diff --git a/docs/uk/SUMMARY.md b/docs/uk/SUMMARY.md index 13544e66de..8217225a0b 100644 --- a/docs/uk/SUMMARY.md +++ b/docs/uk/SUMMARY.md @@ -41,8 +41,9 @@ - [MindRacer BNF & RTF](complete_vehicles_mc/mindracer_BNF_RTF.md) - [MindRacer 210](complete_vehicles_mc/mindracer210.md) - [NanoMind 110](complete_vehicles_mc/nanomind110.md) - - [Holybro Kopis 2](complete_vehicles_mc/holybro_kopis2.md) - [Bitcraze Crazyflie 2.1](complete_vehicles_mc/crazyflie21.md) + - [Holybro Kopis 2](complete_vehicles_mc/holybro_kopis2.md) + - [Amov F410 Drone](complete_vehicles_mc/amov_F410_drone.md) - [Набори](frames_multicopter/kits.md) - [X500 v2 (Pixhawk 6C)](frames_multicopter/holybro_x500v2_pixhawk6c.md) - [X500 v2 (Pixhawk 5X)](frames_multicopter/holybro_x500V2_pixhawk5x.md) diff --git a/docs/uk/complete_vehicles_mc/amov_F410_drone.md b/docs/uk/complete_vehicles_mc/amov_F410_drone.md new file mode 100644 index 0000000000..86a0eaa4cf --- /dev/null +++ b/docs/uk/complete_vehicles_mc/amov_F410_drone.md @@ -0,0 +1,120 @@ +# Amovlab F410 Drone + +The [Amovlab F410](https://amovlab.com/product/detail?pid=32) is a medium-small drone platform with a 410mm wheelbase, equipped with Pixhawk 6c open-source flight controller, M8N-GPS, brushless motors, customized hard-case battery, Minihomer data link, optical flow ranging module, camera and other devices. +It can be used immediately after receiving, capable of meeting indoor/outdoor stable flight and teaching development requirements. + +![Amovlab f410 Hero Image](../../assets/airframes/multicopter/amovlab_f410/hero.jpg) + +:::info +The vehicle comes with everything needed to fly, including the battery and a remote control. +It is pre-installed with PX4 v1.15.4 at time of writing (a more recent version may be used in future). +::: + +## Загальний огляд + +1. Can serve as a basic flight platform, paired with Pixhawk 6C flight controller to achieve optical flow and GPS fusion positioning, enabling stable flight both indoors and outdoors. + It is one of the most stable basic flight platforms on the market. +2. Sturdy and reliable structure, with key parts made of aluminium alloy and carbon fibre, high strength and not easily damaged. +3. High stability, providing industrial-grade stability assurance, friendly to beginners, offering simplified version of interactive PC to enhance flight experience, can be initially used for outdoor aerial photography and image collection. +4. Has rich open-source code support, and can be used with PX4, FMT, and ArduPilot. +5. Video can be streamed from the UAV webcam to QGroundControl. +6. The drone has a lot of room and support for expansion, including for adding on-board computers, range sensors, and other payloads. + - Compatibility with many different components, providing platform for loading other user sensors, preparing for functional model development. + - Abundant power supply making it perfect for installing additional sensors and onboard computers (including 5 external output voltages, 3 channels of 5V, 2 channels of 12V). + - Pc-SDK support. + This is a PC-based Python SDK Library based on MAVSDK that significantly simplifies UAV development compared to other approaches, such as using ROS or using C++. All you need is a basic understanding of Python programming and some simple coordinate system principles! + - The [documentation](https://docs.amovlab.com/f450-v6c-wiki/#/en/) shows many of the