-check) reliable, since a well-estimated CAS is key to spotting inconsistencies between measured and predicted airspeed.
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Calibrated Airspeed (CAS) is the measured Indicated Airspeed (IAS) scaled to correct for sensor-specific and installation-related errors.
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CAS scaling plays an important role in keeping the [innovation check](#innovation-check) reliable, since a well-estimated CAS is key to spotting inconsistencies between measured and predicted airspeed.
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If the estimated CAS scale is inaccurate, it can mask real airspeed faults or trigger false positives.
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If you observe that the CAS scale estimate is consistently off, or if it is converging too slowly, you can manually set it using [ASPD_SCALE_n](#aspd_scale_n_table) (where `n` is the sensor number).
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[ASPD_SCALE_APPLY](#aspd_scale_apply_table) can be used to configure when/if the estimated scale is applied.
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:::info
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For a quick manual CAS scale estimate, compare groundspeed minus windspeed (from the [VehicleLocalPosition](../msg_docs/VehicleLocalPosition.md) and [Wind](../msg_docs/Wind.md) messages, respectively) to indicated airspeed values (in the [Airspeed](../msg_docs/Airspeed.md) message).
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The ratio of indicated airspeed to groundspeed minus windspeed can provide a reasonable starting estimate for [ASPD_SCALE_n](#aspd_scale_n_table).
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:::
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If you observe that the CAS scale estimate is consistently off, or if it is converging too slowly, follow the steps outlined in [Airspeed Scale Handling](../config_fw/airspeed_scale_handling.md#recommended-first-flight-process).
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## Validation Checks
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@@ -54,19 +54,17 @@ RC controllers will use different sticks for throttle and yaw [based on their mo
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- _Озброєння:_ Ліва педаль вправо, права педаль вниз.
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- _Вимкнення:_ Ліва педаль вліво, права педаль вниз.
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The required hold time can be configured using [COM_RC_ARM_HYST](#COM_RC_ARM_HYST).
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Note that by default ([COM_DISARM_MAN](#COM_DISARM_MAN)) you can also disarm in flight using gestures/buttons: you may choose to disable this to avoid accidental disarming.
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| Параметр | Опис |
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| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
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| <a id="MAN_ARM_GESTURE"></a>[MAN_ARM_GESTURE](../advanced_config/parameter_reference.md#MAN_ARM_GESTURE) | Enable arm/disarm stick guesture. `0`: Disabled, `1`: Enabled (default). |
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| <a id="COM_DISARM_MAN"></a>[COM_DISARM_MAN](../advanced_config/parameter_reference.md#COM_DISARM_MAN) | Enable disarming in flight via switch/stick/button in MC manual thrust modes. `0`: Disabled, `1`: Enabled (default). |
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| <a id="COM_RC_ARM_HYST"></a>[COM_RC_ARM_HYST](../advanced_config/parameter_reference.md#COM_RC_ARM_HYST) | Час, протягом якого педаль RC повинна бути утримана в позиції озброєння/вимкнення перед озброєнням/вимкненням (за замовчуванням: 1 секунда). |
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| Параметр | Опис |
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| -------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
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| <a id="MAN_ARM_GESTURE"></a>[MAN_ARM_GESTURE](../advanced_config/parameter_reference.md#MAN_ARM_GESTURE) | Enable arm/disarm stick guesture. `0`: Disabled, `1`: Enabled (default). |
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| <a id="COM_DISARM_MAN"></a>[COM_DISARM_MAN](../advanced_config/parameter_reference.md#COM_DISARM_MAN) | Enable disarming in flight via switch/stick/button in MC manual thrust modes. `0`: Disabled, `1`: Enabled (default). |
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## Arming Button/Switch {#arm_disarm_switch}
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Кнопку _озброєння_ або "моментальний перемикач" можна налаштувати для спрацьовування озброєння/вимикання _замість_ [озброєння за допомогою жестів](#arm_disarm_gestures) (встановлення перемикача озброєння вимикає озброєння за допомогою жестів).
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Кнопку слід утримувати натиснутою протягом ([зазвичай](#COM_RC_ARM_HYST)) однієї секунди, щоб озброїти (якщо вимкнено) або вимкнути (якщо озброєно).
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The button should be held down for one second to arm (when disarmed) or disarm (when armed).
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Двопозиційний перемикач також може використовуватися для озброєння/вимикання, при цьому відповідні команди на озброєння/вимкнення надсилаються при _перемиканні_ перемикача.
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@@ -79,7 +77,7 @@ Note that by default ([COM_DISARM_MAN](#COM_DISARM_MAN)) you can also disarm in
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| Параметр | Опис |
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| ----------------------------------------------------------------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
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| <a id="RC_MAP_ARM_SW"></a>[RC_MAP_ARM_SW](../advanced_config/parameter_reference.md#RC_MAP_ARM_SW) | Канал перемикача озброєння радіокерування (типове значення: 0 - не призначено). Якщо визначено, вказаний канал радіокерування (кнопка/перемикач) використовується для озброєння замість жесту палиці. <br>**Note:**<br>- This setting _disables the stick gesture_!<br>- This setting applies to RC controllers. It does not apply to Joystick controllers that are connected via _QGroundControl_. |
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| <a id="COM_ARM_SWISBTN"></a>[COM_ARM_SWISBTN](../advanced_config/parameter_reference.md#COM_ARM_SWISBTN) | Перемикач озброєння є моментальною кнопкою. <br>- `0`: Arm switch is a 2-position switch where arm/disarm commands are sent on switch transitions.<br>-`1`: Arm switch is a button or momentary button where the arm/disarm command ae sent after holding down button for set time ([COM_RC_ARM_HYST](#COM_RC_ARM_HYST)). |
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| <a id="COM_ARM_SWISBTN"></a>[COM_ARM_SWISBTN](../advanced_config/parameter_reference.md#COM_ARM_SWISBTN) | Перемикач озброєння є моментальною кнопкою. <br>- `0`: Arm switch is a 2-position switch where arm/disarm commands are sent on switch transitions.<br>-`1`: Arm switch is a momentary button where the arm/disarm command is sent after holding down the button for one second. |
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:::info
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Перемикач також можна налаштувати як частину конфігурації _QGroundControl_ для [Режиму польоту](../config/flight_mode.md).
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@@ -344,6 +344,60 @@ Weightings applied by the GSF to the individual 3-state EKF outputs are in the`w
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Зверніть увагу, що `ekf2_gps_drift` не зафіксовано!
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:::
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#### GNSS Fault Detection
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PX4's GNSS fault detection protects against malicious or erroneous GNSS signals using selective fusion control based on measurement validation.
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The fault detection logic depends on the GPS mode, and also operates differently for horizontal position and altitude measurements.
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The mode is set using the [EKF2_GPS_MODE](../advanced_config/parameter_reference.md#EKF2_GPS_MODE) parameter:
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- **Automatic (`0`)** (Default): Assumes that GNSS is generally reliable and is likely to be recovered.
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EKF2 resets on fusion timeouts if no other source of position is available.
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- **Dead-reckoning (`1`)**: Assumes that GNSS might be lost indefinitely, so resets should be avoided while we have other estimates of position data.
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EKF2 may reset if no other sources of position or velocity are available.
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If GNSS altitude OR horizontal position data drifts, the system disables fusion of both measurements simultaneously (even if one would still pass validation) and avoids performing resets.
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##### Detection Logic
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Horizontal Position:
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- **Automatic mode**: Horizontal position resets to GNSS data if no other horizontal position source is currently being fused (e.g., Auxiliary Global Position - AGP).
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- **Dead-reckoning mode**: Horizontal position resets to GNSS data only if no other horizontal position OR velocity source is currently being fused (e.g., AGP, airspeed, optical flow).
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Altitude:
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- The altitude logic is more complex due to the height reference sensor ([EKF2_HGT_REF](../advanced_config/parameter_reference.md#EKF2_HGT_REF)) parameter, which is typically set to GNSS or baro in GNSS-denied scenarios.
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- If height reference is set to baro, GNSS-based height resets are prevented (except when baro fusion fails completely and height reference automatically switches to GNSS).
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- When height reference is set to GNSS:
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- **Automatic mode**: Resets occur on drifting GNSS altitude measurements.
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- **Dead-reckoning mode**: When validation starts failing, the system prevents GNSS altitude resets and labels the GNSS data as faulty.
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##### Faulty GNSS Data During Boot
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The system cannot automatically detect faulty GNSS data during vehicle boot as no baseline comparison exists.
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If GNSS fusion is enabled ([EKF2_GPS_CTRL](../advanced_config/parameter_reference.md#EKF2_GPS_CTRL)), operators will observe incorrect positions on maps and should disable GNSS fusion, then manually set the correct position via ground control station.
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The global position gets corrected, and if [SENS_BAR_AUTOCAL](../advanced_config/parameter_reference.md#SENS_BAR_AUTOCAL) was enabled, baro offsets are automatically adjusted (through bias correction, not parameter changes).
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##### Enabling GNSS Fusion Mid-Flight
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With Faulty GNSS Data:
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- **Automatic mode**: Vehicle will reset to faulty position - potentially dangerous.
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- **Dead-reckoning mode**: Large measurement differences cause GNSS rejection and fault detection activation.
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With Valid GNSS Data:
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- **Automatic mode**: Vehicle will reset to GNSS measurements.
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- **Dead-reckoning mode**: If estimated position/altitude is close enough to measurements, fusion resumes; if too far apart, data gets labeled as faulty.
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##### Примітки
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- **Dual Detection**: Horizontal and altitude checks run completely separately but both lead to the same result when triggered - all GNSS fusion gets disabled.
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- **Recovery**: Only the specific check that labeled data as invalid can re-enable fusion.
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- **Alternative Sources**: Dead-reckoning mode provides enhanced protection by requiring absence of alternative navigation sources before allowing resets.
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- **Boot Vulnerability**: Initial faulty GNSS data cannot be detected automatically; requires operator intervention and manual position correction.
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### Далекомір
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[Range finder](../sensor/rangefinders.md) distance to ground is used by a single state filter to estimate the vertical position of the terrain relative to the height datum.
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