- The instructions above tune the vehicle in [Altitude mode](../flight_modes_mc/altitude.md).
- You can instead takeoff in [Takeoff mode](../flight_modes_mc/takeoff.md) and tune in [Position mode](../flight_modes_mc/position.md) if the vehicle is is _known_ to be stable in these modes.
+ You can instead takeoff in [Takeoff mode](../flight_modes_mc/takeoff.md) and tune in [Position mode](../flight_modes_mc/position.md) if the vehicle is _known_ to be stable in these modes.
@@ -243,7 +243,7 @@ To map a switch:
2. Set [RC_MAP_AUX1](../advanced_config/parameter_reference.md#RC_MAP_AUX1) to match the RC channel for your switch (you can use any of `RC_MAP_AUX1` to `RC_MAP_AUX6`).
3. Set [FW_AT_MAN_AUX](../advanced_config/parameter_reference.md#FW_AT_MAN_AUX) to the selected channel (i.e. `1: Aux 1` if you mapped `RC_MAP_AUX1`).
-The auto tuner will be disabled when the switch is below `0.5` (on the manual control setpoint range of of `[-1, 1]`) and enabled when the switch channel is above `0.5`.
+The auto tuner will be disabled when the switch is below `0.5` (on the manual control setpoint range of `[-1, 1]`) and enabled when the switch channel is above `0.5`.
If using an RC AUX switch to enable autotuning, make sure to [select the tuning axes](#select-tuning-axis) before flight.
diff --git a/docs/zh/config/joystick.md b/docs/zh/config/joystick.md
index c92513ecf9..38e4306ba3 100644
--- a/docs/zh/config/joystick.md
+++ b/docs/zh/config/joystick.md
@@ -23,8 +23,7 @@ Information about how to set up a joystick is covered in: [QGroundControl > Joys
总结：
- Open _QGroundControl_
-- Set the parameter [COM_RC_IN_MODE=1](../advanced_config/parameter_reference.md#COM_RC_IN_MODE) - `Joystick`
- - See [Parameters](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/setup_view/parameters.html) for information about setting parameters
- - Setting the parameter to `2` or `3` also enables Joystick under some circumstances.
+- [Enable a `COM_RC_IN_MODE` mode that allows Joystick](../config/manual_control.md#px4-configuration).
+ The default `RC or MAVLink keep first` should work if you plan to only have a Joystick connected.
- Connect the joystick
- Configure the connected joystick in: **Vehicle Setup > Joystick**.
diff --git a/docs/zh/config/manual_control.md b/docs/zh/config/manual_control.md
new file mode 100644
index 0000000000..755414ffe6
--- /dev/null
+++ b/docs/zh/config/manual_control.md
@@ -0,0 +1,58 @@
+# Manual Control
+
+Pilots can control a vehicle manually using either a [Radio Control (RC) System](../getting_started/rc_transmitter_receiver.md) or a [Joystick/Gamepad](../config/joystick.md) controller connected via QGroundControl.
+PX4 also supports using RC and/or multiple Joysticks, with fallback from one type to the other.
+
+ 
+
+## 综述
+
+_Joystick_ setups use QGroundControl to encode the control information from a "standard" computer gaming joystick into [MAVLink messages](https://mavlink.io/en/services/manual_control.html) that are sent to the vehicle over the (shared) telemetry radio channel.
+They are often used in integrated GCS/manual control systems because it is cheaper and easier to integrate a joystick than a separate radio system.
+
+Joysticks are suitable for most applications provided your telemetry channel has a high enough bandwidth/low latency.
+They are perfect for flying the PX4 simulator, because you can plug them directly into your ground control computer and start flying.
+
+_RC systems_ use a dedicated ground-based radio transmitter and vehicle-based receiver for sending control information.
+They offer lower latency than Joysticks, and are very highly recommended when first tuning/testing a new frame design, when flying racers/acrobatically, and in other cases where low latency is important.
+They can also be useful as a robust backup link for safety.
+Note RC systems usually require significantly more configuration and calibration, much of which may be brand or model-specific.
+
+:::info
+PX4 does not _require_ a manual control system for autonomous flight modes.
+:::
+
+## PX4 配置
+
+:::tip
+This section explains how to configure PX4 to use and prioritise various manual control sources (other configuration is covered in the guides for each type of manual control).
+:::
+
+If you only have one manual control system, either RC or Joystick, then by default no manual control selection is required.
+In this case PX4 locks to the first valid manual control source it detects and uses that source until the vehicle is rebooted.
+
+If you have multiple control sources, such as an RC system and/or one or more Joysticks, then you can use the [COM_RC_IN_MODE](../advanced_config/parameter_reference.md#COM_RC_IN_MODE) parameter to determine which source is active, specifying selection priorities and fallback behavior ([parameters can be set](../advanced_config/parameters.md#finding-a-parameter) using QGC):
+
+- `0`: RC only.
+- `1`: MAVLink only.
+- `2`: RC or MAVLink with fallback (switches if current source becomes invalid).
+- `3`: RC or MAVLink keep first (locks to the first valid source until reboot).
+- `4`: Disable manual control (ignores all sources).
+- `5`: RC priority, then MAVLink (lower instance before higher) — `RC > MAVLink 1 > MAVLink 2`
+- `6`: MAVLink priority (lower instance before higher), then RC — `MAVLink 1 > MAVLink 2 > RC`
+- `7`: RC priority, then MAVLink (higher instance before lower) — `RC > MAVLink 2 > MAVLink 1`
+- `8`: MAVLink priority (higher instance before lower), then RC — `MAVLink 2 > MAVLink 1 > RC`
+
+The [MAVLink instance](../peripherals/mavlink_peripherals.md#mavlink-instances) refers to an instance assigned to a serial port, such as [MAV_0_CONFIG](../advanced_config/parameter_reference.md#MAV_0_CONFIG).
+
+备注：
+
+- RC checks are run for any option that uses RC (so not for `MAVLink only` or `Disable manual control`).
+- When using priority sources, sources are evaluated as soon as they become valid and may trigger an immediate switch (if higher priority than the currently active source).
+- A [Manual Control Loss Failsafe](../config/safety.md#manual-control-loss-failsafe) is triggered when none of the manual control inputs allowed by the `COM_RC_IN_MODE` mode are available for a time that is greater than the RC Loss Timeout.
+ As long as there is a fallback input source available, the failsafe is not triggered.
+
+## 另见
+
+- [Radio Control (RC)](../getting_started/rc_transmitter_receiver.md)
+- [Joysticks](../config/joystick.md)
diff --git a/docs/zh/config/radio.md b/docs/zh/config/radio.md
index 3983453e0b..404246b8ae 100644
--- a/docs/zh/config/radio.md
+++ b/docs/zh/config/radio.md
@@ -1,10 +1,12 @@
# 无线电控制（遥控）设置
-The _Radio Setup_ screen is used to configure the mapping of your RC controller's main attitude control sticks (roll, pitch, yaw, throttle) to channels, and to calibrate the minimum, maximum, trim and reverse settings for all other transmitter controls/RC channels.
+The _Radio Setup_ screen is used to configure the mapping of your [RC controller's](../getting_started/rc_transmitter_receiver.md) main attitude control sticks (roll, pitch, yaw, throttle) to channels, and to calibrate the minimum, maximum, trim and reverse settings for all other transmitter controls/RC channels.
:::info
-A [Joystick](../config/joystick.md) can be used instead of RC for manual control.
-The [COM_RC_IN_MODE](../advanced_config/parameter_reference.md#COM_RC_IN_MODE) parameter [can be set](../advanced_config/parameters.md) to define what kind of manual controller(s) are enabled.
+A [Joystick](../config/joystick.md) can also be used for [Manual Control](../config/manual_control.md).
+
+By default PX4 will latch the first valid controller it discovers and use it until the vehicle reboots.
+If you have multiple controllers and you want to define their priority see [Manual Control > PX4 Configuration](../config/manual_control.md#px4-configuration).
:::
## 绑定接收机
diff --git a/docs/zh/config/safety.md b/docs/zh/config/safety.md
index 433eb1d99f..b27d92b270 100644
--- a/docs/zh/config/safety.md
+++ b/docs/zh/config/safety.md
@@ -111,19 +111,17 @@ The settings and underlying parameters are shown below.
## Manual Control Loss Failsafe
-The manual control loss failsafe may be triggered if the connection to the [RC transmitter](../getting_started/rc_transmitter_receiver.md) or [joystick](../config/joystick.md) is lost, and there is no fallback.
-If using an [RC transmitter](../getting_started/rc_transmitter_receiver.md) this is triggered if the RC [transmitter link is lost](../getting_started/rc_transmitter_receiver.md#set-signal-loss-behaviour).
-If using [joysticks](../config/joystick.md) connected over a MAVLink data link, this is triggered if the joysticks are disconnected or the data link is lost.
-
-:::info
-PX4 and the receiver may also need to be configured in order to _detect RC loss_: [Radio Setup > RC Loss Detection](../config/radio.md#rc-loss-detection).
-:::
+A [Manual Control Loss Failsafe](../config/safety.md#manual-control-loss-failsafe) is triggered after a [manual control loss timeout](#COM_RC_LOSS_T) in which none of the configured [Manual Controllers](../config/manual_control.md) are available.
The QGCroundControl Safety UI allows you to set the [failsafe action](#failsafe-actions) and [manual control loss timeout](#COM_RC_LOSS_T).
Users that want to disable this failsafe in specific modes can do so using the parameter [COM_RCL_EXCEPT](#COM_RCL_EXCEPT).
+:::info
+PX4 and the receiver may also need to be configured in order to _detect RC loss_: [Radio Setup > RC Loss Detection](../config/radio.md#rc-loss-detection).
+:::
+
Additional (and underlying) parameter settings are shown below.
| 参数 | 设置 | 描述 |
@@ -181,17 +179,22 @@ The following settings also apply, but are not displayed in the QGC UI.
| Preemptive geofence triggering | [GF_PREDICT](../advanced_config/parameter_reference.md#GF_PREDICT) | (Experimental) Trigger geofence if current motion of the vehicle is predicted to trigger the breach (rather than late triggering after the breach). |
| Circuit breaker for flight termination | [CBRK_FLIGHTTERM](../advanced_config/parameter_reference.md#CBRK_FLIGHTTERM) | 启用/禁用飞行终止操作（默认禁用）。 |
-## Position (GNSS) Loss Failsafe
+## Position Estimation Failsafes
+
+This section describes failsafes related to the quality of the vehicle's position estimate.
+
+### Position Loss Failsafe
The _Position Loss Failsafe_ is triggered if the quality of the PX4 position estimate falls below acceptable levels (this might be caused by GPS loss) while in a mode that requires an acceptable position estimate.
-The sections below cover first the trigger and then the failsafe action taken by the controller.
### Position Loss Failsafe Trigger
-There are basically two mechanisms in PX4 to trigger position failsafes:
+The position loss failsafe triggers if the position estimate becomes _invalid_. There are two mechanisms in PX4 to invalidate the position estimate:
-- 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.
-- 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).
+- 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.
+- The estimated horizontal position inaccuracy exceeds the threshold [COM_POS_LOW_EPH](../advanced_config/parameter_reference.md#COM_POS_LOW_EPH)
+ - This check is only done on hovering systems (rotary-wing vehicles or VTOLs in hover phase). For fixed-wing vehicles, refer to the [Position Accuracy Low](#position-accuracy-low-failsafe) section.
The relevant parameters shown below.
@@ -207,14 +210,24 @@ Multicopters will switch to [Altitude mode](../flight_modes_mc/altitude.md) if a
Fixed-wing planes, and VTOLs not configured to land in hover ([NAV_FORCE_VT](../advanced_config/parameter_reference.md#NAV_FORCE_VT)), have a parameter ([FW_GPSF_LT](../advanced_config/parameter_reference.md#FW_GPSF_LT)) that defines how long they will loiter (circle with a constant roll angle ([FW_GPSF_R](../advanced_config/parameter_reference.md#FW_GPSF_R)) at the current altitude) after losing position before attempting to land.
If VTOLs have are configured to switch to hover for landing ([NAV_FORCE_VT](../advanced_config/parameter_reference.md#NAV_FORCE_VT)) then they will first transition and then descend.
-The relevant parameters for all vehicles shown below.
+The relevant parameters are:
-Parameters that only affect Fixed-wing vehicles:
+| 参数 | 描述 |
+| ----------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| [FW_GPSF_LT](../advanced_config/parameter_reference.md#FW_GPSF_LT) | Fixed-wing only: Loiter time (waiting at current altitude for position estimation recovery before starting to descend). 设置为 0 以禁用。 |
+| [FW_GPSF_R](../advanced_config/parameter_reference.md#FW_GPSF_R) | 以一定的横滚/侧倾角盘旋。 |
+| [NAV_FORCE_VT](../advanced_config/parameter_reference.md#NAV_FORCE_VT) | If true, force VTOL takeoff and landing, even in `Descend` failsafe. |
-| 参数 | 描述 |
-| ----------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------ |
-| [FW_GPSF_LT](../advanced_config/parameter_reference.md#FW_GPSF_LT) | Loiter time (waiting for GPS recovery before it goes into land or flight termination). 设置为 0 以禁用。 |
-| [FW_GPSF_R](../advanced_config/parameter_reference.md#FW_GPSF_R) | 以一定的横滚/侧倾角盘旋。 |
+### Position Accuracy Low Failsafe
+
+In Fixed-wing, the position estimate is never strictly invalidated as long as we have a horizontal aiding source, such as an airspeed sensor. In that case, a separate failsafe can be configured that triggers if the position estimate inacuraccy exceeds the threshold [COM_POS_LOW_EPH](../advanced_config/parameter_reference.md#COM_POS_LOW_EPH). The failsafe action is taken if the vehicle is in mission or hold mode, otherwise it is only a warning. The relevant parameters are:
+
+| 参数 | 描述 |
+| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------- |
+| [COM_POS_LOW_EPH](../advanced_config/parameter_reference.md#COM_POS_LOW_EPH) | Position inaccuracy threshold above which COM_POS_LOW_ACT is taken. |
+| [COM_POS_LOW_ACT](../advanced_config/parameter_reference.md#COM_POS_LOW_ACT) | Failsafe action taken when position inaccuracy is above configured threshold. |
+
+Note that if there is no horizontal aiding source anymore, the position estimate is invalidated after `EKF2_NOAID_TOUT`, and the standard position loss failsafe applies.
## Offboard 中断故障保护
@@ -261,7 +274,7 @@ The parameters that control when the quad-chute will trigger are listed in the t
## High Wind Failsafe
-The high wind failsafe can trigger a warning and/or other mode change when the wind speed exceeds the warning and maximum wind-speed threshhold values.
+The high wind failsafe can trigger a warning and/or other mode change when the wind speed exceeds the warning and maximum wind-speed threshold values.
The relevant parameters are listed in the table below.
| 参数 | 描述 |
@@ -315,8 +328,8 @@ The failure detector can be configured to detect a motor failure while armed (an
| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| [FD_ACT_EN](../advanced_config/parameter_reference.md#FD_ACT_EN) | Enable/disable the motor failure trigger completely. |
| [FD_ACT_MOT_THR](../advanced_config/parameter_reference.md#FD_ACT_MOT_THR) | Minimum normalized [0,1] motor command below which motor under current is ignored. |
-| [FD_ACT_MOT_C2T](../advanced_config/parameter_reference.md#FD_ACT_MOT_C2T) | Scale between normalized [0,1] motor command and expected minimally reported currrent when the rotor is healthy. |
-| [FD_ACT_MOT_TOUT](../advanced_config/parameter_reference.md#FD_ACT_MOT_TOUT) | Time in miliseconds for which the under current detection condition needs to stay true. |
+| [FD_ACT_MOT_C2T](../advanced_config/parameter_reference.md#FD_ACT_MOT_C2T) | Scale between normalized [0,1] motor command and expected minimally reported current when the rotor is healthy. |
+| [FD_ACT_MOT_TOUT](../advanced_config/parameter_reference.md#FD_ACT_MOT_TOUT) | Time in milliseconds for which the under current detection condition needs to stay true. |
| [CA_FAILURE_MODE](../advanced_config/parameter_reference.md#CA_FAILURE_MODE) | Configure to not only warn about a motor failure but remove the first motor that detects a failure from the allocation effectiveness which turns off the motor and tries to operate the vehicle without it until disarming the next time. |
### 外部自动触发系统（ATS）
diff --git a/docs/zh/config_mc/pid_tuning_guide_multicopter_basic.md b/docs/zh/config_mc/pid_tuning_guide_multicopter_basic.md
index 456c34a6b0..e82f96516c 100644
--- a/docs/zh/config_mc/pid_tuning_guide_multicopter_basic.md
+++ b/docs/zh/config_mc/pid_tuning_guide_multicopter_basic.md
@@ -13,7 +13,7 @@ For example, different ESCs or motors change the optimal tuning gains.
## 简介
-PX4 uses **P**roportional, **I**ntegral, **D**erivative (PID) controllers (these are the most widespread control technique).
+PX4 uses **P**roportional, **I**integral, **D**erivative (PID) controllers (these are the most widespread control technique).
The _QGroundControl_ **PID Tuning** setup provides real-time plots of the vehicle setpoint and response curves.
The goal of tuning is to set the P/I/D values such that the _Response_ curve matches the _Setpoint_ curve as closely as possible (i.e. a fast response without overshoots).
diff --git a/docs/zh/config_rover/attitude_tuning.md b/docs/zh/config_rover/attitude_tuning.md
index eed4399823..7d73d2d5cf 100644
--- a/docs/zh/config_rover/attitude_tuning.md
+++ b/docs/zh/config_rover/attitude_tuning.md
@@ -16,7 +16,7 @@ Configure the following [parameters](../advanced_config/parameters.md) in QGroun
Put the rover into stabilized mode and move the left stick of your controller up to drive forwards.
Disarm the rover and from the flight log plot the `measured_yaw` and the `adjusted_yaw_setpoint` from the [RoverAttitudeStatus](../msg_docs/RoverAttitudeStatus.md) message over each other.
Increase/Decrease the parameter until you are satisfied with the setpoint tracking.
- If you observe a steady state error in the yaw setpoint increase the the integrator of the rate controller: [RO_YAW_RATE_I](../advanced_config/parameter_reference.md#RO_YAW_RATE_I) .
+ If you observe a steady state error in the yaw setpoint increase the integrator of the rate controller: [RO_YAW_RATE_I](../advanced_config/parameter_reference.md#RO_YAW_RATE_I) .
:::
@@ -30,7 +30,7 @@ The attitude controller uses the following structure:
-The rate and attitude controllers are cascaded, therefor we only require one integrator in the structure to eliminate steady state errors.
+The rate and attitude controllers are cascaded, therefore we only require one integrator in the structure to eliminate steady state errors.
We placed the integrator in the rate controller since it can run without the attitude controller but not the other way around.
## Parameter Overview
diff --git a/docs/zh/config_rover/basic_setup.md b/docs/zh/config_rover/basic_setup.md
index 02a05b138a..810b031025 100644
--- a/docs/zh/config_rover/basic_setup.md
+++ b/docs/zh/config_rover/basic_setup.md
@@ -138,7 +138,7 @@ In [Manual mode](../flight_modes_rover/manual.md#manual-mode) we can additionall
- Differential Rover: $r=$ [RD_YAW_STK_GAIN](#RD_YAW_STK_GAIN), which enables adjusting the slope of the input mapping. This leads to a normalized steering input $\hat{\delta} = \delta \cdot r \in$ [-[RD_YAW_STK_GAIN](#RD_YAW_STK_GAIN), [RD_YAW_STK_GAIN](#RD_YAW_STK_GAIN)].
- Mecanum Rover: $r=$ [RM_YAW_STK_GAIN](#RM_YAW_STK_GAIN), which enables adjusting the slope of the input mapping. This leads to a normalized steering input $\hat{\delta} = \delta \cdot r \in$ [-[RM_YAW_STK_GAIN](#RM_YAW_STK_GAIN), [RM_YAW_STK_GAIN](#RM_YAW_STK_GAIN)].
-This scaling is useful to limit the normalized steering setpoint, if it is too aggresive for your rover in manual mode.
+This scaling is useful to limit the normalized steering setpoint, if it is too aggressive for your rover in manual mode.
You can experiment with the relationships graphically using the [PX4 SuperExpo Rover calculator](https://www.desmos.com/calculator/gwm8lrlanx).
diff --git a/docs/zh/config_rover/index.md b/docs/zh/config_rover/index.md
index b6b955f786..62b4d17b4e 100644
--- a/docs/zh/config_rover/index.md
+++ b/docs/zh/config_rover/index.md
@@ -39,7 +39,7 @@ make px4_fmu-v6x_rover
Note that configuration targets are constructed with the format "VENDOR_MODEL_VARIANT".
-The built firmware can be installed as custom firmware, as shown above in in [Flashing the Rover Build](#flashing-the-rover-build).
+The built firmware can be installed as custom firmware, as shown above in [Flashing the Rover Build](#flashing-the-rover-build).
:::info
You can also enable the modules in default builds by adding these lines to your [board configuration](../hardware/porting_guide_config.md) (e.g. for fmu-v6x you might add them to [`main/boards/px4/fmu-v6x/default.px4board`](https://github.com/PX4/PX4-Autopilot/blob/main/boards/px4/fmu-v6x/default.px4board)):
diff --git a/docs/zh/config_rover/rate_tuning.md b/docs/zh/config_rover/rate_tuning.md
index 6544ffec8a..93449e0020 100644
--- a/docs/zh/config_rover/rate_tuning.md
+++ b/docs/zh/config_rover/rate_tuning.md
@@ -11,7 +11,7 @@ Configure the following [parameters](../advanced_config/parameters.md) in QGroun
1. [RO_YAW_RATE_LIM](#RO_YAW_RATE_LIM): Maximum yaw rate you want to allow for your rover.
:::tip
- Limiting the yaw rate is necessary if the rover is prone rolling over, loosing traction at high speeds or if passenger comfort is important.
+ Limiting the yaw rate is necessary if the rover is prone rolling over, losing traction at high speeds or if passenger comfort is important.
Small rovers especially can be prone to rolling over when steering aggressively at high speeds.
If this is the case:
diff --git a/docs/zh/config_rover/velocity_tuning.md b/docs/zh/config_rover/velocity_tuning.md
index 5796839ca3..d17f8b1004 100644
--- a/docs/zh/config_rover/velocity_tuning.md
+++ b/docs/zh/config_rover/velocity_tuning.md
@@ -60,7 +60,7 @@ To tune the velocity controller configure the following [parameters](../advanced
## Manual Position Mode Parameters
-These steps are only necessary if you are tuning/want to unlock the manual [Position mode](../flight_modes_rover/manual.md#position-mode). Othwerwise, you can continue with [position tuning](position_tuning.md) where these same parameters will also be configured.
+These steps are only necessary if you are tuning/want to unlock the manual [Position mode](../flight_modes_rover/manual.md#position-mode). Otherwise, you can continue with [position tuning](position_tuning.md) where these same parameters will also be configured.
1. [PP_LOOKAHD_GAIN](#PP_LOOKAHD_GAIN): When driving in a straight line (right stick centered) position mode leverages the same path following algorithm used in [auto modes](../flight_modes_rover/auto.md) called [pure pursuit](position_tuning.md#pure-pursuit-guidance-logic-info-only) to achieve the best possible straight line driving behaviour.
This parameter determines how aggressive the controller will steer towards the path.
@@ -109,7 +109,7 @@ The speed controller uses the following structure:
The feed forward mapping is done by interpolating the speed setpoint from [-[RO_MAX_THR_SPEED](../advanced_config/parameter_reference.md#RO_MAX_THR_SPEED), [RO_MAX_THR_SPEED](../advanced_config/parameter_reference.md#RO_MAX_THR_SPEED)] to [-1, 1].
-For ackermann and differential rovers the bearing is aligned with the vehicle yaw. Therefor the bearing is simply sent as a yaw setpoint to the [yaw controller](attitude_tuning.md#attitude-controller-structure-info-only) and the speed setpoint is always defined in body x direction.
+For ackermann and differential rovers the bearing is aligned with the vehicle yaw. Therefore the bearing is simply sent as a yaw setpoint to the [yaw controller](attitude_tuning.md#attitude-controller-structure-info-only) and the speed setpoint is always defined in body x direction.
For mecanum vehicles, the bearing and yaw are decoupled. The direction is controlled by splitting the velocity vector into one speed component in body x direction and one in body y direction.
Both these setpoint are then sent to their own closed loop speed controllers.
diff --git a/docs/zh/config_vtol/vtol_ice_shedding.md b/docs/zh/config_vtol/vtol_ice_shedding.md
index 6884211c7b..eda4a770f5 100644
--- a/docs/zh/config_vtol/vtol_ice_shedding.md
+++ b/docs/zh/config_vtol/vtol_ice_shedding.md
@@ -6,7 +6,7 @@ Ice shedding is a feature that periodically spins unused motors in fixed-wing
flight, to break off any ice that is starting to build up in the motors while it
is still feasible to do so.
-It is configured by the paramter `CA_ICE_PERIOD`. When it is 0, the feature is
+It is configured by the parameter `CA_ICE_PERIOD`. When it is 0, the feature is
disabled, when it is above 0, it sets the duration of the ice shedding cycle in
seconds. In each cycle, the rotors are spun for two seconds at a motor output of
0.01.
diff --git a/docs/zh/config_vtol/vtol_quad_configuration.md b/docs/zh/config_vtol/vtol_quad_configuration.md
index ecb9ce0df1..fd765a7dc7 100644
--- a/docs/zh/config_vtol/vtol_quad_configuration.md
+++ b/docs/zh/config_vtol/vtol_quad_configuration.md
@@ -95,7 +95,7 @@ It should be set to a value which ensures that the vehicle reaches a high enough
[VT_TRANS_TIMEOUT](../advanced_config/parameter_reference.md#VT_TRANS_TIMEOUT)
This specifies the upper limit for the duration of the front transition. If the vehicle has not reached the transition airspeed after this time, then the transition will be aborted and a [Quadchute](../config/safety.md#quad-chute-failsafe) event will be triggered.
-:::note
+::: info
Additionally, if an airspeed sensor is present, the transition will also be aborted if the airspeed has not reached [VT_ARSP_BLEND](../advanced_config/parameter_reference.md#VT_ARSP_BLEND) after the openloop transition time [VT_F_TR_OL_TM](../advanced_config/parameter_reference.md#VT_F_TR_OL_TM) has elapsed. This checks is used to avoid a scenario where the vehicle gains excessive speed when the airspeed sensor is faulty.
:::
diff --git a/docs/zh/contribute/dev_call.md b/docs/zh/contribute/dev_call.md
index 3ca4e383d4..5fd92675b2 100644
--- a/docs/zh/contribute/dev_call.md
+++ b/docs/zh/contribute/dev_call.md
@@ -7,7 +7,7 @@ const { site } = useData();
@@ -36,4 +36,4 @@ Please add your topics for discussion to the agenda before the meeting begins, b
## 日程
- TIME: Wednesday 17h00 CET ([subscribe to calendar](https://dronecode.org/calendar/))
-- **Join the call**: [https://discord.gg/BDYmr6FA6Q](https://discord.gg/BDYmr6FA6Q)
+- **Join the call**: [https://discord.com/invite/BDYmr6FA6Q](https://discord.com/invite/BDYmr6FA6Q)
diff --git a/docs/zh/contribute/docs.md b/docs/zh/contribute/docs.md
index 91805dff44..d1d340e96c 100644
--- a/docs/zh/contribute/docs.md
+++ b/docs/zh/contribute/docs.md
@@ -55,7 +55,7 @@ If you already have a clone of the [PX4-Autopilot](https://github.com/PX4/PX4-Au
指南使用 旧版Gitbook 工具链
The instructions below explain how to get git and use it on your local computer.
-1. Download git for your computer from [https://git-scm.com/downloads](https://git-scm.com/downloads)
+1. Download git for your computer from [https://git-scm.com/downloads/](https://git-scm.com/downloads/)
2. [Sign up](https://github.com/signup) for Github if you haven't already
@@ -83,10 +83,10 @@ The instructions below explain how to get git and use it on your local computer.
6. Add a _remote_ called "upstream" to point to the "official" PX4 version of the library:
```sh
- git remote add upstream https://github.com/PX4/PX4-Autopilot.git
+ git remote add upstream https://github.com/PX4/PX4-Autopilot
```
- :::tip
+ ::: tip
A "remote" is a handle to a particular repository.
The remote named _origin_ is created by default when you clone the repository, and points to _your fork_ of the guide.
Above you create a new remote _upstream_ that points to the PX4 project version of the documents.
@@ -166,7 +166,9 @@ Within the repository you created above:
yarn install
```
-4. Preview and serve the library:
+4. (Optional) [Build the docs for PX4 metadata](#building-px4-docs-metadata) if your source contains changes to parameter or module docs that you want to check.
+
+5. Preview and serve the library:
```sh
yarn start
@@ -176,7 +178,7 @@ Within the repository you created above:
This will be something like: `http://localhost:5173/px4_user_guide/`.
- Stop serving using **CTRL+C** in the terminal prompt.
-5. Open previewed pages in your local editor:
+6. Open previewed pages in your local editor:
First specify a local text editor file using the `EDITOR` environment variable, before calling `yarn start` to preview the library.
For example, you can enable VSCode as your default editor by entering:
@@ -195,7 +197,7 @@ Within the repository you created above:
The **Open in your editor** link at the bottom of each page will then open the current page in the editor (this replaces the _Open in GitHub_ link).
-6. You can build the library as it would be done for deployment:
+7. You can build the library as it would be done for deployment:
```sh
# Ubuntu
@@ -210,6 +212,32 @@ Use `yarn start` to preview changes _as you make them_ (documents are updated an
Before submitting a PR you should also build it using `yarn docs:build`, as this can highlight issues that are not visible when using `yarn start`.
:::
+#### Building PX4 docs metadata
+
+PX4 Metadata is not automatically updated in the local docs tree when you make changes to source.
+This can result in broken links showing up during testing if you link to new parameters, modules, airframes, or other content that is generated from source.
+
+You can generate the metadata and copy it into the tree on _Ubuntu_ (only) using the convenient yarn command:
+
+```sh
+# Ubuntu
+yarn build_docs_metadata_ubuntu
+```
+
+:::info
+The generated metadata docs should not be included in PRs as they will complicate reveiwing (metadata is automatically generated when a PR merges in main).
+It is not a problem if you do add such metadata, as it will be swamped on merge.
+:::
+
+#### Check for broken links
+
+You can use the following command to check for broken links in the whole document:
+
+```sh
+# Ubuntu
+yarn linkcheck
+```
+
### Source Code Structure
The guide uses the [Vitepress](https://vitepress.dev/) toolchain.
diff --git a/docs/zh/contribute/git_examples.md b/docs/zh/contribute/git_examples.md
index 328d3e11c1..3f39d953a0 100644
--- a/docs/zh/contribute/git_examples.md
+++ b/docs/zh/contribute/git_examples.md
@@ -22,7 +22,7 @@ Adding a feature to PX4 follows a defined workflow. In order to share your contr
```sh
cd PX4-Autopilot
git submodule update --init --recursive
- git remote add upstream https://github.com/PX4/PX4-Autopilot.git
+ git remote add upstream https://github.com/PX4/PX4-Autopilot
```
- You should have now two remote repositories: One repository is called `upstream` that points to PX4/PX4-Autopilot, and one repository `origin` that points to your forked copy of the PX4 repository.
@@ -49,7 +49,7 @@ Adding a feature to PX4 follows a defined workflow. In order to share your contr
git add
```
- If you prefer having a GUI to add your files see [Gitk](https://git-scm.com/book/en/v2/Git-in-Other-Environments-Graphical-Interfaces) or [`git add -p`](https://nuclearsquid.com/writings/git-add/).
+ If you prefer having a GUI to add your files see [Gitk](https://git-scm.com/book/en/v2/Appendix-A:-Git-in-Other-Environments-Graphical-Interfaces) or [`git add -p`](https://nuclearsquid.com/writings/git-add/).
- 提交添加的文件, 并顺便记录一条有意义的消息, 解释您的更改
@@ -59,7 +59,7 @@ Adding a feature to PX4 follows a defined workflow. In order to share your contr
For a good commit message, please refer to the [Source Code Management](../contribute/code.md#commits-and-commit-messages) section.
-- Some time might have passed and the [upstream main](https://github.com/PX4/PX4-Autopilot.git) has changed.
+- Some time might have passed and the [upstream main](https://github.com/PX4/PX4-Autopilot) has changed.
PX4 prefers a linear commit history and uses [git rebase](https://git-scm.com/book/en/v2/Git-Branching-Rebasing).
To include the newest changes from upstream in your local branch, switch to your main branch
@@ -139,7 +139,7 @@ To get the source code for a _specific older release_ (tag):
1. Clone the PX4-Autopilot repo and navigate into _PX4-Autopilot_ directory:
```sh
- git clone https://github.com/PX4/PX4-Autopilot.git
+ git clone https://github.com/PX4/PX4-Autopilot
cd PX4-Autopilot
```
@@ -179,7 +179,7 @@ To get a release branch:
- Clone the PX4-Autopilot repo and navigate into _PX4-Autopilot_ directory:
```sh
- git clone https://github.com/PX4/PX4-Autopilot.git
+ git clone https://github.com/PX4/PX4-Autopilot
cd PX4-Autopilot
```
diff --git a/docs/zh/contribute/index.md b/docs/zh/contribute/index.md
index adf08e6a79..38a3124e14 100644
--- a/docs/zh/contribute/index.md
+++ b/docs/zh/contribute/index.md
@@ -7,7 +7,7 @@ const { site } = useData();
diff --git a/docs/zh/contribute/support.md b/docs/zh/contribute/support.md
index 640a978881..d7287af2d3 100644
--- a/docs/zh/contribute/support.md
+++ b/docs/zh/contribute/support.md
@@ -7,7 +7,7 @@ const { site } = useData();
@@ -18,7 +18,7 @@ This section shows how you can get help from the core dev team and the wider com
The core development team and community are active on the following channels:
- [PX4 Discuss Forum](https://discuss.px4.io/) - Post here first!
-- [PX4 Discord](https://discord.gg/dronecode) - Post here if you don't get a response in discuss within a few days (include a link to your forum topic).
+- [PX4 Discord](https://discord.com/invite/dronecode) - Post here if you don't get a response in discuss within a few days (include a link to your forum topic).
:::tip
The Discuss Forum is much preferred because it is indexed by search engines and serves as a common knowledge base.
diff --git a/docs/zh/debug/asset_tracking.md b/docs/zh/debug/asset_tracking.md
index c4bcdda67a..c49672ab95 100644
--- a/docs/zh/debug/asset_tracking.md
+++ b/docs/zh/debug/asset_tracking.md
@@ -1,6 +1,6 @@
# Asset Tracking
-/Tools/jlink-nuttx.so`, as shown in the image below.
diff --git a/docs/zh/debug/plotting_realtime_uorb_data.md b/docs/zh/debug/plotting_realtime_uorb_data.md
index f0e80c4b74..ee97c69e52 100644
--- a/docs/zh/debug/plotting_realtime_uorb_data.md
+++ b/docs/zh/debug/plotting_realtime_uorb_data.md
@@ -72,7 +72,7 @@ cd ~/PX4-Autopilot
make px4_sitl gz_x500
```
-Open another terminal and start the `MicroXRCEAgent` to connect to the the simulator:
+Open another terminal and start the `MicroXRCEAgent` to connect to the simulator:
```sh
MicroXRCEAgent udp4 -p 8888; exec bash
diff --git a/docs/zh/debug/probe_mculink.md b/docs/zh/debug/probe_mculink.md
index 574ab78773..acfe13995a 100644
--- a/docs/zh/debug/probe_mculink.md
+++ b/docs/zh/debug/probe_mculink.md
@@ -1,6 +1,6 @@
# MCU-Link Debug Probe
-The [MCU-Link Debug Probe](https://www.nxp.com/design/design-center/software/development-software/mcuxpresso-software-and-tools-/mcu-link-debug-probe:MCU-LINK) is a cheap, fast and highly capable debug probe that can serve as a stand-alone debug and console communicator whn working with Pixhawk boards.
+The [MCU-Link Debug Probe](https://www.nxp.com/design/design-center/software/development-software/mcuxpresso-software-and-tools-/mcu-link-debug-probe:MCU-LINK) is a cheap, fast and highly capable debug probe that can serve as a stand-alone debug and console communicator when working with Pixhawk boards.
主要特性：
diff --git a/docs/zh/debug/simulation_debugging.md b/docs/zh/debug/simulation_debugging.md
index c9ea4de40c..f99ac6c37f 100644
--- a/docs/zh/debug/simulation_debugging.md
+++ b/docs/zh/debug/simulation_debugging.md
@@ -107,7 +107,7 @@ You can also start your simulation, and _then_ attach `gdb`:
```
As the script runs, note the **SITL COMMAND:** output text located right above the large "PX4" text.
- It will list the location of your px4 bin file for later use.
+ It will list the location of your PX4 bin file for later use.
```sh
SITL COMMAND: "" ""/etc
diff --git a/docs/zh/debug/swd_debug.md b/docs/zh/debug/swd_debug.md
index 5ee9797221..b85b1b5b25 100644
--- a/docs/zh/debug/swd_debug.md
+++ b/docs/zh/debug/swd_debug.md
@@ -1,6 +1,6 @@
# SWD Debug Port
-PX4 runs on ARM Cortex-M microcontrollers, which contain dedicated hardware for interactive debugging via the [_Serial Wire Debug (SWD)_][swd] interface and non-invasive profiling and high-bandwidth tracing via the [_Serial Wire Ouput (SWO)_][itm] and [_TRACE_ pins][etm].
+PX4 runs on ARM Cortex-M microcontrollers, which contain dedicated hardware for interactive debugging via the [_Serial Wire Debug (SWD)_][swd] interface and non-invasive profiling and high-bandwidth tracing via the [_Serial Wire Output (SWO)_][itm] and [_TRACE_ pins][etm].
The SWD debug interface allows direct, low-level, hardware access to the microcontroller's processor and peripherals, so it does not depend on any software on the device.
Therefore it can be used to debug bootloaders and operating systems such as NuttX.
@@ -27,9 +27,7 @@ The SWO pin can emit low-overhead, real-time profiling data with nanosecond time
The TRACE pins require specialized debug probes to deal with the high bandwidth and subsequent datastream decoding.
They are usually not accessible and are typically only used to debug very specific timing issues.
-
-
-## Autopilot Debug Ports
+## Autopilot Debug Ports {#debug-ports}
Flight controllers commonly provide a single debug port that exposes both the [SWD Interface](#debug-signals) and [System Console](system_console).
@@ -40,23 +38,35 @@ The debug port location and pinouts for a subset of autopilots are linked below:
-| 飞控 | 调试接口 |
-| :----------------------------------------------------------------------------------------------------- | :---------------------------------------------------------------------------------------------------------------------------------------------------------------- |
-| Holybro Pixhawk 6X-RT (FMUv6X-RT) | [Pixhawk Debug Full](#pixhawk-debug-full) |
-| Holybro Pixhawk 6X (FMUv6x) | [Pixhawk Debug Full](#pixhawk-debug-full) |
-| Holybro Pixhawk 5X (FMUv5x) | [Pixhawk Debug Full](#pixhawk-debug-full) |
-| [Holybro Durandal](../flight_controller/durandal.md#debug-port) | [Pixhawk Debug Mini](#pixhawk-debug-mini) |
-| [Holybro Kakute F7](../flight_controller/kakutef7.md#debug-port) | Solder pads |
-| [Holybro Pixhawk 4 Mini](../flight_controller/pixhawk4_mini.md#debug-port) (FMUv5) | [Pixhawk Debug Mini](#pixhawk-debug-mini) |
-| [Holybro Pixhawk 4](../flight_controller/pixhawk4.md#debug_port) (FMUv5) | [Pixhawk Debug Mini](#pixhawk-debug-mini) |
-| [Drotek Pixhawk 3 Pro](../flight_controller/pixhawk3_pro.md#debug-port) (FMU-v4pro) | [Pixhawk Debug Mini](#pixhawk-debug-mini) |
-| [CUAV V5+](../flight_controller/cuav_v5_plus.md#debug-port) | 6-pin JST GH
Digikey: [BM06B-GHS-TBT(LF)(SN)(N)][bm06b-ghs-tbt(lf)(sn)(n)] (vertical mount), [SM06B-GHS-TBT(LF)(SN)(N)][sm06b-ghs-tbt(lf)(sn)(n)] (side mount) | -| [CUAV V5nano](../flight_controller/cuav_v5_nano.md#debug_port) | 6-pin JST GH
Digikey: [BM06B-GHS-TBT(LF)(SN)(N)][bm06b-ghs-tbt(lf)(sn)(n)] (vertical mount), [SM06B-GHS-TBT(LF)(SN)(N)][sm06b-ghs-tbt(lf)(sn)(n)] (side mount) | -| [3DR Pixhawk](../flight_controller/pixhawk.md#swd-port) | ARM 10-pin JTAG Connector (also used for FMUv2 boards including: _mRo Pixhawk_, _HobbyKing HKPilot32_). | +| 飞控 | 调试接口 | +| :------------------------------------------------------------------------------------------------------ | :----------------------------------------------------------------------- | +| [Holybro Pixhawk 6X-RT](../flight_controller/pixhawk6x-rt.md#debug_port) (FMUv6X-RT) | [Pixhawk Debug Full](#pixhawk-debug-full) | +| [Holybro Pixhawk 6X](../flight_controller/pixhawk6x.md#debug_port) (FMUv6x) | [Pixhawk Debug Full](#pixhawk-debug-full) | +| [Holybro Pixhawk 5X](../flight_controller/pixhawk5x.md#debug_port) (FMUv5x) | [Pixhawk Debug Full](#pixhawk-debug-full) | +| [Holybro Durandal](../flight_controller/durandal.md#debug-port) | [Pixhawk Debug Mini](#pixhawk-debug-mini) | +| [Holybro Pixhawk 4](../flight_controller/pixhawk4.md#debug_port) (FMUv5) | [Pixhawk Debug Mini](#pixhawk-debug-mini) | +| [Holybro Pixhawk 6X Pro](../flight_controller/pixhawk6x_pro.md#debug-port) | [Pixhawk Debug Full](#pixhawk-debug-full) | +| [Holybro Pixhawk 6C](../flight_controller/pixhawk6c.md#debug_port) | [Pixhawk Debug Full](#pixhawk-debug-full) | +| [Holybro Pixhawk 6C Mini](../flight_controller/pixhawk6c_mini.md#debug_port) | [Pixhawk Debug Mini](#pixhawk-debug-mini) | +| [Holybro Pix32 v6](../flight_controller/holybro_pix32_v6.md#debug_port) | [Pixhawk Debug Full](#pixhawk-debug-full) | +| [Holybro Pix32 v5](../flight_controller/holybro_pix32_v5.md#debug-port) | [Pixhawk Debug Mini](#pixhawk-debug-mini) | +| [Holybro Kakute H7](../flight_controller/kakuteh7.md#debug-port) | SWD pads and system console | +| [Holybro Kakute H7 mini](../flight_controller/kakuteh7mini.md#debug-port) | SWD pads and system console | +| [Holybro Kakute H7 V2](../flight_controller/kakuteh7v2.md#debug-port) | SWD pads and system console | +| [CUAV V5+](../flight_controller/cuav_v5_plus.md#debug-port) | Custom port but comes with adaptor cable | +| [CUAV V5nano](../flight_controller/cuav_v5_nano.md#debug_port) | Custom port but comes with adaptor cable | +| [CUAV Pixhawk V6X](../flight_controller/cuav_pixhawk_v6x.md#debug_port) | [Pixhawk Debug Full](#pixhawk-debug-full) | +| [CUAV X25-SUPER](../flight_controller/cuav_x25-super.md#debug_port) | [Pixhawk Debug Mini] | +| [CUAV X25-EVO](../flight_controller/cuav_x25-evo.md#debug_port) | [Pixhawk Debug Mini] | +| [CUAV Nora](../flight_controller/cuav_nora.md#debug-port) | Custom port but comes with adaptor cable. | +| [ARK Pixhawk Autopilot Bus Carrier](../flight_controller/ark_pab.md#debug-port) | [Pixhawk Debug Full](#pixhawk-debug-full) | +| [NXP MR-VMU-RT1176](../flight_controller/nxp_mr_vmu_rt1176.md#debug_port) | [Pixhawk Debug Full](#pixhawk-debug-full) | +| [mRo Pixracer](../flight_controller/pixracer.md#debug-port) | [Pixhawk Debug Mini](#pixhawk-debug-mini) | +| [S-Vehicle E2](../flight_controller/svehicle_e2.md#debug-port) | [Pixhawk Debug Mini] | +| [AP-H743-R1](../flight_controller/x-mav_ap-h743r1.md#debug-port) | 4-pin JST GH (SWD only) | +| [mRo Control Zero F7](../flight_controller/mro_control_zero_f7.md#debug_port) | | - - -## Pixhawk Connector Standard Debug Ports +## Pixhawk Connector Standard Debug Ports {#pixhawk-standard-debug-ports} The Pixhawk project has defines a standard pinout and connector type for different Pixhawk FMU releases: @@ -64,16 +74,16 @@ The Pixhawk project has defines a standard pinout and connector type for differe Check your [specific board](#port-information) to confirm the port used. ::: -| FMU Version | Pixhawk Version | 调试接口 | -| :---------- | :-------------------------------------------------------------- | :---------------------------------------- | -| FMUv2 | [Pixhawk / Pixhawk 1](../flight_controller/pixhawk.md#swd-port) | 10 pin ARM Debug | -| FMUv3 | Pixhawk 2 | 6 pin SUR Debug | -| FMUv4 | Pixhawk 1/2 | [Pixhawk Debug Mini](#pixhawk-debug-mini) | -| FMUv5 | Pixhawk 4 FMUv5 | [Pixhawk Debug Mini](#pixhawk-debug-mini) | -| FMUv5X | Pixhawk 5X | [Pixhawk Debug Full](#pixhawk-debug-full) | -| FMUv6 | Pixhawk 6 | [Pixhawk Debug Full](#pixhawk-debug-full) | -| FMUv6X | Pixhawk 6X | [Pixhawk Debug Full](#pixhawk-debug-full) | -| FMUv6X-RT | Pixhawk 6X-RT | [Pixhawk Debug Full](#pixhawk-debug-full) | +| FMU Version | Pixhawk Version | 调试接口 | +| :---------- | :------------------ | :---------------------------------------- | +| FMUv2 | Pixhawk / Pixhawk 1 | 10 pin ARM Debug | +| FMUv3 | Pixhawk 2 | 6 pin SUR Debug | +| FMUv4 | Pixhawk 1/2 | [Pixhawk Debug Mini](#pixhawk-debug-mini) | +| FMUv5 | Pixhawk 4 FMUv5 | [Pixhawk Debug Mini](#pixhawk-debug-mini) | +| FMUv5X | Pixhawk 5X | [Pixhawk Debug Full](#pixhawk-debug-full) | +| FMUv6 | Pixhawk 6 | [Pixhawk Debug Full](#pixhawk-debug-full) | +| FMUv6X | Pixhawk 6X | [Pixhawk Debug Full](#pixhawk-debug-full) | +| FMUv6X-RT | Pixhawk 6X-RT | [Pixhawk Debug Full](#pixhawk-debug-full) | :::info There FMU and Pixhawk versions are (only) consistent after FMUv5X. @@ -142,9 +152,7 @@ You can connect to the debug port using a [cable like this one](https://www.digi  - - -## Debug Probes for PX4 Hardware +## Debug Probes for PX4 Hardware {#debug-probes} Flight controllers commonly provide a [single debug port](#autopilot-debug-ports) that exposes both the [SWD Interface](#debug-signals) and [System Console](system_console). @@ -217,5 +225,3 @@ This reduces the risk or poor wiring contributing to debugging problems, and has [swd]: https://developer.arm.com/documentation/ihi0031/a/The-Serial-Wire-Debug-Port--SW-DP- [itm]: https://developer.arm.com/documentation/ddi0403/d/Appendices/Debug-ITM-and-DWT-Packet-Protocol?lang=en [etm]: https://developer.arm.com/documentation/ihi0064/latest/ -[bm06b-ghs-tbt(lf)(sn)(n)]: https://www.digikey.com/en/products/detail/jst-sales-america-inc/BM06B-GHS-TBT/807804 -[sm06b-ghs-tbt(lf)(sn)(n)]: https://www.digikey.com/en/products/detail/jst-sales-america-inc/SM06B-GHS-TB/807790 diff --git a/docs/zh/dev_airframes/adding_a_new_frame.md b/docs/zh/dev_airframes/adding_a_new_frame.md index 407c541df7..5ccdc2b38f 100644 --- a/docs/zh/dev_airframes/adding_a_new_frame.md +++ b/docs/zh/dev_airframes/adding_a_new_frame.md @@ -124,118 +124,79 @@ param set-default CA_ROTOR3_PY 0.15 param set-default CA_ROTOR3_KM -0.05 ``` -### Example - Babyshark VTOL Complete Vehicle +### Example - HolyBro QAV250 Complete Vehicle -A more complicated configuration file for a complete vehicle is provided below. -This is the configuration for the Baby Shark [Standard VTOL](../frames_vtol/standardvtol.md) ([original file here](https://github.com/PX4/PX4-Autopilot/blob/main/ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark)). +A more complete configuration file for a real vehicle is provided below. +This is the configuration for the [HolyBro QAV250](../frames_multicopter/holybro_qav250_pixhawk4_mini.md) quadrotor ([original file here](https://github.com/PX4/PX4-Autopilot/blob/main/ROMFS/px4fmu_common/init.d/airframes/4052_holybro_qav250)). -The shebang and documentation sections are similar to those for the generic frame, but here we also document what `outputs` are mapped to each motor and actuator. -Note that these outputs are documentation only; the actual mapping is done using parameters. +The shebang and documentation sections are similar to those for the generic frame. +Here we also add a `@url` link to the vehicle documentation, a `@maintainer`, and additional board exclusions. ```sh #!/bin/sh # -# @name BabyShark VTOL +# @name HolyBro QAV250 # -# @type Standard VTOL -# @class VTOL +# @url https://docs.px4.io/main/en/frames_multicopter/holybro_qav250_pixhawk4_mini # -# @maintainer Silvan Fuhrer
+# @type Quadrotor x
+# @class Copter
#
-# @output Motor1 motor 1
-# @output Motor2 motor 2
-# @output Motor3 motor 3
-# @output Motor4 motor 4
-# @output Motor5 Pusher motor
-# @output Servo1 Ailerons
-# @output Servo2 A-tail left
-# @output Servo3 A-tail right
+# @maintainer Beat Kueng
#
# @board px4_fmu-v2 exclude
# @board bitcraze_crazyflie exclude
-# @board holybro_kakutef7 exclude
+# @board px4_fmu-v6x exclude
+# @board ark_fmu-v6x exclude
#
```
-As for the generic frame, we then include the generic VTOL defaults.
+Next, we source the multicopter defaults.
```sh
-. ${R}etc/init.d/rc.vtol_defaults
+. ${R}etc/init.d/rc.mc_defaults
```
Then we define configuration parameters and [tuning gains](#tuning-gains):
```sh
-param set-default MAV_TYPE 22
+# The set does not include a battery, but most people will probably use 4S
+param set-default BAT1_N_CELLS 4
-param set-default BAT1_N_CELLS 6
+param set-default IMU_GYRO_CUTOFF 120
+param set-default IMU_DGYRO_CUTOFF 45
-param set-default FW_AIRSPD_MAX 30
-param set-default FW_AIRSPD_MIN 19
-param set-default FW_AIRSPD_TRIM 23
-param set-default FW_PN_R_SLEW_MAX 40
-param set-default FW_PSP_OFF 3
-param set-default FW_P_LIM_MAX 18
-param set-default FW_P_LIM_MIN -25
-param set-default FW_RLL_TO_YAW_FF 0.1
-param set-default FW_RR_P 0.08
-param set-default FW_R_LIM 45
-param set-default FW_R_RMAX 50
-param set-default FW_THR_TRIM 0.65
-param set-default FW_THR_MIN 0.3
-param set-default FW_THR_SLEW_MAX 0.6
-param set-default FW_T_HRATE_FF 0
-param set-default FW_T_SINK_MAX 15
-param set-default FW_T_SINK_MIN 3
-param set-default FW_YR_P 0.15
-
-param set-default IMU_DGYRO_CUTOFF 15
-param set-default MC_PITCHRATE_MAX 60
-param set-default MC_ROLLRATE_MAX 60
-param set-default MC_YAWRATE_I 0.15
-param set-default MC_YAWRATE_MAX 40
-param set-default MC_YAWRATE_P 0.3
-
-param set-default MPC_ACC_DOWN_MAX 2
-param set-default MPC_ACC_HOR_MAX 2
-param set-default MPC_ACC_UP_MAX 3
param set-default MC_AIRMODE 1
-param set-default MPC_JERK_AUTO 4
-param set-default MPC_LAND_SPEED 1
-param set-default MPC_MAN_TILT_MAX 25
-param set-default MPC_MAN_Y_MAX 40
-param set-default COM_SPOOLUP_TIME 1.5
-param set-default MPC_THR_HOVER 0.45
-param set-default MPC_TILTMAX_AIR 25
-param set-default MPC_TKO_RAMP_T 1.8
-param set-default MPC_TKO_SPEED 1
-param set-default MPC_VEL_MANUAL 3
-param set-default MPC_XY_CRUISE 3
-param set-default MPC_XY_VEL_MAX 3.5
-param set-default MPC_YAWRAUTO_MAX 40
-param set-default MPC_Z_VEL_MAX_UP 2
+param set-default MC_PITCHRATE_D 0.0012
+param set-default MC_PITCHRATE_I 0.35
+param set-default MC_PITCHRATE_MAX 1200
+param set-default MC_PITCHRATE_P 0.082
+param set-default MC_PITCH_P 8
+param set-default MC_ROLLRATE_D 0.0012
+param set-default MC_ROLLRATE_I 0.3
+param set-default MC_ROLLRATE_MAX 1200
+param set-default MC_ROLLRATE_P 0.076
+param set-default MC_ROLL_P 8
+param set-default MC_YAWRATE_I 0.3
+param set-default MC_YAWRATE_MAX 600
+param set-default MC_YAWRATE_P 0.25
+param set-default MC_YAW_P 4
-param set-default NAV_ACC_RAD 3
+param set-default MPC_MANTHR_MIN 0
+param set-default MPC_MAN_TILT_MAX 60
+param set-default MPC_THR_CURVE 1
+param set-default MPC_THR_HOVER 0.25
+param set-default MPC_THR_MIN 0.05
+param set-default MPC_Z_VEL_I_ACC 1.7
-param set-default SENS_BOARD_ROT 4
-
-param set-default VT_ARSP_BLEND 10
-param set-default VT_ARSP_TRANS 21
-param set-default VT_B_DEC_MSS 1.5
-param set-default VT_B_TRANS_DUR 12
-param set-default VT_ELEV_MC_LOCK 0
-param set-default VT_FWD_THRUST_SC 1.2
-param set-default VT_F_TR_OL_TM 8
-param set-default VT_PSHER_SLEW 0.5
-param set-default VT_TRANS_MIN_TM 4
-param set-default VT_TYPE 2
+param set-default THR_MDL_FAC 0.3
```
-Last of all, the file defines the control allocation parameters for the geometry and the parameters that set which outputs map to different motors and servos.
+Last of all, the file defines the control allocation parameters for the geometry and the parameters that set which outputs map to different motors.
```sh
-param set-default CA_AIRFRAME 2
-param set-default CA_ROTOR_COUNT 5
+# Square quadrotor X PX4 numbering
+param set-default CA_ROTOR_COUNT 4
param set-default CA_ROTOR0_PX 1
param set-default CA_ROTOR0_PY 1
param set-default CA_ROTOR1_PX -1
@@ -246,34 +207,11 @@ param set-default CA_ROTOR2_KM -0.05
param set-default CA_ROTOR3_PX -1
param set-default CA_ROTOR3_PY 1
param set-default CA_ROTOR3_KM -0.05
-param set-default CA_ROTOR4_AX 1.0
-param set-default CA_ROTOR4_AZ 0.0
-param set-default CA_SV_CS_COUNT 3
-param set-default CA_SV_CS0_TYPE 15
-param set-default CA_SV_CS0_TRQ_R 1.0
-param set-default CA_SV_CS1_TRQ_P 0.5000
-param set-default CA_SV_CS1_TRQ_R 0.0000
-param set-default CA_SV_CS1_TRQ_Y -0.5000
-param set-default CA_SV_CS1_TYPE 13
-param set-default CA_SV_CS2_TRQ_P 0.5000
-param set-default CA_SV_CS2_TRQ_Y 0.5000
-param set-default CA_SV_CS2_TYPE 14
-
-param set-default PWM_MAIN_FUNC1 201
-param set-default PWM_MAIN_FUNC2 202
-param set-default PWM_MAIN_FUNC3 105
-param set-default PWM_MAIN_FUNC4 203
-param set-default PWM_MAIN_FUNC5 101
-param set-default PWM_MAIN_FUNC6 102
-param set-default PWM_MAIN_FUNC7 103
-param set-default PWM_MAIN_FUNC8 104
-
-param set-default PWM_MAIN_TIM0 50
-param set-default PWM_MAIN_DIS1 1500
-param set-default PWM_MAIN_DIS2 1500
-param set-default PWM_MAIN_DIS3 1000
-param set-default PWM_MAIN_DIS4 1500
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+param set-default PWM_MAIN_FUNC3 103
+param set-default PWM_MAIN_FUNC4 104
```
## 增加一个新的机型组（Airframe Group）
diff --git a/docs/zh/dev_log/log_encryption.md b/docs/zh/dev_log/log_encryption.md
index bc4380f471..a0fc25ffd0 100644
--- a/docs/zh/dev_log/log_encryption.md
+++ b/docs/zh/dev_log/log_encryption.md
@@ -15,7 +15,7 @@ To use it you will need to build firmware with this feature enabled and then upl
Log encryption was has been improved in PX4 v1.16 to generate a single encrypted log file that contains both encrypted log data, and an encrypted symmetric key that you can use to decrypt it (provided you can decrypt the symmetric key).
In earlier versions the encrypted symmetric key was stored in a separate file.
-For more information see the [Log Encryption (PX4 v1.15)](https://docs.px4.io/v1.15/en/dev_log/log_encryption.html).
+For more information see the [Log Encryption (PX4 v1.15)](https://docs.px4.io/v1.15/en/dev_log/log_encryption).
:::
## How ULog Encryption Works
@@ -142,7 +142,7 @@ Note that the value is generated fresh for each log, and any value specified in
You can use choose different locations for your keys as long as they aren't used by anything else.
:::
-The key in `CONFIG_PUBLIC_KEY1` is the public key used to wrap the symmetric key in the the beginning of `.ulge` file (by default: see [SDLOG_EXCH_KEY](../advanced_config/parameter_reference.md#SDLOG_EXCH_KEY)).
+The key in `CONFIG_PUBLIC_KEY1` is the public key used to wrap the symmetric key in the beginning of `.ulge` file (by default: see [SDLOG_EXCH_KEY](../advanced_config/parameter_reference.md#SDLOG_EXCH_KEY)).
You can use the `rsa2048.pub` key for testing, or replace it with the path to your own public key in the file (see [Generate RSA Public & Private Keys](#generate-rsa-public-private-keys)).
Build the firmware like this:
diff --git a/docs/zh/dev_setup/dev_env_mac.md b/docs/zh/dev_setup/dev_env_mac.md
index 4c52a89da8..5e8ab773b7 100644
--- a/docs/zh/dev_setup/dev_env_mac.md
+++ b/docs/zh/dev_setup/dev_env_mac.md
@@ -1,116 +1,122 @@
# macOS Development Environment
-MacOS 是受支持的 PX4 开发平台。
+The following instructions set up a PX4 development environment on macOS.
根据本文的指示构建的开发环境可以用编译：
- 基于 NuttX 的硬件 (Pixhawk等)
-- [Gazebo Classic Simulation](../sim_gazebo_classic/index.md)
+- [Gazebo Simulation](../sim_gazebo_gz/index.md) (Gazebo Harmonic)
+
+It works on both Intel and Apple Silicon Macs.
:::tip
This setup is supported by the PX4 dev team.
-To build other targets you will need to use a [different OS](../dev_setup/dev_env.md#supported-targets) (or an [unsupported development environment](../advanced/community_supported_dev_env.md)).
+To build for [other targets](../dev_setup/dev_env.md#supported-targets) you will need to use a [different OS](../dev_setup/dev_env.md#supported-targets) or an [unsupported development environment](../advanced/community_supported_dev_env.md).
:::
-## 一键安装脚本
+## Development Environment Setup
-
```
@@ -116,7 +116,7 @@ echo "PermitRootLogin yes" >> /etc/ssh/sshd_config && systemctl restart sshd
The ARM Cross Compiler for _BeagleBone Blue_ can be found at [Linaro Toolchain Binaries site](https://www.linaro.org/downloads/#gnu_and_llvm).
- :::tip
+ ::: tip
GCC in the toolchain should be compatible with kernel in _BeagleBone Blue_.
General rule of thumb is to choose a toolchain where version of GCC is not higher than version of GCC which comes with the OS image on _BeagleBone Blue_.
@@ -131,7 +131,7 @@ echo "PermitRootLogin yes" >> /etc/ssh/sshd_config && systemctl restart sshd
tar -xf gcc-linaro-13.0.0-2022.06-x86_64_arm-linux-gnueabihf.tar.xz
```
- :::tip
+ ::: tip
The GCC version of the toolchain should be compatible with kernel in _BeagleBone Blue_.
:::
@@ -151,7 +151,7 @@ echo "PermitRootLogin yes" >> /etc/ssh/sshd_config && systemctl restart sshd
3. Setup other dependencies by downloading the PX4 source code and then running the setup scripts:
- ````
+ ````sh
git clone https://github.com/PX4/PX4-Autopilot.git --recursive
ols
```
@@ -170,7 +170,7 @@ echo "PermitRootLogin yes" >> /etc/ssh/sshd_config && systemctl restart sshd
Compile and Upload
-```
+```sh
make beaglebone_blue_default upload
```
@@ -189,9 +189,7 @@ sudo ./bin/px4 -s px4.config
Currently _librobotcontrol_ requires root access.
:::
-
-
-## 本机构建（可选）
+## Native Builds (optional) {#native_builds}
You can also natively build PX4 builds directly on the BeagleBone Blue.
@@ -216,7 +214,7 @@ Run the following commands on the BeagleBone Blue (i.e. via SSH):
## Changes in config
-All changes can be made in de px4.config file directly on beaglebone.
+All changes can be made in the px4.config file directly on beaglebone.
For example, you can change the WIFI to wlan.
:::info
@@ -295,8 +293,6 @@ For a quadcopter with GPS and an SBUS receiver, here are typical connections:
1. 将电机 1,2,3 和 4 的电调连接到伺服输出的通道 1,2,3和4 分别在 BeagleBone Blue 上。
如果您的电调连接器包含电源输出引脚，将其移除，不要将其连接到伺服通道的电源输出引脚在 BeagleBone Blue 上。
-
2. Connect the above mentioned converted SBUS signal to the dsm2 port if you have the matching connector for dsm2, otherwise connect it to any other available UART port and change the corresponding port in **/home/debian/px4/px4.config** accordingly.
-
3. 将 GPS 模块的信号连接到 BeagleBone Blue 上的 GPS 端口。
Note that the signal pins of the GPS port on the BeagleBone Blue are only 3.3V tolerant, so choose your GPS module accordingly.
diff --git a/docs/zh/flight_controller/cuav_nora.md b/docs/zh/flight_controller/cuav_nora.md
index 6f818a780e..278f0a987b 100644
--- a/docs/zh/flight_controller/cuav_nora.md
+++ b/docs/zh/flight_controller/cuav_nora.md
@@ -5,7 +5,7 @@ PX4 does not manufacture this (or any) autopilot.
Contact the [manufacturer](https://www.cuav.net) for hardware support or compliance issues.
:::
-The [Nora](https://doc.cuav.net/flight-controller/x7/en/nora.html)® flight controller is a high-performance autopilot.
+The [Nora](https://doc.cuav.net/controller/x7/en/nora-plus.html)® flight controller is a high-performance autopilot.
It is an ideal choice for industrial drones and large-scale heavy-duty drones.
It is mainly supplied to commercial manufacturers.
@@ -31,7 +31,7 @@ This flight controller is [manufacturer supported](../flight_controller/autopilo
- High performance processor
:::tip
-The manufacturer [CUAV Docs](https://doc.cuav.net/flight-controller/x7/en/nora.html) are the canonical reference for Nora.
+The manufacturer [CUAV Docs](https://doc.cuav.net/controller/x7/en/nora-plus.html) are the canonical reference for Nora.
They should be used by preference as they contain the most complete and up to date information.
:::
@@ -76,14 +76,14 @@ When it runs PX4 firmware, only 8 PWM outputs work.
The remaining 6 PWM ports are still being adapted (so it is not compatible with VOLT at time of writing).
:::
-## 购买渠道
+## Where to Buy {#store}
- [CUAV Store](https://store.cuav.net)<\br>
- [CUAV Aliexpress](https://www.aliexpress.com/item/4001042501927.html?gps-id=8041884&scm=1007.14677.110221.0&scm_id=1007.14677.110221.0&scm-url=1007.14677.110221.0&pvid=3dc0a3ba-fa82-43d2-b0b3-6280e4329cef&spm=a2g0o.store_home.promoteRecommendProducts_7913969.58)
## Connections (Wiring)
-[CUAV nora Wiring Quickstart](https://doc.cuav.net/flight-controller/x7/en/quick-start/quick-start-nora.html)
+[CUAV nora Wiring Quickstart](https://doc.cuav.net/controller/x7/en/quick-start/quick-start-nora.html)
## Size and Pinouts
@@ -120,7 +120,7 @@ It is pre-built and automatically installed by _QGroundControl_ when appropriate
To [build PX4](../dev_setup/building_px4.md) for this target:
-```
+```sh
make cuav_nora_default
```
@@ -171,6 +171,6 @@ The complete set of supported configurations can be seen in the [Airframes Refer
## 更多信息
-- [Quick start](https://doc.cuav.net/flight-controller/x7/en/quick-start/quick-start-nora.html)
+- [Quick start](https://doc.cuav.net/controller/x7/en/quick-start/quick-start-nora.html)
- [CUAV docs](https://doc.cuav.net/)
- [nora schematic](https://github.com/cuav/hardware/tree/master/X7_Autopilot)
diff --git a/docs/zh/flight_controller/cuav_pixhawk_v6x.md b/docs/zh/flight_controller/cuav_pixhawk_v6x.md
index ab6bf390fa..68436578a6 100644
--- a/docs/zh/flight_controller/cuav_pixhawk_v6x.md
+++ b/docs/zh/flight_controller/cuav_pixhawk_v6x.md
@@ -61,7 +61,7 @@ The Pixhawk® V6X is ideal for corporate research labs, academic research and co
- 16- PWM servo outputs
- 1 Dedicated R/C input for Spektrum / DSM and S.Bus with analog / PWM RSSI input
- 3 TELEM Ports（with full flow control）
-- 1 UART4(Seial and I2C)
+- 1 UART4(Serial and I2C)
- 2 GPS ports
- 1 full GPS plus Safety Switch Port(GPS1)
- 1 basic GPS port(with I2C,GPS2)
@@ -104,7 +104,7 @@ The Pixhawk® V6X is ideal for corporate research labs, academic research and co
-## 购买渠道
+## Where to Buy {#store}
Order from [CUAV](https://store.cuav.net/).
@@ -173,13 +173,11 @@ It is pre-built and automatically installed by _QGroundControl_ when appropriate
To [build PX4](../dev_setup/building_px4.md) for this target:
-```
+```sh
make px4_fmu-v6x_default
```
-
-
-## 调试接口
+## Debug Port {#debug_port}
The [PX4 System Console](../debug/system_console.md) and [SWD interface](../debug/swd_debug.md) run on the **FMU Debug** port.
diff --git a/docs/zh/flight_controller/cuav_v5.md b/docs/zh/flight_controller/cuav_v5.md
index ff0e71024c..ed3719fbc0 100644
--- a/docs/zh/flight_controller/cuav_v5.md
+++ b/docs/zh/flight_controller/cuav_v5.md
@@ -1,149 +1,7 @@
+
@@ -93,7 +93,7 @@ This flight controller is perfect for people that is looking for a affordable an
- 其它特性:
- Operating & storage temperature: -40 ~ 85°c
-## 购买渠道
+## Where to Buy {#store}
Order from [Holybro](https://holybro.com/products/pix32-v6).
@@ -156,13 +156,11 @@ It is pre-built and automatically installed by _QGroundControl_ when appropriate
To [build PX4](../dev_setup/building_px4.md) for this target:
-```
+```sh
make px4_fmu-v6c_default
```
-
-
-## 调试接口
+## Debug Port {#debug_port}
The [PX4 System Console](../debug/system_console.md) and [SWD interface](../debug/swd_debug.md) run on the **FMU Debug** port.
diff --git a/docs/zh/flight_controller/kakutef7.md b/docs/zh/flight_controller/kakutef7.md
index 85877b99b1..72e2f77c50 100644
--- a/docs/zh/flight_controller/kakutef7.md
+++ b/docs/zh/flight_controller/kakutef7.md
@@ -1,142 +1,7 @@
+
diff --git a/docs/zh/frames_multicopter/kits.md b/docs/zh/frames_multicopter/kits.md
index c28d84a72f..1f2263854a 100644
--- a/docs/zh/frames_multicopter/kits.md
+++ b/docs/zh/frames_multicopter/kits.md
@@ -18,6 +18,7 @@ Kits generally do not include:
The following kits are currently available:
+- [Holybro X650 PX4 Development Kit](https://holybro.com/collections/x650-kits) (Pixhawk 6C/6X) ([Frame assembly guide](https://docs.holybro.com/drone-development-kit/x650-development-kit/download))
- [Holybro X500 v2 PX4 Development Kit](https://holybro.com/collections/x500-kits) (Pixhawk 6c) ([Build instructions](../frames_multicopter/holybro_x500v2_pixhawk6c.md))
- [Holybro S500 Kit v2](https://holybro.com/collections/s500/products/s500-v2-development-kit) (Pixhawk 6c)
- [Holybro QAV250 Kit](https://holybro.com/products/qav250-kit) (Pixhawk 6c)
@@ -27,7 +28,7 @@ The following kits are currently available:
## Build Guides
The build guides below show how to assemble a number of kits.
-Many kits vary only a little between revisions (for example, the new kit might simply upgrade the flight controller used, and is otherwise identical), so these are likely to be be useful for building the kits in the section above.
+Many kits vary only a little between revisions (for example, the new kit might simply upgrade the flight controller used, and is otherwise identical), so these are likely to be useful for building the kits in the section above.
- [Holybro X500 v2 (Pixhawk 6C)](../frames_multicopter/holybro_x500v2_pixhawk6c.md)
- [Holybro X500 v2 (Pixhawk 5X)](../frames_multicopter/holybro_x500V2_pixhawk5x.md) — Discontinued (v2 kit uses Pixhawk 6c)
diff --git a/docs/zh/frames_multicopter/omnicopter.md b/docs/zh/frames_multicopter/omnicopter.md
index 5beb0e46c0..5f0478beef 100644
--- a/docs/zh/frames_multicopter/omnicopter.md
+++ b/docs/zh/frames_multicopter/omnicopter.md
@@ -19,8 +19,8 @@ The components needed for this build are:
You can select your own flight controller of choice, it just needs to support 8 DShot outputs.
:::
- - GPS: [ZED-F9P](https://gnss.store/zed-f9p-gnss-modules/105-elt0092.html)
- - [GPS helix antenna](https://gnss.store/gnss-rtk-multiband-antennas/28-elt0014.html)
+ - GPS: [ZED-F9P](https://gnss.store/products/elt0092)
+ - [GPS helix antenna](https://gnss.store/products/elt0014)
::: info
Any other GPS may work as well, however a helix antenna is expected to perform better for inverted flights.
@@ -34,8 +34,8 @@ The components needed for this build are:
- Battery: we used a 6S 3300mAh LiPo. Make sure to check the dimensions so it fits the frame.
- Battery strap
- Frame:
- - Carbon square tube R 8mm X 7mm X 1000mm, e.g. [here on shop.swiss-composite.ch](https://shop.swiss-composite.ch/pi.php/Halbfabrikate/Rohre/Vierkant-Rohre/CFK-Vierkantrohr-8x8-7x7mm.html)
- - Carbon Rods R 3mm X 2mm X 1000mm, e.g. [here on shop.swiss-composite.ch](https://shop.swiss-composite.ch/pi.php/Halbfabrikate/Rohre/CFK-Rohre-pultrudiert-pullwinding/Carbon-Microtubes-100cm-x-20-3mm.html)
+ - Carbon square tube R 8mm X 7mm X 1000mm, e.g. [here on shop.swiss-composite.ch](https://www.shop.swiss-composite.ch/de/produkt/cfk-vierkantrohr-8x8-7x7mm)
+ - Carbon Rods R 3mm X 2mm X 1000mm, e.g. [here on shop.swiss-composite.ch](https://www.shop.swiss-composite.ch/de/produkt/carbon-microtubes-100cm-x-20-3mm)
- Required lengths:
- square tube: 8 pieces with length of 248mm
- rods: 12x328mm, 6x465mm
diff --git a/docs/zh/frames_plane/reptile_dragon_2.md b/docs/zh/frames_plane/reptile_dragon_2.md
index 89e1cf5139..1fa85eb461 100644
--- a/docs/zh/frames_plane/reptile_dragon_2.md
+++ b/docs/zh/frames_plane/reptile_dragon_2.md
@@ -56,7 +56,7 @@ Key build features
- MS4525DO differential pressure module and pitot tube
-- [Caddx Vista FPV air unit](https://caddxfpv.com/collections/vista-kit)
+- [Caddx Vista FPV air unit](https://www.caddxfpv.com/collections/vista-kit)
- [Emax ES08MA ii](https://emaxmodel.com/products/emax-es08ma-ii-12g-mini-metal-gear-analog-servo-for-rc-model-robot-pwm-servo)
@@ -66,7 +66,7 @@ Key build features
- [5V BEC](https://www.readymaderc.com/products/details/rmrc-3a-power-regulator-5-to-6-volt-ubec)
-- [6s2p 18650 LiIon flight battery](https://www.upgradeenergytech.com/product-page/6s-22-2v-5600mah-30c-dark-lithium-liion-drone-battery) (select XT60 connector)
+- [6s2p 18650 LiIon flight battery](https://www.upgradeenergytech.com/products/red-6s1p-5000mah-molicel-p50b) (select XT60 connector)
- [Custom designed 3D printed parts](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/airframes/fw/reptile_dragon_2/rd2_3d_printed_parts.zip)
- ARK6X carrier mount
@@ -97,7 +97,7 @@ The airplane needs some assembly out of the box.
Servos, wings, and the tail will need to be installed.
:::info
-For this portion of assembly, the instructions included with the kit should be sufficent, but some helpful tips are listed below.
+For this portion of assembly, the instructions included with the kit should be sufficient, but some helpful tips are listed below.
:::
### Gluing Foam
@@ -225,7 +225,7 @@ An alternative carrier board is the Holybro Pixhawk 5X carrier.
The carrier comes installed in a plastic case.
While the case does look nice, it is extra weight, so the carrier was removed from the case.
-Once removed from the case, the ARK6X was installed, and a protective cover fitted ontop.
+Once removed from the case, the ARK6X was installed, and a protective cover fitted on top.
@@ -353,7 +353,7 @@ For more information see [TBS Crossfire (CRSF) Telemetry](../telemetry/crsf_tele
### `msp_osd` Module
-The `msp_osd` module steams MSP telemetry to a selected serial port.
+The `msp_osd` module streams MSP telemetry to a selected serial port.
The Caddx Vista Air Unit supports listening to MSP telemetry and will show the received telemetry values in its OSD (on screen display).
1. In the PX4 board config tool, navigate to the `drivers` submenu, then scroll down to highlight `OSD`.
diff --git a/docs/zh/frames_plane/turbo_timber_evolution.md b/docs/zh/frames_plane/turbo_timber_evolution.md
index 04326763f5..ba6a75d5f7 100644
--- a/docs/zh/frames_plane/turbo_timber_evolution.md
+++ b/docs/zh/frames_plane/turbo_timber_evolution.md
@@ -50,7 +50,7 @@ Key Build Features:
- MS4525DO differential pressure module and pitot tube
-- [Caddx Vista FPV air unit](https://caddxfpv.com/collections/vista-kit)
+- [Caddx Vista FPV air unit](https://www.caddxfpv.com/collections/vista-kit)
- [DJI FPV Goggles](https://www.dji.com/fpv)
@@ -74,7 +74,7 @@ Servos and linkages have already been installed, and the only real remaining wor
For this portion of the assembly, simply follow the manual.
:::info
-[Some reports](https://www.rcgroups.com/forums/showthread.php?3904021-NEW-E-flite-Turbo-Timber-Evolution-1-5m-%C2%96-Smartest-Most-Capable-Durable-Timber-Yet/page50) have indicated that the stock ESC bundled with the airplane has an issue with overheating.
+[Some reports](https://www.rcgroups.com/forums/showthread.php?3904021-NEW-E-flite-Turbo-Timber-Evolution-1-5m/page50) have indicated that the stock ESC bundled with the airplane has an issue with overheating.
As this build will be especially heavy, and therefore likely demand higher average power from the ESC, the stock 60A ESC was replaced with an 80A Turnigy PLUSH-32 during testing.
The stock motor was also replaced with a [higher power motor](https://hobbyking.com/en_us/turnigy-aerodrive-sk3-3548-840kv-brushless-outrunner-motor.html).
@@ -90,7 +90,7 @@ A long M3 nylon screw and a washer on the underside, followed by a washer and st
-
+
## Pitot Pod
@@ -150,7 +150,7 @@ Power for the servo and lighting will be provided by the "BEC" power supply in t
The TTE is very flexible when it comes to battery options.
I use both a 3.6Ah 4S Turnigy pack as well as a Upgrade Energy 4s2p liion pack.
-While the 3.6Ah LiPo is inexpensive, nearly twice the flight time (24 minutes vs 12 minutes) can be acheived with the Upgrade Energy Liion pack.
+While the 3.6Ah LiPo is inexpensive, nearly twice the flight time (24 minutes vs 12 minutes) can be achieved with the Upgrade Energy Liion pack.
@@ -177,10 +177,10 @@ Similarly, a JST PH to std spaced headers adapter was made, and it was also left
#### RC Receiver
-A custom cable was made to connect the ExpressLRS RX ([RC Reciever](../getting_started/rc_transmitter_receiver.md)) to the Pixhawk 4 Mini.
+A custom cable was made to connect the ExpressLRS RX ([RC Receiver](../getting_started/rc_transmitter_receiver.md)) to the Pixhawk 4 Mini.
Because the Pixhawk 4 Mini has limited uarts, the RX was connected to RC input which does not have a TX pin.
-This means that the RX will only send control data to the FCU but telemtry cannot be sent to the RX from the FCU.
+This means that the RX will only send control data to the FCU but telemetry cannot be sent to the RX from the FCU.
Heatshrink was used to secure the dupont connector of the cable such that it cannot back out off the headers of the ExpressLRS RX.
#### FPV Pod & Airspeed Cable
@@ -189,7 +189,7 @@ Another custom cable was made to connect the Caddx Vista FPV transmitter to the
A Molex microfit was added close to the Vista so that it could be easily disconnected without needing to gain access to the Pixhawk.
As the name implies, the `UART/I2C B` port provides both a UART and I2C interface.
This port is split with the custom cable and one side provides power and data to the I2C airspeed sensor, while the other side provides power and UART TX/RX to the Caddx Vista.
-From the UART/I2C B port, 5V, GND, and I2C SCL/SDA, are connected to the I2C airspeed sensor, while just serial RX and TX are connected to the Caddx Vista (Ground is provided the seperate battery power/gnd leads for the Vista)
+From the UART/I2C B port, 5V, GND, and I2C SCL/SDA, are connected to the I2C airspeed sensor, while just serial RX and TX are connected to the Caddx Vista (Ground is provided the separate battery power/gnd leads for the Vista)
The [msp_osd](../modules/modules_driver.md#msp-osd) module is used to stream telemetry to the Caddx Vista which can be seen on the DJI Goggles with the "custom OSD" feature enabled.
@@ -204,7 +204,7 @@ Heatshrink was used to electrically insulate the bare board and the radio was in
Overall, this build was a success.
-Even with the added weight of the Pixhawk 4 Mini installation, the airplane balances well and has plenty of power to retain its original STOL characterisitics.
+Even with the added weight of the Pixhawk 4 Mini installation, the airplane balances well and has plenty of power to retain its original STOL characteristics.
PX4 is easily capable of stabilizing the airplane and fine tuning of the rate loops were accomplished using [fixed-wing autotuning](../config/autotune_fw.md).
The results of tuning can be found in the [parameter file linked below](#parameter-file).
diff --git a/docs/zh/frames_plane/wing_wing_z84.md b/docs/zh/frames_plane/wing_wing_z84.md
index 7f2cdbbadf..43ce23d989 100644
--- a/docs/zh/frames_plane/wing_wing_z84.md
+++ b/docs/zh/frames_plane/wing_wing_z84.md
@@ -33,7 +33,7 @@ Any small (>=12A) ESC will do:
- FrSky D4R-II receiver or equivalent (jumpered to PPM sum output according to its manual)
- [Mini telemetry set](../flight_controller/pixfalcon.md#availability) for Holybro pix32
- [Digital airspeed sensor](../flight_controller/pixfalcon.md#availability) for Holybro pix32 / Pixfalcon
-- 1800 mAh 2S LiPo Battery - e.g. [Team Orion 1800mAh 7.4V 50C 2S1P](https://teamorion.com/en/batteries-en/lipo/soft-case/team-orion-lipo-1800-2s-7-4v-50c-xt60-en/)
+- 1800 mAh 2S LiPo Battery - e.g. Team Orion 1800mAh 7.4V 50C 2S1P with XT 60 plug.
### Recommended spare parts
diff --git a/docs/zh/frames_sub/bluerov2.md b/docs/zh/frames_sub/bluerov2.md
index d3bb9336f1..432c6e2430 100644
--- a/docs/zh/frames_sub/bluerov2.md
+++ b/docs/zh/frames_sub/bluerov2.md
@@ -2,21 +2,25 @@
@@ -29,6 +33,15 @@ The vehicle will then match the configuration documented in the [Airframe Refere
- **MAIN7:** motor 7 CCW, stern starboard vertical, propeller CW
- **MAIN8:** motor 8 CCW, stern port vertical, propeller CCW
+## Manual Modes
+
+| 模式 | 描述 |
+| -------- | ---------------------------------------------------------------------------------------------------------------------------------------------------- |
+| Manual | Direct manual control of yaw and thrust. |
+| Acro | Manual control of yaw/thrust, but keeps roll/pitch zero |
+| Altitude | Manual control of x/y thrust and yaw. Control of height with PID, manually controlled by user. Keeps roll/pitch zero |
+| 安装位置 | Controls x/y/z and yaw. Manually controlled by user. Keeps roll/pitch zero |
+
## Airframe Configuration
BlueROV2 does not come with PX4 installed.
diff --git a/docs/zh/frames_vtol/tailsitter.md b/docs/zh/frames_vtol/tailsitter.md
index 888b60edf9..828128cd42 100644
--- a/docs/zh/frames_vtol/tailsitter.md
+++ b/docs/zh/frames_vtol/tailsitter.md
@@ -91,7 +91,7 @@ This section contains videos that are specific to Tailsitter VTOL (videos that a
+
+## 综述
+
+_Joystick_ setups use QGroundControl to encode the control information from a "standard" computer gaming joystick into [MAVLink messages](https://mavlink.io/en/services/manual_control.html) that are sent to the vehicle over the (shared) telemetry radio channel.
+They are often used in integrated GCS/manual control systems because it is cheaper and easier to integrate a joystick than a separate radio system.
+
+Joysticks are suitable for most applications provided your telemetry channel has a high enough bandwidth/low latency.
+They are perfect for flying the PX4 simulator, because you can plug them directly into your ground control computer and start flying.
+
+_RC systems_ use a dedicated ground-based radio transmitter and vehicle-based receiver for sending control information.
+They offer lower latency than Joysticks, and are very highly recommended when first tuning/testing a new frame design, when flying racers/acrobatically, and in other cases where low latency is important.
+They can also be useful as a robust backup link for safety.
+Note RC systems usually require significantly more configuration and calibration, much of which may be brand or model-specific.
+
+:::info
+PX4 does not _require_ a manual control system for autonomous flight modes.
+:::
+
+## PX4 配置
+
+:::tip
+This section explains how to configure PX4 to use and prioritise various manual control sources (other configuration is covered in the guides for each type of manual control).
+:::
+
+If you only have one manual control system, either RC or Joystick, then by default no manual control selection is required.
+In this case PX4 locks to the first valid manual control source it detects and uses that source until the vehicle is rebooted.
+
+If you have multiple control sources, such as an RC system and/or one or more Joysticks, then you can use the [COM_RC_IN_MODE](../advanced_config/parameter_reference.md#COM_RC_IN_MODE) parameter to determine which source is active, specifying selection priorities and fallback behavior ([parameters can be set](../advanced_config/parameters.md#finding-a-parameter) using QGC):
+
+- `0`: RC only.
+- `1`: MAVLink only.
+- `2`: RC or MAVLink with fallback (switches if current source becomes invalid).
+- `3`: RC or MAVLink keep first (locks to the first valid source until reboot).
+- `4`: Disable manual control (ignores all sources).
+- `5`: RC priority, then MAVLink (lower instance before higher) — `RC > MAVLink 1 > MAVLink 2`
+- `6`: MAVLink priority (lower instance before higher), then RC — `MAVLink 1 > MAVLink 2 > RC`
+- `7`: RC priority, then MAVLink (higher instance before lower) — `RC > MAVLink 2 > MAVLink 1`
+- `8`: MAVLink priority (higher instance before lower), then RC — `MAVLink 2 > MAVLink 1 > RC`
+
+The [MAVLink instance](../peripherals/mavlink_peripherals.md#mavlink-instances) refers to an instance assigned to a serial port, such as [MAV_0_CONFIG](../advanced_config/parameter_reference.md#MAV_0_CONFIG).
+
+备注：
+
+- RC checks are run for any option that uses RC (so not for `MAVLink only` or `Disable manual control`).
+- When using priority sources, sources are evaluated as soon as they become valid and may trigger an immediate switch (if higher priority than the currently active source).
+- A [Manual Control Loss Failsafe](../config/safety.md#manual-control-loss-failsafe) is triggered when none of the manual control inputs allowed by the `COM_RC_IN_MODE` mode are available for a time that is greater than the RC Loss Timeout.
+ As long as there is a fallback input source available, the failsafe is not triggered.
+
+## 另见
+
+- [Radio Control (RC)](../getting_started/rc_transmitter_receiver.md)
+- [Joysticks](../config/joystick.md)
diff --git a/docs/zh/config/radio.md b/docs/zh/config/radio.md
index 3983453e0b..404246b8ae 100644
--- a/docs/zh/config/radio.md
+++ b/docs/zh/config/radio.md
@@ -1,10 +1,12 @@
# 无线电控制（遥控）设置
-The _Radio Setup_ screen is used to configure the mapping of your RC controller's main attitude control sticks (roll, pitch, yaw, throttle) to channels, and to calibrate the minimum, maximum, trim and reverse settings for all other transmitter controls/RC channels.
+The _Radio Setup_ screen is used to configure the mapping of your [RC controller's](../getting_started/rc_transmitter_receiver.md) main attitude control sticks (roll, pitch, yaw, throttle) to channels, and to calibrate the minimum, maximum, trim and reverse settings for all other transmitter controls/RC channels.
:::info
-A [Joystick](../config/joystick.md) can be used instead of RC for manual control.
-The [COM_RC_IN_MODE](../advanced_config/parameter_reference.md#COM_RC_IN_MODE) parameter [can be set](../advanced_config/parameters.md) to define what kind of manual controller(s) are enabled.
+A [Joystick](../config/joystick.md) can also be used for [Manual Control](../config/manual_control.md).
+
+By default PX4 will latch the first valid controller it discovers and use it until the vehicle reboots.
+If you have multiple controllers and you want to define their priority see [Manual Control > PX4 Configuration](../config/manual_control.md#px4-configuration).
:::
## 绑定接收机
diff --git a/docs/zh/config/safety.md b/docs/zh/config/safety.md
index 433eb1d99f..b27d92b270 100644
--- a/docs/zh/config/safety.md
+++ b/docs/zh/config/safety.md
@@ -111,19 +111,17 @@ The settings and underlying parameters are shown below.
## Manual Control Loss Failsafe
-The manual control loss failsafe may be triggered if the connection to the [RC transmitter](../getting_started/rc_transmitter_receiver.md) or [joystick](../config/joystick.md) is lost, and there is no fallback.
-If using an [RC transmitter](../getting_started/rc_transmitter_receiver.md) this is triggered if the RC [transmitter link is lost](../getting_started/rc_transmitter_receiver.md#set-signal-loss-behaviour).
-If using [joysticks](../config/joystick.md) connected over a MAVLink data link, this is triggered if the joysticks are disconnected or the data link is lost.
-
-:::info
-PX4 and the receiver may also need to be configured in order to _detect RC loss_: [Radio Setup > RC Loss Detection](../config/radio.md#rc-loss-detection).
-:::
+A [Manual Control Loss Failsafe](../config/safety.md#manual-control-loss-failsafe) is triggered after a [manual control loss timeout](#COM_RC_LOSS_T) in which none of the configured [Manual Controllers](../config/manual_control.md) are available.
The QGCroundControl Safety UI allows you to set the [failsafe action](#failsafe-actions) and [manual control loss timeout](#COM_RC_LOSS_T).
Users that want to disable this failsafe in specific modes can do so using the parameter [COM_RCL_EXCEPT](#COM_RCL_EXCEPT).
+:::info
+PX4 and the receiver may also need to be configured in order to _detect RC loss_: [Radio Setup > RC Loss Detection](../config/radio.md#rc-loss-detection).
+:::
+
Additional (and underlying) parameter settings are shown below.
| 参数 | 设置 | 描述 |
@@ -181,17 +179,22 @@ The following settings also apply, but are not displayed in the QGC UI.
| Preemptive geofence triggering | [GF_PREDICT](../advanced_config/parameter_reference.md#GF_PREDICT) | (Experimental) Trigger geofence if current motion of the vehicle is predicted to trigger the breach (rather than late triggering after the breach). |
| Circuit breaker for flight termination | [CBRK_FLIGHTTERM](../advanced_config/parameter_reference.md#CBRK_FLIGHTTERM) | 启用/禁用飞行终止操作（默认禁用）。 |
-## Position (GNSS) Loss Failsafe
+## Position Estimation Failsafes
+
+This section describes failsafes related to the quality of the vehicle's position estimate.
+
+### Position Loss Failsafe
The _Position Loss Failsafe_ is triggered if the quality of the PX4 position estimate falls below acceptable levels (this might be caused by GPS loss) while in a mode that requires an acceptable position estimate.
-The sections below cover first the trigger and then the failsafe action taken by the controller.
### Position Loss Failsafe Trigger
-There are basically two mechanisms in PX4 to trigger position failsafes:
+The position loss failsafe triggers if the position estimate becomes _invalid_. There are two mechanisms in PX4 to invalidate the position estimate:
-- 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.
-- 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).
+- 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.
+- The estimated horizontal position inaccuracy exceeds the threshold [COM_POS_LOW_EPH](../advanced_config/parameter_reference.md#COM_POS_LOW_EPH)
+ - This check is only done on hovering systems (rotary-wing vehicles or VTOLs in hover phase). For fixed-wing vehicles, refer to the [Position Accuracy Low](#position-accuracy-low-failsafe) section.
The relevant parameters shown below.
