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New Crowdin translations - zh-CN

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2025-07-07 09:04:54 +10:00
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docs/zh/simulation/community_supported_simulators.md
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@@ -18,4 +18,4 @@ Questions about these tools should be raised on the [discussion forums](../contr
| [FlightGear](../sim_flightgear/index.md) | <p>A simulator that provides physically and visually realistic simulations. In particular it can simulate many weather conditions, including thunderstorms, snow, rain and hail, and can also simulate thermals and different types of atmospheric flows. [Multi-vehicle simulation](../sim_flightgear/multi_vehicle.md) is also supported.</p> <p><strong>Supported Vehicles:</strong> Plane, Autogyro, Rover</p> |
| [JMAVSim](../sim_jmavsim/index.md) | <p>A simple multirotor/quad simulator. This was previously part of the PX4 development toolchain but was removed in favour of [Gazebo](../sim_gazebo_gz/index.md).</p> <p><strong>Supported Vehicles:</strong> Quad</p> |
| [JSBSim](../sim_jsbsim/index.md) | <p>A simulator that provides advanced flight dynamics models. This can be used to model realistic flight dynamics based on wind tunnel data.</p> <p><strong>Supported Vehicles:</strong> Plane, Quad, Hex</p> |
| [AirSim](../sim_airsim/index.md) | <p>A cross platform simulator that provides physically and visually realistic simulations. This simulator is resource intensive, and requires a very significantly more powerful computer than the other simulators described here.</p><p><strong>Supported Vehicles:</strong> Iris (MultiRotor model and a configuration for PX4 QuadRotor in the X configuration).</p> |
| [AirSim](../sim_airsim/index.md) | <p>A cross platform simulator that provides physically and visually realistic simulations. This simulator is resource intensive, and requires a significantly more powerful computer than the other simulators described here.</p><p><strong>Supported Vehicles:</strong> Iris (MultiRotor model and a configuration for PX4 QuadRotor in the X configuration).</p> |
docs/zh/simulation/hitl.md
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@@ -22,7 +22,6 @@ PX4 支持多轴( [jMAVSim](../sim_jmavsim/index.md)或[Gazebo Classic](../sim_g
| ---------------------------------------------------------------------------------------------------------------- | --------------- | -------------- | ------- |
| [HIL Quadcopter X](../airframes/airframe_reference.md#copter_simulation_hil_quadcopter_x) | 1002 | Y | Y |
| [HIL Standard VTOL QuadPlane](../airframes/airframe_reference.md#vtol_standard_vtol_hil_standard_vtol_quadplane) | 4001 | Y | |
| [Generic Quadrotor x](../airframes/airframe_reference.md#copter_quadrotor_x_generic_quadcopter) copter | 4011 | Y | Y |
<a id="simulation_environment"></a>
@@ -34,7 +33,7 @@ The simulator acts as gateway to share MAVLink data between PX4 and _QGroundCont
:::info
The simulator can also be connected via UDP if the flight controller has networking support and uses a stable, low-latency connection (e.g. a wired Ethernet connection - WiFi is usually not sufficiently reliable).
For example, this configuration has been tested with PX4 running on a Raspberry Pi connected via Ethernet to the computer (a startup configuration that includes the command for running jMAVSim can be found [here](https://github.com/PX4/PX4-Autopilot/blob/main/posix-configs/rpi/px4_hil.config)).
For example, this configuration has been tested with PX4 running on a Raspberry Pi connected via Ethernet to the computer (a startup configuration that includes the command for running jMAVSim can be found in [px4_hil.config](https://github.com/PX4/PX4-Autopilot/blob/main/posix-configs/rpi/px4_hil.config)).
:::
The diagram below shows the simulation environment:
@@ -60,34 +59,59 @@ Core modules like commander and sensors have HITL modes at startup that bypass s
## 配置 HITL
## Check if HITL is in Firmware
The module required for HITL ([`pwm_out_sim`](../modules/modules_driver.md#pwm-out-sim)) is not built into all PX4 firmware by default.
To check if the module is present on your Flight Controller:
1. Open QGroundControl
2. Open **Analyze Tools > Mavlink Console**.
3. Type the following command in the console:
```sh
pwm_out_sim status
```
4. If the returned value is `nsh: pwm_out_sim: command not found`, then you don't have the module installed.
If `pwm_out_sim` is not present you will need to add it to the firmware in order to use HITL simulation.
### Adding HITL modules to the Firmware
Add the following key to the configuration file for your flight controller to include the required module (for an example see [boards/px4/fmu-v6x/default.px4board](https://github.com/PX4/PX4-Autopilot/blob/main/boards/px4/fmu-v6x/default.px4board)).
Then re-build the firmware and flash it to the board.
```text
CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
```
You can alternatively use the following command to launch a GUI configuration tool, and interactively enable them at the path: **modules > Simulation > pwm_out_sim**.
For example, to update fmu-v6x you would use:
```sh
make px4_fmu-v6x boardconfig
```
### PX4 配置
1. Connect the autopilot directly to _QGroundControl_ via USB.
2. 激活 HITL 模式
1. Open **Setup > Safety** section.
2. Enable HITL mode by selecting **Enabled** from the _HITL Enabled_ list:
![QGroundControl HITL configuration](../../assets/gcs/qgc_hitl_config.png)
3. 选择机架
2. 选择机架
1. Open **Setup > Airframes**
2. Select a [compatible airframe](#compatible_airframe) you want to test.
Then click **Apply and Restart** on top-right of the _Airframe Setup_ page.
![Select Airframe](../../assets/gcs/qgc_hil_config.png)
4. 如有必要, 校准您的 RC 遥控器 或操纵杆。
5. 设置 UDP
3. 如有必要, 校准您的 RC 遥控器 或操纵杆。
4. 设置 UDP
1. Under the _General_ tab of the settings menu, uncheck all _AutoConnect_ boxes except for **UDP**.
![QGC Auto-connect settings for HITL](../../assets/gcs/qgc_hitl_autoconnect.png)
6. (可选) 配置操纵杆和故障保护。
5. (可选) 配置操纵杆和故障保护。
Set the following [parameters](../advanced_config/parameters.md) in order to use a joystick instead of an RC remote control transmitter:
- [COM_RC_IN_MODE](../advanced_config/parameter_reference.md#COM_RC_IN_MODE) to "Joystick/No RC Checks". 这允许操纵杆输入并禁用 RC 输入检查。