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docs(updates): Link fixes and orphan image removals (#26925)
* docs(updates): Link fixes and orphan image removals * docs(delete): Remove orphaned translations
This commit is contained in:
Hamish Willee
@@ -1,86 +0,0 @@
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# Neural Network Module: System Integration
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The neural control module ([mc_nn_control](../modules/modules_controller.md#mc-nn-control)) implements an end-to-end controller utilizing neural networks.
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The parts of the module directly concerned with generating the code for the trained neural network and integrating it into the module are covered in [TensorFlow Lite Micro (TFLM)](../advanced/tflm.md).
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This page covers the changes that were made to integrate the module into PX4, both within the module, and in larger system configuration.
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:::tip
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This topic should help you to shape the module to your own needs.
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You will need some familiarity with PX4 development.
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For more information see the developer [Getting Started](../dev_setup/getting_started.md).
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:::
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## 자동 실행
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A line to autostart the [mc_nn_control](../modules/modules_controller.md#mc-nn-control) module has been added in the [`ROMFS/px4fmu_common/init.d/rc.mc_apps`](https://github.com/PX4/PX4-Autopilot/blob/main/ROMFS/px4fmu_common/init.d/rc.mc_apps) startup script.
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It checks whether the module is included by looking for the parameter [MC_NN_EN](../advanced_config/parameter_reference.md#MC_NN_EN).
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If this is set to `1` (the default value), the module will be started when booting PX4.
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Similarly you could create other parameters in the [`mc_nn_control_params.c`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/mc_nn_control/mc_nn_control_params.c) file for other startup script checks.
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## Custom Flight Mode
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The module creates its own flight mode "Neural Control" which lets you choose it from the flight mode menu in QGC and bind it to a switch on you RC controller.
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This is done by using the [ROS 2 Interface Library](../ros2/px4_ros2_interface_lib.md) internally.
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This involves several steps and is visualized here:
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:::info
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The module does not actually use ROS 2, it just uses the API exposed through uORB topics.
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:::
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:::info
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In some QGC versions the flight mode does not show up, so make sure to update to the newest version.
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This only works for some flight controllers, so you might have to use an RC controller to switch to the correct external flight mode.
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:::
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1. Publish a [RegisterExtComponentRequest](../msg_docs/RegisterExtComponentRequest.md).
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This specifies what you want to create, you can read more about this in the [Control Interface](../ros2/px4_ros2_control_interface.md).
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In this case we register an arming check and a mode.
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2. Wait for a [RegisterExtComponentReply](../msg_docs/RegisterExtComponentReply.md).
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This will give feedback on wether the mode registration was successful, and what the mode and arming check id is for the new mode.
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3. [Optional] With the mode id, publish a [VehicleControlMode](../msg_docs/VehicleControlMode.md) message on the `config_control_setpoints` topic.
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Here you can configure what other modules run in parallel.
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The example controller replaces everything, so it turns off allocation.
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If you want to replace other parts you can enable or disable the modules accordingly.
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4. [Optional] With the mode id, publish a [ConfigOverrides](../msg_docs/ConfigOverrides.md) on the `config_overrides_request` topic.
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(This is not done in the example module) This will let you defer failsafes or stop it from automatically disarming.
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5. When the mode has been registered a [ArmingCheckRequest](../msg_docs/ArmingCheckRequest.md) will be sent, asking if your mode has everything it needs to run.
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This message must be answered with a [ArmingCheckReply](../msg_docs/ArmingCheckReply.md) so the mode is not flagged as unresponsive.
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In this response it is possible to set what requirements the mode needs to run, like local position.
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If any of these requirements are set the commander will stop you from switching to the mode if they are not fulfilled.
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It is also important to set health_component_index and num_events to 0 to not get a segmentation fault.
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Unless you have a health component or events.
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6. Listen to the [VehicleStatus](../msg_docs/VehicleStatus.md) topic.
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If the nav_state equals the assigned `mode_id`, then the Neural Controller is activated.
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7. When active the module will run the controller and publish to [ActuatorMotors](../msg_docs/ActuatorMotors.md).
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If you want to replace a different part of the controller, you should find the appropriate topic to publish to.
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To see how the requests are handled you can check out [src/modules/commander/ModeManagement.cpp](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/commander/ModeManagement.cpp).