@@ -207,14 +210,24 @@ Multicopters will switch to [Altitude mode](../flight_modes_mc/altitude.md) if a
Fixed-wing planes, and VTOLs not configured to land in hover ([NAV_FORCE_VT](../advanced_config/parameter_reference.md#NAV_FORCE_VT)), have a parameter ([FW_GPSF_LT](../advanced_config/parameter_reference.md#FW_GPSF_LT)) that defines how long they will loiter (circle with a constant roll angle ([FW_GPSF_R](../advanced_config/parameter_reference.md#FW_GPSF_R)) at the current altitude) after losing position before attempting to land.
If VTOLs have are configured to switch to hover for landing ([NAV_FORCE_VT](../advanced_config/parameter_reference.md#NAV_FORCE_VT)) then they will first transition and then descend.
-The relevant parameters for all vehicles shown below.
+The relevant parameters are:
-Parameters that only affect Fixed-wing vehicles:
+| 参数 | 描述 |
+| ----------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| [FW_GPSF_LT](../advanced_config/parameter_reference.md#FW_GPSF_LT) | Fixed-wing only: Loiter time (waiting at current altitude for position estimation recovery before starting to descend). 设置为 0 以禁用。 |
+| [FW_GPSF_R](../advanced_config/parameter_reference.md#FW_GPSF_R) | 以一定的横滚/侧倾角盘旋。 |
+| [NAV_FORCE_VT](../advanced_config/parameter_reference.md#NAV_FORCE_VT) | If true, force VTOL takeoff and landing, even in `Descend` failsafe. |
-| 参数 | 描述 |
-| ----------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------ |
-| [FW_GPSF_LT](../advanced_config/parameter_reference.md#FW_GPSF_LT) | Loiter time (waiting for GPS recovery before it goes into land or flight termination). 设置为 0 以禁用。 |
-| [FW_GPSF_R](../advanced_config/parameter_reference.md#FW_GPSF_R) | 以一定的横滚/侧倾角盘旋。 |
+### Position Accuracy Low Failsafe
+
+In Fixed-wing, the position estimate is never strictly invalidated as long as we have a horizontal aiding source, such as an airspeed sensor. In that case, a separate failsafe can be configured that triggers if the position estimate inacuraccy exceeds the threshold [COM_POS_LOW_EPH](../advanced_config/parameter_reference.md#COM_POS_LOW_EPH). The failsafe action is taken if the vehicle is in mission or hold mode, otherwise it is only a warning. The relevant parameters are:
+
+| 参数 | 描述 |
+| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------- |
+| [COM_POS_LOW_EPH](../advanced_config/parameter_reference.md#COM_POS_LOW_EPH) | Position inaccuracy threshold above which COM_POS_LOW_ACT is taken. |
+| [COM_POS_LOW_ACT](../advanced_config/parameter_reference.md#COM_POS_LOW_ACT) | Failsafe action taken when position inaccuracy is above configured threshold. |
+
+Note that if there is no horizontal aiding source anymore, the position estimate is invalidated after `EKF2_NOAID_TOUT`, and the standard position loss failsafe applies.
## Offboard 中断故障保护
@@ -261,7 +274,7 @@ The parameters that control when the quad-chute will trigger are listed in the t
## High Wind Failsafe
-The high wind failsafe can trigger a warning and/or other mode change when the wind speed exceeds the warning and maximum wind-speed threshhold values.
+The high wind failsafe can trigger a warning and/or other mode change when the wind speed exceeds the warning and maximum wind-speed threshold values.
The relevant parameters are listed in the table below.
| 参数 | 描述 |
@@ -315,8 +328,8 @@ The failure detector can be configured to detect a motor failure while armed (an
| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| [FD_ACT_EN](../advanced_config/parameter_reference.md#FD_ACT_EN) | Enable/disable the motor failure trigger completely. |
| [FD_ACT_MOT_THR](../advanced_config/parameter_reference.md#FD_ACT_MOT_THR) | Minimum normalized [0,1] motor command below which motor under current is ignored. |
-| [FD_ACT_MOT_C2T](../advanced_config/parameter_reference.md#FD_ACT_MOT_C2T) | Scale between normalized [0,1] motor command and expected minimally reported currrent when the rotor is healthy. |
-| [FD_ACT_MOT_TOUT](../advanced_config/parameter_reference.md#FD_ACT_MOT_TOUT) | Time in miliseconds for which the under current detection condition needs to stay true. |
+| [FD_ACT_MOT_C2T](../advanced_config/parameter_reference.md#FD_ACT_MOT_C2T) | Scale between normalized [0,1] motor command and expected minimally reported current when the rotor is healthy. |
+| [FD_ACT_MOT_TOUT](../advanced_config/parameter_reference.md#FD_ACT_MOT_TOUT) | Time in milliseconds for which the under current detection condition needs to stay true. |
| [CA_FAILURE_MODE](../advanced_config/parameter_reference.md#CA_FAILURE_MODE) | Configure to not only warn about a motor failure but remove the first motor that detects a failure from the allocation effectiveness which turns off the motor and tries to operate the vehicle without it until disarming the next time. |
### 外部自动触发系统（ATS）
diff --git a/docs/zh/config_mc/pid_tuning_guide_multicopter_basic.md b/docs/zh/config_mc/pid_tuning_guide_multicopter_basic.md
index 456c34a6b0..e82f96516c 100644
--- a/docs/zh/config_mc/pid_tuning_guide_multicopter_basic.md
+++ b/docs/zh/config_mc/pid_tuning_guide_multicopter_basic.md
@@ -13,7 +13,7 @@ For example, different ESCs or motors change the optimal tuning gains.
## 简介
-PX4 uses **P**roportional, **I**ntegral, **D**erivative (PID) controllers (these are the most widespread control technique).
+PX4 uses **P**roportional, **I**integral, **D**erivative (PID) controllers (these are the most widespread control technique).
The _QGroundControl_ **PID Tuning** setup provides real-time plots of the vehicle setpoint and response curves.
The goal of tuning is to set the P/I/D values such that the _Response_ curve matches the _Setpoint_ curve as closely as possible (i.e. a fast response without overshoots).
diff --git a/docs/zh/config_rover/attitude_tuning.md b/docs/zh/config_rover/attitude_tuning.md
index eed4399823..7d73d2d5cf 100644
--- a/docs/zh/config_rover/attitude_tuning.md
+++ b/docs/zh/config_rover/attitude_tuning.md
@@ -16,7 +16,7 @@ Configure the following [parameters](../advanced_config/parameters.md) in QGroun
Put the rover into stabilized mode and move the left stick of your controller up to drive forwards.
Disarm the rover and from the flight log plot the `measured_yaw` and the `adjusted_yaw_setpoint` from the [RoverAttitudeStatus](../msg_docs/RoverAttitudeStatus.md) message over each other.
Increase/Decrease the parameter until you are satisfied with the setpoint tracking.
- If you observe a steady state error in the yaw setpoint increase the the integrator of the rate controller: [RO_YAW_RATE_I](../advanced_config/parameter_reference.md#RO_YAW_RATE_I) .
+ If you observe a steady state error in the yaw setpoint increase the integrator of the rate controller: [RO_YAW_RATE_I](../advanced_config/parameter_reference.md#RO_YAW_RATE_I) .
:::
@@ -30,7 +30,7 @@ The attitude controller uses the following structure:
-The rate and attitude controllers are cascaded, therefor we only require one integrator in the structure to eliminate steady state errors.
+The rate and attitude controllers are cascaded, therefore we only require one integrator in the structure to eliminate steady state errors.
We placed the integrator in the rate controller since it can run without the attitude controller but not the other way around.
## Parameter Overview
diff --git a/docs/zh/config_rover/basic_setup.md b/docs/zh/config_rover/basic_setup.md
index 02a05b138a..810b031025 100644
--- a/docs/zh/config_rover/basic_setup.md
+++ b/docs/zh/config_rover/basic_setup.md
@@ -138,7 +138,7 @@ In [Manual mode](../flight_modes_rover/manual.md#manual-mode) we can additionall
- Differential Rover: $r=$ [RD_YAW_STK_GAIN](#RD_YAW_STK_GAIN), which enables adjusting the slope of the input mapping. This leads to a normalized steering input $\hat{\delta} = \delta \cdot r \in$ [-[RD_YAW_STK_GAIN](#RD_YAW_STK_GAIN), [RD_YAW_STK_GAIN](#RD_YAW_STK_GAIN)].
- Mecanum Rover: $r=$ [RM_YAW_STK_GAIN](#RM_YAW_STK_GAIN), which enables adjusting the slope of the input mapping. This leads to a normalized steering input $\hat{\delta} = \delta \cdot r \in$ [-[RM_YAW_STK_GAIN](#RM_YAW_STK_GAIN), [RM_YAW_STK_GAIN](#RM_YAW_STK_GAIN)].
-This scaling is useful to limit the normalized steering setpoint, if it is too aggresive for your rover in manual mode.
+This scaling is useful to limit the normalized steering setpoint, if it is too aggressive for your rover in manual mode.
You can experiment with the relationships graphically using the [PX4 SuperExpo Rover calculator](https://www.desmos.com/calculator/gwm8lrlanx).
diff --git a/docs/zh/config_rover/index.md b/docs/zh/config_rover/index.md
index b6b955f786..62b4d17b4e 100644
--- a/docs/zh/config_rover/index.md
+++ b/docs/zh/config_rover/index.md
@@ -39,7 +39,7 @@ make px4_fmu-v6x_rover
Note that configuration targets are constructed with the format "VENDOR_MODEL_VARIANT".
-The built firmware can be installed as custom firmware, as shown above in in [Flashing the Rover Build](#flashing-the-rover-build).
+The built firmware can be installed as custom firmware, as shown above in [Flashing the Rover Build](#flashing-the-rover-build).
:::info
You can also enable the modules in default builds by adding these lines to your [board configuration](../hardware/porting_guide_config.md) (e.g. for fmu-v6x you might add them to [`main/boards/px4/fmu-v6x/default.px4board`](https://github.com/PX4/PX4-Autopilot/blob/main/boards/px4/fmu-v6x/default.px4board)):
diff --git a/docs/zh/config_rover/rate_tuning.md b/docs/zh/config_rover/rate_tuning.md
index 6544ffec8a..93449e0020 100644
--- a/docs/zh/config_rover/rate_tuning.md
+++ b/docs/zh/config_rover/rate_tuning.md
@@ -11,7 +11,7 @@ Configure the following [parameters](../advanced_config/parameters.md) in QGroun
1. [RO_YAW_RATE_LIM](#RO_YAW_RATE_LIM): Maximum yaw rate you want to allow for your rover.
:::tip
- Limiting the yaw rate is necessary if the rover is prone rolling over, loosing traction at high speeds or if passenger comfort is important.
+ Limiting the yaw rate is necessary if the rover is prone rolling over, losing traction at high speeds or if passenger comfort is important.
Small rovers especially can be prone to rolling over when steering aggressively at high speeds.
If this is the case:
diff --git a/docs/zh/config_rover/velocity_tuning.md b/docs/zh/config_rover/velocity_tuning.md
index 5796839ca3..d17f8b1004 100644
--- a/docs/zh/config_rover/velocity_tuning.md
+++ b/docs/zh/config_rover/velocity_tuning.md
@@ -60,7 +60,7 @@ To tune the velocity controller configure the following [parameters](../advanced
## Manual Position Mode Parameters
-These steps are only necessary if you are tuning/want to unlock the manual [Position mode](../flight_modes_rover/manual.md#position-mode). Othwerwise, you can continue with [position tuning](position_tuning.md) where these same parameters will also be configured.
+These steps are only necessary if you are tuning/want to unlock the manual [Position mode](../flight_modes_rover/manual.md#position-mode). Otherwise, you can continue with [position tuning](position_tuning.md) where these same parameters will also be configured.
1. [PP_LOOKAHD_GAIN](#PP_LOOKAHD_GAIN): When driving in a straight line (right stick centered) position mode leverages the same path following algorithm used in [auto modes](../flight_modes_rover/auto.md) called [pure pursuit](position_tuning.md#pure-pursuit-guidance-logic-info-only) to achieve the best possible straight line driving behaviour.
This parameter determines how aggressive the controller will steer towards the path.
@@ -109,7 +109,7 @@ The speed controller uses the following structure:
The feed forward mapping is done by interpolating the speed setpoint from [-[RO_MAX_THR_SPEED](../advanced_config/parameter_reference.md#RO_MAX_THR_SPEED), [RO_MAX_THR_SPEED](../advanced_config/parameter_reference.md#RO_MAX_THR_SPEED)] to [-1, 1].
-For ackermann and differential rovers the bearing is aligned with the vehicle yaw. Therefor the bearing is simply sent as a yaw setpoint to the [yaw controller](attitude_tuning.md#attitude-controller-structure-info-only) and the speed setpoint is always defined in body x direction.
+For ackermann and differential rovers the bearing is aligned with the vehicle yaw. Therefore the bearing is simply sent as a yaw setpoint to the [yaw controller](attitude_tuning.md#attitude-controller-structure-info-only) and the speed setpoint is always defined in body x direction.
For mecanum vehicles, the bearing and yaw are decoupled. The direction is controlled by splitting the velocity vector into one speed component in body x direction and one in body y direction.
Both these setpoint are then sent to their own closed loop speed controllers.
diff --git a/docs/zh/config_vtol/vtol_ice_shedding.md b/docs/zh/config_vtol/vtol_ice_shedding.md
index 6884211c7b..eda4a770f5 100644
--- a/docs/zh/config_vtol/vtol_ice_shedding.md
+++ b/docs/zh/config_vtol/vtol_ice_shedding.md
@@ -6,7 +6,7 @@ Ice shedding is a feature that periodically spins unused motors in fixed-wing
flight, to break off any ice that is starting to build up in the motors while it
is still feasible to do so.
-It is configured by the paramter `CA_ICE_PERIOD`. When it is 0, the feature is
+It is configured by the parameter `CA_ICE_PERIOD`. When it is 0, the feature is
disabled, when it is above 0, it sets the duration of the ice shedding cycle in
seconds. In each cycle, the rotors are spun for two seconds at a motor output of
0.01.
diff --git a/docs/zh/config_vtol/vtol_quad_configuration.md b/docs/zh/config_vtol/vtol_quad_configuration.md
index ecb9ce0df1..fd765a7dc7 100644
--- a/docs/zh/config_vtol/vtol_quad_configuration.md
+++ b/docs/zh/config_vtol/vtol_quad_configuration.md
@@ -95,7 +95,7 @@ It should be set to a value which ensures that the vehicle reaches a high enough
[VT_TRANS_TIMEOUT](../advanced_config/parameter_reference.md#VT_TRANS_TIMEOUT)
This specifies the upper limit for the duration of the front transition. If the vehicle has not reached the transition airspeed after this time, then the transition will be aborted and a [Quadchute](../config/safety.md#quad-chute-failsafe) event will be triggered.
-:::note
+::: info
Additionally, if an airspeed sensor is present, the transition will also be aborted if the airspeed has not reached [VT_ARSP_BLEND](../advanced_config/parameter_reference.md#VT_ARSP_BLEND) after the openloop transition time [VT_F_TR_OL_TM](../advanced_config/parameter_reference.md#VT_F_TR_OL_TM) has elapsed. This checks is used to avoid a scenario where the vehicle gains excessive speed when the airspeed sensor is faulty.
:::
diff --git a/docs/zh/contribute/dev_call.md b/docs/zh/contribute/dev_call.md
index 3ca4e383d4..5fd92675b2 100644
--- a/docs/zh/contribute/dev_call.md
+++ b/docs/zh/contribute/dev_call.md
@@ -7,7 +7,7 @@ const { site } = useData();
-
This page may be out out of date. See the latest version.
+This page may be out of date. See the latest version.
-
This page may be out out of date. See the latest version.
+This page may be out of date. See the latest version.
-
This page may be out out of date. See the latest version.
+This page may be out of date. See the latest version.
Digikey: [BM06B-GHS-TBT(LF)(SN)(N)][bm06b-ghs-tbt(lf)(sn)(n)] (vertical mount), [SM06B-GHS-TBT(LF)(SN)(N)][sm06b-ghs-tbt(lf)(sn)(n)] (side mount) | -| [CUAV V5nano](../flight_controller/cuav_v5_nano.md#debug_port) | 6-pin JST GH
Digikey: [BM06B-GHS-TBT(LF)(SN)(N)][bm06b-ghs-tbt(lf)(sn)(n)] (vertical mount), [SM06B-GHS-TBT(LF)(SN)(N)][sm06b-ghs-tbt(lf)(sn)(n)] (side mount) | -| [3DR Pixhawk](../flight_controller/pixhawk.md#swd-port) | ARM 10-pin JTAG Connector (also used for FMUv2 boards including: _mRo Pixhawk_, _HobbyKing HKPilot32_). | +| 飞控 | 调试接口 | +| :------------------------------------------------------------------------------------------------------ | :----------------------------------------------------------------------- | +| [Holybro Pixhawk 6X-RT](../flight_controller/pixhawk6x-rt.md#debug_port) (FMUv6X-RT) | [Pixhawk Debug Full](#pixhawk-debug-full) | +| [Holybro Pixhawk 6X](../flight_controller/pixhawk6x.md#debug_port) (FMUv6x) | [Pixhawk Debug Full](#pixhawk-debug-full) | +| [Holybro Pixhawk 5X](../flight_controller/pixhawk5x.md#debug_port) (FMUv5x) | [Pixhawk Debug Full](#pixhawk-debug-full) | +| [Holybro Durandal](../flight_controller/durandal.md#debug-port) | [Pixhawk Debug Mini](#pixhawk-debug-mini) | +| [Holybro Pixhawk 4](../flight_controller/pixhawk4.md#debug_port) (FMUv5) | [Pixhawk Debug Mini](#pixhawk-debug-mini) | +| [Holybro Pixhawk 6X Pro](../flight_controller/pixhawk6x_pro.md#debug-port) | [Pixhawk Debug Full](#pixhawk-debug-full) | +| [Holybro Pixhawk 6C](../flight_controller/pixhawk6c.md#debug_port) | [Pixhawk Debug Full](#pixhawk-debug-full) | +| [Holybro Pixhawk 6C Mini](../flight_controller/pixhawk6c_mini.md#debug_port) | [Pixhawk Debug Mini](#pixhawk-debug-mini) | +| [Holybro Pix32 v6](../flight_controller/holybro_pix32_v6.md#debug_port) | [Pixhawk Debug Full](#pixhawk-debug-full) | +| [Holybro Pix32 v5](../flight_controller/holybro_pix32_v5.md#debug-port) | [Pixhawk Debug Mini](#pixhawk-debug-mini) | +| [Holybro Kakute H7](../flight_controller/kakuteh7.md#debug-port) | SWD pads and system console | +| [Holybro Kakute H7 mini](../flight_controller/kakuteh7mini.md#debug-port) | SWD pads and system console | +| [Holybro Kakute H7 V2](../flight_controller/kakuteh7v2.md#debug-port) | SWD pads and system console | +| [CUAV V5+](../flight_controller/cuav_v5_plus.md#debug-port) | Custom port but comes with adaptor cable | +| [CUAV V5nano](../flight_controller/cuav_v5_nano.md#debug_port) | Custom port but comes with adaptor cable | +| [CUAV Pixhawk V6X](../flight_controller/cuav_pixhawk_v6x.md#debug_port) | [Pixhawk Debug Full](#pixhawk-debug-full) | +| [CUAV X25-SUPER](../flight_controller/cuav_x25-super.md#debug_port) | [Pixhawk Debug Mini] | +| [CUAV X25-EVO](../flight_controller/cuav_x25-evo.md#debug_port) | [Pixhawk Debug Mini] | +| [CUAV Nora](../flight_controller/cuav_nora.md#debug-port) | Custom port but comes with adaptor cable. | +| [ARK Pixhawk Autopilot Bus Carrier](../flight_controller/ark_pab.md#debug-port) | [Pixhawk Debug Full](#pixhawk-debug-full) | +| [NXP MR-VMU-RT1176](../flight_controller/nxp_mr_vmu_rt1176.md#debug_port) | [Pixhawk Debug Full](#pixhawk-debug-full) | +| [mRo Pixracer](../flight_controller/pixracer.md#debug-port) | [Pixhawk Debug Mini](#pixhawk-debug-mini) | +| [S-Vehicle E2](../flight_controller/svehicle_e2.md#debug-port) | [Pixhawk Debug Mini] | +| [AP-H743-R1](../flight_controller/x-mav_ap-h743r1.md#debug-port) | 4-pin JST GH (SWD only) | +| [mRo Control Zero F7](../flight_controller/mro_control_zero_f7.md#debug_port) | | - - -## Pixhawk Connector Standard Debug Ports +## Pixhawk Connector Standard Debug Ports {#pixhawk-standard-debug-ports} The Pixhawk project has defines a standard pinout and connector type for different Pixhawk FMU releases: @@ -64,16 +74,16 @@ The Pixhawk project has defines a standard pinout and connector type for differe Check your [specific board](#port-information) to confirm the port used. ::: -| FMU Version | Pixhawk Version | 调试接口 | -| :---------- | :-------------------------------------------------------------- | :---------------------------------------- | -| FMUv2 | [Pixhawk / Pixhawk 1](../flight_controller/pixhawk.md#swd-port) | 10 pin ARM Debug | -| FMUv3 | Pixhawk 2 | 6 pin SUR Debug | -| FMUv4 | Pixhawk 1/2 | [Pixhawk Debug Mini](#pixhawk-debug-mini) | -| FMUv5 | Pixhawk 4 FMUv5 | [Pixhawk Debug Mini](#pixhawk-debug-mini) | -| FMUv5X | Pixhawk 5X | [Pixhawk Debug Full](#pixhawk-debug-full) | -| FMUv6 | Pixhawk 6 | [Pixhawk Debug Full](#pixhawk-debug-full) | -| FMUv6X | Pixhawk 6X | [Pixhawk Debug Full](#pixhawk-debug-full) | -| FMUv6X-RT | Pixhawk 6X-RT | [Pixhawk Debug Full](#pixhawk-debug-full) | +| FMU Version | Pixhawk Version | 调试接口 | +| :---------- | :------------------ | :---------------------------------------- | +| FMUv2 | Pixhawk / Pixhawk 1 | 10 pin ARM Debug | +| FMUv3 | Pixhawk 2 | 6 pin SUR Debug | +| FMUv4 | Pixhawk 1/2 | [Pixhawk Debug Mini](#pixhawk-debug-mini) | +| FMUv5 | Pixhawk 4 FMUv5 | [Pixhawk Debug Mini](#pixhawk-debug-mini) | +| FMUv5X | Pixhawk 5X | [Pixhawk Debug Full](#pixhawk-debug-full) | +| FMUv6 | Pixhawk 6 | [Pixhawk Debug Full](#pixhawk-debug-full) | +| FMUv6X | Pixhawk 6X | [Pixhawk Debug Full](#pixhawk-debug-full) | +| FMUv6X-RT | Pixhawk 6X-RT | [Pixhawk Debug Full](#pixhawk-debug-full) | :::info There FMU and Pixhawk versions are (only) consistent after FMUv5X. @@ -142,9 +152,7 @@ You can connect to the debug port using a [cable like this one](https://www.digi  - - -## Debug Probes for PX4 Hardware +## Debug Probes for PX4 Hardware {#debug-probes} Flight controllers commonly provide a [single debug port](#autopilot-debug-ports) that exposes both the [SWD Interface](#debug-signals) and [System Console](system_console). @@ -217,5 +225,3 @@ This reduces the risk or poor wiring contributing to debugging problems, and has [swd]: https://developer.arm.com/documentation/ihi0031/a/The-Serial-Wire-Debug-Port--SW-DP- [itm]: https://developer.arm.com/documentation/ddi0403/d/Appendices/Debug-ITM-and-DWT-Packet-Protocol?lang=en [etm]: https://developer.arm.com/documentation/ihi0064/latest/ -[bm06b-ghs-tbt(lf)(sn)(n)]: https://www.digikey.com/en/products/detail/jst-sales-america-inc/BM06B-GHS-TBT/807804 -[sm06b-ghs-tbt(lf)(sn)(n)]: https://www.digikey.com/en/products/detail/jst-sales-america-inc/SM06B-GHS-TB/807790 diff --git a/docs/zh/dev_airframes/adding_a_new_frame.md b/docs/zh/dev_airframes/adding_a_new_frame.md index 407c541df7..5ccdc2b38f 100644 --- a/docs/zh/dev_airframes/adding_a_new_frame.md +++ b/docs/zh/dev_airframes/adding_a_new_frame.md @@ -124,118 +124,79 @@ param set-default CA_ROTOR3_PY 0.15 param set-default CA_ROTOR3_KM -0.05 ``` -### Example - Babyshark VTOL Complete Vehicle +### Example - HolyBro QAV250 Complete Vehicle -A more complicated configuration file for a complete vehicle is provided below. -This is the configuration for the Baby Shark [Standard VTOL](../frames_vtol/standardvtol.md) ([original file here](https://github.com/PX4/PX4-Autopilot/blob/main/ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark)). +A more complete configuration file for a real vehicle is provided below. +This is the configuration for the [HolyBro QAV250](../frames_multicopter/holybro_qav250_pixhawk4_mini.md) quadrotor ([original file here](https://github.com/PX4/PX4-Autopilot/blob/main/ROMFS/px4fmu_common/init.d/airframes/4052_holybro_qav250)). -The shebang and documentation sections are similar to those for the generic frame, but here we also document what `outputs` are mapped to each motor and actuator. -Note that these outputs are documentation only; the actual mapping is done using parameters. +The shebang and documentation sections are similar to those for the generic frame. +Here we also add a `@url` link to the vehicle documentation, a `@maintainer`, and additional board exclusions. ```sh #!/bin/sh # -# @name BabyShark VTOL +# @name HolyBro QAV250 # -# @type Standard VTOL -# @class VTOL +# @url https://docs.px4.io/main/en/frames_multicopter/holybro_qav250_pixhawk4_mini # -# @maintainer Silvan Fuhrer
@@ -93,7 +93,7 @@ This flight controller is perfect for people that is looking for a affordable an
- 其它特性:
- Operating & storage temperature: -40 ~ 85°c
-## 购买渠道
+## Where to Buy {#store}
Order from [Holybro](https://holybro.com/products/pix32-v6).
@@ -156,13 +156,11 @@ It is pre-built and automatically installed by _QGroundControl_ when appropriate
To [build PX4](../dev_setup/building_px4.md) for this target:
-```
+```sh
make px4_fmu-v6c_default
```
-
-
-## 调试接口
+## Debug Port {#debug_port}
The [PX4 System Console](../debug/system_console.md) and [SWD interface](../debug/swd_debug.md) run on the **FMU Debug** port.
diff --git a/docs/zh/flight_controller/kakutef7.md b/docs/zh/flight_controller/kakutef7.md
index 85877b99b1..72e2f77c50 100644
--- a/docs/zh/flight_controller/kakutef7.md
+++ b/docs/zh/flight_controller/kakutef7.md
@@ -1,142 +1,7 @@
+
diff --git a/docs/zh/frames_multicopter/kits.md b/docs/zh/frames_multicopter/kits.md
index c28d84a72f..1f2263854a 100644
--- a/docs/zh/frames_multicopter/kits.md
+++ b/docs/zh/frames_multicopter/kits.md
@@ -18,6 +18,7 @@ Kits generally do not include:
The following kits are currently available:
+- [Holybro X650 PX4 Development Kit](https://holybro.com/collections/x650-kits) (Pixhawk 6C/6X) ([Frame assembly guide](https://docs.holybro.com/drone-development-kit/x650-development-kit/download))
- [Holybro X500 v2 PX4 Development Kit](https://holybro.com/collections/x500-kits) (Pixhawk 6c) ([Build instructions](../frames_multicopter/holybro_x500v2_pixhawk6c.md))
- [Holybro S500 Kit v2](https://holybro.com/collections/s500/products/s500-v2-development-kit) (Pixhawk 6c)
- [Holybro QAV250 Kit](https://holybro.com/products/qav250-kit) (Pixhawk 6c)
@@ -27,7 +28,7 @@ The following kits are currently available:
## Build Guides
The build guides below show how to assemble a number of kits.
-Many kits vary only a little between revisions (for example, the new kit might simply upgrade the flight controller used, and is otherwise identical), so these are likely to be be useful for building the kits in the section above.
+Many kits vary only a little between revisions (for example, the new kit might simply upgrade the flight controller used, and is otherwise identical), so these are likely to be useful for building the kits in the section above.
- [Holybro X500 v2 (Pixhawk 6C)](../frames_multicopter/holybro_x500v2_pixhawk6c.md)
- [Holybro X500 v2 (Pixhawk 5X)](../frames_multicopter/holybro_x500V2_pixhawk5x.md) — Discontinued (v2 kit uses Pixhawk 6c)
diff --git a/docs/zh/frames_multicopter/omnicopter.md b/docs/zh/frames_multicopter/omnicopter.md
index 5beb0e46c0..5f0478beef 100644
--- a/docs/zh/frames_multicopter/omnicopter.md
+++ b/docs/zh/frames_multicopter/omnicopter.md
@@ -19,8 +19,8 @@ The components needed for this build are:
You can select your own flight controller of choice, it just needs to support 8 DShot outputs.
:::
- - GPS: [ZED-F9P](https://gnss.store/zed-f9p-gnss-modules/105-elt0092.html)
- - [GPS helix antenna](https://gnss.store/gnss-rtk-multiband-antennas/28-elt0014.html)
+ - GPS: [ZED-F9P](https://gnss.store/products/elt0092)
+ - [GPS helix antenna](https://gnss.store/products/elt0014)
::: info
Any other GPS may work as well, however a helix antenna is expected to perform better for inverted flights.
@@ -34,8 +34,8 @@ The components needed for this build are:
- Battery: we used a 6S 3300mAh LiPo. Make sure to check the dimensions so it fits the frame.
- Battery strap
- Frame:
- - Carbon square tube R 8mm X 7mm X 1000mm, e.g. [here on shop.swiss-composite.ch](https://shop.swiss-composite.ch/pi.php/Halbfabrikate/Rohre/Vierkant-Rohre/CFK-Vierkantrohr-8x8-7x7mm.html)
- - Carbon Rods R 3mm X 2mm X 1000mm, e.g. [here on shop.swiss-composite.ch](https://shop.swiss-composite.ch/pi.php/Halbfabrikate/Rohre/CFK-Rohre-pultrudiert-pullwinding/Carbon-Microtubes-100cm-x-20-3mm.html)
+ - Carbon square tube R 8mm X 7mm X 1000mm, e.g. [here on shop.swiss-composite.ch](https://www.shop.swiss-composite.ch/de/produkt/cfk-vierkantrohr-8x8-7x7mm)
+ - Carbon Rods R 3mm X 2mm X 1000mm, e.g. [here on shop.swiss-composite.ch](https://www.shop.swiss-composite.ch/de/produkt/carbon-microtubes-100cm-x-20-3mm)
- Required lengths:
- square tube: 8 pieces with length of 248mm
- rods: 12x328mm, 6x465mm
diff --git a/docs/zh/frames_plane/reptile_dragon_2.md b/docs/zh/frames_plane/reptile_dragon_2.md
index 89e1cf5139..1fa85eb461 100644
--- a/docs/zh/frames_plane/reptile_dragon_2.md
+++ b/docs/zh/frames_plane/reptile_dragon_2.md
@@ -56,7 +56,7 @@ Key build features
- MS4525DO differential pressure module and pitot tube
-- [Caddx Vista FPV air unit](https://caddxfpv.com/collections/vista-kit)
+- [Caddx Vista FPV air unit](https://www.caddxfpv.com/collections/vista-kit)
- [Emax ES08MA ii](https://emaxmodel.com/products/emax-es08ma-ii-12g-mini-metal-gear-analog-servo-for-rc-model-robot-pwm-servo)
@@ -66,7 +66,7 @@ Key build features
- [5V BEC](https://www.readymaderc.com/products/details/rmrc-3a-power-regulator-5-to-6-volt-ubec)
-- [6s2p 18650 LiIon flight battery](https://www.upgradeenergytech.com/product-page/6s-22-2v-5600mah-30c-dark-lithium-liion-drone-battery) (select XT60 connector)
+- [6s2p 18650 LiIon flight battery](https://www.upgradeenergytech.com/products/red-6s1p-5000mah-molicel-p50b) (select XT60 connector)
- [Custom designed 3D printed parts](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/airframes/fw/reptile_dragon_2/rd2_3d_printed_parts.zip)
- ARK6X carrier mount
@@ -97,7 +97,7 @@ The airplane needs some assembly out of the box.
Servos, wings, and the tail will need to be installed.
:::info
-For this portion of assembly, the instructions included with the kit should be sufficent, but some helpful tips are listed below.
+For this portion of assembly, the instructions included with the kit should be sufficient, but some helpful tips are listed below.
:::
### Gluing Foam
@@ -225,7 +225,7 @@ An alternative carrier board is the Holybro Pixhawk 5X carrier.
The carrier comes installed in a plastic case.
While the case does look nice, it is extra weight, so the carrier was removed from the case.
-Once removed from the case, the ARK6X was installed, and a protective cover fitted ontop.
+Once removed from the case, the ARK6X was installed, and a protective cover fitted on top.
@@ -353,7 +353,7 @@ For more information see [TBS Crossfire (CRSF) Telemetry](../telemetry/crsf_tele
### `msp_osd` Module
-The `msp_osd` module steams MSP telemetry to a selected serial port.
+The `msp_osd` module streams MSP telemetry to a selected serial port.
The Caddx Vista Air Unit supports listening to MSP telemetry and will show the received telemetry values in its OSD (on screen display).
1. In the PX4 board config tool, navigate to the `drivers` submenu, then scroll down to highlight `OSD`.
diff --git a/docs/zh/frames_plane/turbo_timber_evolution.md b/docs/zh/frames_plane/turbo_timber_evolution.md
index 04326763f5..ba6a75d5f7 100644
--- a/docs/zh/frames_plane/turbo_timber_evolution.md
+++ b/docs/zh/frames_plane/turbo_timber_evolution.md
@@ -50,7 +50,7 @@ Key Build Features:
- MS4525DO differential pressure module and pitot tube
-- [Caddx Vista FPV air unit](https://caddxfpv.com/collections/vista-kit)
+- [Caddx Vista FPV air unit](https://www.caddxfpv.com/collections/vista-kit)
- [DJI FPV Goggles](https://www.dji.com/fpv)
@@ -74,7 +74,7 @@ Servos and linkages have already been installed, and the only real remaining wor
For this portion of the assembly, simply follow the manual.
:::info
-[Some reports](https://www.rcgroups.com/forums/showthread.php?3904021-NEW-E-flite-Turbo-Timber-Evolution-1-5m-%C2%96-Smartest-Most-Capable-Durable-Timber-Yet/page50) have indicated that the stock ESC bundled with the airplane has an issue with overheating.
+[Some reports](https://www.rcgroups.com/forums/showthread.php?3904021-NEW-E-flite-Turbo-Timber-Evolution-1-5m/page50) have indicated that the stock ESC bundled with the airplane has an issue with overheating.
As this build will be especially heavy, and therefore likely demand higher average power from the ESC, the stock 60A ESC was replaced with an 80A Turnigy PLUSH-32 during testing.
The stock motor was also replaced with a [higher power motor](https://hobbyking.com/en_us/turnigy-aerodrive-sk3-3548-840kv-brushless-outrunner-motor.html).
@@ -90,7 +90,7 @@ A long M3 nylon screw and a washer on the underside, followed by a washer and st
-
+
## Pitot Pod
@@ -150,7 +150,7 @@ Power for the servo and lighting will be provided by the "BEC" power supply in t
The TTE is very flexible when it comes to battery options.
I use both a 3.6Ah 4S Turnigy pack as well as a Upgrade Energy 4s2p liion pack.
-While the 3.6Ah LiPo is inexpensive, nearly twice the flight time (24 minutes vs 12 minutes) can be acheived with the Upgrade Energy Liion pack.
+While the 3.6Ah LiPo is inexpensive, nearly twice the flight time (24 minutes vs 12 minutes) can be achieved with the Upgrade Energy Liion pack.
@@ -177,10 +177,10 @@ Similarly, a JST PH to std spaced headers adapter was made, and it was also left
#### RC Receiver
-A custom cable was made to connect the ExpressLRS RX ([RC Reciever](../getting_started/rc_transmitter_receiver.md)) to the Pixhawk 4 Mini.
+A custom cable was made to connect the ExpressLRS RX ([RC Receiver](../getting_started/rc_transmitter_receiver.md)) to the Pixhawk 4 Mini.
Because the Pixhawk 4 Mini has limited uarts, the RX was connected to RC input which does not have a TX pin.
-This means that the RX will only send control data to the FCU but telemtry cannot be sent to the RX from the FCU.
+This means that the RX will only send control data to the FCU but telemetry cannot be sent to the RX from the FCU.
Heatshrink was used to secure the dupont connector of the cable such that it cannot back out off the headers of the ExpressLRS RX.
#### FPV Pod & Airspeed Cable
@@ -189,7 +189,7 @@ Another custom cable was made to connect the Caddx Vista FPV transmitter to the
A Molex microfit was added close to the Vista so that it could be easily disconnected without needing to gain access to the Pixhawk.
As the name implies, the `UART/I2C B` port provides both a UART and I2C interface.
This port is split with the custom cable and one side provides power and data to the I2C airspeed sensor, while the other side provides power and UART TX/RX to the Caddx Vista.
-From the UART/I2C B port, 5V, GND, and I2C SCL/SDA, are connected to the I2C airspeed sensor, while just serial RX and TX are connected to the Caddx Vista (Ground is provided the seperate battery power/gnd leads for the Vista)
+From the UART/I2C B port, 5V, GND, and I2C SCL/SDA, are connected to the I2C airspeed sensor, while just serial RX and TX are connected to the Caddx Vista (Ground is provided the separate battery power/gnd leads for the Vista)
The [msp_osd](../modules/modules_driver.md#msp-osd) module is used to stream telemetry to the Caddx Vista which can be seen on the DJI Goggles with the "custom OSD" feature enabled.
@@ -204,7 +204,7 @@ Heatshrink was used to electrically insulate the bare board and the radio was in
Overall, this build was a success.
-Even with the added weight of the Pixhawk 4 Mini installation, the airplane balances well and has plenty of power to retain its original STOL characterisitics.
+Even with the added weight of the Pixhawk 4 Mini installation, the airplane balances well and has plenty of power to retain its original STOL characteristics.
PX4 is easily capable of stabilizing the airplane and fine tuning of the rate loops were accomplished using [fixed-wing autotuning](../config/autotune_fw.md).
The results of tuning can be found in the [parameter file linked below](#parameter-file).
diff --git a/docs/zh/frames_plane/wing_wing_z84.md b/docs/zh/frames_plane/wing_wing_z84.md
index 7f2cdbbadf..43ce23d989 100644
--- a/docs/zh/frames_plane/wing_wing_z84.md
+++ b/docs/zh/frames_plane/wing_wing_z84.md
@@ -33,7 +33,7 @@ Any small (>=12A) ESC will do:
- FrSky D4R-II receiver or equivalent (jumpered to PPM sum output according to its manual)
- [Mini telemetry set](../flight_controller/pixfalcon.md#availability) for Holybro pix32
- [Digital airspeed sensor](../flight_controller/pixfalcon.md#availability) for Holybro pix32 / Pixfalcon
-- 1800 mAh 2S LiPo Battery - e.g. [Team Orion 1800mAh 7.4V 50C 2S1P](https://teamorion.com/en/batteries-en/lipo/soft-case/team-orion-lipo-1800-2s-7-4v-50c-xt60-en/)
+- 1800 mAh 2S LiPo Battery - e.g. Team Orion 1800mAh 7.4V 50C 2S1P with XT 60 plug.
### Recommended spare parts
diff --git a/docs/zh/frames_sub/bluerov2.md b/docs/zh/frames_sub/bluerov2.md
index d3bb9336f1..432c6e2430 100644
--- a/docs/zh/frames_sub/bluerov2.md
+++ b/docs/zh/frames_sub/bluerov2.md
@@ -2,21 +2,25 @@
@@ -29,6 +33,15 @@ The vehicle will then match the configuration documented in the [Airframe Refere
- **MAIN7:** motor 7 CCW, stern starboard vertical, propeller CW
- **MAIN8:** motor 8 CCW, stern port vertical, propeller CCW
+## Manual Modes
+
+| 模式 | 描述 |
+| -------- | ---------------------------------------------------------------------------------------------------------------------------------------------------- |
+| Manual | Direct manual control of yaw and thrust. |
+| Acro | Manual control of yaw/thrust, but keeps roll/pitch zero |
+| Altitude | Manual control of x/y thrust and yaw. Control of height with PID, manually controlled by user. Keeps roll/pitch zero |
+| 安装位置 | Controls x/y/z and yaw. Manually controlled by user. Keeps roll/pitch zero |
+
## Airframe Configuration
BlueROV2 does not come with PX4 installed.
diff --git a/docs/zh/frames_vtol/tailsitter.md b/docs/zh/frames_vtol/tailsitter.md
index 888b60edf9..828128cd42 100644
--- a/docs/zh/frames_vtol/tailsitter.md
+++ b/docs/zh/frames_vtol/tailsitter.md
@@ -91,7 +91,7 @@ This section contains videos that are specific to Tailsitter VTOL (videos that a
-
+
diff --git a/docs/zh/frames_vtol/vtol_quadplane_falcon_vertigo_hybrid_rtf_dropix.md b/docs/zh/frames_vtol/vtol_quadplane_falcon_vertigo_hybrid_rtf_dropix.md
index a24076acec..6827876cff 100644
--- a/docs/zh/frames_vtol/vtol_quadplane_falcon_vertigo_hybrid_rtf_dropix.md
+++ b/docs/zh/frames_vtol/vtol_quadplane_falcon_vertigo_hybrid_rtf_dropix.md
@@ -36,7 +36,7 @@ Almost everything you need is provided in the RTF kit (the links next to compone
- Pusher motor power system
- Carbon fiber tubes and mounts
- G10 motor mounts
-- 1 x [3700mah 4S 30C Lipo battery](https://www.overlander.co.uk/batteries/lipo-batteries/power-packs/3700mah-4s-14-8v-25c-lipo-battery-overlander-sport.html)
+- 1 x [3700mah 4S 30C Lipo battery](https://wheelspinmodels.co.uk/i/3700mah-4s-14.8v-25c-lipo-battery-overlander-262221/)
- Dropix power distribution board and cable
The kit does not come with a radio receiver or (optional) telemetry modules.
diff --git a/docs/zh/frames_vtol/vtol_quadplane_foxtech_loong_2160.md b/docs/zh/frames_vtol/vtol_quadplane_foxtech_loong_2160.md
index 660531d13d..dee2b1a132 100644
--- a/docs/zh/frames_vtol/vtol_quadplane_foxtech_loong_2160.md
+++ b/docs/zh/frames_vtol/vtol_quadplane_foxtech_loong_2160.md
@@ -43,14 +43,14 @@ The following options have been tested:
- [Holybro PM08D Power Module (alternative to Auterion PM)](https://holybro.com/collections/power-modules-pdbs/products/pm08d-digital-power-module-14s-200a)
- [GPS F9P (included in Skynode eval. kit)](../gps_compass/rtk_gps_holybro_h-rtk-f9p.md)
- [GPS M9N (cheaper alternative to F9P)](../gps_compass/rtk_gps_holybro_h-rtk-m8p.md)
-- [Airspeed sensor (included in Skynode eval. kit)](https://www.dualrc.com/parts/airspeed-sensor-sdp33) — recommended for improved safety and performance
+- [Airspeed sensor (included in Skynode eval. kit)](https://www.dualrc.com/parts/p/airspeed-sensor-sdp33) — recommended for improved safety and performance
- [Airspeed sensor (cheaper alternative)](https://holybro.com/products/digital-air-speed-sensor-ms4525do)
- [Lidar Lightware lw20-c (included in Skynode eval. kit)](../sensor/sfxx_lidar.md) (Optional)
- [Lidar Seeed Studio PSK-CM8JL65-CC5 (cheaper alternative)](https://www.seeedstudio.com/PSK-CM8JL65-CC5-Infrared-Distance-Measuring-Sensor-p-4028.html) (Optional)
- [Radio (RC) System](../getting_started/rc_transmitter_receiver.md) of your preference
-- [Groundstation and Radio link](https://holybro.com/collections/rc-radio-transmitter-receiver/products/skydroid-h12?variant=42940989931709)
+- [Groundstation and Radio link](https://holybro.com/products/skydroid-h12)
- [USB-C extension cable](https://www.digitec.ch/en/s1/product/powerguard-usb-c-usb-c-025-m-usb-cables-22529949?dbq=1&gclid=Cj0KCQjw2cWgBhDYARIsALggUhrh-z-7DSU0wKfLBVa8filkXLQaxUpi7pC0ffQyRzLng8Ph01h2R1gaAp0mEALw_wcB&gclsrc=aw.ds)
-- [I2C Splitter](https://www.3dxr.co.uk/autopilots-c2/the-cube-aka-pixhawk-2-1-c9/cube-cables-accessories-sensors-c15/cubepilot-i2c-can-splitter-jst-gh-4pin-p2840)
+- [I2C Splitter](https://www.3dxr.co.uk/autopilots-c2/the-cube-aka-pixhawk-2-1-c9/cube-cables-accessories-sensors-c15/cubepilot-i2c-can-splitter-jst-gh-4pin-hx4-06152-p2840)
- [3D-Printed mounts](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/airframes/vtol/foxtech_loong_2160/loong-3d-prints.zip)
- 1x Baseplate
- 1x Stack-fixture
@@ -305,7 +305,7 @@ To load the file:
- If the [Lidar Lightware lw20-c (included in Skynode eval. kit)](../sensor/sfxx_lidar.md) is used, [SENS_EN_SF1XX](../advanced_config/parameter_reference.md#SENS_EN_SF1XX) needs to be set to 6 (SF/LW/20c).
- Make that the correct airspeed sensor is selected.
- If you use the recommended [SDP33 airspeed sensor](https://www.dualrc.com/parts/airspeed-sensor-sdp33) no changes will be needed as [SENS_EN_SDP3X](../advanced_config/parameter_reference.md#SENS_EN_SDP3X) is enabled (set to `1`) in the parameter file.
+ If you use the recommended [SDP33 airspeed sensor](https://www.dualrc.com/parts/p/airspeed-sensor-sdp33) no changes will be needed as [SENS_EN_SDP3X](../advanced_config/parameter_reference.md#SENS_EN_SDP3X) is enabled (set to `1`) in the parameter file.
### Sensor Calibration
diff --git a/docs/zh/frames_vtol/vtol_tailsitter_caipiroshka_pixracer.md b/docs/zh/frames_vtol/vtol_tailsitter_caipiroshka_pixracer.md
index 36d4c03e76..cf5fd97584 100644
--- a/docs/zh/frames_vtol/vtol_tailsitter_caipiroshka_pixracer.md
+++ b/docs/zh/frames_vtol/vtol_tailsitter_caipiroshka_pixracer.md
@@ -4,7 +4,7 @@ The Caipiroshka VTOL is a slightly modified _TBS Caipirinha_.
:::info
The _TBS Caipirinha_ has been superseded and is no longer available.
-These instructions _should_ work with the updated vehicle: [TBS Caipirinha 2](https://team-blacksheep.com/products/prod:tbs_caipi2_pnp).
+These instructions _should_ work with the updated vehicle: [TBS Caipirinha 2](https://www.team-blacksheep.com/products/prod:tbs_caipi2_pnp).
A number of other components have been updated in the parts list too.
:::
@@ -12,7 +12,7 @@ A number of other components have been updated in the parts list too.
## 配件列表
-- TBS Caipirinha Wing (no longer available - try [TBS Caipirinha 2](https://team-blacksheep.com/products/prod:tbs_caipi2_pnp))
+- TBS Caipirinha Wing (no longer available - try [TBS Caipirinha 2](https://www.team-blacksheep.com/products/prod:tbs_caipi2_pnp))
- Left and right 3D-printed motor mount (design files)
- CW 8045 propeller ([Eflight store](https://www.banggood.com/GEMFAN-Carbon-Nylon-8045-CWCCW-Propeller-For-Quadcopters-1-Pair-p-950874.html))
- CCW 8045 propeller ([Eflight store](https://www.banggood.com/GEMFAN-Carbon-Nylon-8045-CWCCW-Propeller-For-Quadcopters-1-Pair-p-950874.html))
@@ -24,7 +24,7 @@ A number of other components have been updated in the parts list too.
- [GetFPV](https://www.getfpv.com/lumenier-30a-blheli-s-esc-opto-2-4s.html)
- BEC（3A，5-5.3V）（如果你的电调不能提供5V的输出，可以用这个）
- 3S 2200 mA锂电池
- - Team Orion 3S 11.1V 50 C ([Hobbyshop store](https://www.hobbyshop.ch/modellbau-elektronik/akku/team-orion-lipo-2200-3s-11-1v-50c-xt60-ori60163.html))
+ - Team Orion 3S 11.1V 50 C ([Hobbyshop store](https://www.hobbyshop.ch/team-orion-lipo-2200-3s-11-1v-50c-xt60-ori60163.html))
- [Pixracer autopilot board + power module](../flight_controller/pixracer.md)
- [Digital airspeed sensor](https://hobbyking.com/en_us/hkpilot-32-digital-air-speed-sensor-and-pitot-tube-set.html)
diff --git a/docs/zh/frames_vtol/vtol_tiltrotor_omp_hobby_zmo_fpv.md b/docs/zh/frames_vtol/vtol_tiltrotor_omp_hobby_zmo_fpv.md
index 0903bed592..7efe706fe8 100644
--- a/docs/zh/frames_vtol/vtol_tiltrotor_omp_hobby_zmo_fpv.md
+++ b/docs/zh/frames_vtol/vtol_tiltrotor_omp_hobby_zmo_fpv.md
@@ -25,9 +25,9 @@ Depending on the final takeoff weight the hover time might be limited (there is
## 购买渠道
-- [OMP-Hobby](https://www.omphobby.com/OMPHOBBY-ZMO-VTOL-FPV-Aircraft-With-DJI-Goggles-And-Remote-Controller-p3069854.html)
- [GetFPV](https://www.getfpv.com/omphobby-zmo-z3-vtol-fpv-1200mm-arf-plane-kit-no-fpv-system.html)
- [FoxtechFPV](https://www.foxtechfpv.com/zmo-pro-fpv-vtol.html)
+- [RMRC](https://www.readymaderc.com/products/details/omp-hobby-zmo-vtol-fpv-airplane-rtf-goggles-radio)
## Flight Controller
@@ -43,7 +43,7 @@ The approximate maximum size of the FC is: 50x110x22mm
- [GPS F9P (included in Skynode eval. kit)](../gps_compass/rtk_gps_holybro_h-rtk-f9p.md)
- [GPS M9N (cheaper alternative to F9P)](../gps_compass/rtk_gps_holybro_h-rtk-m8p.md)
-- [Airspeed sensor (included in Skynode eval. kit)](https://www.dualrc.com/parts/airspeed-sensor-sdp33) — recommended for improved safety and performance
+- [Airspeed sensor (included in Skynode eval. kit)](https://www.dualrc.com/parts/p/airspeed-sensor-sdp33) — recommended for improved safety and performance
- [Airspeed sensor (cheaper alternative)](https://holybro.com/products/digital-air-speed-sensor-ms4525do)
- [Lidar Lightware lw20-c (included in Skynode eval. kit)](../sensor/sfxx_lidar.md) (Optional)
- [Lidar Seeed Studio PSK-CM8JL65-CC5 (cheaper alternative)](https://www.seeedstudio.com/PSK-CM8JL65-CC5-Infrared-Distance-Measuring-Sensor-p-4028.html) (Optional)
@@ -79,7 +79,7 @@ The following tools were used for this build.
### Preparations
Remove the original flight controller, ESC and wing connector cables.
-Also remove the the propellers.
+Also remove the propellers.
This will help you with the handling of the vehicle and will reduce the risk of an injury due to an unintentional motor startup.
ZMO FPV in it's original state.
@@ -101,7 +101,7 @@ Flight controller and wing connectors removed from the vehicle.
4. Shorten the rear motor wires and solder them as shown in the picture into place.
-5. Solder signal and GND wires to the PWM input ot the ESC.
+5. Solder signal and GND wires to the PWM input to the ESC.
@@ -293,7 +293,7 @@ To load the file:
The airspeed sensor can be enabled in the [Parameters](../advanced_config/parameters.md#finding-updating-parameters) tab.
-- If the [recommended airspeed sensor (SDP33)](https://www.dualrc.com/parts/airspeed-sensor-sdp33) is used, `SENS_EN_SDP3X` needs to be enabled.
+- If the [recommended airspeed sensor (SDP33)](https://www.dualrc.com/parts/p/airspeed-sensor-sdp33) is used, `SENS_EN_SDP3X` needs to be enabled.
- If the [Lidar Lightware lw20-c (included in Skynode eval. kit)](../sensor/sfxx_lidar.md) is used, `SENS_EN_SF1XX` needs to be set to 6 (SF/LW/20c).
### Sensor Calibration
diff --git a/docs/zh/getting_started/flight_reporting.md b/docs/zh/getting_started/flight_reporting.md
index 366d304db8..07ac288efe 100644
--- a/docs/zh/getting_started/flight_reporting.md
+++ b/docs/zh/getting_started/flight_reporting.md
@@ -38,7 +38,7 @@ For more information see [Settings > MAVLink Settings > MAVLink 2 Logging (PX4 o
## 给 PX4 开发人员共享日志文件
-The [Flight Review](https://logs.px4.io/) log file link can be shared for discussion in the [support forums](../contribute/support.md#forums-and-chat) or a [Github issue](../index.md#reporting-bugs-issues).
+The [Flight Review](https://logs.px4.io/) log file link can be shared for discussion in the [support forums](../contribute/support.md#forums-and-chat) or a [Github issue](../contribute/support.md#issue-bug-reporting).
## Log Configuration
diff --git a/docs/zh/getting_started/rc_transmitter_receiver.md b/docs/zh/getting_started/rc_transmitter_receiver.md
index dd2792504c..354345420c 100644
--- a/docs/zh/getting_started/rc_transmitter_receiver.md
+++ b/docs/zh/getting_started/rc_transmitter_receiver.md
@@ -3,13 +3,15 @@
A Radio Control (RC) system can be used to _manually_ control your vehicle from a handheld RC controller.
This topic provides an overview of how RC works, how to choose an appropriate radio system for your vehicle, and how to connect it to your flight controller.
-:::tip
-PX4 can also be manually controlled using a [Joystick](../config/joystick.md) or gamepad-like controller: this is different to an RC system!
-The [COM_RC_IN_MODE](../advanced_config/parameter_reference.md#COM_RC_IN_MODE) parameter [can be set](../advanced_config/parameters.md) to choose whether RC (default), Joystick, both, or neither, are enabled.
+:::info
+PX4 does not require a manual control system for autonomous flight modes.
:::
-:::info
-PX4 does not require a remote control system for autonomous flight modes.
+:::tip
+PX4 can also be [manually controlled](../config/manual_control.md) using a [Joystick](../config/joystick.md) or gamepad-like controller.
+
+By default PX4 will latch the first valid controller it discovers and use it until the vehicle reboots.
+If you have multiple controllers and you want to define their priority see [Manual Control > PX4 Configuration](../config/manual_control.md#px4-configuration).
:::
## 遥控系统是如何工作的？
diff --git a/docs/zh/gps_compass/gps_cuav_neo_3.md b/docs/zh/gps_compass/gps_cuav_neo_3.md
index 673c20dc37..c8ca199fbf 100644
--- a/docs/zh/gps_compass/gps_cuav_neo_3.md
+++ b/docs/zh/gps_compass/gps_cuav_neo_3.md
@@ -47,7 +47,7 @@ It integrates Ublox M9N, IST8310, three-color LED lights and safety switches, an
## 购买渠道
-- [CUAV](https://cuav.en.alibaba.com/product/1600217379204-820872629/CUAV_NEO_3_M9N_GPS_Module_for_Pixhawk_Compass_gps_tracker_navigation_gps.html?spm=a2700.shop_oth.74.1.636e28725EvVHb)
+- [CUAV](https://www.alibaba.com/product-detail/CUAV_NEO_3_M9N_GPS_Module_for_Pixhawk_Compass_gps_tracker_navigation_gps_1600217379204.html)
## 接线和连接
diff --git a/docs/zh/gps_compass/gps_cuav_neo_3pro.md b/docs/zh/gps_compass/gps_cuav_neo_3pro.md
index 938a54ae27..8c243b2b78 100644
--- a/docs/zh/gps_compass/gps_cuav_neo_3pro.md
+++ b/docs/zh/gps_compass/gps_cuav_neo_3pro.md
@@ -41,7 +41,7 @@ It integrates UBLOX M9N, STM32F4 MCU, RM3100 compass, three-color LED light and
## 购买渠道
-- [CUAV](https://cuav.en.alibaba.com/product/1600165544920-820872629/Free_shipping_CUAV_Neo_3_pro_drone_UAVCAN_GNSS_processor_STM32F412_autopilot_ublox_M9N_positioning_RM3100_compass_uav_gps_module.html?spm=a2700.shop_oth.74.2.636e28725EvVHb)
+- [CUAV](https://www.alibaba.com/product-detail/Free_shipping_CUAV_Neo_3_pro_drone_UAVCAN_GNSS_processor_STM32F412_autopilot_ublox_M9N_positioning_RM3100_compass_uav_gps_module_1600165544920.html)
## 接线和连接
diff --git a/docs/zh/gps_compass/index.md b/docs/zh/gps_compass/index.md
index 0419f27c1d..db76fd0208 100644
--- a/docs/zh/gps_compass/index.md
+++ b/docs/zh/gps_compass/index.md
@@ -187,9 +187,9 @@ Some of GNSS terms that are useful for interpreting the data include:
- `DOP`: Dilution of position (dimensionless).
This is a measure of the geometric quality of satellite positions and their effect on the precision of the GPS receiver's calculations.
- `EPH`: Standard deviation of horizontal position error (metres).
- This represents the the uncertainty in the GPS fix latitude and longitude.
+ This represents the uncertainty in the GPS fix latitude and longitude.
- `EPV`: Standard deviation of vertical position error (metres).
- This represents the the uncertainty in the GPS fix altitude.
+ This represents the uncertainty in the GPS fix altitude.
### DOP vs EPH/EPV
diff --git a/docs/zh/gps_compass/magnetometer.md b/docs/zh/gps_compass/magnetometer.md
index 0435210bec..1a55fca9f2 100644
--- a/docs/zh/gps_compass/magnetometer.md
+++ b/docs/zh/gps_compass/magnetometer.md
@@ -22,7 +22,7 @@ If it fails before flight, arming will be denied.
### Compass Parts
PX4 can be used with many magnetometer parts, including: Bosch BMM 150 MEMS (via I2C bus), HMC5883 / HMC5983 (I2C or SPI), IST8310 (I2C), LIS3MDL (I2C or SPI), RM3100, and more.
-Other supported magnetometer parts and their busses can be inferred from the drivers listed in [Modules Reference: Magnetometer (Driver)](../modules/modules_driver_magnetometer.md).
+Other supported magnetometer parts and their buses can be inferred from the drivers listed in [Modules Reference: Magnetometer (Driver)](../modules/modules_driver_magnetometer.md).
These parts are included in stand alone compass modules, combined compass/GNSS modules, and also in many flight controllers,
@@ -55,7 +55,7 @@ This list contains stand-alone magnetometer modules (without GNSS).
Internal compasses are not recommended for real use as a heading source, because the performance is almost always very poor.
-This is particularly true on on small vehicles where the flight controller has to be mounted close to motor/ESC power lines and other sources of electromagnetic interference.
+This is particularly true on small vehicles where the flight controller has to be mounted close to motor/ESC power lines and other sources of electromagnetic interference.
While they may be better on larger vehicles (e.g. VTOL), where it is possible to reduce electromagnetic interference by mounting the flight controller a long way from power supply lines, an external compass will almost always be better.
:::tip
diff --git a/docs/zh/gps_compass/rtk_gps.md b/docs/zh/gps_compass/rtk_gps.md
index 20470f8c52..8b93f0761e 100644
--- a/docs/zh/gps_compass/rtk_gps.md
+++ b/docs/zh/gps_compass/rtk_gps.md
@@ -14,7 +14,7 @@ Some RTK GNSS setups can provide yaw/heading information, as an alternative to t
## 支持的 RTK 设备
-PX4 supports the [u-blox M8P](https://www.u-blox.com/en/product/neo-m8p), [u-blox F9P](https://www.u-blox.com/en/product/zed-f9p-module) and the [Trimble MB-Two](https://oemgnss.trimble.com/en/products/receiver-modules/mb-two) GPS, and products that incorporate them.
+PX4 supports the [u-blox M8P](https://www.u-blox.com/en/product/neo-m8p-series), [u-blox F9P](https://www.u-blox.com/en/product/zed-f9p-module) and the [Trimble MB-Two](https://oemgnss.trimble.com/en/products/receiver-modules/mb-two) GPS, and products that incorporate them.
The RTK compatible devices below that are expected to work with PX4 (it omits discontined devices).
The table indicates devices that also output yaw, and that can provide yaw when two on-vehicle units are used.
@@ -57,7 +57,7 @@ It also highlights devices that connect via the CAN bus, and those which support
| [Septentrio AsteRx-m3 Pro](../gps_compass/septentrio_asterx-rib.md) | AsteRx | ✓ | | [Septentrio Dual Antenna] | ✓ |
| [Septentrio mosaic-go](../gps_compass/septentrio_mosaic-go.md) | mosaic X5 / mosaic H | ✓ | | [Septentrio Dual Antenna] | ✓ |
| [SIRIUS RTK GNSS ROVER (F9P)](https://store-drotek.com/911-sirius-rtk-gnss-rover-f9p.html) | F9P | ✓ | | [Dual F9P] | |
-| [SparkFun GPS-RTK2 Board - ZED-F9P](https://www.sparkfun.com/products/15136) | F9P | ✓ | | [Dual F9P] | |
+| [SparkFun GPS-RTK2 Board - ZED-F9P](https://www.sparkfun.com/sparkfun-gps-rtk2-board-zed-f9p-qwiic-gps-15136.html) | F9P | ✓ | | [Dual F9P] | |
| [Trimble MB-Two](../gps_compass/rtk_gps_trimble_mb_two.md) | F9P | ✓ | | ✓ | |
diff --git a/docs/zh/gps_compass/rtk_gps_cuav_c-rtk-9ps.md b/docs/zh/gps_compass/rtk_gps_cuav_c-rtk-9ps.md
index b8eee70993..4cf582fa7c 100644
--- a/docs/zh/gps_compass/rtk_gps_cuav_c-rtk-9ps.md
+++ b/docs/zh/gps_compass/rtk_gps_cuav_c-rtk-9ps.md
@@ -1,6 +1,6 @@
# CUAV C-RTK 9Ps
-The CUAV [C-RTK 9Ps](https://www.cuav.net/en/c_rtk_9ps/) is a multi-satellite, multi-band, centimeter-level, RTK GNSS system.
+The CUAV [C-RTK 9Ps](https://www.cuav.net/en/c-rtk-9ps-en/) is a multi-satellite, multi-band, centimeter-level, RTK GNSS system.
The module simultaneously receives GPS, GLONASS, Galileo and Beidou satellite signals, enabling faster positioning and higher accuracy.
It also supports [RTK GPS Heading](../gps_compass/u-blox_f9p_heading.md) using dual modules.
@@ -12,7 +12,7 @@ This is ideal for survey drones, agricultural drones and other application scena
## 购买渠道
-[cuav Store](https://store.cuav.net/shop/c-rtk-9ps/)
+[cuav Store](https://store.cuav.net/?route=product%2Fproduct&path=61&product_id=187)
## 技术规范
diff --git a/docs/zh/gps_compass/rtk_gps_cuav_c-rtk.md b/docs/zh/gps_compass/rtk_gps_cuav_c-rtk.md
index 12870521b7..2c6fa09e58 100644
--- a/docs/zh/gps_compass/rtk_gps_cuav_c-rtk.md
+++ b/docs/zh/gps_compass/rtk_gps_cuav_c-rtk.md
@@ -1,6 +1,6 @@
# CUAV C-RTK
-The [CUAV C-RTK GPS receiver](https://www.cuav.net/en/c_rtk_9ps/) is an [RTK GPS module](../gps_compass/rtk_gps.md) for the mass market.
+The [CUAV C-RTK GPS receiver](https://www.cuav.net/en/c-rtk-9ps-en/) is an [RTK GPS module](../gps_compass/rtk_gps.md) for the mass market.
一个完整的RTK 系统由至少两个 c-rtk 模块 组成(一个用于基站, 另外一个作为移动站用于飞机上)。 使用RTK，PX4控制器可以获取到它的位置，并且这个位置的精度可以达到厘米级的精度，这比普通GPS提供的位置更加精确。
@@ -8,7 +8,7 @@ The [CUAV C-RTK GPS receiver](https://www.cuav.net/en/c_rtk_9ps/) is an [RTK GPS
## 购买渠道
- [cuav taobao](https://item.taobao.com/item.htm?id=565380634341&spm=2014.21600712.0.0)
-- [cuav aliexpress](https://www.aliexpress.com/store/product/CUAV-NEW-Flight-Controller-GPS-C-RTK-differential-positioning-navigation-module-GPS-for-PIX4-Pixhawk-pixhack/3257035_32853894248.html?spm=2114.12010608.0.0.75592fadQKPPEn)
+- [cuav aliexpress](https://www.aliexpress.com/item/32853894248.html?spm=2114.12010608.0.0.75592fadQKPPEn)
## 配置
@@ -16,7 +16,7 @@ RTK setup and use on PX4 via _QGroundControl_ is largely plug and play \(see [RT
## 接线和连接
-C-RTK GPS comes with a cable that terminates in a 6-pin connector and 4-pin connector that are compatible with [Pixhack v3](https://doc.cuav.net/flight-controller/pixhack/en/quick-start-pixhack-v3x.html#gps--compass).
+C-RTK GPS comes with a cable that terminates in a 6-pin connector and 4-pin connector that are compatible with [Pixhack v3](../flight_controller/pixhack_v3.md).
6针连接器提供 rtk gps 的接口, 并应连接到飞行控制器的 gps 接口。
4针连接器是一个 m8n (标准) gps 接口, 可作为第二个 gps(可选)。
diff --git a/docs/zh/gps_compass/rtk_gps_cuav_c-rtk2.md b/docs/zh/gps_compass/rtk_gps_cuav_c-rtk2.md
index 19e42522c8..34c81ff106 100644
--- a/docs/zh/gps_compass/rtk_gps_cuav_c-rtk2.md
+++ b/docs/zh/gps_compass/rtk_gps_cuav_c-rtk2.md
@@ -1,6 +1,6 @@
# CUAV C-RTK2 GNSS Module (RTK/PPK)
-The [CUAV C-RTK2 receiver](https://www.cuav.net/en/c_rtk_9ps/) is a high-performance PPK/RTK positioning module created by CUAV for professional applications such as drone aerial surveying and mapping.
+The [CUAV C-RTK2 receiver](https://www.cuav.net/en/c-rtk-9ps-en/) is a high-performance PPK/RTK positioning module created by CUAV for professional applications such as drone aerial surveying and mapping.
It has a high-precision IMU and positioning module, and can reduce the number of required [control points](https://www.youtube.com/watch?v=3k7v5aXyuKQ) by more than to 80%.
In addition to surveying/mapping, it is suitable for many other use-cases, including: agricultural plant protection and drone swarms.
@@ -10,7 +10,7 @@ In addition to surveying/mapping, it is suitable for many other use-cases, inclu
- High-performance H7 processor
- High precision industrial grade IMU
-- Support RTK and save RAW raw data (PPK) at the same time
+- Support RTK and save raw data (PPK) at the same time
- Multi-satellite and multi-frequency receivers
- UAVCAN/Dronecan protocol
- Support hotshoe and shutter trigger
@@ -18,7 +18,7 @@ In addition to surveying/mapping, it is suitable for many other use-cases, inclu
## 购买渠道
-- [CUAV Store](https://store.cuav.net/shop/c-rtk-2/)
+- [CUAV Store](https://store.cuav.net/?route=product%2Fproduct&product_id=159)
- [CUAV aliexpress](https://pt.aliexpress.com/item/1005003754165772.html?spm=a2g0o.store_pc_groupList.8148356.13.2f893550i0NE4o)
# 总览
diff --git a/docs/zh/gps_compass/rtk_gps_datagnss_nano_hrtk.md b/docs/zh/gps_compass/rtk_gps_datagnss_nano_hrtk.md
index 4a0bcc8152..7eb84c6475 100644
--- a/docs/zh/gps_compass/rtk_gps_datagnss_nano_hrtk.md
+++ b/docs/zh/gps_compass/rtk_gps_datagnss_nano_hrtk.md
@@ -90,7 +90,7 @@ Note that for the base we recommend the [NANO RTK Receiver](https://www.datagnss
-See to [How to setup Base station](https://wiki.datagnss.com/index.php/GEM1305-autopilot#Base_station_setup) for information on how to configure the module for use as a base station (not including step 6 and later, for which you would QGroundControl instead of Mission Planner).
+See to [How to setup Base station](https://docs.datagnss.com/#Base_station_setup) for information on how to configure the module for use as a base station (not including step 6 and later, for which you would QGroundControl instead of Mission Planner).
### Rover Setup (PX4)
@@ -111,13 +111,12 @@ GPS and RTK configuration on PX4 via _QGroundControl_ is plug and play (see [RTK
## Resources
-- [NANO RTK Receiver 2D drawing file](https://wiki.datagnss.com/images/3/31/EVK-DG-1206_V.2.0.pdf)
- [NANO HRTK Receiver Wiki](https://docs.datagnss.com/gnss/rtk_receiver/NANO/nano-helix-rtk/) (DATAGNSS WiKi)
- [HED-10L Heading RTK Receiver](https://docs.datagnss.com/gnss/rtk_receiver/HED-10L/)
## More information
-- [NANO RTK Receiver](https://docs.datagnss.com/gnss/rtk_receiver/NANO/nano-rtk-receiver)
+- [NANO RTK Receiver](https://docs.datagnss.com/gnss/rtk_receiver/NANO/nano-rtk-receiver/)
- [HELIX Antenna for RTK](https://www.datagnss.com/collections/rtk-antenna/products/smart-helix-antenna)
- [RTK Antenna AGR6302G](https://www.datagnss.com/collections/rtk-antenna/products/antenna-agr6302g)
- [AT400 RTK Antenna](https://www.datagnss.com/collections/rtk-antenna/products/at400-multi-band-antenna-for-rtk)
diff --git a/docs/zh/gps_compass/rtk_gps_drotek_xl.md b/docs/zh/gps_compass/rtk_gps_drotek_xl.md
index 7b032cad86..b67ca1c93e 100644
--- a/docs/zh/gps_compass/rtk_gps_drotek_xl.md
+++ b/docs/zh/gps_compass/rtk_gps_drotek_xl.md
@@ -2,7 +2,7 @@
:::info
This module appears to have been discontinued, and is no longer on the Drotek site (September 2023).
-The last documentation was in [PX4 v1.13 here](https://docs.px4.io/v1.13/en/gps_compass/rtk_gps_drotek_xl.html)
+The last documentation was in [PX4 v1.13 here](https://docs.px4.io/v1.13/en/gps_compass/rtk_gps_drotek_xl)
:::
diff --git a/docs/zh/gps_compass/rtk_gps_gem1305.md b/docs/zh/gps_compass/rtk_gps_gem1305.md
index 7d6c66596a..caf9a8174c 100644
--- a/docs/zh/gps_compass/rtk_gps_gem1305.md
+++ b/docs/zh/gps_compass/rtk_gps_gem1305.md
@@ -77,7 +77,7 @@ The 1.25mm pitch 6P connector (from left: PIN1 to PIN6) supports UART for GNSS a
## 硬件安装
RTK requires a base RTK module attached to the ground station, and a rover RTK module on the vehicle.
-The data from the base needs to be transmitted to the drone via telemetry radio and inputed into the RTK receiver on the rover.
+The data from the base needs to be transmitted to the drone via telemetry radio and inputted into the RTK receiver on the rover.
@@ -93,7 +93,7 @@ Note that for the base we recommend the [NANO RTK Receiver](https://www.datagnss
-See to [How to setup Base station](https://wiki.datagnss.com/index.php/GEM1305-autopilot#Base_station_setup) for information on how to configure the module for use as a base station (not including step 6 and later, for which you would QGroundControl instead of Mission Planner).
+See to [How to setup Base station](https://docs.datagnss.com/#Base_station_setup) for information on how to configure the module for use as a base station (not including step 6 and later, for which you would QGroundControl instead of Mission Planner).
### Rover Setup (PX4)
@@ -115,14 +115,13 @@ GPS and RTK configuration on PX4 via _QGroundControl_ is plug and play (see [RTK
## Resources
-- [NANO RTK Receiver 2D drawing file](https://wiki.datagnss.com/images/3/31/EVK-DG-1206_V.2.0.pdf)
- [GEM1305 Wiki](https://docs.datagnss.com/gnss/rtk_receiver/GEM1305/) (DATAGNSS WiKi)
- [HED-10L Heading RTK Receiver](https://docs.datagnss.com/gnss/rtk_receiver/HED-10L/)
- [NANO HRTK Receiver](https://docs.datagnss.com/gnss/rtk_receiver/NANO/nano-helix-rtk/)
## More information
-- [NANO RTK Receiver](https://www.datagnss.com/collections/evk/products/tau951m-1312-tiny-evk)
+- [NANO RTK Receiver](https://www.datagnss.com/products/nano-rtk-receiver)
- [HELIX Antenna for RTK](https://www.datagnss.com/collections/rtk-antenna/products/smart-helix-antenna)
- [RTK Antenna AGR6302G](https://www.datagnss.com/collections/rtk-antenna/products/antenna-agr6302g)
- [AT400 RTK Antenna](https://www.datagnss.com/collections/rtk-antenna/products/at400-multi-band-antenna-for-rtk)
diff --git a/docs/zh/gps_compass/rtk_gps_hex_hereplus.md b/docs/zh/gps_compass/rtk_gps_hex_hereplus.md
index 5eb2fb2c6b..388f222603 100644
--- a/docs/zh/gps_compass/rtk_gps_hex_hereplus.md
+++ b/docs/zh/gps_compass/rtk_gps_hex_hereplus.md
@@ -5,7 +5,7 @@
:::info
This GPS is no longer available for purchase but is still compatible with PX4.
-Usage documentation can be found in [PX4v1.11 docs](https://docs.px4.io/v1.11/en/gps_compass/rtk_gps_hex_hereplus.html)
+Usage documentation can be found in [PX4v1.11 docs](https://docs.px4.io/v1.11/en/gps_compass/rtk_gps_hex_hereplus)
:::
The **Here+ RTK GPS receiver** is a small, light and energy efficient [RTK GPS module](../gps_compass/rtk_gps.md), based on the u-blox M8P. 使用RTK，PX4控制器可以获取到它的位置，并且这个位置的精度可以达到厘米级的精度，这比普通GPS提供的位置更加精确。
diff --git a/docs/zh/gps_compass/rtk_gps_holybro_h-rtk-f9p.md b/docs/zh/gps_compass/rtk_gps_holybro_h-rtk-f9p.md
index 7a07c8e220..015a9e09ce 100644
--- a/docs/zh/gps_compass/rtk_gps_holybro_h-rtk-f9p.md
+++ b/docs/zh/gps_compass/rtk_gps_holybro_h-rtk-f9p.md
@@ -19,7 +19,7 @@ Using RTK allows PX4 to get its position with centimetre-level accuracy, which i
## 购买渠道
- [H-RTK F9P (Holybro Website)](https://holybro.com/products/h-rtk-f9p-gnss-series)
-- [H-RTK Accessories (Holybro Website)](https://holybro.com/collections/h-rtk-gps)
+- [H-RTK Accessories (Holybro Website)](https://holybro.com/collections/gps)
## 配置
@@ -50,6 +50,6 @@ The cables/connectors may need to be modified in order to connect to other fligh
## GPS Accessories
-[H-RTK Mount (Holybro Website)](https://holybro.com/products/vertical-mount-for-h-rtk-helical)
+[H-RTK Mount (Holybro Website)](https://holybro.com/collections/gps-accessories/products/vertical-mount-for-h-rtk-helical)
diff --git a/docs/zh/gps_compass/rtk_gps_holybro_h-rtk-m8p.md b/docs/zh/gps_compass/rtk_gps_holybro_h-rtk-m8p.md
index 052b33faa3..6831e465f8 100644
--- a/docs/zh/gps_compass/rtk_gps_holybro_h-rtk-m8p.md
+++ b/docs/zh/gps_compass/rtk_gps_holybro_h-rtk-m8p.md
@@ -2,9 +2,10 @@
:::warning
This GNSS has been discontinued, and is no longer commercially available.
+Replaced by [Holybro H-RTK F9P GNSS](../gps_compass/rtk_gps_holybro_h-rtk-f9p.md).
:::
-The [Holybro H-RTK M8P GNSS](https://holybro.com/collections/standard-h-rtk-series/products/h-rtk-m8p-gnss-series) is an [RTK GNSS module](../gps_compass/rtk_gps.md) series for the mass market.
+The _Holybro H-RTK M8P GNSS_ is an [RTK GNSS module](../gps_compass/rtk_gps.md) series for the mass market.
This family is similar to the [H-RTK M9P](../gps_compass/rtk_gps_holybro_h-rtk-f9p.md) series but uses the smaller, lighter, and less expensive M8P u-blox RTK GNSS module (which still provides far superior position resolution than previous generations\_.
There are three models of Holybro H-RTK M8P to choose from, each with different antenna design to meet different needs.
@@ -16,7 +17,7 @@ Using RTK allows PX4 to get its position with centimeter-level accuracy, which i
## 购买渠道
-- [H-RTK M8P (GPS RTK Mounts)](https://holybro.com/products/vertical-mount-for-h-rtk-helical)
+- Discontinued.
## 配置
@@ -30,9 +31,7 @@ All H-RTK GNSS models come with a GH 10-pin connector/cable that is compatible w
The cables/connectors may need to be modified in order to connect to other flight controller boards (see [pin map](#pin_map)below).
:::
-
-
-## Pin Map
+## Pin Map {#pin_map}
diff --git a/docs/zh/gps_compass/rtk_gps_holybro_unicore_um982.md b/docs/zh/gps_compass/rtk_gps_holybro_unicore_um982.md
index 14f9db8a77..90ed9f1869 100644
--- a/docs/zh/gps_compass/rtk_gps_holybro_unicore_um982.md
+++ b/docs/zh/gps_compass/rtk_gps_holybro_unicore_um982.md
@@ -1,10 +1,10 @@
# Holybro H-RTK Unicore UM982 GPS
-The [Holybro H-RTK Unicore UM982 GPS](https://holybro.com/products/h-rtk-um982) is an multi-band high-precision [RTK GNSS System](../gps_compass/rtk_gps.md) launched by Holybro.
+The [Holybro H-RTK Unicore UM982 GPS](https://holybro.com/products/h-rtk-unicore-um982) is an multi-band high-precision [RTK GNSS System](../gps_compass/rtk_gps.md) launched by Holybro.
-This module is based on the [Unicore UM982 Chip](https://en.unicorecomm.com/products/detail/24), which supports RTK positioning and dual-antenna heading calculation.
+This module is based on the [Unicore UM982 Chip](https://en.unicore.com/products/dual-antenna-gnss-um982/), which supports RTK positioning and dual-antenna heading calculation.
This means that it can generate a moving baseline headline/yaw determinations for autopilots with just one GPS module and dual antennas - a magnetometer is not needed.
Unlike when using a module such as the U-blox F9P, where you would need [two U-blox F9P modules to compute a heading angle](../gps_compass/u-blox_f9p_heading.md), with the Unicore UM982 GPS, you only need one GPS module!
@@ -20,7 +20,7 @@ Additional technical information can be found at [Holybro Technical Documentatio
## 购买渠道
-- [Holybro Website](https://holybro.com/products/h-rtk-um982)
+- [Holybro Website](https://holybro.com/products/h-rtk-unicore-um982)
## 布线
diff --git a/docs/zh/gps_compass/rtk_gps_locosys_r1.md b/docs/zh/gps_compass/rtk_gps_locosys_r1.md
index 1c617774cd..a4b556e72f 100644
--- a/docs/zh/gps_compass/rtk_gps_locosys_r1.md
+++ b/docs/zh/gps_compass/rtk_gps_locosys_r1.md
@@ -26,7 +26,7 @@ For an equivalent GPS module with a compass try: [LOCOSYS Hawk R2](../gps_compas
- Fast TTFF at low signal level
- Free hybrid ephemeris prediction to achieve faster cold start
- Default 5Hz, up to 10 Hz update rate (SBAS support 5Hz only).
-- Build-in super capacitor to reserve system data for rapid satellite acquisition
+- Built-in super capacitor to reserve system data for rapid satellite acquisition
diff --git a/docs/zh/gps_compass/rtk_gps_locosys_r2.md b/docs/zh/gps_compass/rtk_gps_locosys_r2.md
index 2b0c8d43f8..2b26812ae0 100644
--- a/docs/zh/gps_compass/rtk_gps_locosys_r2.md
+++ b/docs/zh/gps_compass/rtk_gps_locosys_r2.md
@@ -22,8 +22,8 @@ The fast time-to-first-fix, RTK convergence, superior sensitivity, low power con
- Fast TTFF at low signal level
- Free hybrid ephemeris prediction to achieve faster cold start
- Default 5Hz, up to 10 Hz update rate (SBAS support 5Hz only)
-- Build-in super capacitor to reserve system data for rapid satellite acquisition
-- Build-in 3 axis compass function
+- Built-in super capacitor to reserve system data for rapid satellite acquisition
+- Built-in 3 axis compass function
- Three LED indicator for Power, PPS and Data transmit
diff --git a/docs/zh/gps_compass/septentrio.md b/docs/zh/gps_compass/septentrio.md
index 6b311f8ae4..fb6dc7fdb5 100644
--- a/docs/zh/gps_compass/septentrio.md
+++ b/docs/zh/gps_compass/septentrio.md
@@ -10,7 +10,7 @@ Certain receivers are recommended for autopilot applications because of their ph
Dual-antenna, ultra-low-power GNSS rover receiver with support for heading.
-- [AsteRx-m3 Pro+](https://www.septentrio.com/en/products/gps/gnss-boards/asterx-m3-pro-plus)
+- [AsteRx-m3 Pro+](https://www.septentrio.com/en/products/gnss-receivers/gnss-boards/asterx-m3-pro-plus)
Dual-antenna, ultra-low-power versatile GNSS rover and base receiver with support for heading.
@@ -19,7 +19,7 @@ Certain receivers are recommended for autopilot applications because of their ph
Single-antenna evaluation kit with support for L5 frequency band, based on the mosaic-X5 GNSS
receiver module.
-- [mosaic-go heading](https://www.septentrio.com/en/products/gps/gnss-receiver-modules/mosaic-h-evaluation-kit)
+- [mosaic-go heading](https://www.septentrio.com/en/products/gnss-receivers/gnss-receiver-modules/mosaic-h-evaluation-kit)
Dual-antenna evaluation kit with support for heading, based on the mosaic-H GNSS receiver module.
diff --git a/docs/zh/gps_compass/septentrio_mosaic-go.md b/docs/zh/gps_compass/septentrio_mosaic-go.md
index 123b9a33c3..9867c431e0 100644
--- a/docs/zh/gps_compass/septentrio_mosaic-go.md
+++ b/docs/zh/gps_compass/septentrio_mosaic-go.md
@@ -2,8 +2,8 @@
The Septentrio mosaic-go receivers are evaluation kits for their mosaic-X5 and mosaic-H receiver modules.
Because of their small size and low weight, they are ideal for autopilot applications.
-The available variants are the [mosaic-go](https://www.septentrio.com/en/products/gps/gnss-receiver-modules/mosaic-go-evaluation-kit)
-and [mosaic-go heading](https://www.septentrio.com/en/products/gps/gnss-receiver-modules/mosaic-h-evaluation-kit).
+The available variants are the [mosaic-go](https://www.septentrio.com/en/products/gnss-receivers/gnss-receiver-modules/mosaic-go-evaluation-kit)
+and [mosaic-go heading](https://www.septentrio.com/en/products/gnss-receivers/gnss-receiver-modules/mosaic-h-evaluation-kit).
@@ -108,7 +108,7 @@ To enable multi-antenna attitude determination, follow the following procedure:
These can be compensated for with the heading parameters provided by the Septentrio driver in PX4.
:::info
-For optimal heading results, the two antennas should be seperated by at least 30cm / 11.8 in (ideally 50cm / 19.7in or more).
+For optimal heading results, the two antennas should be separated by at least 30cm / 11.8 in (ideally 50cm / 19.7in or more).
For additional configuration of the dual antenna setup, please refer to our [Knowledge Base](https://support.septentrio.com/l/858493/2022-04-19/xgrqd) or the [hardware manual](https://web.septentrio.com/l/858493/2022-04-19/xgrql).
:::
diff --git a/docs/zh/gps_compass/u-blox_f9p_heading.md b/docs/zh/gps_compass/u-blox_f9p_heading.md
index 9478e93876..892870844e 100644
--- a/docs/zh/gps_compass/u-blox_f9p_heading.md
+++ b/docs/zh/gps_compass/u-blox_f9p_heading.md
@@ -10,7 +10,7 @@ This feature works on F9P devices that support CAN or expose the GPS UART2 port.
The following devices are supported:
- [ARK RTK GPS](https://arkelectron.com/product/ark-rtk-gps/) (arkelectron.com)
-- [SparkFun GPS-RTK2 Board - ZED-F9P](https://www.sparkfun.com/products/15136) (www.sparkfun.com)
+- [SparkFun GPS-RTK2 Board - ZED-F9P](https://www.sparkfun.com/sparkfun-gps-rtk2-board-zed-f9p-qwiic-gps-15136.html) (www.sparkfun.com)
- [SIRIUS RTK GNSS ROVER (F9P)](https://store-drotek.com/911-sirius-rtk-gnss-rover-f9p.html) (store-drotek.com)
- [mRo u-blox ZED-F9 RTK L1/L2 GPS](https://store.mrobotics.io/product-p/m10020d.htm) (store.mrobotics.io)
- [Holybro H-RTK F9P Helical or Base](https://holybro.com/products/h-rtk-f9p-gnss-series) (Holybro Store)
diff --git a/docs/zh/hardware/board_support_guide.md b/docs/zh/hardware/board_support_guide.md
index f54739bde3..6275b04edf 100644
--- a/docs/zh/hardware/board_support_guide.md
+++ b/docs/zh/hardware/board_support_guide.md
@@ -57,7 +57,7 @@ PX4 generally only supports boards that are commercially available, which typica
### VER and REV ID (Hardware Revision and Version Sensing) {#ver_rev_id}
FMUv5 and onwards have an electrical sensing mechanism.
-This sensing coupled with optional configuration data will be used to define hardware’s configuration with respect to a mandatory device and power supply configuration. Manufacturers must obtain the VER and REV ID from PX4 board maintainers by issuing a PR to ammend the [DS-018 Pixhawk standard](https://github.com/pixhawk/Pixhawk-Standards) for board versions and revisions.
+This sensing coupled with optional configuration data will be used to define hardware’s configuration with respect to a mandatory device and power supply configuration. Manufacturers must obtain the VER and REV ID from PX4 board maintainers by issuing a PR to amend the [DS-018 Pixhawk standard](https://github.com/pixhawk/Pixhawk-Standards) for board versions and revisions.
Because these boards are 100% compliant with the Pixhawk standard, the values assigned for VER and REV ID are the defaults for that FMU Version.
@@ -97,7 +97,7 @@ _New_ experimental boards are allocated [VER and REV IDs](#ver_rev_id) based on
This category includes all boards that aren't supported by the PX4 project or a manufacturer, and that fall outside the"experimental" support.
- Board is somewhat compatible on paper with something we already support, and it would take minimal effort to raise it to "experimental", but neither the dev-team or the manufacturer are currently pursuing this
-- Manufacturer/Owner of hardware violates our [Code of Conduct](https://discuss.px4.io/t/code-of-conduct/13655)
+- Manufacturer/Owner of hardware violates our [Code of Conduct](https://discuss.px4.io/t/px4-community-code-of-conduct/13655)
- Closed source, where any of the necessary tools/libs/drivers/etc needed to add support for a board is deemed incompatible due to licensing restrictions
- Board doesn't meet minimum requirements outlined in the General requirements
diff --git a/docs/zh/hardware/drone_parts.md b/docs/zh/hardware/drone_parts.md
index 640852b21b..0593d1ed94 100644
--- a/docs/zh/hardware/drone_parts.md
+++ b/docs/zh/hardware/drone_parts.md
@@ -1,4 +1,4 @@
-# 硬件选择和设置
+# Hardware Selection & Setup
本节包含可以用在无人机中的组件以及它们是如何设置的。
diff --git a/docs/zh/index.md b/docs/zh/index.md
index 8187b1648c..33de4ee5d7 100644
--- a/docs/zh/index.md
+++ b/docs/zh/index.md
@@ -5,7 +5,7 @@ const { site } = useData();
# PX4 自动驾驶仪用户指南
-[](https://github.com/PX4/PX4-Autopilot/releases) [](https://discuss.px4.io//) [](https://discord.gg/dronecode)
+[](https://github.com/PX4/PX4-Autopilot/releases) [](https://discuss.px4.io//) [](https://discord.com/invite/dronecode)
PX4 is an open-source autopilot for drones and autonomous vehicles. It runs on multirotors, fixed-wing, VTOL, helicopters, rovers, and more. This guide covers everything from assembly and configuration to flight operations and development.
@@ -49,7 +49,7 @@ Read [Operations](config/operations.md) to understand safety features and failsa
## 技术支持
-Get help on the [discussion forums](https://discuss.px4.io/) or [Discord](https://discord.gg/dronecode). See the [Support](contribute/support.md) page for diagnosing problems, reporting bugs, and joining the [weekly dev call](contribute/dev_call.md).
+Get help on the [discussion forums](https://discuss.px4.io/) or [Discord](https://discord.com/invite/dronecode). See the [Support](contribute/support.md) page for diagnosing problems, reporting bugs, and joining the [weekly dev call](contribute/dev_call.md).
## 参与贡献
@@ -93,9 +93,9 @@ _Dronecode 日历_ 展示了面向平台用户和开发者的重要社区活动
## 治理
-The PX4 Autopilot project is hosted by the [Dronecode Foundation](https://www.dronecode.org/), a [Linux Foundation](https://www.linuxfoundation.org/) Collaborative Project. Dronecode holds all PX4 trademarks and serves as the project's legal guardian, ensuring vendor-neutral stewardship. No single company owns the name or controls the roadmap. The source code is licensed under the [BSD 3-Clause](https://opensource.org/license/BSD-3-Clause) license, so you are free to use, modify, and distribute it in your own projects.
+The PX4 Autopilot project is hosted by the [Dronecode Foundation](https://dronecode.org/), a [Linux Foundation](https://www.linuxfoundation.org/) Collaborative Project. Dronecode holds all PX4 trademarks and serves as the project's legal guardian, ensuring vendor-neutral stewardship. No single company owns the name or controls the roadmap. The source code is licensed under the [BSD 3-Clause](https://opensource.org/license/BSD-3-Clause) license, so you are free to use, modify, and distribute it in your own projects.
-
+
diff --git a/docs/zh/mavlink/adding_messages.md b/docs/zh/mavlink/adding_messages.md
index c6b42f09fa..458661b5c6 100644
--- a/docs/zh/mavlink/adding_messages.md
+++ b/docs/zh/mavlink/adding_messages.md
@@ -39,7 +39,7 @@ Once the message headers for your definitions are generated in the PX4 build, yo
The first step in debugging is to confirm that any messages you've created are being sent/received as you expect.
-You should should first use the `uorb top []` command to verify in real-time that your message is published and the rate (see [uORB Messaging](../middleware/uorb.md#uorb-top-command)).
+You should first use the `uorb top []` command to verify in real-time that your message is published and the rate (see [uORB Messaging](../middleware/uorb.md#uorb-top-command)).
This approach can also be used to test incoming messages that publish a uORB topic (for other messages you might use `printf` in your code and test in SITL).
