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Merge branch 'main' into pr-servo-pwm-trim

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Nick
2025-11-24 09:08:28 +01:00
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parent 92270500cc 7d8e79c49d
commit 67c7f065f8
152 changed files with 905 additions and 616 deletions
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Tools/simulation/gazebo-classic/sitl_gazebo-classic
+1 -1
Submodule Tools/simulation/gazebo-classic/sitl_gazebo-classic updated: 6697ab169c...ac718b6fb2
boards/accton-godwit/ga1/default.px4board
-1
View File
@@ -67,7 +67,6 @@ CONFIG_MODULES_LOGGER=y
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
CONFIG_MODULES_MANUAL_CONTROL=y
CONFIG_MODULES_MAVLINK=y
CONFIG_MAVLINK_DIALECT="development"
CONFIG_MODULES_MC_ATT_CONTROL=y
CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
boards/ark/fmu-v6x/default.px4board
-1
View File
@@ -72,7 +72,6 @@ CONFIG_MODULES_LOGGER=y
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
CONFIG_MODULES_MANUAL_CONTROL=y
CONFIG_MODULES_MAVLINK=y
CONFIG_MAVLINK_DIALECT="development"
CONFIG_MODULES_MC_ATT_CONTROL=y
CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
boards/ark/fpv/default.px4board
-1
View File
@@ -50,7 +50,6 @@ CONFIG_MODULES_LOGGER=y
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
CONFIG_MODULES_MANUAL_CONTROL=y
CONFIG_MODULES_MAVLINK=y
CONFIG_MAVLINK_DIALECT="development"
CONFIG_MODULES_MC_ATT_CONTROL=y
CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
boards/ark/pi6x/default.px4board
-1
View File
@@ -41,7 +41,6 @@ CONFIG_MODULES_LOGGER=y
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
CONFIG_MODULES_MANUAL_CONTROL=y
CONFIG_MODULES_MAVLINK=y
CONFIG_MAVLINK_DIALECT="development"
CONFIG_MODULES_MC_ATT_CONTROL=y
CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
boards/auterion/fmu-v6s/default.px4board
-1
View File
@@ -58,7 +58,6 @@ CONFIG_LOGGER_STACK_SIZE=4100
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
CONFIG_MODULES_MANUAL_CONTROL=y
CONFIG_MODULES_MAVLINK=y
CONFIG_MAVLINK_DIALECT="development"
CONFIG_MODULES_MC_ATT_CONTROL=y
CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
boards/cuav/fmu-v6x/default.px4board
-1
View File
@@ -61,7 +61,6 @@ CONFIG_MODULES_LOGGER=y
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
CONFIG_MODULES_MANUAL_CONTROL=y
CONFIG_MODULES_MAVLINK=y
CONFIG_MAVLINK_DIALECT="development"
CONFIG_MODULES_MC_ATT_CONTROL=y
CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
boards/px4/fmu-v5x/default.px4board
-1
View File
@@ -74,7 +74,6 @@ CONFIG_MODULES_LOGGER=y
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
CONFIG_MODULES_MANUAL_CONTROL=y
CONFIG_MODULES_MAVLINK=y
CONFIG_MAVLINK_DIALECT="development"
CONFIG_MODULES_MC_ATT_CONTROL=y
CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
boards/px4/fmu-v6x/default.px4board
-1
View File
@@ -71,7 +71,6 @@ CONFIG_MODULES_LOGGER=y
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
CONFIG_MODULES_MANUAL_CONTROL=y
CONFIG_MODULES_MAVLINK=y
CONFIG_MAVLINK_DIALECT="development"
CONFIG_MODULES_MC_ATT_CONTROL=y
CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
boards/px4/fmu-v6x/mavlink-dev.px4board
+1
View File
@@ -0,0 +1 @@
CONFIG_MAVLINK_DIALECT="development"
boards/px4/fmu-v6x/zenoh.px4board
+1
View File
@@ -1,4 +1,5 @@
# CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE is not set
CONFIG_DRIVERS_UAVCAN=n
CONFIG_MODULES_UXRCE_DDS_CLIENT=n