options. +7. Quasi-smart battery. The battery has a hard housing design that makes easy to install and remove. + It provides accurate power estimates, but does not have some more advanced "smart battery" features. + +## Де купити + +- [Amovlab F410 Drone](https://amovlab.com/product/detail?pid=32) + +## Документація + +### Характеристики + +| Специфікація | F410_V6C Flight Platform | +| :---------------------------------------------------: | :--------------------------------------------------------------------------------------------------------------------------------------------: | +| **Aircraft** | | +| Розміри | Length 290mm × Width 290mm × Height 240mm (Wheelbase 410mm) | +| Empty Weight | 1056g | +| Max Takeoff Weight | 2200g | +| Max Ascent Speed | 1.5m/s | +| Max Descent Speed | 0.7m/s | +| Max Horizontal Speed | 10m/s | +| Max Hovering Time | 21min | +| Max Tilt Angle | 30° | +| Operating Temperature | 6℃-40℃ | +| Hovering Accuracy | M8N GPS Vertical ±0.5m M8N GPS Horizontal ±0.8m | +| Hovering Accuracy | RTK Vertical ±0.1m RTK Horizontal ±0.15m | +| **Flight Control System** | | +| Процесор | FMU: STM32H743; IO Processor: STM32F103 | +| Accelerometer | BMI055/ICM-42688-P | +| Gyroscope | BMI055/ICM-42688-P | +| Магнітометр | IST8310 | +| Барометр | MS5611 | +| Вага | 59.3g | +| Розміри | Length 84.8mm × Width 44mm × Height 12.4mm | +| **Perception** | | +| Optical Flow & Rangefinder Module | | +| Вага | 5.0g | +| Розміри | Length 29mm × Width 16.5mm × Height 15mm | +| Range Measurement | 0.01-8m | +| Ranging FOV | 6° | +| Optical Flow FOV | 42° | +| Споживання електроенергії | 500mW | +| Operating Voltage | 4.0-5.5V | +| Optical Flow Working Distance | > 80mm | +| Output Interface | UART | +| **Data Link** | | +| Data Link Solution | MINI HOMER | +| Смуга частот | Sub 1G Band | +| Operating Voltage | 12V | +| Max Effective Range | 1200m | +| **Camera** | | +| Модель | IVG-G4 | +| Video Processing | H.265+ Encoding, Dual Streams, AVI Format | +| Video Output | Main Stream: 2560×1440@18fps, 2304×1296@20fps；Sub Stream: 800×448@25fps | +| Operating Voltage | 12V | +| Розміри | Length 38mm × Width 38mm | +| **Battery** | | +| Модель | FB45 | +| Dimensions (L×W×H) | Length 130mm × Width 65mm × Height 40mm | +| Вага | 470g | +| Charge Limit Voltage | 16.8V | +| Nominal Voltage | 14.8V | +| Rated Capacity | 5000mAh | +| Rated Energy | 74Wh | +| Налаштування | 4s 1P | +| **Charger** | | +| Input Voltage | DC:9V-12V | +| Max Output Power | 25W | +| Max Output Current | 1500mA | +| Display Accuracy | ±10mV | +| Розміри | Length 81mm × Width 50mm × Height 20mm | +| Вага | 76g | +| **Remote Controller** | | +| Operating Voltage | 4.5V-9V | +| Channels | 8 | +| Transmit Power | ＜ 10mW | +| Вага | 310g | +| Dimensions (L×W×H) | Length 179mm × Width 81mm × Height 161mm | + +## Посібники + +- Tutorials [English](https://docs.amovlab.com/f450-v6c-wiki/#/en/)/[Chinese](https://docs.amovlab.com/F450-V6C-wiki/#/src/%E8%A7%84%E6%A0%BC%E5%8F%82%E6%95%B0/%E8%A7%84%E6%A0%BC%E5%8F%82%E6%95%B0) (docs.amovlab.com/) + +## Upgrading + +Amovlab previously supplied this vehicle with PX4 v1.13. + +In order to upgrade to PX4 v1.15, you should select the [X500 airframe](../config/airframe.md) and import [this parameter file](https://github.com/PX4/PX4-Autopilot/blob/main/docs/assets/airframes/multicopter/amovlab_f410/amovlabf410_drone_v1.15.4.params) to apply the new [actuator output