mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-20 11:53:34 +08:00
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 @@
|
||||
# Neural Network Module: System Integration
|
||||
|
||||
The neural control module ([mc_nn_control](../modules/modules_controller.md#mc-nn-control)) implements an end-to-end controller utilizing neural networks.
|
||||
|
||||
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).
|
||||
This page covers the changes that were made to integrate the module into PX4, both within the module, and in larger system configuration.
|
||||
|
||||
:::tip
|
||||
This topic should help you to shape the module to your own needs.
|
||||
|
||||
You will need some familiarity with PX4 development.
|
||||
For more information see the developer [Getting Started](../dev_setup/getting_started.md).
|
||||
:::
|
||||
|
||||
## Автозавантаження
|
||||
|
||||
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.
|
||||
|
||||
It checks whether the module is included by looking for the parameter [MC_NN_EN](../advanced_config/parameter_reference.md#MC_NN_EN).
|
||||
If this is set to `1` (the default value), the module will be started when booting PX4.
|
||||
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.
|
||||
|
||||
## Custom Flight Mode
|
||||
|
||||
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.
|
||||
This is done by using the [ROS 2 Interface Library](../ros2/px4_ros2_interface_lib.md) internally.
|
||||
This involves several steps and is visualized here:
|
||||
|
||||
:::info
|
||||
The module does not actually use ROS 2, it just uses the API exposed through uORB topics.
|
||||
:::
|
||||
|
||||
:::info
|
||||
In some QGC versions the flight mode does not show up, so make sure to update to the newest version.
|
||||
This only works for some flight controllers, so you might have to use an RC controller to switch to the correct external flight mode.
|
||||
:::
|
||||
|
||||
|
||||
|
||||
1. Publish a [RegisterExtComponentRequest](../msg_docs/RegisterExtComponentRequest.md).
|
||||
This specifies what you want to create, you can read more about this in the [Control Interface](../ros2/px4_ros2_control_interface.md).
|
||||
In this case we register an arming check and a mode.
|
||||
2. Wait for a [RegisterExtComponentReply](../msg_docs/RegisterExtComponentReply.md).
|
||||
This will give feedback on wether the mode registration was successful, and what the mode and arming check id is for the new mode.
|
||||
3. [Optional] With the mode id, publish a [VehicleControlMode](../msg_docs/VehicleControlMode.md) message on the `config_control_setpoints` topic.
|
||||
Here you can configure what other modules run in parallel.
|
||||
The example controller replaces everything, so it turns off allocation.
|
||||
If you want to replace other parts you can enable or disable the modules accordingly.
|
||||
4. [Optional] With the mode id, publish a [ConfigOverrides](../msg_docs/ConfigOverrides.md) on the `config_overrides_request` topic.
|
||||
(This is not done in the example module) This will let you defer failsafes or stop it from automatically disarming.
|
||||
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.
|
||||
This message must be answered with a [ArmingCheckReply](../msg_docs/ArmingCheckReply.md) so the mode is not flagged as unresponsive.
|
||||
In this response it is possible to set what requirements the mode needs to run, like local position.
|
||||
If any of these requirements are set the commander will stop you from switching to the mode if they are not fulfilled.
|
||||
It is also important to set health_component_index and num_events to 0 to not get a segmentation fault.
|
||||
Unless you have a health component or events.
|
||||
6. Listen to the [VehicleStatus](../msg_docs/VehicleStatus.md) topic.
|
||||
If the nav_state equals the assigned `mode_id`, then the Neural Controller is activated.
|
||||
7. When active the module will run the controller and publish to [ActuatorMotors](../msg_docs/ActuatorMotors.md).
|
||||
If you want to replace a different part of the controller, you should find the appropriate topic to publish to.
|
||||
|
||||
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).
|
||||
|
||||
## Логування
|
||||
|
||||
To add module-specific logging a new topic has been added to [uORB](../middleware/uorb.md) called [NeuralControl](../msg_docs/NeuralControl.md).
|
||||
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.
|
||||
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.
|
||||
|
||||
## Timing
|
||||
|
||||
The module has two includes for measuring the inference times.
|
||||
The first one is a driver that works on the actual flight controller units, but a second one, `chrono`, is loaded for SITL testing.