There are several approaches you can use to view MAVLink traffic:
@@ -82,16 +82,16 @@ So if you have created a custom message in PX4 you won't be able to use it unles
### Updating QGroundControl
-You will need to [Build QGroundControl](https://docs.qgroundcontrol.com/master/en/qgc-dev-guide/getting_started/index.html) including a pre-built C library that contains your custom messages.
+You will need to [Build QGroundControl](https://docs.qgroundcontrol.com/master/en/qgc-dev-guide/getting_started/index.html) with your custom messages included.
-QGC uses a pre-built C library that must be located at [/qgroundcontrol/libs/mavlink/include/mavlink](https://github.com/mavlink/qgroundcontrol/tree/master/libs/mavlink/include/mavlink) in the QGC source.
+QGC fetches MAVLink via CMake using settings defined in [`cmake/CustomOptions.cmake`](https://github.com/mavlink/qgroundcontrol/blob/master/cmake/CustomOptions.cmake).
+The key variables are `QGC_MAVLINK_GIT_REPO` (the MAVLink repository to fetch), `QGC_MAVLINK_GIT_TAG` (a specific commit or tag), and `QGC_MAVLINK_DIALECT` (the dialect, default: `all`).
+To use a custom MAVLink repository or dialect, override these in a `CustomOverrides.cmake` file in the QGC source root.
-By default this is pre-included as a submodule from but you can [generate your own MAVLink Libraries](https://mavlink.io/en/getting_started/generate_libraries.html).
+QGC uses the **all** dialect by default, which includes **common.xml**.
+You can include your messages in either file, or [generate your own MAVLink Libraries](https://mavlink.io/en/getting_started/generate_libraries.html).
-QGC uses the **all.xml** dialect by default, which includes **common.xml**.
-You can include your messages in either file.
-
-Note that if you use your own _custom dialect_ then it should include **ArduPilotMega.xml** (or it will miss all the existing messages), and you will need to change the dialect used by setting it in [`MAVLINK_CONF`](https://github.com/mavlink/qgroundcontrol/blob/master/QGCExternalLibs.pri#L52) when running _qmake_.
+Note that if you use your own _custom dialect_ then it should include **all.xml** (or it may miss all the existing messages), and you will need to set `QGC_MAVLINK_DIALECT` accordingly in `CustomOverrides.cmake`.
### Updating MAVSDK
diff --git a/docs/zh/mavlink/index.md b/docs/zh/mavlink/index.md
index f63038018f..10d3334061 100644
--- a/docs/zh/mavlink/index.md
+++ b/docs/zh/mavlink/index.md
@@ -77,7 +77,7 @@ You will need to work with the [MAVLink team](https://mavlink.io/en/contributing
:::
PX4 includes the [mavlink/mavlink](https://github.com/mavlink/mavlink) repo as a submodule under [/src/modules/mavlink](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/mavlink).
-This contains XML definition files in [/mavlink/messages/1.0/](https://github.com/mavlink/mavlink/blob/master/message_definitions/v1.0/).
+This contains XML definition files in [/mavlink/messages/1.0/](https://github.com/mavlink/mavlink/tree/master/message_definitions/v1.0).
The build toolchain generates the MAVLink 2 C header files at build time.
The XML file for which headers files are generated may be defined in the [PX4 kconfig board configuration](../hardware/porting_guide_config.md#px4-board-configuration-kconfig) on a per-board basis, using the variable `CONFIG_MAVLINK_DIALECT`:
diff --git a/docs/zh/middleware/dds_topics.md b/docs/zh/middleware/dds_topics.md
index 911a7d358c..7073cd438c 100644
--- a/docs/zh/middleware/dds_topics.md
+++ b/docs/zh/middleware/dds_topics.md
@@ -70,7 +70,6 @@ This document shows a markdown-rendered version of [dds_topics.yaml](https://git
| /fmu/in/vehicle_torque_setpoint | [px4_msgs::msg::VehicleTorqueSetpoint](../msg_docs/VehicleTorqueSetpoint.md) |
| /fmu/in/actuator_motors | [px4_msgs::msg::ActuatorMotors](../msg_docs/ActuatorMotors.md) |
| /fmu/in/actuator_servos | [px4_msgs::msg::ActuatorServos](../msg_docs/ActuatorServos.md) |
-| /fmu/in/aux_global_position | [px4_msgs::msg::VehicleGlobalPosition](../msg_docs/VehicleGlobalPosition.md) |
| /fmu/in/fixed_wing_longitudinal_setpoint | [px4_msgs::msg::FixedWingLongitudinalSetpoint](../msg_docs/FixedWingLongitudinalSetpoint.md) |
| /fmu/in/fixed_wing_lateral_setpoint | [px4_msgs::msg::FixedWingLateralSetpoint](../msg_docs/FixedWingLateralSetpoint.md) |
| /fmu/in/longitudinal_control_configuration | [px4_msgs::msg::LongitudinalControlConfiguration](../msg_docs/LongitudinalControlConfiguration.md) |
@@ -85,7 +84,9 @@ This document shows a markdown-rendered version of [dds_topics.yaml](https://git
## Subscriptions Multi
-None
+| Topic | 类型 | Route Field | Max Instances |
+| --------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------- | ----------- | ------------- |
+| /fmu/in/aux_global_position | [px4_msgs::msg::AuxGlobalPosition](../msg_docs/AuxGlobalPosition.md) | `id` | 4 |
## Not Exported
@@ -95,200 +96,203 @@ They are not build into the module, and hence are neither published or subscribe
:::details
See messages
-- [GpioIn](../msg_docs/GpioIn.md)
-- [SystemPower](../msg_docs/SystemPower.md)
-- [LandingTargetInnovations](../msg_docs/LandingTargetInnovations.md)
-- [VehicleOpticalFlow](../msg_docs/VehicleOpticalFlow.md)
-- [LandingTargetPose](../msg_docs/LandingTargetPose.md)
-- [EstimatorGpsStatus](../msg_docs/EstimatorGpsStatus.md)
-- [EstimatorBias](../msg_docs/EstimatorBias.md)
-- [ParameterSetValueResponse](../msg_docs/ParameterSetValueResponse.md)
-- [LogMessage](../msg_docs/LogMessage.md)
-- [PowerMonitor](../msg_docs/PowerMonitor.md)
-- [VehicleConstraints](../msg_docs/VehicleConstraints.md)
-- [SensorAirflow](../msg_docs/SensorAirflow.md)
-- [ArmingCheckRequestV0](../msg_docs/ArmingCheckRequestV0.md)
-- [ActuatorArmed](../msg_docs/ActuatorArmed.md)
-- [HoverThrustEstimate](../msg_docs/HoverThrustEstimate.md)
-- [LaunchDetectionStatus](../msg_docs/LaunchDetectionStatus.md)
-- [DifferentialPressure](../msg_docs/DifferentialPressure.md)
-- [MagnetometerBiasEstimate](../msg_docs/MagnetometerBiasEstimate.md)
-- [PwmInput](../msg_docs/PwmInput.md)
-- [OrbTestMedium](../msg_docs/OrbTestMedium.md)
-- [QshellReq](../msg_docs/QshellReq.md)
-- [GeofenceStatus](../msg_docs/GeofenceStatus.md)
-- [RcChannels](../msg_docs/RcChannels.md)
-- [Cpuload](../msg_docs/Cpuload.md)
-- [DebugArray](../msg_docs/DebugArray.md)
-- [FlightPhaseEstimation](../msg_docs/FlightPhaseEstimation.md)
-- [Mission](../msg_docs/Mission.md)
-- [Airspeed](../msg_docs/Airspeed.md)
-- [LedControl](../msg_docs/LedControl.md)
-- [HealthReport](../msg_docs/HealthReport.md)
-- [FixedWingLateralGuidanceStatus](../msg_docs/FixedWingLateralGuidanceStatus.md)
-- [FigureEightStatus](../msg_docs/FigureEightStatus.md)
-- [EstimatorInnovations](../msg_docs/EstimatorInnovations.md)
-- [VehicleImuStatus](../msg_docs/VehicleImuStatus.md)
-- [VehicleLocalPositionSetpoint](../msg_docs/VehicleLocalPositionSetpoint.md)
-- [InputRc](../msg_docs/InputRc.md)
-- [UavcanParameterRequest](../msg_docs/UavcanParameterRequest.md)
-- [FixedWingRunwayControl](../msg_docs/FixedWingRunwayControl.md)
-- [SensorCorrection](../msg_docs/SensorCorrection.md)
-- [ControlAllocatorStatus](../msg_docs/ControlAllocatorStatus.md)
-- [AirspeedValidatedV0](../msg_docs/AirspeedValidatedV0.md)
-- [CanInterfaceStatus](../msg_docs/CanInterfaceStatus.md)
-- [SensorSelection](../msg_docs/SensorSelection.md)
-- [DeviceInformation](../msg_docs/DeviceInformation.md)
-- [CameraTrigger](../msg_docs/CameraTrigger.md)
-- [SensorAccel](../msg_docs/SensorAccel.md)
-- [ActuatorServosTrim](../msg_docs/ActuatorServosTrim.md)
-- [SensorsStatusImu](../msg_docs/SensorsStatusImu.md)
-- [EstimatorBias3d](../msg_docs/EstimatorBias3d.md)
-- [GimbalManagerStatus](../msg_docs/GimbalManagerStatus.md)
-- [BatteryStatusV0](../msg_docs/BatteryStatusV0.md)
-- [OpenDroneIdSelfId](../msg_docs/OpenDroneIdSelfId.md)
-- [VehicleImu](../msg_docs/VehicleImu.md)
-- [MissionResult](../msg_docs/MissionResult.md)
-- [SensorAccelFifo](../msg_docs/SensorAccelFifo.md)
-- [DistanceSensorModeChangeRequest](../msg_docs/DistanceSensorModeChangeRequest.md)
-- [SensorPreflightMag](../msg_docs/SensorPreflightMag.md)
-- [OrbTest](../msg_docs/OrbTest.md)
-- [PositionControllerLandingStatus](../msg_docs/PositionControllerLandingStatus.md)
-- [FuelTankStatus](../msg_docs/FuelTankStatus.md)
-- [OpenDroneIdSystem](../msg_docs/OpenDroneIdSystem.md)
-- [OrbitStatus](../msg_docs/OrbitStatus.md)
-- [Px4ioStatus](../msg_docs/Px4ioStatus.md)
-- [RtlStatus](../msg_docs/RtlStatus.md)
-- [ButtonEvent](../msg_docs/ButtonEvent.md)
-- [VehicleLocalPositionV0](../msg_docs/VehicleLocalPositionV0.md)
-- [DebugValue](../msg_docs/DebugValue.md)
-- [ParameterSetUsedRequest](../msg_docs/ParameterSetUsedRequest.md)
-- [RoverSpeedStatus](../msg_docs/RoverSpeedStatus.md)
-- [SensorHygrometer](../msg_docs/SensorHygrometer.md)
-- [OpenDroneIdOperatorId](../msg_docs/OpenDroneIdOperatorId.md)
-- [InternalCombustionEngineStatus](../msg_docs/InternalCombustionEngineStatus.md)
-- [GpioOut](../msg_docs/GpioOut.md)
-- [ActuatorTest](../msg_docs/ActuatorTest.md)
-- [SensorBaro](../msg_docs/SensorBaro.md)
-- [PositionControllerStatus](../msg_docs/PositionControllerStatus.md)
-- [PurePursuitStatus](../msg_docs/PurePursuitStatus.md)
-- [RoverRateStatus](../msg_docs/RoverRateStatus.md)
-- [TecsStatus](../msg_docs/TecsStatus.md)
-- [PpsCapture](../msg_docs/PpsCapture.md)
-- [RaptorStatus](../msg_docs/RaptorStatus.md)
-- [EventV0](../msg_docs/EventV0.md)
-- [GpioRequest](../msg_docs/GpioRequest.md)
-- [FollowTargetEstimator](../msg_docs/FollowTargetEstimator.md)
-- [MagWorkerData](../msg_docs/MagWorkerData.md)
-- [FollowTarget](../msg_docs/FollowTarget.md)
-- [EstimatorAidSource1d](../msg_docs/EstimatorAidSource1d.md)
-- [GimbalDeviceSetAttitude](../msg_docs/GimbalDeviceSetAttitude.md)
-- [SensorGnssRelative](../msg_docs/SensorGnssRelative.md)
-- [ActionRequest](../msg_docs/ActionRequest.md)
-- [NavigatorMissionItem](../msg_docs/NavigatorMissionItem.md)
-- [GpsInjectData](../msg_docs/GpsInjectData.md)
-- [VehicleStatusV0](../msg_docs/VehicleStatusV0.md)
-- [DronecanNodeStatus](../msg_docs/DronecanNodeStatus.md)
-- [UlogStream](../msg_docs/UlogStream.md)
-- [DebugKeyValue](../msg_docs/DebugKeyValue.md)
-- [NavigatorStatus](../msg_docs/NavigatorStatus.md)
-- [MountOrientation](../msg_docs/MountOrientation.md)
-- [RcParameterMap](../msg_docs/RcParameterMap.md)
-- [AdcReport](../msg_docs/AdcReport.md)
-- [EstimatorSensorBias](../msg_docs/EstimatorSensorBias.md)
-- [InternalCombustionEngineControl](../msg_docs/InternalCombustionEngineControl.md)
-- [MavlinkLog](../msg_docs/MavlinkLog.md)
-- [VehicleMagnetometer](../msg_docs/VehicleMagnetometer.md)
- [GpioConfig](../msg_docs/GpioConfig.md)
-- [GainCompression](../msg_docs/GainCompression.md)
-- [DebugVect](../msg_docs/DebugVect.md)
-- [ArmingCheckReplyV0](../msg_docs/ArmingCheckReplyV0.md)
-- [VehicleAttitudeSetpointV0](../msg_docs/VehicleAttitudeSetpointV0.md)
-- [FollowTargetStatus](../msg_docs/FollowTargetStatus.md)
-- [RtlTimeEstimate](../msg_docs/RtlTimeEstimate.md)
-- [RoverAttitudeStatus](../msg_docs/RoverAttitudeStatus.md)
-- [SensorUwb](../msg_docs/SensorUwb.md)
-- [YawEstimatorStatus](../msg_docs/YawEstimatorStatus.md)
-- [VelocityLimits](../msg_docs/VelocityLimits.md)
-- [TrajectorySetpoint6dof](../msg_docs/TrajectorySetpoint6dof.md)
-- [OpenDroneIdArmStatus](../msg_docs/OpenDroneIdArmStatus.md)
-- [EscStatus](../msg_docs/EscStatus.md)
-- [GimbalManagerInformation](../msg_docs/GimbalManagerInformation.md)
-- [HeaterStatus](../msg_docs/HeaterStatus.md)
-- [EstimatorSelectorStatus](../msg_docs/EstimatorSelectorStatus.md)
-- [GeofenceResult](../msg_docs/GeofenceResult.md)
-- [PowerButtonState](../msg_docs/PowerButtonState.md)
-- [Rpm](../msg_docs/Rpm.md)
-- [WheelEncoders](../msg_docs/WheelEncoders.md)
-- [LoggerStatus](../msg_docs/LoggerStatus.md)
-- [CellularStatus](../msg_docs/CellularStatus.md)
-- [TuneControl](../msg_docs/TuneControl.md)
-- [ConfigOverridesV0](../msg_docs/ConfigOverridesV0.md)
-- [GimbalManagerSetAttitude](../msg_docs/GimbalManagerSetAttitude.md)
-- [OrbTestLarge](../msg_docs/OrbTestLarge.md)
-- [BatteryInfo](../msg_docs/BatteryInfo.md)
-- [CameraStatus](../msg_docs/CameraStatus.md)
-- [QshellRetval](../msg_docs/QshellRetval.md)
-- [SensorMag](../msg_docs/SensorMag.md)
-- [RateCtrlStatus](../msg_docs/RateCtrlStatus.md)
-- [TaskStackInfo](../msg_docs/TaskStackInfo.md)
-- [EstimatorAidSource2d](../msg_docs/EstimatorAidSource2d.md)
-- [AirspeedWind](../msg_docs/AirspeedWind.md)
-- [AutotuneAttitudeControlStatus](../msg_docs/AutotuneAttitudeControlStatus.md)
-- [GimbalDeviceInformation](../msg_docs/GimbalDeviceInformation.md)
-- [GpsDump](../msg_docs/GpsDump.md)
-- [SensorTemp](../msg_docs/SensorTemp.md)
-- [ParameterResetRequest](../msg_docs/ParameterResetRequest.md)
-- [TiltrotorExtraControls](../msg_docs/TiltrotorExtraControls.md)
-- [SensorsStatus](../msg_docs/SensorsStatus.md)
-- [EstimatorStatus](../msg_docs/EstimatorStatus.md)
-- [FailureDetectorStatus](../msg_docs/FailureDetectorStatus.md)
-- [VehicleAirData](../msg_docs/VehicleAirData.md)
-- [ActuatorControlsStatus](../msg_docs/ActuatorControlsStatus.md)
-- [TakeoffStatus](../msg_docs/TakeoffStatus.md)
-- [GeneratorStatus](../msg_docs/GeneratorStatus.md)
-- [SensorGyroFifo](../msg_docs/SensorGyroFifo.md)
-- [VehicleAngularVelocity](../msg_docs/VehicleAngularVelocity.md)
-- [LandingGearWheel](../msg_docs/LandingGearWheel.md)
-- [ParameterSetValueRequest](../msg_docs/ParameterSetValueRequest.md)
-- [RegisterExtComponentReplyV0](../msg_docs/RegisterExtComponentReplyV0.md)
-- [RaptorInput](../msg_docs/RaptorInput.md)
-- [SensorGyro](../msg_docs/SensorGyro.md)
-- [ParameterUpdate](../msg_docs/ParameterUpdate.md)
-- [NormalizedUnsignedSetpoint](../msg_docs/NormalizedUnsignedSetpoint.md)
-- [PositionSetpoint](../msg_docs/PositionSetpoint.md)
-- [EstimatorStates](../msg_docs/EstimatorStates.md)
-- [ActuatorOutputs](../msg_docs/ActuatorOutputs.md)
-- [ManualControlSwitches](../msg_docs/ManualControlSwitches.md)
-- [UavcanParameterValue](../msg_docs/UavcanParameterValue.md)
-- [VehicleAngularAccelerationSetpoint](../msg_docs/VehicleAngularAccelerationSetpoint.md)
-- [EstimatorEventFlags](../msg_docs/EstimatorEventFlags.md)
-- [SensorGnssStatus](../msg_docs/SensorGnssStatus.md)
-- [GimbalManagerSetManualControl](../msg_docs/GimbalManagerSetManualControl.md)
-- [HomePositionV0](../msg_docs/HomePositionV0.md)
-- [FixedWingLateralStatus](../msg_docs/FixedWingLateralStatus.md)
-- [SatelliteInfo](../msg_docs/SatelliteInfo.md)
-- [IrlockReport](../msg_docs/IrlockReport.md)
-- [Ping](../msg_docs/Ping.md)
-- [CameraCapture](../msg_docs/CameraCapture.md)
-- [Vtx](../msg_docs/Vtx.md)
-- [Ekf2Timestamps](../msg_docs/Ekf2Timestamps.md)
-- [RegisterExtComponentRequestV0](../msg_docs/RegisterExtComponentRequestV0.md)
-- [EscReport](../msg_docs/EscReport.md)
-- [Gripper](../msg_docs/Gripper.md)
-- [UlogStreamAck](../msg_docs/UlogStreamAck.md)
-- [SensorGyroFft](../msg_docs/SensorGyroFft.md)
-- [VehicleRoi](../msg_docs/VehicleRoi.md)
-- [VehicleAcceleration](../msg_docs/VehicleAcceleration.md)
-- [NeuralControl](../msg_docs/NeuralControl.md)
-- [DatamanResponse](../msg_docs/DatamanResponse.md)
-- [GimbalControls](../msg_docs/GimbalControls.md)
-- [MavlinkTunnel](../msg_docs/MavlinkTunnel.md)
-- [EstimatorAidSource3d](../msg_docs/EstimatorAidSource3d.md)
-- [DatamanRequest](../msg_docs/DatamanRequest.md)
+- [MavlinkLog](../msg_docs/MavlinkLog.md)
- [Event](../msg_docs/Event.md)
-- [RadioStatus](../msg_docs/RadioStatus.md)
-- [VehicleOpticalFlowVel](../msg_docs/VehicleOpticalFlowVel.md)
+- [EstimatorBias3d](../msg_docs/EstimatorBias3d.md)
+- [MagWorkerData](../msg_docs/MagWorkerData.md)
+- [OrbTest](../msg_docs/OrbTest.md)
+- [RtlTimeEstimate](../msg_docs/RtlTimeEstimate.md)
+- [EventV0](../msg_docs/EventV0.md)
+- [TiltrotorExtraControls](../msg_docs/TiltrotorExtraControls.md)
+- [EstimatorBias](../msg_docs/EstimatorBias.md)
+- [QshellRetval](../msg_docs/QshellRetval.md)
- [IridiumsbdStatus](../msg_docs/IridiumsbdStatus.md)
+- [GpioIn](../msg_docs/GpioIn.md)
+- [Px4ioStatus](../msg_docs/Px4ioStatus.md)
+- [UavcanParameterRequest](../msg_docs/UavcanParameterRequest.md)
+- [RegisterExtComponentReplyV0](../msg_docs/RegisterExtComponentReplyV0.md)
+- [Airspeed](../msg_docs/Airspeed.md)
+- [SensorMag](../msg_docs/SensorMag.md)
+- [QshellReq](../msg_docs/QshellReq.md)
+- [RcChannels](../msg_docs/RcChannels.md)
+- [FuelTankStatus](../msg_docs/FuelTankStatus.md)
+- [ParameterSetValueResponse](../msg_docs/ParameterSetValueResponse.md)
+- [VehicleOpticalFlowVel](../msg_docs/VehicleOpticalFlowVel.md)
+- [ActuatorControlsStatus](../msg_docs/ActuatorControlsStatus.md)
+- [TecsStatus](../msg_docs/TecsStatus.md)
+- [CameraStatus](../msg_docs/CameraStatus.md)
+- [FollowTargetStatus](../msg_docs/FollowTargetStatus.md)
+- [DistanceSensorModeChangeRequest](../msg_docs/DistanceSensorModeChangeRequest.md)
+- [DatamanRequest](../msg_docs/DatamanRequest.md)
+- [SensorAccel](../msg_docs/SensorAccel.md)
+- [HomePositionV0](../msg_docs/HomePositionV0.md)
+- [VehicleMagnetometer](../msg_docs/VehicleMagnetometer.md)
+- [SensorGnssStatus](../msg_docs/SensorGnssStatus.md)
+- [GimbalDeviceInformation](../msg_docs/GimbalDeviceInformation.md)
+- [VehicleGlobalPositionV0](../msg_docs/VehicleGlobalPositionV0.md)
+- [OrbitStatus](../msg_docs/OrbitStatus.md)
+- [RcParameterMap](../msg_docs/RcParameterMap.md)
+- [PowerButtonState](../msg_docs/PowerButtonState.md)
+- [GpioRequest](../msg_docs/GpioRequest.md)
+- [VehicleRoi](../msg_docs/VehicleRoi.md)
+- [EstimatorEventFlags](../msg_docs/EstimatorEventFlags.md)
+- [VehicleStatusV0](../msg_docs/VehicleStatusV0.md)
+- [YawEstimatorStatus](../msg_docs/YawEstimatorStatus.md)
+- [ParameterSetValueRequest](../msg_docs/ParameterSetValueRequest.md)
+- [LandingTargetInnovations](../msg_docs/LandingTargetInnovations.md)
+- [EscStatus](../msg_docs/EscStatus.md)
+- [GimbalManagerSetManualControl](../msg_docs/GimbalManagerSetManualControl.md)
+- [OpenDroneIdSystem](../msg_docs/OpenDroneIdSystem.md)
+- [SensorHygrometer](../msg_docs/SensorHygrometer.md)
+- [GpioOut](../msg_docs/GpioOut.md)
+- [FlightPhaseEstimation](../msg_docs/FlightPhaseEstimation.md)
+- [ActionRequest](../msg_docs/ActionRequest.md)
+- [GimbalControls](../msg_docs/GimbalControls.md)
+- [MountOrientation](../msg_docs/MountOrientation.md)
+- [LedControl](../msg_docs/LedControl.md)
+- [UlogStreamAck](../msg_docs/UlogStreamAck.md)
+- [EstimatorAidSource1d](../msg_docs/EstimatorAidSource1d.md)
+- [DronecanNodeStatus](../msg_docs/DronecanNodeStatus.md)
+- [VehicleConstraints](../msg_docs/VehicleConstraints.md)
+- [VehicleAirData](../msg_docs/VehicleAirData.md)
+- [BatteryInfo](../msg_docs/BatteryInfo.md)
+- [GimbalManagerInformation](../msg_docs/GimbalManagerInformation.md)
+- [RaptorInput](../msg_docs/RaptorInput.md)
+- [RoverAttitudeStatus](../msg_docs/RoverAttitudeStatus.md)
+- [Ekf2Timestamps](../msg_docs/Ekf2Timestamps.md)
+- [PositionControllerStatus](../msg_docs/PositionControllerStatus.md)
+- [VehicleImu](../msg_docs/VehicleImu.md)
+- [AirspeedValidatedV0](../msg_docs/AirspeedValidatedV0.md)
+- [VehicleAngularAccelerationSetpoint](../msg_docs/VehicleAngularAccelerationSetpoint.md)
+- [ConfigOverridesV0](../msg_docs/ConfigOverridesV0.md)
+- [EstimatorAidSource2d](../msg_docs/EstimatorAidSource2d.md)
+- [SensorUwb](../msg_docs/SensorUwb.md)
+- [LogMessage](../msg_docs/LogMessage.md)
+- [EstimatorSelectorStatus](../msg_docs/EstimatorSelectorStatus.md)
+- [VehicleStatusV1](../msg_docs/VehicleStatusV1.md)
+- [ActuatorServosTrim](../msg_docs/ActuatorServosTrim.md)
+- [SensorGnssRelative](../msg_docs/SensorGnssRelative.md)
+- [LandingGearWheel](../msg_docs/LandingGearWheel.md)
+- [SensorTemp](../msg_docs/SensorTemp.md)
+- [SensorGyro](../msg_docs/SensorGyro.md)
+- [PowerMonitor](../msg_docs/PowerMonitor.md)
+- [UavcanParameterValue](../msg_docs/UavcanParameterValue.md)
+- [TrajectorySetpoint6dof](../msg_docs/TrajectorySetpoint6dof.md)
+- [HeaterStatus](../msg_docs/HeaterStatus.md)
+- [SensorAirflow](../msg_docs/SensorAirflow.md)
+- [TakeoffStatus](../msg_docs/TakeoffStatus.md)
+- [ControlAllocatorStatus](../msg_docs/ControlAllocatorStatus.md)
+- [LoggerStatus](../msg_docs/LoggerStatus.md)
+- [TuneControl](../msg_docs/TuneControl.md)
+- [GpsDump](../msg_docs/GpsDump.md)
+- [WheelEncoders](../msg_docs/WheelEncoders.md)
+- [PurePursuitStatus](../msg_docs/PurePursuitStatus.md)
+- [VehicleAcceleration](../msg_docs/VehicleAcceleration.md)
+- [EstimatorGpsStatus](../msg_docs/EstimatorGpsStatus.md)
+- [MagnetometerBiasEstimate](../msg_docs/MagnetometerBiasEstimate.md)
+- [ManualControlSwitches](../msg_docs/ManualControlSwitches.md)
+- [SensorPreflightMag](../msg_docs/SensorPreflightMag.md)
+- [HealthReport](../msg_docs/HealthReport.md)
+- [SensorGyroFifo](../msg_docs/SensorGyroFifo.md)
+- [GpsInjectData](../msg_docs/GpsInjectData.md)
+- [OpenDroneIdArmStatus](../msg_docs/OpenDroneIdArmStatus.md)
+- [EscReport](../msg_docs/EscReport.md)
+- [DebugKeyValue](../msg_docs/DebugKeyValue.md)
+- [ActuatorOutputs](../msg_docs/ActuatorOutputs.md)
+- [GimbalDeviceSetAttitude](../msg_docs/GimbalDeviceSetAttitude.md)
+- [LandingTargetPose](../msg_docs/LandingTargetPose.md)
+- [GeofenceStatus](../msg_docs/GeofenceStatus.md)
+- [FailureDetectorStatus](../msg_docs/FailureDetectorStatus.md)
+- [MavlinkTunnel](../msg_docs/MavlinkTunnel.md)
+- [SensorCorrection](../msg_docs/SensorCorrection.md)
+- [ParameterUpdate](../msg_docs/ParameterUpdate.md)
+- [RateCtrlStatus](../msg_docs/RateCtrlStatus.md)
+- [DifferentialPressure](../msg_docs/DifferentialPressure.md)
+- [PositionSetpoint](../msg_docs/PositionSetpoint.md)
+- [OpenDroneIdOperatorId](../msg_docs/OpenDroneIdOperatorId.md)
+- [OrbTestMedium](../msg_docs/OrbTestMedium.md)
+- [SensorsStatusImu](../msg_docs/SensorsStatusImu.md)
+- [EstimatorStatus](../msg_docs/EstimatorStatus.md)
+- [SensorAccelFifo](../msg_docs/SensorAccelFifo.md)
+- [VehicleLocalPositionSetpoint](../msg_docs/VehicleLocalPositionSetpoint.md)
+- [RegisterExtComponentRequestV0](../msg_docs/RegisterExtComponentRequestV0.md)
+- [VehicleCommandAckV0](../msg_docs/VehicleCommandAckV0.md)
+- [EstimatorStates](../msg_docs/EstimatorStates.md)
+- [CameraCapture](../msg_docs/CameraCapture.md)
+- [RadioStatus](../msg_docs/RadioStatus.md)
+- [EstimatorSensorBias](../msg_docs/EstimatorSensorBias.md)
+- [SensorsStatus](../msg_docs/SensorsStatus.md)
+- [VehicleAttitudeSetpointV0](../msg_docs/VehicleAttitudeSetpointV0.md)
+- [NeuralControl](../msg_docs/NeuralControl.md)
+- [FixedWingLateralStatus](../msg_docs/FixedWingLateralStatus.md)
+- [EstimatorAidSource3d](../msg_docs/EstimatorAidSource3d.md)
+- [FollowTargetEstimator](../msg_docs/FollowTargetEstimator.md)
+- [GimbalManagerStatus](../msg_docs/GimbalManagerStatus.md)
+- [GeofenceResult](../msg_docs/GeofenceResult.md)
+- [SystemPower](../msg_docs/SystemPower.md)
+- [NavigatorMissionItem](../msg_docs/NavigatorMissionItem.md)
+- [VehicleImuStatus](../msg_docs/VehicleImuStatus.md)
+- [ArmingCheckReplyV0](../msg_docs/ArmingCheckReplyV0.md)
+- [CameraTrigger](../msg_docs/CameraTrigger.md)
+- [NormalizedUnsignedSetpoint](../msg_docs/NormalizedUnsignedSetpoint.md)
+- [RoverRateStatus](../msg_docs/RoverRateStatus.md)
+- [NavigatorStatus](../msg_docs/NavigatorStatus.md)
+- [VehicleLocalPositionV0](../msg_docs/VehicleLocalPositionV0.md)
+- [VelocityLimits](../msg_docs/VelocityLimits.md)
+- [Gripper](../msg_docs/Gripper.md)
+- [Mission](../msg_docs/Mission.md)
+- [RtlStatus](../msg_docs/RtlStatus.md)
+- [GainCompression](../msg_docs/GainCompression.md)
+- [DatamanResponse](../msg_docs/DatamanResponse.md)
+- [BatteryStatusV0](../msg_docs/BatteryStatusV0.md)
+- [SensorGyroFft](../msg_docs/SensorGyroFft.md)
+- [DeviceInformation](../msg_docs/DeviceInformation.md)
+- [UlogStream](../msg_docs/UlogStream.md)
+- [SensorSelection](../msg_docs/SensorSelection.md)
+- [DebugVect](../msg_docs/DebugVect.md)
+- [PpsCapture](../msg_docs/PpsCapture.md)
+- [OrbTestLarge](../msg_docs/OrbTestLarge.md)
+- [EstimatorInnovations](../msg_docs/EstimatorInnovations.md)
+- [PositionControllerLandingStatus](../msg_docs/PositionControllerLandingStatus.md)
+- [FigureEightStatus](../msg_docs/FigureEightStatus.md)
+- [ActuatorArmed](../msg_docs/ActuatorArmed.md)
+- [InternalCombustionEngineControl](../msg_docs/InternalCombustionEngineControl.md)
+- [OpenDroneIdSelfId](../msg_docs/OpenDroneIdSelfId.md)
+- [FollowTarget](../msg_docs/FollowTarget.md)
+- [DebugArray](../msg_docs/DebugArray.md)
+- [DebugValue](../msg_docs/DebugValue.md)
+- [Rpm](../msg_docs/Rpm.md)
+- [HoverThrustEstimate](../msg_docs/HoverThrustEstimate.md)
+- [CellularStatus](../msg_docs/CellularStatus.md)
+- [ButtonEvent](../msg_docs/ButtonEvent.md)
+- [ArmingCheckRequestV0](../msg_docs/ArmingCheckRequestV0.md)
+- [VehicleOpticalFlow](../msg_docs/VehicleOpticalFlow.md)
+- [PwmInput](../msg_docs/PwmInput.md)
+- [LaunchDetectionStatus](../msg_docs/LaunchDetectionStatus.md)
+- [RaptorStatus](../msg_docs/RaptorStatus.md)
+- [FixedWingLateralGuidanceStatus](../msg_docs/FixedWingLateralGuidanceStatus.md)
+- [ParameterSetUsedRequest](../msg_docs/ParameterSetUsedRequest.md)
+- [SensorBaro](../msg_docs/SensorBaro.md)
+- [InternalCombustionEngineStatus](../msg_docs/InternalCombustionEngineStatus.md)
+- [InputRc](../msg_docs/InputRc.md)
+- [AirspeedWind](../msg_docs/AirspeedWind.md)
+- [CanInterfaceStatus](../msg_docs/CanInterfaceStatus.md)
+- [Vtx](../msg_docs/Vtx.md)
+- [GimbalManagerSetAttitude](../msg_docs/GimbalManagerSetAttitude.md)
+- [SatelliteInfo](../msg_docs/SatelliteInfo.md)
+- [TaskStackInfo](../msg_docs/TaskStackInfo.md)
+- [RoverSpeedStatus](../msg_docs/RoverSpeedStatus.md)
+- [GeneratorStatus](../msg_docs/GeneratorStatus.md)
+- [MissionResult](../msg_docs/MissionResult.md)
+- [ParameterResetRequest](../msg_docs/ParameterResetRequest.md)
+- [ActuatorTest](../msg_docs/ActuatorTest.md)
+- [IrlockReport](../msg_docs/IrlockReport.md)
+- [AdcReport](../msg_docs/AdcReport.md)
+- [FixedWingRunwayControl](../msg_docs/FixedWingRunwayControl.md)
+- [AutotuneAttitudeControlStatus](../msg_docs/AutotuneAttitudeControlStatus.md)
+- [Ping](../msg_docs/Ping.md)
+- [VehicleAngularVelocity](../msg_docs/VehicleAngularVelocity.md)
+- [Cpuload](../msg_docs/Cpuload.md)
:::
diff --git a/docs/zh/middleware/micrortps.md b/docs/zh/middleware/micrortps.md
index c4f8a626f0..3d879ef7cf 100644
--- a/docs/zh/middleware/micrortps.md
+++ b/docs/zh/middleware/micrortps.md
@@ -3,4 +3,4 @@
[arguments...]
## rgbled
-Source: [drivers/lights/rgbled](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/lights/rgbled)
+Source: [drivers/lights/rgbled_ncp5623c](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/lights/rgbled_ncp5623c)
### Usage {#rgbled_usage}
@@ -1124,7 +1124,9 @@ rgbled [arguments...]
[-f ] bus frequency in kHz
[-q] quiet startup (no message if no device found)
[-a ] I2C address
- default: 85
+ default: 57
+ [-o ] RGB PWM Assignment
+ default: 123
stop
diff --git a/docs/zh/modules/modules_driver_distance_sensor.md b/docs/zh/modules/modules_driver_distance_sensor.md
index f330f01947..4352c05272 100644
--- a/docs/zh/modules/modules_driver_distance_sensor.md
+++ b/docs/zh/modules/modules_driver_distance_sensor.md
@@ -98,13 +98,56 @@ leddar_one [arguments...]
stop Stop driver
```
+## lightware_grf_serial
+
+Source: [drivers/distance_sensor/lightware_grf_serial](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/lightware_grf_serial)
+
+### 描述
+
+Serial bus driver for the Lightware GRF Laser rangefinder.
+
+### 配置
+
+https://docs.px4.io/main/en/sensor/grf_lidar
+
+### 参数
+
+https://docs.px4.io/main/en/advanced_config/parameter_reference#GRF_SENS_MODEL
+https://docs.px4.io/main/en/advanced_config/parameter_reference#GRF_RATE_CFG
+https://docs.px4.io/main/en/advanced_config/parameter_reference#SENS_EN_GRF_CFG
+
+### 示例
+
+Attempt to start driver on a specified serial device.
+
+```
+lightware_grf_serial start -d /dev/ttyS1
+```
+
+Stop driver
+
+```
+lightware_grf_serial stop
+```
+
+### Usage {#lightware_grf_serial_usage}
+
+```
+lightware_grf_serial [arguments...]
+ Commands:
+ start Start driver
+ -d Serial device
+
+ stop Stop driver
+```
+
## lightware_laser_i2c
Source: [drivers/distance_sensor/lightware_laser_i2c](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/lightware_laser_i2c)
### 描述
-I2C bus driver for Lightware SFxx series LIDAR rangefinders: SF10/a, SF10/b, SF10/c, SF11/c, SF/LW20, SF30/d.
+I2C bus driver for Lightware LIDAR rangefinders: SF10/a, SF10/b, SF10/c, SF11/c, SF/LW20, SF/LW30/d, GRF250, GRF500.
Setup/usage information: https://docs.px4.io/main/en/sensor/sfxx_lidar.html
@@ -122,8 +165,6 @@ lightware_laser_i2c [arguments...]
[-q] quiet startup (no message if no device found)
[-a ] I2C address
default: 102
- [-R ] Sensor rotation - downward facing by default
- default: 25
stop
diff --git a/docs/zh/modules/modules_driver_ins.md b/docs/zh/modules/modules_driver_ins.md
index 6d023b4d31..8e7bb95f5c 100644
--- a/docs/zh/modules/modules_driver_ins.md
+++ b/docs/zh/modules/modules_driver_ins.md
@@ -9,7 +9,7 @@ Source: [drivers/ins/microstrain](https://github.com/PX4/PX4-Autopilot/tree/main
MicroStrain by HBK Inertial Sensor Driver.
Currently supports the following sensors:
--[CV7-AR](https://www.hbkworld.com/en/products/transducers/inertial-sensors/vertical-reference-units--vru-/3dm-cv7-ar) -[CV7-AHRS](https://www.hbkworld.com/en/products/transducers/inertial-sensors/attitude-and-heading-reference-systems--ahrs-/3dm-cv7-ahrs) -[CV7-INS](https://www.hbkworld.com/en/products/transducers/inertial-sensors/inertial-navigation-systems--ins-/3dm-cv7-ins) -[CV7-GNSS/INS](https://www.hbkworld.com/en/products/transducers/inertial-sensors/inertial-navigation-systems--ins-/3dm-cv7-gnss-ins)
+-[CV7-AR](https://www.hbkworld.com/en/products/transducers/inertial-sensors/vertical-reference-units--vru-/3dm-cv7-ar) -[CV7-AHRS](https://www.hbkworld.com/en/products/transducers/inertial-sensors/attitude-and-heading-reference-systems--ahrs-/3dm-cv7-ahrs) -[CV7-INS](https://www.hbkworld.com/en/products/transducers/inertial-sensors/navigation/3dm-cv7-ins) -[CV7-GNSS/INS](https://www.hbkworld.com/en/products/transducers/inertial-sensors/navigation/3dm-cv7-gnss-ins)
This driver is not included in the firmware by default.
Include the module in firmware by setting the
diff --git a/docs/zh/modules/modules_estimator.md b/docs/zh/modules/modules_estimator.md
index 10f1bbac29..16012c9a02 100644
--- a/docs/zh/modules/modules_estimator.md
+++ b/docs/zh/modules/modules_estimator.md
@@ -54,7 +54,7 @@ Source: [modules/ekf2](https://github.com/PX4/PX4-Autopilot/tree/main/src/module
基于扩展卡尔曼滤波器的姿态和位置估计器。 该模块同时应用于多旋翼和固定翼飞机。
-The documentation can be found on the [ECL/EKF Overview & Tuning](https://docs.px4.io/main/en/advanced_config/tuning_the_ecl_ekf.html) page.
+The documentation can be found on the [ECL/EKF Overview & Tuning](../advanced_config/tuning_the_ecl_ekf.md) page.
ekf2 can be started in replay mode (`-r`): in this mode, it does not access the system time, but only uses the
timestamps from the sensor topics.
diff --git a/docs/zh/modules/modules_system.md b/docs/zh/modules/modules_system.md
index b23833af58..b93e377acc 100644
--- a/docs/zh/modules/modules_system.md
+++ b/docs/zh/modules/modules_system.md
@@ -321,7 +321,7 @@ Source: [drivers/heater](https://github.com/PX4/PX4-Autopilot/tree/main/src/driv
### 描述
-Background process running periodically on the LP work queue to regulate IMU temperature at a setpoint.
+Background process running periodically on the INS{i} queue to regulate IMU temperature at a setpoint.
This task can be started at boot from the startup scripts by setting SENS_EN_THERMAL or via CLI.
@@ -732,7 +732,7 @@ The module is typically used together with uORB publisher rules, to specify whic
The replay module will just publish all messages that are found in the log. It also applies the parameters from
the log.
-The replay procedure is documented on the [System-wide Replay](https://docs.px4.io/main/en/debug/system_wide_replay.html)
+The replay procedure is documented on the [System-wide Replay](../debug/system_wide_replay.md)
page.
### Usage {#replay_usage}
@@ -921,6 +921,30 @@ system_power_simulation [arguments...]
status print status info
```
+## task_watchdog
+
+Source: [modules/task_watchdog](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/task_watchdog)
+
+### 描述
+
+Detects when a higher-priority task starves the system by running too long.
+When starvation is detected, dumps the offending task's registers and stack,
+and saves a cpuload snapshot.
+
+### Usage {#task_watchdog_usage}
+
+```
+task_watchdog [arguments...]
+ Commands:
+ start
+
+ trigger Manually trigger the watchdog
+
+ stop
+
+ status print status info
+```
+
## tattu_can
Source: [drivers/tattu_can](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/tattu_can)
diff --git a/docs/zh/msg_docs/ActionRequest.md b/docs/zh/msg_docs/ActionRequest.md
index e3ccbd5578..8d0034e610 100644
--- a/docs/zh/msg_docs/ActionRequest.md
+++ b/docs/zh/msg_docs/ActionRequest.md
@@ -25,26 +25,26 @@ Request are published by `manual_control` and subscribed by the `commander` and
### ACTION {#ACTION}
-| 参数名 | 类型 | 值 | 描述 |
-| ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | - | ---------------------------------------------------------------------------------------- |
-| ACTION_DISARM | `uint8` | 0 | Disarm vehicle |
-| ACTION_ARM | `uint8` | 1 | Arm vehicle |
-| ACTION_TOGGLE_ARMING | `uint8` | 2 | Toggle arming |
-| ACTION_UNKILL | `uint8` | 3 | Revert a kill action |
-| ACTION_KILL | `uint8` | 4 | Kill vehicle (instantly stop the motors) |
-| ACTION_SWITCH_MODE | `uint8` | 5 | Switch mode. The target mode is set in the `mode` field. |
-| ACTION_VTOL_TRANSITION_TO_MULTICOPTER | `uint8` | 6 | Transition to hover flight |
-| ACTION_VTOL_TRANSITION_TO_FIXEDWING | `uint8` | 7 | Transition to fast forward flight |
-| ACTION_TERMINATION | `uint8` | 8 | Irreversibly output failsafe values on all outputs, trigger parachute |
+| 参数名 | 类型 | 值 | 描述 |
+| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | - | ---------------------------------------------------------------------------------------- |
+| ACTION_DISARM | `uint8` | 0 | Disarm vehicle |
+| ACTION_ARM | `uint8` | 1 | Arm vehicle |
+| ACTION_TOGGLE_ARMING | `uint8` | 2 | Toggle arming |
+| ACTION_UNKILL | `uint8` | 3 | Revert a kill action |
+| ACTION_KILL | `uint8` | 4 | Kill vehicle (instantly stop the motors) |
+| ACTION_SWITCH_MODE | `uint8` | 5 | Switch mode. The target mode is set in the `mode` field. |
+| ACTION_VTOL_TRANSITION_TO_MULTICOPTER | `uint8` | 6 | Transition to hover flight |
+| ACTION_VTOL_TRANSITION_TO_FIXEDWING | `uint8` | 7 | Transition to fast forward flight |
+| ACTION_TERMINATION | `uint8` | 8 | Irreversibly output failsafe values on all outputs, trigger parachute |
### SOURCE {#SOURCE}
-| 参数名 | 类型 | 值 | 描述 |
-| ---------------------------------------------------------------------------------------------------------------------- | ------- | - | --------------------------------------------------------------- |
-| SOURCE_STICK_GESTURE | `uint8` | 0 | Triggered by holding the sticks in a certain position |
-| SOURCE_RC_SWITCH | `uint8` | 1 | Triggered by an RC switch moving into a certain position |
-| SOURCE_RC_BUTTON | `uint8` | 2 | Triggered by a momentary button on the RC being pressed or held |
-| SOURCE_RC_MODE_SLOT | `uint8` | 3 | Mode change through the RC mode selection mechanism |
+| 参数名 | 类型 | 值 | 描述 |
+| -------------------------------------------------------------------------------------------------------------------- | ------- | - | --------------------------------------------------------------- |
+| SOURCE_STICK_GESTURE | `uint8` | 0 | Triggered by holding the sticks in a certain position |
+| SOURCE_RC_SWITCH | `uint8` | 1 | Triggered by an RC switch moving into a certain position |
+| SOURCE_RC_BUTTON | `uint8` | 2 | Triggered by a momentary button on the RC being pressed or held |
+| SOURCE_RC_MODE_SLOT | `uint8` | 3 | Mode change through the RC mode selection mechanism |
## Source Message
@@ -60,26 +60,26 @@ Click here to see original file
# It allows mapping triggers from various external interfaces like RC channels or MAVLink to cause an action.
# Request are published by `manual_control` and subscribed by the `commander` and `vtol_att_control` modules.
-uint64 timestamp # [us] Time since system start
+uint64 timestamp # [us] Time since system start
-uint8 action # [@enum ACTION] Requested action
-uint8 ACTION_DISARM = 0 # Disarm vehicle
-uint8 ACTION_ARM = 1 # Arm vehicle
-uint8 ACTION_TOGGLE_ARMING = 2 # Toggle arming
-uint8 ACTION_UNKILL = 3 # Revert a kill action
-uint8 ACTION_KILL = 4 # Kill vehicle (instantly stop the motors)
-uint8 ACTION_SWITCH_MODE = 5 # Switch mode. The target mode is set in the `mode` field.
-uint8 ACTION_VTOL_TRANSITION_TO_MULTICOPTER = 6 # Transition to hover flight
-uint8 ACTION_VTOL_TRANSITION_TO_FIXEDWING = 7 # Transition to fast forward flight
-uint8 ACTION_TERMINATION = 8 # Irreversibly output failsafe values on all outputs, trigger parachute
+uint8 action # [@enum ACTION] Requested action
+uint8 ACTION_DISARM = 0 # Disarm vehicle
+uint8 ACTION_ARM = 1 # Arm vehicle
+uint8 ACTION_TOGGLE_ARMING = 2 # Toggle arming
+uint8 ACTION_UNKILL = 3 # Revert a kill action
+uint8 ACTION_KILL = 4 # Kill vehicle (instantly stop the motors)
+uint8 ACTION_SWITCH_MODE = 5 # Switch mode. The target mode is set in the `mode` field.
+uint8 ACTION_VTOL_TRANSITION_TO_MULTICOPTER = 6 # Transition to hover flight
+uint8 ACTION_VTOL_TRANSITION_TO_FIXEDWING = 7 # Transition to fast forward flight
+uint8 ACTION_TERMINATION = 8 # Irreversibly output failsafe values on all outputs, trigger parachute
-uint8 source # [@enum SOURCE] Request trigger type, such as a switch, button or gesture
-uint8 SOURCE_STICK_GESTURE = 0 # Triggered by holding the sticks in a certain position
-uint8 SOURCE_RC_SWITCH = 1 # Triggered by an RC switch moving into a certain position
-uint8 SOURCE_RC_BUTTON = 2 # Triggered by a momentary button on the RC being pressed or held
-uint8 SOURCE_RC_MODE_SLOT = 3 # Mode change through the RC mode selection mechanism
+uint8 source # [@enum SOURCE] Request trigger type, such as a switch, button or gesture
+uint8 SOURCE_STICK_GESTURE = 0 # Triggered by holding the sticks in a certain position
+uint8 SOURCE_RC_SWITCH = 1 # Triggered by an RC switch moving into a certain position
+uint8 SOURCE_RC_BUTTON = 2 # Triggered by a momentary button on the RC being pressed or held
+uint8 SOURCE_RC_MODE_SLOT = 3 # Mode change through the RC mode selection mechanism
-uint8 mode # Requested mode. Only applies when `action` is `ACTION_SWITCH_MODE`. Values for this field are defined by the `vehicle_status_s::NAVIGATION_STATE_*` enumeration.
+uint8 mode # Requested mode. Only applies when `action` is `ACTION_SWITCH_MODE`. Values for this field are defined by the `vehicle_status_s::NAVIGATION_STATE_*` enumeration.
```
:::
diff --git a/docs/zh/msg_docs/ActuatorMotors.md b/docs/zh/msg_docs/ActuatorMotors.md
index d7c6a1d14b..821e83c504 100644
--- a/docs/zh/msg_docs/ActuatorMotors.md
+++ b/docs/zh/msg_docs/ActuatorMotors.md
@@ -18,15 +18,15 @@ Published by the vehicle's allocation and consumed by the ESC protocol drivers e
| timestamp | `uint64` | us | | Time since system start |
| timestamp_sample | `uint64` | us | | Sampling timestamp of the data this control response is based on |
| reversible_flags | `uint16` | | | Bitset indicating which motors are configured to be reversible |
-| control | `float32[12]` | | [-1 : 1] | Normalized thrust. where 1 means maximum positive thrust, -1 maximum negative (if not supported by the output, <0 maps to NaN). NaN maps to disarmed (stop the motors) |
+| control | `float32[12]` | | [-1 : 1] | Normalized thrust. Where 1 means maximum positive thrust, -1 maximum negative (if not supported by the output, <0 maps to NaN). NaN maps to disarmed (stop the motors) |
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| ----------------------------------------------------------------------------------------------------------- | -------- | --- | -- |
-| MESSAGE_VERSION | `uint32` | 0 | |
-| ACTUATOR_FUNCTION_MOTOR1 | `uint8` | 101 | |
-| NUM_CONTROLS | `uint8` | 12 | |
+| 参数名 | 类型 | 值 | 描述 |
+| --------------------------------------------------------------------------------------------------------- | -------- | --- | -- |
+| MESSAGE_VERSION | `uint32` | 0 | |
+| ACTUATOR_FUNCTION_MOTOR1 | `uint8` | 101 | |
+| NUM_CONTROLS | `uint8` | 12 | |
## Source Message
@@ -43,15 +43,15 @@ Click here to see original file
uint32 MESSAGE_VERSION = 0
-uint64 timestamp # [us] Time since system start
-uint64 timestamp_sample # [us] Sampling timestamp of the data this control response is based on
+uint64 timestamp # [us] Time since system start
+uint64 timestamp_sample # [us] Sampling timestamp of the data this control response is based on
-uint16 reversible_flags # [-] Bitset indicating which motors are configured to be reversible
+uint16 reversible_flags # [-] Bitset indicating which motors are configured to be reversible
-uint8 ACTUATOR_FUNCTION_MOTOR1 = 101 #
+uint8 ACTUATOR_FUNCTION_MOTOR1 = 101
-uint8 NUM_CONTROLS = 12 #
-float32[12] control # [@range -1, 1] Normalized thrust. where 1 means maximum positive thrust, -1 maximum negative (if not supported by the output, <0 maps to NaN). NaN maps to disarmed (stop the motors)
+uint8 NUM_CONTROLS = 12
+float32[12] control # [@range -1, 1] Normalized thrust. Where 1 means maximum positive thrust, -1 maximum negative (if not supported by the output, <0 maps to NaN). NaN maps to disarmed (stop the motors)
```
:::
diff --git a/docs/zh/msg_docs/ActuatorOutputs.md b/docs/zh/msg_docs/ActuatorOutputs.md
index 20c3f325dd..028a15ff4f 100644
--- a/docs/zh/msg_docs/ActuatorOutputs.md
+++ b/docs/zh/msg_docs/ActuatorOutputs.md
@@ -16,10 +16,10 @@ pageClass: is-wide-page
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| ------------------------------------------------------------------------------------------------------------------------------------- | ------- | -- | ------------------- |
-| NUM_ACTUATOR_OUTPUTS | `uint8` | 16 | |
-| NUM_ACTUATOR_OUTPUT_GROUPS | `uint8` | 4 | for sanity checking |
+| 参数名 | 类型 | 值 | 描述 |
+| ---------------------------------------------------------------------------------------------------------------------------------- | ------- | -- | ------------------- |
+| NUM_ACTUATOR_OUTPUTS | `uint8` | 16 | |
+| NUM_ACTUATOR_OUTPUT_GROUPS | `uint8` | 4 | for sanity checking |
## Source Message
diff --git a/docs/zh/msg_docs/ActuatorServos.md b/docs/zh/msg_docs/ActuatorServos.md
index a02dfdfc2b..4dfc0b53c8 100644
--- a/docs/zh/msg_docs/ActuatorServos.md
+++ b/docs/zh/msg_docs/ActuatorServos.md
@@ -21,10 +21,10 @@ Published by the vehicle's allocation and consumed by the actuator output driver
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| -------------------------------------------------------------------- | -------- | - | -- |
-| MESSAGE_VERSION | `uint32` | 0 | |
-| NUM_CONTROLS | `uint8` | 8 | |
+| 参数名 | 类型 | 值 | 描述 |
+| ------------------------------------------------------------------ | -------- | - | -- |
+| MESSAGE_VERSION | `uint32` | 0 | |
+| NUM_CONTROLS | `uint8` | 8 | |
## Source Message
@@ -41,11 +41,11 @@ Click here to see original file
uint32 MESSAGE_VERSION = 0
-uint64 timestamp # [us] Time since system start
-uint64 timestamp_sample # [us] Sampling timestamp of the data this control response is based on
+uint64 timestamp # [us] Time since system start
+uint64 timestamp_sample # [us] Sampling timestamp of the data this control response is based on
-uint8 NUM_CONTROLS = 8 #
-float32[8] control # [-] [@range -1, 1] Normalized output. 1 means maximum positive position. -1 maximum negative position (if not supported by the output, <0 maps to NaN). NaN maps to disarmed.
+uint8 NUM_CONTROLS = 8
+float32[8] control # [-] [@range -1, 1] Normalized output. 1 means maximum positive position. -1 maximum negative position (if not supported by the output, <0 maps to NaN). NaN maps to disarmed.
```
:::
diff --git a/docs/zh/msg_docs/ActuatorServosTrim.md b/docs/zh/msg_docs/ActuatorServosTrim.md
index 180237bc65..10cf0fffb9 100644
--- a/docs/zh/msg_docs/ActuatorServosTrim.md
+++ b/docs/zh/msg_docs/ActuatorServosTrim.md
@@ -6,7 +6,7 @@ pageClass: is-wide-page
Servo trims, added as offset to servo outputs.
-**TOPICS:** actuator_servostrim
+**TOPICS:** actuator_servos_trim
## Fields
@@ -17,9 +17,9 @@ Servo trims, added as offset to servo outputs.
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| -------------------------------------------------------------- | ------- | - | -- |
-| NUM_CONTROLS | `uint8` | 8 | |
+| 参数名 | 类型 | 值 | 描述 |
+| ------------------------------------------------------------ | ------- | - | -- |
+| NUM_CONTROLS | `uint8` | 8 | |
## Source Message
diff --git a/docs/zh/msg_docs/ActuatorTest.md b/docs/zh/msg_docs/ActuatorTest.md
index 8d966f2436..0a1f847510 100644
--- a/docs/zh/msg_docs/ActuatorTest.md
+++ b/docs/zh/msg_docs/ActuatorTest.md
@@ -18,15 +18,15 @@ pageClass: is-wide-page
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| ------------------------------------------------------------------------------------------------------- | ------- | --- | -------------------------------------------------------------------------------------------------------------------- |
-| ACTION_RELEASE_CONTROL | `uint8` | 0 | exit test mode for the given function |
-| ACTION_DO_CONTROL | `uint8` | 1 | enable actuator test mode |
-| FUNCTION_MOTOR1 | `uint8` | 101 | |
-| MAX_NUM_MOTORS | `uint8` | 12 | |
-| FUNCTION_SERVO1 | `uint8` | 201 | |
-| MAX_NUM_SERVOS | `uint8` | 8 | |
-| ORB_QUEUE_LENGTH | `uint8` | 16 | > = MAX_NUM_MOTORS to support code in esc_calibration |
+| 参数名 | 类型 | 值 | 描述 |
+| ----------------------------------------------------------------------------------------------------- | ------- | --- | -------------------------------------------------------------------------------------------------------------------- |
+| ACTION_RELEASE_CONTROL | `uint8` | 0 | exit test mode for the given function |
+| ACTION_DO_CONTROL | `uint8` | 1 | enable actuator test mode |
+| FUNCTION_MOTOR1 | `uint8` | 101 | |
+| MAX_NUM_MOTORS | `uint8` | 12 | |
+| FUNCTION_SERVO1 | `uint8` | 201 | |
+| MAX_NUM_SERVOS | `uint8` | 8 | |
+| ORB_QUEUE_LENGTH | `uint8` | 16 | > = MAX_NUM_MOTORS to support code in esc_calibration |
## Source Message
diff --git a/docs/zh/msg_docs/AirspeedValidated.md b/docs/zh/msg_docs/AirspeedValidated.md
index ad69ec7389..e17d3e1120 100644
--- a/docs/zh/msg_docs/AirspeedValidated.md
+++ b/docs/zh/msg_docs/AirspeedValidated.md
@@ -30,20 +30,20 @@ Used by controllers, estimators and for airspeed reporting to operator.
### SOURCE {#SOURCE}
-| 参数名 | 类型 | 值 | 描述 |
-| -------------------------------------------------------------------------------------------------------------------------------- | ------ | -- | ----------------------- |
-| SOURCE_DISABLED | `int8` | -1 | Disabled |
-| SOURCE_GROUND_MINUS_WIND | `int8` | 0 | Ground speed minus wind |
-| SOURCE_SENSOR_1 | `int8` | 1 | Sensor 1 |
-| SOURCE_SENSOR_2 | `int8` | 2 | Sensor 2 |
-| SOURCE_SENSOR_3 | `int8` | 3 | Sensor 3 |
-| SOURCE_SYNTHETIC | `int8` | 4 | Synthetic airspeed |
+| 参数名 | 类型 | 值 | 描述 |
+| ------------------------------------------------------------------------------------------------------------------------------ | ------ | -- | ----------------------- |
+| SOURCE_DISABLED | `int8` | -1 | Disabled |
+| SOURCE_GROUND_MINUS_WIND | `int8` | 0 | Ground speed minus wind |
+| SOURCE_SENSOR_1 | `int8` | 1 | Sensor 1 |
+| SOURCE_SENSOR_2 | `int8` | 2 | Sensor 2 |
+| SOURCE_SENSOR_3 | `int8` | 3 | Sensor 3 |
+| SOURCE_SYNTHETIC | `int8` | 4 | Synthetic airspeed |
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| -------------------------------------------------------------------- | -------- | - | -- |
-| MESSAGE_VERSION | `uint32` | 1 | |
+| 参数名 | 类型 | 值 | 描述 |
+| ------------------------------------------------------------------ | -------- | - | -- |
+| MESSAGE_VERSION | `uint32` | 1 | |
## Source Message
@@ -58,28 +58,27 @@ Click here to see original file
# Provides information about airspeed (indicated, true, calibrated) and the source of the data.
# Used by controllers, estimators and for airspeed reporting to operator.
-
uint32 MESSAGE_VERSION = 1
-uint64 timestamp # [us] Time since system start
+uint64 timestamp # [us] Time since system start
-float32 indicated_airspeed_m_s # [m/s] [@invalid NaN] Indicated airspeed (IAS)
-float32 calibrated_airspeed_m_s # [m/s] [@invalid NaN] Calibrated airspeed (CAS)
-float32 true_airspeed_m_s # [m/s] [@invalid NaN] True airspeed (TAS)
+float32 indicated_airspeed_m_s # [m/s] [@invalid NaN] Indicated airspeed (IAS)
+float32 calibrated_airspeed_m_s # [m/s] [@invalid NaN] Calibrated airspeed (CAS)
+float32 true_airspeed_m_s # [m/s] [@invalid NaN] True airspeed (TAS)
-int8 airspeed_source # [@enum SOURCE] Source of currently published airspeed values
-int8 SOURCE_DISABLED = -1 # Disabled
-int8 SOURCE_GROUND_MINUS_WIND = 0 # Ground speed minus wind
-int8 SOURCE_SENSOR_1 = 1 # Sensor 1
-int8 SOURCE_SENSOR_2 = 2 # Sensor 2
-int8 SOURCE_SENSOR_3 = 3 # Sensor 3
-int8 SOURCE_SYNTHETIC = 4 # Synthetic airspeed
+int8 airspeed_source # [@enum SOURCE] Source of currently published airspeed values
+int8 SOURCE_DISABLED = -1 # Disabled
+int8 SOURCE_GROUND_MINUS_WIND = 0 # Ground speed minus wind
+int8 SOURCE_SENSOR_1 = 1 # Sensor 1
+int8 SOURCE_SENSOR_2 = 2 # Sensor 2
+int8 SOURCE_SENSOR_3 = 3 # Sensor 3
+int8 SOURCE_SYNTHETIC = 4 # Synthetic airspeed
-float32 calibrated_ground_minus_wind_m_s # [m/s] [@invalid NaN] CAS calculated from groundspeed - windspeed, where windspeed is estimated based on a zero-sideslip assumption
-float32 calibraded_airspeed_synth_m_s # [m/s] [@invalid NaN] Synthetic airspeed
-float32 airspeed_derivative_filtered # [m/s^2] Filtered indicated airspeed derivative
-float32 throttle_filtered # [-] Filtered fixed-wing throttle
-float32 pitch_filtered # [rad] Filtered pitch
+float32 calibrated_ground_minus_wind_m_s # [m/s] [@invalid NaN] CAS calculated from groundspeed - windspeed, where windspeed is estimated based on a zero-sideslip assumption
+float32 calibraded_airspeed_synth_m_s # [m/s] [@invalid NaN] Synthetic airspeed
+float32 airspeed_derivative_filtered # [m/s^2] Filtered indicated airspeed derivative
+float32 throttle_filtered # [-] Filtered fixed-wing throttle
+float32 pitch_filtered # [rad] Filtered pitch
```
:::
diff --git a/docs/zh/msg_docs/AirspeedValidatedV0.md b/docs/zh/msg_docs/AirspeedValidatedV0.md
index 7eb82c74fc..3b397af47e 100644
--- a/docs/zh/msg_docs/AirspeedValidatedV0.md
+++ b/docs/zh/msg_docs/AirspeedValidatedV0.md
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# AirspeedValidatedV0 (UORB message)
-**TOPICS:** airspeed_validatedv0
+**TOPICS:** airspeed_validated_v0
## Fields
@@ -24,9 +24,9 @@ pageClass: is-wide-page
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| -------------------------------------------------------------------- | -------- | - | -- |
-| MESSAGE_VERSION | `uint32` | 0 | |
+| 参数名 | 类型 | 值 | 描述 |
+| ------------------------------------------------------------------ | -------- | - | -- |
+| MESSAGE_VERSION | `uint32` | 0 | |
## Source Message
diff --git a/docs/zh/msg_docs/AirspeedWind.md b/docs/zh/msg_docs/AirspeedWind.md
index 712e2ec667..0b7af503ee 100644
--- a/docs/zh/msg_docs/AirspeedWind.md
+++ b/docs/zh/msg_docs/AirspeedWind.md
@@ -35,12 +35,12 @@ subscribed to by any other modules.
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| ---------------------------------------------------------------------------------------------------------------------- | ------- | - | ----------------------------------------------------------------------------------------------------- |
-| SOURCE_AS_BETA_ONLY | `uint8` | 0 | Wind estimate only based on synthetic sideslip fusion |
-| SOURCE_AS_SENSOR_1 | `uint8` | 1 | Combined synthetic sideslip and airspeed fusion (data from first airspeed sensor) |
-| SOURCE_AS_SENSOR_2 | `uint8` | 2 | Combined synthetic sideslip and airspeed fusion (data from second airspeed sensor) |
-| SOURCE_AS_SENSOR_3 | `uint8` | 3 | Combined synthetic sideslip and airspeed fusion (data from third airspeed sensor) |
+| 参数名 | 类型 | 值 | 描述 |
+| -------------------------------------------------------------------------------------------------------------------- | ------- | - | ----------------------------------------------------------------------------------------------------- |
+| SOURCE_AS_BETA_ONLY | `uint8` | 0 | Wind estimate only based on synthetic sideslip fusion |
+| SOURCE_AS_SENSOR_1 | `uint8` | 1 | Combined synthetic sideslip and airspeed fusion (data from first airspeed sensor) |
+| SOURCE_AS_SENSOR_2 | `uint8` | 2 | Combined synthetic sideslip and airspeed fusion (data from second airspeed sensor) |
+| SOURCE_AS_SENSOR_3 | `uint8` | 3 | Combined synthetic sideslip and airspeed fusion (data from third airspeed sensor) |
## Source Message
diff --git a/docs/zh/msg_docs/ArmingCheckReply.md b/docs/zh/msg_docs/ArmingCheckReply.md
index 1a211fe047..4b70edccde 100644
--- a/docs/zh/msg_docs/ArmingCheckReply.md
+++ b/docs/zh/msg_docs/ArmingCheckReply.md
@@ -13,7 +13,7 @@ The request is sent regularly to all registered ROS modes, even while armed, so
Note that the external component is identified by its registration_id, which is allocated to the component during registration (arming_check_id in RegisterExtComponentReply).
The message is not used by internal/FMU components, as their mode requirements are known at compile time.
-**TOPICS:** arming_checkreply
+**TOPICS:** arming_check_reply
## Fields
@@ -45,16 +45,16 @@ The message is not used by internal/FMU components, as their mode requirements a
### HEALTH_COMPONENT_INDEX {#HEALTH_COMPONENT_INDEX}
-| 参数名 | 类型 | 值 | 描述 |
-| -------------------------------------------------------------------------------------------------------------------------------------- | ------- | - | --------------------------------------------------------- |
-| HEALTH_COMPONENT_INDEX_NONE | `uint8` | 0 | Index of health component for which this response applies |
+| 参数名 | 类型 | 值 | 描述 |
+| ------------------------------------------------------------------------------------------------------------------------------------ | ------- | - | --------------------------------------------------------- |
+| HEALTH_COMPONENT_INDEX_NONE | `uint8` | 0 | Index of health component for which this response applies |
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| ------------------------------------------------------------------------------------------- | -------- | - | -- |
-| MESSAGE_VERSION | `uint32` | 1 | |
-| ORB_QUEUE_LENGTH | `uint8` | 4 | |
+| 参数名 | 类型 | 值 | 描述 |
+| ----------------------------------------------------------------------------------------- | -------- | - | -- |
+| MESSAGE_VERSION | `uint32` | 1 | |
+| ORB_QUEUE_LENGTH | `uint8` | 4 | |
## Source Message
@@ -73,40 +73,40 @@ Click here to see original file
# Note that the external component is identified by its registration_id, which is allocated to the component during registration (arming_check_id in RegisterExtComponentReply).
# The message is not used by internal/FMU components, as their mode requirements are known at compile time.
-uint32 MESSAGE_VERSION = 1
+uint32 MESSAGE_VERSION = 1
uint64 timestamp # [us] Time since system start.
-uint8 request_id # [-] Id of ArmingCheckRequest for which this is a response
-uint8 registration_id # [-] Id of external component emitting this response
+uint8 request_id # [-] Id of ArmingCheckRequest for which this is a response
+uint8 registration_id # [-] Id of external component emitting this response
-uint8 HEALTH_COMPONENT_INDEX_NONE = 0 # Index of health component for which this response applies
+uint8 HEALTH_COMPONENT_INDEX_NONE = 0 # Index of health component for which this response applies
-uint8 health_component_index # [@enum HEALTH_COMPONENT_INDEX]
-bool health_component_is_present # Unused. Intended for use with health events interface (health_component_t in events.json)
-bool health_component_warning # Unused. Intended for use with health events interface (health_component_t in events.json)
-bool health_component_error # Unused. Intended for use with health events interface (health_component_t in events.json)
+uint8 health_component_index # [@enum HEALTH_COMPONENT_INDEX]
+bool health_component_is_present # Unused. Intended for use with health events interface (health_component_t in events.json)
+bool health_component_warning # Unused. Intended for use with health events interface (health_component_t in events.json)
+bool health_component_error # Unused. Intended for use with health events interface (health_component_t in events.json)
-bool can_arm_and_run # True if the component can arm. For navigation mode components, true if the component can arm in the mode or switch to the mode when already armed
+bool can_arm_and_run # True if the component can arm. For navigation mode components, true if the component can arm in the mode or switch to the mode when already armed
-uint8 num_events # Number of queued failure messages (Event) in the events field
+uint8 num_events # Number of queued failure messages (Event) in the events field
-Event[5] events # Arming failure reasons (Queue of events to report to GCS)
+Event[5] events # Arming failure reasons (Queue of events to report to GCS)
# Mode requirements
-bool mode_req_angular_velocity # Requires angular velocity estimate (e.g. from gyroscope)
-bool mode_req_attitude # Requires an attitude estimate
-bool mode_req_local_alt # Requires a local altitude estimate
-bool mode_req_local_position # Requires a local position estimate
-bool mode_req_local_position_relaxed # Requires a more relaxed global position estimate
-bool mode_req_global_position # Requires a global position estimate
-bool mode_req_global_position_relaxed # Requires a relaxed global position estimate
-bool mode_req_mission # Requires an uploaded mission
-bool mode_req_home_position # Requires a home position (such as RTL/Return mode)
-bool mode_req_prevent_arming # Prevent arming (such as in Land mode)
-bool mode_req_manual_control # Requires a manual controller
+bool mode_req_angular_velocity # Requires angular velocity estimate (e.g. from gyroscope)
+bool mode_req_attitude # Requires an attitude estimate
+bool mode_req_local_alt # Requires a local altitude estimate
+bool mode_req_local_position # Requires a local position estimate
+bool mode_req_local_position_relaxed # Requires a more relaxed global position estimate
+bool mode_req_global_position # Requires a global position estimate
+bool mode_req_global_position_relaxed # Requires a relaxed global position estimate
+bool mode_req_mission # Requires an uploaded mission
+bool mode_req_home_position # Requires a home position (such as RTL/Return mode)
+bool mode_req_prevent_arming # Prevent arming (such as in Land mode)
+bool mode_req_manual_control # Requires a manual controller
-uint8 ORB_QUEUE_LENGTH = 4
+uint8 ORB_QUEUE_LENGTH = 4
```
:::
diff --git a/docs/zh/msg_docs/ArmingCheckReplyV0.md b/docs/zh/msg_docs/ArmingCheckReplyV0.md
index 97b988b505..7c2c3b7402 100644
--- a/docs/zh/msg_docs/ArmingCheckReplyV0.md
+++ b/docs/zh/msg_docs/ArmingCheckReplyV0.md
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# ArmingCheckReplyV0 (UORB message)
-**TOPICS:** arming_checkreplyv0
+**TOPICS:** arming_check_reply_v0
## Fields
@@ -33,11 +33,11 @@ pageClass: is-wide-page
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| -------------------------------------------------------------------------------------------------------------------------------------- | -------- | - | -- |
-| MESSAGE_VERSION | `uint32` | 0 | |
-| HEALTH_COMPONENT_INDEX_NONE | `uint8` | 0 | |
-| ORB_QUEUE_LENGTH | `uint8` | 4 | |
+| 参数名 | 类型 | 值 | 描述 |
+| ------------------------------------------------------------------------------------------------------------------------------------ | -------- | - | -- |
+| MESSAGE_VERSION | `uint32` | 0 | |
+| HEALTH_COMPONENT_INDEX_NONE | `uint8` | 0 | |
+| ORB_QUEUE_LENGTH | `uint8` | 4 | |
## Source Message
diff --git a/docs/zh/msg_docs/ArmingCheckRequest.md b/docs/zh/msg_docs/ArmingCheckRequest.md
index 59af550982..18d8cb1f2f 100644
--- a/docs/zh/msg_docs/ArmingCheckRequest.md
+++ b/docs/zh/msg_docs/ArmingCheckRequest.md
@@ -13,7 +13,7 @@ The request is sent regularly, even while armed, so that the FMU always knows th
The reply will include the published request_id, allowing correlation of all arming check information for a particular request.
The reply will also include the registration_id for each external component, provided to it during the registration process (RegisterExtComponentReply).
-**TOPICS:** arming_checkrequest
+**TOPICS:** arming_check_request
## Fields
@@ -25,9 +25,9 @@ The reply will also include the registration_id for each external component, pro
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| -------------------------------------------------------------------- | -------- | - | -- |
-| MESSAGE_VERSION | `uint32` | 1 | |
+| 参数名 | 类型 | 值 | 描述 |
+| ------------------------------------------------------------------ | -------- | - | -- |
+| MESSAGE_VERSION | `uint32` | 1 | |
## Source Message
@@ -48,9 +48,9 @@ Click here to see original file
uint32 MESSAGE_VERSION = 1
-uint64 timestamp # [us] Time since system start
+uint64 timestamp # [us] Time since system start
-uint8 request_id # [-] Id of this request. Allows correlation with associated ArmingCheckReply messages.
+uint8 request_id # [-] Id of this request. Allows correlation with associated ArmingCheckReply messages.
uint32 valid_registrations_mask # [-] Bitmask of valid registration ID's (the bit is also cleared if flagged as unresponsive)
```
diff --git a/docs/zh/msg_docs/ArmingCheckRequestV0.md b/docs/zh/msg_docs/ArmingCheckRequestV0.md
index df81ca3fbb..dff71f28d7 100644
--- a/docs/zh/msg_docs/ArmingCheckRequestV0.md
+++ b/docs/zh/msg_docs/ArmingCheckRequestV0.md
@@ -13,7 +13,7 @@ The request is sent regularly, even while armed, so that the FMU always knows th
The reply will include the published request_id, allowing correlation of all arming check information for a particular request.
The reply will also include the registration_id for each external component, provided to it during the registration process (RegisterExtComponentReply).
-**TOPICS:** arming_checkrequestv0
+**TOPICS:** arming_check_request_v0
## Fields
@@ -24,9 +24,9 @@ The reply will also include the registration_id for each external component, pro
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| -------------------------------------------------------------------- | -------- | - | -- |
-| MESSAGE_VERSION | `uint32` | 0 | |
+| 参数名 | 类型 | 值 | 描述 |
+| ------------------------------------------------------------------ | -------- | - | -- |
+| MESSAGE_VERSION | `uint32` | 0 | |
## Source Message
diff --git a/docs/zh/msg_docs/AutotuneAttitudeControlStatus.md b/docs/zh/msg_docs/AutotuneAttitudeControlStatus.md
index dc59ccd84e..73a3e3a889 100644
--- a/docs/zh/msg_docs/AutotuneAttitudeControlStatus.md
+++ b/docs/zh/msg_docs/AutotuneAttitudeControlStatus.md
@@ -11,7 +11,7 @@ and is subscribed to by the respective attitude controllers to command rate setp
The rate_sp field is consumed by the controllers, while the remaining fields (model coefficients, gains, filters, and autotune state) are used for logging and debugging.
-**TOPICS:** autotune_attitudecontrol_status
+**TOPICS:** autotune_attitude_control_status
## Fields
@@ -37,25 +37,25 @@ The rate_sp field is consumed by the controllers, while the remaining fields (mo
### STATE {#STATE}
-| 参数名 | 类型 | 值 | 描述 |
-| ---------------------------------------------------------------------------------------------------------------------------------------------- | ------- | -- | ------------------------------------------------------------------------------------------- |
-| STATE_IDLE | `uint8` | 0 | Idle (not running) |
-| STATE_INIT | `uint8` | 1 | Initialize filters and setup |
-| STATE_ROLL_AMPLITUDE_DETECTION | `uint8` | 2 | FW only: determine required excitation amplitude (roll) |
-| STATE_ROLL | `uint8` | 3 | Roll-axis excitation and model identification |
-| STATE_ROLL_PAUSE | `uint8` | 4 | Pause to return to level flight |
-| STATE_PITCH_AMPLITUDE_DETECTION | `uint8` | 5 | FW only: determine required excitation amplitude (pitch) |
-| STATE_PITCH | `uint8` | 6 | Pitch-axis excitation and model identification |
-| STATE_PITCH_PAUSE | `uint8` | 7 | Pause to return to level flight |
-| STATE_YAW_AMPLITUDE_DETECTION | `uint8` | 8 | FW only: determine required excitation amplitude (yaw) |
-| STATE_YAW | `uint8` | 9 | Yaw-axis excitation and model identification |
-| STATE_YAW_PAUSE | `uint8` | 10 | Pause to return to level flight |
-| STATE_VERIFICATION | `uint8` | 11 | Verify model and candidate gains |
-| STATE_APPLY | `uint8` | 12 | Apply gains |
-| STATE_TEST | `uint8` | 13 | Test gains in closed-loop |
-| STATE_COMPLETE | `uint8` | 14 | Tuning completed successfully |
-| STATE_FAIL | `uint8` | 15 | Tuning failed (model invalid or controller unstable) |
-| STATE_WAIT_FOR_DISARM | `uint8` | 16 | Waiting for disarm before finalizing |
+| 参数名 | 类型 | 值 | 描述 |
+| -------------------------------------------------------------------------------------------------------------------------------------------- | ------- | -- | ------------------------------------------------------------------------------------------- |
+| STATE_IDLE | `uint8` | 0 | Idle (not running) |
+| STATE_INIT | `uint8` | 1 | Initialize filters and setup |
+| STATE_ROLL_AMPLITUDE_DETECTION | `uint8` | 2 | FW only: determine required excitation amplitude (roll) |
+| STATE_ROLL | `uint8` | 3 | Roll-axis excitation and model identification |
+| STATE_ROLL_PAUSE | `uint8` | 4 | Pause to return to level flight |
+| STATE_PITCH_AMPLITUDE_DETECTION | `uint8` | 5 | FW only: determine required excitation amplitude (pitch) |
+| STATE_PITCH | `uint8` | 6 | Pitch-axis excitation and model identification |
+| STATE_PITCH_PAUSE | `uint8` | 7 | Pause to return to level flight |
+| STATE_YAW_AMPLITUDE_DETECTION | `uint8` | 8 | FW only: determine required excitation amplitude (yaw) |
+| STATE_YAW | `uint8` | 9 | Yaw-axis excitation and model identification |
+| STATE_YAW_PAUSE | `uint8` | 10 | Pause to return to level flight |
+| STATE_VERIFICATION | `uint8` | 11 | Verify model and candidate gains |
+| STATE_APPLY | `uint8` | 12 | Apply gains |
+| STATE_TEST | `uint8` | 13 | Test gains in closed-loop |
+| STATE_COMPLETE | `uint8` | 14 | Tuning completed successfully |
+| STATE_FAIL | `uint8` | 15 | Tuning failed (model invalid or controller unstable) |
+| STATE_WAIT_FOR_DISARM | `uint8` | 16 | Waiting for disarm before finalizing |
## Source Message
diff --git a/docs/zh/msg_docs/AuxGlobalPosition.md b/docs/zh/msg_docs/AuxGlobalPosition.md
new file mode 100644
index 0000000000..290ae9651a
--- /dev/null
+++ b/docs/zh/msg_docs/AuxGlobalPosition.md
@@ -0,0 +1,90 @@
+---
+pageClass: is-wide-page
+---
+
+# AuxGlobalPosition (UORB message)
+
+Auxiliary global position.
+
+This message provides global position data from an external source such as
+pseudolites, visual navigation, or other positioning system.
+
+**TOPICS:** aux_global_position
+
+## Fields
+
+| 参数名 | 类型 | Unit [Frame] | Range/Enum | 描述 |
+| ------------------------------------------------------------------------------------ | --------- | ---------------------------------------------------------------- | ----------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| timestamp | `uint64` | us | | Time since system start |
+| timestamp_sample | `uint64` | us | | Timestamp of the raw data |
+| id | `uint8` | | | Unique identifier for the AGP source |
+| source | `uint8` | | [SOURCE](#SOURCE) | Source type of the position data (based on mavlink::GLOBAL_POSITION_SRC) |
+| lat | `float64` | deg | | Latitude in WGS84 |
+| lon | `float64` | deg | | Longitude in WGS84 |
+| alt | `float32` | 米 | | Altitude above mean sea level (AMSL) (Invalid: NaN) |
+| eph | `float32` | 米 | | Std dev of horizontal position, lower bounded by NOISE param (Invalid: NaN) |
+| epv | `float32` | 米 | | Std dev of vertical position, lower bounded by NOISE param (Invalid: NaN) |
+| lat_lon_reset_counter | `uint8` | | | Counter for reset events on horizontal position coordinates |
+
+## Enums
+
+### SOURCE {#SOURCE}
+
+| 参数名 | 类型 | 值 | 描述 |
+| ------------------------------------------------------------------------ | ------- | - | -------------- |
+| SOURCE_UNKNOWN | `uint8` | 0 | Unknown source |
+| SOURCE_GNSS | `uint8` | 1 | GNSS |
+| SOURCE_VISION | `uint8` | 2 | Vision |
+| SOURCE_PSEUDOLITES | `uint8` | 3 | Pseudolites |
+| SOURCE_TERRAIN | `uint8` | 4 | Terrain |
+| SOURCE_MAGNETIC | `uint8` | 5 | Magnetic |
+| SOURCE_ESTIMATOR | `uint8` | 6 | 估计器 |
+
+## Constants
+
+| 参数名 | 类型 | 值 | 描述 |
+| ------------------------------------------------------------------ | -------- | - | -- |
+| MESSAGE_VERSION | `uint32` | 1 | |
+
+## Source Message
+
+[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/AuxGlobalPosition.msg)
+
+:::details
+Click here to see original file
+
+```c
+# Auxiliary global position
+#
+# This message provides global position data from an external source such as
+# pseudolites, visual navigation, or other positioning system.
+
+uint32 MESSAGE_VERSION = 1
+
+uint64 timestamp # [us] Time since system start
+uint64 timestamp_sample # [us] Timestamp of the raw data
+
+uint8 id # [-] Unique identifier for the AGP source
+uint8 source # [@enum SOURCE] Source type of the position data (based on mavlink::GLOBAL_POSITION_SRC)
+uint8 SOURCE_UNKNOWN = 0 # Unknown source
+uint8 SOURCE_GNSS = 1 # GNSS
+uint8 SOURCE_VISION = 2 # Vision
+uint8 SOURCE_PSEUDOLITES = 3 # Pseudolites
+uint8 SOURCE_TERRAIN = 4 # Terrain
+uint8 SOURCE_MAGNETIC = 5 # Magnetic
+uint8 SOURCE_ESTIMATOR = 6 # Estimator
+
+# lat, lon: required for horizontal position fusion, alt: required for vertical position fusion
+float64 lat # [deg] Latitude in WGS84
+float64 lon # [deg] Longitude in WGS84
+float32 alt # [m] [@invalid NaN] Altitude above mean sea level (AMSL)
+
+float32 eph # [m] [@invalid NaN] Std dev of horizontal position, lower bounded by NOISE param
+float32 epv # [m] [@invalid NaN] Std dev of vertical position, lower bounded by NOISE param
+
+uint8 lat_lon_reset_counter # [-] Counter for reset events on horizontal position coordinates
+
+# TOPICS aux_global_position
+```
+
+:::
diff --git a/docs/zh/msg_docs/BatteryStatus.md b/docs/zh/msg_docs/BatteryStatus.md
index 7527a153cc..11a0bbb14e 100644
--- a/docs/zh/msg_docs/BatteryStatus.md
+++ b/docs/zh/msg_docs/BatteryStatus.md
@@ -25,7 +25,7 @@ Battery instance information is also logged and streamed in MAVLink telemetry.
| remaining | `float32` | | [0 : 1] | Remaining capacity (Invalid: -1) |
| scale | `float32` | | [1 : -] | Scaling factor to compensate for lower actuation power caused by voltage sag (Invalid: -1) |
| time_remaining_s | `float32` | s | | Predicted time remaining until battery is empty under previous averaged load (Invalid: NaN) |
-| temperature | `float32` | °C | | Temperature of the battery (Invalid: NaN) |
+| temperature | `float32` | degC | | Temperature of the battery (Invalid: NaN) |
| cell_count | `uint8` | | | Number of cells (Invalid: 0) |
| source | `uint8` | | [SOURCE](#SOURCE) | Battery source |
| priority | `uint8` | | | Zero based priority is the connection on the Power Controller V1..Vn AKA BrickN-1 |
@@ -59,52 +59,52 @@ Battery instance information is also logged and streamed in MAVLink telemetry.
### SOURCE {#SOURCE}
-| 参数名 | 类型 | 值 | 描述 |
-| ------------------------------------------------------------------------------------------------- | ------- | - | ----------------------------------------------------------------- |
-| SOURCE_POWER_MODULE | `uint8` | 0 | Power module (analog ADC or I2C power monitor) |
-| SOURCE_EXTERNAL | `uint8` | 1 | External (MAVLink, CAN, or external driver) |
-| SOURCE_ESCS | `uint8` | 2 | ESCs (via ESC telemetry) |
+| 参数名 | 类型 | 值 | 描述 |
+| ----------------------------------------------------------------------------------------------- | ------- | - | ----------------------------------------------------------------- |
+| SOURCE_POWER_MODULE | `uint8` | 0 | Power module (analog ADC or I2C power monitor) |
+| SOURCE_EXTERNAL | `uint8` | 1 | External (MAVLink, CAN, or external driver) |
+| SOURCE_ESCS | `uint8` | 2 | ESCs (via ESC telemetry) |
### WARNING {#WARNING}
-| 参数名 | 类型 | 值 | 描述 |
-| ------------------------------------------------------------------------ | ------- | - | -------------------------------------------- |
-| WARNING_NONE | `uint8` | 0 | No battery low voltage warning active |
-| WARNING_LOW | `uint8` | 1 | Low voltage warning |
-| WARNING_CRITICAL | `uint8` | 2 | Critical voltage, return / abort immediately |
-| WARNING_EMERGENCY | `uint8` | 3 | Immediate landing required |
-| WARNING_FAILED | `uint8` | 4 | Battery has failed completely |
+| 参数名 | 类型 | 值 | 描述 |
+| ---------------------------------------------------------------------- | ------- | - | -------------------------------------------- |
+| WARNING_NONE | `uint8` | 0 | No battery low voltage warning active |
+| WARNING_LOW | `uint8` | 1 | Low voltage warning |
+| WARNING_CRITICAL | `uint8` | 2 | Critical voltage, return / abort immediately |
+| WARNING_EMERGENCY | `uint8` | 3 | Immediate landing required |
+| WARNING_FAILED | `uint8` | 4 | Battery has failed completely |
### STATE {#STATE}
-| 参数名 | 类型 | 值 | 描述 |
-| -------------------------------------------------------------------- | ------- | - | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
-| STATE_UNHEALTHY | `uint8` | 6 | Battery is diagnosed to be defective or an error occurred, usage is discouraged / prohibited. Possible causes (faults) are listed in faults field |
-| STATE_CHARGING | `uint8` | 7 | Battery is charging |
+| 参数名 | 类型 | 值 | 描述 |
+| ------------------------------------------------------------------ | ------- | - | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
+| STATE_UNHEALTHY | `uint8` | 6 | Battery is diagnosed to be defective or an error occurred, usage is discouraged / prohibited. Possible causes (faults) are listed in faults field |
+| STATE_CHARGING | `uint8` | 7 | Battery is charging |
### FAULT {#FAULT}
-| 参数名 | 类型 | 值 | 描述 |
-| ---------------------------------------------------------------------------------------------------------------------- | ------- | -- | --------------------------------------------------------------------------------------------------------------------------------- |
-| FAULT_DEEP_DISCHARGE | `uint8` | 0 | Battery has deep discharged |
-| FAULT_SPIKES | `uint8` | 1 | Voltage spikes |
-| FAULT_CELL_FAIL | `uint8` | 2 | One or more cells have failed |
-| FAULT_OVER_CURRENT | `uint8` | 3 | Over-current |
-| FAULT_OVER_TEMPERATURE | `uint8` | 4 | Over-temperature |
-| FAULT_UNDER_TEMPERATURE | `uint8` | 5 | Under-temperature fault |
-| FAULT_INCOMPATIBLE_VOLTAGE | `uint8` | 6 | Vehicle voltage is not compatible with this battery (batteries on same power rail should have similar voltage) |
-| FAULT_INCOMPATIBLE_FIRMWARE | `uint8` | 7 | Battery firmware is not compatible with current autopilot firmware |
-| FAULT_INCOMPATIBLE_MODEL | `uint8` | 8 | Battery model is not supported by the system |
-| FAULT_HARDWARE_FAILURE | `uint8` | 9 | Hardware problem |
-| FAULT_FAILED_TO_ARM | `uint8` | 10 | Battery had a problem while arming |
-| FAULT_COUNT | `uint8` | 11 | Counter. Keep this as last element |
+| 参数名 | 类型 | 值 | 描述 |
+| -------------------------------------------------------------------------------------------------------------------- | ------- | -- | --------------------------------------------------------------------------------------------------------------------------------- |
+| FAULT_DEEP_DISCHARGE | `uint8` | 0 | Battery has deep discharged |
+| FAULT_SPIKES | `uint8` | 1 | Voltage spikes |
+| FAULT_CELL_FAIL | `uint8` | 2 | One or more cells have failed |
+| FAULT_OVER_CURRENT | `uint8` | 3 | Over-current |
+| FAULT_OVER_TEMPERATURE | `uint8` | 4 | Over-temperature |
+| FAULT_UNDER_TEMPERATURE | `uint8` | 5 | Under-temperature fault |
+| FAULT_INCOMPATIBLE_VOLTAGE | `uint8` | 6 | Vehicle voltage is not compatible with this battery (batteries on same power rail should have similar voltage) |
+| FAULT_INCOMPATIBLE_FIRMWARE | `uint8` | 7 | Battery firmware is not compatible with current autopilot firmware |
+| FAULT_INCOMPATIBLE_MODEL | `uint8` | 8 | Battery model is not supported by the system |
+| FAULT_HARDWARE_FAILURE | `uint8` | 9 | Hardware problem |
+| FAULT_FAILED_TO_ARM | `uint8` | 10 | Battery had a problem while arming |
+| FAULT_COUNT | `uint8` | 11 | Counter. Keep this as last element |
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| -------------------------------------------------------------------- | -------- | - | -- |
-| MESSAGE_VERSION | `uint32` | 1 | |
-| MAX_INSTANCES | `uint8` | 3 | |
+| 参数名 | 类型 | 值 | 描述 |
+| ------------------------------------------------------------------ | -------- | - | -- |
+| MESSAGE_VERSION | `uint32` | 1 | |
+| MAX_INSTANCES | `uint8` | 3 | |
## Source Message
@@ -123,76 +123,75 @@ Click here to see original file
uint32 MESSAGE_VERSION = 1
uint8 MAX_INSTANCES = 3
-uint64 timestamp # [us] Time since system start
+uint64 timestamp # [us] Time since system start
-bool connected # Whether or not a battery is connected. For power modules this is based on a voltage threshold.
