mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-11-02 06:01:35 +08:00
New Crowdin translations - zh-CN
This commit is contained in:
Crowdin Bot
committed by
Hamish Willee
Hamish Willee
parent
8aecc7e588
commit
588fd9d684
@@ -85,9 +85,7 @@ Before using offboard mode with ROS 2, please spend a few minutes understanding
|
||||
### 旋翼机
|
||||
|
||||
- [px4_msgs::msg::TrajectorySetpoint](https://github.com/PX4/PX4-Autopilot/blob/main/msg/TrajectorySetpoint.msg)
|
||||
|
||||
- 支持以下输入组合：
|
||||
|
||||
- Position setpoint (`position` different from `NaN`). Non-`NaN` values of velocity and acceleration are used as feedforward terms for the inner loop controllers.
|
||||
- Velocity setpoint (`velocity` different from `NaN` and `position` set to `NaN`). Non-`NaN` values acceleration are used as feedforward terms for the inner loop controllers.
|
||||
- Acceleration setpoint (`acceleration` different from `NaN` and `position` and `velocity` set to `NaN`)
|
||||
@@ -95,18 +93,14 @@ Before using offboard mode with ROS 2, please spend a few minutes understanding
|
||||
- 所有值都是基于NED(北, 东, 地)坐标系，位置、速度和加速的单位分别为\[m\], \[m/s\] 和\[m/s^2\] 。
|
||||
|
||||
- [px4_msgs::msg::VehicleAttitudeSetpoint](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleAttitudeSetpoint.msg)
|
||||
|
||||
- 支持以下输入组合：
|
||||
|
||||
- quaternion `q_d` + thrust setpoint `thrust_body`.
|
||||
Non-`NaN` values of `yaw_sp_move_rate` are used as feedforward terms expressed in Earth frame and in \[rad/s\].
|
||||
|
||||
- 姿态四元数表示无人机机体坐标系FRD(前、右、下) 与NED坐标系之间的旋转。 这个推力是在无人机体轴FRD坐标系下，并归一化为 \[-1, 1\] 。
|
||||
|
||||
- [px4_msgs::msg::VehicleRatesSetpoint](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleRatesSetpoint.msg)
|
||||
|
||||
- 支持以下输入组合：
|
||||
|
||||
- `roll`, `pitch`, `yaw` and `thrust_body`.
|
||||
|
||||
- 所有值都表示在无人机体轴FRD坐标系下。 角速率(roll, pitch, yaw) 单位为\[rad/s\] ，thrust_body归一化为 \[-1, 1\]。
|
||||
@@ -116,7 +110,6 @@ Before using offboard mode with ROS 2, please spend a few minutes understanding
|
||||
下面的offboard控制模式会绕过所有PX4内部的控制环，应当非常谨慎地使用。
|
||||
|
||||
- [px4_msgs::msg::VehicleThrustSetpoint](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleThrustSetpoint.msg) + [px4_msgs::msg::VehicleTorqueSetpoint](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleTorqueSetpoint.msg)
|
||||
|
||||
- 支持以下输入组合：
|
||||
- `xyz` for thrust and `xyz` for torque.
|
||||
- 所有值都在无人机体轴 FRD 坐标系中表示，并且归一化为\[-1, 1\]。
|
||||
@@ -134,9 +127,7 @@ Before using offboard mode with ROS 2, please spend a few minutes understanding
|
||||
### 直升机/垂直起降
|
||||
|
||||
- [SET_POSITION_TARGET_LOCAL_NED](https://mavlink.io/en/messages/common.html#SET_POSITION_TARGET_LOCAL_NED)
|
||||
|
||||
- The following input combinations are supported: <!-- https://github.com/PX4/PX4-Autopilot/blob/main/src/lib/FlightTasks/tasks/Offboard/FlightTaskOffboard.cpp#L166-L170 -->
|
||||
|
||||
- Position setpoint (only `x`, `y`, `z`)
|
||||
- Velocity setpoint (only `vx`, `vy`, `vz`)
|
||||
- Acceleration setpoint (only `afx`, `afy`, `afz`)
|
||||
@@ -146,9 +137,7 @@ Before using offboard mode with ROS 2, please spend a few minutes understanding
|
||||
- PX4 supports the following `coordinate_frame` values (only): [MAV_FRAME_LOCAL_NED](https://mavlink.io/en/messages/common.html#MAV_FRAME_LOCAL_NED) and [MAV_FRAME_BODY_NED](https://mavlink.io/en/messages/common.html#MAV_FRAME_BODY_NED).
|
||||
|
||||
- [SET_POSITION_TARGET_GLOBAL_INT](https://mavlink.io/en/messages/common.html#SET_POSITION_TARGET_GLOBAL_INT)
|
||||
|
||||
- The following input combinations are supported: <!-- https://github.com/PX4/PX4-Autopilot/blob/main/src/lib/FlightTasks/tasks/Offboard/FlightTaskOffboard.cpp#L166-L170 -->
|
||||
|
||||
- Position setpoint (only `lat_int`, `lon_int`, `alt`)
|
||||
|
||||
- Velocity setpoint (only `vx`, `vy`, `vz`)
|
||||
@@ -172,11 +161,8 @@ Before using offboard mode with ROS 2, please spend a few minutes understanding
|
||||
### Fixed-wing
|
||||
|
||||
- [SET_POSITION_TARGET_LOCAL_NED](https://mavlink.io/en/messages/common.html#SET_POSITION_TARGET_LOCAL_NED)
|
||||
|
||||
- The following input combinations are supported (via `type_mask`): <!-- https://github.com/PX4/PX4-Autopilot/blob/main/src/lib/FlightTasks/tasks/Offboard/FlightTaskOffboard.cpp#L166-L170 -->
|
||||
|
||||
- Position setpoint (`x`, `y`, `z` only; velocity and acceleration setpoints are ignored).