configuration](../config/actuators.md) (used from PX4 v1.14). +Then retune as necessary. + +Contact Amovlab for information about upgrading to other versions. + +## Відео + + diff --git a/docs/uk/complete_vehicles_mc/index.md b/docs/uk/complete_vehicles_mc/index.md index fee2f826aa..3eefcc7615 100644 --- a/docs/uk/complete_vehicles_mc/index.md +++ b/docs/uk/complete_vehicles_mc/index.md @@ -24,6 +24,7 @@ - [ModalAI Sentinel](https://www.modalai.com/sentinel) - [MindRacer 210](../complete_vehicles_mc/mindracer210.md) - [NanoMind 110](../complete_vehicles_mc/nanomind110.md) +- [Amovlab F410](../complete_vehicles_mc/amov_F410_drone.md) ## Сумісні з PX4 diff --git a/docs/uk/debug/gdb_debugging.md b/docs/uk/debug/gdb_debugging.md index f52367c1ec..cf234ec69f 100644 --- a/docs/uk/debug/gdb_debugging.md +++ b/docs/uk/debug/gdb_debugging.md @@ -54,6 +54,30 @@ To avoid having to type all commands to connect in GDB each time, you can write - [MCU Eclipse/J-Link Debugging for PX4](eclipse_jlink.md). - [Visual Studio Code IDE (VSCode)](../dev_setup/vscode.md). +## Відео + +The following video provides an overview of the tooling available for advanced debugging of PX4 via GDB. +It was presented at the PX4 Developer Conference 2023. + + + +**Overview:** The inspection tools built into PX4 via Mavlink Shell (NSH) as well as interpretation of the PX4 uLog after a flight require PX4 to still be functioning. However, the most problematic bugs often manifest themselves in a (partially) hanging or crashed system. Therefore, we present the open-source Embedded Debug Tools project, which manages and configures probe, debugging and analysis tools for PX4 and NuttX: + +- Debug interfaces (SWD) and the associated debug probes (J-Link, STLink) and libraries (JLinkGDBServer, OpenOCD). +- How to install and configure `arm-none-eabi-gdb(-py3)` for debugging your ELF. +- Commonly used GDB commands and scripts. +- Advanced GDB scripting via its Python API. +- Inspection of NuttX RTOS component internals: tasks, semaphores, scheduler. +- Inspecting peripheral state with CMSIS-SVD files and custom visualizations. +- Coredumping for post-mortem debugging via CrashDebug. +- Hardfault analysis in a live system and via the hardfault log. +- Remote GDB scripting via the Machine Interface. +- Automated HiL testing of PX4 via combined GDB and NSH scripting. +- ITM profiling over SWO pin using Orbuculum. +- Thread/IRQ/Workqueue/Heap visualization and latency analysis using perfetto. +- High-bandwidth ETM tracing over TRACE pins: J-Trace and ORBtrace mini. +- We conclude with an overview of interesting related project and an outlook on the future of PX4 debugging. + ## Вбудовані інструменти налагодження The [Embedded Debug Tools](https://pypi.org/project/emdbg/) connect several software and hardware debugging tools together in a user friendly Python package to more easily enable advanced use cases for ARM Cortex-M microcontrollers and related devices. diff --git a/docs/uk/debug/gdb_hardfault.md b/docs/uk/debug/gdb_hardfault.md index 79874dfaac..17a31f12f8 100644 --- a/docs/uk/debug/gdb_hardfault.md +++ b/docs/uk/debug/gdb_hardfault.md @@ -10,14 +10,21 @@ -## Відлагодження важких відмов в NuttX +--- -Типовий сценарій, який може спричинити важку помилку, - це коли процесор перезаписує стек, а потім процесор повертається до недійсної адреси зі стеку. -Це може бути спричинено помилкою в коді, де дикий вказівник порушує