-float32 voltage_v # [V] [@invalid 0] Battery voltage
-float32 current_a # [A] [@invalid -1] Battery current
-float32 current_average_a # [A] [@invalid -1] Battery current average (for FW average in level flight)
-float32 discharged_mah # [mAh] [@invalid -1] Discharged amount
-float32 remaining # [@range 0,1] [@invalid -1] Remaining capacity
-float32 scale # [-] [@range 1,] [@invalid -1] Scaling factor to compensate for lower actuation power caused by voltage sag
-float32 time_remaining_s # [s] [@invalid NaN] Predicted time remaining until battery is empty under previous averaged load
-float32 temperature # [°C] [@invalid NaN] Temperature of the battery
-uint8 cell_count # [-] [@invalid 0] Number of cells
+bool connected # Whether or not a battery is connected. For power modules this is based on a voltage threshold.
+float32 voltage_v # [V] [@invalid 0] Battery voltage
+float32 current_a # [A] [@invalid -1] Battery current
+float32 current_average_a # [A] [@invalid -1] Battery current average (for FW average in level flight)
+float32 discharged_mah # [mAh] [@invalid -1] Discharged amount
+float32 remaining # [@range 0,1] [@invalid -1] Remaining capacity
+float32 scale # [-] [@range 1,] [@invalid -1] Scaling factor to compensate for lower actuation power caused by voltage sag
+float32 time_remaining_s # [s] [@invalid NaN] Predicted time remaining until battery is empty under previous averaged load
+float32 temperature # [degC] [@invalid NaN] Temperature of the battery
+uint8 cell_count # [-] [@invalid 0] Number of cells
+uint8 source # [@enum SOURCE] Battery source
+uint8 SOURCE_POWER_MODULE = 0 # Power module (analog ADC or I2C power monitor)
+uint8 SOURCE_EXTERNAL = 1 # External (MAVLink, CAN, or external driver)
+uint8 SOURCE_ESCS = 2 # ESCs (via ESC telemetry)
-uint8 source # [@enum SOURCE] Battery source
-uint8 SOURCE_POWER_MODULE = 0 # Power module (analog ADC or I2C power monitor)
-uint8 SOURCE_EXTERNAL = 1 # External (MAVLink, CAN, or external driver)
-uint8 SOURCE_ESCS = 2 # ESCs (via ESC telemetry)
+uint8 priority # [-] Zero based priority is the connection on the Power Controller V1..Vn AKA BrickN-1
+uint16 capacity # [mAh] Capacity of the battery when fully charged
+uint16 cycle_count # [-] Number of discharge cycles the battery has experienced
+uint16 average_time_to_empty # [minutes] Predicted remaining battery capacity based on the average rate of discharge
+uint16 manufacture_date # [-] Manufacture date, part of serial number of the battery pack. Formatted as: Day + Month×32 + (Year–1980)×512
+uint16 state_of_health # [%] [@range 0, 100] State of health. FullChargeCapacity/DesignCapacity
+uint16 max_error # [%] [@range 1, 100] Max error, expected margin of error in the state-of-charge calculation
+uint8 id # [-] ID number of a battery. Should be unique and consistent for the lifetime of a vehicle. 1-indexed
+uint16 interface_error # [-] Interface error counter
-uint8 priority # [-] Zero based priority is the connection on the Power Controller V1..Vn AKA BrickN-1
-uint16 capacity # [mAh] Capacity of the battery when fully charged
-uint16 cycle_count # [-] Number of discharge cycles the battery has experienced
-uint16 average_time_to_empty # [minutes] Predicted remaining battery capacity based on the average rate of discharge
-uint16 manufacture_date # [-] Manufacture date, part of serial number of the battery pack. Formatted as: Day + Month×32 + (Year–1980)×512
-uint16 state_of_health # [%] [@range 0, 100] State of health. FullChargeCapacity/DesignCapacity
-uint16 max_error # [%] [@range 1, 100] Max error, expected margin of error in the state-of-charge calculation
-uint8 id # [-] ID number of a battery. Should be unique and consistent for the lifetime of a vehicle. 1-indexed
-uint16 interface_error # [-] Interface error counter
+float32[14] voltage_cell_v # [V] [@invalid 0] Battery individual cell voltages
+float32 max_cell_voltage_delta # [V] Max difference between individual cell voltages
-float32[14] voltage_cell_v # [V] [@invalid 0] Battery individual cell voltages
-float32 max_cell_voltage_delta # [V] Max difference between individual cell voltages
+bool is_powering_off # Power off event imminent indication, false if unknown
+bool is_required # Set if the battery is explicitly required before arming
-bool is_powering_off # Power off event imminent indication, false if unknown
-bool is_required # Set if the battery is explicitly required before arming
+uint8 warning # [@enum WARNING STATE] Current battery warning
+uint8 WARNING_NONE = 0 # No battery low voltage warning active
+uint8 WARNING_LOW = 1 # Low voltage warning
+uint8 WARNING_CRITICAL = 2 # Critical voltage, return / abort immediately
+uint8 WARNING_EMERGENCY = 3 # Immediate landing required
+uint8 WARNING_FAILED = 4 # Battery has failed completely
+uint8 STATE_UNHEALTHY = 6 # Battery is diagnosed to be defective or an error occurred, usage is discouraged / prohibited. Possible causes (faults) are listed in faults field
+uint8 STATE_CHARGING = 7 # Battery is charging
-uint8 warning # [@enum WARNING STATE] Current battery warning
-uint8 WARNING_NONE = 0 # No battery low voltage warning active
-uint8 WARNING_LOW = 1 # Low voltage warning
-uint8 WARNING_CRITICAL = 2 # Critical voltage, return / abort immediately
-uint8 WARNING_EMERGENCY = 3 # Immediate landing required
-uint8 WARNING_FAILED = 4 # Battery has failed completely
-uint8 STATE_UNHEALTHY = 6 # Battery is diagnosed to be defective or an error occurred, usage is discouraged / prohibited. Possible causes (faults) are listed in faults field
-uint8 STATE_CHARGING = 7 # Battery is charging
+uint16 faults # [@enum FAULT] Smart battery supply status/fault flags (bitmask) for health indication
+uint8 FAULT_DEEP_DISCHARGE = 0 # Battery has deep discharged
+uint8 FAULT_SPIKES = 1 # Voltage spikes
+uint8 FAULT_CELL_FAIL= 2 # One or more cells have failed
+uint8 FAULT_OVER_CURRENT = 3 # Over-current
+uint8 FAULT_OVER_TEMPERATURE = 4 # Over-temperature
+uint8 FAULT_UNDER_TEMPERATURE = 5 # Under-temperature fault
+uint8 FAULT_INCOMPATIBLE_VOLTAGE = 6 # Vehicle voltage is not compatible with this battery (batteries on same power rail should have similar voltage)
+uint8 FAULT_INCOMPATIBLE_FIRMWARE = 7 # Battery firmware is not compatible with current autopilot firmware
+uint8 FAULT_INCOMPATIBLE_MODEL = 8 # Battery model is not supported by the system
+uint8 FAULT_HARDWARE_FAILURE = 9 # Hardware problem
+uint8 FAULT_FAILED_TO_ARM = 10 # Battery had a problem while arming
+uint8 FAULT_COUNT = 11 # Counter. Keep this as last element
-uint16 faults # [@enum FAULT] Smart battery supply status/fault flags (bitmask) for health indication
-uint8 FAULT_DEEP_DISCHARGE = 0 # Battery has deep discharged
-uint8 FAULT_SPIKES = 1 # Voltage spikes
-uint8 FAULT_CELL_FAIL= 2 # One or more cells have failed
-uint8 FAULT_OVER_CURRENT = 3 # Over-current
-uint8 FAULT_OVER_TEMPERATURE = 4 # Over-temperature
-uint8 FAULT_UNDER_TEMPERATURE = 5 # Under-temperature fault
-uint8 FAULT_INCOMPATIBLE_VOLTAGE = 6 # Vehicle voltage is not compatible with this battery (batteries on same power rail should have similar voltage)
-uint8 FAULT_INCOMPATIBLE_FIRMWARE = 7 # Battery firmware is not compatible with current autopilot firmware
-uint8 FAULT_INCOMPATIBLE_MODEL = 8 # Battery model is not supported by the system
-uint8 FAULT_HARDWARE_FAILURE = 9 # Hardware problem
-uint8 FAULT_FAILED_TO_ARM = 10 # Battery had a problem while arming
-uint8 FAULT_COUNT = 11 # Counter. Keep this as last element
+float32 full_charge_capacity_wh # [Wh] Compensated battery capacity
+float32 remaining_capacity_wh # [Wh] Compensated battery capacity remaining
+uint16 over_discharge_count # [-] Number of battery overdischarge
+float32 nominal_voltage # [V] Nominal voltage of the battery pack
-float32 full_charge_capacity_wh # [Wh] Compensated battery capacity
-float32 remaining_capacity_wh # [Wh] Compensated battery capacity remaining
-uint16 over_discharge_count # [-] Number of battery overdischarge
-float32 nominal_voltage # [V] Nominal voltage of the battery pack
-
-float32 internal_resistance_estimate # [Ohm] Internal resistance per cell estimate
-float32 ocv_estimate # [V] Open circuit voltage estimate
-float32 ocv_estimate_filtered # [V] Filtered open circuit voltage estimate
-float32 volt_based_soc_estimate # [-] [@range 0, 1] Normalized volt based state of charge estimate
-float32 voltage_prediction # [V] Predicted voltage
-float32 prediction_error # [V] Prediction error
-float32 estimation_covariance_norm # [-] Norm of the covariance matrix
+float32 internal_resistance_estimate # [Ohm] Internal resistance per cell estimate
+float32 ocv_estimate # [V] Open circuit voltage estimate
+float32 ocv_estimate_filtered # [V] Filtered open circuit voltage estimate
+float32 volt_based_soc_estimate # [-] [@range 0, 1] Normalized volt based state of charge estimate
+float32 voltage_prediction # [V] Predicted voltage
+float32 prediction_error # [V] Prediction error
+float32 estimation_covariance_norm # [-] Norm of the covariance matrix
```
:::
diff --git a/docs/zh/msg_docs/BatteryStatusV0.md b/docs/zh/msg_docs/BatteryStatusV0.md
index 2d3c1ce06b..f58dc6643c 100644
--- a/docs/zh/msg_docs/BatteryStatusV0.md
+++ b/docs/zh/msg_docs/BatteryStatusV0.md
@@ -10,7 +10,7 @@ Battery status information for up to 4 battery instances.
These are populated from power module and smart battery device drivers, and one battery updated from MAVLink.
Battery instance information is also logged and streamed in MAVLink telemetry.
-**TOPICS:** battery_statusv0
+**TOPICS:** battery_status_v0
## Fields
@@ -60,52 +60,52 @@ Battery instance information is also logged and streamed in MAVLink telemetry.
### SOURCE {#SOURCE}
-| 参数名 | 类型 | 值 | 描述 |
-| ------------------------------------------------------------------------------------------------- | ------- | - | ----------------------------------------------------------------- |
-| SOURCE_POWER_MODULE | `uint8` | 0 | Power module (analog ADC or I2C power monitor) |
-| SOURCE_EXTERNAL | `uint8` | 1 | External (MAVLink, CAN, or external driver) |
-| SOURCE_ESCS | `uint8` | 2 | ESCs (via ESC telemetry) |
+| 参数名 | 类型 | 值 | 描述 |
+| ----------------------------------------------------------------------------------------------- | ------- | - | ----------------------------------------------------------------- |
+| SOURCE_POWER_MODULE | `uint8` | 0 | Power module (analog ADC or I2C power monitor) |
+| SOURCE_EXTERNAL | `uint8` | 1 | External (MAVLink, CAN, or external driver) |
+| SOURCE_ESCS | `uint8` | 2 | ESCs (via ESC telemetry) |
### WARNING {#WARNING}
-| 参数名 | 类型 | 值 | 描述 |
-| ------------------------------------------------------------------------ | ------- | - | -------------------------------------------- |
-| WARNING_NONE | `uint8` | 0 | No battery low voltage warning active |
-| WARNING_LOW | `uint8` | 1 | Low voltage warning |
-| WARNING_CRITICAL | `uint8` | 2 | Critical voltage, return / abort immediately |
-| WARNING_EMERGENCY | `uint8` | 3 | Immediate landing required |
-| WARNING_FAILED | `uint8` | 4 | Battery has failed completely |
+| 参数名 | 类型 | 值 | 描述 |
+| ---------------------------------------------------------------------- | ------- | - | -------------------------------------------- |
+| WARNING_NONE | `uint8` | 0 | No battery low voltage warning active |
+| WARNING_LOW | `uint8` | 1 | Low voltage warning |
+| WARNING_CRITICAL | `uint8` | 2 | Critical voltage, return / abort immediately |
+| WARNING_EMERGENCY | `uint8` | 3 | Immediate landing required |
+| WARNING_FAILED | `uint8` | 4 | Battery has failed completely |
### STATE {#STATE}
-| 参数名 | 类型 | 值 | 描述 |
-| -------------------------------------------------------------------- | ------- | - | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
-| STATE_UNHEALTHY | `uint8` | 6 | Battery is diagnosed to be defective or an error occurred, usage is discouraged / prohibited. Possible causes (faults) are listed in faults field |
-| STATE_CHARGING | `uint8` | 7 | Battery is charging |
+| 参数名 | 类型 | 值 | 描述 |
+| ------------------------------------------------------------------ | ------- | - | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
+| STATE_UNHEALTHY | `uint8` | 6 | Battery is diagnosed to be defective or an error occurred, usage is discouraged / prohibited. Possible causes (faults) are listed in faults field |
+| STATE_CHARGING | `uint8` | 7 | Battery is charging |
### FAULT {#FAULT}
-| 参数名 | 类型 | 值 | 描述 |
-| ---------------------------------------------------------------------------------------------------------------------- | ------- | -- | --------------------------------------------------------------------------------------------------------------------------------- |
-| FAULT_DEEP_DISCHARGE | `uint8` | 0 | Battery has deep discharged |
-| FAULT_SPIKES | `uint8` | 1 | Voltage spikes |
-| FAULT_CELL_FAIL | `uint8` | 2 | One or more cells have failed |
-| FAULT_OVER_CURRENT | `uint8` | 3 | Over-current |
-| FAULT_OVER_TEMPERATURE | `uint8` | 4 | Over-temperature |
-| FAULT_UNDER_TEMPERATURE | `uint8` | 5 | Under-temperature fault |
-| FAULT_INCOMPATIBLE_VOLTAGE | `uint8` | 6 | Vehicle voltage is not compatible with this battery (batteries on same power rail should have similar voltage) |
-| FAULT_INCOMPATIBLE_FIRMWARE | `uint8` | 7 | Battery firmware is not compatible with current autopilot firmware |
-| FAULT_INCOMPATIBLE_MODEL | `uint8` | 8 | Battery model is not supported by the system |
-| FAULT_HARDWARE_FAILURE | `uint8` | 9 | Hardware problem |
-| FAULT_FAILED_TO_ARM | `uint8` | 10 | Battery had a problem while arming |
-| FAULT_COUNT | `uint8` | 11 | Counter. Keep this as last element |
+| 参数名 | 类型 | 值 | 描述 |
+| -------------------------------------------------------------------------------------------------------------------- | ------- | -- | --------------------------------------------------------------------------------------------------------------------------------- |
+| FAULT_DEEP_DISCHARGE | `uint8` | 0 | Battery has deep discharged |
+| FAULT_SPIKES | `uint8` | 1 | Voltage spikes |
+| FAULT_CELL_FAIL | `uint8` | 2 | One or more cells have failed |
+| FAULT_OVER_CURRENT | `uint8` | 3 | Over-current |
+| FAULT_OVER_TEMPERATURE | `uint8` | 4 | Over-temperature |
+| FAULT_UNDER_TEMPERATURE | `uint8` | 5 | Under-temperature fault |
+| FAULT_INCOMPATIBLE_VOLTAGE | `uint8` | 6 | Vehicle voltage is not compatible with this battery (batteries on same power rail should have similar voltage) |
+| FAULT_INCOMPATIBLE_FIRMWARE | `uint8` | 7 | Battery firmware is not compatible with current autopilot firmware |
+| FAULT_INCOMPATIBLE_MODEL | `uint8` | 8 | Battery model is not supported by the system |
+| FAULT_HARDWARE_FAILURE | `uint8` | 9 | Hardware problem |
+| FAULT_FAILED_TO_ARM | `uint8` | 10 | Battery had a problem while arming |
+| FAULT_COUNT | `uint8` | 11 | Counter. Keep this as last element |
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| -------------------------------------------------------------------- | -------- | - | -- |
-| MESSAGE_VERSION | `uint32` | 0 | |
-| MAX_INSTANCES | `uint8` | 4 | |
+| 参数名 | 类型 | 值 | 描述 |
+| ------------------------------------------------------------------ | -------- | - | -- |
+| MESSAGE_VERSION | `uint32` | 0 | |
+| MAX_INSTANCES | `uint8` | 4 | |
## Source Message
diff --git a/docs/zh/msg_docs/ButtonEvent.md b/docs/zh/msg_docs/ButtonEvent.md
index 161a3ea184..cbedf02801 100644
--- a/docs/zh/msg_docs/ButtonEvent.md
+++ b/docs/zh/msg_docs/ButtonEvent.md
@@ -15,9 +15,9 @@ pageClass: is-wide-page
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| ------------------------------------------------------------------------------------------- | ------- | - | -- |
-| ORB_QUEUE_LENGTH | `uint8` | 2 | |
+| 参数名 | 类型 | 值 | 描述 |
+| ----------------------------------------------------------------------------------------- | ------- | - | -- |
+| ORB_QUEUE_LENGTH | `uint8` | 2 | |
## Source Message
diff --git a/docs/zh/msg_docs/CameraTrigger.md b/docs/zh/msg_docs/CameraTrigger.md
index 5bf8c8cdec..848155d65f 100644
--- a/docs/zh/msg_docs/CameraTrigger.md
+++ b/docs/zh/msg_docs/CameraTrigger.md
@@ -17,9 +17,9 @@ pageClass: is-wide-page
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| ------------------------------------------------------------------------------------------- | -------- | - | -- |
-| ORB_QUEUE_LENGTH | `uint32` | 2 | |
+| 参数名 | 类型 | 值 | 描述 |
+| ----------------------------------------------------------------------------------------- | -------- | - | -- |
+| ORB_QUEUE_LENGTH | `uint32` | 2 | |
## Source Message
diff --git a/docs/zh/msg_docs/CanInterfaceStatus.md b/docs/zh/msg_docs/CanInterfaceStatus.md
index 732a8bd2d7..7234f540c2 100644
--- a/docs/zh/msg_docs/CanInterfaceStatus.md
+++ b/docs/zh/msg_docs/CanInterfaceStatus.md
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# CanInterfaceStatus (UORB message)
-**TOPICS:** can_interfacestatus
+**TOPICS:** can_interface_status
## Fields
diff --git a/docs/zh/msg_docs/CellularStatus.md b/docs/zh/msg_docs/CellularStatus.md
index 57bfd5f695..96c61e0317 100644
--- a/docs/zh/msg_docs/CellularStatus.md
+++ b/docs/zh/msg_docs/CellularStatus.md
@@ -27,40 +27,40 @@ This is currently used only for logging cell status from MAVLink.
### STATUS_FLAG {#STATUS_FLAG}
-| 参数名 | 类型 | 值 | 描述 |
-| ------------------------------------------------------------------------------------------------------------- | -------- | ---- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
-| STATUS_FLAG_UNKNOWN | `uint16` | 1 | State unknown or not reportable |
-| STATUS_FLAG_FAILED | `uint16` | 2 | Modem is unusable |
-| STATUS_FLAG_INITIALIZING | `uint16` | 4 | Modem is being initialized |
-| STATUS_FLAG_LOCKED | `uint16` | 8 | Modem is locked |
-| STATUS_FLAG_DISABLED | `uint16` | 16 | Modem is not enabled and is powered down |
-| STATUS_FLAG_DISABLING | `uint16` | 32 | Modem is currently transitioning to the STATUS_FLAG_DISABLED state |
-| STATUS_FLAG_ENABLING | `uint16` | 64 | Modem is currently transitioning to the STATUS_FLAG_ENABLED state |
-| STATUS_FLAG_ENABLED | `uint16` | 128 | Modem is enabled and powered on but not registered with a network provider and not available for data connections |
-| STATUS_FLAG_SEARCHING | `uint16` | 256 | Modem is searching for a network provider to register |
-| STATUS_FLAG_REGISTERED | `uint16` | 512 | Modem is registered with a network provider, and data connections and messaging may be available for use |
-| STATUS_FLAG_DISCONNECTING | `uint16` | 1024 | Modem is disconnecting and deactivating the last active packet data bearer. This state will not be entered if more than one packet data bearer is active and one of the active bearers is deactivated |
-| STATUS_FLAG_CONNECTING | `uint16` | 2048 | Modem is activating and connecting the first packet data bearer. Subsequent bearer activations when another bearer is already active do not cause this state to be entered |
-| STATUS_FLAG_CONNECTED | `uint16` | 4096 | One or more packet data bearers is active and connected |
+| 参数名 | 类型 | 值 | 描述 |
+| ----------------------------------------------------------------------------------------------------------- | -------- | ---- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| STATUS_FLAG_UNKNOWN | `uint16` | 1 | State unknown or not reportable |
+| STATUS_FLAG_FAILED | `uint16` | 2 | Modem is unusable |
+| STATUS_FLAG_INITIALIZING | `uint16` | 4 | Modem is being initialized |
+| STATUS_FLAG_LOCKED | `uint16` | 8 | Modem is locked |
+| STATUS_FLAG_DISABLED | `uint16` | 16 | Modem is not enabled and is powered down |
+| STATUS_FLAG_DISABLING | `uint16` | 32 | Modem is currently transitioning to the STATUS_FLAG_DISABLED state |
+| STATUS_FLAG_ENABLING | `uint16` | 64 | Modem is currently transitioning to the STATUS_FLAG_ENABLED state |
+| STATUS_FLAG_ENABLED | `uint16` | 128 | Modem is enabled and powered on but not registered with a network provider and not available for data connections |
+| STATUS_FLAG_SEARCHING | `uint16` | 256 | Modem is searching for a network provider to register |
+| STATUS_FLAG_REGISTERED | `uint16` | 512 | Modem is registered with a network provider, and data connections and messaging may be available for use |
+| STATUS_FLAG_DISCONNECTING | `uint16` | 1024 | Modem is disconnecting and deactivating the last active packet data bearer. This state will not be entered if more than one packet data bearer is active and one of the active bearers is deactivated |
+| STATUS_FLAG_CONNECTING | `uint16` | 2048 | Modem is activating and connecting the first packet data bearer. Subsequent bearer activations when another bearer is already active do not cause this state to be entered |
+| STATUS_FLAG_CONNECTED | `uint16` | 4096 | One or more packet data bearers is active and connected |
### FAILURE_REASON {#FAILURE_REASON}
-| 参数名 | 类型 | 值 | 描述 |
-| ------------------------------------------------------------------------------------------------------------------------------------ | ------- | - | ----------------------------------------------- |
-| FAILURE_REASON_NONE | `uint8` | 0 | No error |
-| FAILURE_REASON_UNKNOWN | `uint8` | 1 | Error state is unknown |
-| FAILURE_REASON_SIM_MISSING | `uint8` | 2 | SIM is required for the modem but missing |
-| FAILURE_REASON_SIM_ERROR | `uint8` | 3 | SIM is available, but not usable for connection |
+| 参数名 | 类型 | 值 | 描述 |
+| ---------------------------------------------------------------------------------------------------------------------------------- | ------- | - | ----------------------------------------------- |
+| FAILURE_REASON_NONE | `uint8` | 0 | No error |
+| FAILURE_REASON_UNKNOWN | `uint8` | 1 | Error state is unknown |
+| FAILURE_REASON_SIM_MISSING | `uint8` | 2 | SIM is required for the modem but missing |
+| FAILURE_REASON_SIM_ERROR | `uint8` | 3 | SIM is available, but not usable for connection |
### CELLULAR_NETWORK_RADIO_TYPE {#CELLULAR_NETWORK_RADIO_TYPE}
-| 参数名 | 类型 | 值 | 描述 |
-| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | - | ----- |
-| CELLULAR_NETWORK_RADIO_TYPE_NONE | `uint8` | 0 | None |
-| CELLULAR_NETWORK_RADIO_TYPE_GSM | `uint8` | 1 | GSM |
-| CELLULAR_NETWORK_RADIO_TYPE_CDMA | `uint8` | 2 | CDMA |
-| CELLULAR_NETWORK_RADIO_TYPE_WCDMA | `uint8` | 3 | WCDMA |
-| CELLULAR_NETWORK_RADIO_TYPE_LTE | `uint8` | 4 | LTE |
+| 参数名 | 类型 | 值 | 描述 |
+| --------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | - | ----- |
+| CELLULAR_NETWORK_RADIO_TYPE_NONE | `uint8` | 0 | None |
+| CELLULAR_NETWORK_RADIO_TYPE_GSM | `uint8` | 1 | GSM |
+| CELLULAR_NETWORK_RADIO_TYPE_CDMA | `uint8` | 2 | CDMA |
+| CELLULAR_NETWORK_RADIO_TYPE_WCDMA | `uint8` | 3 | WCDMA |
+| CELLULAR_NETWORK_RADIO_TYPE_LTE | `uint8` | 4 | LTE |
## Source Message
diff --git a/docs/zh/msg_docs/ConfigOverrides.md b/docs/zh/msg_docs/ConfigOverrides.md
index 198b320a4a..6864e60d5a 100644
--- a/docs/zh/msg_docs/ConfigOverrides.md
+++ b/docs/zh/msg_docs/ConfigOverrides.md
@@ -22,12 +22,12 @@ Configurable overrides by (external) modes or mode executors.
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| ---------------------------------------------------------------------------------------------------------------------------------- | -------- | - | -- |
-| MESSAGE_VERSION | `uint32` | 1 | |
-| SOURCE_TYPE_MODE | `int8` | 0 | |
-| SOURCE_TYPE_MODE_EXECUTOR | `int8` | 1 | |
-| ORB_QUEUE_LENGTH | `uint8` | 4 | |
+| 参数名 | 类型 | 值 | 描述 |
+| -------------------------------------------------------------------------------------------------------------------------------- | -------- | - | -- |
+| MESSAGE_VERSION | `uint32` | 1 | |
+| SOURCE_TYPE_MODE | `int8` | 0 | |
+| SOURCE_TYPE_MODE_EXECUTOR | `int8` | 1 | |
+| ORB_QUEUE_LENGTH | `uint8` | 4 | |
## Source Message
diff --git a/docs/zh/msg_docs/ConfigOverridesV0.md b/docs/zh/msg_docs/ConfigOverridesV0.md
index f091abce99..7abfbc0e7b 100644
--- a/docs/zh/msg_docs/ConfigOverridesV0.md
+++ b/docs/zh/msg_docs/ConfigOverridesV0.md
@@ -21,12 +21,12 @@ Configurable overrides by (external) modes or mode executors.
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| ---------------------------------------------------------------------------------------------------------------------------------- | -------- | - | -- |
-| MESSAGE_VERSION | `uint32` | 0 | |
-| SOURCE_TYPE_MODE | `int8` | 0 | |
-| SOURCE_TYPE_MODE_EXECUTOR | `int8` | 1 | |
-| ORB_QUEUE_LENGTH | `uint8` | 4 | |
+| 参数名 | 类型 | 值 | 描述 |
+| -------------------------------------------------------------------------------------------------------------------------------- | -------- | - | -- |
+| MESSAGE_VERSION | `uint32` | 0 | |
+| SOURCE_TYPE_MODE | `int8` | 0 | |
+| SOURCE_TYPE_MODE_EXECUTOR | `int8` | 1 | |
+| ORB_QUEUE_LENGTH | `uint8` | 4 | |
## Source Message
diff --git a/docs/zh/msg_docs/ControlAllocatorStatus.md b/docs/zh/msg_docs/ControlAllocatorStatus.md
index 5734f740d8..1f57d5a748 100644
--- a/docs/zh/msg_docs/ControlAllocatorStatus.md
+++ b/docs/zh/msg_docs/ControlAllocatorStatus.md
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# ControlAllocatorStatus (UORB message)
-**TOPICS:** control_allocatorstatus
+**TOPICS:** control_allocator_status
## Fields
@@ -21,13 +21,13 @@ pageClass: is-wide-page
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| ------------------------------------------------------------------------------------------------------------------------------------------ | ------ | -- | ----------------------------------------------------------------------------------------------------------------------------------------------------- |
-| ACTUATOR_SATURATION_OK | `int8` | 0 | The actuator is not saturated |
-| ACTUATOR_SATURATION_UPPER_DYN | `int8` | 1 | The actuator is saturated (with a value <= the desired value) because it cannot increase its value faster |
-| ACTUATOR_SATURATION_UPPER | `int8` | 2 | The actuator is saturated (with a value <= the desired value) because it has reached its maximum value |
-| ACTUATOR_SATURATION_LOWER_DYN | `int8` | -1 | The actuator is saturated (with a value >= the desired value) because it cannot decrease its value faster |
-| ACTUATOR_SATURATION_LOWER | `int8` | -2 | The actuator is saturated (with a value >= the desired value) because it has reached its minimum value |
+| 参数名 | 类型 | 值 | 描述 |
+| ---------------------------------------------------------------------------------------------------------------------------------------- | ------ | -- | ----------------------------------------------------------------------------------------------------------------------------------------------------- |
+| ACTUATOR_SATURATION_OK | `int8` | 0 | The actuator is not saturated |
+| ACTUATOR_SATURATION_UPPER_DYN | `int8` | 1 | The actuator is saturated (with a value <= the desired value) because it cannot increase its value faster |
+| ACTUATOR_SATURATION_UPPER | `int8` | 2 | The actuator is saturated (with a value <= the desired value) because it has reached its maximum value |
+| ACTUATOR_SATURATION_LOWER_DYN | `int8` | -1 | The actuator is saturated (with a value >= the desired value) because it cannot decrease its value faster |
+| ACTUATOR_SATURATION_LOWER | `int8` | -2 | The actuator is saturated (with a value >= the desired value) because it has reached its minimum value |
## Source Message
diff --git a/docs/zh/msg_docs/DatamanResponse.md b/docs/zh/msg_docs/DatamanResponse.md
index b719146c23..74a7dff329 100644
--- a/docs/zh/msg_docs/DatamanResponse.md
+++ b/docs/zh/msg_docs/DatamanResponse.md
@@ -20,14 +20,14 @@ pageClass: is-wide-page
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| -------------------------------------------------------------------------------------------------------------------------------------- | ------- | - | -- |
-| STATUS_SUCCESS | `uint8` | 0 | |
-| STATUS_FAILURE_ID_ERR | `uint8` | 1 | |
-| STATUS_FAILURE_NO_DATA | `uint8` | 2 | |
-| STATUS_FAILURE_READ_FAILED | `uint8` | 3 | |
-| STATUS_FAILURE_WRITE_FAILED | `uint8` | 4 | |
-| STATUS_FAILURE_CLEAR_FAILED | `uint8` | 5 | |
+| 参数名 | 类型 | 值 | 描述 |
+| ------------------------------------------------------------------------------------------------------------------------------------ | ------- | - | -- |
+| STATUS_SUCCESS | `uint8` | 0 | |
+| STATUS_FAILURE_ID_ERR | `uint8` | 1 | |
+| STATUS_FAILURE_NO_DATA | `uint8` | 2 | |
+| STATUS_FAILURE_READ_FAILED | `uint8` | 3 | |
+| STATUS_FAILURE_WRITE_FAILED | `uint8` | 4 | |
+| STATUS_FAILURE_CLEAR_FAILED | `uint8` | 5 | |
## Source Message
diff --git a/docs/zh/msg_docs/DebugArray.md b/docs/zh/msg_docs/DebugArray.md
index e0998ce320..59e3352335 100644
--- a/docs/zh/msg_docs/DebugArray.md
+++ b/docs/zh/msg_docs/DebugArray.md
@@ -17,9 +17,9 @@ pageClass: is-wide-page
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| ---------------------------------------------------------- | ------- | -- | -- |
-| ARRAY_SIZE | `uint8` | 58 | |
+| 参数名 | 类型 | 值 | 描述 |
+| -------------------------------------------------------- | ------- | -- | -- |
+| ARRAY_SIZE | `uint8` | 58 | |
## Source Message
diff --git a/docs/zh/msg_docs/DebugKeyValue.md b/docs/zh/msg_docs/DebugKeyValue.md
index 66a7719589..1e15f359a7 100644
--- a/docs/zh/msg_docs/DebugKeyValue.md
+++ b/docs/zh/msg_docs/DebugKeyValue.md
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# DebugKeyValue (UORB message)
-**TOPICS:** debug_keyvalue
+**TOPICS:** debug_key_value
## Fields
diff --git a/docs/zh/msg_docs/DeviceInformation.md b/docs/zh/msg_docs/DeviceInformation.md
index e1686f4a81..bc08899c2f 100644
--- a/docs/zh/msg_docs/DeviceInformation.md
+++ b/docs/zh/msg_docs/DeviceInformation.md
@@ -17,8 +17,7 @@ as well as tracking of the used firmware versions on the devices.
| ------------------------------------- | ---------- | ---------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| device_type | `uint8` | | [DEVICE_TYPE](#DEVICE_TYPE) | Type of the device. Matches MAVLink DEVICE_TYPE enum |
-| vendor_name | `char[32]` | | | Name of the device vendor |
-| model_name | `char[32]` | | | Name of the device model |
+| name | `char[80]` | | | Name of device e.g. DroneCAN node name |
| `uint32` | | | Unique device ID for the sensor. Does not change between power cycles. (Invalid: 0 if not available) | |
| firmware_version | `char[24]` | | | Firmware version. (Invalid: empty if not available) |
| hardware_version | `char[24]` | | | Hardware version. (Invalid: empty if not available) |
@@ -28,24 +27,24 @@ as well as tracking of the used firmware versions on the devices.
### DEVICE_TYPE {#DEVICE_TYPE}
-| 参数名 | 类型 | 值 | 描述 |
-| -------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | -- | ---------------------- |
-| DEVICE_TYPE_GENERIC | `uint8` | 0 | Generic/unknown sensor |
-| DEVICE_TYPE_AIRSPEED | `uint8` | 1 | 空速传感器 |
-| DEVICE_TYPE_ESC | `uint8` | 2 | ESC |
-| DEVICE_TYPE_SERVO | `uint8` | 3 | Servo |
-| DEVICE_TYPE_GPS | `uint8` | 4 | GPS |
-| DEVICE_TYPE_MAGNETOMETER | `uint8` | 5 | 磁力计 |
-| DEVICE_TYPE_PARACHUTE | `uint8` | 6 | 降落伞 |
-| DEVICE_TYPE_RANGEFINDER | `uint8` | 7 | Rangefinder |
-| DEVICE_TYPE_WINCH | `uint8` | 8 | Winch |
-| DEVICE_TYPE_BAROMETER | `uint8` | 9 | Barometer |
-| DEVICE_TYPE_OPTICAL_FLOW | `uint8` | 10 | Optical flow |
-| DEVICE_TYPE_ACCELEROMETER | `uint8` | 11 | Accelerometer |
-| DEVICE_TYPE_GYROSCOPE | `uint8` | 12 | Gyroscope |
-| DEVICE_TYPE_DIFFERENTIAL_PRESSURE | `uint8` | 13 | Differential pressure |
-| DEVICE_TYPE_BATTERY | `uint8` | 14 | Battery |
-| DEVICE_TYPE_HYGROMETER | `uint8` | 15 | Hygrometer |
+| 参数名 | 类型 | 值 | 描述 |
+| ------------------------------------------------------------------------------------------------------------------------------------------------ | ------- | -- | ---------------------- |
+| DEVICE_TYPE_GENERIC | `uint8` | 0 | Generic/unknown sensor |
+| DEVICE_TYPE_AIRSPEED | `uint8` | 1 | 空速传感器 |
+| DEVICE_TYPE_ESC | `uint8` | 2 | ESC |
+| DEVICE_TYPE_SERVO | `uint8` | 3 | Servo |
+| DEVICE_TYPE_GPS | `uint8` | 4 | GPS |
+| DEVICE_TYPE_MAGNETOMETER | `uint8` | 5 | 磁力计 |
+| DEVICE_TYPE_PARACHUTE | `uint8` | 6 | 降落伞 |
+| DEVICE_TYPE_RANGEFINDER | `uint8` | 7 | Rangefinder |
+| DEVICE_TYPE_WINCH | `uint8` | 8 | Winch |
+| DEVICE_TYPE_BAROMETER | `uint8` | 9 | Barometer |
+| DEVICE_TYPE_OPTICAL_FLOW | `uint8` | 10 | Optical flow |
+| DEVICE_TYPE_ACCELEROMETER | `uint8` | 11 | Accelerometer |
+| DEVICE_TYPE_GYROSCOPE | `uint8` | 12 | Gyroscope |
+| DEVICE_TYPE_DIFFERENTIAL_PRESSURE | `uint8` | 13 | Differential pressure |
+| DEVICE_TYPE_BATTERY | `uint8` | 14 | Battery |
+| DEVICE_TYPE_HYGROMETER | `uint8` | 15 | Hygrometer |
## Source Message
@@ -63,7 +62,6 @@ Click here to see original file
uint64 timestamp # time since system start (microseconds)
uint8 device_type # [@enum DEVICE_TYPE] Type of the device. Matches MAVLink DEVICE_TYPE enum
-
uint8 DEVICE_TYPE_GENERIC = 0 # Generic/unknown sensor
uint8 DEVICE_TYPE_AIRSPEED = 1 # Airspeed sensor
uint8 DEVICE_TYPE_ESC = 2 # ESC
@@ -81,8 +79,7 @@ uint8 DEVICE_TYPE_DIFFERENTIAL_PRESSURE = 13 # Differential pressure
uint8 DEVICE_TYPE_BATTERY = 14 # Battery
uint8 DEVICE_TYPE_HYGROMETER = 15 # Hygrometer
-char[32] vendor_name # Name of the device vendor
-char[32] model_name # Name of the device model
+char[80] name # Name of device e.g. DroneCAN node name
uint32 device_id # [-] [@invalid 0 if not available] Unique device ID for the sensor. Does not change between power cycles.
char[24] firmware_version # [-] [@invalid empty if not available] Firmware version.
diff --git a/docs/zh/msg_docs/DistanceSensor.md b/docs/zh/msg_docs/DistanceSensor.md
index 33ccfef699..241eb5a9ae 100644
--- a/docs/zh/msg_docs/DistanceSensor.md
+++ b/docs/zh/msg_docs/DistanceSensor.md
@@ -28,30 +28,30 @@ DISTANCE_SENSOR message data.
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| -------------------------------------------------------------------------------------------------------------------------------------------- | ------- | --- | ----------------------------------------------------------------------------------------------------------------- |
-| MAV_DISTANCE_SENSOR_LASER | `uint8` | 0 | |
-| MAV_DISTANCE_SENSOR_ULTRASOUND | `uint8` | 1 | |
-| MAV_DISTANCE_SENSOR_INFRARED | `uint8` | 2 | |
-| MAV_DISTANCE_SENSOR_RADAR | `uint8` | 3 | |
-| ROTATION_YAW_0 | `uint8` | 0 | MAV_SENSOR_ROTATION_NONE |
-| ROTATION_YAW_45 | `uint8` | 1 | MAV_SENSOR_ROTATION_YAW_45 |
-| ROTATION_YAW_90 | `uint8` | 2 | MAV_SENSOR_ROTATION_YAW_90 |
-| ROTATION_YAW_135 | `uint8` | 3 | MAV_SENSOR_ROTATION_YAW_135 |
-| ROTATION_YAW_180 | `uint8` | 4 | MAV_SENSOR_ROTATION_YAW_180 |
-| ROTATION_YAW_225 | `uint8` | 5 | MAV_SENSOR_ROTATION_YAW_225 |
-| ROTATION_YAW_270 | `uint8` | 6 | MAV_SENSOR_ROTATION_YAW_270 |
-| ROTATION_YAW_315 | `uint8` | 7 | MAV_SENSOR_ROTATION_YAW_315 |
-| ROTATION_FORWARD_FACING | `uint8` | 0 | MAV_SENSOR_ROTATION_NONE |
-| ROTATION_RIGHT_FACING | `uint8` | 2 | MAV_SENSOR_ROTATION_YAW_90 |
-| ROTATION_BACKWARD_FACING | `uint8` | 4 | MAV_SENSOR_ROTATION_YAW_180 |
-| ROTATION_LEFT_FACING | `uint8` | 6 | MAV_SENSOR_ROTATION_YAW_270 |
-| ROTATION_UPWARD_FACING | `uint8` | 24 | MAV_SENSOR_ROTATION_PITCH_90 |
-| ROTATION_DOWNWARD_FACING | `uint8` | 25 | MAV_SENSOR_ROTATION_PITCH_270 |
-| ROTATION_CUSTOM | `uint8` | 100 | MAV_SENSOR_ROTATION_CUSTOM |
-| MODE_UNKNOWN | `uint8` | 0 | |
-| MODE_ENABLED | `uint8` | 1 | |
-| MODE_DISABLED | `uint8` | 2 | |
+| 参数名 | 类型 | 值 | 描述 |
+| ------------------------------------------------------------------------------------------------------------------------------------------ | ------- | --- | ----------------------------------------------------------------------------------------------------------------- |
+| MAV_DISTANCE_SENSOR_LASER | `uint8` | 0 | |
+| MAV_DISTANCE_SENSOR_ULTRASOUND | `uint8` | 1 | |
+| MAV_DISTANCE_SENSOR_INFRARED | `uint8` | 2 | |
+| MAV_DISTANCE_SENSOR_RADAR | `uint8` | 3 | |
+| ROTATION_YAW_0 | `uint8` | 0 | MAV_SENSOR_ROTATION_NONE |
+| ROTATION_YAW_45 | `uint8` | 1 | MAV_SENSOR_ROTATION_YAW_45 |
+| ROTATION_YAW_90 | `uint8` | 2 | MAV_SENSOR_ROTATION_YAW_90 |
+| ROTATION_YAW_135 | `uint8` | 3 | MAV_SENSOR_ROTATION_YAW_135 |
+| ROTATION_YAW_180 | `uint8` | 4 | MAV_SENSOR_ROTATION_YAW_180 |
+| ROTATION_YAW_225 | `uint8` | 5 | MAV_SENSOR_ROTATION_YAW_225 |
+| ROTATION_YAW_270 | `uint8` | 6 | MAV_SENSOR_ROTATION_YAW_270 |
+| ROTATION_YAW_315 | `uint8` | 7 | MAV_SENSOR_ROTATION_YAW_315 |
+| ROTATION_FORWARD_FACING | `uint8` | 0 | MAV_SENSOR_ROTATION_NONE |
+| ROTATION_RIGHT_FACING | `uint8` | 2 | MAV_SENSOR_ROTATION_YAW_90 |
+| ROTATION_BACKWARD_FACING | `uint8` | 4 | MAV_SENSOR_ROTATION_YAW_180 |
+| ROTATION_LEFT_FACING | `uint8` | 6 | MAV_SENSOR_ROTATION_YAW_270 |
+| ROTATION_UPWARD_FACING | `uint8` | 24 | MAV_SENSOR_ROTATION_PITCH_90 |
+| ROTATION_DOWNWARD_FACING | `uint8` | 25 | MAV_SENSOR_ROTATION_PITCH_270 |
+| ROTATION_CUSTOM | `uint8` | 100 | MAV_SENSOR_ROTATION_CUSTOM |
+| MODE_UNKNOWN | `uint8` | 0 | |
+| MODE_ENABLED | `uint8` | 1 | |
+| MODE_DISABLED | `uint8` | 2 | |
## Source Message
diff --git a/docs/zh/msg_docs/DistanceSensorModeChangeRequest.md b/docs/zh/msg_docs/DistanceSensorModeChangeRequest.md
index 271c8282ac..c834d4db2e 100644
--- a/docs/zh/msg_docs/DistanceSensorModeChangeRequest.md
+++ b/docs/zh/msg_docs/DistanceSensorModeChangeRequest.md
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# DistanceSensorModeChangeRequest (UORB message)
-**TOPICS:** distance_sensormode_changerequest
+**TOPICS:** distance_sensor_mode_change_request
## Fields
@@ -15,10 +15,10 @@ pageClass: is-wide-page
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| ------------------------------------------------------------ | ------- | - | -- |
-| REQUEST_OFF | `uint8` | 0 | |
-| REQUEST_ON | `uint8` | 1 | |
+| 参数名 | 类型 | 值 | 描述 |
+| ---------------------------------------------------------- | ------- | - | -- |
+| REQUEST_OFF | `uint8` | 0 | |
+| REQUEST_ON | `uint8` | 1 | |
## Source Message
diff --git a/docs/zh/msg_docs/DronecanNodeStatus.md b/docs/zh/msg_docs/DronecanNodeStatus.md
index 46211f26c3..aa883385e6 100644
--- a/docs/zh/msg_docs/DronecanNodeStatus.md
+++ b/docs/zh/msg_docs/DronecanNodeStatus.md
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# DronecanNodeStatus (UORB message)
-**TOPICS:** dronecan_nodestatus
+**TOPICS:** dronecan_node_status
## Fields
@@ -20,17 +20,17 @@ pageClass: is-wide-page
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| --------------------------------------------------------------------------------------------------- | ------- | - | ------------------------------------------------------------------------------------------------- |
-| HEALTH_OK | `uint8` | 0 | The node is functioning properly. |
-| HEALTH_WARNING | `uint8` | 1 | A critical parameter went out of range or the node encountered a minor failure. |
-| HEALTH_ERROR | `uint8` | 2 | The node encountered a major failure. |
-| HEALTH_CRITICAL | `uint8` | 3 | The node suffered a fatal malfunction. |
-| MODE_OPERATIONAL | `uint8` | 0 | Normal operating mode. |
-| MODE_INITIALIZATION | `uint8` | 1 | Initialization is in progress; this mode is entered immediately after startup. |
-| MODE_MAINTENANCE | `uint8` | 2 | E.g. calibration, the bootloader is running, etc. |
-| MODE_SOFTWARE_UPDATE | `uint8` | 3 | New software/firmware is being loaded. |
-| MODE_OFFLINE | `uint8` | 7 | The node is no longer available. |
+| 参数名 | 类型 | 值 | 描述 |
+| ------------------------------------------------------------------------------------------------- | ------- | - | ------------------------------------------------------------------------------------------------- |
+| HEALTH_OK | `uint8` | 0 | The node is functioning properly. |
+| HEALTH_WARNING | `uint8` | 1 | A critical parameter went out of range or the node encountered a minor failure. |
+| HEALTH_ERROR | `uint8` | 2 | The node encountered a major failure. |
+| HEALTH_CRITICAL | `uint8` | 3 | The node suffered a fatal malfunction. |
+| MODE_OPERATIONAL | `uint8` | 0 | Normal operating mode. |
+| MODE_INITIALIZATION | `uint8` | 1 | Initialization is in progress; this mode is entered immediately after startup. |
+| MODE_MAINTENANCE | `uint8` | 2 | E.g. calibration, the bootloader is running, etc. |
+| MODE_SOFTWARE_UPDATE | `uint8` | 3 | New software/firmware is being loaded. |
+| MODE_OFFLINE | `uint8` | 7 | The node is no longer available. |
## Source Message
diff --git a/docs/zh/msg_docs/Ekf2Timestamps.md b/docs/zh/msg_docs/Ekf2Timestamps.md
index c5ecbb7693..895a6a8022 100644
--- a/docs/zh/msg_docs/Ekf2Timestamps.md
+++ b/docs/zh/msg_docs/Ekf2Timestamps.md
@@ -23,9 +23,9 @@ this message contains the (relative) timestamps of the sensor inputs used by EKF
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| --------------------------------------------------------------------------------------------------------------- | ------- | ----- | ------------------------------------------------------------- |
-| RELATIVE_TIMESTAMP_INVALID | `int16` | 32767 | (0x7fff) If one of the relative timestamps |
+| 参数名 | 类型 | 值 | 描述 |
+| ------------------------------------------------------------------------------------------------------------- | ------- | ----- | ------------------------------------------------------------- |
+| RELATIVE_TIMESTAMP_INVALID | `int16` | 32767 | (0x7fff) If one of the relative timestamps |
## Source Message
diff --git a/docs/zh/msg_docs/EscReport.md b/docs/zh/msg_docs/EscReport.md
index 6fbde14d4c..af278d540c 100644
--- a/docs/zh/msg_docs/EscReport.md
+++ b/docs/zh/msg_docs/EscReport.md
@@ -16,6 +16,7 @@ pageClass: is-wide-page
| esc_voltage | `float32` | | | Voltage measured from current ESC [V] - if supported |
| esc_current | `float32` | | | Current measured from current ESC [A] - if supported |
| esc_temperature | `float32` | | | Temperature measured from current ESC [degC] - if supported |
+| motor_temperature | `int16` | | | Temperature measured from current motor [degC] - if supported |
| esc_address | `uint8` | | | Address of current ESC (in most cases 1-8 / must be set by driver) |
| esc_cmdcount | `uint8` | | | Counter of number of commands |
| esc_state | `uint8` | | | State of ESC - depend on Vendor |
@@ -25,31 +26,31 @@ pageClass: is-wide-page
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| -------------------------------------------------------------------------------------------------------------------------------------------- | ------- | --- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
-| ACTUATOR_FUNCTION_MOTOR1 | `uint8` | 101 | |
-| ACTUATOR_FUNCTION_MOTOR2 | `uint8` | 102 | |
-| ACTUATOR_FUNCTION_MOTOR3 | `uint8` | 103 | |
-| ACTUATOR_FUNCTION_MOTOR4 | `uint8` | 104 | |
-| ACTUATOR_FUNCTION_MOTOR5 | `uint8` | 105 | |
-| ACTUATOR_FUNCTION_MOTOR6 | `uint8` | 106 | |
-| ACTUATOR_FUNCTION_MOTOR7 | `uint8` | 107 | |
-| ACTUATOR_FUNCTION_MOTOR8 | `uint8` | 108 | |
-| ACTUATOR_FUNCTION_MOTOR9 | `uint8` | 109 | |
-| ACTUATOR_FUNCTION_MOTOR10 | `uint8` | 110 | |
-| ACTUATOR_FUNCTION_MOTOR11 | `uint8` | 111 | |
-| ACTUATOR_FUNCTION_MOTOR12 | `uint8` | 112 | |
-| FAILURE_OVER_CURRENT | `uint8` | 0 | (1 << 0) |
-| FAILURE_OVER_VOLTAGE | `uint8` | 1 | (1 << 1) |
-| FAILURE_MOTOR_OVER_TEMPERATURE | `uint8` | 2 | (1 << 2) |
-| FAILURE_OVER_RPM | `uint8` | 3 | (1 << 3) |
-| FAILURE_INCONSISTENT_CMD | `uint8` | 4 | (1 << 4) Set if ESC received an inconsistent command (i.e out of boundaries) |
-| FAILURE_MOTOR_STUCK | `uint8` | 5 | (1 << 5) |
-| FAILURE_GENERIC | `uint8` | 6 | (1 << 6) |
-| FAILURE_MOTOR_WARN_TEMPERATURE | `uint8` | 7 | (1 << 7) |
-| FAILURE_WARN_ESC_TEMPERATURE | `uint8` | 8 | (1 << 8) |
-| FAILURE_OVER_ESC_TEMPERATURE | `uint8` | 9 | (1 << 9) |
-| ESC_FAILURE_COUNT | `uint8` | 10 | Counter - keep it as last element! |
+| 参数名 | 类型 | 值 | 描述 |
+| ------------------------------------------------------------------------------------------------------------------------------------------ | ------- | --- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
+| ACTUATOR_FUNCTION_MOTOR1 | `uint8` | 101 | |
+| ACTUATOR_FUNCTION_MOTOR2 | `uint8` | 102 | |
+| ACTUATOR_FUNCTION_MOTOR3 | `uint8` | 103 | |
+| ACTUATOR_FUNCTION_MOTOR4 | `uint8` | 104 | |
+| ACTUATOR_FUNCTION_MOTOR5 | `uint8` | 105 | |
+| ACTUATOR_FUNCTION_MOTOR6 | `uint8` | 106 | |
+| ACTUATOR_FUNCTION_MOTOR7 | `uint8` | 107 | |
+| ACTUATOR_FUNCTION_MOTOR8 | `uint8` | 108 | |
+| ACTUATOR_FUNCTION_MOTOR9 | `uint8` | 109 | |
+| ACTUATOR_FUNCTION_MOTOR10 | `uint8` | 110 | |
+| ACTUATOR_FUNCTION_MOTOR11 | `uint8` | 111 | |
+| ACTUATOR_FUNCTION_MOTOR12 | `uint8` | 112 | |
+| FAILURE_OVER_CURRENT | `uint8` | 0 | (1 << 0) |
+| FAILURE_OVER_VOLTAGE | `uint8` | 1 | (1 << 1) |
+| FAILURE_MOTOR_OVER_TEMPERATURE | `uint8` | 2 | (1 << 2) |
+| FAILURE_OVER_RPM | `uint8` | 3 | (1 << 3) |
+| FAILURE_INCONSISTENT_CMD | `uint8` | 4 | (1 << 4) Set if ESC received an inconsistent command (i.e out of boundaries) |
+| FAILURE_MOTOR_STUCK | `uint8` | 5 | (1 << 5) |
+| FAILURE_GENERIC | `uint8` | 6 | (1 << 6) |
+| FAILURE_MOTOR_WARN_TEMPERATURE | `uint8` | 7 | (1 << 7) |
+| FAILURE_WARN_ESC_TEMPERATURE | `uint8` | 8 | (1 << 8) |
+| FAILURE_OVER_ESC_TEMPERATURE | `uint8` | 9 | (1 << 9) |
+| ESC_FAILURE_COUNT | `uint8` | 10 | Counter - keep it as last element! |
## Source Message
@@ -65,6 +66,7 @@ int32 esc_rpm # Motor RPM, negative for reverse rotation [RPM] - if support
float32 esc_voltage # Voltage measured from current ESC [V] - if supported
float32 esc_current # Current measured from current ESC [A] - if supported
float32 esc_temperature # Temperature measured from current ESC [degC] - if supported
+int16 motor_temperature # Temperature measured from current motor [degC] - if supported
uint8 esc_address # Address of current ESC (in most cases 1-8 / must be set by driver)
uint8 esc_cmdcount # Counter of number of commands
diff --git a/docs/zh/msg_docs/EscStatus.md b/docs/zh/msg_docs/EscStatus.md
index 96e7990067..3266500370 100644
--- a/docs/zh/msg_docs/EscStatus.md
+++ b/docs/zh/msg_docs/EscStatus.md
@@ -20,15 +20,15 @@ pageClass: is-wide-page
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| -------------------------------------------------------------------------------------------------------------------------------------- | ------- | - | ---------------------------------------------------------------------------------------------------- |
-| CONNECTED_ESC_MAX | `uint8` | 8 | The number of ESCs supported. Current (Q2/2013) we support 8 ESCs |
-| ESC_CONNECTION_TYPE_PPM | `uint8` | 0 | Traditional PPM ESC |
-| ESC_CONNECTION_TYPE_SERIAL | `uint8` | 1 | Serial Bus connected ESC |
-| ESC_CONNECTION_TYPE_ONESHOT | `uint8` | 2 | One Shot PPM |
-| ESC_CONNECTION_TYPE_I2C | `uint8` | 3 | I2C |
-| ESC_CONNECTION_TYPE_CAN | `uint8` | 4 | CAN-Bus |
-| ESC_CONNECTION_TYPE_DSHOT | `uint8` | 5 | DShot |
+| 参数名 | 类型 | 值 | 描述 |
+| ------------------------------------------------------------------------------------------------------------------------------------ | ------- | - | ---------------------------------------------------------------------------------------------------- |
+| CONNECTED_ESC_MAX | `uint8` | 8 | The number of ESCs supported. Current (Q2/2013) we support 8 ESCs |
+| ESC_CONNECTION_TYPE_PPM | `uint8` | 0 | Traditional PPM ESC |
+| ESC_CONNECTION_TYPE_SERIAL | `uint8` | 1 | Serial Bus connected ESC |
+| ESC_CONNECTION_TYPE_ONESHOT | `uint8` | 2 | One Shot PPM |
+| ESC_CONNECTION_TYPE_I2C | `uint8` | 3 | I2C |
+| ESC_CONNECTION_TYPE_CAN | `uint8` | 4 | CAN-Bus |
+| ESC_CONNECTION_TYPE_DSHOT | `uint8` | 5 | DShot |
## Source Message
diff --git a/docs/zh/msg_docs/EstimatorEventFlags.md b/docs/zh/msg_docs/EstimatorEventFlags.md
index 811b5ad12f..3315d4a685 100644
--- a/docs/zh/msg_docs/EstimatorEventFlags.md
+++ b/docs/zh/msg_docs/EstimatorEventFlags.md
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# EstimatorEventFlags (UORB message)
-**TOPICS:** estimator_eventflags
+**TOPICS:** estimator_event_flags
## Fields
diff --git a/docs/zh/msg_docs/EstimatorGpsStatus.md b/docs/zh/msg_docs/EstimatorGpsStatus.md
index 2d32b4aac5..6536ede60b 100644
--- a/docs/zh/msg_docs/EstimatorGpsStatus.md
+++ b/docs/zh/msg_docs/EstimatorGpsStatus.md
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# EstimatorGpsStatus (UORB message)
-**TOPICS:** estimator_gpsstatus
+**TOPICS:** estimator_gps_status
## Fields
diff --git a/docs/zh/msg_docs/EstimatorSelectorStatus.md b/docs/zh/msg_docs/EstimatorSelectorStatus.md
index 79e16d52f9..96bf464f63 100644
--- a/docs/zh/msg_docs/EstimatorSelectorStatus.md
+++ b/docs/zh/msg_docs/EstimatorSelectorStatus.md
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# EstimatorSelectorStatus (UORB message)
-**TOPICS:** estimator_selectorstatus
+**TOPICS:** estimator_selector_status
## Fields
diff --git a/docs/zh/msg_docs/EstimatorSensorBias.md b/docs/zh/msg_docs/EstimatorSensorBias.md
index 3f1da574de..ef63a2126b 100644
--- a/docs/zh/msg_docs/EstimatorSensorBias.md
+++ b/docs/zh/msg_docs/EstimatorSensorBias.md
@@ -6,7 +6,7 @@ pageClass: is-wide-page
Sensor readings and in-run biases in SI-unit form. Sensor readings are compensated for static offsets,. scale errors, in-run bias and thermal drift (if thermal compensation is enabled and available).
-**TOPICS:** estimator_sensorbias
+**TOPICS:** estimator_sensor_bias
## Fields
diff --git a/docs/zh/msg_docs/EstimatorStatus.md b/docs/zh/msg_docs/EstimatorStatus.md
index c6738a439d..5117e8e0b9 100644
--- a/docs/zh/msg_docs/EstimatorStatus.md
+++ b/docs/zh/msg_docs/EstimatorStatus.md
@@ -51,52 +51,52 @@ pageClass: is-wide-page
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | -- | ------------------------------------------------------------------------------------------------- |
-| GPS_CHECK_FAIL_GPS_FIX | `uint8` | 0 | 0 : insufficient fix type (no 3D solution) |
-| GPS_CHECK_FAIL_MIN_SAT_COUNT | `uint8` | 1 | 1 : minimum required sat count fail |
-| GPS_CHECK_FAIL_MAX_PDOP | `uint8` | 2 | 2 : maximum allowed PDOP fail |
-| GPS_CHECK_FAIL_MAX_HORZ_ERR | `uint8` | 3 | 3 : maximum allowed horizontal position error fail |
-| GPS_CHECK_FAIL_MAX_VERT_ERR | `uint8` | 4 | 4 : maximum allowed vertical position error fail |
-| GPS_CHECK_FAIL_MAX_SPD_ERR | `uint8` | 5 | 5 : maximum allowed speed error fail |
-| GPS_CHECK_FAIL_MAX_HORZ_DRIFT | `uint8` | 6 | 6 : maximum allowed horizontal position drift fail - requires stationary vehicle |
-| GPS_CHECK_FAIL_MAX_VERT_DRIFT | `uint8` | 7 | 7 : maximum allowed vertical position drift fail - requires stationary vehicle |
-| GPS_CHECK_FAIL_MAX_HORZ_SPD_ERR | `uint8` | 8 | 8 : maximum allowed horizontal speed fail - requires stationary vehicle |
-| GPS_CHECK_FAIL_MAX_VERT_SPD_ERR | `uint8` | 9 | 9 : maximum allowed vertical velocity discrepancy fail |
-| GPS_CHECK_FAIL_SPOOFED | `uint8` | 10 | 10 : GPS signal is spoofed |
-| GPS_CHECK_FAIL_JAMMED | `uint8` | 11 | 11 : GPS signal is jammed |
-| CS_TILT_ALIGN | `uint8` | 0 | 0 - true if the filter tilt alignment is complete |
-| CS_YAW_ALIGN | `uint8` | 1 | 1 - true if the filter yaw alignment is complete |
-| CS_GNSS_POS | `uint8` | 2 | 2 - true if GNSS position measurements are being fused |
-| CS_OPT_FLOW | `uint8` | 3 | 3 - true if optical flow measurements are being fused |
-| CS_MAG_HDG | `uint8` | 4 | 4 - true if a simple magnetic yaw heading is being fused |
-| CS_MAG_3D | `uint8` | 5 | 5 - true if 3-axis magnetometer measurement are being fused |
-| CS_MAG_DEC | `uint8` | 6 | 6 - true if synthetic magnetic declination measurements are being fused |
-| CS_IN_AIR | `uint8` | 7 | 7 - true when thought to be airborne |
-| CS_WIND | `uint8` | 8 | 8 - true when wind velocity is being estimated |
-| CS_BARO_HGT | `uint8` | 9 | 9 - true when baro data is being fused |
-| CS_RNG_HGT | `uint8` | 10 | 10 - true when range finder data is being fused for height aiding |
-| CS_GPS_HGT | `uint8` | 11 | 11 - true when GPS altitude is being fused |
-| CS_EV_POS | `uint8` | 12 | 12 - true when local position data from external vision is being fused |
-| CS_EV_YAW | `uint8` | 13 | 13 - true when yaw data from external vision measurements is being fused |
-| CS_EV_HGT | `uint8` | 14 | 14 - true when height data from external vision measurements is being fused |
-| CS_BETA | `uint8` | 15 | 15 - true when synthetic sideslip measurements are being fused |
-| CS_MAG_FIELD | `uint8` | 16 | 16 - true when only the magnetic field states are updated by the magnetometer |
-| CS_FIXED_WING | `uint8` | 17 | 17 - true when thought to be operating as a fixed wing vehicle with constrained sideslip |
-| CS_MAG_FAULT | `uint8` | 18 | 18 - true when the magnetometer has been declared faulty and is no longer being used |
-| CS_ASPD | `uint8` | 19 | 19 - true when airspeed measurements are being fused |
-| CS_GND_EFFECT | `uint8` | 20 | 20 - true when when protection from ground effect induced static pressure rise is active |
-| CS_RNG_STUCK | `uint8` | 21 | 21 - true when a stuck range finder sensor has been detected |
-| CS_GPS_YAW | `uint8` | 22 | 22 - true when yaw (not ground course) data from a GPS receiver is being fused |
-| CS_MAG_ALIGNED | `uint8` | 23 | 23 - true when the in-flight mag field alignment has been completed |
-| CS_EV_VEL | `uint8` | 24 | 24 - true when local frame velocity data fusion from external vision measurements is intended |
-| CS_SYNTHETIC_MAG_Z | `uint8` | 25 | 25 - true when we are using a synthesized measurement for the magnetometer Z component |
-| CS_VEHICLE_AT_REST | `uint8` | 26 | 26 - true when the vehicle is at rest |
-| CS_GPS_YAW_FAULT | `uint8` | 27 | 27 - true when the GNSS heading has been declared faulty and is no longer being used |
-| CS_RNG_FAULT | `uint8` | 28 | 28 - true when the range finder has been declared faulty and is no longer being used |
-| CS_GNSS_VEL | `uint8` | 44 | 44 - true if GNSS velocity measurement fusion is intended |
-| CS_GNSS_FAULT | `uint8` | 45 | 45 - true if GNSS measurements have been declared faulty and are no longer used |
-| CS_YAW_MANUAL | `uint8` | 46 | 46 - true if yaw has been set manually |
+| 参数名 | 类型 | 值 | 描述 |
+| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | -- | ------------------------------------------------------------------------------------------------- |
+| GPS_CHECK_FAIL_GPS_FIX | `uint8` | 0 | 0 : insufficient fix type (no 3D solution) |
+| GPS_CHECK_FAIL_MIN_SAT_COUNT | `uint8` | 1 | 1 : minimum required sat count fail |
+| GPS_CHECK_FAIL_MAX_PDOP | `uint8` | 2 | 2 : maximum allowed PDOP fail |
+| GPS_CHECK_FAIL_MAX_HORZ_ERR | `uint8` | 3 | 3 : maximum allowed horizontal position error fail |
+| GPS_CHECK_FAIL_MAX_VERT_ERR | `uint8` | 4 | 4 : maximum allowed vertical position error fail |
+| GPS_CHECK_FAIL_MAX_SPD_ERR | `uint8` | 5 | 5 : maximum allowed speed error fail |
+| GPS_CHECK_FAIL_MAX_HORZ_DRIFT | `uint8` | 6 | 6 : maximum allowed horizontal position drift fail - requires stationary vehicle |
+| GPS_CHECK_FAIL_MAX_VERT_DRIFT | `uint8` | 7 | 7 : maximum allowed vertical position drift fail - requires stationary vehicle |
+| GPS_CHECK_FAIL_MAX_HORZ_SPD_ERR | `uint8` | 8 | 8 : maximum allowed horizontal speed fail - requires stationary vehicle |
+| GPS_CHECK_FAIL_MAX_VERT_SPD_ERR | `uint8` | 9 | 9 : maximum allowed vertical velocity discrepancy fail |
+| GPS_CHECK_FAIL_SPOOFED | `uint8` | 10 | 10 : GPS signal is spoofed |
+| GPS_CHECK_FAIL_JAMMED | `uint8` | 11 | 11 : GPS signal is jammed |
+| CS_TILT_ALIGN | `uint8` | 0 | 0 - true if the filter tilt alignment is complete |
+| CS_YAW_ALIGN | `uint8` | 1 | 1 - true if the filter yaw alignment is complete |
+| CS_GNSS_POS | `uint8` | 2 | 2 - true if GNSS position measurements are being fused |
+| CS_OPT_FLOW | `uint8` | 3 | 3 - true if optical flow measurements are being fused |
+| CS_MAG_HDG | `uint8` | 4 | 4 - true if a simple magnetic yaw heading is being fused |
+| CS_MAG_3D | `uint8` | 5 | 5 - true if 3-axis magnetometer measurement are being fused |
+| CS_MAG_DEC | `uint8` | 6 | 6 - true if synthetic magnetic declination measurements are being fused |
+| CS_IN_AIR | `uint8` | 7 | 7 - true when thought to be airborne |
+| CS_WIND | `uint8` | 8 | 8 - true when wind velocity is being estimated |
+| CS_BARO_HGT | `uint8` | 9 | 9 - true when baro data is being fused |
+| CS_RNG_HGT | `uint8` | 10 | 10 - true when range finder data is being fused for height aiding |
+| CS_GPS_HGT | `uint8` | 11 | 11 - true when GPS altitude is being fused |
+| CS_EV_POS | `uint8` | 12 | 12 - true when local position data from external vision is being fused |
+| CS_EV_YAW | `uint8` | 13 | 13 - true when yaw data from external vision measurements is being fused |
+| CS_EV_HGT | `uint8` | 14 | 14 - true when height data from external vision measurements is being fused |
+| CS_BETA | `uint8` | 15 | 15 - true when synthetic sideslip measurements are being fused |
+| CS_MAG_FIELD | `uint8` | 16 | 16 - true when only the magnetic field states are updated by the magnetometer |
+| CS_FIXED_WING | `uint8` | 17 | 17 - true when thought to be operating as a fixed wing vehicle with constrained sideslip |
+| CS_MAG_FAULT | `uint8` | 18 | 18 - true when the magnetometer has been declared faulty and is no longer being used |
+| CS_ASPD | `uint8` | 19 | 19 - true when airspeed measurements are being fused |
+| CS_GND_EFFECT | `uint8` | 20 | 20 - true when when protection from ground effect induced static pressure rise is active |
+| CS_RNG_STUCK | `uint8` | 21 | 21 - true when a stuck range finder sensor has been detected |
+| CS_GPS_YAW | `uint8` | 22 | 22 - true when yaw (not ground course) data from a GPS receiver is being fused |
+| CS_MAG_ALIGNED | `uint8` | 23 | 23 - true when the in-flight mag field alignment has been completed |
+| CS_EV_VEL | `uint8` | 24 | 24 - true when local frame velocity data fusion from external vision measurements is intended |
+| CS_SYNTHETIC_MAG_Z | `uint8` | 25 | 25 - true when we are using a synthesized measurement for the magnetometer Z component |
+| CS_VEHICLE_AT_REST | `uint8` | 26 | 26 - true when the vehicle is at rest |
+| CS_GPS_YAW_FAULT | `uint8` | 27 | 27 - true when the GNSS heading has been declared faulty and is no longer being used |
+| CS_RNG_FAULT | `uint8` | 28 | 28 - true when the range finder has been declared faulty and is no longer being used |
+| CS_GNSS_VEL | `uint8` | 44 | 44 - true if GNSS velocity measurement fusion is intended |
+| CS_GNSS_FAULT | `uint8` | 45 | 45 - true if GNSS measurements have been declared faulty and are no longer used |
+| CS_YAW_MANUAL | `uint8` | 46 | 46 - true if yaw has been set manually |
## Source Message
diff --git a/docs/zh/msg_docs/EstimatorStatusFlags.md b/docs/zh/msg_docs/EstimatorStatusFlags.md
index 3b9e09d810..80a3e57a01 100644
--- a/docs/zh/msg_docs/EstimatorStatusFlags.md
+++ b/docs/zh/msg_docs/EstimatorStatusFlags.md
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# EstimatorStatusFlags (UORB message)
-**TOPICS:** estimator_statusflags
+**TOPICS:** estimator_status_flags
## Fields
diff --git a/docs/zh/msg_docs/Event.md b/docs/zh/msg_docs/Event.md
index d182533105..febef8bba0 100644
--- a/docs/zh/msg_docs/Event.md
+++ b/docs/zh/msg_docs/Event.md
@@ -20,10 +20,10 @@ Events interface.
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| ------------------------------------------------------------------------------------------- | -------- | -- | -- |
-| MESSAGE_VERSION | `uint32` | 1 | |
-| ORB_QUEUE_LENGTH | `uint8` | 16 | |
+| 参数名 | 类型 | 值 | 描述 |
+| ----------------------------------------------------------------------------------------- | -------- | -- | -- |
+| MESSAGE_VERSION | `uint32` | 1 | |
+| ORB_QUEUE_LENGTH | `uint8` | 16 | |
## Source Message
diff --git a/docs/zh/msg_docs/EventV0.md b/docs/zh/msg_docs/EventV0.md
index cf73c2970c..99ed0fa5ec 100644
--- a/docs/zh/msg_docs/EventV0.md
+++ b/docs/zh/msg_docs/EventV0.md
@@ -6,7 +6,7 @@ pageClass: is-wide-page
this message is required here in the msg_old folder because other msg are depending on it. Events interface.
-**TOPICS:** eventv0
+**TOPICS:** event_v0
## Fields
@@ -20,10 +20,10 @@ this message is required here in the msg_old folder because other msg are depend
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| ------------------------------------------------------------------------------------------- | -------- | -- | -- |
-| MESSAGE_VERSION | `uint32` | 0 | |
-| ORB_QUEUE_LENGTH | `uint8` | 16 | |
+| 参数名 | 类型 | 值 | 描述 |
+| ----------------------------------------------------------------------------------------- | -------- | -- | -- |
+| MESSAGE_VERSION | `uint32` | 0 | |
+| ORB_QUEUE_LENGTH | `uint8` | 16 | |
## Source Message
diff --git a/docs/zh/msg_docs/FailsafeFlags.md b/docs/zh/msg_docs/FailsafeFlags.md
index ad9ea06a4a..30daa676dc 100644
--- a/docs/zh/msg_docs/FailsafeFlags.md
+++ b/docs/zh/msg_docs/FailsafeFlags.md
@@ -46,6 +46,10 @@ The flag comments are used as label for the failsafe state machine simulation
| battery_warning | `uint8` | | | Battery warning level (see BatteryStatus.msg) |
| battery_low_remaining_time | `bool` | | | Low battery based on remaining flight time |
| battery_unhealthy | `bool` | | | Battery unhealthy |
+| fd_critical_failure | `bool` | | | Critical failure (attitude/altitude limit exceeded, or external ATS) |
+| fd_esc_arming_failure | `bool` | | | ESC failed to arm |
+| fd_imbalanced_prop | `bool` | | | Imbalanced propeller detected |
+| fd_motor_failure | `bool` | | | Motor failure |
| geofence_breached | `bool` | | | Geofence breached (one or multiple) |
| mission_failure | `bool` | | | Mission failure |
| vtol_fixed_wing_system_failure | `bool` | | | vehicle in fixed-wing system failure failsafe mode (after quad-chute) |
@@ -53,10 +57,7 @@ The flag comments are used as label for the failsafe state machine simulation
| flight_time_limit_exceeded | `bool` | | | Maximum flight time exceeded |
| position_accuracy_low | `bool` | | | Position estimate has dropped below threshold, but is currently still declared valid |
| navigator_failure | `bool` | | | Navigator failed to execute a mode |
-| fd_critical_failure | `bool` | | | Critical failure (attitude/altitude limit exceeded, or external ATS) |
-| fd_esc_arming_failure | `bool` | | | ESC failed to arm |
-| fd_imbalanced_prop | `bool` | | | Imbalanced propeller detected |
-| fd_motor_failure | `bool` | | | Motor failure |
+| parachute_unhealthy | `bool` | | | Parachute system missing or unhealthy |
## Source Message
@@ -112,6 +113,12 @@ uint8 battery_warning # Battery warning level (see BatteryStatus
bool battery_low_remaining_time # Low battery based on remaining flight time
bool battery_unhealthy # Battery unhealthy
+# Failure detector
+bool fd_critical_failure # Critical failure (attitude/altitude limit exceeded, or external ATS)
+bool fd_esc_arming_failure # ESC failed to arm
+bool fd_imbalanced_prop # Imbalanced propeller detected
+bool fd_motor_failure # Motor failure
+
# Other
bool geofence_breached # Geofence breached (one or multiple)
bool mission_failure # Mission failure
@@ -120,12 +127,7 @@ bool wind_limit_exceeded # Wind limit exceeded
bool flight_time_limit_exceeded # Maximum flight time exceeded
bool position_accuracy_low # Position estimate has dropped below threshold, but is currently still declared valid
bool navigator_failure # Navigator failed to execute a mode
-
-# Failure detector
-bool fd_critical_failure # Critical failure (attitude/altitude limit exceeded, or external ATS)
-bool fd_esc_arming_failure # ESC failed to arm
-bool fd_imbalanced_prop # Imbalanced propeller detected
-bool fd_motor_failure # Motor failure
+bool parachute_unhealthy # Parachute system missing or unhealthy
```
:::
diff --git a/docs/zh/msg_docs/FailureDetectorStatus.md b/docs/zh/msg_docs/FailureDetectorStatus.md
index d42b6a3995..072fb68eaf 100644
--- a/docs/zh/msg_docs/FailureDetectorStatus.md
+++ b/docs/zh/msg_docs/FailureDetectorStatus.md
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# FailureDetectorStatus (UORB message)
-**TOPICS:** failure_detectorstatus
+**TOPICS:** failure_detector_status
## Fields
diff --git a/docs/zh/msg_docs/FigureEightStatus.md b/docs/zh/msg_docs/FigureEightStatus.md
index aee9838ffb..c1e7c41cb4 100644
--- a/docs/zh/msg_docs/FigureEightStatus.md
+++ b/docs/zh/msg_docs/FigureEightStatus.md
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# FigureEightStatus (UORB message)
-**TOPICS:** figure_eightstatus
+**TOPICS:** figure_eight_status
## Fields
diff --git a/docs/zh/msg_docs/FixedWingLateralGuidanceStatus.md b/docs/zh/msg_docs/FixedWingLateralGuidanceStatus.md
index 926eff99da..0ff4639db0 100644
--- a/docs/zh/msg_docs/FixedWingLateralGuidanceStatus.md
+++ b/docs/zh/msg_docs/FixedWingLateralGuidanceStatus.md
@@ -6,7 +6,7 @@ pageClass: is-wide-page
Fixed Wing Lateral Guidance Status message. Published by fw_pos_control module to report the resultant lateral setpoints and NPFG debug outputs.
-**TOPICS:** fixed_winglateral_guidancestatus
+**TOPICS:** fixed_wing_lateral_guidance_status
## Fields
diff --git a/docs/zh/msg_docs/FixedWingLateralSetpoint.md b/docs/zh/msg_docs/FixedWingLateralSetpoint.md
index 0038fe46ca..8edd91bf05 100644
--- a/docs/zh/msg_docs/FixedWingLateralSetpoint.md
+++ b/docs/zh/msg_docs/FixedWingLateralSetpoint.md
@@ -4,24 +4,27 @@ pageClass: is-wide-page
# FixedWingLateralSetpoint (UORB message)
-Fixed Wing Lateral Setpoint message. Used by the fw_lateral_longitudinal_control module. At least one of course, airspeed_direction, or lateral_acceleration must be finite.
+Fixed Wing Lateral Setpoint message.
-**TOPICS:** fixed_winglateral_setpoint
+Used by the fw_lateral_longitudinal_control module
+At least one of course, airspeed_direction, or lateral_acceleration must be finite.
+
+**TOPICS:** fixed_wing_lateral_setpoint
## Fields
| 参数名 | 类型 | Unit [Frame] | Range/Enum | 描述 |
| ----------------------------------------- | --------- | ---------------------------------------------------------------- | ------------------------------------------------------------------------------ | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
-| timestamp | `uint64` | | | time since system start (microseconds) |
+| timestamp | `uint64` | us | | Time since system start |
| course | `float32` | rad | [-pi : pi] | Desired direction of travel over ground w.r.t (true) North. NAN if not controlled directly. |
| airspeed_direction | `float32` | rad | [-pi : pi] | Desired horizontal angle of airspeed vector w.r.t. (true) North. Same as vehicle heading if in the absence of sideslip. NAN if not controlled directly, takes precedence over course if finite. |
-| lateral_acceleration | `float32` | FRD | | Lateral acceleration setpoint. NAN if not controlled directly, used as feedforward if either course setpoint or airspeed_direction is finite. |
+| lateral_acceleration | `float32` | m/s^2 [FRD] | | Lateral acceleration setpoint. NAN if not controlled directly, used as feedforward if either course setpoint or airspeed_direction is finite. |
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| -------------------------------------------------------------------- | -------- | - | -- |
-| MESSAGE_VERSION | `uint32` | 0 | |
+| 参数名 | 类型 | 值 | 描述 |
+| ------------------------------------------------------------------ | -------- | - | -- |
+| MESSAGE_VERSION | `uint32` | 0 | |
## Source Message
@@ -32,16 +35,17 @@ Click here to see original file
```c
# Fixed Wing Lateral Setpoint message
+#
# Used by the fw_lateral_longitudinal_control module
# At least one of course, airspeed_direction, or lateral_acceleration must be finite.
uint32 MESSAGE_VERSION = 0
-uint64 timestamp # time since system start (microseconds)
+uint64 timestamp # [us] Time since system start
-float32 course # [rad] [@range -pi, pi] Desired direction of travel over ground w.r.t (true) North. NAN if not controlled directly.
-float32 airspeed_direction # [rad] [@range -pi, pi] Desired horizontal angle of airspeed vector w.r.t. (true) North. Same as vehicle heading if in the absence of sideslip. NAN if not controlled directly, takes precedence over course if finite.
-float32 lateral_acceleration # [m/s^2] [FRD] Lateral acceleration setpoint. NAN if not controlled directly, used as feedforward if either course setpoint or airspeed_direction is finite.
+float32 course # [rad] [@range -pi, pi] Desired direction of travel over ground w.r.t (true) North. NAN if not controlled directly.
+float32 airspeed_direction # [rad] [@range -pi, pi] Desired horizontal angle of airspeed vector w.r.t. (true) North. Same as vehicle heading if in the absence of sideslip. NAN if not controlled directly, takes precedence over course if finite.
+float32 lateral_acceleration # [m/s^2] [@frame FRD] Lateral acceleration setpoint. NAN if not controlled directly, used as feedforward if either course setpoint or airspeed_direction is finite.
```
:::
diff --git a/docs/zh/msg_docs/FixedWingLateralStatus.md b/docs/zh/msg_docs/FixedWingLateralStatus.md
index 33000ba018..004043b358 100644
--- a/docs/zh/msg_docs/FixedWingLateralStatus.md
+++ b/docs/zh/msg_docs/FixedWingLateralStatus.md
@@ -6,7 +6,7 @@ pageClass: is-wide-page
Fixed Wing Lateral Status message. Published by the fw_lateral_longitudinal_control module to report the resultant lateral setpoint.
-**TOPICS:** fixed_winglateral_status
+**TOPICS:** fixed_wing_lateral_status
## Fields
diff --git a/docs/zh/msg_docs/FixedWingLongitudinalSetpoint.md b/docs/zh/msg_docs/FixedWingLongitudinalSetpoint.md
index 8dac3b3999..f7cf15c2af 100644
--- a/docs/zh/msg_docs/FixedWingLongitudinalSetpoint.md
+++ b/docs/zh/msg_docs/FixedWingLongitudinalSetpoint.md
@@ -4,26 +4,30 @@ pageClass: is-wide-page
# FixedWingLongitudinalSetpoint (UORB message)
-Fixed Wing Longitudinal Setpoint message. Used by the fw_lateral_longitudinal_control module. If pitch_direct and throttle_direct are not both finite, then the controller relies on altitude/height_rate and equivalent_airspeed to control vertical motion. If both altitude and height_rate are NAN, the controller maintains the current altitude.
+Fixed Wing Longitudinal Setpoint message.
-**TOPICS:** fixed_winglongitudinal_setpoint
+Used by the fw_lateral_longitudinal_control module
+If pitch_direct and throttle_direct are not both finite, then the controller relies on altitude/height_rate and equivalent_airspeed to control vertical motion.
+If both altitude and height_rate are NAN, the controller maintains the current altitude.
+
+**TOPICS:** fixed_wing_longitudinal_setpoint
## Fields
| 参数名 | 类型 | Unit [Frame] | Range/Enum | 描述 |
| ---------------------------------------- | --------- | ---------------------------------------------------------------- | ------------------------------------------------------------------------------ | ------------------------------------------------------------------------------------------------------- |
-| timestamp | `uint64` | | | time since system start (microseconds) |
+| timestamp | `uint64` | us | | Time since system start |
| altitude | `float32` | 米 | | Altitude setpoint AMSL, not controlled directly if NAN or if height_rate is finite |
-| height_rate | `float32` | ENU | | Scalar height rate setpoint. NAN if not controlled directly |
+| height_rate | `float32` | m/s [ENU] | | Scalar height rate setpoint. NAN if not controlled directly |
| equivalent_airspeed | `float32` | 米/秒 | [0 : inf] | Scalar equivalent airspeed setpoint. NAN if system default should be used |
-| pitch_direct | `float32` | FRD | [-pi : pi] | NAN if not controlled, overrides total energy controller |
+| pitch_direct | `float32` | rad [FRD] | [-pi : pi] | NAN if not controlled, overrides total energy controller |
| throttle_direct | `float32` | norm | [0 : 1] | NAN if not controlled, overrides total energy controller |
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| -------------------------------------------------------------------- | -------- | - | -- |
-| MESSAGE_VERSION | `uint32` | 0 | |
+| 参数名 | 类型 | 值 | 描述 |
+| ------------------------------------------------------------------ | -------- | - | -- |
+| MESSAGE_VERSION | `uint32` | 0 | |
## Source Message
@@ -34,19 +38,20 @@ Click here to see original file
```c
# Fixed Wing Longitudinal Setpoint message
+#
# Used by the fw_lateral_longitudinal_control module
# If pitch_direct and throttle_direct are not both finite, then the controller relies on altitude/height_rate and equivalent_airspeed to control vertical motion.
# If both altitude and height_rate are NAN, the controller maintains the current altitude.
uint32 MESSAGE_VERSION = 0
-uint64 timestamp # time since system start (microseconds)
+uint64 timestamp # [us] Time since system start
-float32 altitude # [m] Altitude setpoint AMSL, not controlled directly if NAN or if height_rate is finite
-float32 height_rate # [m/s] [ENU] Scalar height rate setpoint. NAN if not controlled directly
-float32 equivalent_airspeed # [m/s] [@range 0, inf] Scalar equivalent airspeed setpoint. NAN if system default should be used
-float32 pitch_direct # [rad] [@range -pi, pi] [FRD] NAN if not controlled, overrides total energy controller
-float32 throttle_direct # [norm] [@range 0,1] NAN if not controlled, overrides total energy controller
+float32 altitude # [m] Altitude setpoint AMSL, not controlled directly if NAN or if height_rate is finite
+float32 height_rate # [m/s] [@frame ENU] Scalar height rate setpoint. NAN if not controlled directly
+float32 equivalent_airspeed # [m/s] [@range 0, inf] Scalar equivalent airspeed setpoint. NAN if system default should be used
+float32 pitch_direct # [rad] [@range -pi, pi] [@frame FRD] NAN if not controlled, overrides total energy controller
+float32 throttle_direct # [norm] [@range 0,1] NAN if not controlled, overrides total energy controller
```
:::
diff --git a/docs/zh/msg_docs/FixedWingRunwayControl.md b/docs/zh/msg_docs/FixedWingRunwayControl.md
index 3683f8c9e3..ed6bc7cd40 100644
--- a/docs/zh/msg_docs/FixedWingRunwayControl.md
+++ b/docs/zh/msg_docs/FixedWingRunwayControl.md
@@ -6,7 +6,7 @@ pageClass: is-wide-page
Auxiliary control fields for fixed-wing runway takeoff/landing.
-**TOPICS:** fixed_wingrunway_control
+**TOPICS:** fixed_wing_runway_control
## Fields
@@ -19,12 +19,12 @@ Auxiliary control fields for fixed-wing runway takeoff/landing.
