diff --git a/docs/ko/config/_autotune.md b/docs/ko/config/_autotune.md index a6eab14e0e..5c35b38bfe 100644 --- a/docs/ko/config/_autotune.md +++ b/docs/ko/config/_autotune.md @@ -43,13 +43,13 @@ To make sure the vehicle is stable enough for auto-tuning: 2. Take off and
hover at 1m above ground in [Altitude mode](../flight_modes_mc/altitude.md) or [Stabilized mode](../flight_modes_mc/manual_stabilized.md)
fly at cruise speed in [Position mode](../flight_modes_fw/position.md) or [Altitude mode](../flight_modes_fw/altitude.md)
. 3. Use the RC transmitter roll stick to perform the following maneuver, tilting the vehicle just a few degrees: _roll left > roll right > center_ (The whole maneuver should take about 3 seconds). - 기체는 2번의 진동 이내에서 안정화되어야 합니다. + 기체는 2번의 진동 이내에서 안정화되어야 합니다. 4. 각각의 시도에서 더 큰 진폭으로 기울이면서 기동을 반복합니다. - 기체가 ~20도에서 2번의 진동 내에서 안정화될 수 있으면 다음 단계로 이동합니다. + 기체가 ~20도에서 2번의 진동 내에서 안정화될 수 있으면 다음 단계로 이동합니다. 5. 피치 축에서 동일한 동작을 반복합니다. - As above, start with small angles and confirm that the vehicle can stabilise itself within 2 oscillations before increasing the tilt. + As above, start with small angles and confirm that the vehicle can stabilise itself within 2 oscillations before increasing the tilt. If the drone can stabilize itself within 2 oscillations it is ready for the [auto-tuning procedure](#auto-tuning-procedure). @@ -72,41 +72,56 @@ The test steps are: 1. Perform the [pre-tuning test](#pre-tuning-test). 2. Takeoff using RC control
in [Altitude mode](../flight_modes_mc/altitude.md). - Hover the vehicle at a safe distance and at a few meters above ground (between 4 and 20m).
- Once flying at cruise speed, activate [Hold mode](../flight_modes_fw/hold.md). - This will guide the plane to fly in circle at constant altitude and speed.
+ Hover the vehicle at a safe distance and at a few meters above ground (between 4 and 20m).
+ Once flying at cruise speed, activate [Hold mode](../flight_modes_fw/hold.md). + This will guide the plane to fly in circle at constant altitude and speed.
3. Enable autotune. -
-

TIP

+
+

TIP

- If an [Enable/Disable Autotune Switch](#enable-disable-autotune-switch) is configured you can just toggle the switch to the "enabled" position. + If an [Enable/Disable Autotune Switch](#enable-disable-autotune-switch) is configured you can just toggle the switch to the "enabled" position. -
+
- 1. In QGroundControl, open the menu **Vehicle setup > PID Tuning**: + 1. In QGroundControl, open the menu **Vehicle setup > PID Tuning**: - ![Tuning Setup > Autotune Enabled](../../assets/qgc/setup/autotune/autotune.png) + ![Tuning Setup > Autotune Enabled](../../assets/qgc/setup/autotune/autotune.png) - 2. Select either the _Rate Controller_ or _Attitude Controller_ tabs. + 2. Select either the _Rate Controller_ or _Attitude Controller_ tabs. - 3. Ensure that the **Autotune enabled** button is enabled (this will display the **Autotune** button and remove the manual tuning selectors). + 3. Ensure that the **Autotune enabled** button is enabled (this will display the **Autotune** button and remove the manual tuning selectors). - 4. Read the warning popup and click on **OK** to start tuning. - -4. The drone will first start to perform quick roll motions followed by pitch and yaw motions. - The progress is shown in the progress bar, next to the _Autotune_ button. + 4. Read the warning popup and click on **OK** to start tuning.
