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4
docs/zh/advanced_config/index.md
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@ -24,9 +24,9 @@
## 串口/以太网配置
- [Serial Port Configuration](../peripherals/serial_configuration.md)
- [串口配置](../peripherals/serial_configuration.md)
- [MAVLink Telemetry (OSD/GCS)](../peripherals/mavlink_peripherals.md)
- [PX4 Ethernet Setup](../advanced_config/ethernet_setup.md)
- [PX4 以太网设置](../advanced_config/ethernet_setup.md)
## 其它选项

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docs/zh/advanced_config/tuning_the_ecl_ekf.md
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@ -276,7 +276,7 @@ EKF2 模块将误差建模为一个机体固定的椭球体，该椭球体指定
#### 偏航角测量
某些 GPS 接收机，例如 [Trimble MB-Two RTK GPS 接收机](https://oemgnss.trimble.com/en/products/receiver-modules/mb-two)，可用于提供航向测量，以替代磁力计数据的使用。
当在存在大磁异常的环境中或在地球磁场倾角较大的纬度地区运行时，这可能是一个显著的优势。
当在存在大型磁异常的环境中或在地球磁场倾角较大的纬度地区运行时，这可能是一个显著的优势。
通过将 [EKF2_GPS_CTRL](../advanced_config/parameter_reference.md#EKF2_GPS_CTRL) 参数中的第 3 位设置为 1（加 8）来启用 GPS 偏航测量。
#### 从 GPS 速度数据获取偏航角

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docs/zh/flight_controller/auav_x2.md
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@ -84,7 +84,7 @@ As a CC-BY-SA 3.0 licensed Open Hardware design, all schematics and design files
| UART | 设备 | Port |
| ------ | ---------- | ------------------------------ |
| UART | /dev/ttyS0 | IO debug |
| UART1 | /dev/ttyS0 | IO debug |
| USART2 | /dev/ttyS1 | TELEM1 (流控) |
| USART3 | /dev/ttyS2 | TELEM2 (流控) |
| UART4 | | |

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docs/zh/flight_controller/cuav_v5.md
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@ -122,7 +122,7 @@ The pinout is as shown.
| UART | 设备 | Port |
| ------ | ---------- | ---------------------------------------------------------- |
| UART | /dev/ttyS0 | GPS |
| UART1 | /dev/ttyS0 | GPS |
| USART2 | /dev/ttyS1 | TELEM1 (流控) |
| USART3 | /dev/ttyS2 | TELEM2 (流控) |
| UART4 | /dev/ttyS3 | TELEM4 |

2
docs/zh/flight_controller/cuav_v5_nano.md
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@ -134,7 +134,7 @@ For more information see [Using JTAG for hardware debugging](#using-jtag-for-har
| UART | 设备 | Port |
| ------ | ---------- | ---------------------------------------------------------- |
| UART | /dev/ttyS0 | GPS |
| UART1 | /dev/ttyS0 | GPS |
| USART2 | /dev/ttyS1 | TELEM1 (流控) |
| USART3 | /dev/ttyS2 | TELEM2 (流控) |
| UART4 | /dev/ttyS3 | TELEM4 |

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docs/zh/flight_controller/cuav_v5_plus.md
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@ -160,7 +160,7 @@ For more information see [Using JTAG for hardware debugging](#using-jtag-for-har
| UART | 设备 | Port |
| ------ | ---------- | ---------------------------------------------------------- |
| UART | /dev/ttyS0 | GPS |
| UART1 | /dev/ttyS0 | GPS |
| USART2 | /dev/ttyS1 | TELEM1 (流控) |
| USART3 | /dev/ttyS2 | TELEM2 (流控) |
| UART4 | /dev/ttyS3 | TELEM4 |

2
docs/zh/flight_controller/holybro_pix32.md
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@ -96,7 +96,7 @@ As a CC-BY-SA 3.0 licensed Open Hardware design, all schematics and design files
| UART | 设备 | Port |
| ------ | ---------- | ------------------------------ |
| UART | /dev/ttyS0 | IO debug |
| UART1 | /dev/ttyS0 | IO debug |
| USART2 | /dev/ttyS1 | TELEM1 (流控) |
| USART3 | /dev/ttyS2 | TELEM2 (流控) |
| UART4 | | |