|
||||
|
||||
- Specify the _type_ of the setpoint in `type_mask` (if these bits are not set the vehicle will fly in a flower-like pattern):
|
||||
::: info
|
||||
Some of the _setpoint type_ values below are not part of the MAVLink standard for the `type_mask` field.
|
||||
@@ -196,11 +182,8 @@ Before using offboard mode with ROS 2, please spend a few minutes understanding
|
||||
- PX4 supports the coordinate frames (`coordinate_frame` field): [MAV_FRAME_LOCAL_NED](https://mavlink.io/en/messages/common.html#MAV_FRAME_LOCAL_NED) and [MAV_FRAME_BODY_NED](https://mavlink.io/en/messages/common.html#MAV_FRAME_BODY_NED).
|
||||
|
||||
- [SET_POSITION_TARGET_GLOBAL_INT](https://mavlink.io/en/messages/common.html#SET_POSITION_TARGET_GLOBAL_INT)
|
||||
|
||||
- The following input combinations are supported (via `type_mask`): <!-- https://github.com/PX4/PX4-Autopilot/blob/main/src/lib/FlightTasks/tasks/Offboard/FlightTaskOffboard.cpp#L166-L170 -->
|
||||
|
||||
- Position setpoint (only `lat_int`, `lon_int`, `alt`)
|
||||
|
||||
- Specify the _type_ of the setpoint in `type_mask` (if these bits are not set the vehicle will fly in a flower-like pattern):
|
||||
|
||||
::: info
|
||||
@@ -225,11 +208,8 @@ Before using offboard mode with ROS 2, please spend a few minutes understanding
|
||||
### 无人车
|
||||
|
||||
- [SET_POSITION_TARGET_LOCAL_NED](https://mavlink.io/en/messages/common.html#SET_POSITION_TARGET_LOCAL_NED)
|
||||
|
||||
- The following input combinations are supported (in `type_mask`): <!-- https://github.com/PX4/PX4-Autopilot/blob/main/src/lib/FlightTasks/tasks/Offboard/FlightTaskOffboard.cpp#L166-L170 -->
|
||||
|
||||
- Position setpoint (only `x`, `y`, `z`)
|
||||
|
||||
- Specify the _type_ of the setpoint in `type_mask`:
|
||||
|
||||
::: info
|
||||
@@ -245,13 +225,11 @@ Before using offboard mode with ROS 2, please spend a few minutes understanding
|
||||
- PX4 supports the coordinate frames (`coordinate_frame` field): [MAV_FRAME_LOCAL_NED](https://mavlink.io/en/messages/common.html#MAV_FRAME_LOCAL_NED) and [MAV_FRAME_BODY_NED](https://mavlink.io/en/messages/common.html#MAV_FRAME_BODY_NED).
|
||||
|
||||
- [SET_POSITION_TARGET_GLOBAL_INT](https://mavlink.io/en/messages/common.html#SET_POSITION_TARGET_GLOBAL_INT)
|
||||
|
||||
- The following input combinations are supported (in `type_mask`): <!-- https://github.com/PX4/PX4-Autopilot/blob/main/src/lib/FlightTasks/tasks/Offboard/FlightTaskOffboard.cpp#L166-L170 -->
|
||||
- Position setpoint (only `lat_int`, `lon_int`, `alt`)
|
||||
|
||||
- Specify the _type_ of the setpoint in `type_mask` (not part of the MAVLink standard).
|
||||
值为：
|
||||
|
||||
- 下面的比特位没有置位，是正常表现。
|
||||
- 12288：悬停设定值（无人机足够接近设定值时会停止）。
|
||||
|
||||
@@ -279,7 +257,7 @@ _Offboard mode_ is affected by the following parameters:
|
||||
|
||||
## 开发者资源
|
||||
|
||||
Typically developers do not directly work at the MAVLink layer, but instead use a robotics API like [MAVSDK](https://mavsdk.mavlink.io/) or [ROS](http://www.ros.org/) (these provide a developer friendly API, and take care of managing and maintaining connections, sending messages and monitoring responses - the minutiae of working with _Offboard mode_ and MAVLink).
|
||||
Typically developers do not directly work at the MAVLink layer, but instead use a robotics API like [MAVSDK](https://mavsdk.mavlink.io/) or [ROS](https://www.ros.org/) (these provide a developer friendly API, and take care of managing and maintaining connections, sending messages and monitoring responses - the minutiae of working with _Offboard mode_ and MAVLink).
|
||||
|
||||
以下资源可能对开发者有用：
|
||||
|
||||
|
||||
Reference in New Issue
Block a user