CONFIG_BOARD_CONSTRAINED_FLASH=y
CONFIG_MODULES_ZENOH=y
boards/px4/sitl/default.px4board
-1
View File
@@ -35,7 +35,6 @@ CONFIG_MODULES_LOGGER=y
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
CONFIG_MODULES_MANUAL_CONTROL=y
CONFIG_MODULES_MAVLINK=y
CONFIG_MAVLINK_DIALECT="development"
CONFIG_MODULES_MC_ATT_CONTROL=y
CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
boards/px4/sitl/mavlink-dev.px4board
+1
View File
@@ -0,0 +1 @@
CONFIG_MAVLINK_DIALECT="development"
boards/px4/sitl/neural.px4board
-1
View File
@@ -34,7 +34,6 @@ CONFIG_MODULES_LOGGER=y
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
CONFIG_MODULES_MANUAL_CONTROL=y
CONFIG_MODULES_MAVLINK=y
CONFIG_MAVLINK_DIALECT="development"
CONFIG_MODULES_MC_ATT_CONTROL=y
CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
boards/svehicle/e2/default.px4board
-1
View File
@@ -63,7 +63,6 @@ CONFIG_MODULES_LOGGER=y
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
CONFIG_MODULES_MANUAL_CONTROL=y
CONFIG_MODULES_MAVLINK=y
CONFIG_MAVLINK_DIALECT="development"
CONFIG_MODULES_MC_ATT_CONTROL=y
CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
boards/zeroone/x6/default.px4board
-1
View File
@@ -61,7 +61,6 @@ CONFIG_MODULES_LOGGER=y
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
CONFIG_MODULES_MANUAL_CONTROL=y
CONFIG_MODULES_MAVLINK=y
CONFIG_MAVLINK_DIALECT="development"
CONFIG_MODULES_MC_ATT_CONTROL=y
CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
docs/ko/flight_controller/pixhawk_series.md
+18
View File
@@ -100,6 +100,24 @@ PX4 _developers_ need to know the FMU version of their board, as this is require
<a id="licensing-and-trademarks"></a>
### FMUv6 Comparison
| 기능 | **FMUv6X-RT** | **FMUv6X** | **FMUv6C** |
| ------------------ | ------------------------------- | ------------- | ------------- |
| **FMU MCU** | NXP i.MX RT1176 | STM32H753 | STM32H743V |
| **RAM** | 2 MB | 1 MB | 1 MB |
| **Flash** | 64 MB Octal SPI | 2 MB internal | 2 MB internal |
| **IO MCU** | STM32F103 | STM32F103 | STM32F103 |
| **Secure Element** | NXP SE051 | NXP SE051 | Not supported |
| **PAB Standard** | Supported | Supported | Not supported |
| **Ethernet** | Supported | Supported | Not supported |
| **IMUs** | 3× | 3× | 2× |
| **Barometers** | 2× | 2× | 1× |
| **Magnetometer** | 1× | 1× | 1× |
| **FMU PWM** | 12× | 8× | 8× |
| **IO PWM** | 8× | 8× | 8× |
| **CAN Bus** | 3× | 2× | 2× |
### 라이선스와 상표
Pixhawk project schematics and reference designs are licensed under [CC BY-SA 3](https://creativecommons.org/licenses/by-sa/3.0/legalcode).
docs/ko/gps_compass/index.md
+8
View File
@@ -197,6 +197,14 @@ It is possible to have low DOP (good satellite geometry) but still have high EPH
EPH/EPV values therefore provide a more immediate and practical estimate of the actual GPS accuracy you can expect under current conditions.
### GNSS Position Fusion
GNSS position fusion will not begin until yaw alignment is established.
If a magnetometer is available, the EKF aligns yaw using the magnetic heading, allowing GPS position fusion to start soon after boot.
If no magnetometer is present, the system must rely on GPS yaw (from a dual-antenna setup) or movement-based yaw estimation.
Until one of these provides a valid heading, the EKF will not start GPS position fusion, and the vehicle will remain in a “no position” state even though attitude data is valid.
This behavior prevents large position errors that could occur when the yaw reference is uncertain.