+4. The drone will first start to perform quick roll motions followed by pitch and yaw motions. + The progress is shown in the progress bar, next to the _Autotune_ button. + +
+ +4. The drone will first start to perform quick roll motions followed by pitch and yaw motions. When [`FW_AT_SYSID_TYPE`](../advanced_config/parameter_reference.md#FW_AT_SYSID_TYPE) is set to linear/logarithmic sine sweep (recommended), the max rates are approximately 45 deg/s for roll and 30 deg/s for pitch and yaw. + The progress is shown in the progress bar, next to the _Autotune_ button. + +
+
+ 5. Manually land and disarm to apply the new tuning parameters. - Takeoff carefully and manually test that the vehicle is stable. + Takeoff carefully and manually test that the vehicle is stable.
5. The tuning will be immediately/automatically be applied and tested in flight (by default). - PX4 will then run a 4 second test and revert the new tuning if a problem is detected. + PX4 will then run a 4 second test and revert the new tuning if a problem is detected. + +The figure below shows how steps 4 and 5 might look in flight on the pitch axis. +The pitch rate gradually increases up until it reaches the target. +This amplitude is then held while the signal frequency is increased. +You can then see how the tuned system is able to follow the setpoint in the test signal. + +
@@ -174,9 +189,20 @@ Fast oscillations (more than 1 oscillation per second): this is because the gain ### 자동 튜닝 실패 +
+ If the drone was not moving enough during auto-tuning, the system identification algorithm might have issues to find the correct coefficients. -Increase the
[MC_AT_SYSID_AMP](../advanced_config/parameter_reference.md#MC_AT_SYSID_AMP)
[FW_AT_SYSID_AMP](../advanced_config/parameter_reference.md#FW_AT_SYSID_AMP)
parameter by steps of 1 and trigger the auto-tune again. +Increase the [MC_AT_SYSID_AMP](../advanced_config/parameter_reference.md#MC_AT_SYSID_AMP) parameter by steps of 1 and trigger the auto-tune again. + +
+
+ +By default, the autotune maneuvers ensure that a sufficient angular rate is reached for system identification. The target rates are approximately 45 deg/s for roll and 30 deg/s for pitch and yaw. + +If the signal-to-noise ratio of the vehicle is low, the system identification algorithm might have issues finding the correct coefficients. Ensure that there is no excessive noise and/or platform vibration. + +
### The drone oscillates after auto-tuning diff --git a/docs/ko/frames_rover/index.md b/docs/ko/frames_rover/index.md index c97c33b8b9..7cf786c054 100644 --- a/docs/ko/frames_rover/index.md +++ b/docs/ko/frames_rover/index.md @@ -64,9 +64,10 @@ Each wheel is driven by its own motor, and by controlling the speed and directio ## 시뮬레이션 -[Gazebo](../sim_gazebo_gz/index.md) provides simulations for ackermann and differential rovers: +PX4 provides synthetic simulation models for [Gazebo](../sim_gazebo_gz/index.md) of all three rover types to test the software and validate changes and new features: - [Ackermann rover](../sim_gazebo_gz/vehicles.md#ackermann-rover) - [Differential rover](../sim_gazebo_gz/vehicles.md#differential-rover) +- [Mecanum rover](../sim_gazebo_gz/vehicles.md#mecanum-rover) ![Rover gazebo simulation](../../assets/airframes/rover/rover_simulation.png) diff --git a/docs/ko/releases/main.md b/docs/ko/releases/main.md index f77ccd22fa..e041703029 100644 --- a/docs/ko/releases/main.md +++ b/docs/ko/releases/main.md @@ -58,7 +58,10 @@ Please continue reading for [upgrade instructions](#upgrade-guide). ### 시뮬레이션 -- TBD +- Overhaul rover simulation: + - Add synthetic differential rover model: [PX4-gazebo-models#107](https://github.com/PX4/PX4-gazebo-models/pull/107) + - Add synthetic mecanum rover model: [PX4-gazebo-models#113](https://github.com/PX4/PX4-gazebo-models/pull/113) + - Update synthetic ackermann rover model: [PX4-gazebo-models#117](https://github.com/PX4/PX4-gazebo-models/pull/117) ### Ethernet @@ -91,6 +94,7 @@ Please continue reading for [upgrade instructions](#upgrade-guide). - Removed deprecated rover module ([PX4-Autopilot#25054](https://github.com/PX4/PX4-Autopilot/pull/25054)). - Add support for [Apps & API](../flight_modes_rover/api.md) ([PX4-Autopilot#25074](https://github.com/PX4/PX4-Autopilot/pull/25074), [PX4-ROS2-Interface-Lib#140](https://github.com/Auterion/px4-ros2-interface-lib/pull/140)). +- Update [rover simulation](../frames_rover/index.md#simulation) ([PX4-Autopilot#25644](https://github.com/PX4/PX4-Autopilot/pull/25644)) (see [Simulation](#simulation) release note for details). ### ROS 2 diff --git a/docs/ko/sim_gazebo_gz/index.md b/docs/ko/sim_gazebo_gz/index.md index 2ef2f45036..d93011de4c 100644 --- a/docs/ko/sim_gazebo_gz/index.md +++ b/docs/ko/sim_gazebo_gz/index.md @@ -50,22 +50,23 @@ This runs both the PX4 SITL instance and the Gazebo client. The supported vehicles and `make` commands are listed below. Note that all gazebo make targets have the prefix `gz_`. -| Vehicle | 통신 | `PX4_SYS_AUTOSTART` | -| ------------------------------------------------------------------------------------------------------------------------------------------------------------------ | ----------------------------------- | ------------------- | -| [Quadrotor (x500)](../sim_gazebo_gz/vehicles.md#x500-quadrotor) | `make px4_sitl gz_x500` | 4001 | -| [X500 Quadrotor with Depth Camera (Front-facing)](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-depth-camera-front-facing) | `make px4_sitl gz_x500_depth` | 4002 | -| [Quadrotor(x500) with Vision Odometry](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-visual-odometry) | `make px4_sitl gz_x500_vision` | 4005 | -| [Quadrotor(x500) with 1D LIDAR (Down-facing)](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-1d-lidar-down-facing) | `make px4_sitl gz_x500_lidar_down` | 4016 | -| [Quadrotor(x500) with 2D LIDAR](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-2d-lidar) | `make px4_sitl gz_x500_lidar_2d` | 4013 | -| [Quadrotor(x500) with 1D LIDAR (Front-facing)](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-1d-lidar-front-facing) | `make px4_sitl gz_x500_lidar_front` | 4017 | -| [Quadrotor(x500) with gimbal (Front-facing) in Gazebo](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-gimbal-front-facing) | `make px4_sitl gz_x500_gimbal` | 4019 | -| [VTOL](../sim_gazebo_gz/vehicles.md#standard-vtol) | `make px4_sitl gz_standard_vtol` | 4004 | -| [Plane](../sim_gazebo_gz/vehicles.md#standard-plane) | `make px4_sitl gz_rc_cessna` | 4003 | -| [Advanced Plane](../sim_gazebo_gz/vehicles.md#advanced-plane) | `make px4_sitl gz_advanced_plane` | 4008 | -| [Differential Rover](../sim_gazebo_gz/vehicles.md#differential-rover) | `make px4_sitl gz_r1_rover` | 4009 | -| [Ackermann Rover](../sim_gazebo_gz/vehicles.md#ackermann-rover) | `make px4_sitl gz_rover_ackermann` | 4012 | -| [Quad Tailsitter VTOL](../sim_gazebo_gz/vehicles.md#quad-tailsitter-vtol) | `make px4_sitl gz_quadtailsitter` | 4018 | -| [Tiltrotor