New Crowdin translations - zh-CN (#26553)

Co-authored-by: Crowdin Bot <support+bot@crowdin.com>
2026-10-21 02:13:33 +08:00 · 2026-03-05 14:00:49 +11:00
parent 102b64f604
commit 62d0620eff
471 changed files with 4073 additions and 5684 deletions
@@ -1,6 +1,6 @@
 # ADS-B/FLARM/UTM Receivers: Air Traffic Avoidance

-PX4 supports simple air traffic avoidance in [missions](../flying/missions.md) using [ADS-B](https://en.wikipedia.org/wiki/Automatic_dependent_surveillance_%E2%80%93_broadcast), [FLARM](https://en.wikipedia.org/wiki/FLARM), or [UTM](https://www.faa.gov/uas/research_development/traffic_management) transponders that use the standard MAVLink interfaces.
+PX4 supports simple air traffic avoidance in [missions](../flying/missions.md) using [ADS-B](https://en.wikipedia.org/wiki/Automatic_dependent_surveillance_%E2%80%93_broadcast), [FLARM](https://en.wikipedia.org/wiki/FLARM), or [UTM](https://www.faa.gov/uas/advanced_operations/traffic_management) transponders that use the standard MAVLink interfaces.

 If a potential collision is detected, PX4 can _warn_, immediately [land](../flight_modes_mc/land.md), or [return](../flight_modes_mc/return.md) (depending on the value of [NAV_TRAFF_AVOID](#NAV_TRAFF_AVOID)).

@@ -53,7 +53,7 @@ The TX and RX on the flight controller must be connected to the RX and TX on the

 ### Port Configuration

-The recievers are configured in the same way as any other [MAVLink Peripheral](../peripherals/mavlink_peripherals.md).
+The receivers are configured in the same way as any other [MAVLink Peripheral](../peripherals/mavlink_peripherals.md).
 The only _specific_ setup is that the port baud rate must be set to 57600 and the a low-bandwidth profile (`MAV_X_MODE`).

 Assuming you have connected the device to the TELEM2 port, [set the parameters](../advanced_config/parameters.md) as shown:
@@ -74,10 +74,27 @@ Configure the action when there is a potential collision using the parameter bel
 | 参数                                                                                                                                                                         | 描述                                                                                                                                                                                                                                   |
 | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
 | <a id="NAV_TRAFF_AVOID"></a>[NAV_TRAFF_AVOID](../advanced_config/parameter_reference.md#NAV_TRAFF_AVOID)                         | Enable traffic avoidance mode specify avoidance response. 0: Disable, 1: Warn only, 2: Return mode, 3: Land mode.                    |
-| <a id="NAV_TRAFF_A_HOR"></a>[NAV_TRAFF_A_HOR](../advanced_config/parameter_reference.md#NAV_TRAFF_A_HOR)    | Horizonal radius of cylinder around the vehicle that defines its airspace (i.e. the airspace in the ground plane).                                                |
+| <a id="NAV_TRAFF_A_HOR"></a>[NAV_TRAFF_A_HOR](../advanced_config/parameter_reference.md#NAV_TRAFF_A_HOR)    | Horizontal radius of cylinder around the vehicle that defines its airspace (i.e. the airspace in the ground plane).                                               |
 | <a id="NAV_TRAFF_A_VER"></a>[NAV_TRAFF_A_VER](../advanced_config/parameter_reference.md#NAV_TRAFF_A_VER)    | Vertical height above and below vehicle of the cylinder that defines its airspace (also see [NAV_TRAFF_A_HOR](#NAV_TRAFF_A_HOR)).  |
 | <a id="NAV_TRAFF_COLL_T"></a>[NAV_TRAFF_COLL_T](../advanced_config/parameter_reference.md#NAV_TRAFF_COLL_T) | Collision time threshold. Avoidance will trigger if the estimated time until collision drops below this value (the estimated time is based on relative speed of traffic and UAV). |