## 개발자 정보
- GPS/RTK-GPS
docs/ko/middleware/uxrce_dds.md
+8
View File
@@ -516,6 +516,11 @@ publications:
- topic: /fmu/out/vehicle_trajectory_waypoint_desired
type: px4_msgs::msg::VehicleTrajectoryWaypoint
- topic: /fmu/out/vehicle_imu
type: px4_msgs::msg::VehicleImu
rate_limit: 50.
instance: 1 # OPTIONAL
subscriptions:
- topic: /fmu/in/offboard_control_mode
@@ -548,6 +553,9 @@ Each (`topic`,`type`) pairs defines:
4. The message type (`VehicleOdometry`, `VehicleStatus`, `OffboardControlMode`, etc.) and the ROS 2 package (`px4_msgs`) that is expected to provide the message definition.
5. **(Optional)**: An additional `rate_limit` field (only for publication entries), which specifies the maximum rate (Hz) at which messages will be published on this topic by PX4 to ROS 2.
If left unspecified, the maximum publication rate limit is set to 100 Hz.
6. **(Optional)**: An additional `instance` field (only for publication entries), which lets you select which instance of a [multi-instance topic](./uorb.md#multi-instance) you want to be published to ROS 2.
If provided, this option changes the ROS 2 topic name of the advertised uORB topic appending the instance number: `fmu/out/[uorb topic name][instance]` (plus eventual namespace and message version).
In the example above the final topic name would be `/fmu/out/vehicle_imu1`.
`subscriptions` and `subscriptions_multi` allow us to choose the uORB topic instance that ROS 2 topics are routed to: either a shared instance that may also be getting updates from internal PX4 uORB publishers, or a separate instance that is reserved for ROS2 publications, respectively.
Without this mechanism all ROS 2 messages would be routed to the _same_ uORB topic instance (because ROS 2 does not have the concept of [multiple topic instances](../middleware/uorb.md#multi-instance)), and it would not be possible for PX4 subscribers to differentiate between streams from ROS 2 or PX4 publishers.
docs/ko/modules/hello_sky.md
+120 -119
View File
@@ -28,151 +28,151 @@ This consists of a single _C_ file and a _cmake_ definition (which tells the too
1. Create a new directory **PX4-Autopilot/src/examples/px4_simple_app**.
2. Create a new C file in that directory named **px4_simple_app.c**:
- 기본 헤더를 페이지 상단에 복사합니다.
이것은 기여한 모든 파일에 첨부하여야 합니다.
- 기본 헤더를 페이지 상단에 복사합니다.
이것은 기여한 모든 파일에 첨부하여야 합니다.
```c
/****************************************************************************
*
* Copyright (c) 2012-2022 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
```
```c
/****************************************************************************
*
* Copyright (c) 2012-2022 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
```
- 기본 헤더 아래에 다음 코드를 복사합니다.
이것은 기여한 모든 파일에 첨부하여야 합니다.
- 기본 헤더 아래에 다음 코드를 복사합니다.
이것은 기여한 모든 파일에 첨부하여야 합니다.
```c
/**
* @file px4_simple_app.c
* Minimal application example for PX4 autopilot
*
* @author Example User <mail@example.com>
*/
```c
/**
* @file px4_simple_app.c
* Minimal application example for PX4 autopilot
*
* @author Example User <mail@example.com>
*/
#include <px4_platform_common/log.h>
#include <px4_platform_common/log.h>
__EXPORT int px4_simple_app_main(int argc, char *argv[]);
__EXPORT int px4_simple_app_main(int argc, char *argv[]);
int px4_simple_app_main(int argc, char *argv[])
{
PX4_INFO("Hello Sky!");
return OK;
}
```
int px4_simple_app_main(int argc, char *argv[])
{
PX4_INFO("Hello Sky!");
return OK;
}
```
:::tip
The main function must be named `<module_name>_main` and exported from the module as shown.
:::tip
The main function must be named `<module_name>_main` and exported from the module as shown.
:::
:::tip
`PX4_INFO` is the equivalent of `printf` for the PX4 shell (included from **px4_platform_common/log.h**).
There are different log levels: `PX4_INFO`, `PX4_WARN`, `PX4_ERR`, `PX4_DEBUG`.
Warnings and errors are additionally added to the [ULog](../dev_log/ulog_file_format.md) and shown on [Flight Review](https://logs.px4.io/).