2
docs/zh/flight_controller/mro_pixhawk.md
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@ -88,7 +88,7 @@ See [3DR Pixhawk 1 > Pinouts](../flight_controller/pixhawk.md#pinouts)
| UART | 设备 | Port |
| ------ | ---------- | ------------------------------ |
| UART | /dev/ttyS0 | IO debug |
| UART1 | /dev/ttyS0 | IO debug |
| USART2 | /dev/ttyS1 | TELEM1 (流控) |
| USART3 | /dev/ttyS2 | TELEM2 (流控) |
| UART4 | | |

2
docs/zh/flight_controller/nxp_mr_vmu_rt1176.md
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@ -182,7 +182,7 @@ _MR-VMU-RT1176_ connectors (following [Pixhawk Connector Standard](https://githu
| UART | 设备 | Port |
| ------ | ---------- | -------- |
| UART | /dev/ttyS0 | Debug |
| UART1 | /dev/ttyS0 | Debug |
| UART3 | /dev/ttyS1 | GPS |
| UART4 | /dev/ttyS2 | TELEM1 |
| UART5 | /dev/ttyS3 | GPS2 |

2
docs/zh/flight_controller/omnibus_f4_sd.md
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@ -107,7 +107,7 @@ Below are silkscreens for the Hobbywing XRotor Flight Controller F4.
RC is connected to one of the following ports:
- UART
- UART1
- SBUS/PPM port (via inverter, internally goes to UART1)
:::info

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docs/zh/flight_controller/pixfalcon.md
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@ -68,7 +68,7 @@ Developers will need to solder wires to the board test pads for SWD, and to the
| UART | 设备 | Port |
| ------ | ---------- | ------------------------------------------- |
| UART | /dev/ttyS0 | IO Debug |
| UART1 | /dev/ttyS0 | IO Debug |
| USART2 | /dev/ttyS1 | TELEM1 (No flow control) |
| UART4 | /dev/ttyS2 | GPS |

2
docs/zh/flight_controller/pixhack_v3.md
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@ -80,7 +80,7 @@ make px4_fmu-v3_default
| UART | 设备 | Port |
| ------ | ---------- | ------------------------------ |
| UART | /dev/ttyS0 | IO debug |
| UART1 | /dev/ttyS0 | IO debug |
| USART2 | /dev/ttyS1 | TELEM1 (流控) |
| USART3 | /dev/ttyS2 | TELEM2 (流控) |
| UART4 | | |

2
docs/zh/flight_controller/pixhawk.md
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@ -247,7 +247,7 @@ Due to space constraints two ports are on one connector.
| UART | 设备 | Port |
| ------ | ---------- | ------------------------------ |
| UART | /dev/ttyS0 | IO debug |
| UART1 | /dev/ttyS0 | IO debug |
| USART2 | /dev/ttyS1 | TELEM1 (流控) |
| USART3 | /dev/ttyS2 | TELEM2 (流控) |
| UART4 | | |

2
docs/zh/flight_controller/pixhawk3_pro.md
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@ -77,7 +77,7 @@ For information about wiring and using this port see:
| UART | 设备 | Port |
| ------ | ---------- | ------------------------------ |
| UART | /dev/ttyS0 | WiFi |
| UART1 | /dev/ttyS0 | WiFi |
| USART2 | /dev/ttyS1 | TELEM1 (流控) |
| USART3 | /dev/ttyS2 | TELEM2 (流控) |
| UART4 | | |

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docs/zh/flight_controller/pixhawk4.md
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@ -77,7 +77,7 @@ The exception is the [debug port(s)](#debug_port) (pin 1 is the right-most, as s
| UART | 设备 | Port |
| ------ | ---------- | ------------------------------ |
| UART | /dev/ttyS0 | GPS |
| UART1 | /dev/ttyS0 | GPS |
| USART2 | /dev/ttyS1 | TELEM1 (流控) |
| USART3 | /dev/ttyS2 | TELEM2 (流控) |
| UART4 | /dev/ttyS3 | TELEM4 |