стек, або інша задача перезаписує стек цієї задачі. +The following video provides an overview of the tooling available for advanced debugging of PX4 via GDB (including hard fault debugging). +It was presented at the PX4 Developer Conference 2023. -- NuttX підтримує два стеки: стек IRQ для обробки переривань та стек користувача -- Стек зростає вниз. - Таким чином, найвища адреса в наведеному нижче прикладі - 0x20021060, розмір - 0x11f4 (4596 байтів), і, відповідно, найнижча адреса - 0x2001fe6c. + + +## Debugging Hard Faults in NuttX + +A typical scenario that can cause a hard fault is when the processor overwrites the stack and then the processor returns to an invalid address from the stack. +This may be caused by a bug in code were a wild pointer corrupts the stack, or another task overwrites this task's stack. + +- NuttX maintains two stacks: The IRQ stack for interrupt processing and the user stack +- The stack grows downward. + So the highest address in the example below is 0x20021060, the size is 0x11f4 (4596 bytes) and consequently the lowest address is 0x2001fe6c. ```sh Assertion failed at file:armv7-m/up_hardfault.c line: 184 task: ekf_att_pos_estimator @@ -73,7 +80,7 @@ arm-none-eabi-gdb build/px4_fmu-v2_default/px4_fmu-v2_default.elf ``` Then in the GDB prompt, start with the last instructions in R8, with the first address in flash (recognizable because it starts with `0x080`, the first is `0x0808439f`). -Виконання здійснюється зліва направо. So one of the last steps before the hard fault was when `mavlink_log.c` tried to publish something, +The execution is left to right. So one of the last steps before the hard fault was when `mavlink_log.c` tried to publish something, ```sh (gdb) info line *0x0808439f diff --git a/docs/uk/frames_vtol/vtol_tiltrotor_omp_hobby_zmo_fpv.md b/docs/uk/frames_vtol/vtol_tiltrotor_omp_hobby_zmo_fpv.md index 29a3059385..8bc091b014 100644 --- a/docs/uk/frames_vtol/vtol_tiltrotor_omp_hobby_zmo_fpv.md +++ b/docs/uk/frames_vtol/vtol_tiltrotor_omp_hobby_zmo_fpv.md @@ -338,9 +338,11 @@ The airspeed sensor can be enabled in the [Parameters](../advanced_config/parame ![Tilt Servo adjustment](../../assets/airframes/vtol/omp_hobby_zmo_fpv/tilt-limits-01.jpg) -3. Налаштуйте мінімальне або максимальне значення, на яке сервопривід спрямовується вертикально вгору. +3. Adjust the minimum (or, if revesed: maximum) value such that the rotor thrust can point backward (needed for proper yaw allocation in Multicopter mode). -4. Then type `commander transition` into the MAVLink shell to adjust the horizontal position. +4. Adjust the parameter `VT_TILT_MC` such that the rotors point exactly upwards when given zero input. + +5. Then type `commander transition` into the MAVLink shell to adjust the horizontal position. #### Керуючі поверхні @@ -368,8 +370,8 @@ The direction can't be changed in software because the vehicle does not use [DSh ## Перший політ - Check tilt rotor reactions in [Stabilized mode](../flight_modes_fw/stabilized.md). Утримуйте палицю керування газом в мінімумі і помістіть транспортний засіб на землю. Для активації сервоприводів нахилу вам потрібно озброїти транспортний засіб. - - Yaw the vehicle to the right (nose to the right) -> left motor should tilt down - - Yaw the vehicle to the left (nose to the left) -> right motor should tilt down + - Command a yaw to the right (nose to the right) -> left motor should tilt forward, right motor