:::tip
`PX4_INFO` is the equivalent of `printf` for the PX4 shell (included from **px4_platform_common/log.h**).
There are different log levels: `PX4_INFO`, `PX4_WARN`, `PX4_ERR`, `PX4_DEBUG`.
Warnings and errors are additionally added to the [ULog](../dev_log/ulog_file_format.md) and shown on [Flight Review](https://logs.px4.io/).
:::
3. Create and open a new _cmake_ definition file named **CMakeLists.txt**.
아래 텍스트를 복사하십시오.
아래 텍스트를 복사하십시오.
```cmake
############################################################################
#
# Copyright (c) 2015 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
px4_add_module(
MODULE examples__px4_simple_app
MAIN px4_simple_app
STACK_MAIN 2000
SRCS
px4_simple_app.c
DEPENDS
)
```
```cmake
############################################################################
#
# Copyright (c) 2015 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
px4_add_module(
MODULE examples__px4_simple_app
MAIN px4_simple_app
STACK_MAIN 2000
SRCS
px4_simple_app.c
DEPENDS
)
```
The `px4_add_module()` method builds a static library from a module description.
The `px4_add_module()` method builds a static library from a module description.
- The `MODULE` block is the Firmware-unique name of the module (by convention the module name is prefixed by parent directories back to `src`).
- The `MAIN` block lists the entry point of the module, which registers the command with NuttX so that it can be called from the PX4 shell or SITL console.
- The `MODULE` block is the Firmware-unique name of the module (by convention the module name is prefixed by parent directories back to `src`).
- The `MAIN` block lists the entry point of the module, which registers the command with NuttX so that it can be called from the PX4 shell or SITL console.
:::tip
The `px4_add_module()` format is documented in [PX4-Autopilot/cmake/px4_add_module.cmake](https://github.com/PX4/PX4-Autopilot/blob/main/cmake/px4_add_module.cmake). <!-- NEED px4_version -->
:::tip
The `px4_add_module()` format is documented in [PX4-Autopilot/cmake/px4_add_module.cmake](https://github.com/PX4/PX4-Autopilot/blob/main/cmake/px4_add_module.cmake). <!-- NEED px4_version -->
:::
::: info
If you specify `DYNAMIC` as an option to `px4_add_module`, a _shared library_ is created instead of a static library on POSIX platforms (these can be loaded without having to recompile PX4, and shared to others as binaries rather than source code).
Your app will not become a builtin command, but ends up in a separate file called `examples__px4_simple_app.px4mod`.
You can then run your command by loading the file at runtime using the `dyn` command: `dyn ./examples__px4_simple_app.px4mod`
::: info
If you specify `DYNAMIC` as an option to `px4_add_module`, a _shared library_ is created instead of a static library on POSIX platforms (these can be loaded without having to recompile PX4, and shared to others as binaries rather than source code).
Your app will not become a builtin command, but ends up in a separate file called `examples__px4_simple_app.px4mod`.
You can then run your command by loading the file at runtime using the `dyn` command: `dyn ./examples__px4_simple_app.px4mod`
:::
4. Create and open a new _Kconfig_ definition file named **Kconfig** and define your symbol for naming (see [Kconfig naming convention](../hardware/porting_guide_config.md#px4-kconfig-symbol-naming-convention)).
아래 텍스트를 복사하십시오.
아래 텍스트를 복사하십시오.