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@ -129,7 +129,7 @@ The pinout uses the standard [Pixhawk debug connector](https://github.com/pixhaw
| UART | 设备 | QGC Parameter Description | Port Label on FC |
| :----: | :--------: | :-----------------------: | :-----------------------------------------: |
| UART | /dev/ttyS0 | GPS1 | GPS Module |
| UART1 | /dev/ttyS0 | GPS1 | GPS Module |
| USART2 | /dev/ttyS1 | TELEM1 | TELEM1 |
| USART3 | /dev/ttyS2 | TELEM2 | N/A |
| UART4 | /dev/ttyS3 | TELEM/SERIAL4 | UART/l2C B |

2
docs/zh/flight_controller/pixhawk6x-rt.md
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@ -157,7 +157,7 @@ Sample Wiring Diagram
| UART | 设备 | Port |
| ------ | ---------- | -------- |
| UART | /dev/ttyS0 | Debug |
| UART1 | /dev/ttyS0 | Debug |
| UART3 | /dev/ttyS1 | GPS |
| UART4 | /dev/ttyS2 | TELEM1 |
| UART5 | /dev/ttyS3 | GPS2 |

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docs/zh/flight_controller/pixracer.md
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@ -190,7 +190,7 @@ For information about using this port see:
| UART | 设备 | Port |
| ------ | ---------- | --------------------------------- |
| UART | /dev/ttyS0 | WiFi (ESP8266) |
| UART1 | /dev/ttyS0 | WiFi (ESP8266) |
| USART2 | /dev/ttyS1 | TELEM1 (流控) |
| USART3 | /dev/ttyS2 | TELEM2 (流控) |
| UART4 | | |

2
docs/zh/flight_controller/radiolink_pix6.md
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@ -304,7 +304,7 @@ Recommended modules include:
| UART | 设备 | Port |
| ------ | ---------- | ------------------------------ |
| UART | /dev/ttyS0 | GPS1 |
| UART1 | /dev/ttyS0 | GPS1 |
| USART2 | /dev/ttyS1 | TELEM1 (流控) |
| USART3 | /dev/ttyS2 | TELEM2 (流控) |
| UART4 | /dev/ttyS3 | GPS2 |

2
docs/zh/frames_vtol/vtol_quadplane_foxtech_loong_2160.md
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@ -80,7 +80,7 @@ The following tools were used for this build.
- 3D-Printer
- [Blue Loctite](https://www.amazon.com/Loctite-Heavy-Duty-Threadlocker-Single/dp/B000I1RSNS?th=1)
## Hardware Integration
## 硬件集成
In this documentation the integration of a Auterion Skynode is described.
The installation of a Pixhawk can be done similarly.

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docs/zh/frames_vtol/vtol_tiltrotor_omp_hobby_zmo_fpv.md
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@ -74,7 +74,7 @@ The following tools were used for this build.
- Sandpaper
- 3D-Printer
## Hardware Integration
## 硬件集成
### Preparations