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| ------------------------------------------------------------------------------------------------------------------------------ | ------- | - | -------------------------------------------------------------------------------- |
-| STATE_THROTTLE_RAMP | `uint8` | 0 | ramping up throttle |
-| STATE_CLAMPED_TO_RUNWAY | `uint8` | 1 | clamped to runway, controlling yaw directly (wheel or rudder) |
-| STATE_CLIMBOUT | `uint8` | 2 | climbout to safe height before navigation |
-| STATE_FLYING | `uint8` | 3 | navigate freely |
+| 参数名 | 类型 | 值 | 描述 |
+| ---------------------------------------------------------------------------------------------------------------------------- | ------- | - | -------------------------------------------------------------------------------- |
+| STATE_THROTTLE_RAMP | `uint8` | 0 | ramping up throttle |
+| STATE_CLAMPED_TO_RUNWAY | `uint8` | 1 | clamped to runway, controlling yaw directly (wheel or rudder) |
+| STATE_CLIMBOUT | `uint8` | 2 | climbout to safe height before navigation |
+| STATE_FLYING | `uint8` | 3 | navigate freely |
## Source Message
diff --git a/docs/zh/msg_docs/FlightPhaseEstimation.md b/docs/zh/msg_docs/FlightPhaseEstimation.md
index 0bfeae8a21..c4fce53e0b 100644
--- a/docs/zh/msg_docs/FlightPhaseEstimation.md
+++ b/docs/zh/msg_docs/FlightPhaseEstimation.md
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# FlightPhaseEstimation (UORB message)
-**TOPICS:** flight_phaseestimation
+**TOPICS:** flight_phase_estimation
## Fields
@@ -15,12 +15,12 @@ pageClass: is-wide-page
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| --------------------------------------------------------------------------------------------------- | ------- | - | ------------------------------- |
-| FLIGHT_PHASE_UNKNOWN | `uint8` | 0 | vehicle flight phase is unknown |
-| FLIGHT_PHASE_LEVEL | `uint8` | 1 | Vehicle is in level flight |
-| FLIGHT_PHASE_DESCEND | `uint8` | 2 | vehicle is in descend |
-| FLIGHT_PHASE_CLIMB | `uint8` | 3 | vehicle is climbing |
+| 参数名 | 类型 | 值 | 描述 |
+| ------------------------------------------------------------------------------------------------- | ------- | - | ------------------------------- |
+| FLIGHT_PHASE_UNKNOWN | `uint8` | 0 | vehicle flight phase is unknown |
+| FLIGHT_PHASE_LEVEL | `uint8` | 1 | Vehicle is in level flight |
+| FLIGHT_PHASE_DESCEND | `uint8` | 2 | vehicle is in descend |
+| FLIGHT_PHASE_CLIMB | `uint8` | 3 | vehicle is climbing |
## Source Message
diff --git a/docs/zh/msg_docs/FollowTargetEstimator.md b/docs/zh/msg_docs/FollowTargetEstimator.md
index d947750054..921befded8 100644
--- a/docs/zh/msg_docs/FollowTargetEstimator.md
+++ b/docs/zh/msg_docs/FollowTargetEstimator.md
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# FollowTargetEstimator (UORB message)
-**TOPICS:** follow_targetestimator
+**TOPICS:** follow_target_estimator
## Fields
diff --git a/docs/zh/msg_docs/FollowTargetStatus.md b/docs/zh/msg_docs/FollowTargetStatus.md
index 36d2582e12..3f58309e9b 100644
--- a/docs/zh/msg_docs/FollowTargetStatus.md
+++ b/docs/zh/msg_docs/FollowTargetStatus.md
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# FollowTargetStatus (UORB message)
-**TOPICS:** follow_targetstatus
+**TOPICS:** follow_target_status
## Fields
diff --git a/docs/zh/msg_docs/FuelTankStatus.md b/docs/zh/msg_docs/FuelTankStatus.md
index ea20b673ae..076f6e69d5 100644
--- a/docs/zh/msg_docs/FuelTankStatus.md
+++ b/docs/zh/msg_docs/FuelTankStatus.md
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# FuelTankStatus (UORB message)
-**TOPICS:** fuel_tankstatus
+**TOPICS:** fuel_tank_status
## Fields
@@ -22,11 +22,11 @@ pageClass: is-wide-page
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| -------------------------------------------------------------------------------------------------------------------------- | ------- | - | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
-| MAV_FUEL_TYPE_UNKNOWN | `uint8` | 0 | fuel type not specified. Fuel levels are normalized (i.e., maximum is 1, and other levels are relative to 1). |
-| MAV_FUEL_TYPE_LIQUID | `uint8` | 1 | represents generic liquid fuels, such as gasoline or diesel. Fuel levels are measured in millilitres (ml), and flow rates in millilitres per second (ml/s). |
-| MAV_FUEL_TYPE_GAS | `uint8` | 2 | represents a gas fuel, such as hydrogen, methane, or propane. Fuel levels are in kilo-Pascal (kPa), and flow rates are in milliliters per second (ml/s). |
+| 参数名 | 类型 | 值 | 描述 |
+| ------------------------------------------------------------------------------------------------------------------------ | ------- | - | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| MAV_FUEL_TYPE_UNKNOWN | `uint8` | 0 | fuel type not specified. Fuel levels are normalized (i.e., maximum is 1, and other levels are relative to 1). |
+| MAV_FUEL_TYPE_LIQUID | `uint8` | 1 | represents generic liquid fuels, such as gasoline or diesel. Fuel levels are measured in millilitres (ml), and flow rates in millilitres per second (ml/s). |
+| MAV_FUEL_TYPE_GAS | `uint8` | 2 | represents a gas fuel, such as hydrogen, methane, or propane. Fuel levels are in kilo-Pascal (kPa), and flow rates are in milliliters per second (ml/s). |
## Source Message
diff --git a/docs/zh/msg_docs/GeneratorStatus.md b/docs/zh/msg_docs/GeneratorStatus.md
index b3d8c36b28..b3d94d494d 100644
--- a/docs/zh/msg_docs/GeneratorStatus.md
+++ b/docs/zh/msg_docs/GeneratorStatus.md
@@ -25,31 +25,31 @@ pageClass: is-wide-page
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | -------- | ------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
-| STATUS_FLAG_OFF | `uint64` | 1 | Generator is off. |
-| STATUS_FLAG_READY | `uint64` | 2 | Generator is ready to start generating power. |
-| STATUS_FLAG_GENERATING | `uint64` | 4 | Generator is generating power. |
-| STATUS_FLAG_CHARGING | `uint64` | 8 | Generator is charging the batteries (generating enough power to charge and provide the load). |
-| STATUS_FLAG_REDUCED_POWER | `uint64` | 16 | Generator is operating at a reduced maximum power. |
-| STATUS_FLAG_MAXPOWER | `uint64` | 32 | Generator is providing the maximum output. |
-| STATUS_FLAG_OVERTEMP_WARNING | `uint64` | 64 | Generator is near the maximum operating temperature, cooling is insufficient. |
-| STATUS_FLAG_OVERTEMP_FAULT | `uint64` | 128 | Generator hit the maximum operating temperature and shutdown. |
-| STATUS_FLAG_ELECTRONICS_OVERTEMP_WARNING | `uint64` | 256 | Power electronics are near the maximum operating temperature, cooling is insufficient. |
-| STATUS_FLAG_ELECTRONICS_OVERTEMP_FAULT | `uint64` | 512 | Power electronics hit the maximum operating temperature and shutdown. |
-| STATUS_FLAG_ELECTRONICS_FAULT | `uint64` | 1024 | Power electronics experienced a fault and shutdown. |
-| STATUS_FLAG_POWERSOURCE_FAULT | `uint64` | 2048 | The power source supplying the generator failed e.g. mechanical generator stopped, tether is no longer providing power, solar cell is in shade, hydrogen reaction no longer happening. |
-| STATUS_FLAG_COMMUNICATION_WARNING | `uint64` | 4096 | Generator controller having communication problems. |
-| STATUS_FLAG_COOLING_WARNING | `uint64` | 8192 | Power electronic or generator cooling system error. |
-| STATUS_FLAG_POWER_RAIL_FAULT | `uint64` | 16384 | Generator controller power rail experienced a fault. |
-| STATUS_FLAG_OVERCURRENT_FAULT | `uint64` | 32768 | Generator controller exceeded the overcurrent threshold and shutdown to prevent damage. |
-| STATUS_FLAG_BATTERY_OVERCHARGE_CURRENT_FAULT | `uint64` | 65536 | Generator controller detected a high current going into the batteries and shutdown to prevent battery damage. |
-| STATUS_FLAG_OVERVOLTAGE_FAULT | `uint64` | 131072 | Generator controller exceeded it's overvoltage threshold and shutdown to prevent it exceeding the voltage rating. |
-| STATUS_FLAG_BATTERY_UNDERVOLT_FAULT | `uint64` | 262144 | Batteries are under voltage (generator will not start). |
-| STATUS_FLAG_START_INHIBITED | `uint64` | 524288 | Generator start is inhibited by e.g. a safety switch. |
-| STATUS_FLAG_MAINTENANCE_REQUIRED | `uint64` | 1048576 | Generator requires maintenance. |
-| STATUS_FLAG_WARMING_UP | `uint64` | 2097152 | Generator is not ready to generate yet. |
-| STATUS_FLAG_IDLE | `uint64` | 4194304 | Generator is idle. |
+| 参数名 | 类型 | 值 | 描述 |
+| ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | ------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| STATUS_FLAG_OFF | `uint64` | 1 | Generator is off. |
+| STATUS_FLAG_READY | `uint64` | 2 | Generator is ready to start generating power. |
+| STATUS_FLAG_GENERATING | `uint64` | 4 | Generator is generating power. |
+| STATUS_FLAG_CHARGING | `uint64` | 8 | Generator is charging the batteries (generating enough power to charge and provide the load). |
+| STATUS_FLAG_REDUCED_POWER | `uint64` | 16 | Generator is operating at a reduced maximum power. |
+| STATUS_FLAG_MAXPOWER | `uint64` | 32 | Generator is providing the maximum output. |
+| STATUS_FLAG_OVERTEMP_WARNING | `uint64` | 64 | Generator is near the maximum operating temperature, cooling is insufficient. |
+| STATUS_FLAG_OVERTEMP_FAULT | `uint64` | 128 | Generator hit the maximum operating temperature and shutdown. |
+| STATUS_FLAG_ELECTRONICS_OVERTEMP_WARNING | `uint64` | 256 | Power electronics are near the maximum operating temperature, cooling is insufficient. |
+| STATUS_FLAG_ELECTRONICS_OVERTEMP_FAULT | `uint64` | 512 | Power electronics hit the maximum operating temperature and shutdown. |
+| STATUS_FLAG_ELECTRONICS_FAULT | `uint64` | 1024 | Power electronics experienced a fault and shutdown. |
+| STATUS_FLAG_POWERSOURCE_FAULT | `uint64` | 2048 | The power source supplying the generator failed e.g. mechanical generator stopped, tether is no longer providing power, solar cell is in shade, hydrogen reaction no longer happening. |
+| STATUS_FLAG_COMMUNICATION_WARNING | `uint64` | 4096 | Generator controller having communication problems. |
+| STATUS_FLAG_COOLING_WARNING | `uint64` | 8192 | Power electronic or generator cooling system error. |
+| STATUS_FLAG_POWER_RAIL_FAULT | `uint64` | 16384 | Generator controller power rail experienced a fault. |
+| STATUS_FLAG_OVERCURRENT_FAULT | `uint64` | 32768 | Generator controller exceeded the overcurrent threshold and shutdown to prevent damage. |
+| STATUS_FLAG_BATTERY_OVERCHARGE_CURRENT_FAULT | `uint64` | 65536 | Generator controller detected a high current going into the batteries and shutdown to prevent battery damage. |
+| STATUS_FLAG_OVERVOLTAGE_FAULT | `uint64` | 131072 | Generator controller exceeded it's overvoltage threshold and shutdown to prevent it exceeding the voltage rating. |
+| STATUS_FLAG_BATTERY_UNDERVOLT_FAULT | `uint64` | 262144 | Batteries are under voltage (generator will not start). |
+| STATUS_FLAG_START_INHIBITED | `uint64` | 524288 | Generator start is inhibited by e.g. a safety switch. |
+| STATUS_FLAG_MAINTENANCE_REQUIRED | `uint64` | 1048576 | Generator requires maintenance. |
+| STATUS_FLAG_WARMING_UP | `uint64` | 2097152 | Generator is not ready to generate yet. |
+| STATUS_FLAG_IDLE | `uint64` | 4194304 | Generator is idle. |
## Source Message
diff --git a/docs/zh/msg_docs/GeofenceResult.md b/docs/zh/msg_docs/GeofenceResult.md
index a6d347f2fe..669cf0cded 100644
--- a/docs/zh/msg_docs/GeofenceResult.md
+++ b/docs/zh/msg_docs/GeofenceResult.md
@@ -18,14 +18,14 @@ pageClass: is-wide-page
## Constants
-\| Name | Type | Value | Description |
-\| ------------------------------------------------------- | ------- | ----- | ------------------------------- | ------ |
-\| GF_ACTION_NONE | `uint8` | 0 | no action on geofence violation |
-\| GF_ACTION_WARN | `uint8` | 1 | critical mavlink message |
-\| GF_ACTION_LOITER | `uint8` | 2 | switch to AUTO | LOITER |
-\| GF_ACTION_RTL | `uint8` | 3 | switch to AUTO | RTL |
-\| GF_ACTION_TERMINATE | `uint8` | 4 | flight termination |
-\| GF_ACTION_LAND | `uint8` | 5 | switch to AUTO | LAND |
+\| Name | Type | Value | Description |
+\| ----------------------------------------------------- | ------- | ----- | ------------------------------- | ------ |
+\| GF_ACTION_NONE | `uint8` | 0 | no action on geofence violation |
+\| GF_ACTION_WARN | `uint8` | 1 | critical mavlink message |
+\| GF_ACTION_LOITER | `uint8` | 2 | switch to AUTO | LOITER |
+\| GF_ACTION_RTL | `uint8` | 3 | switch to AUTO | RTL |
+\| GF_ACTION_TERMINATE | `uint8` | 4 | flight termination |
+\| GF_ACTION_LAND | `uint8` | 5 | switch to AUTO | LAND |
## Source Message
diff --git a/docs/zh/msg_docs/GeofenceStatus.md b/docs/zh/msg_docs/GeofenceStatus.md
index 329e9dfa45..2c273b8b48 100644
--- a/docs/zh/msg_docs/GeofenceStatus.md
+++ b/docs/zh/msg_docs/GeofenceStatus.md
@@ -16,10 +16,10 @@ pageClass: is-wide-page
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| --------------------------------------------------------------------------------------------- | ------- | - | -- |
-| GF_STATUS_LOADING | `uint8` | 0 | |
-| GF_STATUS_READY | `uint8` | 1 | |
+| 参数名 | 类型 | 值 | 描述 |
+| ------------------------------------------------------------------------------------------- | ------- | - | -- |
+| GF_STATUS_LOADING | `uint8` | 0 | |
+| GF_STATUS_READY | `uint8` | 1 | |
## Source Message
diff --git a/docs/zh/msg_docs/GimbalControls.md b/docs/zh/msg_docs/GimbalControls.md
index 84276b477d..992d8cc177 100644
--- a/docs/zh/msg_docs/GimbalControls.md
+++ b/docs/zh/msg_docs/GimbalControls.md
@@ -16,11 +16,11 @@ pageClass: is-wide-page
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| ------------------------------------------------------------ | ------- | - | -- |
-| INDEX_ROLL | `uint8` | 0 | |
-| INDEX_PITCH | `uint8` | 1 | |
-| INDEX_YAW | `uint8` | 2 | |
+| 参数名 | 类型 | 值 | 描述 |
+| ---------------------------------------------------------- | ------- | - | -- |
+| INDEX_ROLL | `uint8` | 0 | |
+| INDEX_PITCH | `uint8` | 1 | |
+| INDEX_YAW | `uint8` | 2 | |
## Source Message
diff --git a/docs/zh/msg_docs/GimbalDeviceAttitudeStatus.md b/docs/zh/msg_docs/GimbalDeviceAttitudeStatus.md
index 37ecb4d5af..04add702fd 100644
--- a/docs/zh/msg_docs/GimbalDeviceAttitudeStatus.md
+++ b/docs/zh/msg_docs/GimbalDeviceAttitudeStatus.md
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# GimbalDeviceAttitudeStatus (UORB message)
-**TOPICS:** gimbal_deviceattitude_status
+**TOPICS:** gimbal_device_attitude_status
## Fields
@@ -26,15 +26,15 @@ pageClass: is-wide-page
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | -- | -- |
-| DEVICE_FLAGS_RETRACT | `uint16` | 1 | |
-| DEVICE_FLAGS_NEUTRAL | `uint16` | 2 | |
-| DEVICE_FLAGS_ROLL_LOCK | `uint16` | 4 | |
-| DEVICE_FLAGS_PITCH_LOCK | `uint16` | 8 | |
-| DEVICE_FLAGS_YAW_LOCK | `uint16` | 16 | |
-| DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME | `uint16` | 32 | |
-| DEVICE_FLAGS_YAW_IN_EARTH_FRAME | `uint16` | 64 | |
+| 参数名 | 类型 | 值 | 描述 |
+| ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | -------- | -- | -- |
+| DEVICE_FLAGS_RETRACT | `uint16` | 1 | |
+| DEVICE_FLAGS_NEUTRAL | `uint16` | 2 | |
+| DEVICE_FLAGS_ROLL_LOCK | `uint16` | 4 | |
+| DEVICE_FLAGS_PITCH_LOCK | `uint16` | 8 | |
+| DEVICE_FLAGS_YAW_LOCK | `uint16` | 16 | |
+| DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME | `uint16` | 32 | |
+| DEVICE_FLAGS_YAW_IN_EARTH_FRAME | `uint16` | 64 | |
## Source Message
diff --git a/docs/zh/msg_docs/GimbalDeviceInformation.md b/docs/zh/msg_docs/GimbalDeviceInformation.md
index 8c9f50c5b9..cecf260aa2 100644
--- a/docs/zh/msg_docs/GimbalDeviceInformation.md
+++ b/docs/zh/msg_docs/GimbalDeviceInformation.md
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# GimbalDeviceInformation (UORB message)
-**TOPICS:** gimbal_deviceinformation
+**TOPICS:** gimbal_device_information
## Fields
@@ -29,20 +29,20 @@ pageClass: is-wide-page
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | ---- | -- |
-| GIMBAL_DEVICE_CAP_FLAGS_HAS_RETRACT | `uint32` | 1 | |
-| GIMBAL_DEVICE_CAP_FLAGS_HAS_NEUTRAL | `uint32` | 2 | |
-| GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_AXIS | `uint32` | 4 | |
-| GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_FOLLOW | `uint32` | 8 | |
-| GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_LOCK | `uint32` | 16 | |
-| GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_AXIS | `uint32` | 32 | |
-| GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_FOLLOW | `uint32` | 64 | |
-| GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_LOCK | `uint32` | 128 | |
-| GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_AXIS | `uint32` | 256 | |
-| GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_FOLLOW | `uint32` | 512 | |
-| GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_LOCK | `uint32` | 1024 | |
-| GIMBAL_DEVICE_CAP_FLAGS_SUPPORTS_INFINITE_YAW | `uint32` | 2048 | |
+| 参数名 | 类型 | 值 | 描述 |
+| --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | ---- | -- |
+| GIMBAL_DEVICE_CAP_FLAGS_HAS_RETRACT | `uint32` | 1 | |
+| GIMBAL_DEVICE_CAP_FLAGS_HAS_NEUTRAL | `uint32` | 2 | |
+| GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_AXIS | `uint32` | 4 | |
+| GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_FOLLOW | `uint32` | 8 | |
+| GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_LOCK | `uint32` | 16 | |
+| GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_AXIS | `uint32` | 32 | |
+| GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_FOLLOW | `uint32` | 64 | |
+| GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_LOCK | `uint32` | 128 | |
+| GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_AXIS | `uint32` | 256 | |
+| GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_FOLLOW | `uint32` | 512 | |
+| GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_LOCK | `uint32` | 1024 | |
+| GIMBAL_DEVICE_CAP_FLAGS_SUPPORTS_INFINITE_YAW | `uint32` | 2048 | |
## Source Message
diff --git a/docs/zh/msg_docs/GimbalDeviceSetAttitude.md b/docs/zh/msg_docs/GimbalDeviceSetAttitude.md
index decc960730..da80702ee8 100644
--- a/docs/zh/msg_docs/GimbalDeviceSetAttitude.md
+++ b/docs/zh/msg_docs/GimbalDeviceSetAttitude.md
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# GimbalDeviceSetAttitude (UORB message)
-**TOPICS:** gimbal_deviceset_attitude
+**TOPICS:** gimbal_device_set_attitude
## Fields
@@ -21,13 +21,13 @@ pageClass: is-wide-page
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| ----------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | -- | -- |
-| GIMBAL_DEVICE_FLAGS_RETRACT | `uint32` | 1 | |
-| GIMBAL_DEVICE_FLAGS_NEUTRAL | `uint32` | 2 | |
-| GIMBAL_DEVICE_FLAGS_ROLL_LOCK | `uint32` | 4 | |
-| GIMBAL_DEVICE_FLAGS_PITCH_LOCK | `uint32` | 8 | |
-| GIMBAL_DEVICE_FLAGS_YAW_LOCK | `uint32` | 16 | |
+| 参数名 | 类型 | 值 | 描述 |
+| --------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | -- | -- |
+| GIMBAL_DEVICE_FLAGS_RETRACT | `uint32` | 1 | |
+| GIMBAL_DEVICE_FLAGS_NEUTRAL | `uint32` | 2 | |
+| GIMBAL_DEVICE_FLAGS_ROLL_LOCK | `uint32` | 4 | |
+| GIMBAL_DEVICE_FLAGS_PITCH_LOCK | `uint32` | 8 | |
+| GIMBAL_DEVICE_FLAGS_YAW_LOCK | `uint32` | 16 | |
## Source Message
diff --git a/docs/zh/msg_docs/GimbalManagerInformation.md b/docs/zh/msg_docs/GimbalManagerInformation.md
index b1dc7492c1..317fbd4278 100644
--- a/docs/zh/msg_docs/GimbalManagerInformation.md
+++ b/docs/zh/msg_docs/GimbalManagerInformation.md
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# GimbalManagerInformation (UORB message)
-**TOPICS:** gimbal_managerinformation
+**TOPICS:** gimbal_manager_information
## Fields
@@ -22,22 +22,22 @@ pageClass: is-wide-page
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | -------- | ------ | -- |
-| GIMBAL_MANAGER_CAP_FLAGS_HAS_RETRACT | `uint32` | 1 | |
-| GIMBAL_MANAGER_CAP_FLAGS_HAS_NEUTRAL | `uint32` | 2 | |
-| GIMBAL_MANAGER_CAP_FLAGS_HAS_ROLL_AXIS | `uint32` | 4 | |
-| GIMBAL_MANAGER_CAP_FLAGS_HAS_ROLL_FOLLOW | `uint32` | 8 | |
-| GIMBAL_MANAGER_CAP_FLAGS_HAS_ROLL_LOCK | `uint32` | 16 | |
-| GIMBAL_MANAGER_CAP_FLAGS_HAS_PITCH_AXIS | `uint32` | 32 | |
-| GIMBAL_MANAGER_CAP_FLAGS_HAS_PITCH_FOLLOW | `uint32` | 64 | |
-| GIMBAL_MANAGER_CAP_FLAGS_HAS_PITCH_LOCK | `uint32` | 128 | |
-| GIMBAL_MANAGER_CAP_FLAGS_HAS_YAW_AXIS | `uint32` | 256 | |
-| GIMBAL_MANAGER_CAP_FLAGS_HAS_YAW_FOLLOW | `uint32` | 512 | |
-| GIMBAL_MANAGER_CAP_FLAGS_HAS_YAW_LOCK | `uint32` | 1024 | |
-| GIMBAL_MANAGER_CAP_FLAGS_SUPPORTS_INFINITE_YAW | `uint32` | 2048 | |
-| GIMBAL_MANAGER_CAP_FLAGS_CAN_POINT_LOCATION_LOCAL | `uint32` | 65536 | |
-| GIMBAL_MANAGER_CAP_FLAGS_CAN_POINT_LOCATION_GLOBAL | `uint32` | 131072 | |
+| 参数名 | 类型 | 值 | 描述 |
+| ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | ------ | -- |
+| GIMBAL_MANAGER_CAP_FLAGS_HAS_RETRACT | `uint32` | 1 | |
+| GIMBAL_MANAGER_CAP_FLAGS_HAS_NEUTRAL | `uint32` | 2 | |
+| GIMBAL_MANAGER_CAP_FLAGS_HAS_ROLL_AXIS | `uint32` | 4 | |
+| GIMBAL_MANAGER_CAP_FLAGS_HAS_ROLL_FOLLOW | `uint32` | 8 | |
+| GIMBAL_MANAGER_CAP_FLAGS_HAS_ROLL_LOCK | `uint32` | 16 | |
+| GIMBAL_MANAGER_CAP_FLAGS_HAS_PITCH_AXIS | `uint32` | 32 | |
+| GIMBAL_MANAGER_CAP_FLAGS_HAS_PITCH_FOLLOW | `uint32` | 64 | |
+| GIMBAL_MANAGER_CAP_FLAGS_HAS_PITCH_LOCK | `uint32` | 128 | |
+| GIMBAL_MANAGER_CAP_FLAGS_HAS_YAW_AXIS | `uint32` | 256 | |
+| GIMBAL_MANAGER_CAP_FLAGS_HAS_YAW_FOLLOW | `uint32` | 512 | |
+| GIMBAL_MANAGER_CAP_FLAGS_HAS_YAW_LOCK | `uint32` | 1024 | |
+| GIMBAL_MANAGER_CAP_FLAGS_SUPPORTS_INFINITE_YAW | `uint32` | 2048 | |
+| GIMBAL_MANAGER_CAP_FLAGS_CAN_POINT_LOCATION_LOCAL | `uint32` | 65536 | |
+| GIMBAL_MANAGER_CAP_FLAGS_CAN_POINT_LOCATION_GLOBAL | `uint32` | 131072 | |
## Source Message
diff --git a/docs/zh/msg_docs/GimbalManagerSetAttitude.md b/docs/zh/msg_docs/GimbalManagerSetAttitude.md
index 561fefb37c..7d5955db39 100644
--- a/docs/zh/msg_docs/GimbalManagerSetAttitude.md
+++ b/docs/zh/msg_docs/GimbalManagerSetAttitude.md
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# GimbalManagerSetAttitude (UORB message)
-**TOPICS:** gimbal_managerset_attitude
+**TOPICS:** gimbal_manager_set_attitude
## Fields
@@ -24,14 +24,14 @@ pageClass: is-wide-page
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| ------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | -- | -- |
-| GIMBAL_MANAGER_FLAGS_RETRACT | `uint32` | 1 | |
-| GIMBAL_MANAGER_FLAGS_NEUTRAL | `uint32` | 2 | |
-| GIMBAL_MANAGER_FLAGS_ROLL_LOCK | `uint32` | 4 | |
-| GIMBAL_MANAGER_FLAGS_PITCH_LOCK | `uint32` | 8 | |
-| GIMBAL_MANAGER_FLAGS_YAW_LOCK | `uint32` | 16 | |
-| ORB_QUEUE_LENGTH | `uint8` | 2 | |
+| 参数名 | 类型 | 值 | 描述 |
+| ----------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | -- | -- |
+| GIMBAL_MANAGER_FLAGS_RETRACT | `uint32` | 1 | |
+| GIMBAL_MANAGER_FLAGS_NEUTRAL | `uint32` | 2 | |
+| GIMBAL_MANAGER_FLAGS_ROLL_LOCK | `uint32` | 4 | |
+| GIMBAL_MANAGER_FLAGS_PITCH_LOCK | `uint32` | 8 | |
+| GIMBAL_MANAGER_FLAGS_YAW_LOCK | `uint32` | 16 | |
+| ORB_QUEUE_LENGTH | `uint8` | 2 | |
## Source Message
diff --git a/docs/zh/msg_docs/GimbalManagerSetManualControl.md b/docs/zh/msg_docs/GimbalManagerSetManualControl.md
index dc112f81a0..a6b1379801 100644
--- a/docs/zh/msg_docs/GimbalManagerSetManualControl.md
+++ b/docs/zh/msg_docs/GimbalManagerSetManualControl.md
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# GimbalManagerSetManualControl (UORB message)
-**TOPICS:** gimbal_managerset_manualcontrol
+**TOPICS:** gimbal_manager_set_manual_control
## Fields
@@ -24,13 +24,13 @@ pageClass: is-wide-page
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| ------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | -- | -- |
-| GIMBAL_MANAGER_FLAGS_RETRACT | `uint32` | 1 | |
-| GIMBAL_MANAGER_FLAGS_NEUTRAL | `uint32` | 2 | |
-| GIMBAL_MANAGER_FLAGS_ROLL_LOCK | `uint32` | 4 | |
-| GIMBAL_MANAGER_FLAGS_PITCH_LOCK | `uint32` | 8 | |
-| GIMBAL_MANAGER_FLAGS_YAW_LOCK | `uint32` | 16 | |
+| 参数名 | 类型 | 值 | 描述 |
+| ----------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | -- | -- |
+| GIMBAL_MANAGER_FLAGS_RETRACT | `uint32` | 1 | |
+| GIMBAL_MANAGER_FLAGS_NEUTRAL | `uint32` | 2 | |
+| GIMBAL_MANAGER_FLAGS_ROLL_LOCK | `uint32` | 4 | |
+| GIMBAL_MANAGER_FLAGS_PITCH_LOCK | `uint32` | 8 | |
+| GIMBAL_MANAGER_FLAGS_YAW_LOCK | `uint32` | 16 | |
## Source Message
diff --git a/docs/zh/msg_docs/GimbalManagerStatus.md b/docs/zh/msg_docs/GimbalManagerStatus.md
index 6a70505163..034c5fe94d 100644
--- a/docs/zh/msg_docs/GimbalManagerStatus.md
+++ b/docs/zh/msg_docs/GimbalManagerStatus.md
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# GimbalManagerStatus (UORB message)
-**TOPICS:** gimbal_managerstatus
+**TOPICS:** gimbal_manager_status
## Fields
diff --git a/docs/zh/msg_docs/GotoSetpoint.md b/docs/zh/msg_docs/GotoSetpoint.md
index f9a1467ad8..6eb7fed838 100644
--- a/docs/zh/msg_docs/GotoSetpoint.md
+++ b/docs/zh/msg_docs/GotoSetpoint.md
@@ -4,7 +4,13 @@ pageClass: is-wide-page
# GotoSetpoint (UORB message)
-Position and (optional) heading setpoints with corresponding speed constraints. Setpoints are intended as inputs to position and heading smoothers, respectively. Setpoints do not need to be kinematically consistent. Optional heading setpoints may be specified as controlled by the respective flag. Unset optional setpoints are not controlled. Unset optional constraints default to vehicle specifications.
+Position and (optional) heading setpoints with corresponding speed constraints.
+
+Setpoints are intended as inputs to position and heading smoothers, respectively.
+Setpoints do not need to be kinematically consistent.
+Optional heading setpoints may be specified as controlled by the respective flag.
+Unset optional setpoints are not controlled.
+Unset optional constraints default to vehicle specifications.
**TOPICS:** goto_setpoint
@@ -12,22 +18,22 @@ Position and (optional) heading setpoints with corresponding speed constraints.
| 参数名 | 类型 | Unit [Frame] | Range/Enum | 描述 |
| ----------------------------------------------------------------------------------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------- |
-| timestamp | `uint64` | | | time since system start (microseconds) |
-| 位置 | `float32[3]` | 米 | | NED local world frame |
+| timestamp | `uint64` | us | | Time since system start |
+| 位置 | `float32[3]` | m [NED] | | NED local world frame |
| flag_control_heading | `bool` | | | true if heading is to be controlled |
| heading | `float32` | | | (optional) [rad] [-pi,pi] from North |
| flag_set_max_horizontal_speed | `bool` | | | true if setting a non-default horizontal speed limit |
-| max_horizontal_speed | `float32` | | | (optional) [m/s] maximum speed (absolute) in the NE-plane |
+| max_horizontal_speed | `float32` | 米/秒 | | (optional) Maximum speed (absolute) in the NE-plane |
| flag_set_max_vertical_speed | `bool` | | | true if setting a non-default vertical speed limit |
-| max_vertical_speed | `float32` | | | (optional) [m/s] maximum speed (absolute) in the D-axis |
+| max_vertical_speed | `float32` | 米/秒 | | (optional) Maximum speed (absolute) in the D-axis |
| flag_set_max_heading_rate | `bool` | | | true if setting a non-default heading rate limit |
-| max_heading_rate | `float32` | | | (optional) [rad/s] maximum heading rate (absolute) |
+| max_heading_rate | `float32` | rad/s | | (optional) Maximum heading rate (absolute) |
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| -------------------------------------------------------------------- | -------- | - | -- |
-| MESSAGE_VERSION | `uint32` | 0 | |
+| 参数名 | 类型 | 值 | 描述 |
+| ------------------------------------------------------------------ | -------- | - | -- |
+| MESSAGE_VERSION | `uint32` | 0 | |
## Source Message
@@ -38,31 +44,32 @@ Click here to see original file
```c
# Position and (optional) heading setpoints with corresponding speed constraints
-# Setpoints are intended as inputs to position and heading smoothers, respectively
-# Setpoints do not need to be kinematically consistent
-# Optional heading setpoints may be specified as controlled by the respective flag
-# Unset optional setpoints are not controlled
-# Unset optional constraints default to vehicle specifications
+#
+# Setpoints are intended as inputs to position and heading smoothers, respectively.
+# Setpoints do not need to be kinematically consistent.
+# Optional heading setpoints may be specified as controlled by the respective flag.
+# Unset optional setpoints are not controlled.
+# Unset optional constraints default to vehicle specifications.
uint32 MESSAGE_VERSION = 0
-uint64 timestamp # time since system start (microseconds)
+uint64 timestamp # [us] Time since system start
# setpoints
-float32[3] position # [m] NED local world frame
+float32[3] position # [m] [@frame NED] NED local world frame
bool flag_control_heading # true if heading is to be controlled
float32 heading # (optional) [rad] [-pi,pi] from North
# constraints
bool flag_set_max_horizontal_speed # true if setting a non-default horizontal speed limit
-float32 max_horizontal_speed # (optional) [m/s] maximum speed (absolute) in the NE-plane
+float32 max_horizontal_speed # [m/s] (optional) Maximum speed (absolute) in the NE-plane
bool flag_set_max_vertical_speed # true if setting a non-default vertical speed limit
-float32 max_vertical_speed # (optional) [m/s] maximum speed (absolute) in the D-axis
+float32 max_vertical_speed # [m/s] (optional) Maximum speed (absolute) in the D-axis
bool flag_set_max_heading_rate # true if setting a non-default heading rate limit
-float32 max_heading_rate # (optional) [rad/s] maximum heading rate (absolute)
+float32 max_heading_rate # [rad/s] (optional) Maximum heading rate (absolute)
```
:::
diff --git a/docs/zh/msg_docs/GpioConfig.md b/docs/zh/msg_docs/GpioConfig.md
index 284d6bb8e1..74d96154bb 100644
--- a/docs/zh/msg_docs/GpioConfig.md
+++ b/docs/zh/msg_docs/GpioConfig.md
@@ -20,19 +20,19 @@ GPIO configuration.
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| ---------------------------------------------------------------------------------------------------------- | -------- | --- | ------ |
-| INPUT | `uint32` | 0 | 0x0000 |
-| OUTPUT | `uint32` | 1 | 0x0001 |
-| PULLUP | `uint32` | 16 | 0x0010 |
-| PULLDOWN | `uint32` | 32 | 0x0020 |
-| OPENDRAIN | `uint32` | 256 | 0x0100 |
-| INPUT_FLOATING | `uint32` | 0 | 0x0000 |
-| INPUT_PULLUP | `uint32` | 16 | 0x0010 |
-| INPUT_PULLDOWN | `uint32` | 32 | 0x0020 |
-| OUTPUT_PUSHPULL | `uint32` | 0 | 0x0000 |
-| OUTPUT_OPENDRAIN | `uint32` | 256 | 0x0100 |
-| OUTPUT_OPENDRAIN_PULLUP | `uint32` | 272 | 0x0110 |
+| 参数名 | 类型 | 值 | 描述 |
+| ------------------------------------------------------------------------------------------------------- | -------- | --- | ------ |
+| INPUT | `uint32` | 0 | 0x0000 |
+| OUTPUT | `uint32` | 1 | 0x0001 |
+| PULLUP | `uint32` | 16 | 0x0010 |
+| PULLDOWN | `uint32` | 32 | 0x0020 |
+| OPENDRAIN | `uint32` | 256 | 0x0100 |
+| INPUT_FLOATING | `uint32` | 0 | 0x0000 |
+| INPUT_PULLUP | `uint32` | 16 | 0x0010 |
+| INPUT_PULLDOWN | `uint32` | 32 | 0x0020 |
+| OUTPUT_PUSHPULL | `uint32` | 0 | 0x0000 |
+| OUTPUT_OPENDRAIN | `uint32` | 256 | 0x0100 |
+| OUTPUT_OPENDRAIN_PULLUP | `uint32` | 272 | 0x0110 |
## Source Message
diff --git a/docs/zh/msg_docs/GpioIn.md b/docs/zh/msg_docs/GpioIn.md
index 659eee9abd..303d8a854c 100644
--- a/docs/zh/msg_docs/GpioIn.md
+++ b/docs/zh/msg_docs/GpioIn.md
@@ -18,9 +18,9 @@ GPIO mask and state.
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| ---------------------------------------------------------------- | ------- | - | -- |
-| MAX_INSTANCES | `uint8` | 8 | |
+| 参数名 | 类型 | 值 | 描述 |
+| -------------------------------------------------------------- | ------- | - | -- |
+| MAX_INSTANCES | `uint8` | 8 | |
## Source Message
diff --git a/docs/zh/msg_docs/GpsDump.md b/docs/zh/msg_docs/GpsDump.md
index 916128d66d..81c0dfd9b4 100644
--- a/docs/zh/msg_docs/GpsDump.md
+++ b/docs/zh/msg_docs/GpsDump.md
@@ -20,11 +20,11 @@ This message is used to dump the raw gps communication to the log.
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| ------------------------------------------------------------------------------------------- | ------- | -- | -- |
-| INSTANCE_MAIN | `uint8` | 0 | |
-| INSTANCE_SECONDARY | `uint8` | 1 | |
-| ORB_QUEUE_LENGTH | `uint8` | 16 | |
+| 参数名 | 类型 | 值 | 描述 |
+| ----------------------------------------------------------------------------------------- | ------- | -- | -- |
+| INSTANCE_MAIN | `uint8` | 0 | |
+| INSTANCE_SECONDARY | `uint8` | 1 | |
+| ORB_QUEUE_LENGTH | `uint8` | 16 | |
## Source Message
diff --git a/docs/zh/msg_docs/GpsInjectData.md b/docs/zh/msg_docs/GpsInjectData.md
index f7d4dcf781..bd21b7eede 100644
--- a/docs/zh/msg_docs/GpsInjectData.md
+++ b/docs/zh/msg_docs/GpsInjectData.md
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# GpsInjectData (UORB message)
-**TOPICS:** gps_injectdata
+**TOPICS:** gps_inject_data
## Fields
@@ -18,10 +18,10 @@ pageClass: is-wide-page
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| ------------------------------------------------------------------------------------------- | ------- | - | -- |
-| ORB_QUEUE_LENGTH | `uint8` | 8 | |
-| MAX_INSTANCES | `uint8` | 2 | |
+| 参数名 | 类型 | 值 | 描述 |
+| ----------------------------------------------------------------------------------------- | ------- | - | -- |
+| ORB_QUEUE_LENGTH | `uint8` | 8 | |
+| MAX_INSTANCES | `uint8` | 2 | |
## Source Message
diff --git a/docs/zh/msg_docs/Gripper.md b/docs/zh/msg_docs/Gripper.md
index 533e5a3ec5..47d9dd6601 100644
--- a/docs/zh/msg_docs/Gripper.md
+++ b/docs/zh/msg_docs/Gripper.md
@@ -17,10 +17,10 @@ pageClass: is-wide-page
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| -------------------------------------------------------------------- | ------ | - | -- |
-| COMMAND_GRAB | `int8` | 0 | |
-| COMMAND_RELEASE | `int8` | 1 | |
+| 参数名 | 类型 | 值 | 描述 |
+| ------------------------------------------------------------------ | ------ | - | -- |
+| COMMAND_GRAB | `int8` | 0 | |
+| COMMAND_RELEASE | `int8` | 1 | |
## Source Message
diff --git a/docs/zh/msg_docs/HeaterStatus.md b/docs/zh/msg_docs/HeaterStatus.md
index 70f2ea04ce..3065ce3e22 100644
--- a/docs/zh/msg_docs/HeaterStatus.md
+++ b/docs/zh/msg_docs/HeaterStatus.md
@@ -25,10 +25,10 @@ pageClass: is-wide-page
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| ---------------------------------------------------------- | ------- | - | -- |
-| MODE_GPIO | `uint8` | 1 | |
-| MODE_PX4IO | `uint8` | 2 | |
+| 参数名 | 类型 | 值 | 描述 |
+| -------------------------------------------------------- | ------- | - | -- |
+| MODE_GPIO | `uint8` | 1 | |
+| MODE_PX4IO | `uint8` | 2 | |
## Source Message
diff --git a/docs/zh/msg_docs/HomePosition.md b/docs/zh/msg_docs/HomePosition.md
index dfb626284e..70fb275bd4 100644
--- a/docs/zh/msg_docs/HomePosition.md
+++ b/docs/zh/msg_docs/HomePosition.md
@@ -30,9 +30,9 @@ GPS home position in WGS84 coordinates.
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| -------------------------------------------------------------------- | -------- | - | -- |
-| MESSAGE_VERSION | `uint32` | 1 | |
+| 参数名 | 类型 | 值 | 描述 |
+| ------------------------------------------------------------------ | -------- | - | -- |
+| MESSAGE_VERSION | `uint32` | 1 | |
## Source Message
diff --git a/docs/zh/msg_docs/HomePositionV0.md b/docs/zh/msg_docs/HomePositionV0.md
index e9e5f9029b..71edf622d9 100644
--- a/docs/zh/msg_docs/HomePositionV0.md
+++ b/docs/zh/msg_docs/HomePositionV0.md
@@ -6,7 +6,7 @@ pageClass: is-wide-page
GPS home position in WGS84 coordinates.
-**TOPICS:** home_positionv0
+**TOPICS:** home_position_v0
## Fields
@@ -28,9 +28,9 @@ GPS home position in WGS84 coordinates.
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| -------------------------------------------------------------------- | -------- | - | -- |
-| MESSAGE_VERSION | `uint32` | 0 | |
+| 参数名 | 类型 | 值 | 描述 |
+| ------------------------------------------------------------------ | -------- | - | -- |
+| MESSAGE_VERSION | `uint32` | 0 | |
## Source Message
diff --git a/docs/zh/msg_docs/HoverThrustEstimate.md b/docs/zh/msg_docs/HoverThrustEstimate.md
index 9a643698e1..1a84254125 100644
--- a/docs/zh/msg_docs/HoverThrustEstimate.md
+++ b/docs/zh/msg_docs/HoverThrustEstimate.md
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# HoverThrustEstimate (UORB message)
-**TOPICS:** hover_thrustestimate
+**TOPICS:** hover_thrust_estimate
## Fields
diff --git a/docs/zh/msg_docs/InputRc.md b/docs/zh/msg_docs/InputRc.md
index d594ab203b..3d71749165 100644
--- a/docs/zh/msg_docs/InputRc.md
+++ b/docs/zh/msg_docs/InputRc.md
@@ -28,26 +28,26 @@ pageClass: is-wide-page
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| ------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | --- | -------------------------------------------------------------------------------------------------------------------------------- |
-| RC_INPUT_SOURCE_UNKNOWN | `uint8` | 0 | |
-| RC_INPUT_SOURCE_PX4FMU_PPM | `uint8` | 1 | |
-| RC_INPUT_SOURCE_PX4IO_PPM | `uint8` | 2 | |
-| RC_INPUT_SOURCE_PX4IO_SPEKTRUM | `uint8` | 3 | |
-| RC_INPUT_SOURCE_PX4IO_SBUS | `uint8` | 4 | |
-| RC_INPUT_SOURCE_PX4IO_ST24 | `uint8` | 5 | |
-| RC_INPUT_SOURCE_MAVLINK | `uint8` | 6 | |
-| RC_INPUT_SOURCE_QURT | `uint8` | 7 | |
-| RC_INPUT_SOURCE_PX4FMU_SPEKTRUM | `uint8` | 8 | |
-| RC_INPUT_SOURCE_PX4FMU_SBUS | `uint8` | 9 | |
-| RC_INPUT_SOURCE_PX4FMU_ST24 | `uint8` | 10 | |
-| RC_INPUT_SOURCE_PX4FMU_SUMD | `uint8` | 11 | |
-| RC_INPUT_SOURCE_PX4FMU_DSM | `uint8` | 12 | |
-| RC_INPUT_SOURCE_PX4IO_SUMD | `uint8` | 13 | |
-| RC_INPUT_SOURCE_PX4FMU_CRSF | `uint8` | 14 | |
-| RC_INPUT_SOURCE_PX4FMU_GHST | `uint8` | 15 | |
-| RC_INPUT_MAX_CHANNELS | `uint8` | 18 | Maximum number of R/C input channels in the system. S.Bus has up to 18 channels. |
-| RSSI_MAX | `int8` | 100 | |
+| 参数名 | 类型 | 值 | 描述 |
+| ----------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | --- | -------------------------------------------------------------------------------------------------------------------------------- |
+| RC_INPUT_SOURCE_UNKNOWN | `uint8` | 0 | |
+| RC_INPUT_SOURCE_PX4FMU_PPM | `uint8` | 1 | |
+| RC_INPUT_SOURCE_PX4IO_PPM | `uint8` | 2 | |
+| RC_INPUT_SOURCE_PX4IO_SPEKTRUM | `uint8` | 3 | |
+| RC_INPUT_SOURCE_PX4IO_SBUS | `uint8` | 4 | |
+| RC_INPUT_SOURCE_PX4IO_ST24 | `uint8` | 5 | |
+| RC_INPUT_SOURCE_MAVLINK | `uint8` | 6 | |
+| RC_INPUT_SOURCE_QURT | `uint8` | 7 | |
+| RC_INPUT_SOURCE_PX4FMU_SPEKTRUM | `uint8` | 8 | |
+| RC_INPUT_SOURCE_PX4FMU_SBUS | `uint8` | 9 | |
+| RC_INPUT_SOURCE_PX4FMU_ST24 | `uint8` | 10 | |
+| RC_INPUT_SOURCE_PX4FMU_SUMD | `uint8` | 11 | |
+| RC_INPUT_SOURCE_PX4FMU_DSM | `uint8` | 12 | |
+| RC_INPUT_SOURCE_PX4IO_SUMD | `uint8` | 13 | |
+| RC_INPUT_SOURCE_PX4FMU_CRSF | `uint8` | 14 | |
+| RC_INPUT_SOURCE_PX4FMU_GHST | `uint8` | 15 | |
+| RC_INPUT_MAX_CHANNELS | `uint8` | 18 | Maximum number of R/C input channels in the system. S.Bus has up to 18 channels. |
+| RSSI_MAX | `int8` | 100 | |
## Source Message
diff --git a/docs/zh/msg_docs/InternalCombustionEngineControl.md b/docs/zh/msg_docs/InternalCombustionEngineControl.md
index af98f6a115..d245574a34 100644
--- a/docs/zh/msg_docs/InternalCombustionEngineControl.md
+++ b/docs/zh/msg_docs/InternalCombustionEngineControl.md
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# InternalCombustionEngineControl (UORB message)
-**TOPICS:** internal_combustionengine_control
+**TOPICS:** internal_combustion_engine_control
## Fields
diff --git a/docs/zh/msg_docs/InternalCombustionEngineStatus.md b/docs/zh/msg_docs/InternalCombustionEngineStatus.md
index 79866cfb21..5ffede22c1 100644
--- a/docs/zh/msg_docs/InternalCombustionEngineStatus.md
+++ b/docs/zh/msg_docs/InternalCombustionEngineStatus.md
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# InternalCombustionEngineStatus (UORB message)
-**TOPICS:** internal_combustionengine_status
+**TOPICS:** internal_combustion_engine_status
## Fields
@@ -36,36 +36,36 @@ pageClass: is-wide-page
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | ------ | -------------------------------------------------------------------------------------- |
-| STATE_STOPPED | `uint8` | 0 | The engine is not running. This is the default state. |
-| STATE_STARTING | `uint8` | 1 | The engine is starting. This is a transient state. |
-| STATE_RUNNING | `uint8` | 2 | The engine is running normally. |
-| STATE_FAULT | `uint8` | 3 | The engine can no longer function. |
-| FLAG_GENERAL_ERROR | `uint32` | 1 | General error. |
-| FLAG_CRANKSHAFT_SENSOR_ERROR_SUPPORTED | `uint32` | 2 | Error of the crankshaft sensor. This flag is optional. |
-| FLAG_CRANKSHAFT_SENSOR_ERROR | `uint32` | 4 | |
-| FLAG_TEMPERATURE_SUPPORTED | `uint32` | 8 | Temperature levels. These flags are optional |
-| FLAG_TEMPERATURE_BELOW_NOMINAL | `uint32` | 16 | Under-temperature warning |
-| FLAG_TEMPERATURE_ABOVE_NOMINAL | `uint32` | 32 | Over-temperature warning |
-| FLAG_TEMPERATURE_OVERHEATING | `uint32` | 64 | Critical overheating |
-| FLAG_TEMPERATURE_EGT_ABOVE_NOMINAL | `uint32` | 128 | Exhaust gas over-temperature warning |
-| FLAG_FUEL_PRESSURE_SUPPORTED | `uint32` | 256 | Fuel pressure. These flags are optional |
-| FLAG_FUEL_PRESSURE_BELOW_NOMINAL | `uint32` | 512 | Under-pressure warning |
-| FLAG_FUEL_PRESSURE_ABOVE_NOMINAL | `uint32` | 1024 | Over-pressure warning |
-| FLAG_DETONATION_SUPPORTED | `uint32` | 2048 | Detonation warning. This flag is optional. |
-| FLAG_DETONATION_OBSERVED | `uint32` | 4096 | Detonation condition observed warning |
-| FLAG_MISFIRE_SUPPORTED | `uint32` | 8192 | Misfire warning. This flag is optional. |
-| FLAG_MISFIRE_OBSERVED | `uint32` | 16384 | Misfire condition observed warning |
-| FLAG_OIL_PRESSURE_SUPPORTED | `uint32` | 32768 | Oil pressure. These flags are optional |
-| FLAG_OIL_PRESSURE_BELOW_NOMINAL | `uint32` | 65536 | Under-pressure warning |
-| FLAG_OIL_PRESSURE_ABOVE_NOMINAL | `uint32` | 131072 | Over-pressure warning |
-| FLAG_DEBRIS_SUPPORTED | `uint32` | 262144 | Debris warning. This flag is optional |
-| FLAG_DEBRIS_DETECTED | `uint32` | 524288 | Detection of debris warning |
-| SPARK_PLUG_SINGLE | `uint8` | 0 | |
-| SPARK_PLUG_FIRST_ACTIVE | `uint8` | 1 | |
-| SPARK_PLUG_SECOND_ACTIVE | `uint8` | 2 | |
-| SPARK_PLUG_BOTH_ACTIVE | `uint8` | 3 | |
+| 参数名 | 类型 | 值 | 描述 |
+| ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | ------ | -------------------------------------------------------------------------------------- |
+| STATE_STOPPED | `uint8` | 0 | The engine is not running. This is the default state. |
+| STATE_STARTING | `uint8` | 1 | The engine is starting. This is a transient state. |
+| STATE_RUNNING | `uint8` | 2 | The engine is running normally. |
+| STATE_FAULT | `uint8` | 3 | The engine can no longer function. |
+| FLAG_GENERAL_ERROR | `uint32` | 1 | General error. |
+| FLAG_CRANKSHAFT_SENSOR_ERROR_SUPPORTED | `uint32` | 2 | Error of the crankshaft sensor. This flag is optional. |
+| FLAG_CRANKSHAFT_SENSOR_ERROR | `uint32` | 4 | |
+| FLAG_TEMPERATURE_SUPPORTED | `uint32` | 8 | Temperature levels. These flags are optional |
+| FLAG_TEMPERATURE_BELOW_NOMINAL | `uint32` | 16 | Under-temperature warning |
+| FLAG_TEMPERATURE_ABOVE_NOMINAL | `uint32` | 32 | Over-temperature warning |
+| FLAG_TEMPERATURE_OVERHEATING | `uint32` | 64 | Critical overheating |
+| FLAG_TEMPERATURE_EGT_ABOVE_NOMINAL | `uint32` | 128 | Exhaust gas over-temperature warning |
+| FLAG_FUEL_PRESSURE_SUPPORTED | `uint32` | 256 | Fuel pressure. These flags are optional |
+| FLAG_FUEL_PRESSURE_BELOW_NOMINAL | `uint32` | 512 | Under-pressure warning |
+| FLAG_FUEL_PRESSURE_ABOVE_NOMINAL | `uint32` | 1024 | Over-pressure warning |
+| FLAG_DETONATION_SUPPORTED | `uint32` | 2048 | Detonation warning. This flag is optional. |
+| FLAG_DETONATION_OBSERVED | `uint32` | 4096 | Detonation condition observed warning |
+| FLAG_MISFIRE_SUPPORTED | `uint32` | 8192 | Misfire warning. This flag is optional. |
+| FLAG_MISFIRE_OBSERVED | `uint32` | 16384 | Misfire condition observed warning |
+| FLAG_OIL_PRESSURE_SUPPORTED | `uint32` | 32768 | Oil pressure. These flags are optional |
+| FLAG_OIL_PRESSURE_BELOW_NOMINAL | `uint32` | 65536 | Under-pressure warning |
+| FLAG_OIL_PRESSURE_ABOVE_NOMINAL | `uint32` | 131072 | Over-pressure warning |
+| FLAG_DEBRIS_SUPPORTED | `uint32` | 262144 | Debris warning. This flag is optional |
+| FLAG_DEBRIS_DETECTED | `uint32` | 524288 | Detection of debris warning |
+| SPARK_PLUG_SINGLE | `uint8` | 0 | |
+| SPARK_PLUG_FIRST_ACTIVE | `uint8` | 1 | |
+| SPARK_PLUG_SECOND_ACTIVE | `uint8` | 2 | |
+| SPARK_PLUG_BOTH_ACTIVE | `uint8` | 3 | |
## Source Message
diff --git a/docs/zh/msg_docs/LandingGear.md b/docs/zh/msg_docs/LandingGear.md
index cfee3fe457..88c533cfa0 100644
--- a/docs/zh/msg_docs/LandingGear.md
+++ b/docs/zh/msg_docs/LandingGear.md
@@ -15,11 +15,11 @@ pageClass: is-wide-page
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| -------------------------------------------------------- | ------ | -- | ---------------------- |
-| GEAR_UP | `int8` | 1 | landing gear up |
-| GEAR_DOWN | `int8` | -1 | landing gear down |
-| GEAR_KEEP | `int8` | 0 | keep the current state |
+| 参数名 | 类型 | 值 | 描述 |
+| ------------------------------------------------------ | ------ | -- | ---------------------- |
+| GEAR_UP | `int8` | 1 | landing gear up |
+| GEAR_DOWN | `int8` | -1 | landing gear down |
+| GEAR_KEEP | `int8` | 0 | keep the current state |
## Source Message
diff --git a/docs/zh/msg_docs/LandingGearWheel.md b/docs/zh/msg_docs/LandingGearWheel.md
index 3e9fa40e51..87f9d9580f 100644
--- a/docs/zh/msg_docs/LandingGearWheel.md
+++ b/docs/zh/msg_docs/LandingGearWheel.md
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# LandingGearWheel (UORB message)
-**TOPICS:** landing_gearwheel
+**TOPICS:** landing_gear_wheel
## Fields
diff --git a/docs/zh/msg_docs/LandingTargetInnovations.md b/docs/zh/msg_docs/LandingTargetInnovations.md
index d2dd689763..ef529deec9 100644
--- a/docs/zh/msg_docs/LandingTargetInnovations.md
+++ b/docs/zh/msg_docs/LandingTargetInnovations.md
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# LandingTargetInnovations (UORB message)
-**TOPICS:** landing_targetinnovations
+**TOPICS:** landing_target_innovations
## Fields
diff --git a/docs/zh/msg_docs/LandingTargetPose.md b/docs/zh/msg_docs/LandingTargetPose.md
index b0e05a7e65..0fe838e10b 100644
--- a/docs/zh/msg_docs/LandingTargetPose.md
+++ b/docs/zh/msg_docs/LandingTargetPose.md
@@ -6,7 +6,7 @@ pageClass: is-wide-page
Relative position of precision land target in navigation (body fixed, north aligned, NED) and inertial (world fixed, north aligned, NED) frames.
-**TOPICS:** landing_targetpose
+**TOPICS:** landing_target_pose
## Fields
diff --git a/docs/zh/msg_docs/LateralControlConfiguration.md b/docs/zh/msg_docs/LateralControlConfiguration.md
index 59a1d9ad11..6352037c55 100644
--- a/docs/zh/msg_docs/LateralControlConfiguration.md
+++ b/docs/zh/msg_docs/LateralControlConfiguration.md
@@ -4,22 +4,24 @@ pageClass: is-wide-page
# LateralControlConfiguration (UORB message)
-Fixed Wing Lateral Control Configuration message. Used by the fw_lateral_longitudinal_control module to constrain FixedWingLateralSetpoint messages.
+Fixed Wing Lateral Control Configuration message.
-**TOPICS:** lateral_controlconfiguration
+Used by the fw_lateral_longitudinal_control module to constrain FixedWingLateralSetpoint messages.
+
+**TOPICS:** lateral_control_configuration
## Fields
| 参数名 | 类型 | Unit [Frame] | Range/Enum | 描述 |
| ----------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | ----------------------------------------------------------------------------------------------------------------------------------------- |
-| timestamp | `uint64` | | | time since system start (microseconds) |
-| lateral_accel_max | `float32` | m/s^2 | | currently maps to a maximum roll angle, accel_max = tan(roll_max) \* GRAVITY |
+| timestamp | `uint64` | us | | Time since system start |
+| lateral_accel_max | `float32` | m/s^2 | | Currently maps to a maximum roll angle, accel_max = tan(roll_max) \* GRAVITY |
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| -------------------------------------------------------------------- | -------- | - | -- |
-| MESSAGE_VERSION | `uint32` | 0 | |
+| 参数名 | 类型 | 值 | 描述 |
+| ------------------------------------------------------------------ | -------- | - | -- |
+| MESSAGE_VERSION | `uint32` | 0 | |
## Source Message
@@ -30,13 +32,14 @@ Click here to see original file
```c
# Fixed Wing Lateral Control Configuration message
+#
# Used by the fw_lateral_longitudinal_control module to constrain FixedWingLateralSetpoint messages.
uint32 MESSAGE_VERSION = 0
-uint64 timestamp # time since system start (microseconds)
+uint64 timestamp # [us] Time since system start
-float32 lateral_accel_max # [m/s^2] currently maps to a maximum roll angle, accel_max = tan(roll_max) * GRAVITY
+float32 lateral_accel_max # [m/s^2] Currently maps to a maximum roll angle, accel_max = tan(roll_max) * GRAVITY
```
:::
diff --git a/docs/zh/msg_docs/LaunchDetectionStatus.md b/docs/zh/msg_docs/LaunchDetectionStatus.md
index b6389ee7c8..f7713e2aa2 100644
--- a/docs/zh/msg_docs/LaunchDetectionStatus.md
+++ b/docs/zh/msg_docs/LaunchDetectionStatus.md
@@ -6,22 +6,23 @@ pageClass: is-wide-page
Status of the launch detection state machine (fixed-wing only).
-**TOPICS:** launch_detectionstatus
+**TOPICS:** launch_detection_status
## Fields
-| 参数名 | 类型 | Unit [Frame] | Range/Enum | 描述 |
-| ---------------------------------------------------------------- | -------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- |
-| timestamp | `uint64` | | | time since system start (microseconds) |
-| launch_detection_state | `uint8` | | | |
+| 参数名 | 类型 | Unit [Frame] | Range/Enum | 描述 |
+| ------------------------------------------------------------------------------------------------ | -------- | ---------------------------------------------------------------- | ---------- | -------------------------------------------------------------------------------------------------------------------------------- |
+| timestamp | `uint64` | | | time since system start (microseconds) |
+| launch_detection_state | `uint8` | | | |
+| selected_control_surface_disarmed | `bool` | | | flag indicating whether selected actuators should kept disarmed (have to be configured in control allocation) |
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | - | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
-| STATE_WAITING_FOR_LAUNCH | `uint8` | 0 | waiting for launch |
-| STATE_LAUNCH_DETECTED_DISABLED_MOTOR | `uint8` | 1 | launch detected, but keep motor(s) disabled (e.g. because it can't spin freely while on catapult) |
-| STATE_FLYING | `uint8` | 2 | launch detected, use normal takeoff/flying configuration |
+| 参数名 | 类型 | 值 | 描述 |
+| --------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | - | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| STATE_WAITING_FOR_LAUNCH | `uint8` | 0 | waiting for launch |
+| STATE_LAUNCH_DETECTED_DISABLED_MOTOR | `uint8` | 1 | launch detected, but keep motor(s) disabled (e.g. because it can't spin freely while on catapult) |
+| STATE_FLYING | `uint8` | 2 | launch detected, use normal takeoff/flying configuration |
## Source Message
@@ -40,6 +41,8 @@ uint8 STATE_LAUNCH_DETECTED_DISABLED_MOTOR = 1 # launch detected, but keep moto
uint8 STATE_FLYING = 2 # launch detected, use normal takeoff/flying configuration
uint8 launch_detection_state
+
+bool selected_control_surface_disarmed # [-] flag indicating whether selected actuators should kept disarmed (have to be configured in control allocation)
```
:::
diff --git a/docs/zh/msg_docs/LedControl.md b/docs/zh/msg_docs/LedControl.md
index 2b83e1c972..3a96cff505 100644
--- a/docs/zh/msg_docs/LedControl.md
+++ b/docs/zh/msg_docs/LedControl.md
@@ -21,27 +21,27 @@ LED control: control a single or multiple LED's. These are the externally visibl
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| --------------------------------------------------------------------------------------------- | ------- | - | ------------------------------------------------------------------------------------------------------------------------------------------------ |
-| COLOR_OFF | `uint8` | 0 | this is only used in the drivers |
-| COLOR_RED | `uint8` | 1 | |
-| COLOR_GREEN | `uint8` | 2 | |
-| COLOR_BLUE | `uint8` | 3 | |
-| COLOR_YELLOW | `uint8` | 4 | |
-| COLOR_PURPLE | `uint8` | 5 | |
-| COLOR_AMBER | `uint8` | 6 | |
-| COLOR_CYAN | `uint8` | 7 | |
-| COLOR_WHITE | `uint8` | 8 | |
-| MODE_OFF | `uint8` | 0 | turn LED off |
-| MODE_ON | `uint8` | 1 | turn LED on |
-| MODE_DISABLED | `uint8` | 2 | disable this priority (switch to lower priority setting) |
-| MODE_BLINK_SLOW | `uint8` | 3 | |
-| MODE_BLINK_NORMAL | `uint8` | 4 | |
-| MODE_BLINK_FAST | `uint8` | 5 | |
-| MODE_BREATHE | `uint8` | 6 | continuously increase & decrease brightness (solid color if driver does not support it) |
-| MODE_FLASH | `uint8` | 7 | two fast blinks (on/off) with timing as in MODE_BLINK_FAST and then off for a while |
-| MAX_PRIORITY | `uint8` | 2 | maximum priority (minimum is 0) |
-| ORB_QUEUE_LENGTH | `uint8` | 8 | needs to match BOARD_MAX_LEDS |
+| 参数名 | 类型 | 值 | 描述 |
+| ------------------------------------------------------------------------------------------- | ------- | - | ------------------------------------------------------------------------------------------------------------------------------------------------ |
+| COLOR_OFF | `uint8` | 0 | this is only used in the drivers |
+| COLOR_RED | `uint8` | 1 | |
+| COLOR_GREEN | `uint8` | 2 | |
+| COLOR_BLUE | `uint8` | 3 | |
+| COLOR_YELLOW | `uint8` | 4 | |
+| COLOR_PURPLE | `uint8` | 5 | |
+| COLOR_AMBER | `uint8` | 6 | |
+| COLOR_CYAN | `uint8` | 7 | |
+| COLOR_WHITE | `uint8` | 8 | |
+| MODE_OFF | `uint8` | 0 | turn LED off |
+| MODE_ON | `uint8` | 1 | turn LED on |
+| MODE_DISABLED | `uint8` | 2 | disable this priority (switch to lower priority setting) |
+| MODE_BLINK_SLOW | `uint8` | 3 | |
+| MODE_BLINK_NORMAL | `uint8` | 4 | |
+| MODE_BLINK_FAST | `uint8` | 5 | |
+| MODE_BREATHE | `uint8` | 6 | continuously increase & decrease brightness (solid color if driver does not support it) |
+| MODE_FLASH | `uint8` | 7 | two fast blinks (on/off) with timing as in MODE_BLINK_FAST and then off for a while |
+| MAX_PRIORITY | `uint8` | 2 | maximum priority (minimum is 0) |
+| ORB_QUEUE_LENGTH | `uint8` | 8 | needs to match BOARD_MAX_LEDS |
## Source Message
diff --git a/docs/zh/msg_docs/LogMessage.md b/docs/zh/msg_docs/LogMessage.md
index b6cf33bc6e..3ddfc3191a 100644
--- a/docs/zh/msg_docs/LogMessage.md
+++ b/docs/zh/msg_docs/LogMessage.md
@@ -18,9 +18,9 @@ A logging message, output with PX4_WARN, PX4_ERR, PX4_INFO.
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| ------------------------------------------------------------------------------------------- | ------- | - | -- |
-| ORB_QUEUE_LENGTH | `uint8` | 4 | |
+| 参数名 | 类型 | 值 | 描述 |
+| ----------------------------------------------------------------------------------------- | ------- | - | -- |
+| ORB_QUEUE_LENGTH | `uint8` | 4 | |
## Source Message
diff --git a/docs/zh/msg_docs/LoggerStatus.md b/docs/zh/msg_docs/LoggerStatus.md
index 11472db2f2..302bf6a0c0 100644
--- a/docs/zh/msg_docs/LoggerStatus.md
+++ b/docs/zh/msg_docs/LoggerStatus.md
@@ -24,13 +24,13 @@ pageClass: is-wide-page
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| ------------------------------------------------------------------------------------------------- | ------- | - | -------------------------------------------------------------------------------------------- |
-| LOGGER_TYPE_FULL | `uint8` | 0 | Normal, full size log |
-| LOGGER_TYPE_MISSION | `uint8` | 1 | reduced mission log (e.g. for geotagging) |
-| BACKEND_FILE | `uint8` | 1 | |
-| BACKEND_MAVLINK | `uint8` | 2 | |
-| BACKEND_ALL | `uint8` | 3 | |
+| 参数名 | 类型 | 值 | 描述 |
+| ----------------------------------------------------------------------------------------------- | ------- | - | -------------------------------------------------------------------------------------------- |
+| LOGGER_TYPE_FULL | `uint8` | 0 | Normal, full size log |
+| LOGGER_TYPE_MISSION | `uint8` | 1 | reduced mission log (e.g. for geotagging) |
+| BACKEND_FILE | `uint8` | 1 | |
+| BACKEND_MAVLINK | `uint8` | 2 | |
+| BACKEND_ALL | `uint8` | 3 | |
## Source Message
diff --git a/docs/zh/msg_docs/LongitudinalControlConfiguration.md b/docs/zh/msg_docs/LongitudinalControlConfiguration.md
index e33c7d4669..5dabc96301 100644
--- a/docs/zh/msg_docs/LongitudinalControlConfiguration.md
+++ b/docs/zh/msg_docs/LongitudinalControlConfiguration.md
@@ -4,30 +4,33 @@ pageClass: is-wide-page
# LongitudinalControlConfiguration (UORB message)
-Fixed Wing Longitudinal Control Configuration message. Used by the fw_lateral_longitudinal_control module and TECS to constrain FixedWingLongitudinalSetpoint messages. and configure the resultant setpoints.
+Fixed Wing Longitudinal Control Configuration message.
-**TOPICS:** longitudinal_controlconfiguration
+Used by the fw_lateral_longitudinal_control module and TECS to constrain FixedWingLongitudinalSetpoint messages
+and configure the resultant setpoints.
+
+**TOPICS:** longitudinal_control_configuration
## Fields
| 参数名 | 类型 | Unit [Frame] | Range/Enum | 描述 |
| ------------------------------------------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ------------------------------------------------------------------------------ | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
-| timestamp | `uint64` | | | time since system start (microseconds) |
-| pitch_min | `float32` | rad | [-pi : pi] | defaults to FW_P_LIM_MIN if NAN. |
-| pitch_max | `float32` | rad | [-pi : pi] | defaults to FW_P_LIM_MAX if NAN. |
-| throttle_min | `float32` | norm | [0 : 1] | deaults to FW_THR_MIN if NAN. |
-| throttle_max | `float32` | norm | [0 : 1] | defaults to FW_THR_MAX if NAN. |
-| climb_rate_target | `float32` | 米/秒 | | target climbrate to change altitude. Defaults to FW_T_CLIMB_MAX if NAN. Not used if height_rate is directly set in FixedWingLongitudinalSetpoint. |
-| sink_rate_target | `float32` | 米/秒 | | target sinkrate to change altitude. Defaults to FW_T_SINK_MAX if NAN. Not used if height_rate is directly set in FixedWingLongitudinalSetpoint. |
-| speed_weight | `float32` | | [0 : 2] | , 0=pitch controls altitude only, 2=pitch controls airspeed only |
-| enforce_low_height_condition | `bool` | boolean | | if true, the altitude controller is configured with an alternative timeconstant for tighter altitude tracking |
-| disable_underspeed_protection | `bool` | boolean | | if true, underspeed handling is disabled in the altitude controller |
+| timestamp | `uint64` | us | | Time since system start |
+| pitch_min | `float32` | rad | [-pi : pi] | Defaults to FW_P_LIM_MIN if NAN. |
+| pitch_max | `float32` | rad | [-pi : pi] | Defaults to FW_P_LIM_MAX if NAN. |
+| throttle_min | `float32` | norm | [0 : 1] | Defaults to FW_THR_MIN if NAN. |
+| throttle_max | `float32` | norm | [0 : 1] | Defaults to FW_THR_MAX if NAN. |
+| climb_rate_target | `float32` | 米/秒 | | Target climbrate to change altitude. Defaults to FW_T_CLIMB_MAX if NAN. Not used if height_rate is directly set in FixedWingLongitudinalSetpoint. |
+| sink_rate_target | `float32` | 米/秒 | | Target sinkrate to change altitude. Defaults to FW_T_SINK_MAX if NAN. Not used if height_rate is directly set in FixedWingLongitudinalSetpoint. |
+| speed_weight | `float32` | | [0 : 2] | 0=pitch controls altitude only, 2=pitch controls airspeed only |
+| enforce_low_height_condition | `bool` | | | If true, the altitude controller is configured with an alternative timeconstant for tighter altitude tracking |
+| disable_underspeed_protection | `bool` | | | If true, underspeed handling is disabled in the altitude controller |
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| -------------------------------------------------------------------- | -------- | - | -- |
-| MESSAGE_VERSION | `uint32` | 0 | |
+| 参数名 | 类型 | 值 | 描述 |
+| ------------------------------------------------------------------ | -------- | - | -- |
+| MESSAGE_VERSION | `uint32` | 0 | |
## Source Message
@@ -38,22 +41,23 @@ Click here to see original file
```c
# Fixed Wing Longitudinal Control Configuration message
+#
# Used by the fw_lateral_longitudinal_control module and TECS to constrain FixedWingLongitudinalSetpoint messages
# and configure the resultant setpoints.
uint32 MESSAGE_VERSION = 0
-uint64 timestamp # time since system start (microseconds)
+uint64 timestamp # [us] Time since system start
-float32 pitch_min # [rad][@range -pi, pi] defaults to FW_P_LIM_MIN if NAN.
-float32 pitch_max # [rad][@range -pi, pi] defaults to FW_P_LIM_MAX if NAN.
-float32 throttle_min # [norm] [@range 0,1] deaults to FW_THR_MIN if NAN.
-float32 throttle_max # [norm] [@range 0,1] defaults to FW_THR_MAX if NAN.
-float32 climb_rate_target # [m/s] target climbrate to change altitude. Defaults to FW_T_CLIMB_MAX if NAN. Not used if height_rate is directly set in FixedWingLongitudinalSetpoint.
-float32 sink_rate_target # [m/s] target sinkrate to change altitude. Defaults to FW_T_SINK_MAX if NAN. Not used if height_rate is directly set in FixedWingLongitudinalSetpoint.
-float32 speed_weight # [@range 0,2], 0=pitch controls altitude only, 2=pitch controls airspeed only
-bool enforce_low_height_condition # [boolean] if true, the altitude controller is configured with an alternative timeconstant for tighter altitude tracking
-bool disable_underspeed_protection # [boolean] if true, underspeed handling is disabled in the altitude controller
+float32 pitch_min # [rad] [@range -pi, pi] Defaults to FW_P_LIM_MIN if NAN.
+float32 pitch_max # [rad] [@range -pi, pi] Defaults to FW_P_LIM_MAX if NAN.
+float32 throttle_min # [norm] [@range 0,1] Defaults to FW_THR_MIN if NAN.
+float32 throttle_max # [norm] [@range 0,1] Defaults to FW_THR_MAX if NAN.
+float32 climb_rate_target # [m/s] Target climbrate to change altitude. Defaults to FW_T_CLIMB_MAX if NAN. Not used if height_rate is directly set in FixedWingLongitudinalSetpoint.
+float32 sink_rate_target # [m/s] Target sinkrate to change altitude. Defaults to FW_T_SINK_MAX if NAN. Not used if height_rate is directly set in FixedWingLongitudinalSetpoint.
+float32 speed_weight # [-] [@range 0,2] 0=pitch controls altitude only, 2=pitch controls airspeed only
+bool enforce_low_height_condition # If true, the altitude controller is configured with an alternative timeconstant for tighter altitude tracking
+bool disable_underspeed_protection # If true, underspeed handling is disabled in the altitude controller
```
:::
diff --git a/docs/zh/msg_docs/MagWorkerData.md b/docs/zh/msg_docs/MagWorkerData.md
index fa90b4cd67..989c584406 100644
--- a/docs/zh/msg_docs/MagWorkerData.md
+++ b/docs/zh/msg_docs/MagWorkerData.md
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# MagWorkerData (UORB message)
-**TOPICS:** mag_workerdata
+**TOPICS:** mag_worker_data
## Fields
@@ -23,9 +23,9 @@ pageClass: is-wide-page
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| ------------------------------------------------------ | ------- | - | -- |
-| MAX_MAGS | `uint8` | 4 | |
+| 参数名 | 类型 | 值 | 描述 |
+| ---------------------------------------------------- | ------- | - | -- |
+| MAX_MAGS | `uint8` | 4 | |
## Source Message
diff --git a/docs/zh/msg_docs/MagnetometerBiasEstimate.md b/docs/zh/msg_docs/MagnetometerBiasEstimate.md
index b215bbc04f..a095b1fe34 100644
--- a/docs/zh/msg_docs/MagnetometerBiasEstimate.md
+++ b/docs/zh/msg_docs/MagnetometerBiasEstimate.md
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# MagnetometerBiasEstimate (UORB message)
-**TOPICS:** magnetometer_biasestimate
+**TOPICS:** magnetometer_bias_estimate
## Fields
diff --git a/docs/zh/msg_docs/ManualControlSetpoint.md b/docs/zh/msg_docs/ManualControlSetpoint.md
index 9059326deb..fb3c31c955 100644
--- a/docs/zh/msg_docs/ManualControlSetpoint.md
+++ b/docs/zh/msg_docs/ManualControlSetpoint.md
@@ -30,17 +30,17 @@ pageClass: is-wide-page
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| ------------------------------------------------------------------------------------------- | -------- | - | ---------------------------------------------------------------- |
-| MESSAGE_VERSION | `uint32` | 0 | |
-| SOURCE_UNKNOWN | `uint8` | 0 | |
-| SOURCE_RC | `uint8` | 1 | radio control (input_rc) |
-| SOURCE_MAVLINK_0 | `uint8` | 2 | mavlink instance 0 |
-| SOURCE_MAVLINK_1 | `uint8` | 3 | mavlink instance 1 |
-| SOURCE_MAVLINK_2 | `uint8` | 4 | mavlink instance 2 |
-| SOURCE_MAVLINK_3 | `uint8` | 5 | mavlink instance 3 |
-| SOURCE_MAVLINK_4 | `uint8` | 6 | mavlink instance 4 |
-| SOURCE_MAVLINK_5 | `uint8` | 7 | mavlink instance 5 |
+| 参数名 | 类型 | 值 | 描述 |
+| ----------------------------------------------------------------------------------------- | -------- | - | ---------------------------------------------------------------- |
+| MESSAGE_VERSION | `uint32` | 0 | |
+| SOURCE_UNKNOWN | `uint8` | 0 | |
+| SOURCE_RC | `uint8` | 1 | radio control (input_rc) |
+| SOURCE_MAVLINK_0 | `uint8` | 2 | mavlink instance 0 |
+| SOURCE_MAVLINK_1 | `uint8` | 3 | mavlink instance 1 |
+| SOURCE_MAVLINK_2 | `uint8` | 4 | mavlink instance 2 |
+| SOURCE_MAVLINK_3 | `uint8` | 5 | mavlink instance 3 |
+| SOURCE_MAVLINK_4 | `uint8` | 6 | mavlink instance 4 |
+| SOURCE_MAVLINK_5 | `uint8` | 7 | mavlink instance 5 |
## Source Message
diff --git a/docs/zh/msg_docs/ManualControlSwitches.md b/docs/zh/msg_docs/ManualControlSwitches.md
index 6a3c09c14b..a1594d8780 100644
--- a/docs/zh/msg_docs/ManualControlSwitches.md
+++ b/docs/zh/msg_docs/ManualControlSwitches.md
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# ManualControlSwitches (UORB message)
-**TOPICS:** manual_controlswitches
+**TOPICS:** manual_control_switches
## Fields
@@ -29,20 +29,20 @@ pageClass: is-wide-page
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| --------------------------------------------------------------------------------------------- | ------- | - | ---------------------------------------------------- |
-| SWITCH_POS_NONE | `uint8` | 0 | switch is not mapped |
-| SWITCH_POS_ON | `uint8` | 1 | switch activated (value = 1) |
-| SWITCH_POS_MIDDLE | `uint8` | 2 | middle position (value = 0) |
-| SWITCH_POS_OFF | `uint8` | 3 | switch not activated (value = -1) |
-| MODE_SLOT_NONE | `uint8` | 0 | no mode slot assigned |
-| MODE_SLOT_1 | `uint8` | 1 | mode slot 1 selected |
-| MODE_SLOT_2 | `uint8` | 2 | mode slot 2 selected |
-| MODE_SLOT_3 | `uint8` | 3 | mode slot 3 selected |
-| MODE_SLOT_4 | `uint8` | 4 | mode slot 4 selected |
-| MODE_SLOT_5 | `uint8` | 5 | mode slot 5 selected |
-| MODE_SLOT_6 | `uint8` | 6 | mode slot 6 selected |
-| MODE_SLOT_NUM | `uint8` | 6 | number of slots |
+| 参数名 | 类型 | 值 | 描述 |
+| ------------------------------------------------------------------------------------------- | ------- | - | ---------------------------------------------------- |
+| SWITCH_POS_NONE | `uint8` | 0 | switch is not mapped |
+| SWITCH_POS_ON | `uint8` | 1 | switch activated (value = 1) |
+| SWITCH_POS_MIDDLE | `uint8` | 2 | middle position (value = 0) |
+| SWITCH_POS_OFF | `uint8` | 3 | switch not activated (value = -1) |
+| MODE_SLOT_NONE | `uint8` | 0 | no mode slot assigned |
+| MODE_SLOT_1 | `uint8` | 1 | mode slot 1 selected |
+| MODE_SLOT_2 | `uint8` | 2 | mode slot 2 selected |
+| MODE_SLOT_3 | `uint8` | 3 | mode slot 3 selected |
+| MODE_SLOT_4 | `uint8` | 4 | mode slot 4 selected |
+| MODE_SLOT_5 | `uint8` | 5 | mode slot 5 selected |
+| MODE_SLOT_6 | `uint8` | 6 | mode slot 6 selected |
+| MODE_SLOT_NUM | `uint8` | 6 | number of slots |
## Source Message
diff --git a/docs/zh/msg_docs/MavlinkLog.md b/docs/zh/msg_docs/MavlinkLog.md
index 6567ec6eea..69c1e0aa97 100644
--- a/docs/zh/msg_docs/MavlinkLog.md
+++ b/docs/zh/msg_docs/MavlinkLog.md
@@ -16,9 +16,9 @@ pageClass: is-wide-page
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| ------------------------------------------------------------------------------------------- | ------- | - | -- |
-| ORB_QUEUE_LENGTH | `uint8` | 8 | |
+| 参数名 | 类型 | 值 | 描述 |
+| ----------------------------------------------------------------------------------------- | ------- | - | -- |
+| ORB_QUEUE_LENGTH | `uint8` | 8 | |
## Source Message
diff --git a/docs/zh/msg_docs/MavlinkTunnel.md b/docs/zh/msg_docs/MavlinkTunnel.md
index 4462d631ba..c064423453 100644
--- a/docs/zh/msg_docs/MavlinkTunnel.md
+++ b/docs/zh/msg_docs/MavlinkTunnel.md
@@ -21,19 +21,19 @@ MAV_TUNNEL_PAYLOAD_TYPE enum.
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | ------- | --- | ---------------------------------------- |
-| MAV_TUNNEL_PAYLOAD_TYPE_UNKNOWN | `uint8` | 0 | Encoding of payload unknown |
-| MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED0 | `uint8` | 200 | Registered for STorM32 gimbal controller |
-| MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED1 | `uint8` | 201 | Registered for STorM32 gimbal controller |
-| MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED2 | `uint8` | 202 | Registered for STorM32 gimbal controller |
-| MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED3 | `uint8` | 203 | Registered for STorM32 gimbal controller |
-| MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED4 | `uint8` | 204 | Registered for STorM32 gimbal controller |
-| MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED5 | `uint8` | 205 | Registered for STorM32 gimbal controller |
-| MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED6 | `uint8` | 206 | Registered for STorM32 gimbal controller |
-| MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED7 | `uint8` | 207 | Registered for STorM32 gimbal controller |
-| MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED8 | `uint8` | 208 | Registered for STorM32 gimbal controller |
-| MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED9 | `uint8` | 209 | Registered for STorM32 gimbal controller |
+| 参数名 | 类型 | 值 | 描述 |
+| ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | --- | ---------------------------------------- |
+| MAV_TUNNEL_PAYLOAD_TYPE_UNKNOWN | `uint8` | 0 | Encoding of payload unknown |
+| MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED0 | `uint8` | 200 | Registered for STorM32 gimbal controller |
+| MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED1 | `uint8` | 201 | Registered for STorM32 gimbal controller |
+| MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED2 | `uint8` | 202 | Registered for STorM32 gimbal controller |
+| MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED3 | `uint8` | 203 | Registered for STorM32 gimbal controller |
+| MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED4 | `uint8` | 204 | Registered for STorM32 gimbal controller |
+| MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED5 | `uint8` | 205 | Registered for STorM32 gimbal controller |
+| MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED6 | `uint8` | 206 | Registered for STorM32 gimbal controller |
+| MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED7 | `uint8` | 207 | Registered for STorM32 gimbal controller |
+| MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED8 | `uint8` | 208 | Registered for STorM32 gimbal controller |
+| MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED9 | `uint8` | 209 | Registered for STorM32 gimbal controller |
## Source Message
diff --git a/docs/zh/msg_docs/MessageFormatRequest.md b/docs/zh/msg_docs/MessageFormatRequest.md
index d522c3e777..4eb65270fc 100644
--- a/docs/zh/msg_docs/MessageFormatRequest.md
+++ b/docs/zh/msg_docs/MessageFormatRequest.md
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# MessageFormatRequest (UORB message)
-**TOPICS:** message_formatrequest
+**TOPICS:** message_format_request
## Fields
@@ -16,9 +16,9 @@ pageClass: is-wide-page
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| --------------------------------------------------------------------------------------------------------- | -------- | - | --------------------------------------------------------------------------------------------------------------------------------------------------- |
-| LATEST_PROTOCOL_VERSION | `uint16` | 1 | Current version of this protocol. Increase this whenever the MessageFormatRequest or MessageFormatResponse changes. |
+| 参数名 | 类型 | 值 | 描述 |
+| ------------------------------------------------------------------------------------------------------- | -------- | - | --------------------------------------------------------------------------------------------------------------------------------------------------- |
+| LATEST_PROTOCOL_VERSION | `uint16` | 1 | Current version of this protocol. Increase this whenever the MessageFormatRequest or MessageFormatResponse changes. |
## Source Message
diff --git a/docs/zh/msg_docs/MessageFormatResponse.md b/docs/zh/msg_docs/MessageFormatResponse.md
index a3a1790d0b..f626193ebb 100644
--- a/docs/zh/msg_docs/MessageFormatResponse.md
+++ b/docs/zh/msg_docs/MessageFormatResponse.md
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# MessageFormatResponse (UORB message)
-**TOPICS:** message_formatresponse
+**TOPICS:** message_format_response
## Fields
diff --git a/docs/zh/msg_docs/ModeCompleted.md b/docs/zh/msg_docs/ModeCompleted.md
index 731503b039..1887f8858c 100644
--- a/docs/zh/msg_docs/ModeCompleted.md
+++ b/docs/zh/msg_docs/ModeCompleted.md
@@ -18,11 +18,11 @@ Mode completion result, published by an active mode. The possible values of nav_
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| --------------------------------------------------------------------------------------------------- | -------- | --- | ---------------------------------------------- |
-| MESSAGE_VERSION | `uint32` | 0 | |
-| RESULT_SUCCESS | `uint8` | 0 | |
-| RESULT_FAILURE_OTHER | `uint8` | 100 | Mode failed (generic error) |
+| 参数名 | 类型 | 值 | 描述 |
+| ------------------------------------------------------------------------------------------------- | -------- | --- | ---------------------------------------------- |
+| MESSAGE_VERSION | `uint32` | 0 | |
+| RESULT_SUCCESS | `uint8` | 0 | |
+| RESULT_FAILURE_OTHER | `uint8` | 100 | Mode failed (generic error) |
## Source Message
diff --git a/docs/zh/msg_docs/NavigatorMissionItem.md b/docs/zh/msg_docs/NavigatorMissionItem.md
index 63e3e56b0b..c996620bf9 100644
--- a/docs/zh/msg_docs/NavigatorMissionItem.md
+++ b/docs/zh/msg_docs/NavigatorMissionItem.md
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# NavigatorMissionItem (UORB message)
-**TOPICS:** navigator_missionitem
+**TOPICS:** navigator_mission_item
## Fields
diff --git a/docs/zh/msg_docs/NavigatorStatus.md b/docs/zh/msg_docs/NavigatorStatus.md
index 554b9fe18a..95d486d95b 100644
--- a/docs/zh/msg_docs/NavigatorStatus.md
+++ b/docs/zh/msg_docs/NavigatorStatus.md
@@ -18,10 +18,10 @@ Current status of a Navigator mode. The possible values of nav_state are defined
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| -------------------------------------------------------------- | ------- | - | --------------------------------------------------- |
-| FAILURE_NONE | `uint8` | 0 | |
-| FAILURE_HAGL | `uint8` | 1 | Target altitude exceeds maximum height above ground |
+| 参数名 | 类型 | 值 | 描述 |
+| ------------------------------------------------------------ | ------- | - | --------------------------------------------------- |
+| FAILURE_NONE | `uint8` | 0 | |
+| FAILURE_HAGL | `uint8` | 1 | Target altitude exceeds maximum height above ground |
## Source Message
diff --git a/docs/zh/msg_docs/ObstacleDistance.md b/docs/zh/msg_docs/ObstacleDistance.md
index 7dce3a0e4f..82f1732a4e 100644
--- a/docs/zh/msg_docs/ObstacleDistance.md
+++ b/docs/zh/msg_docs/ObstacleDistance.md
@@ -23,15 +23,15 @@ Obstacle distances in front of the sensor.
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| -------------------------------------------------------------------------------------------------------------------------------------------- | ------- | -- | -- |
-| MAV_FRAME_GLOBAL | `uint8` | 0 | |
-| MAV_FRAME_LOCAL_NED | `uint8` | 1 | |
-| MAV_FRAME_BODY_FRD | `uint8` | 12 | |
-| MAV_DISTANCE_SENSOR_LASER | `uint8` | 0 | |
-| MAV_DISTANCE_SENSOR_ULTRASOUND | `uint8` | 1 | |
-| MAV_DISTANCE_SENSOR_INFRARED | `uint8` | 2 | |
-| MAV_DISTANCE_SENSOR_RADAR | `uint8` | 3 | |
+| 参数名 | 类型 | 值 | 描述 |
+| ------------------------------------------------------------------------------------------------------------------------------------------ | ------- | -- | -- |
+| MAV_FRAME_GLOBAL | `uint8` | 0 | |
+| MAV_FRAME_LOCAL_NED | `uint8` | 1 | |
+| MAV_FRAME_BODY_FRD | `uint8` | 12 | |
+| MAV_DISTANCE_SENSOR_LASER | `uint8` | 0 | |
+| MAV_DISTANCE_SENSOR_ULTRASOUND | `uint8` | 1 | |
+| MAV_DISTANCE_SENSOR_INFRARED | `uint8` | 2 | |
+| MAV_DISTANCE_SENSOR_RADAR | `uint8` | 3 | |
## Source Message
diff --git a/docs/zh/msg_docs/OffboardControlMode.md b/docs/zh/msg_docs/OffboardControlMode.md
index b52cdf8187..6945b89f62 100644
--- a/docs/zh/msg_docs/OffboardControlMode.md
+++ b/docs/zh/msg_docs/OffboardControlMode.md
@@ -6,7 +6,7 @@ pageClass: is-wide-page
Off-board control mode.
-**TOPICS:** offboard_controlmode
+**TOPICS:** offboard_control_mode
## Fields
diff --git a/docs/zh/msg_docs/OnboardComputerStatus.md b/docs/zh/msg_docs/OnboardComputerStatus.md
index 0a34170c56..a23da8b1b7 100644
--- a/docs/zh/msg_docs/OnboardComputerStatus.md
+++ b/docs/zh/msg_docs/OnboardComputerStatus.md
@@ -6,7 +6,7 @@ pageClass: is-wide-page
ONBOARD_COMPUTER_STATUS message data.
-**TOPICS:** onboard_computerstatus
+**TOPICS:** onboard_computer_status
## Fields
diff --git a/docs/zh/msg_docs/OpenDroneIdArmStatus.md b/docs/zh/msg_docs/OpenDroneIdArmStatus.md
index e648c5fc96..5180fd2d19 100644
--- a/docs/zh/msg_docs/OpenDroneIdArmStatus.md
+++ b/docs/zh/msg_docs/OpenDroneIdArmStatus.md
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# OpenDroneIdArmStatus (UORB message)
-**TOPICS:** open_droneid_armstatus
+**TOPICS:** open_drone_id_arm_status
## Fields
diff --git a/docs/zh/msg_docs/OpenDroneIdOperatorId.md b/docs/zh/msg_docs/OpenDroneIdOperatorId.md
index 35d96ba699..9eb0c37fdd 100644
--- a/docs/zh/msg_docs/OpenDroneIdOperatorId.md
+++ b/docs/zh/msg_docs/OpenDroneIdOperatorId.md
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# OpenDroneIdOperatorId (UORB message)
-**TOPICS:** open_droneid_operatorid
+**TOPICS:** open_drone_id_operator_id
## Fields
diff --git a/docs/zh/msg_docs/OpenDroneIdSelfId.md b/docs/zh/msg_docs/OpenDroneIdSelfId.md
index 5bb087df07..a11209dd97 100644
--- a/docs/zh/msg_docs/OpenDroneIdSelfId.md
+++ b/docs/zh/msg_docs/OpenDroneIdSelfId.md
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# OpenDroneIdSelfId (UORB message)
-**TOPICS:** open_droneid_selfid
+**TOPICS:** open_drone_id_self_id
## Fields
diff --git a/docs/zh/msg_docs/OpenDroneIdSystem.md b/docs/zh/msg_docs/OpenDroneIdSystem.md
index d8572d8a26..3c7fbad9ba 100644
--- a/docs/zh/msg_docs/OpenDroneIdSystem.md
+++ b/docs/zh/msg_docs/OpenDroneIdSystem.md
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# OpenDroneIdSystem (UORB message)
-**TOPICS:** open_droneid_system
+**TOPICS:** open_drone_id_system
## Fields
diff --git a/docs/zh/msg_docs/OrbTestLarge.md b/docs/zh/msg_docs/OrbTestLarge.md
index 5fa4df6d84..7625cde4b0 100644
--- a/docs/zh/msg_docs/OrbTestLarge.md
+++ b/docs/zh/msg_docs/OrbTestLarge.md
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# OrbTestLarge (UORB message)
-**TOPICS:** orb_testlarge
+**TOPICS:** orb_test_large
## Fields
diff --git a/docs/zh/msg_docs/OrbTestMedium.md b/docs/zh/msg_docs/OrbTestMedium.md
index 25bb53a8db..a5a7d0193e 100644
--- a/docs/zh/msg_docs/OrbTestMedium.md
+++ b/docs/zh/msg_docs/OrbTestMedium.md
@@ -16,9 +16,9 @@ pageClass: is-wide-page
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| ------------------------------------------------------------------------------------------- | ------- | -- | -- |
-| ORB_QUEUE_LENGTH | `uint8` | 16 | |
+| 参数名 | 类型 | 值 | 描述 |
+| ----------------------------------------------------------------------------------------- | ------- | -- | -- |
+| ORB_QUEUE_LENGTH | `uint8` | 16 | |
## Source Message
diff --git a/docs/zh/msg_docs/OrbitStatus.md b/docs/zh/msg_docs/OrbitStatus.md
index c0d0b826de..3fdceb4d7a 100644
--- a/docs/zh/msg_docs/OrbitStatus.md
+++ b/docs/zh/msg_docs/OrbitStatus.md
@@ -22,14 +22,14 @@ ORBIT_YAW_BEHAVIOUR.
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | - | -- |
-| ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TO_CIRCLE_CENTER | `uint8` | 0 | |
-| ORBIT_YAW_BEHAVIOUR_HOLD_INITIAL_HEADING | `uint8` | 1 | |
-| ORBIT_YAW_BEHAVIOUR_UNCONTROLLED | `uint8` | 2 | |
-| ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TANGENT_TO_CIRCLE | `uint8` | 3 | |
-| ORBIT_YAW_BEHAVIOUR_RC_CONTROLLED | `uint8` | 4 | |
-| ORBIT_YAW_BEHAVIOUR_UNCHANGED | `uint8` | 5 | |
+| 参数名 | 类型 | 值 | 描述 |
+| ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | ------- | - | -- |
+| ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TO_CIRCLE_CENTER | `uint8` | 0 | |
+| ORBIT_YAW_BEHAVIOUR_HOLD_INITIAL_HEADING | `uint8` | 1 | |
+| ORBIT_YAW_BEHAVIOUR_UNCONTROLLED | `uint8` | 2 | |
+| ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TANGENT_TO_CIRCLE | `uint8` | 3 | |
+| ORBIT_YAW_BEHAVIOUR_RC_CONTROLLED | `uint8` | 4 | |
+| ORBIT_YAW_BEHAVIOUR_UNCHANGED | `uint8` | 5 | |
## Source Message
diff --git a/docs/zh/msg_docs/ParameterResetRequest.md b/docs/zh/msg_docs/ParameterResetRequest.md
index e1cbda865c..10cd6357a5 100644
--- a/docs/zh/msg_docs/ParameterResetRequest.md
+++ b/docs/zh/msg_docs/ParameterResetRequest.md
@@ -6,7 +6,7 @@ pageClass: is-wide-page
ParameterResetRequest : Used by the primary to reset one or all parameter value(s) on the remote.