|
||||
Which timing library is included and used is based on wether PX4 is built with NUTTX or not.
|
||||
|
||||
## Changing the setpoint
|
||||
|
||||
The module uses the [TrajectorySetpoint](../msg_docs/TrajectorySetpoint.md) message’s position fields to define its target.
|
||||
To follow a trajectory, you can send updated setpoints.
|
||||
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.
|
||||
Note that this is not included in upstream PX4.
|
||||
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:
|
||||
|
||||
```sh
|
||||
CONFIG_MODULES_MC_NN_TESTING=y
|
||||
```
|
||||
@@ -1,77 +0,0 @@
|
||||
# TensorFlow Lite Micro (TFLM)
|
||||
|
||||
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.
|
||||
|
||||
This is a mature inference library intended for use on embedded devices, and is hence a suitable choice for PX4.
|
||||
|
||||
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.
|
||||
|
||||
:::tip
|
||||
For more information, see the [TFLM guide](https://ai.google.dev/edge/litert/microcontrollers/get_started).
|
||||
:::
|
||||
|
||||
## TLMF NN Formats
|
||||
|
||||
TFLM uses networks in its own [tflite format](https://ai.google.dev/edge/litert/models/convert).
|
||||
However, since many microcontrollers do not have native filesystem support, a tflite file can be converted to a C++ source and header file.
|
||||
|
||||
This is what is done in `mc_nn_control`.
|
||||
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).
|
||||
|
||||
### Getting a Network in tflite Format
|
||||
|
||||
There are many online resource for generating networks in the `.tflite` format.
|
||||
|
||||
For this example we trained the network in the open source [Aerial Gym Simulator](https://ntnu-arl.github.io/aerial_gym_simulator/).
|
||||
Aerial Gym includes a guide, and supports RL both for control and vision-based navigation tasks.
|
||||
|
||||
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.
|
||||
|
||||
### Updating `mc_nn_control` with your own NN
|
||||
|
||||
You can convert a `.tflite` network into a `.cc` file in the ubuntu terminal with this command:
|
||||
|
||||
```sh
|
||||
xxd -i converted_model.tflite > model_data.cc
|
||||
```
|
||||
|
||||
You will then have to modify the `control_net.hpp` and `control_net.cpp` to include the data from `model_data.cc`:
|
||||
|
||||
- Take the size of the network in the bottom of the `.cc` file and replace the size in `control_net.hpp`.
|
||||
- Take the data in the model array in the `cc` file, and replace the ones in `control_net.cpp`.
|
||||
|
||||
You are now ready to run your own network.
|
||||
|
||||
## Code Explanation
|
||||
|
||||
This section explains the code used to integrate the NN in `control_net.cpp`.
|
||||
|
||||
### Operations and Resolver
|
||||
|
||||
Firstly we need to create the resolver and load the needed operators to run inference on the NN.
|
||||
This is done in the top of `mc_nn_control.cpp`.
|
||||
The number in `MicroMutableOpResolver<3>` represents how many operations you need to run the inference.
|
||||
|
||||
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.
|
||||
There are quite a few supported operators, but you will not find the most advanced ones.
|
||||
In the control example the network is fully connected so we use `AddFullyConnected()`.
|
||||
Then the activation function is ReLU, and we `AddAdd()` for the bias on each neuron.
|
||||
|
||||
### Interpreter
|
||||
|
||||
In the `InitializeNetwork()` we start by setting up the model that we loaded from the source and header file.
|
||||
Next is to set up the interpreter, this code is taken from the TFLM documentation and is thoroughly explained there.
|
||||
The end state is that the `_control_interpreter` is set up to later run inference with the `Invoke()` member function.
|
||||
The `_input_tensor` is also defined, it is fetched from `_control_interpreter->input(0)`.
|
||||
|
||||
### Вхідні дані
|
||||
|
||||
The `_input_tensor` is filled in the `PopulateInputTensor()` function.
|
||||
`_input_tensor` works by accessing the `->data.f` member array and fill in the required inputs for your network.
|
||||
The inputs used in the control network is covered in [Neural Networks](../advanced/neural_networks.md).