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@ -1,19 +1,19 @@
# Hardware Hardware Selection & Setup
# 硬件选择和设置
This section contains information the components that might be used in a drone, and how they are set up.
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。
- [Flight Controllers (Autopilots)](../flight_controller/index.md) - Pixhawk and other FCs, firmware updates, other bootloaders
- [Sensors](../sensor/index.md) — accelerometer, gyroscope, compass, airspeed, barometer, rangefinders, GNSS, RTK GNSS, Optical Flow, Tachometers, Factory calibration, thermal calibration.
- [Actuators](../actuators/index.md) — Allocation, ESC, motors, servos
- [Radio Control (RC)](../getting_started/rc_transmitter_receiver.md) — Manual control using an RC system
- [Joysticks](../config/joystick.md) — Manual control using a Joystick connected to QGroundControl
- [Data Links](../data_links/index.md) — MAVLink, telemetry radios, satellite comms
- [Power Systems](../power_systems/index.md) — Battery estimation tuning, power modules, smart batteries
- [Peripherals](../peripherals/index.md) — camera, gimbal, grippers, parachute, RemoteID, traffic avoidance etc.
- [I2C Peripherals](../sensor_bus/i2c_general.md)
- [CAN Peripherals](../can/index.md)
- [DroneCAN Peripherals](../dronecan/index.md)
- [Cable Wiring](../assembly/cable_wiring.md)
- [Companion Computers](../companion_computer/index.md) — Setup, peripherals, computer vision, etc.
- [Serial Port Configuration](../peripherals/serial_configuration.md)
- [PX4 Ethernet Setup](../advanced_config/ethernet_setup.md)
- [飞行控制器（自动驾驶仪）](../flight_controller/index.md) - Pixhawk及其他飞行控制器、固件更新、其他引导程序
- [Sensors](../sensor/index.md) - 加速计、健身范围、指南、气速、气速、气压计、测距器、全球导航卫星系统、RTK GNSS、光流、转速计、工厂校准、热校准。
- [执行器](../actuators/index.md) — 分配、ESC、电机、伺服电机
- [无线电控制 (RC)](../getting_started/rc_transmitter_receiver.md) - 使用 RC 系统手动控制
- [Joysticks](../config/joystick.md) — 使用连接到 QGroundControl的手动控制
- [数据链路](../data_links/index.md) — MAVLink、遥测无线电、卫星通信
- [电源系统](../power_systems/index.md) - 电池估计调整、电源模块、智能电池
- [外设](../peripherals/index.md) — 相机、云台、机械手、降落伞、远程标识、避障系统等。
- [I2C 外设](../sensor_bus/i2c_general.md)
- [CAN 外设](../can/index.md)
- [DroneCAN 外设](../dronecan/index.md)
- [CAN 布线](../assembly/cable_wiring.md)
- [记载计算机](../companion_computer/index.md) — 设置、外设、计算机视觉等。
- [串口配置](../peripherals/serial_configuration.md)
- [PX4 以太网设置](../advanced_config/ethernet_setup.md)

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@ -1,17 +1,17 @@
# Hardware Integration
# 硬件集成
This section contains topics about integrating PX4 with _new_ autopilot and peripheral hardware, including:
本节包含关于将PX4与新型自动驾驶仪和外围硬件集成的主题，包括：
- [Flight Controller Reference Design](../hardware/reference_design.md)
- [Manufacturer’s Board Support Guide](../hardware/board_support_guide.md)
- [Flight Controller Porting Guide](../hardware/porting_guide.md)
- [Serial Port Mapping](../hardware/serial_port_mapping.md)
- [Airframes](../dev_airframes/index.md)
- [Device Drivers](../middleware/drivers.md)
- [Telemetry Radio/Modems](../data_links/telemetry.md) and other communications links
- [Sensor and Actuator I/O](../sensor_bus/index.md)
- [RTK GPS (Integration)](../advanced/rtk_gps.md)
- [飞控参考设计](../hardware/reference_design.md)
- [制造商主板支持指南](../hardware/board_support_guide.md)
- [飞控移植指南](../hardware/porting_guide.md)
- [串口映射](../hardware/serial_port_mapping.md)
- [机架](../dev_airframes/index.md)
- [设备驱动](../middleware/drivers.md)
- [远程无线电/调制解调器](../data_links/telemetry.md) 和其他通信链接
- [传感器和执行器 I/O](../sensor_bus/index.md)
- [RTK GPS (集成)](../advanced/rtk_gps.md)
:::tip
Other sections show how to _use_ and _configure_ supported [autopilot](../flight_controller/index.md), [companion computer](../companion_computer/index.md) and [peripheral](../peripherals/index.md) hardware.
其他章节显示如何使用 _use_ 和 _configure_ 支持的 [autopilot](../flight_controller/index.md), [配对计算机] (../companion_computer/index.md) 和 [peripheral](../peripherals/index.md) 硬件。
:::

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# 飞行控制器移植指南
This topic is for developers who want to port PX4 to work with _new_ flight controller hardware.
本主题主要针对希望将 PX4 移植到 _新_ 飞控硬件平台上的开发人员。
## PX4 架构
PX4 consists of two main layers: The [board support and middleware layer](../middleware/index.md) on top of the host OS (NuttX, Linux or any other POSIX platform like Mac OS), and the applications (Flight Stack in [src/modules](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules)\). Please reference the [PX4 Architectural Overview](../concept/architecture.md) for more information.
PX4 由两个主要层组成： 基于主机操作系统（NuttX、Linux 或任何其他 POSIX 平台如 Mac OS）的[板级支持与中间件层](../middleware/index.md)，以及应用程序（位于[src/modules](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules)目录下的飞行栈）。 更多信息请参阅[PX4架构概述](../concept/architecture.md)。
本指南仅关注主机操作系统和中间件，因为 应用层/飞行控制栈 可以在任何目标平台上运行。
## 飞行控制器配置文件分布位置
Board startup and configuration files are located under [/boards](https://github.com/PX4/PX4-Autopilot/tree/main/boards/) in each board's vendor-specific directory (i.e. **boards/_VENDOR_/_MODEL_/**).
板卡启动和配置文件位于每个板卡厂商专属目录下的 [/boards](https://github.com/PX4/PX4-Autopilot/tree/main/boards/) 路径中（即 **boards/_VENDOR_/_MODEL_/**）。
例如，对于 FMUv5 飞控硬件平台：
- (All) Board-specific files: [/boards/px4/fmu-v5](https://github.com/PX4/PX4-Autopilot/tree/main/boards/px4/fmu-v5).<!-- NEED px4_version -->
- Build configuration: [/boards/px4/fmu-v5/default.px4board](https://github.com/PX4/PX4-Autopilot/blob/main/boards/px4/fmu-v5/default.px4board).<!-- NEED px4_version -->
- Board-specific initialisation file: [/boards/px4/fmu-v5/init/rc.board_defaults](https://github.com/PX4/PX4-Autopilot/blob/main/boards/px4/fmu-v5/init/rc.board_defaults) <!-- NEED px4_version -->
- A board-specific initialisation file is automatically included in startup scripts if found under the boards directory at **init/rc.board**.
- (所有) 板卡专用文件：[/boards/px4/fmu-v5](https://github.com/PX4/PX4-Autopilot/tree/main/boards/px4/fmu-v5)。<!-- 需指定 px4_version -->
- 构建配置：[/boards/px4/fmu-v5/default.px4board](https://github.com/PX4/PX4-Autopilot/blob/main/boards/px4/fmu-v5/default.px4board)。<!-- 需要 px4_version -->
- 板卡专用初始化文件：[/boards/px4/fmu-v5/init/rc.board_defaults](https://github.com/PX4/PX4-Autopilot/blob/main/boards/px4/fmu-v5/init/rc.board_defaults) <!-- 需指定 px4_version -->
- 如果在主板目录下找到位于**init/rc.board**的文件，则该主板专用的初始化文件会自动包含在启动脚本中。
- 该文件用于启动仅存在于特定主板上的传感器 (和其他东西)。
It may also be used to set a board's default parameters, UART mappings, and any other special cases.
- For FMUv5 you can see all the Pixhawk 4 sensors being started, and it also sets a larger LOGGER_BUF.
它也可用于设置电路板的默认参数、UART映射以及任何其他特殊情况。
- 对于FMUv5，您可以看到所有Pixhawk 4传感器均已启动，同时它还设置了更大的LOGGER_BUF缓冲区。
## 主机操作系统配置
@ -28,14 +28,14 @@ Board startup and configuration files are located under [/boards](https://github
### NuttX
See [NuttX Board Porting Guide](porting_guide_nuttx.md).
参见[NuttX 板移植指南](porting_guide_nuttx.md)。
### Linux
基于 Linux 的飞控板不包含任何 操作系统和内核的配置。
Linux boards do not include the OS and kernel configuration. These are already provided by the Linux image available for the board (which needs to support the inertial sensors out of the box).
这些功能已由该开发板可用的Linux镜像提供（该镜像需开箱即支持惯性传感器）。
- [boards/px4/raspberrypi/default.px4board](https://github.com/PX4/PX4-Autopilot/blob/main/boards/px4/raspberrypi/default.px4board) - RPi cross-compilation. <!-- NEED px4_version -->
- [boards/px4/raspberrypi/default.px4board](https://github.com/PX4/PX4-Autopilot/blob/main/boards/px4/raspberrypi/default.px4board) - RPi 交叉编译。 <!-- NEED px4_version -->
## 中间件组件和配置
@ -43,56 +43,56 @@ Linux boards do not include the OS and kernel configuration. These are already p
### QuRT / Hexagon
- The start script is located in [posix-configs/](https://github.com/PX4/PX4-Autopilot/tree/main/posix-configs). <!-- NEED px4_version -->
- 启动脚本位于 [posix-configs/](https://github.com/PX4/PX4-Autopilot/tree/main/posix-configs)。 <!-- NEED px4_version -->
- 操作系统配置是默认 Linux 镜像的一部分（TODO: 需要提供 LINUX 镜像文件位置和程序烧写指南）。
- The PX4 middleware configuration is located in [src/boards](https://github.com/PX4/PX4-Autopilot/tree/main/boards). <!-- NEED px4_version --> TODO: ADD BUS CONFIG
- PX4 中间件配置位于[src/boards](https://github.com/PX4/PX4-Autopilot/tree/main/boards)。 <!-- NEED px4_version --> TODO: 添加BUS CONFIG
## RC UART 接线建议
It is generally recommended to connect RC via separate RX and TX pins to the microcontroller. If however RX and TX are connected together, the UART has to be put into singlewire mode to prevent any contention. This is done via board config and manifest files. One example is <a href="https://github.com/PX4/Firmware/blob/master/src/drivers/boards/px4fmu-v5/manifest.c">px4fmu-v5</a>.
如果 RX 和 TX 连在了一起，那么 UART 需要设置为单线模式以防止出现争用。
这可以用过对飞控板的配置文件和 manifest 文件进行更改来实现。
One example is [px4fmu-v5](https://github.com/PX4/PX4-Autopilot/blob/main/boards/px4/fmu-v5/src/manifest.c). <!-- NEED px4_version -->
一个例子是 [px4fmu-v5](https://github.com/PX4/PX4-Autopilot/blob/main/boards/px4/fmu-v5/src/manifest.c)。 <!-- NEED px4_version -->
## 官方支持的硬件
The PX4 project supports and maintains the [FMU standard reference hardware](../hardware/reference_design.md) and any boards that are compatible with the standard.
This includes the [Pixhawk-series](../flight_controller/pixhawk_series.md) (see the user guide for a [full list of officially supported hardware](../flight_controller/index.md)).
PX4项目支持并维护[FMU标准参考硬件](../hardware/reference_design.md)以及任何符合该标准的开发板。
这包括[Pixhawk系列](../flight_controller/pixhawk_series.md)（详见用户指南中的[官方支持硬件完整列表](../flight_controller/index.md)）。
每个受官方支持的飞控板平台都将受益于：
- PX4 项目仓库中可用的 PX4 移植
- Automatic firmware builds that are accessible from _QGroundControl_
- 可通过_QGroundControl_访问的自动固件构建
- 与生态系统其余部分的兼容性
- 可通过 CI 进行自动检查 — 安全仍是这个社区的重中之重
- [Flight testing](../test_and_ci/test_flights.md)
- [飞行测试](../test_and_ci/test_flights.md)
We encourage board manufacturers to aim for full compatibility with the [FMU spec](https://pixhawk.org/).
我们鼓励电路板制造商致力于实现与[FMU规范](https://pixhawk.org/)的完全兼容。
We encourage board manufacturers to aim for full compatibility with the <a href="https://pixhawk.org/">FMU spec</a>. With full compatibility you benefit from the ongoing day-to-day development of PX4, but have none of the maintenance costs that come from supporting deviations from the specification.
:::tip
Manufacturers should carefully consider the cost of maintenance before deviating from the specification (the cost to the manufacturer is proportional to the level of divergence).
制造商在偏离规格时应仔细考虑维护成本（制造商的成本与偏离程度成正比）。
:::
We welcome any individual or company to submit their port for inclusion in our supported hardware, provided they are willing to follow our [Code of Conduct](https://github.com/PX4/PX4-Autopilot/blob/main/CODE_OF_CONDUCT.md) and work with the Dev Team to provide a safe and fulfilling PX4 experience to their customers.
我们欢迎任何个人或公司提交其移植版本，将其纳入我们支持的硬件范围。前提是他们愿意遵守我们的[行为准则](https://github.com/PX4/PX4-Autopilot/blob/main/CODE_OF_CONDUCT.md)，并与开发团队协作，为用户提供安全且令人满意的PX4体验。
如果你想让你的飞控板被 PX4 项目正式支持：
If you want to have your board officially supported in PX4:
如果你想让你的飞控板被 PX4 项目正式支持：
- 你的硬件必须在市场上可用（例如它可以被任何开发人员不受限制地购买到） 。
- Hardware must be made available to the PX4 Dev Team so that they can validate the port (contact [lorenz@px4.io](mailto:lorenz@px4.io) for guidance on where to ship hardware for testing).
- The board must pass full [test suite](../test_and_ci/index.md) and [flight testing](../test_and_ci/test_flights.md).
- 必须向PX4开发团队提供硬件设备，以便他们验证移植工作（有关硬件寄送地址的指导，请联系[lorenz@px4.io](mailto:lorenz@px4.io)）。
- 该板必须通过完整的[测试套件](../test_and_ci/index.md)和[飞行测试](../test_and_ci/test_flights.md)。
**The PX4 project reserves the right to refuse acceptance of new ports (or remove current ports) for failure to meet the requirements set by the project.**
**PX4项目保留拒绝接受不符合项目要求的新端口（或移除现有端口）的权利。**
You can reach out to the core developer team and community on the [official support channels](../contribute/support.md).
您可通过[官方支持渠道](../contribute/support.md)联系核心开发团队及社区。
## 相关信息
- [Device Drivers](../middleware/drivers.md) - How to support new peripheral hardware (device drivers)
- [Building the Code](../dev_setup/building_px4.md) - How to build source and upload firmware
- [设备驱动程序](../middleware/drivers.md) - 如何支持新的外围硬件（设备驱动程序）
- [构建代码](../dev_setup/building_px4.md) - 如何构建源代码并上传固件
- 受支持的飞行控制器：
- [Autopilot Hardware](../flight_controller/index.md)
- [Supported boards list](https://github.com/PX4/PX4-Autopilot/#supported-hardware) (Github) - Boards for which PX4-Autopilot has specific code
- [Supported Peripherals](../peripherals/index.md)
- [自动驾驶仪硬件](../flight_controller/index.md)
- [支持的主板列表](https://github.com/PX4/PX4-Autopilot/#supported-hardware) (Github) - PX4-Autopilot 拥有专用代码的开发板
- [支持的外设](../peripherals/index.md)