-**TOPICS:** parameter_resetrequest
+**TOPICS:** parameter_reset_request
## Fields
@@ -18,9 +18,9 @@ ParameterResetRequest : Used by the primary to reset one or all parameter value(
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| ------------------------------------------------------------------------------------------- | ------- | - | -- |
-| ORB_QUEUE_LENGTH | `uint8` | 4 | |
+| 参数名 | 类型 | 值 | 描述 |
+| ----------------------------------------------------------------------------------------- | ------- | - | -- |
+| ORB_QUEUE_LENGTH | `uint8` | 4 | |
## Source Message
diff --git a/docs/zh/msg_docs/ParameterSetUsedRequest.md b/docs/zh/msg_docs/ParameterSetUsedRequest.md
index 007d8b68e8..8aa1c5ffff 100644
--- a/docs/zh/msg_docs/ParameterSetUsedRequest.md
+++ b/docs/zh/msg_docs/ParameterSetUsedRequest.md
@@ -6,7 +6,7 @@ pageClass: is-wide-page
ParameterSetUsedRequest : Used by a remote to update the used flag for a parameter on the primary.
-**TOPICS:** parameter_setused_request
+**TOPICS:** parameter_set_used_request
## Fields
@@ -17,9 +17,9 @@ ParameterSetUsedRequest : Used by a remote to update the used flag for a paramet
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| ------------------------------------------------------------------------------------------- | ------- | -- | -- |
-| ORB_QUEUE_LENGTH | `uint8` | 64 | |
+| 参数名 | 类型 | 值 | 描述 |
+| ----------------------------------------------------------------------------------------- | ------- | -- | -- |
+| ORB_QUEUE_LENGTH | `uint8` | 64 | |
## Source Message
diff --git a/docs/zh/msg_docs/ParameterSetValueRequest.md b/docs/zh/msg_docs/ParameterSetValueRequest.md
index 002d74b89d..cf31878e63 100644
--- a/docs/zh/msg_docs/ParameterSetValueRequest.md
+++ b/docs/zh/msg_docs/ParameterSetValueRequest.md
@@ -19,9 +19,9 @@ ParameterSetValueRequest : Used by a remote or primary to update the value for a
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| ------------------------------------------------------------------------------------------- | ------- | -- | -- |
-| ORB_QUEUE_LENGTH | `uint8` | 32 | |
+| 参数名 | 类型 | 值 | 描述 |
+| ----------------------------------------------------------------------------------------- | ------- | -- | -- |
+| ORB_QUEUE_LENGTH | `uint8` | 32 | |
## Source Message
diff --git a/docs/zh/msg_docs/ParameterSetValueResponse.md b/docs/zh/msg_docs/ParameterSetValueResponse.md
index fd014cb827..e08c52c377 100644
--- a/docs/zh/msg_docs/ParameterSetValueResponse.md
+++ b/docs/zh/msg_docs/ParameterSetValueResponse.md
@@ -18,9 +18,9 @@ ParameterSetValueResponse : Response to a set value request by either primary or
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| ------------------------------------------------------------------------------------------- | ------- | - | -- |
-| ORB_QUEUE_LENGTH | `uint8` | 4 | |
+| 参数名 | 类型 | 值 | 描述 |
+| ----------------------------------------------------------------------------------------- | ------- | - | -- |
+| ORB_QUEUE_LENGTH | `uint8` | 4 | |
## Source Message
diff --git a/docs/zh/msg_docs/PositionControllerLandingStatus.md b/docs/zh/msg_docs/PositionControllerLandingStatus.md
index 853d7ab722..75b5a9a801 100644
--- a/docs/zh/msg_docs/PositionControllerLandingStatus.md
+++ b/docs/zh/msg_docs/PositionControllerLandingStatus.md
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# PositionControllerLandingStatus (UORB message)
-**TOPICS:** position_controllerlanding_status
+**TOPICS:** position_controller_landing_status
## Fields
@@ -17,13 +17,13 @@ pageClass: is-wide-page
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| --------------------------------------------------------------------------------------------------------- | ------- | - | ------------------------------------------------------------------------------------------------------------------------------------ |
-| NOT_ABORTED | `uint8` | 0 | |
-| ABORTED_BY_OPERATOR | `uint8` | 1 | |
-| TERRAIN_NOT_FOUND | `uint8` | 2 | FW_LND_ABORT (1 << 0) |
-| TERRAIN_TIMEOUT | `uint8` | 3 | FW_LND_ABORT (1 << 1) |
-| UNKNOWN_ABORT_CRITERION | `uint8` | 4 | |
+| 参数名 | 类型 | 值 | 描述 |
+| ------------------------------------------------------------------------------------------------------- | ------- | - | ------------------------------------------------------------------------------------------------------------------------------------ |
+| NOT_ABORTED | `uint8` | 0 | |
+| ABORTED_BY_OPERATOR | `uint8` | 1 | |
+| TERRAIN_NOT_FOUND | `uint8` | 2 | FW_LND_ABORT (1 << 0) |
+| TERRAIN_TIMEOUT | `uint8` | 3 | FW_LND_ABORT (1 << 1) |
+| UNKNOWN_ABORT_CRITERION | `uint8` | 4 | |
## Source Message
diff --git a/docs/zh/msg_docs/PositionControllerStatus.md b/docs/zh/msg_docs/PositionControllerStatus.md
index b9ffbecf3d..5a003f4b43 100644
--- a/docs/zh/msg_docs/PositionControllerStatus.md
+++ b/docs/zh/msg_docs/PositionControllerStatus.md
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# PositionControllerStatus (UORB message)
-**TOPICS:** position_controllerstatus
+**TOPICS:** position_controller_status
## Fields
diff --git a/docs/zh/msg_docs/PositionSetpoint.md b/docs/zh/msg_docs/PositionSetpoint.md
index fcbe027d42..6ed38aad74 100644
--- a/docs/zh/msg_docs/PositionSetpoint.md
+++ b/docs/zh/msg_docs/PositionSetpoint.md
@@ -35,16 +35,16 @@ this file is only used in the position_setpoint triple as a dependency.
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| --------------------------------------------------------------------------------------------------------- | ------- | - | --------------------------------------------------------------------------- |
-| SETPOINT_TYPE_POSITION | `uint8` | 0 | position setpoint |
-| SETPOINT_TYPE_VELOCITY | `uint8` | 1 | velocity setpoint |
-| SETPOINT_TYPE_LOITER | `uint8` | 2 | loiter setpoint |
-| SETPOINT_TYPE_TAKEOFF | `uint8` | 3 | takeoff setpoint |
-| SETPOINT_TYPE_LAND | `uint8` | 4 | land setpoint, altitude must be ignored, descend until landing |
-| SETPOINT_TYPE_IDLE | `uint8` | 5 | do nothing, switch off motors or keep at idle speed (MC) |
-| LOITER_TYPE_ORBIT | `uint8` | 0 | Circular pattern |
-| LOITER_TYPE_FIGUREEIGHT | `uint8` | 1 | Pattern resembling an 8 |
+| 参数名 | 类型 | 值 | 描述 |
+| ------------------------------------------------------------------------------------------------------- | ------- | - | --------------------------------------------------------------------------- |
+| SETPOINT_TYPE_POSITION | `uint8` | 0 | position setpoint |
+| SETPOINT_TYPE_VELOCITY | `uint8` | 1 | velocity setpoint |
+| SETPOINT_TYPE_LOITER | `uint8` | 2 | loiter setpoint |
+| SETPOINT_TYPE_TAKEOFF | `uint8` | 3 | takeoff setpoint |
+| SETPOINT_TYPE_LAND | `uint8` | 4 | land setpoint, altitude must be ignored, descend until landing |
+| SETPOINT_TYPE_IDLE | `uint8` | 5 | do nothing, switch off motors or keep at idle speed (MC) |
+| LOITER_TYPE_ORBIT | `uint8` | 0 | Circular pattern |
+| LOITER_TYPE_FIGUREEIGHT | `uint8` | 1 | Pattern resembling an 8 |
## Source Message
diff --git a/docs/zh/msg_docs/PositionSetpointTriplet.md b/docs/zh/msg_docs/PositionSetpointTriplet.md
index 8d1e06a47c..59069003e5 100644
--- a/docs/zh/msg_docs/PositionSetpointTriplet.md
+++ b/docs/zh/msg_docs/PositionSetpointTriplet.md
@@ -6,7 +6,7 @@ pageClass: is-wide-page
Global position setpoint triplet in WGS84 coordinates. This are the three next waypoints (or just the next two or one).
-**TOPICS:** position_setpointtriplet
+**TOPICS:** position_setpoint_triplet
## Fields
diff --git a/docs/zh/msg_docs/PowerButtonState.md b/docs/zh/msg_docs/PowerButtonState.md
index 831b00dba5..1b6c48d580 100644
--- a/docs/zh/msg_docs/PowerButtonState.md
+++ b/docs/zh/msg_docs/PowerButtonState.md
@@ -6,7 +6,7 @@ pageClass: is-wide-page
power button state notification message.
-**TOPICS:** power_buttonstate
+**TOPICS:** power_button_state
## Fields
@@ -17,12 +17,12 @@ power button state notification message.
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | - | ------------------------------------------------------------------------------------------ |
-| PWR_BUTTON_STATE_IDEL | `uint8` | 0 | Button went up without meeting shutdown button down time (delete event) |
-| PWR_BUTTON_STATE_DOWN | `uint8` | 1 | Button went Down |
-| PWR_BUTTON_STATE_UP | `uint8` | 2 | Button went Up |
-| PWR_BUTTON_STATE_REQUEST_SHUTDOWN | `uint8` | 3 | Button went Up after meeting shutdown button down time |
+| 参数名 | 类型 | 值 | 描述 |
+| --------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | - | ------------------------------------------------------------------------------------------ |
+| PWR_BUTTON_STATE_IDEL | `uint8` | 0 | Button went up without meeting shutdown button down time (delete event) |
+| PWR_BUTTON_STATE_DOWN | `uint8` | 1 | Button went Down |
+| PWR_BUTTON_STATE_UP | `uint8` | 2 | Button went Up |
+| PWR_BUTTON_STATE_REQUEST_SHUTDOWN | `uint8` | 3 | Button went Up after meeting shutdown button down time |
## Source Message
diff --git a/docs/zh/msg_docs/PurePursuitStatus.md b/docs/zh/msg_docs/PurePursuitStatus.md
index 878cf0f173..c0927cdbe0 100644
--- a/docs/zh/msg_docs/PurePursuitStatus.md
+++ b/docs/zh/msg_docs/PurePursuitStatus.md
@@ -6,7 +6,7 @@ pageClass: is-wide-page
Pure pursuit status.
-**TOPICS:** pure_pursuitstatus
+**TOPICS:** pure_pursuit_status
## Fields
diff --git a/docs/zh/msg_docs/QshellReq.md b/docs/zh/msg_docs/QshellReq.md
index 5d63c2deb1..a1ad25e7cd 100644
--- a/docs/zh/msg_docs/QshellReq.md
+++ b/docs/zh/msg_docs/QshellReq.md
@@ -17,9 +17,9 @@ pageClass: is-wide-page
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| ---------------------------------------------------------- | -------- | --- | -- |
-| MAX_STRLEN | `uint32` | 100 | |
+| 参数名 | 类型 | 值 | 描述 |
+| -------------------------------------------------------- | -------- | --- | -- |
+| MAX_STRLEN | `uint32` | 100 | |
## Source Message
diff --git a/docs/zh/msg_docs/RaptorInput.md b/docs/zh/msg_docs/RaptorInput.md
index a6e4786526..7fd1c6233e 100644
--- a/docs/zh/msg_docs/RaptorInput.md
+++ b/docs/zh/msg_docs/RaptorInput.md
@@ -23,10 +23,10 @@ Raptor Input.
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| -------------------------------------------------------------------- | -------- | - | ---------------------------------------------------------------- |
-| MESSAGE_VERSION | `uint32` | 0 | |
-| ACTION_DIM | `uint8` | 4 | Policy output dimensionality (for quadrotors) |
+| 参数名 | 类型 | 值 | 描述 |
+| ------------------------------------------------------------------ | -------- | - | ---------------------------------------------------------------- |
+| MESSAGE_VERSION | `uint32` | 0 | |
+| ACTION_DIM | `uint8` | 4 | Policy output dimensionality (for quadrotors) |
## Source Message
diff --git a/docs/zh/msg_docs/RaptorStatus.md b/docs/zh/msg_docs/RaptorStatus.md
index 9f3d70b244..de9261eefd 100644
--- a/docs/zh/msg_docs/RaptorStatus.md
+++ b/docs/zh/msg_docs/RaptorStatus.md
@@ -39,16 +39,16 @@ Raptor Status.
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | - | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
-| MESSAGE_VERSION | `uint32` | 0 | |
-| EXIT_REASON_NONE | `uint8` | 0 | No exit reason => Raptor control step was executed (actuator_motors should have been published) |
-| EXIT_REASON_NO_ANGULAR_VELOCITY_UPDATE | `uint8` | 1 | We synchronize the control onto the input observation with the highest update frequency, which is vehicle_angular_velocity. If there was no update, we do not need to execute the policy again |
-| EXIT_REASON_NOT_ALL_OBSERVATIONS_SET | `uint8` | 2 | We can not execute the policy if not all observations are available |
-| EXIT_REASON_ANGULAR_VELOCITY_STALE | `uint8` | 3 | If OBSERVATION_TIMEOUT_ANGULAR_VELOCITY is exceeded, we treat the vehicle_angular_velocity as stale and can not run the policy |
-| EXIT_REASON_LOCAL_POSITION_STALE | `uint8` | 4 | If OBSERVATION_TIMEOUT_LOCAL_POSITION is exceeded, we treat the vehicle_local_position as stale and can not run the policy |
-| EXIT_REASON_ATTITUDE_STALE | `uint8` | 5 | If OBSERVATION_TIMEOUT_ATTITUDE is exceeded, we treat the vehicle_attitude as stale and can not run the policy |
-| EXIT_REASON_EXECUTOR_STATUS_SOURCE_NOT_CONTROL | `uint8` | 6 | The executor that runs the policy can run in oversampling mode, where it decides if the policy should be ran based on the timestamp and not based on fixed synchronization onto the vehicle_angular_velocity. In this case the executor can decide to skip running the policy if the interval is too small, in which case this flag is set. |
+| 参数名 | 类型 | 值 | 描述 |
+| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | - | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| MESSAGE_VERSION | `uint32` | 0 | |
+| EXIT_REASON_NONE | `uint8` | 0 | No exit reason => Raptor control step was executed (actuator_motors should have been published) |
+| EXIT_REASON_NO_ANGULAR_VELOCITY_UPDATE | `uint8` | 1 | We synchronize the control onto the input observation with the highest update frequency, which is vehicle_angular_velocity. If there was no update, we do not need to execute the policy again |
+| EXIT_REASON_NOT_ALL_OBSERVATIONS_SET | `uint8` | 2 | We can not execute the policy if not all observations are available |
+| EXIT_REASON_ANGULAR_VELOCITY_STALE | `uint8` | 3 | If OBSERVATION_TIMEOUT_ANGULAR_VELOCITY is exceeded, we treat the vehicle_angular_velocity as stale and can not run the policy |
+| EXIT_REASON_LOCAL_POSITION_STALE | `uint8` | 4 | If OBSERVATION_TIMEOUT_LOCAL_POSITION is exceeded, we treat the vehicle_local_position as stale and can not run the policy |
+| EXIT_REASON_ATTITUDE_STALE | `uint8` | 5 | If OBSERVATION_TIMEOUT_ATTITUDE is exceeded, we treat the vehicle_attitude as stale and can not run the policy |
+| EXIT_REASON_EXECUTOR_STATUS_SOURCE_NOT_CONTROL | `uint8` | 6 | The executor that runs the policy can run in oversampling mode, where it decides if the policy should be ran based on the timestamp and not based on fixed synchronization onto the vehicle_angular_velocity. In this case the executor can decide to skip running the policy if the interval is too small, in which case this flag is set. |
## Source Message
diff --git a/docs/zh/msg_docs/RateCtrlStatus.md b/docs/zh/msg_docs/RateCtrlStatus.md
index 087357cb2b..a11548b7ab 100644
--- a/docs/zh/msg_docs/RateCtrlStatus.md
+++ b/docs/zh/msg_docs/RateCtrlStatus.md
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# RateCtrlStatus (UORB message)
-**TOPICS:** rate_ctrlstatus
+**TOPICS:** rate_ctrl_status
## Fields
diff --git a/docs/zh/msg_docs/RcChannels.md b/docs/zh/msg_docs/RcChannels.md
index 5bcdc36912..4a47d3b42c 100644
--- a/docs/zh/msg_docs/RcChannels.md
+++ b/docs/zh/msg_docs/RcChannels.md
@@ -21,39 +21,39 @@ pageClass: is-wide-page
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| ------------------------------------------------------------------------------------------------------------------------------------ | ------- | -- | -- |
-| FUNCTION_THROTTLE | `uint8` | 0 | |
-| FUNCTION_ROLL | `uint8` | 1 | |
-| FUNCTION_PITCH | `uint8` | 2 | |
-| FUNCTION_YAW | `uint8` | 3 | |
-| FUNCTION_RETURN | `uint8` | 4 | |
-| FUNCTION_LOITER | `uint8` | 5 | |
-| FUNCTION_OFFBOARD | `uint8` | 6 | |
-| FUNCTION_FLAPS | `uint8` | 7 | |
-| FUNCTION_AUX_1 | `uint8` | 8 | |
-| FUNCTION_AUX_2 | `uint8` | 9 | |
-| FUNCTION_AUX_3 | `uint8` | 10 | |
-| FUNCTION_AUX_4 | `uint8` | 11 | |
-| FUNCTION_AUX_5 | `uint8` | 12 | |
-| FUNCTION_AUX_6 | `uint8` | 13 | |
-| FUNCTION_PARAM_1 | `uint8` | 14 | |
-| FUNCTION_PARAM_2 | `uint8` | 15 | |
-| FUNCTION_PARAM_3_5 | `uint8` | 16 | |
-| FUNCTION_KILLSWITCH | `uint8` | 17 | |
-| FUNCTION_TRANSITION | `uint8` | 18 | |
-| FUNCTION_GEAR | `uint8` | 19 | |
-| FUNCTION_ARMSWITCH | `uint8` | 20 | |
-| FUNCTION_FLTBTN_SLOT_1 | `uint8` | 21 | |
-| FUNCTION_FLTBTN_SLOT_2 | `uint8` | 22 | |
-| FUNCTION_FLTBTN_SLOT_3 | `uint8` | 23 | |
-| FUNCTION_FLTBTN_SLOT_4 | `uint8` | 24 | |
-| FUNCTION_FLTBTN_SLOT_5 | `uint8` | 25 | |
-| FUNCTION_FLTBTN_SLOT_6 | `uint8` | 26 | |
-| FUNCTION_ENGAGE_MAIN_MOTOR | `uint8` | 27 | |
-| FUNCTION_PAYLOAD_POWER | `uint8` | 28 | |
-| FUNCTION_TERMINATION | `uint8` | 29 | |
-| FUNCTION_FLTBTN_SLOT_COUNT | `uint8` | 6 | |
+| 参数名 | 类型 | 值 | 描述 |
+| ---------------------------------------------------------------------------------------------------------------------------------- | ------- | -- | -- |
+| FUNCTION_THROTTLE | `uint8` | 0 | |
+| FUNCTION_ROLL | `uint8` | 1 | |
+| FUNCTION_PITCH | `uint8` | 2 | |
+| FUNCTION_YAW | `uint8` | 3 | |
+| FUNCTION_RETURN | `uint8` | 4 | |
+| FUNCTION_LOITER | `uint8` | 5 | |
+| FUNCTION_OFFBOARD | `uint8` | 6 | |
+| FUNCTION_FLAPS | `uint8` | 7 | |
+| FUNCTION_AUX_1 | `uint8` | 8 | |
+| FUNCTION_AUX_2 | `uint8` | 9 | |
+| FUNCTION_AUX_3 | `uint8` | 10 | |
+| FUNCTION_AUX_4 | `uint8` | 11 | |
+| FUNCTION_AUX_5 | `uint8` | 12 | |
+| FUNCTION_AUX_6 | `uint8` | 13 | |
+| FUNCTION_PARAM_1 | `uint8` | 14 | |
+| FUNCTION_PARAM_2 | `uint8` | 15 | |
+| FUNCTION_PARAM_3_5 | `uint8` | 16 | |
+| FUNCTION_KILLSWITCH | `uint8` | 17 | |
+| FUNCTION_TRANSITION | `uint8` | 18 | |
+| FUNCTION_GEAR | `uint8` | 19 | |
+| FUNCTION_ARMSWITCH | `uint8` | 20 | |
+| FUNCTION_FLTBTN_SLOT_1 | `uint8` | 21 | |
+| FUNCTION_FLTBTN_SLOT_2 | `uint8` | 22 | |
+| FUNCTION_FLTBTN_SLOT_3 | `uint8` | 23 | |
+| FUNCTION_FLTBTN_SLOT_4 | `uint8` | 24 | |
+| FUNCTION_FLTBTN_SLOT_5 | `uint8` | 25 | |
+| FUNCTION_FLTBTN_SLOT_6 | `uint8` | 26 | |
+| FUNCTION_ENGAGE_MAIN_MOTOR | `uint8` | 27 | |
+| FUNCTION_PAYLOAD_POWER | `uint8` | 28 | |
+| FUNCTION_TERMINATION | `uint8` | 29 | |
+| FUNCTION_FLTBTN_SLOT_COUNT | `uint8` | 6 | |
## Source Message
diff --git a/docs/zh/msg_docs/RcParameterMap.md b/docs/zh/msg_docs/RcParameterMap.md
index 1d350e334a..9d644ba738 100644
--- a/docs/zh/msg_docs/RcParameterMap.md
+++ b/docs/zh/msg_docs/RcParameterMap.md
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# RcParameterMap (UORB message)
-**TOPICS:** rc_parametermap
+**TOPICS:** rc_parameter_map
## Fields
@@ -21,10 +21,10 @@ pageClass: is-wide-page
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| -------------------------------------------------------------------------------------------------------------------- | ------- | -- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
-| RC_PARAM_MAP_NCHAN | `uint8` | 3 | This limit is also hardcoded in the enum RC_CHANNELS_FUNCTION in rc_channels.h |
-| PARAM_ID_LEN | `uint8` | 16 | corresponds to MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN |
+| 参数名 | 类型 | 值 | 描述 |
+| ------------------------------------------------------------------------------------------------------------------ | ------- | -- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
+| RC_PARAM_MAP_NCHAN | `uint8` | 3 | This limit is also hardcoded in the enum RC_CHANNELS_FUNCTION in rc_channels.h |
+| PARAM_ID_LEN | `uint8` | 16 | corresponds to MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN |
## Source Message
diff --git a/docs/zh/msg_docs/RegisterExtComponentReply.md b/docs/zh/msg_docs/RegisterExtComponentReply.md
index 286676e3f0..fefb3bcf5b 100644
--- a/docs/zh/msg_docs/RegisterExtComponentReply.md
+++ b/docs/zh/msg_docs/RegisterExtComponentReply.md
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# RegisterExtComponentReply (UORB message)
-**TOPICS:** register_extcomponent_reply
+**TOPICS:** register_ext_component_reply
## Fields
@@ -22,10 +22,10 @@ pageClass: is-wide-page
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| ------------------------------------------------------------------------------------------- | -------- | - | -- |
-| MESSAGE_VERSION | `uint32` | 1 | |
-| ORB_QUEUE_LENGTH | `uint8` | 2 | |
+| 参数名 | 类型 | 值 | 描述 |
+| ----------------------------------------------------------------------------------------- | -------- | - | -- |
+| MESSAGE_VERSION | `uint32` | 1 | |
+| ORB_QUEUE_LENGTH | `uint8` | 2 | |
## Source Message
diff --git a/docs/zh/msg_docs/RegisterExtComponentReplyV0.md b/docs/zh/msg_docs/RegisterExtComponentReplyV0.md
index 73d32efaaf..a3ebfa0362 100644
--- a/docs/zh/msg_docs/RegisterExtComponentReplyV0.md
+++ b/docs/zh/msg_docs/RegisterExtComponentReplyV0.md
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# RegisterExtComponentReplyV0 (UORB message)
-**TOPICS:** register_extcomponent_replyv0
+**TOPICS:** register_ext_component_reply_v0
## Fields
@@ -21,10 +21,10 @@ pageClass: is-wide-page
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| ------------------------------------------------------------------------------------------- | -------- | - | -- |
-| MESSAGE_VERSION | `uint32` | 0 | |
-| ORB_QUEUE_LENGTH | `uint8` | 2 | |
+| 参数名 | 类型 | 值 | 描述 |
+| ----------------------------------------------------------------------------------------- | -------- | - | -- |
+| MESSAGE_VERSION | `uint32` | 0 | |
+| ORB_QUEUE_LENGTH | `uint8` | 2 | |
## Source Message
diff --git a/docs/zh/msg_docs/RegisterExtComponentRequest.md b/docs/zh/msg_docs/RegisterExtComponentRequest.md
index 1fa2e661fb..39e7526f06 100644
--- a/docs/zh/msg_docs/RegisterExtComponentRequest.md
+++ b/docs/zh/msg_docs/RegisterExtComponentRequest.md
@@ -6,7 +6,7 @@ pageClass: is-wide-page
Request to register an external component.
-**TOPICS:** register_extcomponent_request
+**TOPICS:** register_ext_component_request
## Fields
@@ -26,11 +26,11 @@ Request to register an external component.
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| ----------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | - | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
-| MESSAGE_VERSION | `uint32` | 1 | |
-| LATEST_PX4_ROS2_API_VERSION | `uint16` | 1 | API version compatibility. Increase this on a breaking semantic change. Changes to any message field are detected separately and do not require an API version change. |
-| ORB_QUEUE_LENGTH | `uint8` | 2 | |
+| 参数名 | 类型 | 值 | 描述 |
+| --------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | - | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| MESSAGE_VERSION | `uint32` | 1 | |
+| LATEST_PX4_ROS2_API_VERSION | `uint16` | 1 | API version compatibility. Increase this on a breaking semantic change. Changes to any message field are detected separately and do not require an API version change. |
+| ORB_QUEUE_LENGTH | `uint8` | 2 | |
## Source Message
diff --git a/docs/zh/msg_docs/RegisterExtComponentRequestV0.md b/docs/zh/msg_docs/RegisterExtComponentRequestV0.md
index 21202b552f..9c20407928 100644
--- a/docs/zh/msg_docs/RegisterExtComponentRequestV0.md
+++ b/docs/zh/msg_docs/RegisterExtComponentRequestV0.md
@@ -6,7 +6,7 @@ pageClass: is-wide-page
Request to register an external component.
-**TOPICS:** register_extcomponent_requestv0
+**TOPICS:** register_ext_component_request_v0
## Fields
@@ -25,11 +25,11 @@ Request to register an external component.
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| ----------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | - | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
-| MESSAGE_VERSION | `uint32` | 0 | |
-| LATEST_PX4_ROS2_API_VERSION | `uint16` | 1 | API version compatibility. Increase this on a breaking semantic change. Changes to any message field are detected separately and do not require an API version change. |
-| ORB_QUEUE_LENGTH | `uint8` | 2 | |
+| 参数名 | 类型 | 值 | 描述 |
+| --------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | - | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| MESSAGE_VERSION | `uint32` | 0 | |
+| LATEST_PX4_ROS2_API_VERSION | `uint16` | 1 | API version compatibility. Increase this on a breaking semantic change. Changes to any message field are detected separately and do not require an API version change. |
+| ORB_QUEUE_LENGTH | `uint8` | 2 | |
## Source Message
diff --git a/docs/zh/msg_docs/RoverAttitudeSetpoint.md b/docs/zh/msg_docs/RoverAttitudeSetpoint.md
index c1c2cee024..cf9e864e99 100644
--- a/docs/zh/msg_docs/RoverAttitudeSetpoint.md
+++ b/docs/zh/msg_docs/RoverAttitudeSetpoint.md
@@ -6,7 +6,7 @@ pageClass: is-wide-page
Rover Attitude Setpoint.
-**TOPICS:** rover_attitudesetpoint
+**TOPICS:** rover_attitude_setpoint
## Fields
diff --git a/docs/zh/msg_docs/RoverAttitudeStatus.md b/docs/zh/msg_docs/RoverAttitudeStatus.md
index f006d5b330..5012636aac 100644
--- a/docs/zh/msg_docs/RoverAttitudeStatus.md
+++ b/docs/zh/msg_docs/RoverAttitudeStatus.md
@@ -6,7 +6,7 @@ pageClass: is-wide-page
Rover Attitude Status.
-**TOPICS:** rover_attitudestatus
+**TOPICS:** rover_attitude_status
## Fields
diff --git a/docs/zh/msg_docs/RoverPositionSetpoint.md b/docs/zh/msg_docs/RoverPositionSetpoint.md
index 59e9680d77..6dd6b9af9f 100644
--- a/docs/zh/msg_docs/RoverPositionSetpoint.md
+++ b/docs/zh/msg_docs/RoverPositionSetpoint.md
@@ -6,7 +6,7 @@ pageClass: is-wide-page
Rover Position Setpoint.
-**TOPICS:** rover_positionsetpoint
+**TOPICS:** rover_position_setpoint
## Fields
diff --git a/docs/zh/msg_docs/RoverRateSetpoint.md b/docs/zh/msg_docs/RoverRateSetpoint.md
index 8c04911b69..87b5bc6920 100644
--- a/docs/zh/msg_docs/RoverRateSetpoint.md
+++ b/docs/zh/msg_docs/RoverRateSetpoint.md
@@ -6,7 +6,7 @@ pageClass: is-wide-page
Rover Rate setpoint.
-**TOPICS:** rover_ratesetpoint
+**TOPICS:** rover_rate_setpoint
## Fields
diff --git a/docs/zh/msg_docs/RoverRateStatus.md b/docs/zh/msg_docs/RoverRateStatus.md
index 1755f63f12..e451b0ed5e 100644
--- a/docs/zh/msg_docs/RoverRateStatus.md
+++ b/docs/zh/msg_docs/RoverRateStatus.md
@@ -6,7 +6,7 @@ pageClass: is-wide-page
Rover Rate Status.
-**TOPICS:** rover_ratestatus
+**TOPICS:** rover_rate_status
## Fields
diff --git a/docs/zh/msg_docs/RoverSpeedSetpoint.md b/docs/zh/msg_docs/RoverSpeedSetpoint.md
index b9689cdbbb..a740bbb7bf 100644
--- a/docs/zh/msg_docs/RoverSpeedSetpoint.md
+++ b/docs/zh/msg_docs/RoverSpeedSetpoint.md
@@ -6,7 +6,7 @@ pageClass: is-wide-page
Rover Speed Setpoint.
-**TOPICS:** rover_speedsetpoint
+**TOPICS:** rover_speed_setpoint
## Fields
diff --git a/docs/zh/msg_docs/RoverSpeedStatus.md b/docs/zh/msg_docs/RoverSpeedStatus.md
index ffd4bb3661..0d9646fd03 100644
--- a/docs/zh/msg_docs/RoverSpeedStatus.md
+++ b/docs/zh/msg_docs/RoverSpeedStatus.md
@@ -6,7 +6,7 @@ pageClass: is-wide-page
Rover Velocity Status.
-**TOPICS:** rover_speedstatus
+**TOPICS:** rover_speed_status
## Fields
diff --git a/docs/zh/msg_docs/RoverSteeringSetpoint.md b/docs/zh/msg_docs/RoverSteeringSetpoint.md
index 60ca511e3d..b6b0284815 100644
--- a/docs/zh/msg_docs/RoverSteeringSetpoint.md
+++ b/docs/zh/msg_docs/RoverSteeringSetpoint.md
@@ -6,7 +6,7 @@ pageClass: is-wide-page
Rover Steering setpoint.
-**TOPICS:** rover_steeringsetpoint
+**TOPICS:** rover_steering_setpoint
## Fields
diff --git a/docs/zh/msg_docs/RoverThrottleSetpoint.md b/docs/zh/msg_docs/RoverThrottleSetpoint.md
index bf137546aa..73813293d3 100644
--- a/docs/zh/msg_docs/RoverThrottleSetpoint.md
+++ b/docs/zh/msg_docs/RoverThrottleSetpoint.md
@@ -6,7 +6,7 @@ pageClass: is-wide-page
Rover Throttle setpoint.
-**TOPICS:** rover_throttlesetpoint
+**TOPICS:** rover_throttle_setpoint
## Fields
diff --git a/docs/zh/msg_docs/RtlStatus.md b/docs/zh/msg_docs/RtlStatus.md
index 6b8b7e94c7..976b8cc9b3 100644
--- a/docs/zh/msg_docs/RtlStatus.md
+++ b/docs/zh/msg_docs/RtlStatus.md
@@ -19,13 +19,13 @@ pageClass: is-wide-page
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | ------- | - | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
-| RTL_STATUS_TYPE_NONE | `uint8` | 0 | pending if evaluation can't pe performed currently e.g. when it is still loading the safe points |
-| RTL_STATUS_TYPE_DIRECT_SAFE_POINT | `uint8` | 1 | chosen to directly go to a safe point or home position |
-| RTL_STATUS_TYPE_DIRECT_MISSION_LAND | `uint8` | 2 | going straight to the beginning of the mission landing |
-| RTL_STATUS_TYPE_FOLLOW_MISSION | `uint8` | 3 | Following the mission from start index to mission landing. Start index is current WP if in Mission mode, and closest WP otherwise. |
-| RTL_STATUS_TYPE_FOLLOW_MISSION_REVERSE | `uint8` | 4 | Following the mission in reverse from start index to the beginning of the mission. Start index is previous WP if in Mission mode, and closest WP otherwise. |
+| 参数名 | 类型 | 值 | 描述 |
+| ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | - | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| RTL_STATUS_TYPE_NONE | `uint8` | 0 | pending if evaluation can't pe performed currently e.g. when it is still loading the safe points |
+| RTL_STATUS_TYPE_DIRECT_SAFE_POINT | `uint8` | 1 | chosen to directly go to a safe point or home position |
+| RTL_STATUS_TYPE_DIRECT_MISSION_LAND | `uint8` | 2 | going straight to the beginning of the mission landing |
+| RTL_STATUS_TYPE_FOLLOW_MISSION | `uint8` | 3 | Following the mission from start index to mission landing. Start index is current WP if in Mission mode, and closest WP otherwise. |
+| RTL_STATUS_TYPE_FOLLOW_MISSION_REVERSE | `uint8` | 4 | Following the mission in reverse from start index to the beginning of the mission. Start index is previous WP if in Mission mode, and closest WP otherwise. |
## Source Message
diff --git a/docs/zh/msg_docs/RtlTimeEstimate.md b/docs/zh/msg_docs/RtlTimeEstimate.md
index 5ed2e8d097..f81658717a 100644
--- a/docs/zh/msg_docs/RtlTimeEstimate.md
+++ b/docs/zh/msg_docs/RtlTimeEstimate.md
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# RtlTimeEstimate (UORB message)
-**TOPICS:** rtl_timeestimate
+**TOPICS:** rtl_time_estimate
## Fields
diff --git a/docs/zh/msg_docs/SatelliteInfo.md b/docs/zh/msg_docs/SatelliteInfo.md
index 65ff7152a2..2a08cb1710 100644
--- a/docs/zh/msg_docs/SatelliteInfo.md
+++ b/docs/zh/msg_docs/SatelliteInfo.md
@@ -21,9 +21,9 @@ pageClass: is-wide-page
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| ------------------------------------------------------------------------------------------------------------------------------ | ------- | -- | -- |
-| SAT_INFO_MAX_SATELLITES | `uint8` | 40 | |
+| 参数名 | 类型 | 值 | 描述 |
+| ---------------------------------------------------------------------------------------------------------------------------- | ------- | -- | -- |
+| SAT_INFO_MAX_SATELLITES | `uint8` | 40 | |
## Source Message
diff --git a/docs/zh/msg_docs/SensorAccel.md b/docs/zh/msg_docs/SensorAccel.md
index 9df887f343..149317bb99 100644
--- a/docs/zh/msg_docs/SensorAccel.md
+++ b/docs/zh/msg_docs/SensorAccel.md
@@ -23,9 +23,9 @@ pageClass: is-wide-page
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| ------------------------------------------------------------------------------------------- | ------- | - | -- |
-| ORB_QUEUE_LENGTH | `uint8` | 8 | |
+| 参数名 | 类型 | 值 | 描述 |
+| ----------------------------------------------------------------------------------------- | ------- | - | -- |
+| ORB_QUEUE_LENGTH | `uint8` | 8 | |
## Source Message
diff --git a/docs/zh/msg_docs/SensorAccelFifo.md b/docs/zh/msg_docs/SensorAccelFifo.md
index fdc8e20826..c06ca20163 100644
--- a/docs/zh/msg_docs/SensorAccelFifo.md
+++ b/docs/zh/msg_docs/SensorAccelFifo.md
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# SensorAccelFifo (UORB message)
-**TOPICS:** sensor_accelfifo
+**TOPICS:** sensor_accel_fifo
## Fields
diff --git a/docs/zh/msg_docs/SensorBaro.md b/docs/zh/msg_docs/SensorBaro.md
index 8498376d07..00f4fa3d5d 100644
--- a/docs/zh/msg_docs/SensorBaro.md
+++ b/docs/zh/msg_docs/SensorBaro.md
@@ -24,9 +24,9 @@ The information is published in the `SCALED_PRESSURE_n` MAVLink messages (along
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| ------------------------------------------------------------------------------------------- | ------- | - | -- |
-| ORB_QUEUE_LENGTH | `uint8` | 4 | |
+| 参数名 | 类型 | 值 | 描述 |
+| ----------------------------------------------------------------------------------------- | ------- | - | -- |
+| ORB_QUEUE_LENGTH | `uint8` | 4 | |
## Source Message
diff --git a/docs/zh/msg_docs/SensorCombined.md b/docs/zh/msg_docs/SensorCombined.md
index 8ab0c5fadb..5ce665ecca 100644
--- a/docs/zh/msg_docs/SensorCombined.md
+++ b/docs/zh/msg_docs/SensorCombined.md
@@ -25,12 +25,12 @@ Sensor readings in SI-unit form. These fields are scaled and offset-compensated
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| --------------------------------------------------------------------------------------------------------------- | ------- | ---------- | ----------------------------------------------------------------------------------------------------------------------------------------- |
-| RELATIVE_TIMESTAMP_INVALID | `int32` | 2147483647 | (0x7fffffff) If one of the relative timestamps is set to this value, it means the associated sensor values are invalid |
-| CLIPPING_X | `uint8` | 1 | |
-| CLIPPING_Y | `uint8` | 2 | |
-| CLIPPING_Z | `uint8` | 4 | |
+| 参数名 | 类型 | 值 | 描述 |
+| ------------------------------------------------------------------------------------------------------------- | ------- | ---------- | ----------------------------------------------------------------------------------------------------------------------------------------- |
+| RELATIVE_TIMESTAMP_INVALID | `int32` | 2147483647 | (0x7fffffff) If one of the relative timestamps is set to this value, it means the associated sensor values are invalid |
+| CLIPPING_X | `uint8` | 1 | |
+| CLIPPING_Y | `uint8` | 2 | |
+| CLIPPING_Z | `uint8` | 4 | |
## Source Message
diff --git a/docs/zh/msg_docs/SensorGnssRelative.md b/docs/zh/msg_docs/SensorGnssRelative.md
index 8f4c2b59bc..33196347f5 100644
--- a/docs/zh/msg_docs/SensorGnssRelative.md
+++ b/docs/zh/msg_docs/SensorGnssRelative.md
@@ -6,7 +6,7 @@ pageClass: is-wide-page
GNSS relative positioning information in NED frame. The NED frame is defined as the local topological system at the reference station.
-**TOPICS:** sensor_gnssrelative
+**TOPICS:** sensor_gnss_relative
## Fields
diff --git a/docs/zh/msg_docs/SensorGnssStatus.md b/docs/zh/msg_docs/SensorGnssStatus.md
index 8124591cc6..d0c2f8acb5 100644
--- a/docs/zh/msg_docs/SensorGnssStatus.md
+++ b/docs/zh/msg_docs/SensorGnssStatus.md
@@ -6,7 +6,7 @@ pageClass: is-wide-page
Gnss quality indicators.
-**TOPICS:** sensor_gnssstatus
+**TOPICS:** sensor_gnss_status
## Fields
diff --git a/docs/zh/msg_docs/SensorGps.md b/docs/zh/msg_docs/SensorGps.md
index e5edf24fea..b80ee914d1 100644
--- a/docs/zh/msg_docs/SensorGps.md
+++ b/docs/zh/msg_docs/SensorGps.md
@@ -52,39 +52,39 @@ GPS position in WGS84 coordinates. the field 'timestamp' is for the position & v
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| ------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | -- | ---------------------------------------------------------- |
-| FIX_TYPE_NONE | `uint8` | 1 | Value 0 is also valid to represent no fix. |
-| FIX_TYPE_2D | `uint8` | 2 | |
-| FIX_TYPE_3D | `uint8` | 3 | |
-| FIX_TYPE_RTCM_CODE_DIFFERENTIAL | `uint8` | 4 | |
-| FIX_TYPE_RTK_FLOAT | `uint8` | 5 | |
-| FIX_TYPE_RTK_FIXED | `uint8` | 6 | |
-| FIX_TYPE_EXTRAPOLATED | `uint8` | 8 | |
-| JAMMING_STATE_UNKNOWN | `uint8` | 0 | default |
-| JAMMING_STATE_OK | `uint8` | 1 | |
-| JAMMING_STATE_MITIGATED | `uint8` | 2 | |
-| JAMMING_STATE_DETECTED | `uint8` | 3 | |
-| SPOOFING_STATE_UNKNOWN | `uint8` | 0 | default |
-| SPOOFING_STATE_OK | `uint8` | 1 | |
-| SPOOFING_STATE_MITIGATED | `uint8` | 2 | |
-| SPOOFING_STATE_DETECTED | `uint8` | 3 | |
-| AUTHENTICATION_STATE_UNKNOWN | `uint8` | 0 | default |
-| AUTHENTICATION_STATE_INITIALIZING | `uint8` | 1 | |
-| AUTHENTICATION_STATE_ERROR | `uint8` | 2 | |
-| AUTHENTICATION_STATE_OK | `uint8` | 3 | |
-| AUTHENTICATION_STATE_DISABLED | `uint8` | 4 | |
-| SYSTEM_ERROR_OK | `uint32` | 0 | default |
-| SYSTEM_ERROR_INCOMING_CORRECTIONS | `uint32` | 1 | |
-| SYSTEM_ERROR_CONFIGURATION | `uint32` | 2 | |
-| SYSTEM_ERROR_SOFTWARE | `uint32` | 4 | |
-| SYSTEM_ERROR_ANTENNA | `uint32` | 8 | |
-| SYSTEM_ERROR_EVENT_CONGESTION | `uint32` | 16 | |
-| SYSTEM_ERROR_CPU_OVERLOAD | `uint32` | 32 | |
-| SYSTEM_ERROR_OUTPUT_CONGESTION | `uint32` | 64 | |
-| RTCM_MSG_USED_UNKNOWN | `uint8` | 0 | |
-| RTCM_MSG_USED_NOT_USED | `uint8` | 1 | |
-| RTCM_MSG_USED_USED | `uint8` | 2 | |
+| 参数名 | 类型 | 值 | 描述 |
+| ----------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | -- | ---------------------------------------------------------- |
+| FIX_TYPE_NONE | `uint8` | 1 | Value 0 is also valid to represent no fix. |
+| FIX_TYPE_2D | `uint8` | 2 | |
+| FIX_TYPE_3D | `uint8` | 3 | |
+| FIX_TYPE_RTCM_CODE_DIFFERENTIAL | `uint8` | 4 | |
+| FIX_TYPE_RTK_FLOAT | `uint8` | 5 | |
+| FIX_TYPE_RTK_FIXED | `uint8` | 6 | |
+| FIX_TYPE_EXTRAPOLATED | `uint8` | 8 | |
+| JAMMING_STATE_UNKNOWN | `uint8` | 0 | default |
+| JAMMING_STATE_OK | `uint8` | 1 | |
+| JAMMING_STATE_MITIGATED | `uint8` | 2 | |
+| JAMMING_STATE_DETECTED | `uint8` | 3 | |
+| SPOOFING_STATE_UNKNOWN | `uint8` | 0 | default |
+| SPOOFING_STATE_OK | `uint8` | 1 | |
+| SPOOFING_STATE_MITIGATED | `uint8` | 2 | |
+| SPOOFING_STATE_DETECTED | `uint8` | 3 | |
+| AUTHENTICATION_STATE_UNKNOWN | `uint8` | 0 | default |
+| AUTHENTICATION_STATE_INITIALIZING | `uint8` | 1 | |
+| AUTHENTICATION_STATE_ERROR | `uint8` | 2 | |
+| AUTHENTICATION_STATE_OK | `uint8` | 3 | |
+| AUTHENTICATION_STATE_DISABLED | `uint8` | 4 | |
+| SYSTEM_ERROR_OK | `uint32` | 0 | default |
+| SYSTEM_ERROR_INCOMING_CORRECTIONS | `uint32` | 1 | |
+| SYSTEM_ERROR_CONFIGURATION | `uint32` | 2 | |
+| SYSTEM_ERROR_SOFTWARE | `uint32` | 4 | |
+| SYSTEM_ERROR_ANTENNA | `uint32` | 8 | |
+| SYSTEM_ERROR_EVENT_CONGESTION | `uint32` | 16 | |
+| SYSTEM_ERROR_CPU_OVERLOAD | `uint32` | 32 | |
+| SYSTEM_ERROR_OUTPUT_CONGESTION | `uint32` | 64 | |
+| RTCM_MSG_USED_UNKNOWN | `uint8` | 0 | |
+| RTCM_MSG_USED_NOT_USED | `uint8` | 1 | |
+| RTCM_MSG_USED_USED | `uint8` | 2 | |
## Source Message
diff --git a/docs/zh/msg_docs/SensorGyro.md b/docs/zh/msg_docs/SensorGyro.md
index 5f01541605..915565c51d 100644
--- a/docs/zh/msg_docs/SensorGyro.md
+++ b/docs/zh/msg_docs/SensorGyro.md
@@ -23,9 +23,9 @@ pageClass: is-wide-page
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| ------------------------------------------------------------------------------------------- | ------- | - | -- |
-| ORB_QUEUE_LENGTH | `uint8` | 8 | |
+| 参数名 | 类型 | 值 | 描述 |
+| ----------------------------------------------------------------------------------------- | ------- | - | -- |
+| ORB_QUEUE_LENGTH | `uint8` | 8 | |
## Source Message
diff --git a/docs/zh/msg_docs/SensorGyroFft.md b/docs/zh/msg_docs/SensorGyroFft.md
index 3f6841a73a..3f84667341 100644
--- a/docs/zh/msg_docs/SensorGyroFft.md
+++ b/docs/zh/msg_docs/SensorGyroFft.md
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# SensorGyroFft (UORB message)
-**TOPICS:** sensor_gyrofft
+**TOPICS:** sensor_gyro_fft
## Fields
diff --git a/docs/zh/msg_docs/SensorGyroFifo.md b/docs/zh/msg_docs/SensorGyroFifo.md
index c2ace874c7..2d022a000b 100644
--- a/docs/zh/msg_docs/SensorGyroFifo.md
+++ b/docs/zh/msg_docs/SensorGyroFifo.md
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# SensorGyroFifo (UORB message)
-**TOPICS:** sensor_gyrofifo
+**TOPICS:** sensor_gyro_fifo
## Fields
@@ -22,9 +22,9 @@ pageClass: is-wide-page
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| ------------------------------------------------------------------------------------------- | ------- | - | -- |
-| ORB_QUEUE_LENGTH | `uint8` | 4 | |
+| 参数名 | 类型 | 值 | 描述 |
+| ----------------------------------------------------------------------------------------- | ------- | - | -- |
+| ORB_QUEUE_LENGTH | `uint8` | 4 | |
## Source Message
diff --git a/docs/zh/msg_docs/SensorMag.md b/docs/zh/msg_docs/SensorMag.md
index 2ec39720c7..4df402ac77 100644
--- a/docs/zh/msg_docs/SensorMag.md
+++ b/docs/zh/msg_docs/SensorMag.md
@@ -21,9 +21,9 @@ pageClass: is-wide-page
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| ------------------------------------------------------------------------------------------- | ------- | - | -- |
-| ORB_QUEUE_LENGTH | `uint8` | 4 | |
+| 参数名 | 类型 | 值 | 描述 |
+| ----------------------------------------------------------------------------------------- | ------- | - | -- |
+| ORB_QUEUE_LENGTH | `uint8` | 4 | |
## Source Message
diff --git a/docs/zh/msg_docs/SensorOpticalFlow.md b/docs/zh/msg_docs/SensorOpticalFlow.md
index e555cb7b76..7ce7097210 100644
--- a/docs/zh/msg_docs/SensorOpticalFlow.md
+++ b/docs/zh/msg_docs/SensorOpticalFlow.md
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# SensorOpticalFlow (UORB message)
-**TOPICS:** sensor_opticalflow
+**TOPICS:** sensor_optical_flow
## Fields
@@ -28,12 +28,12 @@ pageClass: is-wide-page
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| ------------------------------------------------------------------------------------------------- | ------- | - | -- |
-| MODE_UNKNOWN | `uint8` | 0 | |
-| MODE_BRIGHT | `uint8` | 1 | |
-| MODE_LOWLIGHT | `uint8` | 2 | |
-| MODE_SUPER_LOWLIGHT | `uint8` | 3 | |
+| 参数名 | 类型 | 值 | 描述 |
+| ----------------------------------------------------------------------------------------------- | ------- | - | -- |
+| MODE_UNKNOWN | `uint8` | 0 | |
+| MODE_BRIGHT | `uint8` | 1 | |
+| MODE_LOWLIGHT | `uint8` | 2 | |
+| MODE_SUPER_LOWLIGHT | `uint8` | 3 | |
## Source Message
diff --git a/docs/zh/msg_docs/SensorPreflightMag.md b/docs/zh/msg_docs/SensorPreflightMag.md
index 8f7747119d..c0d0bbef26 100644
--- a/docs/zh/msg_docs/SensorPreflightMag.md
+++ b/docs/zh/msg_docs/SensorPreflightMag.md
@@ -6,7 +6,7 @@ pageClass: is-wide-page
Pre-flight sensor check metrics. The topic will not be updated when the vehicle is armed.
-**TOPICS:** sensor_preflightmag
+**TOPICS:** sensor_preflight_mag
## Fields
diff --git a/docs/zh/msg_docs/SensorsStatusImu.md b/docs/zh/msg_docs/SensorsStatusImu.md
index 7abcb84e28..9750b7eed4 100644
--- a/docs/zh/msg_docs/SensorsStatusImu.md
+++ b/docs/zh/msg_docs/SensorsStatusImu.md
@@ -6,7 +6,7 @@ pageClass: is-wide-page
Sensor check metrics. This will be zero for a sensor that's primary or unpopulated.
-**TOPICS:** sensors_statusimu
+**TOPICS:** sensors_status_imu
## Fields
diff --git a/docs/zh/msg_docs/SystemPower.md b/docs/zh/msg_docs/SystemPower.md
index 2386e4cd08..1dabc1bd49 100644
--- a/docs/zh/msg_docs/SystemPower.md
+++ b/docs/zh/msg_docs/SystemPower.md
@@ -27,16 +27,16 @@ pageClass: is-wide-page
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| ------------------------------------------------------------------------------------------------- | ------- | - | -- |
-| BRICK1_VALID_SHIFTS | `uint8` | 0 | |
-| BRICK1_VALID_MASK | `uint8` | 1 | |
-| BRICK2_VALID_SHIFTS | `uint8` | 1 | |
-| BRICK2_VALID_MASK | `uint8` | 2 | |
-| BRICK3_VALID_SHIFTS | `uint8` | 2 | |
-| BRICK3_VALID_MASK | `uint8` | 4 | |
-| BRICK4_VALID_SHIFTS | `uint8` | 3 | |
-| BRICK4_VALID_MASK | `uint8` | 8 | |
+| 参数名 | 类型 | 值 | 描述 |
+| ----------------------------------------------------------------------------------------------- | ------- | - | -- |
+| BRICK1_VALID_SHIFTS | `uint8` | 0 | |
+| BRICK1_VALID_MASK | `uint8` | 1 | |
+| BRICK2_VALID_SHIFTS | `uint8` | 1 | |
+| BRICK2_VALID_MASK | `uint8` | 2 | |
+| BRICK3_VALID_SHIFTS | `uint8` | 2 | |
+| BRICK3_VALID_MASK | `uint8` | 4 | |
+| BRICK4_VALID_SHIFTS | `uint8` | 3 | |
+| BRICK4_VALID_MASK | `uint8` | 8 | |
## Source Message
diff --git a/docs/zh/msg_docs/TakeoffStatus.md b/docs/zh/msg_docs/TakeoffStatus.md
index 075f3a8ae4..14b684aeff 100644
--- a/docs/zh/msg_docs/TakeoffStatus.md
+++ b/docs/zh/msg_docs/TakeoffStatus.md
@@ -18,14 +18,14 @@ Status of the takeoff state machine currently just available for multicopters.
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| ------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | - | -- |
-| TAKEOFF_STATE_UNINITIALIZED | `uint8` | 0 | |
-| TAKEOFF_STATE_DISARMED | `uint8` | 1 | |
-| TAKEOFF_STATE_SPOOLUP | `uint8` | 2 | |
-| TAKEOFF_STATE_READY_FOR_TAKEOFF | `uint8` | 3 | |
-| TAKEOFF_STATE_RAMPUP | `uint8` | 4 | |
-| TAKEOFF_STATE_FLIGHT | `uint8` | 5 | |
+| 参数名 | 类型 | 值 | 描述 |
+| ----------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | - | -- |
+| TAKEOFF_STATE_UNINITIALIZED | `uint8` | 0 | |
+| TAKEOFF_STATE_DISARMED | `uint8` | 1 | |
+| TAKEOFF_STATE_SPOOLUP | `uint8` | 2 | |
+| TAKEOFF_STATE_READY_FOR_TAKEOFF | `uint8` | 3 | |
+| TAKEOFF_STATE_RAMPUP | `uint8` | 4 | |
+| TAKEOFF_STATE_FLIGHT | `uint8` | 5 | |
## Source Message
diff --git a/docs/zh/msg_docs/TaskStackInfo.md b/docs/zh/msg_docs/TaskStackInfo.md
index b640e52e9f..9fc42ef652 100644
--- a/docs/zh/msg_docs/TaskStackInfo.md
+++ b/docs/zh/msg_docs/TaskStackInfo.md
@@ -6,7 +6,7 @@ pageClass: is-wide-page
stack information for a single running process.
-**TOPICS:** task_stackinfo
+**TOPICS:** task_stack_info
## Fields
@@ -18,9 +18,9 @@ stack information for a single running process.
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| ------------------------------------------------------------------------------------------- | ------- | - | -- |
-| ORB_QUEUE_LENGTH | `uint8` | 2 | |
+| 参数名 | 类型 | 值 | 描述 |
+| ----------------------------------------------------------------------------------------- | ------- | - | -- |
+| ORB_QUEUE_LENGTH | `uint8` | 2 | |
## Source Message
diff --git a/docs/zh/msg_docs/TelemetryStatus.md b/docs/zh/msg_docs/TelemetryStatus.md
index 744dcb606a..cf1cfdcdfa 100644
--- a/docs/zh/msg_docs/TelemetryStatus.md
+++ b/docs/zh/msg_docs/TelemetryStatus.md
@@ -36,6 +36,7 @@ pageClass: is-wide-page
| heartbeat_type_onboard_controller | `bool` | | | MAV_TYPE_ONBOARD_CONTROLLER |
| heartbeat_type_gimbal | `bool` | | | MAV_TYPE_GIMBAL |
| heartbeat_type_adsb | `bool` | | | MAV_TYPE_ADSB |
+| heartbeat_type_flarm | `bool` | | | MAV_TYPE_FLARM |
| heartbeat_type_camera | `bool` | | | MAV_TYPE_CAMERA |
| heartbeat_type_parachute | `bool` | | | MAV_TYPE_PARACHUTE |
| heartbeat_type_open_drone_id | `bool` | | | MAV_TYPE_ODID |
@@ -51,14 +52,14 @@ pageClass: is-wide-page
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| ---------------------------------------------------------------------------------------------------------------------------------- | -------- | ------- | ------------------------------------------------------------------ |
-| LINK_TYPE_GENERIC | `uint8` | 0 | |
-| LINK_TYPE_UBIQUITY_BULLET | `uint8` | 1 | |
-| LINK_TYPE_WIRE | `uint8` | 2 | |
-| LINK_TYPE_USB | `uint8` | 3 | |
-| LINK_TYPE_IRIDIUM | `uint8` | 4 | |
-| HEARTBEAT_TIMEOUT_US | `uint64` | 2500000 | Heartbeat timeout (tolerate missing 1 + jitter) |
+| 参数名 | 类型 | 值 | 描述 |
+| -------------------------------------------------------------------------------------------------------------------------------- | -------- | ------- | ------------------------------------------------------------------ |
+| LINK_TYPE_GENERIC | `uint8` | 0 | |
+| LINK_TYPE_UBIQUITY_BULLET | `uint8` | 1 | |
+| LINK_TYPE_WIRE | `uint8` | 2 | |
+| LINK_TYPE_USB | `uint8` | 3 | |
+| LINK_TYPE_IRIDIUM | `uint8` | 4 | |
+| HEARTBEAT_TIMEOUT_US | `uint64` | 2500000 | Heartbeat timeout (tolerate missing 1 + jitter) |
## Source Message
@@ -113,6 +114,7 @@ bool heartbeat_type_gcs # MAV_TYPE_GCS
bool heartbeat_type_onboard_controller # MAV_TYPE_ONBOARD_CONTROLLER
bool heartbeat_type_gimbal # MAV_TYPE_GIMBAL
bool heartbeat_type_adsb # MAV_TYPE_ADSB
+bool heartbeat_type_flarm # MAV_TYPE_FLARM
bool heartbeat_type_camera # MAV_TYPE_CAMERA
bool heartbeat_type_parachute # MAV_TYPE_PARACHUTE
bool heartbeat_type_open_drone_id # MAV_TYPE_ODID
diff --git a/docs/zh/msg_docs/TiltrotorExtraControls.md b/docs/zh/msg_docs/TiltrotorExtraControls.md
index 25426445f9..a8401a800d 100644
--- a/docs/zh/msg_docs/TiltrotorExtraControls.md
+++ b/docs/zh/msg_docs/TiltrotorExtraControls.md
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# TiltrotorExtraControls (UORB message)
-**TOPICS:** tiltrotor_extracontrols
+**TOPICS:** tiltrotor_extra_controls
## Fields
diff --git a/docs/zh/msg_docs/TimesyncStatus.md b/docs/zh/msg_docs/TimesyncStatus.md
index c472101720..8681665975 100644
--- a/docs/zh/msg_docs/TimesyncStatus.md
+++ b/docs/zh/msg_docs/TimesyncStatus.md
@@ -19,11 +19,11 @@ pageClass: is-wide-page
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| --------------------------------------------------------------------------------------------------------- | ------- | - | -- |
-| SOURCE_PROTOCOL_UNKNOWN | `uint8` | 0 | |
-| SOURCE_PROTOCOL_MAVLINK | `uint8` | 1 | |
-| SOURCE_PROTOCOL_DDS | `uint8` | 2 | |
+| 参数名 | 类型 | 值 | 描述 |
+| ------------------------------------------------------------------------------------------------------- | ------- | - | -- |
+| SOURCE_PROTOCOL_UNKNOWN | `uint8` | 0 | |
+| SOURCE_PROTOCOL_MAVLINK | `uint8` | 1 | |
+| SOURCE_PROTOCOL_DDS | `uint8` | 2 | |
## Source Message
diff --git a/docs/zh/msg_docs/TrajectorySetpoint.md b/docs/zh/msg_docs/TrajectorySetpoint.md
index a5c2dc56b5..ad86df0ba5 100644
--- a/docs/zh/msg_docs/TrajectorySetpoint.md
+++ b/docs/zh/msg_docs/TrajectorySetpoint.md
@@ -22,9 +22,9 @@ Trajectory setpoint in NED frame. Input to PID position controller. Needs to be
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| -------------------------------------------------------------------- | -------- | - | -- |
-| MESSAGE_VERSION | `uint32` | 0 | |
+| 参数名 | 类型 | 值 | 描述 |
+| ------------------------------------------------------------------ | -------- | - | -- |
+| MESSAGE_VERSION | `uint32` | 0 | |
## Source Message
diff --git a/docs/zh/msg_docs/TransponderReport.md b/docs/zh/msg_docs/TransponderReport.md
index caabb760bd..cb8bf420ec 100644
--- a/docs/zh/msg_docs/TransponderReport.md
+++ b/docs/zh/msg_docs/TransponderReport.md
@@ -28,37 +28,37 @@ pageClass: is-wide-page
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | -------- | --- | -- |
-| PX4_ADSB_FLAGS_VALID_COORDS | `uint16` | 1 | |
-| PX4_ADSB_FLAGS_VALID_ALTITUDE | `uint16` | 2 | |
-| PX4_ADSB_FLAGS_VALID_HEADING | `uint16` | 4 | |
-| PX4_ADSB_FLAGS_VALID_VELOCITY | `uint16` | 8 | |
-| PX4_ADSB_FLAGS_VALID_CALLSIGN | `uint16` | 16 | |
-| PX4_ADSB_FLAGS_VALID_SQUAWK | `uint16` | 32 | |
-| PX4_ADSB_FLAGS_RETRANSLATE | `uint16` | 256 | |
-| ADSB_EMITTER_TYPE_NO_INFO | `uint16` | 0 | |
-| ADSB_EMITTER_TYPE_LIGHT | `uint16` | 1 | |
-| ADSB_EMITTER_TYPE_SMALL | `uint16` | 2 | |
-| ADSB_EMITTER_TYPE_LARGE | `uint16` | 3 | |
-| ADSB_EMITTER_TYPE_HIGH_VORTEX_LARGE | `uint16` | 4 | |
-| ADSB_EMITTER_TYPE_HEAVY | `uint16` | 5 | |
-| ADSB_EMITTER_TYPE_HIGHLY_MANUV | `uint16` | 6 | |
-| ADSB_EMITTER_TYPE_ROTOCRAFT | `uint16` | 7 | |
-| ADSB_EMITTER_TYPE_UNASSIGNED | `uint16` | 8 | |
-| ADSB_EMITTER_TYPE_GLIDER | `uint16` | 9 | |
-| ADSB_EMITTER_TYPE_LIGHTER_AIR | `uint16` | 10 | |
-| ADSB_EMITTER_TYPE_PARACHUTE | `uint16` | 11 | |
-| ADSB_EMITTER_TYPE_ULTRA_LIGHT | `uint16` | 12 | |
-| ADSB_EMITTER_TYPE_UNASSIGNED2 | `uint16` | 13 | |
-| ADSB_EMITTER_TYPE_UAV | `uint16` | 14 | |
-| ADSB_EMITTER_TYPE_SPACE | `uint16` | 15 | |
-| ADSB_EMITTER_TYPE_UNASSGINED3 | `uint16` | 16 | |
-| ADSB_EMITTER_TYPE_EMERGENCY_SURFACE | `uint16` | 17 | |
-| ADSB_EMITTER_TYPE_SERVICE_SURFACE | `uint16` | 18 | |
-| ADSB_EMITTER_TYPE_POINT_OBSTACLE | `uint16` | 19 | |
-| ADSB_EMITTER_TYPE_ENUM_END | `uint16` | 20 | |
-| ORB_QUEUE_LENGTH | `uint8` | 16 | |
+| 参数名 | 类型 | 值 | 描述 |
+| ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | --- | -- |
+| PX4_ADSB_FLAGS_VALID_COORDS | `uint16` | 1 | |
+| PX4_ADSB_FLAGS_VALID_ALTITUDE | `uint16` | 2 | |
+| PX4_ADSB_FLAGS_VALID_HEADING | `uint16` | 4 | |
+| PX4_ADSB_FLAGS_VALID_VELOCITY | `uint16` | 8 | |
+| PX4_ADSB_FLAGS_VALID_CALLSIGN | `uint16` | 16 | |
+| PX4_ADSB_FLAGS_VALID_SQUAWK | `uint16` | 32 | |
+| PX4_ADSB_FLAGS_RETRANSLATE | `uint16` | 256 | |
+| ADSB_EMITTER_TYPE_NO_INFO | `uint16` | 0 | |
+| ADSB_EMITTER_TYPE_LIGHT | `uint16` | 1 | |
+| ADSB_EMITTER_TYPE_SMALL | `uint16` | 2 | |
+| ADSB_EMITTER_TYPE_LARGE | `uint16` | 3 | |
+| ADSB_EMITTER_TYPE_HIGH_VORTEX_LARGE | `uint16` | 4 | |
+| ADSB_EMITTER_TYPE_HEAVY | `uint16` | 5 | |
+| ADSB_EMITTER_TYPE_HIGHLY_MANUV | `uint16` | 6 | |
+| ADSB_EMITTER_TYPE_ROTOCRAFT | `uint16` | 7 | |
+| ADSB_EMITTER_TYPE_UNASSIGNED | `uint16` | 8 | |
+| ADSB_EMITTER_TYPE_GLIDER | `uint16` | 9 | |
+| ADSB_EMITTER_TYPE_LIGHTER_AIR | `uint16` | 10 | |
+| ADSB_EMITTER_TYPE_PARACHUTE | `uint16` | 11 | |
+| ADSB_EMITTER_TYPE_ULTRA_LIGHT | `uint16` | 12 | |
+| ADSB_EMITTER_TYPE_UNASSIGNED2 | `uint16` | 13 | |
+| ADSB_EMITTER_TYPE_UAV | `uint16` | 14 | |
+| ADSB_EMITTER_TYPE_SPACE | `uint16` | 15 | |
+| ADSB_EMITTER_TYPE_UNASSGINED3 | `uint16` | 16 | |
+| ADSB_EMITTER_TYPE_EMERGENCY_SURFACE | `uint16` | 17 | |
+| ADSB_EMITTER_TYPE_SERVICE_SURFACE | `uint16` | 18 | |
+| ADSB_EMITTER_TYPE_POINT_OBSTACLE | `uint16` | 19 | |
+| ADSB_EMITTER_TYPE_ENUM_END | `uint16` | 20 | |
+| ORB_QUEUE_LENGTH | `uint8` | 16 | |
## Source Message
diff --git a/docs/zh/msg_docs/TuneControl.md b/docs/zh/msg_docs/TuneControl.md
index 517da9a693..1c29b48717 100644
--- a/docs/zh/msg_docs/TuneControl.md
+++ b/docs/zh/msg_docs/TuneControl.md
@@ -22,33 +22,33 @@ This message is used to control the tunes, when the tune_id is set to CUSTOM. th
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| ------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | --- | -- |
-| TUNE_ID_STOP | `uint8` | 0 | |
-| TUNE_ID_STARTUP | `uint8` | 1 | |
-| TUNE_ID_ERROR | `uint8` | 2 | |
-| TUNE_ID_NOTIFY_POSITIVE | `uint8` | 3 | |
-| TUNE_ID_NOTIFY_NEUTRAL | `uint8` | 4 | |
-| TUNE_ID_NOTIFY_NEGATIVE | `uint8` | 5 | |
-| TUNE_ID_ARMING_WARNING | `uint8` | 6 | |
-| TUNE_ID_BATTERY_WARNING_SLOW | `uint8` | 7 | |
-| TUNE_ID_BATTERY_WARNING_FAST | `uint8` | 8 | |
-| TUNE_ID_GPS_WARNING | `uint8` | 9 | |
-| TUNE_ID_ARMING_FAILURE | `uint8` | 10 | |
-| TUNE_ID_PARACHUTE_RELEASE | `uint8` | 11 | |
-| TUNE_ID_SINGLE_BEEP | `uint8` | 12 | |
-| TUNE_ID_HOME_SET | `uint8` | 13 | |
-| TUNE_ID_SD_INIT | `uint8` | 14 | |
-| TUNE_ID_SD_ERROR | `uint8` | 15 | |
-| TUNE_ID_PROG_PX4IO | `uint8` | 16 | |
-| TUNE_ID_PROG_PX4IO_OK | `uint8` | 17 | |
-| TUNE_ID_PROG_PX4IO_ERR | `uint8` | 18 | |
-| TUNE_ID_POWER_OFF | `uint8` | 19 | |
-| NUMBER_OF_TUNES | `uint8` | 20 | |
-| VOLUME_LEVEL_MIN | `uint8` | 0 | |
-| VOLUME_LEVEL_DEFAULT | `uint8` | 20 | |
-| VOLUME_LEVEL_MAX | `uint8` | 100 | |
-| ORB_QUEUE_LENGTH | `uint8` | 4 | |
+| 参数名 | 类型 | 值 | 描述 |
+| ----------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | --- | -- |
+| TUNE_ID_STOP | `uint8` | 0 | |
+| TUNE_ID_STARTUP | `uint8` | 1 | |
+| TUNE_ID_ERROR | `uint8` | 2 | |
+| TUNE_ID_NOTIFY_POSITIVE | `uint8` | 3 | |
+| TUNE_ID_NOTIFY_NEUTRAL | `uint8` | 4 | |
+| TUNE_ID_NOTIFY_NEGATIVE | `uint8` | 5 | |
+| TUNE_ID_ARMING_WARNING | `uint8` | 6 | |
+| TUNE_ID_BATTERY_WARNING_SLOW | `uint8` | 7 | |
+| TUNE_ID_BATTERY_WARNING_FAST | `uint8` | 8 | |
+| TUNE_ID_GPS_WARNING | `uint8` | 9 | |
+| TUNE_ID_ARMING_FAILURE | `uint8` | 10 | |
+| TUNE_ID_PARACHUTE_RELEASE | `uint8` | 11 | |
+| TUNE_ID_SINGLE_BEEP | `uint8` | 12 | |
+| TUNE_ID_HOME_SET | `uint8` | 13 | |
+| TUNE_ID_SD_INIT | `uint8` | 14 | |
+| TUNE_ID_SD_ERROR | `uint8` | 15 | |
+| TUNE_ID_PROG_PX4IO | `uint8` | 16 | |
+| TUNE_ID_PROG_PX4IO_OK | `uint8` | 17 | |
+| TUNE_ID_PROG_PX4IO_ERR | `uint8` | 18 | |
+| TUNE_ID_POWER_OFF | `uint8` | 19 | |
+| NUMBER_OF_TUNES | `uint8` | 20 | |
+| VOLUME_LEVEL_MIN | `uint8` | 0 | |
+| VOLUME_LEVEL_DEFAULT | `uint8` | 20 | |
+| VOLUME_LEVEL_MAX | `uint8` | 100 | |
+| ORB_QUEUE_LENGTH | `uint8` | 4 | |
## Source Message
diff --git a/docs/zh/msg_docs/UavcanParameterRequest.md b/docs/zh/msg_docs/UavcanParameterRequest.md
index ec6c5e65e1..4488f66632 100644
--- a/docs/zh/msg_docs/UavcanParameterRequest.md
+++ b/docs/zh/msg_docs/UavcanParameterRequest.md
@@ -6,7 +6,7 @@ pageClass: is-wide-page
UAVCAN-MAVLink parameter bridge request type.
-**TOPICS:** uavcan_parameterrequest
+**TOPICS:** uavcan_parameter_request
## Fields
@@ -23,16 +23,16 @@ UAVCAN-MAVLink parameter bridge request type.
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| ------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | -- | ------------------------------------------------------------------------------------------------------------------------------------------ |
-| MESSAGE_TYPE_PARAM_REQUEST_READ | `uint8` | 20 | MAVLINK_MSG_ID_PARAM_REQUEST_READ |
-| MESSAGE_TYPE_PARAM_REQUEST_LIST | `uint8` | 21 | MAVLINK_MSG_ID_PARAM_REQUEST_LIST |
-| MESSAGE_TYPE_PARAM_SET | `uint8` | 23 | MAVLINK_MSG_ID_PARAM_SET |
-| NODE_ID_ALL | `uint8` | 0 | MAV_COMP_ID_ALL |
-| PARAM_TYPE_UINT8 | `uint8` | 1 | MAV_PARAM_TYPE_UINT8 |
-| PARAM_TYPE_INT64 | `uint8` | 8 | MAV_PARAM_TYPE_INT64 |
-| PARAM_TYPE_REAL32 | `uint8` | 9 | MAV_PARAM_TYPE_REAL32 |
-| ORB_QUEUE_LENGTH | `uint8` | 4 | |
+| 参数名 | 类型 | 值 | 描述 |
+| ----------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | -- | ------------------------------------------------------------------------------------------------------------------------------------------ |
+| MESSAGE_TYPE_PARAM_REQUEST_READ | `uint8` | 20 | MAVLINK_MSG_ID_PARAM_REQUEST_READ |
+| MESSAGE_TYPE_PARAM_REQUEST_LIST | `uint8` | 21 | MAVLINK_MSG_ID_PARAM_REQUEST_LIST |
+| MESSAGE_TYPE_PARAM_SET | `uint8` | 23 | MAVLINK_MSG_ID_PARAM_SET |
+| NODE_ID_ALL | `uint8` | 0 | MAV_COMP_ID_ALL |
+| PARAM_TYPE_UINT8 | `uint8` | 1 | MAV_PARAM_TYPE_UINT8 |
+| PARAM_TYPE_INT64 | `uint8` | 8 | MAV_PARAM_TYPE_INT64 |
+| PARAM_TYPE_REAL32 | `uint8` | 9 | MAV_PARAM_TYPE_REAL32 |
+| ORB_QUEUE_LENGTH | `uint8` | 4 | |
## Source Message
diff --git a/docs/zh/msg_docs/UavcanParameterValue.md b/docs/zh/msg_docs/UavcanParameterValue.md
index bca3946c73..52eb0e8661 100644
--- a/docs/zh/msg_docs/UavcanParameterValue.md
+++ b/docs/zh/msg_docs/UavcanParameterValue.md
@@ -6,7 +6,7 @@ pageClass: is-wide-page
UAVCAN-MAVLink parameter bridge response type.
-**TOPICS:** uavcan_parametervalue
+**TOPICS:** uavcan_parameter_value
## Fields
diff --git a/docs/zh/msg_docs/UlogStream.md b/docs/zh/msg_docs/UlogStream.md
index b65cd15656..f5e593a801 100644
--- a/docs/zh/msg_docs/UlogStream.md
+++ b/docs/zh/msg_docs/UlogStream.md
@@ -21,10 +21,10 @@ Message to stream ULog data from the logger. Corresponds to the LOGGING_DATA. ma
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| ------------------------------------------------------------------------------------------- | ------- | -- | ------------------------------------------------------------------------------------ |
-| FLAGS_NEED_ACK | `uint8` | 1 | if set, this message requires to be acked. |
-| ORB_QUEUE_LENGTH | `uint8` | 16 | TODO: we might be able to reduce this if mavlink polled on the topic |
+| 参数名 | 类型 | 值 | 描述 |
+| ----------------------------------------------------------------------------------------- | ------- | -- | ------------------------------------------------------------------------------------ |
+| FLAGS_NEED_ACK | `uint8` | 1 | if set, this message requires to be acked. |
+| ORB_QUEUE_LENGTH | `uint8` | 16 | TODO: we might be able to reduce this if mavlink polled on the topic |
## Source Message
diff --git a/docs/zh/msg_docs/UlogStreamAck.md b/docs/zh/msg_docs/UlogStreamAck.md
index 67aebcb665..3f0f7986fc 100644
--- a/docs/zh/msg_docs/UlogStreamAck.md
+++ b/docs/zh/msg_docs/UlogStreamAck.md
@@ -6,7 +6,7 @@ pageClass: is-wide-page
Ack a previously sent ulog_stream message that had. the NEED_ACK flag set.
-**TOPICS:** ulog_streamack
+**TOPICS:** ulog_stream_ack
## Fields
@@ -17,10 +17,10 @@ Ack a previously sent ulog_stream message that had. the NEED_ACK flag set.
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| ------------------------------------------------------------------------------------- | ------- | -- | ------------------------------------------------------------------------------------------------------------------------ |
-| ACK_TIMEOUT | `int32` | 50 | timeout waiting for an ack until we retry to send the message [ms] |
-| ACK_MAX_TRIES | `int32` | 50 | maximum amount of tries to (re-)send a message, each time waiting ACK_TIMEOUT ms |
+| 参数名 | 类型 | 值 | 描述 |
+| ----------------------------------------------------------------------------------- | ------- | -- | ------------------------------------------------------------------------------------------------------------------------ |
+| ACK_TIMEOUT | `int32` | 50 | timeout waiting for an ack until we retry to send the message [ms] |
+| ACK_MAX_TRIES | `int32` | 50 | maximum amount of tries to (re-)send a message, each time waiting ACK_TIMEOUT ms |
## Source Message
diff --git a/docs/zh/msg_docs/UnregisterExtComponent.md b/docs/zh/msg_docs/UnregisterExtComponent.md
index b32876a9cb..7c5a200981 100644
--- a/docs/zh/msg_docs/UnregisterExtComponent.md
+++ b/docs/zh/msg_docs/UnregisterExtComponent.md
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# UnregisterExtComponent (UORB message)
-**TOPICS:** unregister_extcomponent
+**TOPICS:** unregister_ext_component
## Fields
@@ -18,9 +18,9 @@ pageClass: is-wide-page
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| -------------------------------------------------------------------- | -------- | - | -- |
-| MESSAGE_VERSION | `uint32` | 0 | |
+| 参数名 | 类型 | 值 | 描述 |
+| ------------------------------------------------------------------ | -------- | - | -- |
+| MESSAGE_VERSION | `uint32` | 0 | |
## Source Message
diff --git a/docs/zh/msg_docs/VehicleAirData.md b/docs/zh/msg_docs/VehicleAirData.md
index 50c31a329a..d83c9e80fb 100644
--- a/docs/zh/msg_docs/VehicleAirData.md
+++ b/docs/zh/msg_docs/VehicleAirData.md
@@ -9,7 +9,7 @@ Vehicle air data.
Data from the currently selected barometer (plus ambient temperature from the source specified in temperature_source).
Includes calculated data such as barometric altitude and air density.
-**TOPICS:** vehicle_airdata
+**TOPICS:** vehicle_air_data
## Fields
diff --git a/docs/zh/msg_docs/VehicleAngularAccelerationSetpoint.md b/docs/zh/msg_docs/VehicleAngularAccelerationSetpoint.md
index 42d8113ce3..0e1558d531 100644
--- a/docs/zh/msg_docs/VehicleAngularAccelerationSetpoint.md
+++ b/docs/zh/msg_docs/VehicleAngularAccelerationSetpoint.md
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# VehicleAngularAccelerationSetpoint (UORB message)
-**TOPICS:** vehicle_angularacceleration_setpoint
+**TOPICS:** vehicle_angular_acceleration_setpoint
## Fields
diff --git a/docs/zh/msg_docs/VehicleAngularVelocity.md b/docs/zh/msg_docs/VehicleAngularVelocity.md
index 78ac217f48..02eecb244b 100644
--- a/docs/zh/msg_docs/VehicleAngularVelocity.md
+++ b/docs/zh/msg_docs/VehicleAngularVelocity.md
@@ -17,9 +17,9 @@ pageClass: is-wide-page
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| -------------------------------------------------------------------- | -------- | - | -- |
-| MESSAGE_VERSION | `uint32` | 0 | |
+| 参数名 | 类型 | 值 | 描述 |
+| ------------------------------------------------------------------ | -------- | - | -- |
+| MESSAGE_VERSION | `uint32` | 0 | |
## Source Message
diff --git a/docs/zh/msg_docs/VehicleAttitude.md b/docs/zh/msg_docs/VehicleAttitude.md
index 6e02785b7c..2466cd0bd0 100644
--- a/docs/zh/msg_docs/VehicleAttitude.md
+++ b/docs/zh/msg_docs/VehicleAttitude.md
@@ -20,9 +20,9 @@ This is similar to the mavlink message ATTITUDE_QUATERNION, but for onboard use.
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| -------------------------------------------------------------------- | -------- | - | -- |
-| MESSAGE_VERSION | `uint32` | 0 | |
+| 参数名 | 类型 | 值 | 描述 |
+| ------------------------------------------------------------------ | -------- | - | -- |
+| MESSAGE_VERSION | `uint32` | 0 | |
## Source Message
diff --git a/docs/zh/msg_docs/VehicleAttitudeSetpoint.md b/docs/zh/msg_docs/VehicleAttitudeSetpoint.md
index 3430b05149..c8966515a1 100644
--- a/docs/zh/msg_docs/VehicleAttitudeSetpoint.md
+++ b/docs/zh/msg_docs/VehicleAttitudeSetpoint.md
@@ -17,9 +17,9 @@ pageClass: is-wide-page
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| -------------------------------------------------------------------- | -------- | - | -- |
-| MESSAGE_VERSION | `uint32` | 1 | |
+| 参数名 | 类型 | 值 | 描述 |
+| ------------------------------------------------------------------ | -------- | - | -- |
+| MESSAGE_VERSION | `uint32` | 1 | |
## Source Message
diff --git a/docs/zh/msg_docs/VehicleAttitudeSetpointV0.md b/docs/zh/msg_docs/VehicleAttitudeSetpointV0.md
index 26f12aefb0..58ea362d0a 100644
--- a/docs/zh/msg_docs/VehicleAttitudeSetpointV0.md
+++ b/docs/zh/msg_docs/VehicleAttitudeSetpointV0.md
@@ -19,9 +19,9 @@ pageClass: is-wide-page
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| -------------------------------------------------------------------- | -------- | - | -- |
-| MESSAGE_VERSION | `uint32` | 0 | |
+| 参数名 | 类型 | 值 | 描述 |
+| ------------------------------------------------------------------ | -------- | - | -- |
+| MESSAGE_VERSION | `uint32` | 0 | |
## Source Message
diff --git a/docs/zh/msg_docs/VehicleCommand.md b/docs/zh/msg_docs/VehicleCommand.md
index 26734bfe93..d41aadb39c 100644
--- a/docs/zh/msg_docs/VehicleCommand.md
+++ b/docs/zh/msg_docs/VehicleCommand.md
@@ -1490,34 +1490,34 @@ Change mode by specifying nav_state directly.
### ORBIT_YAW_BEHAVIOUR {#ORBIT_YAW_BEHAVIOUR}
-| 参数名 | 类型 | 值 | 描述 |
-| -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | - | -- |
-| ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TO_CIRCLE_CENTER | `uint8` | 0 | |
-| ORBIT_YAW_BEHAVIOUR_HOLD_INITIAL_HEADING | `uint8` | 1 | |
-| ORBIT_YAW_BEHAVIOUR_UNCONTROLLED | `uint8` | 2 | |
-| ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TANGENT_TO_CIRCLE | `uint8` | 3 | |
-| ORBIT_YAW_BEHAVIOUR_RC_CONTROLLED | `uint8` | 4 | |
-| ORBIT_YAW_BEHAVIOUR_UNCHANGED | `uint8` | 5 | |
+| 参数名 | 类型 | 值 | 描述 |
+| ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | ------- | - | -- |
+| ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TO_CIRCLE_CENTER | `uint8` | 0 | |
+| ORBIT_YAW_BEHAVIOUR_HOLD_INITIAL_HEADING | `uint8` | 1 | |
+| ORBIT_YAW_BEHAVIOUR_UNCONTROLLED | `uint8` | 2 | |
+| ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TANGENT_TO_CIRCLE | `uint8` | 3 | |
+| ORBIT_YAW_BEHAVIOUR_RC_CONTROLLED | `uint8` | 4 | |
+| ORBIT_YAW_BEHAVIOUR_UNCHANGED | `uint8` | 5 | |
### VEHICLE_ROI {#VEHICLE_ROI}
-| 参数名 | 类型 | 值 | 描述 |
-| ------------------------------------------------------------------------------------------------------------------------ | ------- | - | -------------------------------------------- |
-| VEHICLE_ROI_NONE | `uint8` | 0 | No region of interest. |
-| VEHICLE_ROI_WPNEXT | `uint8` | 1 | Point toward next MISSION. |
-| VEHICLE_ROI_WPINDEX | `uint8` | 2 | Point toward given MISSION. |
-| VEHICLE_ROI_LOCATION | `uint8` | 3 | Point toward fixed location. |
-| VEHICLE_ROI_TARGET | `uint8` | 4 | Point toward target. |
-| VEHICLE_ROI_ENUM_END | `uint8` | 5 | |
+| 参数名 | 类型 | 值 | 描述 |
+| ---------------------------------------------------------------------------------------------------------------------- | ------- | - | -------------------------------------------- |
+| VEHICLE_ROI_NONE | `uint8` | 0 | No region of interest. |
+| VEHICLE_ROI_WPNEXT | `uint8` | 1 | Point toward next MISSION. |
+| VEHICLE_ROI_WPINDEX | `uint8` | 2 | Point toward given MISSION. |
+| VEHICLE_ROI_LOCATION | `uint8` | 3 | Point toward fixed location. |
+| VEHICLE_ROI_TARGET | `uint8` | 4 | Point toward target. |
+| VEHICLE_ROI_ENUM_END | `uint8` | 5 | |
### SPEED_TYPE {#SPEED_TYPE}
-| 参数名 | 类型 | 值 | 描述 |
-| -------------------------------------------------------------------------------------------------------------------------------- | ------- | - | -- |
-| SPEED_TYPE_AIRSPEED | `uint8` | 0 | |
-| SPEED_TYPE_GROUNDSPEED | `uint8` | 1 | |
-| SPEED_TYPE_CLIMB_SPEED | `uint8` | 2 | |
-| SPEED_TYPE_DESCEND_SPEED | `uint8` | 3 | |
+| 参数名 | 类型 | 值 | 描述 |
+| ------------------------------------------------------------------------------------------------------------------------------ | ------- | - | -- |
+| SPEED_TYPE_AIRSPEED | `uint8` | 0 | |
+| SPEED_TYPE_GROUNDSPEED | `uint8` | 1 | |
+| SPEED_TYPE_CLIMB_SPEED | `uint8` | 2 | |
+| SPEED_TYPE_DESCEND_SPEED | `uint8` | 3 | |
### MAV_MOUNT_MODE {#MAV_MOUNT_MODE}
@@ -1526,50 +1526,50 @@ Change mode by specifying nav_state directly.
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | ---- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
-| MESSAGE_VERSION | `uint32` | 0 | |
-| PREFLIGHT_CALIBRATION_TEMPERATURE_CALIBRATION | `uint16` | 3 | Param value for VEHICLE_CMD_PREFLIGHT_CALIBRATION to start temperature calibration. |
-| VEHICLE_MOUNT_MODE_RETRACT | `uint8` | 0 | Load and keep safe position (Roll,Pitch,Yaw) from permanent memory and stop stabilization. |
-| VEHICLE_MOUNT_MODE_NEUTRAL | `uint8` | 1 | Load and keep neutral position (Roll,Pitch,Yaw) from permanent memory. |
-| VEHICLE_MOUNT_MODE_MAVLINK_TARGETING | `uint8` | 2 | Load neutral position and start MAVLink Roll,Pitch,Yaw control with stabilization. |
-| VEHICLE_MOUNT_MODE_RC_TARGETING | `uint8` | 3 | Load neutral position and start RC Roll,Pitch,Yaw control with stabilization. |
-| VEHICLE_MOUNT_MODE_GPS_POINT | `uint8` | 4 | Load neutral position and start to point to Lat,Lon,Alt. |
-| VEHICLE_MOUNT_MODE_ENUM_END | `uint8` | 5 | |
-| PARACHUTE_ACTION_DISABLE | `uint8` | 0 | |
-| PARACHUTE_ACTION_ENABLE | `uint8` | 1 | |
-| PARACHUTE_ACTION_RELEASE | `uint8` | 2 | |
-| FAILURE_UNIT_SENSOR_GYRO | `uint8` | 0 | |
-| FAILURE_UNIT_SENSOR_ACCEL | `uint8` | 1 | |
-| FAILURE_UNIT_SENSOR_MAG | `uint8` | 2 | |
-| FAILURE_UNIT_SENSOR_BARO | `uint8` | 3 | |
-| FAILURE_UNIT_SENSOR_GPS | `uint8` | 4 | |
-| FAILURE_UNIT_SENSOR_OPTICAL_FLOW | `uint8` | 5 | |
-| FAILURE_UNIT_SENSOR_VIO | `uint8` | 6 | |
-| FAILURE_UNIT_SENSOR_DISTANCE_SENSOR | `uint8` | 7 | |
-| FAILURE_UNIT_SENSOR_AIRSPEED | `uint8` | 8 | |
-| FAILURE_UNIT_SYSTEM_BATTERY | `uint8` | 100 | |
-| FAILURE_UNIT_SYSTEM_MOTOR | `uint8` | 101 | |
-| FAILURE_UNIT_SYSTEM_SERVO | `uint8` | 102 | |
-| FAILURE_UNIT_SYSTEM_AVOIDANCE | `uint8` | 103 | |
-| FAILURE_UNIT_SYSTEM_RC_SIGNAL | `uint8` | 104 | |
-| FAILURE_UNIT_SYSTEM_MAVLINK_SIGNAL | `uint8` | 105 | |
-| FAILURE_TYPE_OK | `uint8` | 0 | |
-| FAILURE_TYPE_OFF | `uint8` | 1 | |
-| FAILURE_TYPE_STUCK | `uint8` | 2 | |
-| FAILURE_TYPE_GARBAGE | `uint8` | 3 | |
-| FAILURE_TYPE_WRONG | `uint8` | 4 | |
-| FAILURE_TYPE_SLOW | `uint8` | 5 | |
-| FAILURE_TYPE_DELAYED | `uint8` | 6 | |
-| FAILURE_TYPE_INTERMITTENT | `uint8` | 7 | |
-| ARMING_ACTION_DISARM | `int8` | 0 | |
-| ARMING_ACTION_ARM | `int8` | 1 | |
-| GRIPPER_ACTION_RELEASE | `uint8` | 0 | |
-| GRIPPER_ACTION_GRAB | `uint8` | 1 | |
-| SAFETY_OFF | `uint8` | 0 | |
-| SAFETY_ON | `uint8` | 1 | |
-| ORB_QUEUE_LENGTH | `uint8` | 8 | |
-| COMPONENT_MODE_EXECUTOR_START | `uint16` | 1000 | |
+| 参数名 | 类型 | 值 | 描述 |
+| --------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | ---- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
+| MESSAGE_VERSION | `uint32` | 0 | |
+| PREFLIGHT_CALIBRATION_TEMPERATURE_CALIBRATION | `uint16` | 3 | Param value for VEHICLE_CMD_PREFLIGHT_CALIBRATION to start temperature calibration. |
+| VEHICLE_MOUNT_MODE_RETRACT | `uint8` | 0 | Load and keep safe position (Roll,Pitch,Yaw) from permanent memory and stop stabilization. |
+| VEHICLE_MOUNT_MODE_NEUTRAL | `uint8` | 1 | Load and keep neutral position (Roll,Pitch,Yaw) from permanent memory. |
+| VEHICLE_MOUNT_MODE_MAVLINK_TARGETING | `uint8` | 2 | Load neutral position and start MAVLink Roll,Pitch,Yaw control with stabilization. |
+| VEHICLE_MOUNT_MODE_RC_TARGETING | `uint8` | 3 | Load neutral position and start RC Roll,Pitch,Yaw control with stabilization. |
+| VEHICLE_MOUNT_MODE_GPS_POINT | `uint8` | 4 | Load neutral position and start to point to Lat,Lon,Alt. |
+| VEHICLE_MOUNT_MODE_ENUM_END | `uint8` | 5 | |
+| PARACHUTE_ACTION_DISABLE | `uint8` | 0 | |
+| PARACHUTE_ACTION_ENABLE | `uint8` | 1 | |
+| PARACHUTE_ACTION_RELEASE | `uint8` | 2 | |
+| FAILURE_UNIT_SENSOR_GYRO | `uint8` | 0 | |
+| FAILURE_UNIT_SENSOR_ACCEL | `uint8` | 1 | |
+| FAILURE_UNIT_SENSOR_MAG | `uint8` | 2 | |
+| FAILURE_UNIT_SENSOR_BARO | `uint8` | 3 | |
+| FAILURE_UNIT_SENSOR_GPS | `uint8` | 4 | |
+| FAILURE_UNIT_SENSOR_OPTICAL_FLOW | `uint8` | 5 | |
+| FAILURE_UNIT_SENSOR_VIO | `uint8` | 6 | |
+| FAILURE_UNIT_SENSOR_DISTANCE_SENSOR | `uint8` | 7 | |
+| FAILURE_UNIT_SENSOR_AIRSPEED | `uint8` | 8 | |
+| FAILURE_UNIT_SYSTEM_BATTERY | `uint8` | 100 | |
+| FAILURE_UNIT_SYSTEM_MOTOR | `uint8` | 101 | |
+| FAILURE_UNIT_SYSTEM_SERVO | `uint8` | 102 | |
+| FAILURE_UNIT_SYSTEM_AVOIDANCE | `uint8` | 103 | |
+| FAILURE_UNIT_SYSTEM_RC_SIGNAL | `uint8` | 104 | |
+| FAILURE_UNIT_SYSTEM_MAVLINK_SIGNAL | `uint8` | 105 | |
+| FAILURE_TYPE_OK | `uint8` | 0 | |
+| FAILURE_TYPE_OFF | `uint8` | 1 | |
+| FAILURE_TYPE_STUCK | `uint8` | 2 | |
+| FAILURE_TYPE_GARBAGE | `uint8` | 3 | |
+| FAILURE_TYPE_WRONG | `uint8` | 4 | |
+| FAILURE_TYPE_SLOW | `uint8` | 5 | |
+| FAILURE_TYPE_DELAYED | `uint8` | 6 | |
+| FAILURE_TYPE_INTERMITTENT | `uint8` | 7 | |
+| ARMING_ACTION_DISARM | `int8` | 0 | |
+| ARMING_ACTION_ARM | `int8` | 1 | |
+| GRIPPER_ACTION_RELEASE | `uint8` | 0 | |
+| GRIPPER_ACTION_GRAB | `uint8` | 1 | |
+| SAFETY_OFF | `uint8` | 0 | |
+| SAFETY_ON | `uint8` | 1 | |
+| ORB_QUEUE_LENGTH | `uint8` | 8 | |
+| COMPONENT_MODE_EXECUTOR_START | `uint16` | 1000 | |
## Source Message
diff --git a/docs/zh/msg_docs/VehicleCommandAck.md b/docs/zh/msg_docs/VehicleCommandAck.md
index 1eb26aa95a..0959b418ee 100644
--- a/docs/zh/msg_docs/VehicleCommandAck.md
+++ b/docs/zh/msg_docs/VehicleCommandAck.md
@@ -4,42 +4,55 @@ pageClass: is-wide-page
# VehicleCommandAck (UORB message)
-Vehicle Command Ackonwledgement uORB message. Used for acknowledging the vehicle command being received. Follows the MAVLink COMMAND_ACK message definition.