```
menuconfig EXAMPLES_PX4_SIMPLE_APP
bool "px4_simple_app"
default n
---help---
Enable support for px4_simple_app
```
```
menuconfig EXAMPLES_PX4_SIMPLE_APP
bool "px4_simple_app"
default n
---help---
Enable support for px4_simple_app
```
## 애플리케이션/펌웨어 빌드
@@ -440,6 +440,7 @@ The [complete example code](https://github.com/PX4/PX4-Autopilot/blob/main/src/e
*/
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/log.h>
#include <px4_platform_common/tasks.h>
#include <px4_platform_common/posix.h>
#include <unistd.h>
docs/uk/flight_controller/pixhawk_series.md
+18
View File
@@ -100,6 +100,24 @@ PX4 _developers_ need to know the FMU version of their board, as this is require
<a id="licensing-and-trademarks"></a>
### FMUv6 Comparison
| Характеристика | **FMUv6X-RT** | **FMUv6X** | **FMUv6C** |
| ------------------ | ------------------------------- | ------------- | ------------- |
| **FMU MCU** | NXP i.MX RT1176 | STM32H753 | STM32H743V |
| **RAM** | 2 MB | 1 MB | 1 MB |
| **Flash** | 64 MB Octal SPI | 2 MB internal | 2 MB internal |
| **IO MCU** | STM32F103 | STM32F103 | STM32F103 |
| **Secure Element** | NXP SE051 | NXP SE051 | Not supported |
| **PAB Standard** | Supported | Supported | Not supported |
| **Ethernet** | Supported | Supported | Not supported |
| **IMUs** | 3× | 3× | 2× |
| **Barometers** | 2× | 2× | 1× |
| **Magnetometer** | 1× | 1× | 1× |
| **FMU PWM** | 12× | 8× | 8× |
| **IO PWM** | 8× | 8× | 8× |
| **CAN Bus** | 3× | 2× | 2× |
### Ліцензування та товарні знаки
Pixhawk project schematics and reference designs are licensed under [CC BY-SA 3](https://creativecommons.org/licenses/by-sa/3.0/legalcode).
docs/uk/gps_compass/index.md
+8
View File
@@ -197,6 +197,14 @@ It is possible to have low DOP (good satellite geometry) but still have high EPH
EPH/EPV values therefore provide a more immediate and practical estimate of the actual GPS accuracy you can expect under current conditions.
### GNSS Position Fusion
GNSS position fusion will not begin until yaw alignment is established.
If a magnetometer is available, the EKF aligns yaw using the magnetic heading, allowing GPS position fusion to start soon after boot.
If no magnetometer is present, the system must rely on GPS yaw (from a dual-antenna setup) or movement-based yaw estimation.
Until one of these provides a valid heading, the EKF will not start GPS position fusion, and the vehicle will remain in a “no position” state even though attitude data is valid.
This behavior prevents large position errors that could occur when the yaw reference is uncertain.
## Інформація для розробників
- GPS/RTK-GPS
docs/uk/middleware/uxrce_dds.md
+8
View File
@@ -516,6 +516,11 @@ publications:
- topic: /fmu/out/vehicle_trajectory_waypoint_desired
type: px4_msgs::msg::VehicleTrajectoryWaypoint
- topic: /fmu/out/vehicle_imu
type: px4_msgs::msg::VehicleImu
rate_limit: 50.
instance: 1 # OPTIONAL
subscriptions:
- topic: /fmu/in/offboard_control_mode
@@ -548,6 +553,9 @@ Each (`topic`,`type`) pairs defines:
4. The message type (`VehicleOdometry`, `VehicleStatus`, `OffboardControlMode`, etc.) and the ROS 2 package (`px4_msgs`) that is expected to provide the message definition.
5. **(Optional)**: An additional `rate_limit` field (only for publication entries), which specifies the maximum rate (Hz) at which messages will be published on this topic by PX4 to ROS 2.
If left unspecified, the maximum publication rate limit is set to 100 Hz.
6. **(Optional)**: An additional `instance` field (only for publication entries), which lets you select which instance of a [multi-instance topic](./uorb.md#multi-instance) you want to be published to ROS 2.
If provided, this option changes the ROS 2 topic name of the advertised uORB topic appending the instance number: `fmu/out/[uorb topic name][instance]` (plus eventual namespace and message version).
In the example above the final topic name would be `/fmu/out/vehicle_imu1`.
`subscriptions` and `subscriptions_multi` allow us to choose the uORB topic instance that ROS 2 topics are routed to: either a shared instance that may also be getting updates from internal PX4 uORB publishers, or a separate instance that is reserved for ROS2 publications, respectively.