|
||||
|
||||
### Виводи
|
||||
|
||||
For the outputs the approach is fairly similar to the inputs.
|
||||
After setting the correct inputs, calling the `Invoke()` function the outputs can be found by getting `_control_interpreter->output(0)`.
|
||||
And from the output tensor you get the `->data.f` array.
|
||||
@@ -1,161 +0,0 @@
|
||||
# _Pixhawk 4 Mini_ Wiring Quick Start
|
||||
|
||||
:::warning
|
||||
PX4 не розробляє цей (або будь-який інший) автопілот.
|
||||
Contact the [manufacturer](https://holybro.com/) for hardware support or compliance issues.
|
||||
:::
|
||||
|
||||
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.
|
||||
|
||||
|
||||
|
||||
## Огляд схеми підключення
|
||||
|
||||
На зображенні нижче показано, куди підключити найважливіші датчики та периферійні пристрої (за винятком моторів та сервоприводів).
|
||||
|
||||
|
||||
|
||||
:::tip
|
||||
More information about available ports can be found here: [_Pixhawk 4 Mini_ > Interfaces](../flight_controller/pixhawk4_mini.md#interfaces).
|
||||
:::
|
||||
|
||||
## Монтаж та орієнтація контролера
|
||||
|
||||
_Pixhawk 4 Mini_ should be mounted on your frame using vibration-damping foam pads (included in the kit).
|
||||
Вона повинна розташовуватися якомога ближче до центру тяжіння вашого апарату верхньою стороною вгору зі стрілкою, що вказує в напрямку передньої частини апарату.
|
||||
|
||||
|
||||
|
||||
:::info
|
||||
Якщо контролер не може бути змонтований у рекомендованому/стандартному положенні (наприклад, через обмеження місця), вам потрібно буде налаштувати програмне забезпечення автопілота з орієнтацією, яку ви фактично використовували: [Орієнтація контролера польоту](../config/flight_controller_orientation.md).
|
||||
:::
|
||||
|
||||
## GPS + компас + зумер + захисний вимикач + світлодіод
|
||||
|
||||
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).
|
||||
|
||||
|
||||
|
||||
:::info
|
||||
Вбудований безпечний вимикач в GPS-модулі увімкнений _за замовчуванням_ (коли включений, PX4 не дозволить вам готувати до польоту).
|
||||
Щоб вимкнути безпеку, натисніть і утримуйте безпечний вимикач протягом 1 секунди.
|
||||
Ви можете натиснути безпечний вимикач знову, щоб увімкнути безпеку та відключити транспортний засіб (це може бути корисно, якщо, з якихось причин, ви не можете вимкнути транспортний засіб за допомогою вашого пульта дистанційного керування або наземної станції).
|
||||
:::
|
||||
|
||||
## Power
|
||||
|
||||
Плата управління живленням (PMB) виконує функції блоку живлення та розподільчої плати живлення.
|
||||
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.
|
||||
|
||||
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.
|
||||
Підключення PMB, включаючи живлення та сигнальні з'єднання з ESC та сервоприводами, пояснені на зображенні нижче.
|
||||
|
||||
|
||||
|
||||
:::info
|
||||
The image above only shows the connection of a single ESC and a single servo.
|
||||
Підключіть інші ESC та сервоприводи аналогічно.
|
||||
:::
|
||||
|
||||
| Pin(s) або роз'єм | Функція |
|
||||
| ------------------------------------ | -------------------------------------------------------------------------- |
|
||||
| B+ | Підключіться до ESC B+, щоб живити ESC |
|
||||
| GND | Підключіться до землі ESC |
|
||||
| PWR | JST-GH 6-pin Connector, 5V 3A output<br> connect to _Pixhawk 4 Mini_ POWER |
|
||||
| BAT | Живлення, підключіть до акумулятора LiPo 2~12s |
|
||||
|
||||
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.
|
||||
Лінії VCC повинні пропонувати принаймні 3A безперервного струму і за замовчуванням повинні мати напругу 5,1 В. Нижчий напруга 5V все ще прийнятний, але не рекомендується.
|
||||
|
||||
| Pin | Сигнал | Вольтаж |
|
||||
| --------------------------- | ------- | --------------------- |
|
||||
| 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.