+Vehicle Command Acknowledgement uORB message.
-**TOPICS:** vehicle_commandack
+Used for acknowledging the vehicle command being received.
+Follows the MAVLink COMMAND_ACK message definition
+
+**TOPICS:** vehicle_command_ack
## Fields
-| 参数名 | 类型 | Unit [Frame] | Range/Enum | 描述 |
-| ------------------------------------- | -------- | ---------------------------------------------------------------- | ---------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
-| timestamp | `uint64` | | | time since system start (microseconds) |
-| command | `uint32` | | | Command that is being acknowledged |
-| result | `uint8` | | | Command result |
-| result_param1 | `uint8` | | | Also used as progress[%], it can be set with the reason why the command was denied, or the progress percentage when result is MAV_RESULT_IN_PROGRESS |
-| result_param2 | `int32` | | | Additional parameter of the result, example: which parameter of MAV_CMD_NAV_WAYPOINT caused it to be denied. |
-| target_system | `uint8` | | | |
-| target_component | `uint16` | | | Target component / mode executor |
-| from_external | `bool` | | | Indicates if the command came from an external source |
+| 参数名 | 类型 | Unit [Frame] | Range/Enum | 描述 |
+| ------------------------------------- | -------- | ------------------------------------------------------------------------------------------ | ----------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| timestamp | `uint64` | us | | time since system start |
+| command | `uint32` | | | Command that is being acknowledged |
+| result | `uint8` | | [VEHICLE_CMD_RESULT](#VEHICLE_CMD_RESULT) | Command result |
+| result_param1 | `uint8` | | | Can be set with the reason why the command was denied, or the progress percentage when result is MAV_RESULT_IN_PROGRESS (%) |
+| result_param2 | `int32` | enum ARM_AUTH_DENIED_REASON | | Additional parameter of the result, example: which parameter of MAV_CMD_NAV_WAYPOINT caused it to be denied, or what ARM_AUTH_DENIED_REASON |
+| target_system | `uint8` | | | Target system |
+| target_component | `uint16` | | | Target component / mode executor |
+| from_external | `bool` | | | Indicates if the command came from an external source |
+
+## Enums
+
+### VEHICLE_CMD_RESULT {#VEHICLE_CMD_RESULT}
+
+| 参数名 | 类型 | 值 | 描述 |
+| -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | - | ------------------------------------------------------------------------- |
+| VEHICLE_CMD_RESULT_ACCEPTED | `uint8` | 0 | Command ACCEPTED and EXECUTED |
+| VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED | `uint8` | 1 | Command TEMPORARY REJECTED/DENIED |
+| VEHICLE_CMD_RESULT_DENIED | `uint8` | 2 | Command PERMANENTLY DENIED |
+| VEHICLE_CMD_RESULT_UNSUPPORTED | `uint8` | 3 | Command UNKNOWN/UNSUPPORTED |
+| VEHICLE_CMD_RESULT_FAILED | `uint8` | 4 | Command executed, but failed |
+| VEHICLE_CMD_RESULT_IN_PROGRESS | `uint8` | 5 | Command being executed |
+| VEHICLE_CMD_RESULT_CANCELLED | `uint8` | 6 | Command Canceled |
+| VEHICLE_CMD_RESULT_COMMAND_LONG_ONLY | `uint8` | 7 | Command is only accepted when sent as a COMMAND_LONG |
+| VEHICLE_CMD_RESULT_COMMAND_INT_ONLY | `uint8` | 8 | Command is only accepted when sent as a COMMAND_INT |
+| VEHICLE_CMD_RESULT_UNSUPPORTED_MAV_FRAME | `uint8` | 9 | Command does not support specified frame |
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | - | --------------------------------- |
-| MESSAGE_VERSION | `uint32` | 0 | |
-| VEHICLE_CMD_RESULT_ACCEPTED | `uint8` | 0 | Command ACCEPTED and EXECUTED |
-| VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED | `uint8` | 1 | Command TEMPORARY REJECTED/DENIED |
-| VEHICLE_CMD_RESULT_DENIED | `uint8` | 2 | Command PERMANENTLY DENIED |
-| VEHICLE_CMD_RESULT_UNSUPPORTED | `uint8` | 3 | Command UNKNOWN/UNSUPPORTED |
-| VEHICLE_CMD_RESULT_FAILED | `uint8` | 4 | Command executed, but failed |
-| VEHICLE_CMD_RESULT_IN_PROGRESS | `uint8` | 5 | Command being executed |
-| VEHICLE_CMD_RESULT_CANCELLED | `uint8` | 6 | Command Canceled |
-| ARM_AUTH_DENIED_REASON_GENERIC | `uint16` | 0 | |
-| ARM_AUTH_DENIED_REASON_NONE | `uint16` | 1 | |
-| ARM_AUTH_DENIED_REASON_INVALID_WAYPOINT | `uint16` | 2 | |
-| ARM_AUTH_DENIED_REASON_TIMEOUT | `uint16` | 3 | |
-| ARM_AUTH_DENIED_REASON_AIRSPACE_IN_USE | `uint16` | 4 | |
-| ARM_AUTH_DENIED_REASON_BAD_WEATHER | `uint16` | 5 | |
-| ORB_QUEUE_LENGTH | `uint8` | 8 | |
+| 参数名 | 类型 | 值 | 描述 |
+| ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | - | -- |
+| MESSAGE_VERSION | `uint32` | 1 | |
+| ORB_QUEUE_LENGTH | `uint8` | 8 | |
+| ARM_AUTH_DENIED_REASON_GENERIC | `uint16` | 0 | |
+| ARM_AUTH_DENIED_REASON_NONE | `uint16` | 1 | |
+| ARM_AUTH_DENIED_REASON_INVALID_WAYPOINT | `uint16` | 2 | |
+| ARM_AUTH_DENIED_REASON_TIMEOUT | `uint16` | 3 | |
+| ARM_AUTH_DENIED_REASON_AIRSPACE_IN_USE | `uint16` | 4 | |
+| ARM_AUTH_DENIED_REASON_BAD_WEATHER | `uint16` | 5 | |
## Source Message
@@ -49,23 +62,35 @@ Vehicle Command Ackonwledgement uORB message. Used for acknowledging the vehicle
Click here to see original file
```c
-# Vehicle Command Ackonwledgement uORB message.
+# Vehicle Command Acknowledgement uORB message.
+#
# Used for acknowledging the vehicle command being received.
# Follows the MAVLink COMMAND_ACK message definition
-uint32 MESSAGE_VERSION = 0
+uint32 MESSAGE_VERSION = 1
-uint64 timestamp # time since system start (microseconds)
+uint64 timestamp # [us] time since system start
-# Result cases. This follows the MAVLink MAV_RESULT enum definition
-uint8 VEHICLE_CMD_RESULT_ACCEPTED = 0 # Command ACCEPTED and EXECUTED |
-uint8 VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED = 1 # Command TEMPORARY REJECTED/DENIED |
-uint8 VEHICLE_CMD_RESULT_DENIED = 2 # Command PERMANENTLY DENIED |
-uint8 VEHICLE_CMD_RESULT_UNSUPPORTED = 3 # Command UNKNOWN/UNSUPPORTED |
-uint8 VEHICLE_CMD_RESULT_FAILED = 4 # Command executed, but failed |
-uint8 VEHICLE_CMD_RESULT_IN_PROGRESS = 5 # Command being executed |
-uint8 VEHICLE_CMD_RESULT_CANCELLED = 6 # Command Canceled
+uint8 ORB_QUEUE_LENGTH = 8
+uint32 command # [-] Command that is being acknowledged
+
+uint8 result # [@enum VEHICLE_CMD_RESULT] Command result
+# VEHICLE_CMD_RESULT Result cases. Follows the MAVLink MAV_RESULT enum definition
+uint8 VEHICLE_CMD_RESULT_ACCEPTED = 0 # Command ACCEPTED and EXECUTED
+uint8 VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED = 1 # Command TEMPORARY REJECTED/DENIED
+uint8 VEHICLE_CMD_RESULT_DENIED = 2 # Command PERMANENTLY DENIED
+uint8 VEHICLE_CMD_RESULT_UNSUPPORTED = 3 # Command UNKNOWN/UNSUPPORTED
+uint8 VEHICLE_CMD_RESULT_FAILED = 4 # Command executed, but failed
+uint8 VEHICLE_CMD_RESULT_IN_PROGRESS = 5 # Command being executed
+uint8 VEHICLE_CMD_RESULT_CANCELLED = 6 # Command Canceled
+uint8 VEHICLE_CMD_RESULT_COMMAND_LONG_ONLY = 7 # Command is only accepted when sent as a COMMAND_LONG
+uint8 VEHICLE_CMD_RESULT_COMMAND_INT_ONLY = 8 # Command is only accepted when sent as a COMMAND_INT
+uint8 VEHICLE_CMD_RESULT_UNSUPPORTED_MAV_FRAME = 9 # Command does not support specified frame
+
+uint8 result_param1 # [-] Can be set with the reason why the command was denied, or the progress percentage when result is MAV_RESULT_IN_PROGRESS (%)
+
+int32 result_param2 # [enum ARM_AUTH_DENIED_REASON] Additional parameter of the result, example: which parameter of MAV_CMD_NAV_WAYPOINT caused it to be denied, or what ARM_AUTH_DENIED_REASON
# Arming denied specific cases
uint16 ARM_AUTH_DENIED_REASON_GENERIC = 0
uint16 ARM_AUTH_DENIED_REASON_NONE = 1
@@ -74,16 +99,10 @@ uint16 ARM_AUTH_DENIED_REASON_TIMEOUT = 3
uint16 ARM_AUTH_DENIED_REASON_AIRSPACE_IN_USE = 4
uint16 ARM_AUTH_DENIED_REASON_BAD_WEATHER = 5
-uint8 ORB_QUEUE_LENGTH = 8
+uint8 target_system # [-] Target system
+uint16 target_component # Target component / mode executor
-uint32 command # Command that is being acknowledged
-uint8 result # Command result
-uint8 result_param1 # Also used as progress[%], it can be set with the reason why the command was denied, or the progress percentage when result is MAV_RESULT_IN_PROGRESS
-int32 result_param2 # Additional parameter of the result, example: which parameter of MAV_CMD_NAV_WAYPOINT caused it to be denied.
-uint8 target_system
-uint16 target_component # Target component / mode executor
-
-bool from_external # Indicates if the command came from an external source
+bool from_external # Indicates if the command came from an external source
```
:::
diff --git a/docs/zh/msg_docs/VehicleCommandAckV0.md b/docs/zh/msg_docs/VehicleCommandAckV0.md
new file mode 100644
index 0000000000..a7b7442843
--- /dev/null
+++ b/docs/zh/msg_docs/VehicleCommandAckV0.md
@@ -0,0 +1,89 @@
+---
+pageClass: is-wide-page
+---
+
+# VehicleCommandAckV0 (UORB message)
+
+Vehicle Command Ackonwledgement uORB message. Used for acknowledging the vehicle command being received. Follows the MAVLink COMMAND_ACK message definition.
+
+**TOPICS:** vehicle_command_ack_v0
+
+## Fields
+
+| 参数名 | 类型 | Unit [Frame] | Range/Enum | 描述 |
+| ------------------------------------- | -------- | ---------------------------------------------------------------- | ---------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| timestamp | `uint64` | | | time since system start (microseconds) |
+| command | `uint32` | | | Command that is being acknowledged |
+| result | `uint8` | | | Command result |
+| result_param1 | `uint8` | | | Also used as progress[%], it can be set with the reason why the command was denied, or the progress percentage when result is MAV_RESULT_IN_PROGRESS |
+| result_param2 | `int32` | | | Additional parameter of the result, example: which parameter of MAV_CMD_NAV_WAYPOINT caused it to be denied. |
+| target_system | `uint8` | | | |
+| target_component | `uint16` | | | Target component / mode executor |
+| from_external | `bool` | | | Indicates if the command came from an external source |
+
+## Constants
+
+| 参数名 | 类型 | 值 | 描述 |
+| ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | - | --------------------------------- |
+| MESSAGE_VERSION | `uint32` | 0 | |
+| VEHICLE_CMD_RESULT_ACCEPTED | `uint8` | 0 | Command ACCEPTED and EXECUTED |
+| VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED | `uint8` | 1 | Command TEMPORARY REJECTED/DENIED |
+| VEHICLE_CMD_RESULT_DENIED | `uint8` | 2 | Command PERMANENTLY DENIED |
+| VEHICLE_CMD_RESULT_UNSUPPORTED | `uint8` | 3 | Command UNKNOWN/UNSUPPORTED |
+| VEHICLE_CMD_RESULT_FAILED | `uint8` | 4 | Command executed, but failed |
+| VEHICLE_CMD_RESULT_IN_PROGRESS | `uint8` | 5 | Command being executed |
+| VEHICLE_CMD_RESULT_CANCELLED | `uint8` | 6 | Command Canceled |
+| ARM_AUTH_DENIED_REASON_GENERIC | `uint16` | 0 | |
+| ARM_AUTH_DENIED_REASON_NONE | `uint16` | 1 | |
+| ARM_AUTH_DENIED_REASON_INVALID_WAYPOINT | `uint16` | 2 | |
+| ARM_AUTH_DENIED_REASON_TIMEOUT | `uint16` | 3 | |
+| ARM_AUTH_DENIED_REASON_AIRSPACE_IN_USE | `uint16` | 4 | |
+| ARM_AUTH_DENIED_REASON_BAD_WEATHER | `uint16` | 5 | |
+| ORB_QUEUE_LENGTH | `uint8` | 8 | |
+
+## Source Message
+
+[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/VehicleCommandAckV0.msg)
+
+:::details
+Click here to see original file
+
+```c
+# Vehicle Command Ackonwledgement uORB message.
+# Used for acknowledging the vehicle command being received.
+# Follows the MAVLink COMMAND_ACK message definition
+
+uint32 MESSAGE_VERSION = 0
+
+uint64 timestamp # time since system start (microseconds)
+
+# Result cases. This follows the MAVLink MAV_RESULT enum definition
+uint8 VEHICLE_CMD_RESULT_ACCEPTED = 0 # Command ACCEPTED and EXECUTED |
+uint8 VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED = 1 # Command TEMPORARY REJECTED/DENIED |
+uint8 VEHICLE_CMD_RESULT_DENIED = 2 # Command PERMANENTLY DENIED |
+uint8 VEHICLE_CMD_RESULT_UNSUPPORTED = 3 # Command UNKNOWN/UNSUPPORTED |
+uint8 VEHICLE_CMD_RESULT_FAILED = 4 # Command executed, but failed |
+uint8 VEHICLE_CMD_RESULT_IN_PROGRESS = 5 # Command being executed |
+uint8 VEHICLE_CMD_RESULT_CANCELLED = 6 # Command Canceled
+
+# Arming denied specific cases
+uint16 ARM_AUTH_DENIED_REASON_GENERIC = 0
+uint16 ARM_AUTH_DENIED_REASON_NONE = 1
+uint16 ARM_AUTH_DENIED_REASON_INVALID_WAYPOINT = 2
+uint16 ARM_AUTH_DENIED_REASON_TIMEOUT = 3
+uint16 ARM_AUTH_DENIED_REASON_AIRSPACE_IN_USE = 4
+uint16 ARM_AUTH_DENIED_REASON_BAD_WEATHER = 5
+
+uint8 ORB_QUEUE_LENGTH = 8
+
+uint32 command # Command that is being acknowledged
+uint8 result # Command result
+uint8 result_param1 # Also used as progress[%], it can be set with the reason why the command was denied, or the progress percentage when result is MAV_RESULT_IN_PROGRESS
+int32 result_param2 # Additional parameter of the result, example: which parameter of MAV_CMD_NAV_WAYPOINT caused it to be denied.
+uint8 target_system
+uint16 target_component # Target component / mode executor
+
+bool from_external # Indicates if the command came from an external source
+```
+
+:::
diff --git a/docs/zh/msg_docs/VehicleControlMode.md b/docs/zh/msg_docs/VehicleControlMode.md
index dcc5eca11b..bf9df815b9 100644
--- a/docs/zh/msg_docs/VehicleControlMode.md
+++ b/docs/zh/msg_docs/VehicleControlMode.md
@@ -29,9 +29,9 @@ pageClass: is-wide-page
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| -------------------------------------------------------------------- | -------- | - | -- |
-| MESSAGE_VERSION | `uint32` | 0 | |
+| 参数名 | 类型 | 值 | 描述 |
+| ------------------------------------------------------------------ | -------- | - | -- |
+| MESSAGE_VERSION | `uint32` | 0 | |
## Source Message
diff --git a/docs/zh/msg_docs/VehicleGlobalPosition.md b/docs/zh/msg_docs/VehicleGlobalPosition.md
index 9bb2b4b2c0..c557dbee94 100644
--- a/docs/zh/msg_docs/VehicleGlobalPosition.md
+++ b/docs/zh/msg_docs/VehicleGlobalPosition.md
@@ -6,7 +6,7 @@ pageClass: is-wide-page
Fused global position in WGS84. This struct contains global position estimation. It is not the raw GPS. measurement (@see vehicle_gps_position). This topic is usually published by the position. estimator, which will take more sources of information into account than just GPS,. e.g. control inputs of the vehicle in a Kalman-filter implementation.
-**TOPICS:** vehicle_global_position vehicle_global_position_groundtruth external_ins_global_position estimator_global_position aux_global_position
+**TOPICS:** vehicle_global_position vehicle_global_position_groundtruth external_ins_global_position estimator_global_position
## Fields
@@ -33,9 +33,9 @@ Fused global position in WGS84. This struct contains global position estimation.
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| -------------------------------------------------------------------- | -------- | - | -- |
-| MESSAGE_VERSION | `uint32` | 0 | |
+| 参数名 | 类型 | 值 | 描述 |
+| ------------------------------------------------------------------ | -------- | - | -- |
+| MESSAGE_VERSION | `uint32` | 0 | |
## Source Message
@@ -81,7 +81,6 @@ bool dead_reckoning # True if this position is estimated through dead-reckoning
# TOPICS vehicle_global_position vehicle_global_position_groundtruth external_ins_global_position
# TOPICS estimator_global_position
-# TOPICS aux_global_position
```
:::
diff --git a/docs/zh/msg_docs/VehicleGlobalPositionV0.md b/docs/zh/msg_docs/VehicleGlobalPositionV0.md
new file mode 100644
index 0000000000..a690e23ee2
--- /dev/null
+++ b/docs/zh/msg_docs/VehicleGlobalPositionV0.md
@@ -0,0 +1,86 @@
+---
+pageClass: is-wide-page
+---
+
+# VehicleGlobalPositionV0 (UORB message)
+
+Fused global position in WGS84. This struct contains global position estimation. It is not the raw GPS. measurement (@see vehicle_gps_position). This topic is usually published by the position. estimator, which will take more sources of information into account than just GPS,. e.g. control inputs of the vehicle in a Kalman-filter implementation.
+
+**TOPICS:** vehicle_global_position vehicle_global_position_groundtruth external_ins_global_position estimator_global_position
+
+## Fields
+
+| 参数名 | 类型 | Unit [Frame] | Range/Enum | 描述 |
+| ------------------------------------------------------------------------------------ | --------- | ---------------------------------------------------------------- | ---------- | ---------------------------------------------------------------------------- |
+| timestamp | `uint64` | | | time since system start (microseconds) |
+| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) |
+| lat | `float64` | | | Latitude, (degrees) |
+| lon | `float64` | | | Longitude, (degrees) |
+| alt | `float32` | | | Altitude AMSL, (meters) |
+| alt_ellipsoid | `float32` | | | Altitude above ellipsoid, (meters) |
+| lat_lon_valid | `bool` | | | |
+| alt_valid | `bool` | | | |
+| delta_alt | `float32` | | | Reset delta for altitude |
+| delta_terrain | `float32` | | | Reset delta for terrain |
+| lat_lon_reset_counter | `uint8` | | | Counter for reset events on horizontal position coordinates |
+| alt_reset_counter | `uint8` | | | Counter for reset events on altitude |
+| terrain_reset_counter | `uint8` | | | Counter for reset events on terrain |
+| eph | `float32` | | | Standard deviation of horizontal position error, (metres) |
+| epv | `float32` | | | Standard deviation of vertical position error, (metres) |
+| terrain_alt | `float32` | | | Terrain altitude WGS84, (metres) |
+| terrain_alt_valid | `bool` | | | Terrain altitude estimate is valid |
+| dead_reckoning | `bool` | | | True if this position is estimated through dead-reckoning |
+
+## Constants
+
+| 参数名 | 类型 | 值 | 描述 |
+| ------------------------------------------------------------------ | -------- | - | -- |
+| MESSAGE_VERSION | `uint32` | 0 | |
+
+## Source Message
+
+[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/VehicleGlobalPositionV0.msg)
+
+:::details
+Click here to see original file
+
+```c
+# Fused global position in WGS84.
+# This struct contains global position estimation. It is not the raw GPS
+# measurement (@see vehicle_gps_position). This topic is usually published by the position
+# estimator, which will take more sources of information into account than just GPS,
+# e.g. control inputs of the vehicle in a Kalman-filter implementation.
+#
+
+uint32 MESSAGE_VERSION = 0
+
+uint64 timestamp # time since system start (microseconds)
+uint64 timestamp_sample # the timestamp of the raw data (microseconds)
+
+float64 lat # Latitude, (degrees)
+float64 lon # Longitude, (degrees)
+float32 alt # Altitude AMSL, (meters)
+float32 alt_ellipsoid # Altitude above ellipsoid, (meters)
+
+bool lat_lon_valid
+bool alt_valid
+
+float32 delta_alt # Reset delta for altitude
+float32 delta_terrain # Reset delta for terrain
+uint8 lat_lon_reset_counter # Counter for reset events on horizontal position coordinates
+uint8 alt_reset_counter # Counter for reset events on altitude
+uint8 terrain_reset_counter # Counter for reset events on terrain
+
+float32 eph # Standard deviation of horizontal position error, (metres)
+float32 epv # Standard deviation of vertical position error, (metres)
+
+float32 terrain_alt # Terrain altitude WGS84, (metres)
+bool terrain_alt_valid # Terrain altitude estimate is valid
+
+bool dead_reckoning # True if this position is estimated through dead-reckoning
+
+# TOPICS vehicle_global_position vehicle_global_position_groundtruth external_ins_global_position
+# TOPICS estimator_global_position
+```
+
+:::
diff --git a/docs/zh/msg_docs/VehicleImu.md b/docs/zh/msg_docs/VehicleImu.md
index 06af1d6d58..35a7ac7636 100644
--- a/docs/zh/msg_docs/VehicleImu.md
+++ b/docs/zh/msg_docs/VehicleImu.md
@@ -27,11 +27,11 @@ IMU readings in SI-unit form.
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| ---------------------------------------------------------- | ------- | - | -- |
-| CLIPPING_X | `uint8` | 1 | |
-| CLIPPING_Y | `uint8` | 2 | |
-| CLIPPING_Z | `uint8` | 4 | |
+| 参数名 | 类型 | 值 | 描述 |
+| -------------------------------------------------------- | ------- | - | -- |
+| CLIPPING_X | `uint8` | 1 | |
+| CLIPPING_Y | `uint8` | 2 | |
+| CLIPPING_Z | `uint8` | 4 | |
## Source Message
diff --git a/docs/zh/msg_docs/VehicleImuStatus.md b/docs/zh/msg_docs/VehicleImuStatus.md
index 28e0c067f0..3fa34c0f56 100644
--- a/docs/zh/msg_docs/VehicleImuStatus.md
+++ b/docs/zh/msg_docs/VehicleImuStatus.md
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# VehicleImuStatus (UORB message)
-**TOPICS:** vehicle_imustatus
+**TOPICS:** vehicle_imu_status
## Fields
diff --git a/docs/zh/msg_docs/VehicleLandDetected.md b/docs/zh/msg_docs/VehicleLandDetected.md
index d213899155..2a6ac241b0 100644
--- a/docs/zh/msg_docs/VehicleLandDetected.md
+++ b/docs/zh/msg_docs/VehicleLandDetected.md
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# VehicleLandDetected (UORB message)
-**TOPICS:** vehicle_landdetected
+**TOPICS:** vehicle_land_detected
## Fields
@@ -26,9 +26,9 @@ pageClass: is-wide-page
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| -------------------------------------------------------------------- | -------- | - | -- |
-| MESSAGE_VERSION | `uint32` | 0 | |
+| 参数名 | 类型 | 值 | 描述 |
+| ------------------------------------------------------------------ | -------- | - | -- |
+| MESSAGE_VERSION | `uint32` | 0 | |
## Source Message
diff --git a/docs/zh/msg_docs/VehicleLocalPosition.md b/docs/zh/msg_docs/VehicleLocalPosition.md
index 6fbe4a2104..b87b0f3dcb 100644
--- a/docs/zh/msg_docs/VehicleLocalPosition.md
+++ b/docs/zh/msg_docs/VehicleLocalPosition.md
@@ -68,12 +68,12 @@ Fused local position in NED. The coordinate system origin is the vehicle positio
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| -------------------------------------------------------------------------------------------------------------------------------- | -------- | - | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
-| MESSAGE_VERSION | `uint32` | 1 | |
-| DIST_BOTTOM_SENSOR_NONE | `uint8` | 0 | |
-| DIST_BOTTOM_SENSOR_RANGE | `uint8` | 1 | (1 << 0) a range sensor is used to estimate dist_bottom field |
-| DIST_BOTTOM_SENSOR_FLOW | `uint8` | 2 | (1 << 1) a flow sensor is used to estimate dist_bottom field (mostly fixed-wing use case) |
+| 参数名 | 类型 | 值 | 描述 |
+| ------------------------------------------------------------------------------------------------------------------------------ | -------- | - | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
+| MESSAGE_VERSION | `uint32` | 1 | |
+| DIST_BOTTOM_SENSOR_NONE | `uint8` | 0 | |
+| DIST_BOTTOM_SENSOR_RANGE | `uint8` | 1 | (1 << 0) a range sensor is used to estimate dist_bottom field |
+| DIST_BOTTOM_SENSOR_FLOW | `uint8` | 2 | (1 << 1) a flow sensor is used to estimate dist_bottom field (mostly fixed-wing use case) |
## Source Message
diff --git a/docs/zh/msg_docs/VehicleLocalPositionSetpoint.md b/docs/zh/msg_docs/VehicleLocalPositionSetpoint.md
index 3f1b87450c..0c71f46ed5 100644
--- a/docs/zh/msg_docs/VehicleLocalPositionSetpoint.md
+++ b/docs/zh/msg_docs/VehicleLocalPositionSetpoint.md
@@ -6,7 +6,7 @@ pageClass: is-wide-page
Local position setpoint in NED frame. Telemetry of PID position controller to monitor tracking. NaN means the state was not controlled.
-**TOPICS:** vehicle_localposition_setpoint
+**TOPICS:** vehicle_local_position_setpoint
## Fields
diff --git a/docs/zh/msg_docs/VehicleLocalPositionV0.md b/docs/zh/msg_docs/VehicleLocalPositionV0.md
index 3c11cf615e..7c8c3e1824 100644
--- a/docs/zh/msg_docs/VehicleLocalPositionV0.md
+++ b/docs/zh/msg_docs/VehicleLocalPositionV0.md
@@ -67,12 +67,12 @@ Fused local position in NED. The coordinate system origin is the vehicle positio
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| -------------------------------------------------------------------------------------------------------------------------------- | -------- | - | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
-| MESSAGE_VERSION | `uint32` | 0 | |
-| DIST_BOTTOM_SENSOR_NONE | `uint8` | 0 | |
-| DIST_BOTTOM_SENSOR_RANGE | `uint8` | 1 | (1 << 0) a range sensor is used to estimate dist_bottom field |
-| DIST_BOTTOM_SENSOR_FLOW | `uint8` | 2 | (1 << 1) a flow sensor is used to estimate dist_bottom field (mostly fixed-wing use case) |
+| 参数名 | 类型 | 值 | 描述 |
+| ------------------------------------------------------------------------------------------------------------------------------ | -------- | - | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
+| MESSAGE_VERSION | `uint32` | 0 | |
+| DIST_BOTTOM_SENSOR_NONE | `uint8` | 0 | |
+| DIST_BOTTOM_SENSOR_RANGE | `uint8` | 1 | (1 << 0) a range sensor is used to estimate dist_bottom field |
+| DIST_BOTTOM_SENSOR_FLOW | `uint8` | 2 | (1 << 1) a flow sensor is used to estimate dist_bottom field (mostly fixed-wing use case) |
## Source Message
diff --git a/docs/zh/msg_docs/VehicleOdometry.md b/docs/zh/msg_docs/VehicleOdometry.md
index 92833c5111..6ff32cd778 100644
--- a/docs/zh/msg_docs/VehicleOdometry.md
+++ b/docs/zh/msg_docs/VehicleOdometry.md
@@ -32,26 +32,26 @@ Fits ROS REP 147 for aerial vehicles
### POSE_FRAME {#POSE_FRAME}
-| 参数名 | 类型 | 值 | 描述 |
-| ----------------------------------------------------------------------------------------------- | ------- | - | ---------------------------------------------------------------------------------------------------------------------------------------------------------------- |
-| POSE_FRAME_UNKNOWN | `uint8` | 0 | Unknown frame |
-| POSE_FRAME_NED | `uint8` | 1 | North-East-Down (NED) navigation frame. Aligned with True North. |
-| POSE_FRAME_FRD | `uint8` | 2 | Forward-Right-Down (FRD) frame. Constant arbitrary heading offset from True North. Z is down. |
+| 参数名 | 类型 | 值 | 描述 |
+| --------------------------------------------------------------------------------------------- | ------- | - | ---------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| POSE_FRAME_UNKNOWN | `uint8` | 0 | Unknown frame |
+| POSE_FRAME_NED | `uint8` | 1 | North-East-Down (NED) navigation frame. Aligned with True North. |
+| POSE_FRAME_FRD | `uint8` | 2 | Forward-Right-Down (FRD) frame. Constant arbitrary heading offset from True North. Z is down. |
### VELOCITY_FRAME {#VELOCITY_FRAME}
-| 参数名 | 类型 | 值 | 描述 |
-| ------------------------------------------------------------------------------------------------------------------------------ | ------- | - | ------------------------------------------------------------------------------------------------------------------------------------------------------- |
-| VELOCITY_FRAME_UNKNOWN | `uint8` | 0 | Unknown frame |
-| VELOCITY_FRAME_NED | `uint8` | 1 | NED navigation frame at current position. |
-| VELOCITY_FRAME_FRD | `uint8` | 2 | FRD navigation frame at current position. Constant arbitrary heading offset from True North. Z is down. |
-| VELOCITY_FRAME_BODY_FRD | `uint8` | 3 | FRD body-fixed frame |
+| 参数名 | 类型 | 值 | 描述 |
+| ---------------------------------------------------------------------------------------------------------------------------- | ------- | - | ------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| VELOCITY_FRAME_UNKNOWN | `uint8` | 0 | Unknown frame |
+| VELOCITY_FRAME_NED | `uint8` | 1 | NED navigation frame at current position. |
+| VELOCITY_FRAME_FRD | `uint8` | 2 | FRD navigation frame at current position. Constant arbitrary heading offset from True North. Z is down. |
+| VELOCITY_FRAME_BODY_FRD | `uint8` | 3 | FRD body-fixed frame |
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| -------------------------------------------------------------------- | -------- | - | -- |
-| MESSAGE_VERSION | `uint32` | 0 | |
+| 参数名 | 类型 | 值 | 描述 |
+| ------------------------------------------------------------------ | -------- | - | -- |
+| MESSAGE_VERSION | `uint32` | 0 | |
## Source Message
diff --git a/docs/zh/msg_docs/VehicleOpticalFlow.md b/docs/zh/msg_docs/VehicleOpticalFlow.md
index f8b7c0e37a..670f57282f 100644
--- a/docs/zh/msg_docs/VehicleOpticalFlow.md
+++ b/docs/zh/msg_docs/VehicleOpticalFlow.md
@@ -6,7 +6,7 @@ pageClass: is-wide-page
Optical flow in XYZ body frame in SI units.
-**TOPICS:** vehicle_opticalflow
+**TOPICS:** vehicle_optical_flow
## Fields
diff --git a/docs/zh/msg_docs/VehicleRatesSetpoint.md b/docs/zh/msg_docs/VehicleRatesSetpoint.md
index b27d532257..ef132d250c 100644
--- a/docs/zh/msg_docs/VehicleRatesSetpoint.md
+++ b/docs/zh/msg_docs/VehicleRatesSetpoint.md
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# VehicleRatesSetpoint (UORB message)
-**TOPICS:** vehicle_ratessetpoint
+**TOPICS:** vehicle_rates_setpoint
## Fields
@@ -19,9 +19,9 @@ pageClass: is-wide-page
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| -------------------------------------------------------------------- | -------- | - | -- |
-| MESSAGE_VERSION | `uint32` | 0 | |
+| 参数名 | 类型 | 值 | 描述 |
+| ------------------------------------------------------------------ | -------- | - | -- |
+| MESSAGE_VERSION | `uint32` | 0 | |
## Source Message
diff --git a/docs/zh/msg_docs/VehicleRoi.md b/docs/zh/msg_docs/VehicleRoi.md
index b94ec08e34..1f059ed50d 100644
--- a/docs/zh/msg_docs/VehicleRoi.md
+++ b/docs/zh/msg_docs/VehicleRoi.md
@@ -23,14 +23,14 @@ Vehicle Region Of Interest (ROI).
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| ----------------------------------------------------------------------------------- | ------- | - | ---------------------------------------------- |
-| ROI_NONE | `uint8` | 0 | No region of interest |
-| ROI_WPNEXT | `uint8` | 1 | Point toward next MISSION with optional offset |
-| ROI_WPINDEX | `uint8` | 2 | Point toward given MISSION |
-| ROI_LOCATION | `uint8` | 3 | Point toward fixed location |
-| ROI_TARGET | `uint8` | 4 | Point toward target |
-| ROI_ENUM_END | `uint8` | 5 | |
+| 参数名 | 类型 | 值 | 描述 |
+| --------------------------------------------------------------------------------- | ------- | - | ---------------------------------------------- |
+| ROI_NONE | `uint8` | 0 | No region of interest |
+| ROI_WPNEXT | `uint8` | 1 | Point toward next MISSION with optional offset |
+| ROI_WPINDEX | `uint8` | 2 | Point toward given MISSION |
+| ROI_LOCATION | `uint8` | 3 | Point toward fixed location |
+| ROI_TARGET | `uint8` | 4 | Point toward target |
+| ROI_ENUM_END | `uint8` | 5 | |
## Source Message
diff --git a/docs/zh/msg_docs/VehicleStatus.md b/docs/zh/msg_docs/VehicleStatus.md
index 578226b0fc..334ded282c 100644
--- a/docs/zh/msg_docs/VehicleStatus.md
+++ b/docs/zh/msg_docs/VehicleStatus.md
@@ -22,6 +22,7 @@ Encodes the system state of the vehicle published by commander.
| nav_state_user_intention | `uint8` | | | Mode that the user selected (might be different from nav_state in a failsafe situation) |
| nav_state | `uint8` | | | Currently active mode |
| executor_in_charge | `uint8` | | | Current mode executor in charge (0=Autopilot) |
+| nav_state_display | `uint8` | | | User-visible nav state sent via MAVLink (executor state if active, otherwise nav_state) |
| valid_nav_states_mask | `uint32` | | | Bitmask for all valid nav_state values |
| can_set_nav_states_mask | `uint32` | | | Bitmask for all modes that a user can select |
| failure_detector_status | `uint16` | | | |
@@ -48,77 +49,78 @@ Encodes the system state of the vehicle published by commander.
| open_drone_id_system_healthy | `bool` | | | |
| parachute_system_present | `bool` | | | |
| parachute_system_healthy | `bool` | | | |
+| traffic_avoidance_system_present | `bool` | | | |
| rc_calibration_in_progress | `bool` | | | |
| calibration_enabled | `bool` | | | |
| pre_flight_checks_pass | `bool` | | | true if all checks necessary to arm pass |
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | --- | ----------------------------------------------------------------------------- |
-| MESSAGE_VERSION | `uint32` | 1 | |
-| ARMING_STATE_DISARMED | `uint8` | 1 | |
-| ARMING_STATE_ARMED | `uint8` | 2 | |
-| ARM_DISARM_REASON_STICK_GESTURE | `uint8` | 1 | |
-| ARM_DISARM_REASON_RC_SWITCH | `uint8` | 2 | |
-| ARM_DISARM_REASON_COMMAND_INTERNAL | `uint8` | 3 | |
-| ARM_DISARM_REASON_COMMAND_EXTERNAL | `uint8` | 4 | |
-| ARM_DISARM_REASON_MISSION_START | `uint8` | 5 | |
-| ARM_DISARM_REASON_LANDING | `uint8` | 6 | |
-| ARM_DISARM_REASON_PREFLIGHT_INACTION | `uint8` | 7 | |
-| ARM_DISARM_REASON_KILL_SWITCH | `uint8` | 8 | |
-| ARM_DISARM_REASON_RC_BUTTON | `uint8` | 13 | |
-| ARM_DISARM_REASON_FAILSAFE | `uint8` | 14 | |
-| NAVIGATION_STATE_MANUAL | `uint8` | 0 | Manual mode |
-| NAVIGATION_STATE_ALTCTL | `uint8` | 1 | Altitude control mode |
-| NAVIGATION_STATE_POSCTL | `uint8` | 2 | Position control mode |
-| NAVIGATION_STATE_AUTO_MISSION | `uint8` | 3 | Auto mission mode |
-| NAVIGATION_STATE_AUTO_LOITER | `uint8` | 4 | Auto loiter mode |
-| NAVIGATION_STATE_AUTO_RTL | `uint8` | 5 | Auto return to launch mode |
-| NAVIGATION_STATE_POSITION_SLOW | `uint8` | 6 | |
-| NAVIGATION_STATE_FREE5 | `uint8` | 7 | |
-| NAVIGATION_STATE_ALTITUDE_CRUISE | `uint8` | 8 | Altitude with Cruise mode |
-| NAVIGATION_STATE_FREE3 | `uint8` | 9 | |
-| NAVIGATION_STATE_ACRO | `uint8` | 10 | Acro mode |
-| NAVIGATION_STATE_FREE2 | `uint8` | 11 | |
-| NAVIGATION_STATE_DESCEND | `uint8` | 12 | Descend mode (no position control) |
-| NAVIGATION_STATE_TERMINATION | `uint8` | 13 | Termination mode |
-| NAVIGATION_STATE_OFFBOARD | `uint8` | 14 | |
-| NAVIGATION_STATE_STAB | `uint8` | 15 | Stabilized mode |
-| NAVIGATION_STATE_FREE1 | `uint8` | 16 | |
-| NAVIGATION_STATE_AUTO_TAKEOFF | `uint8` | 17 | Takeoff |
-| NAVIGATION_STATE_AUTO_LAND | `uint8` | 18 | Land |
-| NAVIGATION_STATE_AUTO_FOLLOW_TARGET | `uint8` | 19 | Auto Follow |
-| NAVIGATION_STATE_AUTO_PRECLAND | `uint8` | 20 | Precision land with landing target |
-| NAVIGATION_STATE_ORBIT | `uint8` | 21 | Orbit in a circle |
-| NAVIGATION_STATE_AUTO_VTOL_TAKEOFF | `uint8` | 22 | Takeoff, transition, establish loiter |
-| NAVIGATION_STATE_EXTERNAL1 | `uint8` | 23 | |
-| NAVIGATION_STATE_EXTERNAL2 | `uint8` | 24 | |
-| NAVIGATION_STATE_EXTERNAL3 | `uint8` | 25 | |
-| NAVIGATION_STATE_EXTERNAL4 | `uint8` | 26 | |
-| NAVIGATION_STATE_EXTERNAL5 | `uint8` | 27 | |
-| NAVIGATION_STATE_EXTERNAL6 | `uint8` | 28 | |
-| NAVIGATION_STATE_EXTERNAL7 | `uint8` | 29 | |
-| NAVIGATION_STATE_EXTERNAL8 | `uint8` | 30 | |
-| NAVIGATION_STATE_MAX | `uint8` | 31 | |
-| FAILURE_NONE | `uint16` | 0 | |
-| FAILURE_ROLL | `uint16` | 1 | (1 << 0) |
-| FAILURE_PITCH | `uint16` | 2 | (1 << 1) |
-| FAILURE_ALT | `uint16` | 4 | (1 << 2) |
-| FAILURE_EXT | `uint16` | 8 | (1 << 3) |
-| FAILURE_ARM_ESC | `uint16` | 16 | (1 << 4) |
-| FAILURE_BATTERY | `uint16` | 32 | (1 << 5) |
-| FAILURE_IMBALANCED_PROP | `uint16` | 64 | (1 << 6) |
-| FAILURE_MOTOR | `uint16` | 128 | (1 << 7) |
-| HIL_STATE_OFF | `uint8` | 0 | |
-| HIL_STATE_ON | `uint8` | 1 | |
-| VEHICLE_TYPE_UNSPECIFIED | `uint8` | 0 | |
-| VEHICLE_TYPE_ROTARY_WING | `uint8` | 1 | |
-| VEHICLE_TYPE_FIXED_WING | `uint8` | 2 | |
-| VEHICLE_TYPE_ROVER | `uint8` | 3 | |
-| FAILSAFE_DEFER_STATE_DISABLED | `uint8` | 0 | |
-| FAILSAFE_DEFER_STATE_ENABLED | `uint8` | 1 | |
-| FAILSAFE_DEFER_STATE_WOULD_FAILSAFE | `uint8` | 2 | Failsafes deferred, but would trigger a failsafe |
+| 参数名 | 类型 | 值 | 描述 |
+| --------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | --- | ----------------------------------------------------------------------------- |
+| MESSAGE_VERSION | `uint32` | 2 | |
+| ARMING_STATE_DISARMED | `uint8` | 1 | |
+| ARMING_STATE_ARMED | `uint8` | 2 | |
+| ARM_DISARM_REASON_STICK_GESTURE | `uint8` | 1 | |
+| ARM_DISARM_REASON_RC_SWITCH | `uint8` | 2 | |
+| ARM_DISARM_REASON_COMMAND_INTERNAL | `uint8` | 3 | |
+| ARM_DISARM_REASON_COMMAND_EXTERNAL | `uint8` | 4 | |
+| ARM_DISARM_REASON_MISSION_START | `uint8` | 5 | |
+| ARM_DISARM_REASON_LANDING | `uint8` | 6 | |
+| ARM_DISARM_REASON_PREFLIGHT_INACTION | `uint8` | 7 | |
+| ARM_DISARM_REASON_KILL_SWITCH | `uint8` | 8 | |
+| ARM_DISARM_REASON_RC_BUTTON | `uint8` | 13 | |
+| ARM_DISARM_REASON_FAILSAFE | `uint8` | 14 | |
+| NAVIGATION_STATE_MANUAL | `uint8` | 0 | Manual mode |
+| NAVIGATION_STATE_ALTCTL | `uint8` | 1 | Altitude control mode |
+| NAVIGATION_STATE_POSCTL | `uint8` | 2 | Position control mode |
+| NAVIGATION_STATE_AUTO_MISSION | `uint8` | 3 | Auto mission mode |
+| NAVIGATION_STATE_AUTO_LOITER | `uint8` | 4 | Auto loiter mode |
+| NAVIGATION_STATE_AUTO_RTL | `uint8` | 5 | Auto return to launch mode |
+| NAVIGATION_STATE_POSITION_SLOW | `uint8` | 6 | |
+| NAVIGATION_STATE_FREE5 | `uint8` | 7 | |
+| NAVIGATION_STATE_ALTITUDE_CRUISE | `uint8` | 8 | Altitude with Cruise mode |
+| NAVIGATION_STATE_FREE3 | `uint8` | 9 | |
+| NAVIGATION_STATE_ACRO | `uint8` | 10 | Acro mode |
+| NAVIGATION_STATE_FREE2 | `uint8` | 11 | |
+| NAVIGATION_STATE_DESCEND | `uint8` | 12 | Descend mode (no position control) |
+| NAVIGATION_STATE_TERMINATION | `uint8` | 13 | Termination mode |
+| NAVIGATION_STATE_OFFBOARD | `uint8` | 14 | |
+| NAVIGATION_STATE_STAB | `uint8` | 15 | Stabilized mode |
+| NAVIGATION_STATE_FREE1 | `uint8` | 16 | |
+| NAVIGATION_STATE_AUTO_TAKEOFF | `uint8` | 17 | Takeoff |
+| NAVIGATION_STATE_AUTO_LAND | `uint8` | 18 | Land |
+| NAVIGATION_STATE_AUTO_FOLLOW_TARGET | `uint8` | 19 | Auto Follow |
+| NAVIGATION_STATE_AUTO_PRECLAND | `uint8` | 20 | Precision land with landing target |
+| NAVIGATION_STATE_ORBIT | `uint8` | 21 | Orbit in a circle |
+| NAVIGATION_STATE_AUTO_VTOL_TAKEOFF | `uint8` | 22 | Takeoff, transition, establish loiter |
+| NAVIGATION_STATE_EXTERNAL1 | `uint8` | 23 | |
+| NAVIGATION_STATE_EXTERNAL2 | `uint8` | 24 | |
+| NAVIGATION_STATE_EXTERNAL3 | `uint8` | 25 | |
+| NAVIGATION_STATE_EXTERNAL4 | `uint8` | 26 | |
+| NAVIGATION_STATE_EXTERNAL5 | `uint8` | 27 | |
+| NAVIGATION_STATE_EXTERNAL6 | `uint8` | 28 | |
+| NAVIGATION_STATE_EXTERNAL7 | `uint8` | 29 | |
+| NAVIGATION_STATE_EXTERNAL8 | `uint8` | 30 | |
+| NAVIGATION_STATE_MAX | `uint8` | 31 | |
+| FAILURE_NONE | `uint16` | 0 | |
+| FAILURE_ROLL | `uint16` | 1 | (1 << 0) |
+| FAILURE_PITCH | `uint16` | 2 | (1 << 1) |
+| FAILURE_ALT | `uint16` | 4 | (1 << 2) |
+| FAILURE_EXT | `uint16` | 8 | (1 << 3) |
+| FAILURE_ARM_ESC | `uint16` | 16 | (1 << 4) |
+| FAILURE_BATTERY | `uint16` | 32 | (1 << 5) |
+| FAILURE_IMBALANCED_PROP | `uint16` | 64 | (1 << 6) |
+| FAILURE_MOTOR | `uint16` | 128 | (1 << 7) |
+| HIL_STATE_OFF | `uint8` | 0 | |
+| HIL_STATE_ON | `uint8` | 1 | |
+| VEHICLE_TYPE_UNSPECIFIED | `uint8` | 0 | |
+| VEHICLE_TYPE_ROTARY_WING | `uint8` | 1 | |
+| VEHICLE_TYPE_FIXED_WING | `uint8` | 2 | |
+| VEHICLE_TYPE_ROVER | `uint8` | 3 | |
+| FAILSAFE_DEFER_STATE_DISABLED | `uint8` | 0 | |
+| FAILSAFE_DEFER_STATE_ENABLED | `uint8` | 1 | |
+| FAILSAFE_DEFER_STATE_WOULD_FAILSAFE | `uint8` | 2 | Failsafes deferred, but would trigger a failsafe |
## Source Message
@@ -130,7 +132,7 @@ Click here to see original file
```c
# Encodes the system state of the vehicle published by commander
-uint32 MESSAGE_VERSION = 1
+uint32 MESSAGE_VERSION = 2
uint64 timestamp # time since system start (microseconds)
@@ -193,6 +195,7 @@ uint8 NAVIGATION_STATE_EXTERNAL8 = 30
uint8 NAVIGATION_STATE_MAX = 31
uint8 executor_in_charge # Current mode executor in charge (0=Autopilot)
+uint8 nav_state_display # User-visible nav state sent via MAVLink (executor state if active, otherwise nav_state)
uint32 valid_nav_states_mask # Bitmask for all valid nav_state values
uint32 can_set_nav_states_mask # Bitmask for all modes that a user can select
@@ -256,6 +259,8 @@ bool open_drone_id_system_healthy
bool parachute_system_present
bool parachute_system_healthy
+bool traffic_avoidance_system_present
+
bool rc_calibration_in_progress
bool calibration_enabled
diff --git a/docs/zh/msg_docs/VehicleStatusV0.md b/docs/zh/msg_docs/VehicleStatusV0.md
index ea613f8ab1..77a7c41bcf 100644
--- a/docs/zh/msg_docs/VehicleStatusV0.md
+++ b/docs/zh/msg_docs/VehicleStatusV0.md
@@ -6,7 +6,7 @@ pageClass: is-wide-page
Encodes the system state of the vehicle published by commander.
-**TOPICS:** vehicle_statusv0
+**TOPICS:** vehicle_status_v0
## Fields
@@ -56,76 +56,76 @@ Encodes the system state of the vehicle published by commander.
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | --- | ----------------------------------------------------------------------------- |
-| MESSAGE_VERSION | `uint32` | 0 | |
-| ARMING_STATE_DISARMED | `uint8` | 1 | |
-| ARMING_STATE_ARMED | `uint8` | 2 | |
-| ARM_DISARM_REASON_TRANSITION_TO_STANDBY | `uint8` | 0 | |
-| ARM_DISARM_REASON_STICK_GESTURE | `uint8` | 1 | |
-| ARM_DISARM_REASON_RC_SWITCH | `uint8` | 2 | |
-| ARM_DISARM_REASON_COMMAND_INTERNAL | `uint8` | 3 | |
-| ARM_DISARM_REASON_COMMAND_EXTERNAL | `uint8` | 4 | |
-| ARM_DISARM_REASON_MISSION_START | `uint8` | 5 | |
-| ARM_DISARM_REASON_SAFETY_BUTTON | `uint8` | 6 | |
-| ARM_DISARM_REASON_AUTO_DISARM_LAND | `uint8` | 7 | |
-| ARM_DISARM_REASON_AUTO_DISARM_PREFLIGHT | `uint8` | 8 | |
-| ARM_DISARM_REASON_KILL_SWITCH | `uint8` | 9 | |
-| ARM_DISARM_REASON_LOCKDOWN | `uint8` | 10 | |
-| ARM_DISARM_REASON_FAILURE_DETECTOR | `uint8` | 11 | |
-| ARM_DISARM_REASON_SHUTDOWN | `uint8` | 12 | |
-| ARM_DISARM_REASON_UNIT_TEST | `uint8` | 13 | |
-| NAVIGATION_STATE_MANUAL | `uint8` | 0 | Manual mode |
-| NAVIGATION_STATE_ALTCTL | `uint8` | 1 | Altitude control mode |
-| NAVIGATION_STATE_POSCTL | `uint8` | 2 | Position control mode |
-| NAVIGATION_STATE_AUTO_MISSION | `uint8` | 3 | Auto mission mode |
-| NAVIGATION_STATE_AUTO_LOITER | `uint8` | 4 | Auto loiter mode |
-| NAVIGATION_STATE_AUTO_RTL | `uint8` | 5 | Auto return to launch mode |
-| NAVIGATION_STATE_POSITION_SLOW | `uint8` | 6 | |
-| NAVIGATION_STATE_FREE5 | `uint8` | 7 | |
-| NAVIGATION_STATE_FREE4 | `uint8` | 8 | |
-| NAVIGATION_STATE_FREE3 | `uint8` | 9 | |
-| NAVIGATION_STATE_ACRO | `uint8` | 10 | Acro mode |
-| NAVIGATION_STATE_FREE2 | `uint8` | 11 | |
-| NAVIGATION_STATE_DESCEND | `uint8` | 12 | Descend mode (no position control) |
-| NAVIGATION_STATE_TERMINATION | `uint8` | 13 | Termination mode |
-| NAVIGATION_STATE_OFFBOARD | `uint8` | 14 | |
-| NAVIGATION_STATE_STAB | `uint8` | 15 | Stabilized mode |
-| NAVIGATION_STATE_FREE1 | `uint8` | 16 | |
-| NAVIGATION_STATE_AUTO_TAKEOFF | `uint8` | 17 | Takeoff |
-| NAVIGATION_STATE_AUTO_LAND | `uint8` | 18 | Land |
-| NAVIGATION_STATE_AUTO_FOLLOW_TARGET | `uint8` | 19 | Auto Follow |
-| NAVIGATION_STATE_AUTO_PRECLAND | `uint8` | 20 | Precision land with landing target |
-| NAVIGATION_STATE_ORBIT | `uint8` | 21 | Orbit in a circle |
-| NAVIGATION_STATE_AUTO_VTOL_TAKEOFF | `uint8` | 22 | Takeoff, transition, establish loiter |
-| NAVIGATION_STATE_EXTERNAL1 | `uint8` | 23 | |
-| NAVIGATION_STATE_EXTERNAL2 | `uint8` | 24 | |
-| NAVIGATION_STATE_EXTERNAL3 | `uint8` | 25 | |
-| NAVIGATION_STATE_EXTERNAL4 | `uint8` | 26 | |
-| NAVIGATION_STATE_EXTERNAL5 | `uint8` | 27 | |
-| NAVIGATION_STATE_EXTERNAL6 | `uint8` | 28 | |
-| NAVIGATION_STATE_EXTERNAL7 | `uint8` | 29 | |
-| NAVIGATION_STATE_EXTERNAL8 | `uint8` | 30 | |
-| NAVIGATION_STATE_MAX | `uint8` | 31 | |
-| FAILURE_NONE | `uint16` | 0 | |
-| FAILURE_ROLL | `uint16` | 1 | (1 << 0) |
-| FAILURE_PITCH | `uint16` | 2 | (1 << 1) |
-| FAILURE_ALT | `uint16` | 4 | (1 << 2) |
-| FAILURE_EXT | `uint16` | 8 | (1 << 3) |
-| FAILURE_ARM_ESC | `uint16` | 16 | (1 << 4) |
-| FAILURE_BATTERY | `uint16` | 32 | (1 << 5) |
-| FAILURE_IMBALANCED_PROP | `uint16` | 64 | (1 << 6) |
-| FAILURE_MOTOR | `uint16` | 128 | (1 << 7) |
-| HIL_STATE_OFF | `uint8` | 0 | |
-| HIL_STATE_ON | `uint8` | 1 | |
-| VEHICLE_TYPE_UNKNOWN | `uint8` | 0 | |
-| VEHICLE_TYPE_ROTARY_WING | `uint8` | 1 | |
-| VEHICLE_TYPE_FIXED_WING | `uint8` | 2 | |
-| VEHICLE_TYPE_ROVER | `uint8` | 3 | |
-| VEHICLE_TYPE_AIRSHIP | `uint8` | 4 | |
-| FAILSAFE_DEFER_STATE_DISABLED | `uint8` | 0 | |
-| FAILSAFE_DEFER_STATE_ENABLED | `uint8` | 1 | |
-| FAILSAFE_DEFER_STATE_WOULD_FAILSAFE | `uint8` | 2 | Failsafes deferred, but would trigger a failsafe |
+| 参数名 | 类型 | 值 | 描述 |
+| ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | -------- | --- | ----------------------------------------------------------------------------- |
+| MESSAGE_VERSION | `uint32` | 0 | |
+| ARMING_STATE_DISARMED | `uint8` | 1 | |
+| ARMING_STATE_ARMED | `uint8` | 2 | |
+| ARM_DISARM_REASON_TRANSITION_TO_STANDBY | `uint8` | 0 | |
+| ARM_DISARM_REASON_STICK_GESTURE | `uint8` | 1 | |
+| ARM_DISARM_REASON_RC_SWITCH | `uint8` | 2 | |
+| ARM_DISARM_REASON_COMMAND_INTERNAL | `uint8` | 3 | |
+| ARM_DISARM_REASON_COMMAND_EXTERNAL | `uint8` | 4 | |
+| ARM_DISARM_REASON_MISSION_START | `uint8` | 5 | |
+| ARM_DISARM_REASON_SAFETY_BUTTON | `uint8` | 6 | |
+| ARM_DISARM_REASON_AUTO_DISARM_LAND | `uint8` | 7 | |
+| ARM_DISARM_REASON_AUTO_DISARM_PREFLIGHT | `uint8` | 8 | |
+| ARM_DISARM_REASON_KILL_SWITCH | `uint8` | 9 | |
+| ARM_DISARM_REASON_LOCKDOWN | `uint8` | 10 | |
+| ARM_DISARM_REASON_FAILURE_DETECTOR | `uint8` | 11 | |
+| ARM_DISARM_REASON_SHUTDOWN | `uint8` | 12 | |
+| ARM_DISARM_REASON_UNIT_TEST | `uint8` | 13 | |
+| NAVIGATION_STATE_MANUAL | `uint8` | 0 | Manual mode |
+| NAVIGATION_STATE_ALTCTL | `uint8` | 1 | Altitude control mode |
+| NAVIGATION_STATE_POSCTL | `uint8` | 2 | Position control mode |
+| NAVIGATION_STATE_AUTO_MISSION | `uint8` | 3 | Auto mission mode |
+| NAVIGATION_STATE_AUTO_LOITER | `uint8` | 4 | Auto loiter mode |
+| NAVIGATION_STATE_AUTO_RTL | `uint8` | 5 | Auto return to launch mode |
+| NAVIGATION_STATE_POSITION_SLOW | `uint8` | 6 | |
+| NAVIGATION_STATE_FREE5 | `uint8` | 7 | |
+| NAVIGATION_STATE_FREE4 | `uint8` | 8 | |
+| NAVIGATION_STATE_FREE3 | `uint8` | 9 | |
+| NAVIGATION_STATE_ACRO | `uint8` | 10 | Acro mode |
+| NAVIGATION_STATE_FREE2 | `uint8` | 11 | |
+| NAVIGATION_STATE_DESCEND | `uint8` | 12 | Descend mode (no position control) |
+| NAVIGATION_STATE_TERMINATION | `uint8` | 13 | Termination mode |
+| NAVIGATION_STATE_OFFBOARD | `uint8` | 14 | |
+| NAVIGATION_STATE_STAB | `uint8` | 15 | Stabilized mode |
+| NAVIGATION_STATE_FREE1 | `uint8` | 16 | |
+| NAVIGATION_STATE_AUTO_TAKEOFF | `uint8` | 17 | Takeoff |
+| NAVIGATION_STATE_AUTO_LAND | `uint8` | 18 | Land |
+| NAVIGATION_STATE_AUTO_FOLLOW_TARGET | `uint8` | 19 | Auto Follow |
+| NAVIGATION_STATE_AUTO_PRECLAND | `uint8` | 20 | Precision land with landing target |
+| NAVIGATION_STATE_ORBIT | `uint8` | 21 | Orbit in a circle |
+| NAVIGATION_STATE_AUTO_VTOL_TAKEOFF | `uint8` | 22 | Takeoff, transition, establish loiter |
+| NAVIGATION_STATE_EXTERNAL1 | `uint8` | 23 | |
+| NAVIGATION_STATE_EXTERNAL2 | `uint8` | 24 | |
+| NAVIGATION_STATE_EXTERNAL3 | `uint8` | 25 | |
+| NAVIGATION_STATE_EXTERNAL4 | `uint8` | 26 | |
+| NAVIGATION_STATE_EXTERNAL5 | `uint8` | 27 | |
+| NAVIGATION_STATE_EXTERNAL6 | `uint8` | 28 | |
+| NAVIGATION_STATE_EXTERNAL7 | `uint8` | 29 | |
+| NAVIGATION_STATE_EXTERNAL8 | `uint8` | 30 | |
+| NAVIGATION_STATE_MAX | `uint8` | 31 | |
+| FAILURE_NONE | `uint16` | 0 | |
+| FAILURE_ROLL | `uint16` | 1 | (1 << 0) |
+| FAILURE_PITCH | `uint16` | 2 | (1 << 1) |
+| FAILURE_ALT | `uint16` | 4 | (1 << 2) |
+| FAILURE_EXT | `uint16` | 8 | (1 << 3) |
+| FAILURE_ARM_ESC | `uint16` | 16 | (1 << 4) |
+| FAILURE_BATTERY | `uint16` | 32 | (1 << 5) |
+| FAILURE_IMBALANCED_PROP | `uint16` | 64 | (1 << 6) |
+| FAILURE_MOTOR | `uint16` | 128 | (1 << 7) |
+| HIL_STATE_OFF | `uint8` | 0 | |
+| HIL_STATE_ON | `uint8` | 1 | |
+| VEHICLE_TYPE_UNKNOWN | `uint8` | 0 | |
+| VEHICLE_TYPE_ROTARY_WING | `uint8` | 1 | |
+| VEHICLE_TYPE_FIXED_WING | `uint8` | 2 | |
+| VEHICLE_TYPE_ROVER | `uint8` | 3 | |
+| VEHICLE_TYPE_AIRSHIP | `uint8` | 4 | |
+| FAILSAFE_DEFER_STATE_DISABLED | `uint8` | 0 | |
+| FAILSAFE_DEFER_STATE_ENABLED | `uint8` | 1 | |
+| FAILSAFE_DEFER_STATE_WOULD_FAILSAFE | `uint8` | 2 | Failsafes deferred, but would trigger a failsafe |
## Source Message
diff --git a/docs/zh/msg_docs/VehicleStatusV1.md b/docs/zh/msg_docs/VehicleStatusV1.md
new file mode 100644
index 0000000000..d6cb63372d
--- /dev/null
+++ b/docs/zh/msg_docs/VehicleStatusV1.md
@@ -0,0 +1,287 @@
+---
+pageClass: is-wide-page
+---
+
+# VehicleStatusV1 (UORB message)
+
+Encodes the system state of the vehicle published by commander.
+
+**TOPICS:** vehicle_status_v1
+
+## Fields
+
+| 参数名 | 类型 | Unit [Frame] | Range/Enum | 描述 |
+| ---------------------------------------------------------------------------------------------------------------- | -------- | ---------------------------------------------------------------- | --------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| timestamp | `uint64` | us | | Time since system start |
+| armed_time | `uint64` | us | | Arming timestamp |
+| takeoff_time | `uint64` | us | | Takeoff timestamp |
+| arming_state | `uint8` | | | |
+| latest_arming_reason | `uint8` | | | |
+| latest_disarming_reason | `uint8` | | | |
+| nav_state_timestamp | `uint64` | | | Time when current nav_state activated |
+| nav_state_user_intention | `uint8` | | | Mode that the user selected (might be different from nav_state in a failsafe situation) |
+| nav_state | `uint8` | | [NAVIGATION_STATE](#NAVIGATION_STATE) | Currently active mode |
+| executor_in_charge | `uint8` | | | Current mode executor in charge (0=Autopilot) |
+| valid_nav_states_mask | `uint32` | | | Bitmask for all valid nav_state values |
+| can_set_nav_states_mask | `uint32` | | | Bitmask for all modes that a user can select |
+| failure_detector_status | `uint16` | | [FAILURE](#FAILURE) | |
+| hil_state | `uint8` | enum HIL_STATE | | |
+| vehicle_type | `uint8` | | [VEHICLE_TYPE](#VEHICLE_TYPE) | |
+| failsafe | `bool` | | | true if system is in failsafe state (e.g.:RTL, Hover, Terminate, ...) |
+| failsafe_and_user_took_over | `bool` | | | true if system is in failsafe state but the user took over control |
+| failsafe_defer_state | `uint8` | | [FAILSAFE_DEFER_STATE](#FAILSAFE_DEFER_STATE) | |
+| gcs_connection_lost | `bool` | | | datalink to GCS lost |
+| gcs_connection_lost_counter | `uint8` | | | counts unique GCS connection lost events |
+| high_latency_data_link_lost | `bool` | | | Set to true if the high latency data link (eg. RockBlock Iridium 9603 telemetry module) is lost |
+| is_vtol | `bool` | | | True if the system is VTOL capable |
+| is_vtol_tailsitter | `bool` | | | True if the system performs a 90° pitch down rotation during transition from MC to FW |
+| in_transition_mode | `bool` | | | True if VTOL is doing a transition |
+| in_transition_to_fw | `bool` | | | True if VTOL is doing a transition from MC to FW |
+| system_type | `uint8` | | | system type, contains mavlink MAV_TYPE |
+| system_id | `uint8` | | | system id, contains MAVLink's system ID field |
+| component_id | `uint8` | | | subsystem / component id, contains MAVLink's component ID field |
+| safety_button_available | `bool` | | | Set to true if a safety button is connected |
+| safety_off | `bool` | | | Set to true if safety is off |
+| power_input_valid | `bool` | | | Set if input power is valid |
+| usb_connected | `bool` | | | Set to true (never cleared) once telemetry received from usb link |
+| open_drone_id_system_present | `bool` | | | |
+| open_drone_id_system_healthy | `bool` | | | |
+| parachute_system_present | `bool` | | | |
+| parachute_system_healthy | `bool` | | | |
+| rc_calibration_in_progress | `bool` | | | |
+| calibration_enabled | `bool` | | | |
+| pre_flight_checks_pass | `bool` | | | true if all checks necessary to arm pass |
+
+## Enums
+
+### NAVIGATION_STATE {#NAVIGATION_STATE}
+
+| 参数名 | 类型 | 值 | 描述 |
+| ------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | -- | ----------------------------------------------------- |
+| NAVIGATION_STATE_MANUAL | `uint8` | 0 | Manual mode |
+| NAVIGATION_STATE_ALTCTL | `uint8` | 1 | Altitude control mode |
+| NAVIGATION_STATE_POSCTL | `uint8` | 2 | Position control mode |
+| NAVIGATION_STATE_AUTO_MISSION | `uint8` | 3 | Auto mission mode |
+| NAVIGATION_STATE_AUTO_LOITER | `uint8` | 4 | Auto loiter mode |
+| NAVIGATION_STATE_AUTO_RTL | `uint8` | 5 | Auto return to launch mode |
+| NAVIGATION_STATE_POSITION_SLOW | `uint8` | 6 | |
+| NAVIGATION_STATE_FREE5 | `uint8` | 7 | |
+| NAVIGATION_STATE_ALTITUDE_CRUISE | `uint8` | 8 | Altitude with Cruise mode |
+| NAVIGATION_STATE_FREE3 | `uint8` | 9 | |
+| NAVIGATION_STATE_ACRO | `uint8` | 10 | Acro mode |
+| NAVIGATION_STATE_FREE2 | `uint8` | 11 | |
+| NAVIGATION_STATE_DESCEND | `uint8` | 12 | Descend mode (no position control) |
+| NAVIGATION_STATE_TERMINATION | `uint8` | 13 | Termination mode |
+| NAVIGATION_STATE_OFFBOARD | `uint8` | 14 | |
+| NAVIGATION_STATE_STAB | `uint8` | 15 | Stabilized mode |
+| NAVIGATION_STATE_FREE1 | `uint8` | 16 | |
+| NAVIGATION_STATE_AUTO_TAKEOFF | `uint8` | 17 | Takeoff |
+| NAVIGATION_STATE_AUTO_LAND | `uint8` | 18 | Land |
+| NAVIGATION_STATE_AUTO_FOLLOW_TARGET | `uint8` | 19 | Auto Follow |
+| NAVIGATION_STATE_AUTO_PRECLAND | `uint8` | 20 | Precision land with landing target |
+| NAVIGATION_STATE_ORBIT | `uint8` | 21 | Orbit in a circle |
+| NAVIGATION_STATE_AUTO_VTOL_TAKEOFF | `uint8` | 22 | Takeoff, transition, establish loiter |
+| NAVIGATION_STATE_EXTERNAL1 | `uint8` | 23 | |
+| NAVIGATION_STATE_EXTERNAL2 | `uint8` | 24 | |
+| NAVIGATION_STATE_EXTERNAL3 | `uint8` | 25 | |
+| NAVIGATION_STATE_EXTERNAL4 | `uint8` | 26 | |
+| NAVIGATION_STATE_EXTERNAL5 | `uint8` | 27 | |
+| NAVIGATION_STATE_EXTERNAL6 | `uint8` | 28 | |
+| NAVIGATION_STATE_EXTERNAL7 | `uint8` | 29 | |
+| NAVIGATION_STATE_EXTERNAL8 | `uint8` | 30 | |
+| NAVIGATION_STATE_MAX | `uint8` | 31 | |
+
+### FAILURE {#FAILURE}
+
+| 参数名 | 类型 | 值 | 描述 |
+| ------------------------------------------------------------------------------------------------------- | -------- | --- | ----------------------------------------------------------------------------- |
+| FAILURE_NONE | `uint16` | 0 | |
+| FAILURE_ROLL | `uint16` | 1 | (1 << 0) |
+| FAILURE_PITCH | `uint16` | 2 | (1 << 1) |
+| FAILURE_ALT | `uint16` | 4 | (1 << 2) |
+| FAILURE_EXT | `uint16` | 8 | (1 << 3) |
+| FAILURE_ARM_ESC | `uint16` | 16 | (1 << 4) |
+| FAILURE_BATTERY | `uint16` | 32 | (1 << 5) |
+| FAILURE_IMBALANCED_PROP | `uint16` | 64 | (1 << 6) |
+| FAILURE_MOTOR | `uint16` | 128 | (1 << 7) |
+
+### VEHICLE_TYPE {#VEHICLE_TYPE}
+
+| 参数名 | 类型 | 值 | 描述 |
+| ------------------------------------------------------------------------------------------------------------------------------ | ------- | - | -- |
+| VEHICLE_TYPE_UNSPECIFIED | `uint8` | 0 | |
+| VEHICLE_TYPE_ROTARY_WING | `uint8` | 1 | |
+| VEHICLE_TYPE_FIXED_WING | `uint8` | 2 | |
+| VEHICLE_TYPE_ROVER | `uint8` | 3 | |
+
+### FAILSAFE_DEFER_STATE {#FAILSAFE_DEFER_STATE}
+
+| 参数名 | 类型 | 值 | 描述 |
+| ------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | - | ------------------------------------------------ |
+| FAILSAFE_DEFER_STATE_DISABLED | `uint8` | 0 | |
+| FAILSAFE_DEFER_STATE_ENABLED | `uint8` | 1 | |
+| FAILSAFE_DEFER_STATE_WOULD_FAILSAFE | `uint8` | 2 | Failsafes deferred, but would trigger a failsafe |
+
+## Constants
+
+| 参数名 | 类型 | 值 | 描述 |
+| --------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | -- | -- |
+| MESSAGE_VERSION | `uint32` | 1 | |
+| ARMING_STATE_DISARMED | `uint8` | 1 | |
+| ARMING_STATE_ARMED | `uint8` | 2 | |
+| ARM_DISARM_REASON_STICK_GESTURE | `uint8` | 1 | |
+| ARM_DISARM_REASON_RC_SWITCH | `uint8` | 2 | |
+| ARM_DISARM_REASON_COMMAND_INTERNAL | `uint8` | 3 | |
+| ARM_DISARM_REASON_COMMAND_EXTERNAL | `uint8` | 4 | |
+| ARM_DISARM_REASON_MISSION_START | `uint8` | 5 | |
+| ARM_DISARM_REASON_LANDING | `uint8` | 6 | |
+| ARM_DISARM_REASON_PREFLIGHT_INACTION | `uint8` | 7 | |
+| ARM_DISARM_REASON_KILL_SWITCH | `uint8` | 8 | |
+| ARM_DISARM_REASON_RC_BUTTON | `uint8` | 13 | |
+| ARM_DISARM_REASON_FAILSAFE | `uint8` | 14 | |
+| HIL_STATE_OFF | `uint8` | 0 | |
+| HIL_STATE_ON | `uint8` | 1 | |
+
+## Source Message
+
+[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/VehicleStatusV1.msg)
+
+:::details
+Click here to see original file
+
+```c
+# Encodes the system state of the vehicle published by commander
+
+uint32 MESSAGE_VERSION = 1
+
+uint64 timestamp # [us] Time since system start
+
+uint64 armed_time # [us] Arming timestamp
+uint64 takeoff_time # [us] Takeoff timestamp
+
+uint8 arming_state
+uint8 ARMING_STATE_DISARMED = 1
+uint8 ARMING_STATE_ARMED = 2
+
+uint8 latest_arming_reason
+uint8 latest_disarming_reason
+uint8 ARM_DISARM_REASON_STICK_GESTURE = 1
+uint8 ARM_DISARM_REASON_RC_SWITCH = 2
+uint8 ARM_DISARM_REASON_COMMAND_INTERNAL = 3
+uint8 ARM_DISARM_REASON_COMMAND_EXTERNAL = 4
+uint8 ARM_DISARM_REASON_MISSION_START = 5
+uint8 ARM_DISARM_REASON_LANDING = 6
+uint8 ARM_DISARM_REASON_PREFLIGHT_INACTION = 7
+uint8 ARM_DISARM_REASON_KILL_SWITCH = 8
+uint8 ARM_DISARM_REASON_RC_BUTTON = 13
+uint8 ARM_DISARM_REASON_FAILSAFE = 14
+
+uint64 nav_state_timestamp # Time when current nav_state activated
+
+uint8 nav_state_user_intention # Mode that the user selected (might be different from nav_state in a failsafe situation)
+
+uint8 nav_state # [@enum NAVIGATION_STATE] Currently active mode
+uint8 NAVIGATION_STATE_MANUAL = 0 # Manual mode
+uint8 NAVIGATION_STATE_ALTCTL = 1 # Altitude control mode
+uint8 NAVIGATION_STATE_POSCTL = 2 # Position control mode
+uint8 NAVIGATION_STATE_AUTO_MISSION = 3 # Auto mission mode
+uint8 NAVIGATION_STATE_AUTO_LOITER = 4 # Auto loiter mode
+uint8 NAVIGATION_STATE_AUTO_RTL = 5 # Auto return to launch mode
+uint8 NAVIGATION_STATE_POSITION_SLOW = 6
+uint8 NAVIGATION_STATE_FREE5 = 7
+uint8 NAVIGATION_STATE_ALTITUDE_CRUISE = 8 # Altitude with Cruise mode
+uint8 NAVIGATION_STATE_FREE3 = 9
+uint8 NAVIGATION_STATE_ACRO = 10 # Acro mode
+uint8 NAVIGATION_STATE_FREE2 = 11
+uint8 NAVIGATION_STATE_DESCEND = 12 # Descend mode (no position control)
+uint8 NAVIGATION_STATE_TERMINATION = 13 # Termination mode
+uint8 NAVIGATION_STATE_OFFBOARD = 14
+uint8 NAVIGATION_STATE_STAB = 15 # Stabilized mode
+uint8 NAVIGATION_STATE_FREE1 = 16
+uint8 NAVIGATION_STATE_AUTO_TAKEOFF = 17 # Takeoff
+uint8 NAVIGATION_STATE_AUTO_LAND = 18 # Land
+uint8 NAVIGATION_STATE_AUTO_FOLLOW_TARGET = 19 # Auto Follow
+uint8 NAVIGATION_STATE_AUTO_PRECLAND = 20 # Precision land with landing target
+uint8 NAVIGATION_STATE_ORBIT = 21 # Orbit in a circle
+uint8 NAVIGATION_STATE_AUTO_VTOL_TAKEOFF = 22 # Takeoff, transition, establish loiter
+uint8 NAVIGATION_STATE_EXTERNAL1 = 23
+uint8 NAVIGATION_STATE_EXTERNAL2 = 24
+uint8 NAVIGATION_STATE_EXTERNAL3 = 25
+uint8 NAVIGATION_STATE_EXTERNAL4 = 26
+uint8 NAVIGATION_STATE_EXTERNAL5 = 27
+uint8 NAVIGATION_STATE_EXTERNAL6 = 28
+uint8 NAVIGATION_STATE_EXTERNAL7 = 29
+uint8 NAVIGATION_STATE_EXTERNAL8 = 30
+uint8 NAVIGATION_STATE_MAX = 31
+
+uint8 executor_in_charge # [-] Current mode executor in charge (0=Autopilot)
+
+uint32 valid_nav_states_mask # [-] Bitmask for all valid nav_state values
+uint32 can_set_nav_states_mask # [-] Bitmask for all modes that a user can select
+
+# Bitmask of detected failures
+uint16 failure_detector_status # [@enum FAILURE]
+uint16 FAILURE_NONE = 0
+uint16 FAILURE_ROLL = 1 # (1 << 0)
+uint16 FAILURE_PITCH = 2 # (1 << 1)
+uint16 FAILURE_ALT = 4 # (1 << 2)
+uint16 FAILURE_EXT = 8 # (1 << 3)
+uint16 FAILURE_ARM_ESC = 16 # (1 << 4)
+uint16 FAILURE_BATTERY = 32 # (1 << 5)
+uint16 FAILURE_IMBALANCED_PROP = 64 # (1 << 6)
+uint16 FAILURE_MOTOR = 128 # (1 << 7)
+
+uint8 hil_state # [enum HIL_STATE]
+uint8 HIL_STATE_OFF = 0
+uint8 HIL_STATE_ON = 1
+
+# Current vehicle locomotion method. A vehicle can have different methods (e.g. VTOL transitions from RW to FW method)
+uint8 vehicle_type # [@enum VEHICLE_TYPE]
+uint8 VEHICLE_TYPE_UNSPECIFIED = 0
+uint8 VEHICLE_TYPE_ROTARY_WING = 1
+uint8 VEHICLE_TYPE_FIXED_WING = 2
+uint8 VEHICLE_TYPE_ROVER = 3
+
+uint8 FAILSAFE_DEFER_STATE_DISABLED = 0
+uint8 FAILSAFE_DEFER_STATE_ENABLED = 1
+uint8 FAILSAFE_DEFER_STATE_WOULD_FAILSAFE = 2 # Failsafes deferred, but would trigger a failsafe
+
+bool failsafe # true if system is in failsafe state (e.g.:RTL, Hover, Terminate, ...)
+bool failsafe_and_user_took_over # true if system is in failsafe state but the user took over control
+uint8 failsafe_defer_state # [@enum FAILSAFE_DEFER_STATE]
+
+# Link loss
+bool gcs_connection_lost # datalink to GCS lost
+uint8 gcs_connection_lost_counter # counts unique GCS connection lost events
+bool high_latency_data_link_lost # Set to true if the high latency data link (eg. RockBlock Iridium 9603 telemetry module) is lost
+
+# VTOL flags
+bool is_vtol # True if the system is VTOL capable
+bool is_vtol_tailsitter # True if the system performs a 90° pitch down rotation during transition from MC to FW
+bool in_transition_mode # True if VTOL is doing a transition
+bool in_transition_to_fw # True if VTOL is doing a transition from MC to FW
+
+# MAVLink identification
+uint8 system_type # system type, contains mavlink MAV_TYPE
+uint8 system_id # system id, contains MAVLink's system ID field
+uint8 component_id # subsystem / component id, contains MAVLink's component ID field
+
+bool safety_button_available # Set to true if a safety button is connected
+bool safety_off # Set to true if safety is off
+
+bool power_input_valid # Set if input power is valid
+bool usb_connected # Set to true (never cleared) once telemetry received from usb link
+
+bool open_drone_id_system_present
+bool open_drone_id_system_healthy
+
+bool parachute_system_present
+bool parachute_system_healthy
+
+bool rc_calibration_in_progress
+bool calibration_enabled
+
+bool pre_flight_checks_pass # true if all checks necessary to arm pass
+```
+
+:::
diff --git a/docs/zh/msg_docs/VtolVehicleStatus.md b/docs/zh/msg_docs/VtolVehicleStatus.md
index 99e88e333c..ecb4cd8833 100644
--- a/docs/zh/msg_docs/VtolVehicleStatus.md
+++ b/docs/zh/msg_docs/VtolVehicleStatus.md
@@ -6,7 +6,7 @@ pageClass: is-wide-page
VEHICLE_VTOL_STATE, should match 1:1 MAVLinks's MAV_VTOL_STATE.
-**TOPICS:** vtol_vehiclestatus
+**TOPICS:** vtol_vehicle_status
## Fields
@@ -18,14 +18,14 @@ VEHICLE_VTOL_STATE, should match 1:1 MAVLinks's MAV_VTOL_STATE.
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | -------- | - | -- |
-| MESSAGE_VERSION | `uint32` | 0 | |
-| VEHICLE_VTOL_STATE_UNDEFINED | `uint8` | 0 | |
-| VEHICLE_VTOL_STATE_TRANSITION_TO_FW | `uint8` | 1 | |
-| VEHICLE_VTOL_STATE_TRANSITION_TO_MC | `uint8` | 2 | |
-| VEHICLE_VTOL_STATE_MC | `uint8` | 3 | |
-| VEHICLE_VTOL_STATE_FW | `uint8` | 4 | |
+| 参数名 | 类型 | 值 | 描述 |
+| ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | - | -- |
+| MESSAGE_VERSION | `uint32` | 0 | |
+| VEHICLE_VTOL_STATE_UNDEFINED | `uint8` | 0 | |
+| VEHICLE_VTOL_STATE_TRANSITION_TO_FW | `uint8` | 1 | |
+| VEHICLE_VTOL_STATE_TRANSITION_TO_MC | `uint8` | 2 | |
+| VEHICLE_VTOL_STATE_MC | `uint8` | 3 | |
+| VEHICLE_VTOL_STATE_FW | `uint8` | 4 | |
## Source Message
diff --git a/docs/zh/msg_docs/Vtx.md b/docs/zh/msg_docs/Vtx.md
index 22ec9c8b2f..fdf99d022e 100644
--- a/docs/zh/msg_docs/Vtx.md
+++ b/docs/zh/msg_docs/Vtx.md
@@ -24,20 +24,20 @@ pageClass: is-wide-page
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| ------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | --- | ----------------------------------------- |
-| BAND_NAME_LENGTH | `uint8` | 12 | |
-| POWER_LABEL_LENGTH | `uint8` | 4 | |
-| PROTOCOL_NONE | `uint8` | 0 | No protocol is detected, usually an error |
-| PROTOCOL_SMART_AUDIO_V1 | `uint8` | 10 | |
-| PROTOCOL_SMART_AUDIO_V2 | `uint8` | 20 | |
-| PROTOCOL_SMART_AUDIO_V2_1 | `uint8` | 21 | |
-| PROTOCOL_TRAMP | `uint8` | 100 | |
-| DEVICE_UNKNOWN | `uint8` | 0 | |
-| DEVICE_PEAK_THOR_T67 | `uint8` | 20 | |
-| DEVICE_RUSH_MAX_SOLO | `uint8` | 40 | |
-| MODE_NORMAL | `uint8` | 0 | |
-| MODE_PIT | `uint8` | 1 | |
+| 参数名 | 类型 | 值 | 描述 |
+| ----------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | --- | ----------------------------------------- |
+| BAND_NAME_LENGTH | `uint8` | 12 | |
+| POWER_LABEL_LENGTH | `uint8` | 4 | |
+| PROTOCOL_NONE | `uint8` | 0 | No protocol is detected, usually an error |
+| PROTOCOL_SMART_AUDIO_V1 | `uint8` | 10 | |
+| PROTOCOL_SMART_AUDIO_V2 | `uint8` | 20 | |
+| PROTOCOL_SMART_AUDIO_V2_1 | `uint8` | 21 | |
+| PROTOCOL_TRAMP | `uint8` | 100 | |
+| DEVICE_UNKNOWN | `uint8` | 0 | |
+| DEVICE_PEAK_THOR_T67 | `uint8` | 20 | |
+| DEVICE_RUSH_MAX_SOLO | `uint8` | 40 | |
+| MODE_NORMAL | `uint8` | 0 | |
+| MODE_PIT | `uint8` | 1 | |
## Source Message
diff --git a/docs/zh/msg_docs/Wind.md b/docs/zh/msg_docs/Wind.md
index ccc25c2d3a..641bb0dfb4 100644
--- a/docs/zh/msg_docs/Wind.md
+++ b/docs/zh/msg_docs/Wind.md
@@ -28,9 +28,9 @@ Published by the navigation filter (EKF2) for use by other flight modules and li
## Constants
-| 参数名 | 类型 | 值 | 描述 |
-| -------------------------------------------------------------------- | -------- | - | -- |
-| MESSAGE_VERSION | `uint32` | 0 | |
+| 参数名 | 类型 | 值 | 描述 |
+| ------------------------------------------------------------------ | -------- | - | -- |
+| MESSAGE_VERSION | `uint32` | 0 | |
## Source Message
diff --git a/docs/zh/msg_docs/YawEstimatorStatus.md b/docs/zh/msg_docs/YawEstimatorStatus.md
index 74521ece52..acbf213c2a 100644
--- a/docs/zh/msg_docs/YawEstimatorStatus.md
+++ b/docs/zh/msg_docs/YawEstimatorStatus.md
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# YawEstimatorStatus (UORB message)
-**TOPICS:** yaw_estimatorstatus
+**TOPICS:** yaw_estimator_status
## Fields
diff --git a/docs/zh/msg_docs/index.md b/docs/zh/msg_docs/index.md
index b36a58c735..d5e3090a9a 100644
--- a/docs/zh/msg_docs/index.md
+++ b/docs/zh/msg_docs/index.md
@@ -18,15 +18,16 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
- [AirspeedValidated](AirspeedValidated.md) — Validated airspeed.
- [ArmingCheckReply](ArmingCheckReply.md) — Arming check reply.
- [ArmingCheckRequest](ArmingCheckRequest.md) — Arming check request.
+- [AuxGlobalPosition](AuxGlobalPosition.md) — Auxiliary global position.
- [BatteryStatus](BatteryStatus.md) — Battery status.
- [ConfigOverrides](ConfigOverrides.md) — Configurable overrides by (external) modes or mode executors.
- [Event](Event.md) — Events interface.
-- [FixedWingLateralSetpoint](FixedWingLateralSetpoint.md) — Fixed Wing Lateral Setpoint message. Used by the fw_lateral_longitudinal_control module. At least one of course, airspeed_direction, or lateral_acceleration must be finite.
-- [FixedWingLongitudinalSetpoint](FixedWingLongitudinalSetpoint.md) — Fixed Wing Longitudinal Setpoint message. Used by the fw_lateral_longitudinal_control module. If pitch_direct and throttle_direct are not both finite, then the controller relies on altitude/height_rate and equivalent_airspeed to control vertical motion. If both altitude and height_rate are NAN, the controller maintains the current altitude.
-- [GotoSetpoint](GotoSetpoint.md) — Position and (optional) heading setpoints with corresponding speed constraints. Setpoints are intended as inputs to position and heading smoothers, respectively. Setpoints do not need to be kinematically consistent. Optional heading setpoints may be specified as controlled by the respective flag. Unset optional setpoints are not controlled. Unset optional constraints default to vehicle specifications.
+- [FixedWingLateralSetpoint](FixedWingLateralSetpoint.md) — Fixed Wing Lateral Setpoint message.
+- [FixedWingLongitudinalSetpoint](FixedWingLongitudinalSetpoint.md) — Fixed Wing Longitudinal Setpoint message.
+- [GotoSetpoint](GotoSetpoint.md) — Position and (optional) heading setpoints with corresponding speed constraints.
- [HomePosition](HomePosition.md) — GPS home position in WGS84 coordinates.
-- [LateralControlConfiguration](LateralControlConfiguration.md) — Fixed Wing Lateral Control Configuration message. Used by the fw_lateral_longitudinal_control module to constrain FixedWingLateralSetpoint messages.
-- [LongitudinalControlConfiguration](LongitudinalControlConfiguration.md) — Fixed Wing Longitudinal Control Configuration message. Used by the fw_lateral_longitudinal_control module and TECS to constrain FixedWingLongitudinalSetpoint messages. and configure the resultant setpoints.
+- [LateralControlConfiguration](LateralControlConfiguration.md) — Fixed Wing Lateral Control Configuration message.
+- [LongitudinalControlConfiguration](LongitudinalControlConfiguration.md) — Fixed Wing Longitudinal Control Configuration message.
- [ManualControlSetpoint](ManualControlSetpoint.md)
- [ModeCompleted](ModeCompleted.md) — Mode completion result, published by an active mode. The possible values of nav_state are defined in the VehicleStatus msg. Note that this is not always published (e.g. when a user switches modes or on. failsafe activation).
- [RaptorInput](RaptorInput.md) — Raptor Input.
@@ -39,7 +40,7 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
- [VehicleAttitude](VehicleAttitude.md) — This is similar to the mavlink message ATTITUDE_QUATERNION, but for onboard use. The quaternion uses the Hamilton convention, and the order is q(w, x, y, z).
- [VehicleAttitudeSetpoint](VehicleAttitudeSetpoint.md)
- [VehicleCommand](VehicleCommand.md) — Vehicle Command uORB message. Used for commanding a mission / action / etc. Follows the MAVLink COMMAND_INT / COMMAND_LONG definition.
-- [VehicleCommandAck](VehicleCommandAck.md) — Vehicle Command Ackonwledgement uORB message. Used for acknowledging the vehicle command being received. Follows the MAVLink COMMAND_ACK message definition.
+- [VehicleCommandAck](VehicleCommandAck.md) — Vehicle Command Acknowledgement uORB message.
- [VehicleControlMode](VehicleControlMode.md)
- [VehicleGlobalPosition](VehicleGlobalPosition.md) — Fused global position in WGS84. This struct contains global position estimation. It is not the raw GPS. measurement (@see vehicle_gps_position). This topic is usually published by the position. estimator, which will take more sources of information into account than just GPS,. e.g. control inputs of the vehicle in a Kalman-filter implementation.
- [VehicleLandDetected](VehicleLandDetected.md)
@@ -267,5 +268,8 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
- [RegisterExtComponentReplyV0](RegisterExtComponentReplyV0.md)
- [RegisterExtComponentRequestV0](RegisterExtComponentRequestV0.md) — Request to register an external component.
- [VehicleAttitudeSetpointV0](VehicleAttitudeSetpointV0.md)
+- [VehicleCommandAckV0](VehicleCommandAckV0.md) — Vehicle Command Ackonwledgement uORB message. Used for acknowledging the vehicle command being received. Follows the MAVLink COMMAND_ACK message definition.