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## 로깅
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To add module-specific logging a new topic has been added to [uORB](../middleware/uorb.md) called [NeuralControl](../msg_docs/NeuralControl.md).
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The message definition is also added in `msg/CMakeLists.txt`, and to [`src/modules/logger/logged_topics.cpp`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/logger/logged_topics.cpp) under the debug category.
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For these messages to be saved in your logs you need to include `debug` in the [SDLOG_PROFILE](../advanced_config/parameter_reference.md#SDLOG_PROFILE) parameter.
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## Timing
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The module has two includes for measuring the inference times.
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The first one is a driver that works on the actual flight controller units, but a second one, `chrono`, is loaded for SITL testing.
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Which timing library is included and used is based on wether PX4 is built with NUTTX or not.
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## Changing the setpoint
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The module uses the [TrajectorySetpoint](../msg_docs/TrajectorySetpoint.md) message’s position fields to define its target.
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To follow a trajectory, you can send updated setpoints.
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For an example of how to do this in a PX4 module, see the [mc_nn_testing](https://github.com/SindreMHegre/PX4-Autopilot-public/tree/main/src/modules/mc_nn_testing) module in this fork.
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Note that this is not included in upstream PX4.
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To use it, copy the module folder from the linked repository into your workspace, and enable it by adding the following line to your `.px4board` file:
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```sh
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CONFIG_MODULES_MC_NN_TESTING=y
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```
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@@ -1,77 +0,0 @@
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# TensorFlow Lite Micro (TFLM)
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The PX4 [Multicopter Neural Network](../advanced/neural_networks.md) module ([mc_nn_control](../modules/modules_controller.md#mc-nn-control)) integrates a neural network that uses the [TensorFlow Lite Micro (TFLM)](https://github.com/tensorflow/tflite-micro) inference library.
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This is a mature inference library intended for use on embedded devices, and is hence a suitable choice for PX4.
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This guide explains how the TFLM library is integrated into the [mc_nn_control](../modules/modules_controller.md#mc-nn-control) module, and the changes you would have to make to use it for your own neural network.
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:::tip
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For more information, see the [TFLM guide](https://ai.google.dev/edge/litert/microcontrollers/get_started).
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:::
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## TLMF NN Formats
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TFLM uses networks in its own [tflite format](https://ai.google.dev/edge/litert/models/convert).
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However, since many microcontrollers do not have native filesystem support, a tflite file can be converted to a C++ source and header file.
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This is what is done in `mc_nn_control`.
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The tflight neural network is represented in code by the files [`control_net.cpp`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/mc_nn_control/control_net.cpp) and [`control_net.hpp`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/mc_nn_control/control_net.hpp).
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### Getting a Network in tflite Format
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There are many online resource for generating networks in the `.tflite` format.
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For this example we trained the network in the open source [Aerial Gym Simulator](https://ntnu-arl.github.io/aerial_gym_simulator/).
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Aerial Gym includes a guide, and supports RL both for control and vision-based navigation tasks.
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The project includes conversion code for `PyTorch -> TFLM` in the [resources/conversion](https://github.com/ntnu-arl/aerial_gym_simulator/tree/main/resources/conversion) folder.
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### Updating `mc_nn_control` with your own NN
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You can convert a `.tflite` network into a `.cc` file in the ubuntu terminal with this command:
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```sh
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xxd -i converted_model.tflite > model_data.cc
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```
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You will then have to modify the `control_net.hpp` and `control_net.cpp` to include the data from `model_data.cc`:
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- Take the size of the network in the bottom of the `.cc` file and replace the size in `control_net.hpp`.
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- Take the data in the model array in the `cc` file, and replace the ones in `control_net.cpp`.
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You are now ready to run your own network.
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## Code Explanation
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This section explains the code used to integrate the NN in `control_net.cpp`.
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### Operations and Resolver
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Firstly we need to create the resolver and load the needed operators to run inference on the NN.
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This is done in the top of `mc_nn_control.cpp`.
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The number in `MicroMutableOpResolver<3>` represents how many operations you need to run the inference.
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A full list of the operators can be found in the [micro_mutable_op_resolver.h](https://github.com/tensorflow/tflite-micro/blob/main/tensorflow/lite/micro/micro_mutable_op_resolver.h) file.
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There are quite a few supported operators, but you will not find the most advanced ones.
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In the control example the network is fully connected so we use `AddFullyConnected()`.
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Then the activation function is ReLU, and we `AddAdd()` for the bias on each neuron.