+### Arming Check
+
+PX4 can be configured to check for the presence of a traffic avoidance system (ADSB or FLARM transponder) before arming.
+This ensures that a traffic avoidance system is connected and functioning before flight.
+
+The check is configured using the [COM_ARM_TRAFF](../advanced_config/parameter_reference.md#COM_ARM_TRAFF) parameter:
+
+| 值 | 描述                                                                                                                                                         |
+| - | ---------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| 0 | Disabled (default). No check is performed.                                                              |
+| 1 | Warning only. A warning is issued if no traffic avoidance system is detected, but arming is allowed.                       |
+| 2 | Enforce for all modes. Arming is denied if no traffic avoidance system is detected, regardless of flight mode.             |
+| 3 | Enforce for mission modes only. Arming is denied if no traffic avoidance system is detected and a mission mode is planned. |
+
+When a traffic avoidance system is detected, the system tracks its presence with a 3-second timeout.
+If the system is lost or regained, corresponding events are logged ("Traffic avoidance system lost" / "Traffic avoidance system regained").
+
 ## 实现

 ### ADSB/FLARM
@@ -131,7 +148,7 @@ These simulate ADS-B traffic where there may be a conflict, where there won't be
 :::details
 Information about the test methods

-The relevent methods are defined in [AdsbConflict.cpp](https://github.com/PX4/PX4-Autopilot/blob/main/src/lib/adsb/AdsbConflict.cpp#L342C1-L342C1).
+The relevant methods are defined in [AdsbConflict.cpp](https://github.com/PX4/PX4-Autopilot/blob/main/src/lib/adsb/AdsbConflict.cpp#L342C1-L342C1).

 #### `run_fake_traffic()` method

@@ -56,7 +56,7 @@ See [here](../modules/modules_driver.md#dshot) for a full reference of the suppo

