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68
docs/ko/config/_autotune.md
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@ -43,13 +43,13 @@ To make sure the vehicle is stable enough for auto-tuning:
2. Take off and <div style="display: inline;" v-if="$frontmatter.frame === 'Multicopter'">hover at 1m above ground in [Altitude mode](../flight_modes_mc/altitude.md) or [Stabilized mode](../flight_modes_mc/manual_stabilized.md)</div><div style="display: inline;" v-else-if="$frontmatter.frame === 'Plane'">fly at cruise speed in [Position mode](../flight_modes_fw/position.md) or [Altitude mode](../flight_modes_fw/altitude.md)</div>.
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 <div style="display: inline;" v-if="$frontmatter.frame === 'Multicopter'">in [Altitude mode](../flight_modes_mc/altitude.md).
Hover the vehicle at a safe distance and at a few meters above ground (between 4 and 20m).</div><div v-else-if="$frontmatter.frame === 'Plane'">
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.</div>
Hover the vehicle at a safe distance and at a few meters above ground (between 4 and 20m).</div><div v-else-if="$frontmatter.frame === 'Plane'">
Once flying at cruise speed, activate [Hold mode](../flight_modes_fw/hold.md).
This will guide the plane to fly in circle at constant altitude and speed.</div>
3. Enable autotune.
<div v-if="$frontmatter.frame === 'Plane'">
<div class="tip custom-block"><p class="custom-block-title">TIP</p>
<div v-if="$frontmatter.frame === 'Plane'">
<div class="tip custom-block"><p class="custom-block-title">TIP</p>
If an [Enable/Disable Autotune Switch](#enable-disable-autotune-switch) is configured you can just toggle the switch to the "enabled" position.
If an [Enable/Disable Autotune Switch](#enable-disable-autotune-switch) is configured you can just toggle the switch to the "enabled" position.
</div></div>
</div></div>
1. In QGroundControl, open the menu **Vehicle setup > PID Tuning**:
1. In QGroundControl, open the menu **Vehicle setup > PID Tuning**:
![Tuning Setup > Autotune Enabled](../../assets/qgc/setup/autotune/autotune.png)
![Tuning Setup > Autotune Enabled](../../assets/qgc/setup/autotune/autotune.png)
2. Select either the _Rate Controller_ or _Attitude Controller_ tabs.
2. Select either the _Rate Controller_ or _Attitude Controller_ tabs.
3. Ensure that the **Autotune enabled** button is enabled (this will display the **Autotune** button and remove the manual tuning selectors).
3. Ensure that the **Autotune enabled** button is enabled (this will display the **Autotune** button and remove the manual tuning selectors).
4. Read the warning popup and click on **OK** to start tuning.
4. The drone will first start to perform quick roll motions followed by pitch and yaw motions.
The progress is shown in the progress bar, next to the _Autotune_ button.
4. Read the warning popup and click on **OK** to start tuning.
<div style="display: inline;" v-if="$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.
Takeoff carefully and manually test that the vehicle is stable.
Takeoff carefully and manually test that the vehicle is stable.
</div><div v-else-if="$frontmatter.frame === 'Plane'">
5. The tuning will be immediately/automatically be applied and tested in flight (by default).
PX4 will then run a 4 second test and revert the new tuning if a problem is detected.
PX4 will then run a 4 second test and revert the new tuning if a problem is detected.
The figure below shows how steps 4 and 5 might look in flight on the pitch axis.
The pitch rate gradually increases up until it reaches the target.
This amplitude is then held while the signal frequency is increased.
You can then see how the tuned system is able to follow the setpoint in the test signal.
<img src="../../assets/config/fw/autotune.png" title="Fixed-Wing Autotune"/>
</div>
@ -174,9 +189,20 @@ Fast oscillations (more than 1 oscillation per second): this is because the gain
### 자동 튜닝 실패
<div v-if="$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

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docs/ko/sim_gazebo_gz/index.md
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@ -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.

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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)