+- [VehicleGlobalPositionV0](VehicleGlobalPositionV0.md) — Fused global position in WGS84. This struct contains global position estimation. It is not the raw GPS. measurement (@see vehicle_gps_position). This topic is usually published by the position. estimator, which will take more sources of information into account than just GPS,. e.g. control inputs of the vehicle in a Kalman-filter implementation.
- [VehicleLocalPositionV0](VehicleLocalPositionV0.md) — Fused local position in NED. The coordinate system origin is the vehicle position at the time when the EKF2-module was started.
- [VehicleStatusV0](VehicleStatusV0.md) — Encodes the system state of the vehicle published by commander.
+- [VehicleStatusV1](VehicleStatusV1.md) — Encodes the system state of the vehicle published by commander.
diff --git a/docs/zh/neural_networks/mc_neural_network_control.md b/docs/zh/neural_networks/mc_neural_network_control.md
index 8e0e94c327..55ad891cf7 100644
--- a/docs/zh/neural_networks/mc_neural_network_control.md
+++ b/docs/zh/neural_networks/mc_neural_network_control.md
@@ -17,7 +17,7 @@ Note that after training the network you will need to update and rebuild PX4.
TLFM is a mature inference library intended for use on embedded devices.
It has support for several architectures, so there is a high likelihood that you can build it for the board you want to use.
-If not, there are other possible NN frameworks, such as [Eigen](https://eigen.tuxfamily.org/index.php?title=Main_Page) and [Executorch](https://pytorch.org/executorch-overview).
+If not, there are other possible NN frameworks, such as [Eigen](https://eigen.tuxfamily.org/index.php?title=Main_Page) and [Executorch](https://docs.pytorch.org/executorch/stable/intro-overview.html).
This document explains how you can include the module in your PX4 build, and provides a broad overview of how it works.
The other documents in the section provide more information about the integration, allowing you to replace the NN with a version trained on different data, or even to replace the TLFM library altogether.
diff --git a/docs/zh/neural_networks/nn_module_utilities.md b/docs/zh/neural_networks/nn_module_utilities.md
index 7c9054ed17..cab2f4cfc5 100644
--- a/docs/zh/neural_networks/nn_module_utilities.md
+++ b/docs/zh/neural_networks/nn_module_utilities.md
@@ -41,7 +41,7 @@ This only works for some flight controllers, so you might have to use an RC cont
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.
+ This will give feedback on whether 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.
@@ -71,7 +71,7 @@ For these messages to be saved in your logs you need to include `debug` in the [
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.
+Which timing library is included and used is based on whether PX4 is built with NUTTX or not.
## Changing the setpoint
diff --git a/docs/zh/neural_networks/raptor.md b/docs/zh/neural_networks/raptor.md
index e7b9c60d68..4983568032 100644
--- a/docs/zh/neural_networks/raptor.md
+++ b/docs/zh/neural_networks/raptor.md
@@ -1,6 +1,6 @@
# RAPTOR: A Neural Network Module for Adaptive Quadrotor Control
-/out` to `fmu/out/`, and [Adusting the QoS settings](../ros2/user_guide.md#ros-2-subscriber-qos-settings).
+Modifying topic names to match the new naming pattern, which changed from `fmu//out` to `fmu/out/`, and [Adjusting the QoS settings](../ros2/user_guide.md#ros-2-subscriber-qos-settings).
For more information see [Fast-RTPS to uXRCE-DDS Migration Guidelines](../middleware/uxrce_dds.md#fast-rtps-to-uxrce-dds-migration-guidelines)
@@ -102,7 +102,7 @@ For more information see [Fast-RTPS to uXRCE-DDS Migration Guidelines](../middle
- Failsafe state machine rewrite and [web simulation](../config/safety_simulation.md)
- Improved preflight failure check reporting (requires QGC [v4.2.0](https://github.com/mavlink/qgroundcontrol/releases/tag/v4.2.0) or later): [PX4-Autopilot#20030](https://github.com/PX4/PX4-Autopilot/pull/20030) and [qgroundcontrol#10362](https://github.com/mavlink/qgroundcontrol/pull/10362)
-- [Package delivery in mission](../advanced/package_delivery.md): For package delivery applications, inital support for payload delivery in mission for gripper actuator was added
+- [Package delivery in mission](../advanced/package_delivery.md): For package delivery applications, initial support for payload delivery in mission for gripper actuator was added
- Manual control setpoint message redefinition: `manual_control_setpoint.x`, `y`, `z`, `w` -> `roll`, `pitch`, `yaw`, `throttle`; `throttle scale [0,1] -> [-1,1]` - [PX4-Autopilot#15949](https://github.com/PX4/PX4-Autopilot/pull/15949)
- Default motor PWM configuration - [PX4-Autopilot#21800](https://github.com/PX4/PX4-Autopilot/pull/21800)
- Fix PWM/Oneshot calibration - [PX4-Autopilot#21726](https://github.com/PX4/PX4-Autopilot/pull/21726)
@@ -135,7 +135,7 @@ For more information see [Fast-RTPS to uXRCE-DDS Migration Guidelines](../middle
- [Gazebo-classic] Addition of Omnicopter model: A fully actuated omnidirectional vehicle model has been added to Gazebo SITL - https://github.com/PX4/PX4-SITL_gazebo-classic/pull/866
- [Gazebo-classic] Addition of Advanced liftdrag plugin: Advanced liftdrag plugin that models nonlinear aerodynamics based on AVL - [PX4-SITL_gazebo-classic#901](https://github.com/PX4/PX4-SITL_gazebo-classic/pull/901)
- [Gazebo-classic] Addition of Safe landing world: Addition of safe landing world, for testing safe landing - [PX4-SITL_gazebo-classic#93](https://github.com/PX4/PX4-SITL_gazebo-classic/pull/93)
-- [Gazebo-classic] Depricated Ubuntu Bionic reated tests: Removed testing due to EOL of Ubuntu Bionic - [PX4-SITL_gazebo-classic#974](https://github.com/PX4/PX4-SITL_gazebo-classic/pull/974)
+- [Gazebo-classic] Deprecated Ubuntu Bionic reated tests: Removed testing due to EOL of Ubuntu Bionic - [PX4-SITL_gazebo-classic#974](https://github.com/PX4/PX4-SITL_gazebo-classic/pull/974)
- [SIH] Standalone sensor simulations in tree: Ability to simulate sensors in tree that was part of SIH is now a stand alone sensor module. Sensors include magnetometer, GPS, Barometer, Airspeed - [PX4-Autopilot#20137](https://github.com/PX4/PX4-Autopilot/pull/20137), https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/simulation/sensor_airspeed_sim
- [SIH] Failure injection for battery simulation - https://github.com/PX4/PX4-Autopilot/commit/ebc1d7544e8146788c9e7cf5e8b64f60199240e4
diff --git a/docs/zh/releases/1.15.md b/docs/zh/releases/1.15.md
index 1b1dc34cc5..025aa3e8d7 100644
--- a/docs/zh/releases/1.15.md
+++ b/docs/zh/releases/1.15.md
@@ -79,7 +79,7 @@ Please continue reading for [upgrade instructions](#upgrade-guide).
- Correct way of describing the quaternion uncertainty using Lie group theory
- Use Joseph stabilized covariance update algorithm for better covariance stability and allow use of "consider states" (inactive states with non-zero variance) ([PX4-Autopilot#22770](https://github.com/PX4/PX4-Autopilot/pull/22770))
- Covariance prediction, measurement jacobians, state struct and covariance index auto-generated using SymForce
-- Manual position update throught MAVLink (`MAV_CMD_EXTERNAL_POSITION_ESTIMATE`)
+- Manual position update through MAVLink (`MAV_CMD_EXTERNAL_POSITION_ESTIMATE`)
- Add Auxiliary Global Position (AGP) fusion (for e.g.: external map matching vision algorithm)
**Mag:**
diff --git a/docs/zh/releases/1.16.md b/docs/zh/releases/1.16.md
index 66b64f9f5b..34b248cebf 100644
--- a/docs/zh/releases/1.16.md
+++ b/docs/zh/releases/1.16.md
@@ -57,7 +57,7 @@ Please continue reading for [upgrade instructions](#upgrade-guide).
- [Voltage-based estimation with load compensation](../config/battery.md#voltage-based-estimation-with-load-compensation) now uses a real-time estimate of the internal resistance of the battery to compensate voltage drops under load (with increased current), providing a better capacity estimate than with the raw measured voltage.
- Thrust-based load compensation has been removed (along with the `BATn_V_LOAD_DROP` parameters, where `n` is the battery number).
-- The [Position (GNSS) loss failsafe](../config/safety.md#position-gnss-loss-failsafe) configurable delay (`COM_POS_FS_DELAY`) has been removed.
+- The [Position (GNSS) loss failsafe](../config/safety.md#position-loss-failsafe) configurable delay (`COM_POS_FS_DELAY`) has been removed.
The failsafe will now trigger 1 second after position has been lost. ([PX4-Autopilot#24063](https://github.com/PX4/PX4-Autopilot/pull/24063)).
- [Log Encryption](../dev_log/log_encryption.md) now generates an encrypted log that contains the public-key-encrypted symmetric key that can be used to decrypt it, instead of putting the key into a separate file.
@@ -160,7 +160,7 @@ Please continue reading for [upgrade instructions](#upgrade-guide).
- mavlink_ftp: handle relative paths correctly. ([PX4-Autopilot#22980](https://github.com/PX4/PX4-Autopilot/pull/22980))
- Parameter to always start mavlink stream via USB. ([PX4-Autopilot#22234](https://github.com/PX4/PX4-Autopilot/pull/22234))
- Refactor: MAVLink message handling in one function, reference instead of pointer to main instance ([PX4-Autopilo#23219](https://github.com/PX4/PX4-Autopilot/pull/22234))
-- mavlink log handler rewrite for improved effeciency ([PX4-Autopilo#23219](https://github.com/PX4/PX4-Autopilot/pull/22234))
+- mavlink log handler rewrite for improved efficiency ([PX4-Autopilo#23219](https://github.com/PX4/PX4-Autopilot/pull/22234))
### Multi-Rotor
diff --git a/docs/zh/releases/1.17.md b/docs/zh/releases/1.17.md
index 1d32628731..9f518713c2 100644
--- a/docs/zh/releases/1.17.md
+++ b/docs/zh/releases/1.17.md
@@ -9,11 +9,11 @@ const { site } = useData();
-This contains changes to PX4 planned for PX4 v1.17 (since the last major release [PX v1.16](../releases/1.16.md)).
+This contains changes in PX4 v1.17 (since the last major release [PX v1.16](../releases/1.16.md)).
:::warning
PX4 v1.17 is in alpha/beta testing.
@@ -57,7 +57,7 @@ Please continue reading for [upgrade instructions](#upgrade-guide).
-->
--
+#include
+#include
+#include
// Template function to get the message version suffix
-// The correct message version is directly inferred from the message defintion
-template <4>
+// The correct message version is directly inferred from the message definition
+template
std::string getMessageNameVersion() {
if (T::MESSAGE_VERSION == 0) return "";
return "_v" + std::to_string(T::MESSAGE_VERSION);
@@ -117,13 +117,13 @@ class MinimalPubSub : public rclcpp::Node {
public:
MinimalPubSub() : Node("minimal_pub_sub") {
// Use template function to define the correct topics automatically
- const std::string sub_topic = "/fmu/out/vehicle_attitude" + getMessageNameVersion<5>();
- const std::string pub_topic = "/fmu/in/vehicle_command" + getMessageNameVersion<6>();
+ const std::string sub_topic = "/fmu/out/vehicle_attitude" + getMessageNameVersion();
+ const std::string pub_topic = "/fmu/in/vehicle_command" + getMessageNameVersion();
- _subscription = this->create_subscription<5>(
+ _subscription = this->create_subscription(
sub_topic, 10,
std::bind(&MinimalPubSub::attitude_callback, this, std::placeholders::_1));
- _publisher = this->create_publisher<6>(pub_topic, 10);
+ _publisher = this->create_publisher(pub_topic, 10);
}
private:
@@ -131,8 +131,8 @@ class MinimalPubSub : public rclcpp::Node {
RCLCPP_INFO(this->get_logger(), "Received attitude message.");
}
- rclcpp::Publisher<6>::SharedPtr _publisher;
- rclcpp::Subscription<5>::SharedPtr _subscription;
+ rclcpp::Publisher::SharedPtr _publisher;
+ rclcpp::Subscription::SharedPtr _subscription;
};
```
diff --git a/docs/zh/ros2/px4_ros2_navigation_interface.md b/docs/zh/ros2/px4_ros2_navigation_interface.md
index 5ef18c1879..a18fa81821 100644
--- a/docs/zh/ros2/px4_ros2_navigation_interface.md
+++ b/docs/zh/ros2/px4_ros2_navigation_interface.md
@@ -104,7 +104,7 @@ Experimental
要发送位置测量数据，你需要用所测量的值填充位置结构体。
然后以此结构调用接口的更新功能作为参数。
-关于如何使用此接口的基本示例，请在“Auterion/px4-ros2-interface-lib”仓库中查看 [examples](https://github.com/Auterion/px4-ros2-interface-lib/tree/main/examples/cpp/navigation) 例如[示例/cpp/navigation/local_navigation](https://github.com/Auterion/px4-ros2-interface-lib/blob/main/examples/cpp/navigation/local_navigation/include/local_navigation.hpp)或[示例/cpp/navigation/global_navigation](https://github.com/Auterion/px4-ros2-interface-lib/blob/main/examples/cpp/navigation/local_navigation/include/global_navigation.hpp)。
+For a basic example of how to use this interface, check out the [examples](https://github.com/Auterion/px4-ros2-interface-lib/tree/main/examples/cpp/navigation) in the `Auterion/px4-ros2-interface-lib` repository, such as [examples/cpp/navigation/local_navigation](https://github.com/Auterion/px4-ros2-interface-lib/blob/main/examples/cpp/navigation/local_navigation/include/local_navigation.hpp) or [examples/cpp/navigation/global_navigation](https://github.com/Auterion/px4-ros2-interface-lib/blob/main/examples/cpp/navigation/global_navigation/include/global_navigation.hpp).
### 局部位置更新
@@ -223,7 +223,7 @@ private:
### 全局位置更新
-首先确保正确配置 PX4 参数[`EKF2_EV_CTRL`](../advanced_config/parameter_reference.md#EKF2_AGP_CTRL)通过将相应的位设置为true，可以正确配置（系统）以融合外部全部测量数据：
+First ensure that the PX4 [`EKF2_AGP_CTRLn`](../advanced_config/parameter_reference.md#EKF2_AGP0_CTRL) parameters are properly configured to fuse external global measurements, by setting the appropriate bits to `true`:
- `0`: 水平位置数据
- `1`：垂直位置数据
diff --git a/docs/zh/ros2/user_guide.md b/docs/zh/ros2/user_guide.md
index 1820e623c3..fd78bab6d4 100644
--- a/docs/zh/ros2/user_guide.md
+++ b/docs/zh/ros2/user_guide.md
@@ -9,7 +9,7 @@ ROS 2-PX4 架构在ROS 2和PX4之间进行了深度整合。 允许 ROS 2 订阅
[migration guide](../middleware/uxrce_dds.md#fast-rtps-to-uxrce-dds-migration-guidelines) 解释您需要做什么来将ROS2 应用程序从 PX4 v1.13 迁移到 PX4 v1.14。
-如果您仍然在 PX4 v1.13 上工作，请按照[PX4 v1.13 Docs](https://docs.px4.io/v1.13/en/ros/ros2_comm.html)中的说明操作。
+If you're still working on PX4 v1.13, please follow the instructions in the [PX4 v1.13 Docs](https://docs.px4.io/v1.13/en/ros/ros2_comm).
@@ -137,7 +137,7 @@ make px4_sitl
2. 一些Python 依赖关系也必须安装 (使用 **`pip`** 或 **`apt`**):
```sh
- pip install --user -U empy==3.3.4 pyros-genmsg setuptools
+ pip install --user -U empty==3.3.4 pyros-genmsg setuptools
```
### 配置微型 XRCE-DDS 代理与客户端
diff --git a/docs/zh/sensor/airspeed.md b/docs/zh/sensor/airspeed.md
index 0442aae34f..ca3c2c488b 100644
--- a/docs/zh/sensor/airspeed.md
+++ b/docs/zh/sensor/airspeed.md
@@ -11,8 +11,8 @@ For fixed-wing flight it is the airspeed that guarantees lift — not ground spe
Recommended digital airspeed sensors include:
- Based on [Pitot tube](https://en.wikipedia.org/wiki/Pitot_tube)
- - I2C MEAS Spec series (e.g. [MS4525DO](https://www.te.com/usa-en/product-CAT-BLPS0002.html), [MS5525](https://www.te.com/usa-en/product-CAT-BLPS0003.html))
- - [mRo I2C Airspeed Sensor JST-GH MS4525DO](https://store.3dr.com/mro-i2c-airspeed-sensor-jst-gh-ms4525do/) (3DR store)
+ - I2C MEAS Spec series (e.g. [MS4525DO](https://www.te.com/en/product-20003581-00.html), [MS5525](https://www.te.com/usa-en/product-CAT-BLPS0003.html))
+ - [mRo I2C Airspeed Sensor JST-GH MS4525DO](https://store.3dr.com/airspeed-sensor-jst-gh-ms4525do/) (3DR store)
- [Digital Differential Airspeed Sensor Kit - MS4525DO](https://store-drotek.com/793-digital-differential-airspeed-sensor-kit-.html) (Drotek).
- [Holybro Digital Air Speed Sensor - MS4525DO](https://holybro.com/collections/sensors/products/digital-air-speed-sensor-ms4525do)
- [Holybro Digital Air Speed Sensor - MS5525DSO](https://holybro.com/collections/sensors/products/digital-air-speed-sensor-ms5525dso)
diff --git a/docs/zh/sensor/airspeed_tfslot.md b/docs/zh/sensor/airspeed_tfslot.md
index 5c96e40fe2..8bdd90e0c2 100644
--- a/docs/zh/sensor/airspeed_tfslot.md
+++ b/docs/zh/sensor/airspeed_tfslot.md
@@ -5,7 +5,7 @@
[TFSLOT](https://github.com/ThunderFly-aerospace/TFSLOT01) is an airspeed sensor based on venturi effects.
-In the basic configuration, the TFSLOT is equipped with the [TFASPDIMU02](https://github.com/ThunderFly-aerospace/TFASPDIMU02) sensor board, which contains a differential pressure sensor ([Sensirion SDP3x series](https://sensirion.com/products/catalog/?filter_series=d1816d53-f5c8-47e3-ab47-818c3fd54259)) and a 9-axis motion tracking sensor ([ICM-20948](https://invensense.tdk.com/products/motion-tracking/9-axis/icm-20948/)).
+In the basic configuration, the TFSLOT is equipped with the [TFASPDIMU02](https://github.com/ThunderFly-aerospace/TFASPDIMU02) sensor board, which contains a differential pressure sensor ([Sensirion SDP3x series](https://sensirion.com/products/catalog?filter_series=d1816d53-f5c8-47e3-ab47-818c3fd54259)) and a 9-axis motion tracking sensor ([ICM-20948](https://invensense.tdk.com/products/motion-tracking/9-axis/icm-20948/)).
The IMU unit can be used as an external compass.
- This design brings several advantages when used on small-scale and slow-flying UAVs.
diff --git a/docs/zh/sensor/grf_lidar.md b/docs/zh/sensor/grf_lidar.md
new file mode 100644
index 0000000000..53c32da749
--- /dev/null
+++ b/docs/zh/sensor/grf_lidar.md
@@ -0,0 +1,69 @@
+# Lightware GRF250/GRF500 Gimbal Lidar
+
+LightWare [GRF250](https://lightwarelidar.com/shop/grf-250/) and [GRF500](https://lightwarelidar.com/shop/grf-500/) are small and light Lidar modules with a range of 250m and 500m, respectively.
+
+
+
+:::info
+The Lidar driver is not included in the default build of PX4.
+You will need to [create and use a custom build](#add-the-driver-to-the-px4-build).
+:::
+
+## 购买渠道
+
+Order these modules from:
+
+- [GRF250](https://lightwarelidar.com/shop/grf-250/)
+- [GRF500](https://lightwarelidar.com/shop/grf-500/)
+
+## 硬件安装
+
+The rangefinder can be connected to any unused serial port, such as `TELEM2`.
+[Parameter Configuration](#parameter-configuration) explains how to configure the port to use and the other properties of the rangefinder.
+
+## PX4 Setup
+
+### Add the Driver to the PX4 Build
+
+The [lightware_grf_serial](../modules/modules_driver_distance_sensor.md#lightware-grf-serial) driver for this Lidar is not included in PX4 firmware by default.
+In order to use these modules you will first need to update the firmware configuration to add the driver, and then build the firmware.
+
+1. Update the firmware configuration. You can use either of the following options:
+ - Menuconfig:
+ 1. Install and open [menuconfig](../hardware/porting_guide_config.md#px4-menuconfig-setup)
+ 2. In [menuconfig](../hardware/porting_guide_config.md#px4-menuconfig-setup), navigate to **Drivers > Distance sensors**
+ 3. Select/Enable `lightware_grf_serial`
+ 4. Save the configuration
+
+ - Manually update `default.px4` to include the configuration key:
+ 1. Open the `default.px4board` config file that corresponds to the board you want to build for.
+ For example, to add the driver to `fmu-v6x` boards you would update [/boards/px4/fmu-v6x/default.px4board ](https://github.com/PX4/PX4-Autopilot/blob/main/boards/px4/fmu-v6x/default.px4board)
+ 2. Add the following line and save the file:
+
+ ```txt
+ CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_GRF_SERIAL=y
+ ```
+
+2. [Build PX4](../dev_setup/building_px4.md) for your flight controller target and upload the new firmware.
+
+### Parameter Configuration
+
+You will need to configure PX4 to indicate the serial port to which the sensor is connected (as per [Serial Port Configuration](../peripherals/serial_configuration.md)) and also the orientation and other properties of the sensor.
+
+The [parameters to change](../advanced_config/parameters.md) are listed in the table.
+
+| 参数 | 描述 |
+| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------ |
+| [SENS_EN_GRF_CFG](../advanced_config/parameter_reference.md#SENS_EN_GRF_CFG) | Set to the serial port the sensor is connected to. |
+| [GRF_RATE_CFG](../advanced_config/parameter_reference.md#GRF_RATE_CFG) | Set the update rate. |
+| [GRF_SENS_MODEL](../advanced_config/parameter_reference.md#GRF_SENS_MODEL) | Set the sensor model to use. |
+
+## 测试
+
+You can confirm that the sensor is correctly configured by connecting QGroundControl, and observing that [DISTANCE_SENSOR](https://mavlink.io/en/messages/common.html#DISTANCE_SENSOR) is present in the [MAVLink Inspector](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/analyze_view/mavlink_inspector.html).
+
+Moving the sensor around at various distances from a surface will have the `current_distance` value change.
+
+## 故障处理
+
+If you are having problems with connecting to the sensor you may need to unassign a the default serial port. [Unassign Default Serial Port](../peripherals/serial_configuration.md)
diff --git a/docs/zh/sensor/inertial_navigation_systems.md b/docs/zh/sensor/inertial_navigation_systems.md
index 36b0fb97e8..c35aad06d5 100644
--- a/docs/zh/sensor/inertial_navigation_systems.md
+++ b/docs/zh/sensor/inertial_navigation_systems.md
@@ -49,5 +49,4 @@ Essentially it is an AHRS that also includes position/velocity estimation.
## 更多信息
-- [What is an Inertial Navigation System?](https://www.vectornav.com/resources/inertial-navigation-articles/what-is-an-ins) (VectorNav)
- [Inertial Navigation Primer](https://www.vectornav.com/resources/inertial-navigation-primer) (VectorNav)
diff --git a/docs/zh/sensor/inertiallabs.md b/docs/zh/sensor/inertiallabs.md
index 68e231041b..82af82b866 100644
--- a/docs/zh/sensor/inertiallabs.md
+++ b/docs/zh/sensor/inertiallabs.md
@@ -21,8 +21,8 @@ The mode is configurable using a parameter.
[Get technical support or send requests to sales team](https://inertiallabs.com/inertial-labs-inc/contact-inertial-labs-team/).
Recommended sensors:
-- [INS-U GNSS/INS](https://inertiallabs.com/ins-u-datasheet): Recommended for fixed-wing systems without hovering, where static heading is not necessary.
-- [INS-DU DUAL GNSS/INS](https://inertiallabs.com/ins-du-datasheet): Recommended for multicopter systems where hovering and low dynamics requires the use of static heading.
+- [INS-U GNSS/INS](https://inertiallabs.com/wp-content/uploads/2026/01/INS-U_INS-U-OEM_Datasheet_REV2.18_JAN2026.pdf): Recommended for fixed-wing systems without hovering, where static heading is not necessary.
+- [INS-DU DUAL GNSS/INS](https://inertiallabs.com/wp-content/uploads/2025/12/INS-DU_INS-DU-OEM_Datasheet_REV1.00_DEC2025.pdf): Recommended for multicopter systems where hovering and low dynamics requires the use of static heading.
## 硬件安装
diff --git a/docs/zh/sensor/lidar_lite.md b/docs/zh/sensor/lidar_lite.md
index c4ae26f23e..09b6cb0e1f 100644
--- a/docs/zh/sensor/lidar_lite.md
+++ b/docs/zh/sensor/lidar_lite.md
@@ -6,7 +6,7 @@ LIDAR-Lite is a compact, high-performance optical distant measurement sensor sol
## 购买渠道
-- [LIDAR-Lite v3](https://buy.garmin.com/en-AU/AU/p/557294) (5cm - 40m)
+- [LIDAR-Lite v3](https://www.garmin.com/en-AU/p/557294/) (5cm - 40m)
## 针脚定义
diff --git a/docs/zh/sensor/microstrain.md b/docs/zh/sensor/microstrain.md
index 9d1e630ae5..9546b0dd29 100644
--- a/docs/zh/sensor/microstrain.md
+++ b/docs/zh/sensor/microstrain.md
@@ -7,10 +7,10 @@ Widely used across industries like aerospace, robotics, industrial automation, a
The driver currently supports the following hardware:
-- [`MicroStrain CV7-AR`](https://www.hbkworld.com/en/products/transducers/inertial-sensors/vertical-reference-units--vru-/3dm-cv7-ar): Inertial Measurement Unit (IMU) and Vertical Reference Unit (VRU)
-- [`MicroStrain CV7-AHRS`](https://www.hbkworld.com/en/products/transducers/inertial-sensors/attitude-and-heading-reference-systems--ahrs-/3dm-cv7-ahrs): Inertial Measurement Unit (IMU) and Attitude Heading Reference System (AHRS)
-- [`MicroStrain CV7-INS`](https://www.hbkworld.com/en/products/transducers/inertial-sensors/inertial-navigation-systems--ins-/3dm-cv7-ins): Inertial Measurement Unit (IMU) and Inertial Navigation System (INS).
-- [`MicroStrain CV7-GNSS/INS`](https://www.hbkworld.com/en/products/transducers/inertial-sensors/inertial-navigation-systems--ins-/3dm-cv7-gnss-ins): Inertial Measurement Unit (IMU) and Inertial Navigation System (INS) combined with dual multiband (GNSS) receivers.
+- [`MicroStrain CV7-AR`](https://www.hbkworld.com/en/products/transducers/inertial-sensors/vertical-reference/3dm-cv7-ar): Inertial Measurement Unit (IMU) and Vertical Reference Unit (VRU)
+- [`MicroStrain CV7-AHRS`](https://www.hbkworld.com/en/products/transducers/inertial-sensors/attitude-and-heading/3dm-cv7-ahrs): Inertial Measurement Unit (IMU) and Attitude Heading Reference System (AHRS)
+- [`MicroStrain CV7-INS`](https://www.hbkworld.com/en/products/transducers/inertial-sensors/navigation/3dm-cv7-ins): Inertial Measurement Unit (IMU) and Inertial Navigation System (INS).
+- [`MicroStrain CV7-GNSS/INS`](https://www.hbkworld.com/en/products/transducers/inertial-sensors/navigation/3dm-cv7-gnss-ins): Inertial Measurement Unit (IMU) and Inertial Navigation System (INS) combined with dual multiband (GNSS) receivers.
PX4 can use these sensors to provide raw IMU data for EKF2 or to replace EKF2 as an external INS.
For more information, including user manuals and datasheets, please refer to the sensors product page.
@@ -18,7 +18,7 @@ For more information, including user manuals and datasheets, please refer to the
## 购买渠道
MicroStrain sensors can be purchased through HBK's official [MicroStrain product page](https://www.hbkworld.com/en/products/transducers/inertial-sensors) or through authorized distributors globally.
-For large orders, custom requirements, or technical inquiries, reach out directly to [sales](https://www.hbkworld.com/en/contact-us/contact-sales-microstrain)
+For large orders, custom requirements, or technical inquiries, reach out directly to [sales](https://www.hbkworld.com/en/contact-us)
## 硬件安装
diff --git a/docs/zh/sensor/optical_flow.md b/docs/zh/sensor/optical_flow.md
index 682685a1f7..ae186ea84f 100644
--- a/docs/zh/sensor/optical_flow.md
+++ b/docs/zh/sensor/optical_flow.md
@@ -71,7 +71,7 @@ It is used in a number of products, including some from: Bitcraze, Tindie, Hex,
### Other Cameras/Sensors
It is also possible to use a board/quad that has an integrated camera.
-For this the [Optical Flow repo](https://github.com/PX4/OpticalFlow) can be used (see also [snap_cam](https://github.com/PX4/snap_cam)).
+For this the [Optical Flow repo](https://github.com/PX4/PX4-OpticalFlow) can be used (see also [snap_cam](https://github.com/PX4/snap_cam)).
## Range Finders
diff --git a/docs/zh/sensor/px4flow.md b/docs/zh/sensor/px4flow.md
index 646f9baf77..a3de079ce1 100644
--- a/docs/zh/sensor/px4flow.md
+++ b/docs/zh/sensor/px4flow.md
@@ -5,4 +5,4 @@
PX4 不支持 PX4 v1.13 的 PX4Flow [光流](../sensor/optical_flow.md)传感器（它不适用于当前固件）。
PX4可以使用旧的 PX4Flow 固件。
-文档已被删除（如果需要, 请参阅[v1.13中的 PX4Flow 的旧文档](https://docs.px4.io/v1.13/en/sensor/px4flow.html)）。
+Documentation has been removed (if needed, see [Legacy Docs for PX4Flow in v1.13](https://docs.px4.io/v1.13/en/sensor/px4flow)).
diff --git a/docs/zh/sensor/rangefinders.md b/docs/zh/sensor/rangefinders.md
index 4e11fb19ac..9abb86c800 100644
--- a/docs/zh/sensor/rangefinders.md
+++ b/docs/zh/sensor/rangefinders.md
@@ -93,7 +93,7 @@ It comes with a JST GHR 4 pin connector that is compatible with the I2C port on
### MaxBotix I2CXL-MaxSonar-EZ
-The MaxBotix [I2CXL-MaxSonar-EZ](https://www.maxbotix.com/product-category/i2cxl-maxsonar-ez-products) range has a number of relatively short-ranged sonar based rangefinders that are suitable for assisted takeoff/landing and collision avoidance.
+The MaxBotix [I2CXL-MaxSonar-EZ](https://maxbotix.com/collections/i2cxl-maxsonar-ez-products) range has a number of relatively short-ranged sonar based rangefinders that are suitable for assisted takeoff/landing and collision avoidance.
这些可以使用 I2C 端口连接。
The rangefinders are enabled using the parameter [SENS_EN_MB12XX](../advanced_config/parameter_reference.md#SENS_EN_MB12XX).
@@ -163,7 +163,7 @@ Features:
- [VL53L1CBV0FY-1](https://www.st.com/resource/en/datasheet/vl53l1.pdf) sensor
- Input voltage sensor
-- CAN connectors: 2 [UCANPHY Micro (JST-GH 4)](https://raccoonlabdev.github.io/docs/guide/wires/).
+- CAN connectors: 2 [UCANPHY Micro (JST-GH 4)](https://docs.raccoonlab.co/guide/wires/).
## Configuration/Setup {#configuration}
diff --git a/docs/zh/sensor/sbgecom.md b/docs/zh/sensor/sbgecom.md
index 40c0068cb0..129e9ce0f9 100644
--- a/docs/zh/sensor/sbgecom.md
+++ b/docs/zh/sensor/sbgecom.md
@@ -2,7 +2,7 @@
[SBG-Systems](https://www.sbg-systems.com/) designs, manufactures, and support an extensive range of state-of-the-art inertial sensors such as Inertial Measurement Units (IMU), Attitude and Heading Reference Systems (AHRS), Inertial Navigation Systems with embedded GNSS (INS/GNSS), and so on.
-PX4 supports [all SBG Systems products](https://www.sbg-systems.com/products/) and can use these as an [external INS](../sensor/inertial_navigation_systems.md) (bypassing/replacing the EKF2 estimator), or as a source of raw sensor data provided to the navigation estimator.
+PX4 supports [all SBG Systems products](https://www.sbg-systems.com/) and can use these as an [external INS](../sensor/inertial_navigation_systems.md) (bypassing/replacing the EKF2 estimator), or as a source of raw sensor data provided to the navigation estimator.
@@ -17,7 +17,7 @@ SBG Systems products provide a range of benefits to PX4 users and can be integra
The sbgECom PX4 driver is streamlined to provide a simple plug-and-play architecture, removing engineering obstacles and allowing the acceleration of the design, development, and launch of platforms to keep pace with the rapid rate of innovation.
-The driver supports [all SBG Systems products](https://www.sbg-systems.com/products/).
+The driver supports [all SBG Systems products](https://www.sbg-systems.com/).
In particular the following systems are recommended:
- **Pulse:** Recommended for fixed-wing systems without hovering, where static heading is not necessary.
@@ -151,5 +151,5 @@ Published topics can be viewed using the `listener` command.
## Hardware Specifications
-- [Product Briefs](https://www.sbg-systems.com/products/)
+- [Product Briefs](https://www.sbg-systems.com/)
- [Datasheets](https://www.sbg-systems.com/contact/#products)
diff --git a/docs/zh/sensor/sf45_rotating_lidar.md b/docs/zh/sensor/sf45_rotating_lidar.md
index 78cc7ff57b..0581ff545a 100644
--- a/docs/zh/sensor/sf45_rotating_lidar.md
+++ b/docs/zh/sensor/sf45_rotating_lidar.md
@@ -12,7 +12,7 @@ You will need to [create and use a custom build](#add-the-driver-to-the-px4-buil
## LightWare Studio Setup
-In the [LightWare Studio](https://www.lightwarelidar.com/resources-software) app set following values:
+In the [LightWare Studio](https://lightwarelidar.com/resources-software/) app set following values:
| 参数 | 描述 |
| --------- | ------ |
diff --git a/docs/zh/sensor/sfxx_lidar.md b/docs/zh/sensor/sfxx_lidar.md
index a2534add6e..433ee7af55 100644
--- a/docs/zh/sensor/sfxx_lidar.md
+++ b/docs/zh/sensor/sfxx_lidar.md
@@ -9,14 +9,14 @@ These are useful for applications including terrain following, precision hoverin
The following models are supported by PX4, and can be connected to either the I2C or Serial bus (the tables below indicates what bus can be used for each model).
-| Model | Range (m) | Bus | 描述 |
-| ------------------------------------------------------- | ---------------------------- | ----------------- | ------------------------------------------------------------------------------------------------------------- |
-| [SF11/C](https://lightwarelidar.com/shop/sf11-c-100-m/) | 100 | Serial or I2C bus | |
-| [LW20/C](https://lightware.co.za/products/lw20-c-100-m) | 100 | I2C bus | Waterproofed (IP67) with servo for sense-and-avoid applications |
-| [SF30/D](https://lightwarelidar.com/shop/sf30-d-200-m/) | 200 | I2C bus | Waterproofed (IP67) |
-| [SF45/B](../sensor/sf45_rotating_lidar.md) | 50 | Serial | Rotary Lidar (Used for [Collision Prevention](../computer_vision/collision_prevention.md)) |
-| [GRF250](https://lightwarelidar.com/shop/grf-250/) | 250 | I2C | Gimbal Range Finder |
-| [GRF500](https://lightwarelidar.com/shop/grf-500/) | 500 | I2C | Gimbal Range Finder |
+| Model | Range (m) | Bus | 描述 |
+| ---------------------------------------------------------- | ---------------------------- | ----------------- | ------------------------------------------------------------------------------------------------------------- |
+| [SF11/C](https://lightwarelidar.com/shop/sf11-c-100-m/) | 100 | Serial or I2C bus | |
+| [LW20/C](https://lightwarelidar.com/products/lw20-c-100-m) | 100 | I2C bus | Waterproofed (IP67) with servo for sense-and-avoid applications |
+| [SF30/D](https://lightwarelidar.com/shop/sf30-d-200-m/) | 200 | I2C bus | Waterproofed (IP67) |
+| [SF45/B](../sensor/sf45_rotating_lidar.md) | 50 | Serial | Rotary Lidar (Used for [Collision Prevention](../computer_vision/collision_prevention.md)) |
+| [GRF250](../sensor/grf_lidar.md) | 250 | Serial or I2C | Gimbal Range Finder |
+| [GRF500](../sensor/grf_lidar.md) | 500 | Serial or I2C | Gimbal Range Finder |
:::details
Discontinued
diff --git a/docs/zh/sensor/teraranger.md b/docs/zh/sensor/teraranger.md
index f8b2a4b553..1a8e95c33b 100644
--- a/docs/zh/sensor/teraranger.md
+++ b/docs/zh/sensor/teraranger.md
@@ -1,12 +1,17 @@
-# TeraRanger 测距仪
+# TeraRanger Rangefinders (Discontinued)
+
+:::warning
+TeraRanger Evo sensors were discontinued by Terabee in May 2024.
+Limited stock may still be available from third-party resellers such as [Tribotix](https://tribotix.com/product/teraranger-evo-60m/).
+:::
TeraRanger provide a number of lightweight distance measurement sensor based on infrared Time-of-Flight (ToF) technology.
他们通常比声纳更快、范围更大、比基于激光的系统更小、更轻。
PX4 supports:
-- [TeraRanger Evo 60m](https://www.terabee.com/shop/lidar-tof-range-finders/teraranger-evo-60m/) (0.5 – 60 m)
-- [TeraRanger Evo 600Hz](https://www.terabee.com/shop/lidar-tof-range-finders/teraranger-evo-600hz/) (0.75 - 8 m)
+- [TeraRanger Evo 60m](https://tribotix.com/product/teraranger-evo-60m/) (0.5 – 60 m)
+- [TeraRanger Evo 600Hz](https://tribotix.com/product/teraranger-evo-600hz/) (0.75 - 8 m)
:::info
PX4 also supports _TeraRanger One_ (I2C adapter required).
diff --git a/docs/zh/sensor/thunderfly_tachometer.md b/docs/zh/sensor/thunderfly_tachometer.md
index 6ee25a921a..db1c75bc0b 100644
--- a/docs/zh/sensor/thunderfly_tachometer.md
+++ b/docs/zh/sensor/thunderfly_tachometer.md
@@ -31,7 +31,7 @@ The LED lights up when the pulse input is grounded or exposed to logical 0, so y
Hall-Effect sensors (magnetically operated) are ideal for harsh environments, where dirt, dust, and water can contact the sensed rotor.
Many different hall effect sensors are commercially available.
-For example, a [55100 Miniature Flange Mounting Proximity Sensor](https://m.littelfuse.com/media?resourcetype=datasheets&itemid=6d69d457-770e-46ba-9998-012c5e0aedd7&filename=littelfuse-hall-effect-sensors-55100-datasheet) is a good choice.
+For example, a [55100 Miniature Flange Mounting Proximity Sensor](https://www.littelfuse.com/assetdocs/littelfuse-hall-effect-sensors-55100-datasheet?assetguid=6d69d457-770e-46ba-9998-012c5e0aedd7) is a good choice.
@@ -90,7 +90,7 @@ pcf8583 status
```
If the driver is running, the I²C port will be printed along with other basic parameters of the running instance.
-If the driver is not running it can be started started using theprocedure described above.
+If the driver is not running it can be started using theprocedure described above.
The [listener](../modules/modules_command.md#listener) command allows you to monitor RPM UORB messages from the running driver.
diff --git a/docs/zh/sensor/vectornav.md b/docs/zh/sensor/vectornav.md
index ba09632367..540151f567 100644
--- a/docs/zh/sensor/vectornav.md
+++ b/docs/zh/sensor/vectornav.md
@@ -42,7 +42,7 @@ This can be changed to any rigid rotation using the VectorNav Reference Frame Ro
If using a GNSS-enabled product, the GNSS antenna must be mounted rigidly with respect to the inertial sensor and with an unobstructed sky view. If using a dual-GNSS-enabled product (VN-3X0), the secondary antenna must be mounted rigidly with respect to the primary antenna and the inertial sensor with an unobstructed sky view.
-For more mounting requirements and recommendations, see the relevant [Quick Start Guide](https://www.vectornav.com/resources/quick-start-guides).
+For more mounting requirements and recommendations, see the relevant [Quick Start Guide](https://www.vectornav.com/resources/technical-documentation/quick-start-guides).
## Firmware Configuration
@@ -82,7 +82,7 @@ IMU data should be published at 800Hz (400Hz if using VN-300).
## VectorNav Configuration
-Definitions for all commands and registers referenced in this section can be found in the respective [VectorNav ICD](https://www.vectornav.com/resources/interface-control-documents).
+Definitions for all commands and registers referenced in this section can be found in the respective [VectorNav ICD](https://www.vectornav.com/resources/technical-documentation/interface-control-documents).
Upon initialization, PX4 configures the VectorNav unit as follows:
@@ -137,5 +137,5 @@ Published topics can be viewed using the `listener` command.
## Hardware Specifications
-- [Product Briefs](https://www.vectornav.com/resources/product-briefs)
-- [Datasheets](https://www.vectornav.com/resources/datasheets)
+- [Product Briefs](https://www.vectornav.com/resources/product-information/product-briefs)
+- [Datasheets](https://www.vectornav.com/resources/technical-documentation/datasheets)
diff --git a/docs/zh/sensor_bus/translator_tfi2cadt.md b/docs/zh/sensor_bus/translator_tfi2cadt.md
index 49ea3a7c3c..ad98d26d61 100644
--- a/docs/zh/sensor_bus/translator_tfi2cadt.md
+++ b/docs/zh/sensor_bus/translator_tfi2cadt.md
@@ -13,7 +13,7 @@ The module contains two pairs of connectors, each pair responsible for different
:::info
[TFI2CADT01](https://github.com/ThunderFly-aerospace/TFI2CADT01) is designed as open-source hardware with GPLv3 license.
-It is commercially available from [ThunderFly](https://www.thunderfly.cz/) company or from [Tindie eshop](https://www.tindie.com/products/26353/).
+It is commercially available from [ThunderFly](https://www.thunderfly.cz/) company or from [Tindie eshop](https://www.tindie.com/products/thunderfly/tfi2cadt01-pixhawk-i2c-address-translator/).
:::
## Address Translation Method
@@ -30,7 +30,7 @@ If you need your own value for address translation, changing the configuration r
The tachometer sensor [TFRPM01](../sensor/thunderfly_tachometer.md) can be set to two different addresses using a solder jumper.
If the autopilot has three buses, only 6 sensors can be connected and no bus remains free (2 available addresses \* 3 I2C ports).
In some multicopters or VTOL solutions, there is a need to measure the RPM of 8 or more elements.
-The [TFI2CADT01](https://www.tindie.com/products/26353/) is highly recommended in this case.
+The [TFI2CADT01](https://www.tindie.com/products/thunderfly/tfi2cadt01-pixhawk-i2c-address-translator/) is highly recommended in this case.
diff --git a/docs/zh/sim_gazebo_classic/index.md b/docs/zh/sim_gazebo_classic/index.md
index d3245db579..4d9a98f981 100644
--- a/docs/zh/sim_gazebo_classic/index.md
+++ b/docs/zh/sim_gazebo_classic/index.md
@@ -347,7 +347,7 @@ The video below shows that the location of the environment is aligned with the w
For extended development sessions it might be more convenient to start Gazebo Classic and PX4 separately or even from within an IDE.
-In addition to the existing cmake targets that run `sitl_run.sh` with parameters for px4 to load the correct model it creates a launcher targets named `px4_` that is a thin wrapper around original sitl px4 app.
+In addition to the existing cmake targets that run `sitl_run.sh` with parameters for PX4 to load the correct model it creates a launcher targets named `px4_` that is a thin wrapper around original sitl PX4 app.
This thin wrapper simply embeds app arguments like current working directories and the path to the model file.
To start Gazebo Classic and PX4 separately:
@@ -368,7 +368,7 @@ To start Gazebo Classic and PX4 separately:
- Start the debug session directly from IDE
-This approach significantly reduces the debug cycle time because simulator is always running in background and you only re-run the px4 process which is very light.
+This approach significantly reduces the debug cycle time because simulator is always running in background and you only re-run the PX4 process which is very light.
## Simulated Survey Camera
diff --git a/docs/zh/sim_gazebo_gz/gazebo_models.md b/docs/zh/sim_gazebo_gz/gazebo_models.md
index 5756fa3bda..359e9ee285 100644
--- a/docs/zh/sim_gazebo_gz/gazebo_models.md
+++ b/docs/zh/sim_gazebo_gz/gazebo_models.md
@@ -45,7 +45,7 @@ You can connect a PX4-enabled vehicle to an instance of _gz-server_ using severa
You can then drag and drop any PX4 model into your simulation.
::: info
- These models are taken from an web-server called [Gazebo Fuel](https://app.gazebosim.org/dashboard), which essentially acts as an online database for all types of models and worlds that can be launched in Gazebo.
+ These models are taken from an web-server called [Gazebo Fuel](https://app.gazebosim.org/PX4), which essentially acts as an online database for all types of models and worlds that can be launched in Gazebo.
:::
diff --git a/docs/zh/sim_gazebo_gz/index.md b/docs/zh/sim_gazebo_gz/index.md
index c029851d3e..7bd3f71795 100644
--- a/docs/zh/sim_gazebo_gz/index.md
+++ b/docs/zh/sim_gazebo_gz/index.md
@@ -5,7 +5,7 @@ Gazebo was previously known as "Gazebo Ignition" (while _Gazebo Classic_ was pre
See the [official blog post](https://www.openrobotics.org/blog/2022/4/6/a-new-era-for-gazebo) for more information.
:::
-[Gazebo](https://gazebosim.org/home) is an open source robotics simulator.
+[Gazebo](https://gazebosim.org/docs/latest/getstarted/) is an open source robotics simulator.
It supersedes the older [Gazebo Classic](../sim_gazebo_classic/index.md) simulator, and is the only supported version of Gazebo for Ubuntu 22.04 and onwards.
**Supported Vehicles:** Quadrotor, Plane, VTOL, Rover
@@ -303,7 +303,7 @@ where `ARGS` is a list of environment variables including:
- `PX4_GZ_FOLLOW_OFFSET_X`, `PX4_GZ_FOLLOW_OFFSET_Y`, `PX4_GZ_FOLLOW_OFFSET_Z`:
Set the relative offset of the follow camera to the vehicle.
-The PX4 Gazebo worlds and and models databases [can be found on GitHub here](https://github.com/PX4/PX4-gazebo-models).
+The PX4 Gazebo worlds and models databases [can be found on GitHub here](https://github.com/PX4/PX4-gazebo-models).
:::info
`gz_env.sh.in` is compiled and made available in `$PX4_DIR/build/px4_sitl_default/rootfs/gz_env.sh`
diff --git a/docs/zh/sim_gazebo_gz/tools_avl_automation.md b/docs/zh/sim_gazebo_gz/tools_avl_automation.md
index fd57223dce..29c78fd7db 100644
--- a/docs/zh/sim_gazebo_gz/tools_avl_automation.md
+++ b/docs/zh/sim_gazebo_gz/tools_avl_automation.md
@@ -121,7 +121,7 @@ From the stability derivatives log file, the following advanced lift drag plugin
| CYa | CYa | dCy/da (sideforce slope wrt alpha) |
| Cla | Cell | dCl/da (roll moment slope wrt alpha) |
| Cma | Cema | dCm/da (pitching moment slope wrt aLpha - before stall) |
-| Cna | Cena | dCn/da (yaw moment slope wrt alpha) |
+| Can | Cena | dCn/da (yaw moment slope wrt alpha) |
| CLb | CLb | dCL/dbeta (lift coefficient slope wrt beta) |
| CYb | CYb | dCY/dbeta (side force slope wrt beta) |
| Clb | Cell | dCl/dbeta (roll moment slope wrt beta) |
diff --git a/docs/zh/sim_gazebo_gz/vehicles.md b/docs/zh/sim_gazebo_gz/vehicles.md
index ba9b16be4a..1c26a29036 100644
--- a/docs/zh/sim_gazebo_gz/vehicles.md
+++ b/docs/zh/sim_gazebo_gz/vehicles.md
@@ -8,7 +8,7 @@ Supported vehicle types include: mutirotor, VTOL, Plane, Rover.
:::warning
See [Gazebo Classic Vehicles](../sim_gazebo_classic/vehicles.md) for vehicles that work with the older [Gazebo "Classic" simulation](../sim_gazebo_classic/index.md).
-Note that vehicle models are not interchangable between the two versions of the simulator: the vehicles on this page only work with (new) [Gazebo](../sim_gazebo_gz/index.md).
+Note that vehicle models are not interchangeable between the two versions of the simulator: the vehicles on this page only work with (new) [Gazebo](../sim_gazebo_gz/index.md).
:::
## 多旋翼
diff --git a/docs/zh/sim_gazebo_gz/worlds.md b/docs/zh/sim_gazebo_gz/worlds.md
index a6defbc533..449dc1a319 100644
--- a/docs/zh/sim_gazebo_gz/worlds.md
+++ b/docs/zh/sim_gazebo_gz/worlds.md
@@ -104,4 +104,4 @@ The PX4 toolchain will automatically spawn a world that has the same name as the
The model specific worlds are:
-- [Aruco world](#aruco): Default world with an [ArUco marker](https://docs.opencv.org/4.x/d5/dae/tutorial_aruco_detection.html) that can be used with with [x500_mono_cam_down](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-monocular-camera-down-facing) for testing [precision landing](../advanced_features/precland.md).
+- [Aruco world](#aruco): Default world with an [ArUco marker](https://docs.opencv.org/4.x/d5/dae/tutorial_aruco_detection.html) that can be used with [x500_mono_cam_down](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-monocular-camera-down-facing) for testing [precision landing](../advanced_features/precland.md).
diff --git a/docs/zh/sim_jmavsim/index.md b/docs/zh/sim_jmavsim/index.md
index d63db8d443..629f6a2c0d 100644
--- a/docs/zh/sim_jmavsim/index.md
+++ b/docs/zh/sim_jmavsim/index.md
@@ -310,7 +310,7 @@ sudo gedit /etc/java-8-openjdk/accessibility.properties
and comment out the line indicated below:
```sh
-#assistive_technologies=org.GNOME.Acessibility.AtkWrapper
+#assistive_technologies=org.GNOME.Accessibility.AtkWrapper
```
For more info, check [this GitHub issue](https://github.com/PX4/PX4-Autopilot/issues/9557).
diff --git a/docs/zh/sim_sih/index.md b/docs/zh/sim_sih/index.md
index 383c700b8c..33de3c7dde 100644
--- a/docs/zh/sim_sih/index.md
+++ b/docs/zh/sim_sih/index.md
@@ -121,7 +121,7 @@ CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y
:::
-As an alterative to updating configuration files manually, you can use the following command to launch a GUI configuration tool, and interactively enable the required modules at the path: **modules > Simulation > simulator_sih**.
+As an alternative to updating configuration files manually, you can use the following command to launch a GUI configuration tool, and interactively enable the required modules at the path: **modules > Simulation > simulator_sih**.
For example, to update the fmu-v6x configuration you would use:
```sh
@@ -130,7 +130,7 @@ make px4_fmu-v6x boardconfig
After uploading, check that the required modules are present.
-:::note
+:::info
To use rover in SIH you must use the [rover build](../config_rover/index.md#flashing-the-rover-build) or add the rover modules to your board configuration.
:::
@@ -326,7 +326,7 @@ For SIH as SITL (no FC):
- `param set-default SENS_EN_MAGSIM 1`
- `param set-default SENS_EN_ARSPDSIM 1` (if it is a fixed-wing or VTOL airframe with airspeed sensor)
-For specific examples see the `_sihsim_` airframes in [ROMFS/px4fmu_common/init.d-posix/airframes](https://github.com/PX4/PX4-Autopilot/blob/main/ROMFS/px4fmu_common/init.d-posix/airframes/) (SIH as SITL) and [ROMFS/px4fmu_common/init.d/airframes](https://github.com/PX4/PX4-Autopilot/tree/main/ROMFS/px4fmu_common/init.d/airframes) (SIH on FC).
+For specific examples see the `_sihsim_` airframes in [ROMFS/px4fmu_common/init.d-posix/airframes](https://github.com/PX4/PX4-Autopilot/tree/main/ROMFS/px4fmu_common/init.d-posix/airframes) (SIH as SITL) and [ROMFS/px4fmu_common/init.d/airframes](https://github.com/PX4/PX4-Autopilot/tree/main/ROMFS/px4fmu_common/init.d/airframes) (SIH on FC).
## Controlling Actuators in SIH
diff --git a/docs/zh/simulation/hitl.md b/docs/zh/simulation/hitl.md
index 7edad92be5..02d085548e 100644
--- a/docs/zh/simulation/hitl.md
+++ b/docs/zh/simulation/hitl.md
@@ -104,18 +104,18 @@ make px4_fmu-v6x boardconfig
2. Select a [compatible airframe](#compatible_airframe) you want to test.
Then click **Apply and Restart** on top-right of the _Airframe Setup_ page.
-3. 如有必要, 校准您的 RC 遥控器 或操纵杆。
+3. Calibrate your [Manual Controller](../config/manual_control.md) (RC or Joystick), if needed.
4. 设置 UDP
1. Under the _General_ tab of the settings menu, uncheck all _AutoConnect_ boxes except for **UDP**.
-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:
+5. (Optional) Configure your manual controller priority and failsafe:
- - [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。
- - [NAV_RCL_ACT](../advanced_config/parameter_reference.md#NAV_RCL_ACT) to "Disabled". 这可确保在没有无线遥控的情况下运行 HITL 时 RC 失控保护不会介入。
+ - [Enable a mode in `COM_RC_IN_MODE` that enables and prioritises the controllers you want to use](../config/manual_control.md#px4-configuration).
+ The default `RC or MAVLink keep first` should work if you plan to only have a Joystick (no RC).
+ - You can set [NAV_RCL_ACT](../advanced_config/parameter_reference.md#NAV_RCL_ACT) to disable manual control loss failsafe while flying in a simulation.
:::tip
The _QGroundControl User Guide_ also has instructions on [Joystick](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/setup_view/joystick.html) and [Virtual Joystick](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/settings_view/virtual_joystick.html) setup.
@@ -137,7 +137,7 @@ Make sure _QGroundControl_ is not running!
1. Build PX4 with [Gazebo Classic](../sim_gazebo_classic/index.md) (in order to build the Gazebo Classic plugins).
```sh
- cd
+ cd
DONT_RUN=1 make px4_sitl_default gazebo-classic
```
diff --git a/docs/zh/simulation/index.md b/docs/zh/simulation/index.md
index e5d3f03025..255153cb37 100644
--- a/docs/zh/simulation/index.md
+++ b/docs/zh/simulation/index.md
@@ -67,7 +67,7 @@ The messages are described below (see links for specific detail).
-PX4 directly uses the [Gazebo API](https://gazebosim.org/docs) to interface with [Gazebo](../sim_gazebo_gz/index.md) and MAVlink is not required.
+PX4 directly uses the [Gazebo API](https://gazebosim.org/docs/) to interface with [Gazebo](../sim_gazebo_gz/index.md) and MAVlink is not required.
## 默认 PX4 MAVLink UDP 端口
@@ -213,7 +213,7 @@ For setup information see the _QGroundControl User Guide_:
PX4 supports capture of both still images and video from within the [Gazebo Classic](../sim_gazebo_classic/index.md) simulated environment.
This can be enabled/set up as described in [Gazebo Glassic > Video Streaming](../sim_gazebo_classic/index.md#video-streaming).
-The simulated camera is a gazebo classic plugin that implements the [MAVLink Camera Protocol](https://mavlink.io/en/protocol/camera.html) .
+The simulated camera is a gazebo classic plugin that implements the [MAVLink Camera Protocol](https://mavlink.io/en/services/camera.html) .
PX4 connects/integrates with this camera in _exactly the same way_ as it would with any other MAVLink camera:
1. [TRIG_INTERFACE](../advanced_config/parameter_reference.md#TRIG_INTERFACE) must be set to `3` to configure the camera trigger driver for use with a MAVLink camera
diff --git a/docs/zh/smart_batteries/index.md b/docs/zh/smart_batteries/index.md
index 45cba51bc5..00eeca0211 100644
--- a/docs/zh/smart_batteries/index.md
+++ b/docs/zh/smart_batteries/index.md
@@ -1,7 +1,7 @@
# 智能电池
智能电池提供的电池状态信息比自动驾驶仪估计的“哑”电池更准确(通常也更详细)。
-这使得能够更可靠地通知故障条件。
+This allows for more reliable flight planning notification of failure conditions.
这些信息可能包括:剩余电量、空电时间(估计)、电池电压(额定最大/最小电压、电流电压等)、温度、电流、故障信息、电池供应商、化学成分等。
PX4（至少）支持以下智能电池：
diff --git a/docs/zh/smart_batteries/rotoye_batmon.md b/docs/zh/smart_batteries/rotoye_batmon.md
index 20e9e615cf..7d6af56887 100644
--- a/docs/zh/smart_batteries/rotoye_batmon.md
+++ b/docs/zh/smart_batteries/rotoye_batmon.md
@@ -1,6 +1,6 @@
# 补充信息
-[Rotoye 电池监测器](https://rotoye.com/batmon/) 是一款套件，用于为现成的锂离子和锂聚合物电池增添智能电池功能。
+[Rotoye Batmon](https://shop.rotoye.com/batmon/) is a kit for adding smart battery functionality to off-the-shelf Lithium-Ion and LiPo batteries.
It can be purchased as a standalone unit or as part of a factory-assembled smart-battery.
@@ -9,7 +9,7 @@ It can be purchased as a standalone unit or as part of a factory-assembled smart
## 购买渠道
-[Rotoye 商店](https://rotoye.com/batmon/)：电池套件、自定义智能电池和配件
+[Rotoye Store](https://shop.rotoye.com/batmon/): Batmon kits, custom smart-batteries, and accessories
## Wiring/Connections
@@ -50,7 +50,3 @@ In _QGroundControl_:
batt_smbus start -X -b 1 -a 11 # External bus 1, address 0x0b
batt_smbus start -X -b 1 -a 12 # External bus 1, address 0x0c
```
-
-## 更多信息
-
-快速入门指南(https://rotoye.com/batmon-tutorial/) (Rotoye)
diff --git a/docs/zh/software_update/stm32_bootloader.md b/docs/zh/software_update/stm32_bootloader.md
index 8bce27a416..3d7d9c1eea 100644
--- a/docs/zh/software_update/stm32_bootloader.md
+++ b/docs/zh/software_update/stm32_bootloader.md
@@ -62,7 +62,7 @@ arm-none-eabi-gdb
### J-Link
-These instructions are for the [J-Link GDB server](https://www.segger.com/jlink-gdb-server.html).
+These instructions are for the [J-Link GDB server](https://www.segger.com/products/debug-probes/j-link/tools/j-link-gdb-server/about-j-link-gdb-server/).
#### 系统必备组件
diff --git a/docs/zh/telemetry/cuav_p8_radio.md b/docs/zh/telemetry/cuav_p8_radio.md
index 37a63a1f1a..bf1bc95171 100644
--- a/docs/zh/telemetry/cuav_p8_radio.md
+++ b/docs/zh/telemetry/cuav_p8_radio.md
@@ -19,7 +19,7 @@ It supports multiple modes such as point-to-point, point-to-multipoint, and rela
## 购买渠道
-- [CUAV store](https://www.cuav.net/en/p8-2/)
+- [CUAV store](https://www.cuav.net/en/p8-en/)
- [CUAV alibaba](https://www.alibaba.com/product-detail/Free-shipping-CUAV-UAV-P8-Radio_1600324379418.html?spm=a2747.manage.0.0.2dca71d2bY4B0M)
## PX4 配置
@@ -61,6 +61,6 @@ CUAV P8 Radio does not support power supply from the flight controller, it needs
## More information
-[P8 manual](http://manual.cuav.net/data-transmission/p8-radio/p8-user-manual-en.pdf)
+[P8 manual](https://manual.cuav.net/data-transmission/p8-radio/p8_user_manual_cn.pdf)
[CUAV P8 Radio](https://doc.cuav.net/data-transmission/p8-radio/en/) (Official Guide)
diff --git a/docs/zh/telemetry/jfi_telemetry.md b/docs/zh/telemetry/jfi_telemetry.md
index b9387b536b..1d95bda865 100644
--- a/docs/zh/telemetry/jfi_telemetry.md
+++ b/docs/zh/telemetry/jfi_telemetry.md
@@ -94,7 +94,7 @@ If you want to change the baud rate:
### One-to-many (1:N) Setups
For one-to-many (1:N) setups a higher baud rate is _highly recommended_ to ensure stable data reception.
-All J.Fi devices should be set to the same baud rate (although communication may work even when when devices use different baud rates).
+All J.Fi devices should be set to the same baud rate (although communication may work even when devices use different baud rates).
This should be changed in both PX4 and the J.Fi modules as explained in the previous section.
You will also need to make sure that all vehicles on the MAVLink network are assigned a unique **System ID** ([MAV_SYS_ID](../advanced_config/parameter_reference.md#MAV_SYS_ID)).
diff --git a/docs/zh/test_and_ci/integration_testing_mavsdk.md b/docs/zh/test_and_ci/integration_testing_mavsdk.md
index f42654f229..bb629ef690 100644
--- a/docs/zh/test_and_ci/integration_testing_mavsdk.md
+++ b/docs/zh/test_and_ci/integration_testing_mavsdk.md
@@ -7,7 +7,7 @@ PX4 can be tested end to end to using integration tests based on [MAVSDK](https:
测试需要将MAVSAK C++库安装到系统目录（如：
diff --git a/docs/zh/test_and_ci/unit_tests.md b/docs/zh/test_and_ci/unit_tests.md
index 0a3039a8f9..182caffa36 100644
--- a/docs/zh/test_and_ci/unit_tests.md
+++ b/docs/zh/test_and_ci/unit_tests.md
@@ -141,7 +141,7 @@ It can be run directly in a debugger, however be careful to only run one test pe
}
```
- `OPTION` can be `OPT_NOALLTEST`,`OPT_NOJIGTEST` or `0` and is considered if within px4 shell one of the two commands are called:
+ `OPTION` can be `OPT_NOALLTEST`,`OPT_NOJIGTEST` or `0` and is considered if within PX4 shell one of the two commands are called:
```sh
pxh> tests all
diff --git a/docs/zh/test_cards/mc_02_full_autonomous.md b/docs/zh/test_cards/mc_02_full_autonomous.md
index 64e83fdba8..179564ab36 100644
--- a/docs/zh/test_cards/mc_02_full_autonomous.md
+++ b/docs/zh/test_cards/mc_02_full_autonomous.md
@@ -54,7 +54,7 @@ Plan a mission on the ground. Ensure the mission has
- 当油门升高时，起飞应该是平稳的
- 任务应该在第一次尝试时上传
- 使用 Auto 时飞机应自动起飞
-- Vehicle shoud adjust height to RTL altitude before returning home
+- Vehicle should adjust height to RTL altitude before returning home
- 着陆时，直升机不应在地面上反弹
@@ -8,7 +8,7 @@ The [CUAV C-RTK GPS receiver](https://www.cuav.net/en/c_rtk_9ps/) is an [RTK GPS
## 购买渠道
- [cuav taobao](https://item.taobao.com/item.htm?id=565380634341&spm=2014.21600712.0.0)
-- [cuav aliexpress](https://www.aliexpress.com/store/product/CUAV-NEW-Flight-Controller-GPS-C-RTK-differential-positioning-navigation-module-GPS-for-PIX4-Pixhawk-pixhack/3257035_32853894248.html?spm=2114.12010608.0.0.75592fadQKPPEn)
+- [cuav aliexpress](https://www.aliexpress.com/item/32853894248.html?spm=2114.12010608.0.0.75592fadQKPPEn)
## 配置
@@ -16,7 +16,7 @@ RTK setup and use on PX4 via _QGroundControl_ is largely plug and play \(see [RT
## 接线和连接
-C-RTK GPS comes with a cable that terminates in a 6-pin connector and 4-pin connector that are compatible with [Pixhack v3](https://doc.cuav.net/flight-controller/pixhack/en/quick-start-pixhack-v3x.html#gps--compass).
+C-RTK GPS comes with a cable that terminates in a 6-pin connector and 4-pin connector that are compatible with [Pixhack v3](../flight_controller/pixhack_v3.md).
6针连接器提供 rtk gps 的接口, 并应连接到飞行控制器的 gps 接口。
4针连接器是一个 m8n (标准) gps 接口, 可作为第二个 gps(可选)。
diff --git a/docs/zh/gps_compass/rtk_gps_cuav_c-rtk2.md b/docs/zh/gps_compass/rtk_gps_cuav_c-rtk2.md
index 19e42522c8..34c81ff106 100644
--- a/docs/zh/gps_compass/rtk_gps_cuav_c-rtk2.md
+++ b/docs/zh/gps_compass/rtk_gps_cuav_c-rtk2.md
@@ -1,6 +1,6 @@
# CUAV C-RTK2 GNSS Module (RTK/PPK)
-The [CUAV C-RTK2 receiver](https://www.cuav.net/en/c_rtk_9ps/) is a high-performance PPK/RTK positioning module created by CUAV for professional applications such as drone aerial surveying and mapping.
+The [CUAV C-RTK2 receiver](https://www.cuav.net/en/c-rtk-9ps-en/) is a high-performance PPK/RTK positioning module created by CUAV for professional applications such as drone aerial surveying and mapping.
It has a high-precision IMU and positioning module, and can reduce the number of required [control points](https://www.youtube.com/watch?v=3k7v5aXyuKQ) by more than to 80%.
In addition to surveying/mapping, it is suitable for many other use-cases, including: agricultural plant protection and drone swarms.
@@ -10,7 +10,7 @@ In addition to surveying/mapping, it is suitable for many other use-cases, inclu
- High-performance H7 processor
- High precision industrial grade IMU
-- Support RTK and save RAW raw data (PPK) at the same time
+- Support RTK and save raw data (PPK) at the same time
- Multi-satellite and multi-frequency receivers
- UAVCAN/Dronecan protocol
- Support hotshoe and shutter trigger
@@ -18,7 +18,7 @@ In addition to surveying/mapping, it is suitable for many other use-cases, inclu
## 购买渠道
-- [CUAV Store](https://store.cuav.net/shop/c-rtk-2/)
+- [CUAV Store](https://store.cuav.net/?route=product%2Fproduct&product_id=159)
- [CUAV aliexpress](https://pt.aliexpress.com/item/1005003754165772.html?spm=a2g0o.store_pc_groupList.8148356.13.2f893550i0NE4o)
# 总览
diff --git a/docs/zh/gps_compass/rtk_gps_datagnss_nano_hrtk.md b/docs/zh/gps_compass/rtk_gps_datagnss_nano_hrtk.md
index 4a0bcc8152..7eb84c6475 100644
--- a/docs/zh/gps_compass/rtk_gps_datagnss_nano_hrtk.md
+++ b/docs/zh/gps_compass/rtk_gps_datagnss_nano_hrtk.md
@@ -90,7 +90,7 @@ Note that for the base we recommend the [NANO RTK Receiver](https://www.datagnss
-See to [How to setup Base station](https://wiki.datagnss.com/index.php/GEM1305-autopilot#Base_station_setup) for information on how to configure the module for use as a base station (not including step 6 and later, for which you would QGroundControl instead of Mission Planner).
+See to [How to setup Base station](https://docs.datagnss.com/#Base_station_setup) for information on how to configure the module for use as a base station (not including step 6 and later, for which you would QGroundControl instead of Mission Planner).
### Rover Setup (PX4)
@@ -111,13 +111,12 @@ GPS and RTK configuration on PX4 via _QGroundControl_ is plug and play (see [RTK
## Resources
-- [NANO RTK Receiver 2D drawing file](https://wiki.datagnss.com/images/3/31/EVK-DG-1206_V.2.0.pdf)
- [NANO HRTK Receiver Wiki](https://docs.datagnss.com/gnss/rtk_receiver/NANO/nano-helix-rtk/) (DATAGNSS WiKi)
- [HED-10L Heading RTK Receiver](https://docs.datagnss.com/gnss/rtk_receiver/HED-10L/)
## More information
-- [NANO RTK Receiver](https://docs.datagnss.com/gnss/rtk_receiver/NANO/nano-rtk-receiver)
+- [NANO RTK Receiver](https://docs.datagnss.com/gnss/rtk_receiver/NANO/nano-rtk-receiver/)
- [HELIX Antenna for RTK](https://www.datagnss.com/collections/rtk-antenna/products/smart-helix-antenna)
- [RTK Antenna AGR6302G](https://www.datagnss.com/collections/rtk-antenna/products/antenna-agr6302g)
- [AT400 RTK Antenna](https://www.datagnss.com/collections/rtk-antenna/products/at400-multi-band-antenna-for-rtk)
diff --git a/docs/zh/gps_compass/rtk_gps_drotek_xl.md b/docs/zh/gps_compass/rtk_gps_drotek_xl.md
index 7b032cad86..b67ca1c93e 100644
--- a/docs/zh/gps_compass/rtk_gps_drotek_xl.md
+++ b/docs/zh/gps_compass/rtk_gps_drotek_xl.md
@@ -2,7 +2,7 @@
:::info
This module appears to have been discontinued, and is no longer on the Drotek site (September 2023).
-The last documentation was in [PX4 v1.13 here](https://docs.px4.io/v1.13/en/gps_compass/rtk_gps_drotek_xl.html)
+The last documentation was in [PX4 v1.13 here](https://docs.px4.io/v1.13/en/gps_compass/rtk_gps_drotek_xl)
:::
diff --git a/docs/zh/gps_compass/rtk_gps_gem1305.md b/docs/zh/gps_compass/rtk_gps_gem1305.md
index 7d6c66596a..caf9a8174c 100644
--- a/docs/zh/gps_compass/rtk_gps_gem1305.md
+++ b/docs/zh/gps_compass/rtk_gps_gem1305.md
@@ -77,7 +77,7 @@ The 1.25mm pitch 6P connector (from left: PIN1 to PIN6) supports UART for GNSS a
## 硬件安装
RTK requires a base RTK module attached to the ground station, and a rover RTK module on the vehicle.
-The data from the base needs to be transmitted to the drone via telemetry radio and inputed into the RTK receiver on the rover.
+The data from the base needs to be transmitted to the drone via telemetry radio and inputted into the RTK receiver on the rover.
@@ -93,7 +93,7 @@ Note that for the base we recommend the [NANO RTK Receiver](https://www.datagnss
-See to [How to setup Base station](https://wiki.datagnss.com/index.php/GEM1305-autopilot#Base_station_setup) for information on how to configure the module for use as a base station (not including step 6 and later, for which you would QGroundControl instead of Mission Planner).
+See to [How to setup Base station](https://docs.datagnss.com/#Base_station_setup) for information on how to configure the module for use as a base station (not including step 6 and later, for which you would QGroundControl instead of Mission Planner).
### Rover Setup (PX4)
@@ -115,14 +115,13 @@ GPS and RTK configuration on PX4 via _QGroundControl_ is plug and play (see [RTK
## Resources
-- [NANO RTK Receiver 2D drawing file](https://wiki.datagnss.com/images/3/31/EVK-DG-1206_V.2.0.pdf)
- [GEM1305 Wiki](https://docs.datagnss.com/gnss/rtk_receiver/GEM1305/) (DATAGNSS WiKi)
- [HED-10L Heading RTK Receiver](https://docs.datagnss.com/gnss/rtk_receiver/HED-10L/)
- [NANO HRTK Receiver](https://docs.datagnss.com/gnss/rtk_receiver/NANO/nano-helix-rtk/)
## More information
-- [NANO RTK Receiver](https://www.datagnss.com/collections/evk/products/tau951m-1312-tiny-evk)
+- [NANO RTK Receiver](https://www.datagnss.com/products/nano-rtk-receiver)
- [HELIX Antenna for RTK](https://www.datagnss.com/collections/rtk-antenna/products/smart-helix-antenna)
- [RTK Antenna AGR6302G](https://www.datagnss.com/collections/rtk-antenna/products/antenna-agr6302g)
- [AT400 RTK Antenna](https://www.datagnss.com/collections/rtk-antenna/products/at400-multi-band-antenna-for-rtk)
diff --git a/docs/zh/gps_compass/rtk_gps_hex_hereplus.md b/docs/zh/gps_compass/rtk_gps_hex_hereplus.md
index 5eb2fb2c6b..388f222603 100644
--- a/docs/zh/gps_compass/rtk_gps_hex_hereplus.md
+++ b/docs/zh/gps_compass/rtk_gps_hex_hereplus.md
@@ -5,7 +5,7 @@
:::info
This GPS is no longer available for purchase but is still compatible with PX4.
-Usage documentation can be found in [PX4v1.11 docs](https://docs.px4.io/v1.11/en/gps_compass/rtk_gps_hex_hereplus.html)
+Usage documentation can be found in [PX4v1.11 docs](https://docs.px4.io/v1.11/en/gps_compass/rtk_gps_hex_hereplus)
:::
The **Here+ RTK GPS receiver** is a small, light and energy efficient [RTK GPS module](../gps_compass/rtk_gps.md), based on the u-blox M8P. 使用RTK，PX4控制器可以获取到它的位置，并且这个位置的精度可以达到厘米级的精度，这比普通GPS提供的位置更加精确。
diff --git a/docs/zh/gps_compass/rtk_gps_holybro_h-rtk-f9p.md b/docs/zh/gps_compass/rtk_gps_holybro_h-rtk-f9p.md
index 7a07c8e220..015a9e09ce 100644
--- a/docs/zh/gps_compass/rtk_gps_holybro_h-rtk-f9p.md
+++ b/docs/zh/gps_compass/rtk_gps_holybro_h-rtk-f9p.md
@@ -19,7 +19,7 @@ Using RTK allows PX4 to get its position with centimetre-level accuracy, which i
## 购买渠道
- [H-RTK F9P (Holybro Website)](https://holybro.com/products/h-rtk-f9p-gnss-series)
-- [H-RTK Accessories (Holybro Website)](https://holybro.com/collections/h-rtk-gps)
+- [H-RTK Accessories (Holybro Website)](https://holybro.com/collections/gps)
## 配置
@@ -50,6 +50,6 @@ The cables/connectors may need to be modified in order to connect to other fligh
## GPS Accessories
-[H-RTK Mount (Holybro Website)](https://holybro.com/products/vertical-mount-for-h-rtk-helical)
+[H-RTK Mount (Holybro Website)](https://holybro.com/collections/gps-accessories/products/vertical-mount-for-h-rtk-helical)
diff --git a/docs/zh/gps_compass/rtk_gps_holybro_h-rtk-m8p.md b/docs/zh/gps_compass/rtk_gps_holybro_h-rtk-m8p.md
index 052b33faa3..6831e465f8 100644
--- a/docs/zh/gps_compass/rtk_gps_holybro_h-rtk-m8p.md
+++ b/docs/zh/gps_compass/rtk_gps_holybro_h-rtk-m8p.md
@@ -2,9 +2,10 @@
:::warning
This GNSS has been discontinued, and is no longer commercially available.
+Replaced by [Holybro H-RTK F9P GNSS](../gps_compass/rtk_gps_holybro_h-rtk-f9p.md).
:::
-The [Holybro H-RTK M8P GNSS](https://holybro.com/collections/standard-h-rtk-series/products/h-rtk-m8p-gnss-series) is an [RTK GNSS module](../gps_compass/rtk_gps.md) series for the mass market.
+The _Holybro H-RTK M8P GNSS_ is an [RTK GNSS module](../gps_compass/rtk_gps.md) series for the mass market.
This family is similar to the [H-RTK M9P](../gps_compass/rtk_gps_holybro_h-rtk-f9p.md) series but uses the smaller, lighter, and less expensive M8P u-blox RTK GNSS module (which still provides far superior position resolution than previous generations\_.
There are three models of Holybro H-RTK M8P to choose from, each with different antenna design to meet different needs.
@@ -16,7 +17,7 @@ Using RTK allows PX4 to get its position with centimeter-level accuracy, which i
## 购买渠道
-- [H-RTK M8P (GPS RTK Mounts)](https://holybro.com/products/vertical-mount-for-h-rtk-helical)
+- Discontinued.
## 配置
@@ -30,9 +31,7 @@ All H-RTK GNSS models come with a GH 10-pin connector/cable that is compatible w
The cables/connectors may need to be modified in order to connect to other flight controller boards (see [pin map](#pin_map)below).
:::
-
-
-## Pin Map
+## Pin Map {#pin_map}
diff --git a/docs/zh/gps_compass/rtk_gps_holybro_unicore_um982.md b/docs/zh/gps_compass/rtk_gps_holybro_unicore_um982.md
index 14f9db8a77..90ed9f1869 100644
--- a/docs/zh/gps_compass/rtk_gps_holybro_unicore_um982.md
+++ b/docs/zh/gps_compass/rtk_gps_holybro_unicore_um982.md
@@ -1,10 +1,10 @@
# Holybro H-RTK Unicore UM982 GPS
-The [Holybro H-RTK Unicore UM982 GPS](https://holybro.com/products/h-rtk-um982) is an multi-band high-precision [RTK GNSS System](../gps_compass/rtk_gps.md) launched by Holybro.
+The [Holybro H-RTK Unicore UM982 GPS](https://holybro.com/products/h-rtk-unicore-um982) is an multi-band high-precision [RTK GNSS System](../gps_compass/rtk_gps.md) launched by Holybro.
-This module is based on the [Unicore UM982 Chip](https://en.unicorecomm.com/products/detail/24), which supports RTK positioning and dual-antenna heading calculation.
+This module is based on the [Unicore UM982 Chip](https://en.unicore.com/products/dual-antenna-gnss-um982/), which supports RTK positioning and dual-antenna heading calculation.
This means that it can generate a moving baseline headline/yaw determinations for autopilots with just one GPS module and dual antennas - a magnetometer is not needed.
Unlike when using a module such as the U-blox F9P, where you would need [two U-blox F9P modules to compute a heading angle](../gps_compass/u-blox_f9p_heading.md), with the Unicore UM982 GPS, you only need one GPS module!
@@ -20,7 +20,7 @@ Additional technical information can be found at [Holybro Technical Documentatio
## 购买渠道
-- [Holybro Website](https://holybro.com/products/h-rtk-um982)
+- [Holybro Website](https://holybro.com/products/h-rtk-unicore-um982)
## 布线
diff --git a/docs/zh/gps_compass/rtk_gps_locosys_r1.md b/docs/zh/gps_compass/rtk_gps_locosys_r1.md
index 1c617774cd..a4b556e72f 100644
--- a/docs/zh/gps_compass/rtk_gps_locosys_r1.md
+++ b/docs/zh/gps_compass/rtk_gps_locosys_r1.md
@@ -26,7 +26,7 @@ For an equivalent GPS module with a compass try: [LOCOSYS Hawk R2](../gps_compas
- Fast TTFF at low signal level
- Free hybrid ephemeris prediction to achieve faster cold start
- Default 5Hz, up to 10 Hz update rate (SBAS support 5Hz only).
-- Build-in super capacitor to reserve system data for rapid satellite acquisition
+- Built-in super capacitor to reserve system data for rapid satellite acquisition
diff --git a/docs/zh/gps_compass/rtk_gps_locosys_r2.md b/docs/zh/gps_compass/rtk_gps_locosys_r2.md
index 2b0c8d43f8..2b26812ae0 100644
--- a/docs/zh/gps_compass/rtk_gps_locosys_r2.md
+++ b/docs/zh/gps_compass/rtk_gps_locosys_r2.md
@@ -22,8 +22,8 @@ The fast time-to-first-fix, RTK convergence, superior sensitivity, low power con
- Fast TTFF at low signal level
- Free hybrid ephemeris prediction to achieve faster cold start
- Default 5Hz, up to 10 Hz update rate (SBAS support 5Hz only)
-- Build-in super capacitor to reserve system data for rapid satellite acquisition
-- Build-in 3 axis compass function
+- Built-in super capacitor to reserve system data for rapid satellite acquisition
+- Built-in 3 axis compass function
- Three LED indicator for Power, PPS and Data transmit
diff --git a/docs/zh/gps_compass/septentrio.md b/docs/zh/gps_compass/septentrio.md
index 6b311f8ae4..fb6dc7fdb5 100644
--- a/docs/zh/gps_compass/septentrio.md
+++ b/docs/zh/gps_compass/septentrio.md
@@ -10,7 +10,7 @@ Certain receivers are recommended for autopilot applications because of their ph
Dual-antenna, ultra-low-power GNSS rover receiver with support for heading.
-- [AsteRx-m3 Pro+](https://www.septentrio.com/en/products/gps/gnss-boards/asterx-m3-pro-plus)
+- [AsteRx-m3 Pro+](https://www.septentrio.com/en/products/gnss-receivers/gnss-boards/asterx-m3-pro-plus)
Dual-antenna, ultra-low-power versatile GNSS rover and base receiver with support for heading.
@@ -19,7 +19,7 @@ Certain receivers are recommended for autopilot applications because of their ph
Single-antenna evaluation kit with support for L5 frequency band, based on the mosaic-X5 GNSS
receiver module.
-- [mosaic-go heading](https://www.septentrio.com/en/products/gps/gnss-receiver-modules/mosaic-h-evaluation-kit)
+- [mosaic-go heading](https://www.septentrio.com/en/products/gnss-receivers/gnss-receiver-modules/mosaic-h-evaluation-kit)
Dual-antenna evaluation kit with support for heading, based on the mosaic-H GNSS receiver module.
diff --git a/docs/zh/gps_compass/septentrio_mosaic-go.md b/docs/zh/gps_compass/septentrio_mosaic-go.md
index 123b9a33c3..9867c431e0 100644
--- a/docs/zh/gps_compass/septentrio_mosaic-go.md
+++ b/docs/zh/gps_compass/septentrio_mosaic-go.md
@@ -2,8 +2,8 @@
The Septentrio mosaic-go receivers are evaluation kits for their mosaic-X5 and mosaic-H receiver modules.
Because of their small size and low weight, they are ideal for autopilot applications.
-The available variants are the [mosaic-go](https://www.septentrio.com/en/products/gps/gnss-receiver-modules/mosaic-go-evaluation-kit)
-and [mosaic-go heading](https://www.septentrio.com/en/products/gps/gnss-receiver-modules/mosaic-h-evaluation-kit).
+The available variants are the [mosaic-go](https://www.septentrio.com/en/products/gnss-receivers/gnss-receiver-modules/mosaic-go-evaluation-kit)
+and [mosaic-go heading](https://www.septentrio.com/en/products/gnss-receivers/gnss-receiver-modules/mosaic-h-evaluation-kit).
@@ -108,7 +108,7 @@ To enable multi-antenna attitude determination, follow the following procedure:
These can be compensated for with the heading parameters provided by the Septentrio driver in PX4.
:::info
-For optimal heading results, the two antennas should be seperated by at least 30cm / 11.8 in (ideally 50cm / 19.7in or more).
+For optimal heading results, the two antennas should be separated by at least 30cm / 11.8 in (ideally 50cm / 19.7in or more).
For additional configuration of the dual antenna setup, please refer to our [Knowledge Base](https://support.septentrio.com/l/858493/2022-04-19/xgrqd) or the [hardware manual](https://web.septentrio.com/l/858493/2022-04-19/xgrql).
:::
diff --git a/docs/zh/gps_compass/u-blox_f9p_heading.md b/docs/zh/gps_compass/u-blox_f9p_heading.md
index 9478e93876..892870844e 100644
--- a/docs/zh/gps_compass/u-blox_f9p_heading.md
+++ b/docs/zh/gps_compass/u-blox_f9p_heading.md
@@ -10,7 +10,7 @@ This feature works on F9P devices that support CAN or expose the GPS UART2 port.
The following devices are supported:
- [ARK RTK GPS](https://arkelectron.com/product/ark-rtk-gps/) (arkelectron.com)
-- [SparkFun GPS-RTK2 Board - ZED-F9P](https://www.sparkfun.com/products/15136) (www.sparkfun.com)
+- [SparkFun GPS-RTK2 Board - ZED-F9P](https://www.sparkfun.com/sparkfun-gps-rtk2-board-zed-f9p-qwiic-gps-15136.html) (www.sparkfun.com)
- [SIRIUS RTK GNSS ROVER (F9P)](https://store-drotek.com/911-sirius-rtk-gnss-rover-f9p.html) (store-drotek.com)
- [mRo u-blox ZED-F9 RTK L1/L2 GPS](https://store.mrobotics.io/product-p/m10020d.htm) (store.mrobotics.io)
- [Holybro H-RTK F9P Helical or Base](https://holybro.com/products/h-rtk-f9p-gnss-series) (Holybro Store)
diff --git a/docs/zh/hardware/board_support_guide.md b/docs/zh/hardware/board_support_guide.md
index f54739bde3..6275b04edf 100644
--- a/docs/zh/hardware/board_support_guide.md
+++ b/docs/zh/hardware/board_support_guide.md
@@ -57,7 +57,7 @@ PX4 generally only supports boards that are commercially available, which typica
### VER and REV ID (Hardware Revision and Version Sensing) {#ver_rev_id}
FMUv5 and onwards have an electrical sensing mechanism.
-This sensing coupled with optional configuration data will be used to define hardware’s configuration with respect to a mandatory device and power supply configuration. Manufacturers must obtain the VER and REV ID from PX4 board maintainers by issuing a PR to ammend the [DS-018 Pixhawk standard](https://github.com/pixhawk/Pixhawk-Standards) for board versions and revisions.
+This sensing coupled with optional configuration data will be used to define hardware’s configuration with respect to a mandatory device and power supply configuration. Manufacturers must obtain the VER and REV ID from PX4 board maintainers by issuing a PR to amend the [DS-018 Pixhawk standard](https://github.com/pixhawk/Pixhawk-Standards) for board versions and revisions.
Because these boards are 100% compliant with the Pixhawk standard, the values assigned for VER and REV ID are the defaults for that FMU Version.
@@ -97,7 +97,7 @@ _New_ experimental boards are allocated [VER and REV IDs](#ver_rev_id) based on
This category includes all boards that aren't supported by the PX4 project or a manufacturer, and that fall outside the"experimental" support.
- Board is somewhat compatible on paper with something we already support, and it would take minimal effort to raise it to "experimental", but neither the dev-team or the manufacturer are currently pursuing this
-- Manufacturer/Owner of hardware violates our [Code of Conduct](https://discuss.px4.io/t/code-of-conduct/13655)
+- Manufacturer/Owner of hardware violates our [Code of Conduct](https://discuss.px4.io/t/px4-community-code-of-conduct/13655)
- Closed source, where any of the necessary tools/libs/drivers/etc needed to add support for a board is deemed incompatible due to licensing restrictions
- Board doesn't meet minimum requirements outlined in the General requirements
diff --git a/docs/zh/hardware/drone_parts.md b/docs/zh/hardware/drone_parts.md
index 640852b21b..0593d1ed94 100644
--- a/docs/zh/hardware/drone_parts.md
+++ b/docs/zh/hardware/drone_parts.md
@@ -1,4 +1,4 @@
-# 硬件选择和设置
+# Hardware Selection & Setup
本节包含可以用在无人机中的组件以及它们是如何设置的。
diff --git a/docs/zh/index.md b/docs/zh/index.md
index 8187b1648c..33de4ee5d7 100644
--- a/docs/zh/index.md
+++ b/docs/zh/index.md
@@ -5,7 +5,7 @@ const { site } = useData();
# PX4 自动驾驶仪用户指南
-[](https://github.com/PX4/PX4-Autopilot/releases) [](https://discuss.px4.io//) [](https://discord.gg/dronecode)
+[](https://github.com/PX4/PX4-Autopilot/releases) [](https://discuss.px4.io//) [](https://discord.com/invite/dronecode)
PX4 is an open-source autopilot for drones and autonomous vehicles. It runs on multirotors, fixed-wing, VTOL, helicopters, rovers, and more. This guide covers everything from assembly and configuration to flight operations and development.
@@ -49,7 +49,7 @@ Read [Operations](config/operations.md) to understand safety features and failsa
## 技术支持
-Get help on the [discussion forums](https://discuss.px4.io/) or [Discord](https://discord.gg/dronecode). See the [Support](contribute/support.md) page for diagnosing problems, reporting bugs, and joining the [weekly dev call](contribute/dev_call.md).
+Get help on the [discussion forums](https://discuss.px4.io/) or [Discord](https://discord.com/invite/dronecode). See the [Support](contribute/support.md) page for diagnosing problems, reporting bugs, and joining the [weekly dev call](contribute/dev_call.md).
## 参与贡献
@@ -93,9 +93,9 @@ _Dronecode 日历_ 展示了面向平台用户和开发者的重要社区活动
## 治理
-The PX4 Autopilot project is hosted by the [Dronecode Foundation](https://www.dronecode.org/), a [Linux Foundation](https://www.linuxfoundation.org/) Collaborative Project. Dronecode holds all PX4 trademarks and serves as the project's legal guardian, ensuring vendor-neutral stewardship. No single company owns the name or controls the roadmap. The source code is licensed under the [BSD 3-Clause](https://opensource.org/license/BSD-3-Clause) license, so you are free to use, modify, and distribute it in your own projects.
+The PX4 Autopilot project is hosted by the [Dronecode Foundation](https://dronecode.org/), a [Linux Foundation](https://www.linuxfoundation.org/) Collaborative Project. Dronecode holds all PX4 trademarks and serves as the project's legal guardian, ensuring vendor-neutral stewardship. No single company owns the name or controls the roadmap. The source code is licensed under the [BSD 3-Clause](https://opensource.org/license/BSD-3-Clause) license, so you are free to use, modify, and distribute it in your own projects.
-
+
-
This page is on a release branch, and hence probably out of date. See the latest version.
+This page is on a release branch, and hence probably out of date. See the latest version.
-
This page is on a release branch, and hence probably out of date. See the latest version.
+This page is on a release branch, and hence probably out of date. See the latest version.
/usr/lib or /usr/local/lib）
-:::note
+:::info
This is the recommended integration test framework for PX4.
:::
diff --git a/docs/zh/test_and_ci/integration_testing_ros1_mavros.md b/docs/zh/test_and_ci/integration_testing_ros1_mavros.md
index 083deb2310..541f3eb3c5 100644
--- a/docs/zh/test_and_ci/integration_testing_ros1_mavros.md
+++ b/docs/zh/test_and_ci/integration_testing_ros1_mavros.md
@@ -9,7 +9,7 @@ It should be used only for new test cases that _require_ ROS 1.
[MAVSDK Integration Testing](../test_and_ci/integration_testing_mavsdk.md) is preferred when writing new tests.
:::
-:::note
+:::info
All PX4 integration tests are executed automatically by our [Continuous Integration](../test_and_ci/continous_integration.md) system.
:::
diff --git a/docs/zh/test_and_ci/test_flights.md b/docs/zh/test_and_ci/test_flights.md
index 654ab39b1e..a61f84b3de 100644
--- a/docs/zh/test_and_ci/test_flights.md
+++ b/docs/zh/test_and_ci/test_flights.md
@@ -7,7 +7,7 @@ const { site } = useData();
-
This page may be out out of date. See the latest version.
+This page may be out of date. See the latest version.