 其中最重要的是：

- Make a motor connected to to FMU output pin 1 beep (helps with identifying motors)
+- Make a motor connected to FMU output pin 1 beep (helps with identifying motors)

  ```sh
  dshot beep1 -m 1
@@ -11,7 +11,7 @@ The following list is non-exhaustive.

 | ESC Device                     | Protocols                            | Firmwares                | 备注                                                    |
 | ------------------------------ | ------------------------------------ | ------------------------ | ----------------------------------------------------- |
-| [ARK 4IN1 ESC]                 | [Dshot], [PWM]                       | [AM32]                   | Has versions with/without connnectors                 |
+| [ARK 4IN1 ESC]                 | [Dshot], [PWM]                       | [AM32]                   | Has versions with/without connectors                  |
 | [Holybro Kotleta 20]           | [DroneCAN], [PWM]                    | [PX4 Sapog ESC Firmware] |                                                       |
 | [Vertiq Motor & ESC modules]   | [Dshot], [OneShot], Multishot, [PWM] | Vertiq firmware          | Larger modules support DroneCAN, ESC and Motor in one |
 | [RaccoonLab CAN PWM ESC nodes] | [DroneCAN], Cyphal                   |                          | Cyphal and DroneCAN notes for PWM ESC                 |
@@ -166,7 +166,7 @@ D-Port receivers transmit the following messages (from [here](https://github.com

 ## 睿思凯遥测接收机

-Pixhawk/PX4 supports D (old) and S (new) FrSky telemetry. The table belows all FrSky receivers that support telemetry via a D/S.PORT (in theory all of these should work).
+Pixhawk/PX4 supports D (old) and S (new) FrSky telemetry. The table below lists all FrSky receivers that support telemetry via a D/S.PORT (in theory all of these should work).

 :::tip
 Note that the X series receivers listed below are recommended (e.g. XSR, X8R). The R and G series have not been tested/validated by the test team, but should work.
@@ -213,8 +213,8 @@ You will need connectors that are appropriate for your autopilot (e.g. _JST-GH c
 The Pixracer includes electronics for converting between S.PORT and UART signals, but for other boards you will need a UART to S.PORT adapter.
 These can be sourced from:

- [FrSky FUL-1](https://www.frsky-rc.com/product/ful-1/): [unmannedtech.co.uk](https://www.unmannedtechshop.co.uk/frsky-transmitter-receiver-upgrade-adapter-ful-1/)
- SPC: [getfpv.com](https://www.getfpv.com/frsky-smart-port-converter-cable.html), [unmannedtechshop.co.uk](https://www.unmannedtechshop.co.uk/frsky-smart-port-converter-spc/)
+- [FrSky FUL-1](https://www.frsky-rc.com/product/ful-1/): [unmannedtech.co.uk](https://www.unmannedtechshop.co.uk/products/frsky-transmitter-receiver-upgrade-adapter-ful-1)
+- SPC: [getfpv.com](https://www.getfpv.com/frsky-smart-port-converter-cable.html), [unmannedtechshop.co.uk](https://www.unmannedtechshop.co.uk/products/frsky-smart-port-converter-spc)

 More information about the connections for different boards is given below.

@@ -66,7 +66,7 @@ In this case the wire will normally be connected to the flight controller servo

 PWM motors and servos are configured using the [Actuator Configuration](../config/actuators.md) screen in QGroundControl.

-After assigning outputs and basic calibration, you may then wish to peform an [ESC Calibration](../advanced_config/esc_calibration.md).
+After assigning outputs and basic calibration, you may then wish to perform an [ESC Calibration](../advanced_config/esc_calibration.md).

 Additional PX4 PWM configuration parameters can be found here: [PWM Outputs](../advanced_config/parameter_reference.md#pwm-outputs).

@@ -157,7 +157,7 @@ To only allow arming when a Remote ID is ready, [set](../advanced_config/paramet
 Integrators should test than the remote ID module is broadcasting the correct information, such as UAV location, ID, operator ID and so on.
 This is most easily done using a 3rd party application on your mobile device:

- [Drone Scanner](https://github.com/dronetag/drone-scanner) (Google Play or Apple App store)
+- [Drone Scanner](https://help.dronetag.com/drone-scanner/) (Google Play or Apple App store)
 - [OpenDroneID OSM](https://play.google.com/store/apps/details?id=org.opendroneid.android_osm&hl=en&gl=US) (Google Play)

 ## 实现
@@ -109,7 +109,7 @@ The following ports are commonly mapped to specific functions on all boards:
  This is configured by default as a MAVLink port the onboard profile (for companion computers).
  The configuration for MAVLink is unique to this port (it doesn't use the `MAV_X_CONFIG` parameters).

-  - [SYS_USB_AUTO](../advanced_config/parameter_reference.md#SYS_USB_AUTO) sets whether the port is set to no partiular protocol, autodetects the protocol, or sets the comms link to MAVLink.
+  - [SYS_USB_AUTO](../advanced_config/parameter_reference.md#SYS_USB_AUTO) sets whether the port is set to no particular protocol, autodetects the protocol, or sets the comms link to MAVLink.
  - [USB_MAV_MODE](../advanced_config/parameter_reference.md#USB_MAV_MODE) sets the MAVLink profile that is used if MAVLink is set or detected.

 Other ports generally have no assigned functions by default (are disabled).
@@ -6,7 +6,7 @@ With closed loop velocity control for the fastest response times available, clas

 ![Vertiq Module Lineup](../../assets/peripherals/esc_vertiq/vertiq_esc_lineup.jpg)

-All Vertiq modules support traditional [PWM input, DShot, OneShot, and Multishot communication protocols](https://iqmotion.readthedocs.io/en/latest/communication_protocols/hobby_protocol.html). Vertiq's larger modules also support [DroneCAN control](https://iqmotion.readthedocs.io/en/latest/communication_protocols/dronecan_protocol.html).
+All Vertiq modules support traditional [PWM input, DShot, OneShot, and Multishot communication protocols](https://iqmotion.readthedocs.io/en/latest/communication_protocols/timer_based_protocol.html). Vertiq's larger modules also support [DroneCAN control](https://iqmotion.readthedocs.io/en/latest/communication_protocols/dronecan_protocol.html).

 ## 购买渠道

@@ -38,6 +38,18 @@ Instructions for integrating the motor/ESC using with DroneCAN can be found in [

 These instructions walk you through setting the correct parameters for enabling the flight controller's DroneCAN drivers, setting the correct configuration parameters for communication with Vertiq modules on the DroneCAN bus, ESC configuration, and testing that your flight controller can properly control your modules over DroneCAN.

+#### LED Configuration for Vertiq Modules
+
+:::info
+This configuration is only required if you have the optional [Vertiq LED module add-on](https://www.vertiq.co/add-ons).
+Standard Vertiq ESC modules do not include LEDs.
+:::
+
+Vertiq LED Add-on modules have two LEDs per ESC (RGB for status, White for anti-collision).
+See [DroneCAN Lights](../dronecan/lights.md) for configuration instructions.
+
+The `light_id` for each LED is calculated as: `esc_index × 3 + BASE_ID`, where `BASE_ID` is 1 for RGB and 2 for White.
+
 ### DShot/PWM Configuration

 Instructions for integrating the motor/ESC using PWM and DShot can be found in [PWM and DShot Control with a Flight Controller](https://iqmotion.readthedocs.io/en/latest/tutorials/pwm_control_flight_controller.html).