VTOL](../sim_gazebo_gz/vehicles.md#tiltrotor-vtol) | `make px4_sitl gz_tiltrotor` | 4020 | +| Vehicle | 통신 | `PX4_SYS_AUTOSTART` | +| ------------------------------------------------------------------------------------------------------------------------------------------------------------------ | ------------------------------------- | ------------------- | +| [Quadrotor (x500)](../sim_gazebo_gz/vehicles.md#x500-quadrotor) | `make px4_sitl gz_x500` | 4001 | +| [X500 Quadrotor with Depth Camera (Front-facing)](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-depth-camera-front-facing) | `make px4_sitl gz_x500_depth` | 4002 | +| [Quadrotor(x500) with Vision Odometry](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-visual-odometry) | `make px4_sitl gz_x500_vision` | 4005 | +| [Quadrotor(x500) with 1D LIDAR (Down-facing)](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-1d-lidar-down-facing) | `make px4_sitl gz_x500_lidar_down` | 4016 | +| [Quadrotor(x500) with 2D LIDAR](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-2d-lidar) | `make px4_sitl gz_x500_lidar_2d` | 4013 | +| [Quadrotor(x500) with 1D LIDAR (Front-facing)](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-1d-lidar-front-facing) | `make px4_sitl gz_x500_lidar_front` | 4017 | +| [Quadrotor(x500) with gimbal (Front-facing) in Gazebo](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-gimbal-front-facing) | `make px4_sitl gz_x500_gimbal` | 4019 | +| [VTOL](../sim_gazebo_gz/vehicles.md#standard-vtol) | `make px4_sitl gz_standard_vtol` | 4004 | +| [Plane](../sim_gazebo_gz/vehicles.md#standard-plane) | `make px4_sitl gz_rc_cessna` | 4003 | +| [Advanced Plane](../sim_gazebo_gz/vehicles.md#advanced-plane) | `make px4_sitl gz_advanced_plane` | 4008 | +| [Quad Tailsitter VTOL](../sim_gazebo_gz/vehicles.md#quad-tailsitter-vtol) | `make px4_sitl gz_quadtailsitter` | 4018 | +| [Tiltrotor VTOL](../sim_gazebo_gz/vehicles.md#tiltrotor-vtol) | `make px4_sitl gz_tiltrotor` | 4020 | +| [Differential Rover](../sim_gazebo_gz/vehicles.md#differential-rover) | `make px4_sitl gz_rover_differential` | 50000 | +| [Ackermann Rover](../sim_gazebo_gz/vehicles.md#ackermann-rover) | `make px4_sitl gz_rover_ackermann` | 51000 | +| [Mecanum Rover](../sim_gazebo_gz/vehicles.md#mecanum-rover) | `make px4_sitl gz_rover_mecanum` | 52000 | All [vehicle models](../sim_gazebo_gz/vehicles.md) (and [worlds](#specify-world)) are included as a submodule from the [Gazebo Models Repository](../sim_gazebo_gz/gazebo_models.md) repository. diff --git a/docs/ko/sim_gazebo_gz/vehicles.md b/docs/ko/sim_gazebo_gz/vehicles.md index 5638f9b63f..6c93b94d49 100644 --- a/docs/ko/sim_gazebo_gz/vehicles.md +++ b/docs/ko/sim_gazebo_gz/vehicles.md @@ -185,7 +185,7 @@ make px4_sitl gz_tiltrotor [Differential Rover](../frames_rover/index.md#differential) uses the [rover world](../sim_gazebo_gz/worlds.md#rover) by default. ```sh -make px4_sitl gz_r1_rover +make px4_sitl gz_rover_differential ``` ![Differential Rover in Gazebo](../../assets/simulation/gazebo/vehicles/rover_differential.png) @@ -199,3 +199,13 @@ make px4_sitl gz_rover_ackermann ``` ![Ackermann Rover in Gazebo](../../assets/simulation/gazebo/vehicles/rover_ackermann.png) + +### Mecanum Rover + +[Mecanum Rover](../frames_rover/index.md#mecanum) uses the [rover world](../sim_gazebo_gz/worlds.md#rover) by default. + +```sh +make px4_sitl gz_rover_mecanum +``` + +![Mecanum Rover in Gazebo](../../assets/simulation/gazebo/vehicles/rover_mecanum.png)