should tilt backward + - Command a yaw to the left (nose to the left) -> left motor should tilt backward, right motor should tilt forward - Встановіть пропелери. - Перевірте центр мас (GG). Перемикайте транспортний засіб у режим польоту вперед. diff --git a/docs/uk/index.md b/docs/uk/index.md index 5d8fae2a3d..575dfbd584 100644 --- a/docs/uk/index.md +++ b/docs/uk/index.md @@ -133,7 +133,7 @@ The calendar default timezone is Central European Time (CET). The PX4 flight stack is hosted under the governance of the [Dronecode Project](https://www.dronecode.org/). -Dronecode Logo Linux Foundation Logo +Dronecode Logo Linux Foundation Logo
 
diff --git a/docs/uk/modules/modules_driver.md b/docs/uk/modules/modules_driver.md index c31f7cfa39..9542c16fc4 100644 --- a/docs/uk/modules/modules_driver.md +++ b/docs/uk/modules/modules_driver.md @@ -2,16 +2,16 @@ Підкатегорії: -- [Imu](modules_driver_imu.md) -- [Distance Sensor](modules_driver_distance_sensor.md) -- [Ins](modules_driver_ins.md) - [Airspeed Sensor](modules_driver_airspeed_sensor.md) -- [Baro](modules_driver_baro.md) - [Transponder](modules_driver_transponder.md) +- [Imu](modules_driver_imu.md) - [Rpm Sensor](modules_driver_rpm_sensor.md) -- [Optical Flow](modules_driver_optical_flow.md) -- [Camera](modules_driver_camera.md) - [Magnetometer](modules_driver_magnetometer.md) +- [Camera](modules_driver_camera.md) +- [Distance Sensor](modules_driver_distance_sensor.md) +- [Optical Flow](modules_driver_optical_flow.md) +- [Ins](modules_driver_ins.md) +- [Baro](modules_driver_baro.md) ## MCP23009 diff --git a/docs/uk/modules/modules_driver_distance_sensor.md b/docs/uk/modules/modules_driver_distance_sensor.md index c07bd2b777..830d0bd8c1 100644 --- a/docs/uk/modules/modules_driver_distance_sensor.md +++ b/docs/uk/modules/modules_driver_distance_sensor.md @@ -218,11 +218,11 @@ lightware_sf45_serial [arguments...] ## ll40ls -Source: [drivers/distance_sensor/ll40ls](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/ll40ls) +Source: [drivers/distance_sensor/ll40ls_pwm](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/ll40ls_pwm) ### Опис -Драйвер шини I2C для далекомірів LidarLite. +PWM driver for LidarLite rangefinders. Датчик/драйвер має бути увімкнений за допомогою параметра SENS_EN_LL40LS. @@ -235,23 +235,13 @@ Source: [drivers/distance_sensor/ll40ls](https://github.com/PX4/PX4-Autopilot/tr ``` ll40ls [arguments...] Commands: - start - [-I] Internal I2C bus(es) - [-X] External I2C bus(es) - [-b ] board-specific bus (default=all) (external SPI: n-th bus - (default=1)) - [-f ] bus frequency in kHz - [-q] quiet startup (no message if no device found) - [-a ] I2C address - default: 98 + start Start driver [-R ] Sensor rotation - downward facing by default default: 25 - regdump + status Print driver status information - stop - - status print status info + stop Stop driver ``` ## mappydot @@ -503,8 +493,6 @@ tfmini [arguments...] stop Stop driver - test Test driver (basic functional tests) - status Print driver status ``` diff --git a/docs/uk/modules/modules_driver_magnetometer.md b/docs/uk/modules/modules_driver_magnetometer.md index 4fa7fc07fe..cb3b36031e 100644 --- a/docs/uk/modules/modules_driver_magnetometer.md +++ b/docs/uk/modules/modules_driver_magnetometer.md @@ -225,38 +225,6 @@ ist8310 [arguments...] status print status info ``` -## iis2mdc - -Source: [drivers/magnetometer/iis2mdc](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/magnetometer/iis2mdc) - - - -### Використання - -``` -iis2mdc [arguments...] - Commands: - start - [-I] Internal I2C bus(es) - [-X] External I2C bus(es) - [-s] Internal SPI bus(es) - [-S] External SPI bus(es) - [-b ] board-specific bus (default=all) (external SPI: n-th bus - (default=1)) - [-c ] chip-select pin (for internal SPI) or index (for external SPI) - [-m ] SPI mode - [-f ] bus frequency in kHz - [-q] quiet startup (no message if no device found) - [-a ] I2C address - default: 30 - [-R ] Rotation - default: 0 - - stop - - status print status info -``` - ## lis3mdl Source: [drivers/magnetometer/lis3mdl](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/magnetometer/lis3mdl) diff --git a/docs/uk/peripherals/gripper_servo.md b/docs/uk/peripherals/gripper_servo.md index b901354b31..b7ebd2e0eb 100644 --- a/docs/uk/peripherals/gripper_servo.md +++ b/docs/uk/peripherals/gripper_servo.md @@ -8,7 +8,8 @@ This section explains how to connect and configure a [gripper](../peripherals/gr Наступні сервоприводи, підключені за допомогою ШІМ, були протестовані з PX4: -- [R4-EM-R22-161 : push-to-close latch electronic lock](https://southco.com/en_any_int/r4-em-r22-161). +- [R4-EM-R22-161 push-to-close latch electronic lock](https://southco.com/en_any_int/r4-em-r22-161) (SouthCo) +- [FluxGrip FG40 electro-permanent magnetic gripper](http://zubax.com/fg40) (Zubax) ## Підключення маніпулятора з керуванням ШІМ diff --git a/docs/uk/sim_gazebo_gz/multi_vehicle_simulation.md b/docs/uk/sim_gazebo_gz/multi_vehicle_simulation.md index f675417698..9d731e5661 100644 --- a/docs/uk/sim_gazebo_gz/multi_vehicle_simulation.md +++ b/docs/uk/sim_gazebo_gz/multi_vehicle_simulation.md @@ -35,31 +35,35 @@ ARGS ./build/px4_sitl_default/bin/px4 [-i ] [Multiple vehicles with ROS 2](../ros2/multi_vehicle.md) are possible. - First follow the installation instructions for [Gazebo](../sim_gazebo_gz/index.md). + - Then configure your system for [ROS 2 / PX4 operations](../ros2/user_guide.md#installation-setup). + - В різних терміналах вручну запустіть симуляцію декількох рухомих засобів. This example spawns 2 X500 Quadrotors and aFPX fixed-wing. -:::info -Note that in the first terminal you **do not** specify standalone mode. The first terminal will start the gz-server and the other two -instances will connect to it. -**Terminal 1** + ::: info + Note that in the first terminal you **do not** specify standalone mode. The first terminal will start the gz-server and the other two + instances will connect to it. + ::: -```sh -PX4_SYS_AUTOSTART=4001 PX4_SIM_MODEL=gz_x500 ./build/px4_sitl_default/bin/px4 -i 1 -``` + **Terminal 1** -**Terminal 2** + ```sh + PX4_SYS_AUTOSTART=4001 PX4_SIM_MODEL=gz_x500 ./build/px4_sitl_default/bin/px4 -i 1 + ``` -```sh -PX4_GZ_STANDALONE=1 PX4_SYS_AUTOSTART=4001 PX4_GZ_MODEL_POSE="0,1" PX4_SIM_MODEL=gz_x500 ./build/px4_sitl_default/bin/px4 -i 2 -``` + **Terminal 2** -**Terminal 3** + ```sh + PX4_GZ_STANDALONE=1 PX4_SYS_AUTOSTART=4001 PX4_GZ_MODEL_POSE="0,1" PX4_SIM_MODEL=gz_x500 ./build/px4_sitl_default/bin/px4 -i 2 + ``` -```sh -PX4_GZ_STANDALONE=1 PX4_SYS_AUTOSTART=4003 PX4_GZ_MODEL_POSE="0,2" PX4_SIM_MODEL=gz_rc_cessna ./build/px4_sitl_default/bin/px4 -i 3 -``` + **Terminal 3** + + ```sh + PX4_GZ_STANDALONE=1 PX4_SYS_AUTOSTART=4003 PX4_GZ_MODEL_POSE="0,2" PX4_SIM_MODEL=gz_rc_cessna ./build/px4_sitl_default/bin/px4 -i 3 + ``` - Запустіть агента: