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28
docs/ko/config/_autotune.md
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@ -95,9 +95,17 @@ The test steps are:
4. Read the warning popup and click on **OK** to start tuning.
<div style="display: inline;" v-if="$frontmatter.frame === 'Multicopter'">
4. The drone will first start to perform quick roll motions followed by pitch and yaw motions.
The progress is shown in the progress bar, next to the _Autotune_ button.
</div><div v-else-if="$frontmatter.frame === 'Plane'">
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.
</div>
<div style="display: inline;" v-if="$frontmatter.frame === 'Multicopter'">
5. Manually land and disarm to apply the new tuning parameters.
@ -108,6 +116,13 @@ The test steps are:
5. The tuning will be immediately/automatically be applied and tested in flight (by default).
PX4 will then run a 4 second test and revert the new tuning if a problem is detected.
The figure below shows how steps 4 and 5 might look in flight on the pitch axis.
The pitch rate gradually increases up until it reaches the target.
This amplitude is then held while the signal frequency is increased.
You can then see how the tuned system is able to follow the setpoint in the test signal.
<img src="../../assets/config/fw/autotune.png" title="Fixed-Wing Autotune"/>
</div>
:::warning
@ -174,9 +189,20 @@ Fast oscillations (more than 1 oscillation per second): this is because the gain
### 자동 튜닝 실패
<div v-if="$frontmatter.frame === 'Multicopter'">
If the drone was not moving enough during auto-tuning, the system identification algorithm might have issues to find the correct coefficients.
Increase the <div style="display: inline;" v-if="$frontmatter.frame === 'Multicopter'">[MC_AT_SYSID_AMP](../advanced_config/parameter_reference.md#MC_AT_SYSID_AMP)</div><div style="display: inline;" v-else-if="$frontmatter.frame === 'Plane'">[FW_AT_SYSID_AMP](../advanced_config/parameter_reference.md#FW_AT_SYSID_AMP)</div> 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.
</div>
<div v-else-if="$frontmatter.frame === 'Plane'">
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.
</div>
### The drone oscillates after auto-tuning

3
docs/ko/frames_rover/index.md
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@ -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)

6
docs/ko/releases/main.md
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@ -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

7
docs/ko/sim_gazebo_gz/index.md
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@ -51,7 +51,7 @@ 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 |
@ -62,10 +62,11 @@ Note that all gazebo make targets have the prefix `gz_`.
| [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 |
| [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.

12
docs/ko/sim_gazebo_gz/vehicles.md
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@ -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)