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### Interpreter
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In the `InitializeNetwork()` we start by setting up the model that we loaded from the source and header file.
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Next is to set up the interpreter, this code is taken from the TFLM documentation and is thoroughly explained there.
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The end state is that the `_control_interpreter` is set up to later run inference with the `Invoke()` member function.
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The `_input_tensor` is also defined, it is fetched from `_control_interpreter->input(0)`.
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### 입력
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The `_input_tensor` is filled in the `PopulateInputTensor()` function.
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`_input_tensor` works by accessing the `->data.f` member array and fill in the required inputs for your network.
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The inputs used in the control network is covered in [Neural Networks](../advanced/neural_networks.md).
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### 출력
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For the outputs the approach is fairly similar to the inputs.
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After setting the correct inputs, calling the `Invoke()` function the outputs can be found by getting `_control_interpreter->output(0)`.
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And from the output tensor you get the `->data.f` array.
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@@ -1,162 +0,0 @@
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# _Pixhawk 4 Mini_ 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://holybro.com/) for hardware support or compliance issues.
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:::
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This quick start guide shows how to power the [_Pixhawk<sup>®</sup> 4 Mini_](../flight_controller/pixhawk4_mini.md) flight controller and connect its most important peripherals.
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## 배선 개요
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아래의 이미지는 주요 센서와 주변 장치(모터 및 서보 출력 제외)의 연결 방법을 설명합니다.
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:::tip
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More information about available ports can be found here: [_Pixhawk 4 Mini_ > Interfaces](../flight_controller/pixhawk4_mini.md#interfaces).
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:::
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## 콘트롤러 장착 및 장착 방향
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_Pixhawk 4 Mini_ should be mounted on your frame using vibration-damping foam pads (included in the kit).
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차량의 무게 중심에 최대한 가깝운 프레임에 장착하여야 하며, 화살표가 차량의 앞쪽과 위쪽을 향하도록 하여야 합니다.
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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 + 나침반 + 부저 + 안전 스위치 + LED
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Attach the provided GPS with integrated compass, safety switch, buzzer, and LED to the **GPS MODULE** port. The GPS/Compass should be [mounted on the frame](../assembly/mount_gps_compass.md) as far away from other electronics as possible, with the direction marker towards the front of the vehicle (separating the compass from other electronics will reduce interference).
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|
||||
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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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비활성화하려면 안전 스위치를 1초간 길게 누르십시오.
|
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안전 스위치를 다시 눌러 안전 장치를 활성화하고 기체 시동을 끌 수 있습니다.
|
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조종기나 지상국 프로그램에서 기체 시동을 끌 수 없는 상황에서 유용합니다.
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:::
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|
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## 전원
|
||||
|
||||
PMB(Power Management Board)는 배전 보드와 전원 모듈로 사용됩니다.
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In addition to providing regulated power to _Pixhawk 4 Mini_ and the ESCs, it sends information to the autopilot about the battery’s voltage and current draw.
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Connect the output of the PMB that comes with the kit to the **POWER** port of the _Pixhawk 4 Mini_ using a 6-wire cable.
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ESC와 서보에 대한 전원 공급 및 신호 연결을 위한 전원관리보드의 연결 방법은 아래의 표에서 설명합니다.
|
||||
|
||||
|
||||
|
||||
:::info
|
||||
The image above only shows the connection of a single ESC and a single servo.
|
||||
나머지 ESC와 서보를 비슷하게 연결합니다.
|
||||
:::
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||||
|
||||
| 핀 또는 커넥터 | 기능 |
|
||||
| -------- | -------------------------------------------------------------------------- |
|
||||
| B+ | ESC에 전원을 공급하기 위해 ESC B +에 연결 |
|
||||
| GND | ESC 접지에 연결 |
|
||||
| PWR | JST-GH 6-pin Connector, 5V 3A output<br> connect to _Pixhawk 4 Mini_ POWER |
|
||||
| BAT | 전원 입력, 2 ~ 12S LiPo 배터리에 연결 |
|
||||
|
||||
The pinout of the _Pixhawk 4 Mini_ **POWER** port is shown below.
|
||||
The `CURRENT` signal should carry an analog voltage from 0-3.3V for 0-120A as default.
|
||||
The `VOLTAGE` signal should carry an analog voltage from 0-3.3V for 0-60V as default.
|
||||
VCC 라인은 최소 3A 연속을 제공하여야하며, 기본적으로 5.1V로 설정되어야 합니다. 5V 보다 낮은 전압은 권장되지 않습니다.
|
||||
|
||||
| 핀 | 신호 | 전압 |
|
||||
| --------------------------- | ------- | --------------------- |
|
||||
| 1(red) | VCC | +5V |
|
||||
| 2(black) | VCC | +5V |
|
||||
| 3(black) | CURRENT | +3.3V |
|
||||
| 4(black) | VOLTAGE | +3.3V |
|
||||
| 5(black) | GND | GND |
|
||||
| 6(black) | GND | GND |
|
||||
|
||||
:::info
|
||||
If using a plane or rover, the 8 pin power (+) rail of **MAIN OUT** will need to be separately powered in order to drive servos for rudders, elevons, etc.
|
||||
전원 레일을 BEC가 장착된 ESC 또는 독립형 5V BEC 또는 2S LiPo 배터리에 연결하여야 합니다.
|
||||
서보에 제공되는 전압이 적절한 지 체크하십시오.
|
||||
:::
|
||||
|
||||
<!--In the future, when Pixhawk 4 kit is available, add wiring images/videos for different airframes.-->
|
||||
|
||||
:::info
|
||||
Using the Power Module that comes with the kit you will need to configure the _Number of Cells_ in the [Power Settings](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/setup_view/power.html) but you won't need to calibrate the _voltage divider_.
|
||||
You will have to update the _voltage divider_ if you are using any other power module (e.g. the one from the Pixracer).
|
||||
:::
|
||||
|
||||
## 무선 조종
|
||||
|
||||
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).
|
||||
|
||||
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).
|
||||
|
||||
The instructions below show how to connect the different types of receivers to _Pixhawk 4 Mini_:
|
||||
|
||||
- Spektrum/DSM or S.BUS receivers connect to the **DSM/SBUS RC** input.
|
||||
|
||||
|
||||
|
||||
- PPM receivers connect to the **PPM RC** input port.
|
||||
|
||||
|
||||
|
||||
- PPM and PWM receivers that have an _individual wire for each channel_ must connect to the **PPM RC** port _via a PPM encoder_ [like this one](https://www.getfpv.com/radios/radio-accessories/holybro-ppm-encoder-module.html) (PPM-Sum receivers use a single signal wire for all channels).
|
||||
|
||||
For more information about selecting a radio system, receiver compatibility, and binding your transmitter/receiver pair, see: [Remote Control Transmitters & Receivers](../getting_started/rc_transmitter_receiver.md).
|
||||
|
||||
## Telemetry Radio (Optional)
|
||||
|
||||
무선 텔레메트리는 지상국 프로그램에서 비행 차량의 통신/제어에 사용합니다(예 : UAV를 특정 위치로 지시하거나 새 임무를 업로드 할 수 있음).
|
||||
|
||||
The vehicle-based radio should be connected to the **TELEM1** port as shown below (if connected to this port, no further configuration is required).
|
||||
다른 텔레메트리는 일반적으로 지상국 컴퓨터나 모바일 장치에 USB를 통하여 연결됩니다.
|
||||
|
||||
|
||||
|
||||
## micro SD 카드 (선택 사항)
|
||||
|
||||
SD cards are highly recommended as they are needed to [log and analyse flight details](../getting_started/flight_reporting.md), to run missions, and to use UAVCAN-bus hardware.
|
||||
Insert the card (included in the kit) into _Pixhawk 4 Mini_ as shown below.
|
||||
|
||||
|
||||
|
||||
:::tip
|
||||
For more information see [Basic Concepts > SD Cards (Removable Memory)](../getting_started/px4_basic_concepts.md#sd-cards-removable-memory).
|
||||
:::
|
||||
|
||||
## 모터
|
||||
|
||||
Motors/servos are connected to the **MAIN OUT** ports in the order specified for your vehicle in the [Airframe Reference](../airframes/airframe_reference.md). See [_Pixhawk 4 Mini_ > Supported Platforms](../flight_controller/pixhawk4_mini.md#supported-platforms) for more information.
|
||||
|
||||
:::info
|
||||
이 참고사항은 모든 지원되는 기체 프레임의 출력 포트의 모터/서보 연결 리스트입니다. 프레임이 참고사항에 기재되어 있지 않다면, 올바른 유형의 "일반" 프레임을 사용하십시오.
|
||||
:::
|
||||
|
||||
:::warning
|
||||
The mapping is not consistent across frames (e.g. you can't rely on the throttle being on the same output for all plane frames).
|
||||
가지고 있는 기체의 프레임에 대해 올바르게 모터를 제대로 연결하였는지 다시 한 번 확인하십시오.
|
||||
:::
|
||||
|
||||
## 기타 주변 장치
|
||||
|
||||
The wiring and configuration of optional/less common components is covered within the topics for individual [peripherals](../peripherals/index.md).
|
||||
|
||||
## 설정
|
||||
|
||||
General configuration information is covered in: [Autopilot Configuration](../config/index.md).
|
||||
|
||||
QuadPlane specific configuration is covered here: [QuadPlane VTOL Configuration](../config_vtol/vtol_quad_configuration.md)
|
||||
|
||||
<!-- Nice to have detailed wiring infographic and instructions for different vehicle types. -->
|
||||
|
||||
## 추가 정보
|
||||
|
||||
- [_Pixhawk 4 Mini_](../flight_controller/pixhawk4_mini.md)
|
||||
@@ -1,7 +0,0 @@
|
||||
# DroPix Flight Controller (Discontinued)
|
||||
|
||||
<Badge type="info" text="Discontinued" />
|
||||
|
||||
The Drotek<sup>®</sup> _DroPix autopilot_ is no longer available on the Drotek website, and is assumed to be discontinued.
|
||||
|
||||
See [PX4 v1.13 Documentation > DroPix Flight Controller](https://docs.px4.io/v1.13/en/flight_controller/dropix.html) for documentation.
|
||||
@@ -1,52 +0,0 @@
|
||||
# Test MC_07 - VIO (Visual-Inertial Odometry)
|
||||
|
||||
## Objective
|
||||
|
||||
To test that external vision (VIO) works as expected
|
||||
|
||||
## Preflight
|
||||
|
||||
Disconnect all GPS / compasses and ensure vehicle is using VIO for navigation
|
||||
|
||||
Ensure that the drone can go into Altitude / Position flight mode while still on the ground
|
||||
|
||||
Ensure there are no other sources of positioning besides VIO:
|
||||
|
||||
- [EKF2_OF_CTRL](../advanced_config/parameter_reference.md#EKF2_OF_CTRL): `0`
|
||||
- [EKF2_GPS_CTRL](../advanced_config/parameter_reference.md#EKF2_GPS_CTRL): `0`
|
||||
- [EKF2_EV_CTRL](../advanced_config/parameter_reference.md#EKF2_EV_CTRL): `15`
|
||||
- [SYS_HAS_MAG](../advanced_config/parameter_reference.md#SYS_HAS_MAG): `0`
|
||||
|
||||
## Flight Tests
|
||||
|
||||
❏ Altitude flight mode
|
||||
|
||||
❏ Vertical position should hold current value with stick centered
|
||||
|
||||
❏ Pitch/Roll/Yaw response 1:1
|
||||
|
||||
❏ Throttle response set to climb/descent rate
|
||||
|
||||
❏ Position flight mode
|
||||
|
||||
❏ Horizontal position should hold current value with stick centered
|
||||
|
||||
❏ Vertical position should hold current value with stick centered
|
||||
|
||||
❏ Throttle response set to climb/descent rate
|
||||
|
||||
❏ Pitch/Roll/Yaw response set to pitch/roll/yaw rates
|
||||
|
||||
## 착륙
|
||||
|
||||
❏ Land in either Position or Altitude mode with the throttle below 40%
|
||||
|
||||
❏ Upon touching ground, copter should disarm automatically within 2 seconds (default: see [COM_DISARM_LAND](../advanced_config/parameter_reference.md#COM_DISARM_LAND))
|
||||
|
||||
## 예상 결과
|
||||
|
||||
- 추력을 올릴 때 서서히 이륙한다
|
||||
- Drone should hold altitude in Altitude Flight mode without wandering
|
||||
- Drone should hold position within 1 meter in Position Flight mode without pilot moving sticks
|
||||
- 위에 언급한 어떤 비행 모드에서도 떨림이 나타나서는 안됨
|
||||
- 지면에 착륙시, 콥터가 지면에서 튀면 안됨
|
||||
Reference in New Issue
Block a user