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@ -121,7 +121,7 @@ ttyS6 CONFIG_STM32F7_UART8=y PX4IO
| UART | 设备 | Port |
| ------ | ---------- | ------------------------------ |
| UART | /dev/ttyS0 | GPS |
| UART1 | /dev/ttyS0 | GPS |
| USART2 | /dev/ttyS1 | TELEM1 (流控) |
| USART3 | /dev/ttyS2 | TELEM2 (流控) |
| UART4 | /dev/ttyS3 | TELEM4 |
@ -137,5 +137,5 @@ Contributions welcome!
## 另见
- [Serial Port Configuration](../peripherals/serial_configuration.md)
- [串口配置](../peripherals/serial_configuration.md)
- [MAVLink Telemetry (OSD/GCS)](../peripherals/mavlink_peripherals.md)

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@ -179,4 +179,4 @@ The method creates a simulated transponder message near the vehicle, using follo
## 更多信息
- [MAVLink Peripherals](../peripherals/mavlink_peripherals.md)
- [Serial Port Configuration](../peripherals/serial_configuration.md)
- [串口配置](../peripherals/serial_configuration.md)

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@ -121,6 +121,6 @@ Links to setup instructions for specific MAVLink components:
## 另见
- [Serial Port Configuration](../peripherals/serial_configuration.md)
- [串口配置](../peripherals/serial_configuration.md)
- [PX4 Ethernet Setup > PX4 MAVLink Serial Port Configuration](../advanced_config/ethernet_setup.md#px4-mavlink-serial-port-configuration)
- [Serial Port Mapping](../hardware/serial_port_mapping.md)
- [串口映射](../hardware/serial_port_mapping.md)

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@ -148,4 +148,4 @@ You will then need to build the firmware for your platform, as described in [Bui
- [MAVLink Peripherals (OSD/GCS/Companion Computers/etc.)](../peripherals/mavlink_peripherals.md)
- [PX4 Ethernet Setup > PX4 MAVLink Serial Port Configuration](../advanced_config/ethernet_setup.md#px4-mavlink-serial-port-configuration)
- [Serial Port Mapping](../hardware/serial_port_mapping.md)
- [串口映射](../hardware/serial_port_mapping.md)