|
||||
Щоб це зробити, живильну рейку потрібно підключити до ESC з BEC, автономного BEC на 5V або 2S LiPo акумулятора.
|
||||
Будьте обережні з напругою сервопривода, який ви збираєтеся використовувати тут.
|
||||
:::
|
||||
|
||||
<!--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).
|
||||
:::
|
||||
|
||||
## Радіоуправління
|
||||
|
||||
Для того щоб керувати транспортним засобом _вручну_, потрібна система радіоуправління (RC) (PX4 не потребує системи радіоуправління для автономних режимів польоту).
|
||||
|
||||
Вам потрібно [вибрати сумісний передавач/приймач](../getting_started/rc_transmitter_receiver.md) і _зв'язати_ їх таким чином, щоб вони взаємодіяли (ознайомтеся з інструкціями, що додаються до вашого конкретного передавача/приймача).
|
||||
|
||||
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).
|
||||
|
||||
Для отримання додаткової інформації про вибір радіосистеми, сумісність приймача та зв'язок вашої передавача/приймача, див. статтю: [Пульт керування передавачів & приймачів](../getting_started/rc_transmitter_receiver.md).
|
||||
|
||||
## Телеметрійне радіо (Опціонально)
|
||||
|
||||
Телеметричні радіостанції можуть використовуватися для зв'язку та управління транспортним засобом у польоті з наземної станції (наприклад, ви можете направляти БПЛА до певної позиції або завантажувати нове завдання).
|
||||
|
||||
The vehicle-based radio should be connected to the **TELEM1** port as shown below (if connected to this port, no further configuration is required).
|
||||
Інша радіостанція підключається до вашого комп'ютера або мобільного пристрою наземної станції (зазвичай за допомогою USB).
|
||||
|
||||
|
||||
|
||||
## microSD-карта (Опціонально)
|
||||
|
||||
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
|
||||
Для отримання додаткової інформації див. [Основні концепції > SD-карти (знімна пам'ять)](../getting_started/px4_basic_concepts.md#sd-cards-removable-memory).
|
||||
:::
|
||||
|
||||
## Двигуни
|
||||
|
||||
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
|
||||
Цей довідник містить зіставлення портів виводу до моторів/сервоприводів для всіх підтримуваних повітряних та наземних шасі (якщо ваше шасі не вказане в довіднику, то використовуйте "загальний" планер відповідного типу).
|
||||
:::
|
||||
|
||||
:::warning
|
||||
Відображення не є однорідним для всіх конструкцій (наприклад, ви не можете покладатися на те, що ручка газу буде на тому ж вихідному порту для всіх повітряних конструкцій).
|
||||
Переконайтеся, що ви використовуєте правильне зіставлення для вашого апарату.
|
||||
:::
|
||||
|
||||
## Інші периферійні пристрої
|
||||
|
||||
Підключення та конфігурація додаткових/менш поширених компонентів описано в темах для окремих [периферійних пристроїв](../peripherals/index.md).
|
||||
|
||||
## Налаштування
|
||||
|
||||
Загальну інформацію про конфігурацію описано в: [Конфігурація автопілота](../config/index.md).
|
||||
|
||||
Конкретні конфігурації QuadPlane тут: [QuadPlane VTOL налаштування](../config_vtol/vtol_quad_configuration.md)
|
||||
|
||||
<!-- Nice to have detailed wiring infographic and instructions for different vehicle types. -->
|
||||
|
||||
## Подальша інформація
|
||||
|
||||
- [_Pixhawk 4 Mini_](../flight_controller/pixhawk4_mini.md)
|
||||
@@ -1,7 +0,0 @@
|
||||
# DroPix Польотний контролер (Призупинено)
|
||||
|
||||
<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
|
||||
|
||||
## Посадка
|
||||
|
||||
❏ 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))
|
||||
|
||||
## Очікувані результати
|
||||
|
||||
- Зліт повинен бути плавним, коли газ піднято
|
||||
- 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
|
||||
- Немає коливання в жодному з перерахованих режимів польоту
|
||||
- Після посадки, коптер не повинен підскакувати на землі
|
||||
Reference in New Issue
Block a user