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[Docs] Fix links and tidy config (#25184)
* Fix links and tidy config * Add updated lock files
This commit is contained in:
Hamish Willee
@@ -377,7 +377,7 @@ The following functions can only be applied to FMU outputs:
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Enabled when [`PPS_CAP_ENABLE==0`](../advanced_config/parameter_reference.md#PPS_CAP_ENABLE)
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::: info
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The functions are defined in source at [/src/lib/mixer_module/output_functions.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/lib/mixer_module/output_functions.yaml).
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The functions are defined in source at [/src/lib/mixer_module/output_functions.yaml](https://github.com/PX4/PX4-Autopilot/tree/main/src/lib/mixer_module/output_functions.yaml).
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This list is correct at PX4 v1.15.
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:::
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@@ -501,7 +501,6 @@ For each motor:
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- If the motor spins, reduce the corresponding PWM `disarmed` value in the [Actuator Outputs](#actuator-outputs) section to below the level at which it still spins.
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2. Slowly move the slider up until it snaps to the _minimum_ position.
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In this position the motor is set to the outputs `minimum` value.
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- Verify that the motor is spinning very slowly in this position.
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- If the motor is not spinning, or spinning too fast you will need to adjust the corresponding PWM `minimum` value in the [Actuator Outputs](#actuator-outputs) such that the motors barely spin.
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@@ -511,7 +510,6 @@ For each motor:
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:::
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3. Increase the slider value to a level where you can verify that the motor is spinning in the correct direction and that it would give a positive thrust in the expected direction.
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- The expected thrust direction can vary by vehicle type.
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For example in multicopters the thrust should always point upwards, while in a fixed-wing vehicle the thrust will push the vehicle forwards.
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- For VTOL, thrust should point upwards when the Tilt Servo is at 0 degrees as defined the [Tilt Servo Convention](#tilt-servo-coordinate-system).
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@@ -549,7 +547,6 @@ To set these up:
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2. Move the slider for the surface upwards (positive command) and verify that it moves in the direction defined in the [Control Surface Convention](#control-surface-deflection-convention).
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- Ailerons, elevons, V-Tails, A-Tails, and other horizontal surfaces should move up.
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- Rudders and other "purely vertical" surfaces should move right.
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@@ -560,7 +557,6 @@ To set these up:
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If the control surface moves in the opposite direction, click on the `Rev Range` checkbox to reverse the range.
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3. Move the slider again to the middle and check if the Control Surfaces are aligned in the neutral position of the wing.
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- If it is not aligned, you can set the **Trim** value for the control surface.
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::: info
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@@ -7,7 +7,7 @@ Most other steps can be done out of order, except for [tuning](#tuning), which m
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## Preconditions
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Before starting you should [Download QGroundControl](https://qgroundcontrol.com/downloads/) and install it on your **desktop** computer.
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Before starting you should [Download QGroundControl](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/getting_started/download_and_install.html) and install it on your **desktop** computer.
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Then open the QGC application menu ("Q" icon in the top-left corner) and choose **Vehicle Setup** in the _Select Tool_ popup:
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@@ -2,7 +2,7 @@
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A [computer joystick](https://en.wikipedia.org/wiki/Joystick) or gamepad connected through _QGroundControl_ can be used to manually control the vehicle (_instead_ of using an [RC Transmitter](../config/radio.md)).
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This approach may be used by manual control units that have an integrated ground control station (like the _UAVComponents_ [MicroNav](https://uxvtechnologies.com/ground-control-stations/micronav/) shown below).
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This approach may be used by manual control units that have an integrated ground control station (like the _UAVComponents_ [MicroNav](https://www.uxvtechnologies.com/ground-control-stations/micronav) shown below).
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Joysticks are also commonly used to allow developers to fly the vehicle in simulation.
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@@ -193,15 +193,16 @@ The sections below cover first the trigger and then the failsafe action taken by
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### Position Loss Failsafe Trigger
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There are basically two mechanisms in PX4 to trigger position failsafes:
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- A timeout since the last sensor data was fused that provides direct speed or horizontal position measurements. Sensors that fall into that category are: GNSS, optical flow, airspeed, VIO, auxiliary global position.
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- The estimated horizontal position accuracy exceeds a certain threshold. This check is only done on hovering systems (rotary wing vehicles or VTOLs in hover phase).
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The relevant parameters shown below.
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| Parameter | Description |
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| -------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------- |
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| Parameter | Description |
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| -------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------- |
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| <a id="EKF2_NOAID_TOUT"></a>[EKF2_NOAID_TOUT](../advanced_config/parameter_reference.md#EKF2_NOAID_TOUT) | Maximum inertial dead-reckoning time, so the time after the last data sample was received of any sensor that constrains the velocity drift [microseconds]. |
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| <a id="COM_POS_FS_EPH"></a>[COM_POS_FS_EPH](../advanced_config/parameter_reference.md#COM_POS_FS_EPH) | Horizontal position error threshold for hovering vehicles (Multicopters and VTOLs in hover). Fixed-wing vehicles have this value set to infinity.|
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| <a id="COM_POS_FS_EPH"></a>[COM_POS_FS_EPH](../advanced_config/parameter_reference.md#COM_POS_FS_EPH) | Horizontal position error threshold for hovering vehicles (Multicopters and VTOLs in hover). Fixed-wing vehicles have this value set to infinity. |
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### Position Loss Failsafe Action
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@@ -318,8 +319,8 @@ The [failure detector](#failure-detector), if [enabled](#CBRK_FLIGHTTERM), can a
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The external trigger system must be connected to flight controller port AUX5 (or MAIN5 on boards that do not have AUX ports), and is configured using the parameters below.
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::: info
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External ATS is required by [ASTM F3322-18](https://webstore.ansi.org/Standards/ASTM/ASTMF332218).
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One example of an ATS device is the [FruityChutes Sentinel Automatic Trigger System](https://fruitychutes.com/uav_rpv_drone_recovery_parachutes/sentinel-automatic-trigger-system.htm).
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External ATS is required by [ASTM F3322-18](https://webstore.ansi.org/standards/astm/ASTMF332218).
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One example of an ATS device is the [FruityChutes Sentinel Automatic Trigger System (SATS-MINI)](https://fruitychutes.com/uav_rpv_drone_recovery_parachutes/sentinel-automatic-trigger-system).
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:::
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| Parameter | Description |
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