Without this mechanism all ROS 2 messages would be routed to the _same_ uORB topic instance (because ROS 2 does not have the concept of [multiple topic instances](../middleware/uorb.md#multi-instance)), and it would not be possible for PX4 subscribers to differentiate between streams from ROS 2 or PX4 publishers.
docs/uk/modules/hello_sky.md
+1
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@@ -440,6 +440,7 @@ The [complete example code](https://github.com/PX4/PX4-Autopilot/blob/main/src/e
*/
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/log.h>
#include <px4_platform_common/tasks.h>
#include <px4_platform_common/posix.h>
#include <unistd.h>
docs/zh/actuators/index.md
+1 -1
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@@ -8,6 +8,6 @@
- [电调校准](../advanced_config/esc_calibration.md) — PWM 电调的校准 (DShot/CAN 电调/舵机不需要) 。
## See Also
## 另见
- [外设](../peripherals/index.md) - 包括非核心执行器，如夹具， 降落伞等。
docs/zh/advanced_config/ethernet_setup.md
+1 -1
View File
@@ -268,7 +268,7 @@ MAVSDK can connect to the PX4 on port `14550` if you don't modify the PX4 Ethern
accelerometer_integral_dt: 4997
```
## See Also
## 另见
- [Get The Pixhawk Raspberry Pi CM4 Baseboard By Holybro Talking With PX4](https://px4.io/get-the-pixhawk-raspberry-pi-cm4-baseboard-by-holybro-talking-with-px4/) (px4.io blog):
- 展示如何通过有线以太网连接 Pixhawk 6X + Raspberry Pi 到 CM4 主板。
docs/zh/advanced_config/index.md
+1 -1
View File
@@ -33,7 +33,7 @@
- [Bootloader 更新](../advanced_config/bootloader_update.md)
- [通过 USB 更新 FMUv6X-RT bootloader](../advanced_config/bootloader_update_v6xrt.md)
## See Also
## 另见
- [标准配置](../config/index.md) - 大多数 PX4 机体所需要的基本传感器/功能配置。
- [飞控外设](../peripherals/index.md) - 设置特定传感器、可选传感器、执行器等。
docs/zh/assembly/_assembly.md
+1 -1
View File
@@ -421,7 +421,7 @@ They recommend sensors, power systems, and other components from the same manufa
- [Pixracer Wiring Quickstart](../assembly/quick_start_pixracer.md)
- [mRo (3DR) Pixhawk Wiring Quickstart](../assembly/quick_start_pixhawk.md)
## See Also
## 另见
- [Drone Components & Parts](../getting_started/px4_basic_concepts.md#drone-components-parts) (Basic Concepts)
- [Payloads](../getting_started/px4_basic_concepts.md#payloads) (Basic Concepts)
docs/zh/camera/camera_architecture.md
+1 -1
View File
@@ -107,7 +107,7 @@ The logged topic will depend on whether or not the camera capture pin is enabled
Note that camera capture events are not logged when using the [MAVLink cameras that support Camera Protocol v2](../camera/mavlink_v2_camera.md), because the corresponding trigger events are not generated within PX4.
## See Also
## 另见
- Camera trigger driver: [source code](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/camera_trigger) <!-- no module doc -->
- Camera capture driver: [source code](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/camera_capture) <!-- no module doc -->
docs/zh/camera/fc_connected_camera.md
+1 -1
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@@ -310,7 +310,7 @@ Wire up your cameras to your AUX port by connecting the ground and signal pins t
You will have to modify your driver to follow the sequence diagram above.
Public reference implementations for [IDS Imaging UEye](https://github.com/ProjectArtemis/ueye_cam) cameras and for [IEEE1394 compliant](https://github.com/andre-nguyen/camera1394) cameras are available.
## See Also
## 另见
- Camera trigger driver: [source code](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/camera_trigger) <!-- no module doc -->
- Camera capture driver: [source code](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/camera_capture) <!-- no module doc -->
docs/zh/camera/index.md
+1 -1
View File
@@ -14,7 +14,7 @@ PX4 integrates with three types of cameras:
推荐[MAVLink 摄像头](../camera/mavlink_v2_camera.md)，因为它们使用简单一致的命令/消息集提供了最广泛的相机功能访问。
如果相机不支持该协议，则可以在一台机载计算机上运行[摄像机管理器](../camera/mavlink_v2_camera.md#camera-managers)以在 MAVLink 和相机的本机协议之间进行接口交互。
## See Also
## 另见
- [云台(相机支架)](../advanced/gimbal_control.md)
- [相机集成/架构](../camera/camera_architecture.md) ( PX4 开发者)
docs/zh/companion_computer/ark_jetson_pab_carrier.md
+1 -1
View File
@@ -89,6 +89,6 @@ To flash the kernel, connect the Jetson to your Host PC via Micro USB, and boot
![Jetson Carrier Flashing Guide](../../assets/companion_computer/ark_jetson_pab_carrier/ark_jetson_flashing_guide.png)
## See Also
## 另见
- [ARK Jetson PAB Documentation](https://arkelectron.gitbook.io/ark-documentation/flight-controllers/ark-jetson-pab-carrier) (ARK Docs)
docs/zh/companion_computer/holybro_pixhawk_jetson_baseboard.md
+1 -1
View File
@@ -1329,7 +1329,7 @@ You should see high frequency sensor messages as the output:
[sensor_combined_listener-1] accelerometer_integral_dt: 4999
```
## See Also
## 另见
- [Jetson carrier board Holybro Docs](https://docs.holybro.com/autopilot/pixhawk-baseboards/pixhawk-jetson-baseboard)
- [PX4 Middleware docs](../middleware/uxrce_dds.md#starting-the-client)
docs/zh/companion_computer/holybro_pixhawk_rpi_cm4_baseboard.md
+1 -1
View File
@@ -418,7 +418,7 @@ And such output is expected if everything is set up correctly:
[1731210066.597046] info | ProxyClient.cpp | create_datareader | datareader created | client_key: 0x00000001, datareader_id: 0x804(6), subscriber_id: 0x804(4)
```
## See Also
## 另见
- [Get The Pixhawk Raspberry Pi CM4 Baseboard By Holybro Talking With PX4](https://px4.io/get-the-pixhawk-raspberry-pi-cm4-baseboard-by-holybro-talking-with-px4/) (px4.io blog):
- 展示如何通过有线以太网连接 Pixhawk 6X + Raspberry Pi 到 CM4 主板。
docs/zh/complete_vehicles_fw/index.md
+1 -1
View File
@@ -35,7 +35,7 @@ This section lists vehicles that are sold fully assembled and ready to fly (RTF)
This section lists vehicles where you can update the software to run PX4.
-->
## See Also
## 另见
- [DIY Builds](../frames_plane/diy_builds.md)
- [Complete Vehicles (VTOL)](../complete_vehicles_vtol/index.md)
docs/zh/complete_vehicles_mc/index.md
+1 -1
View File
@@ -40,7 +40,7 @@ These may or may not be updatable to run "vanilla" PX4.
- [Yuneec H520](https://px4.io/project/yuneec-h520-hexacopter/)
- [AeroSense Aerobo (AS-MC02-P)](https://px4.io/project/aerosense-aerobo/)
## See Also
## 另见
- [Kits (MC)](../frames_multicopter/kits.md)
- [DIY Builds](../frames_multicopter/diy_builds.md)
docs/zh/complete_vehicles_vtol/index.md
+1 -1
View File
@@ -30,7 +30,7 @@ These may or may not be updatable to run "vanilla" PX4.
- [WingtraOne Tailsitter VTOL](https://px4.io/project/wingtraone-tailsitter-vtol/)
- [Flightwave Edge](https://px4.io/project/flywave-edge/)
## See Also
## 另见
- [Complete Vehicles (Fixed-Wing)](../complete_vehicles_fw/index.md)
- [Complete Vehicles (MC)](../complete_vehicles_mc/index.md)
docs/zh/config/index.md
+1 -1
View File
@@ -72,7 +72,7 @@ The video below shows most of the calibration process (it uses an older version
If you need help with the configuration you can ask for help on the [QGroundControl Support forum](https://discuss.px4.io/c/qgroundcontrol/qgroundcontrol-usage/18).
## See Also
## 另见
- [QGroundControl > Setup](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/setup_view/setup_view.html)
- [飞控外设](../peripherals/index.md) - 设置特定传感器、可选传感器、执行器等。
docs/zh/config_mc/index.md
+1 -1
View File
@@ -161,7 +161,7 @@ My assumption is that the mixing system can cope with whatever geometry you thro
Yes but it must be physically feasible. E.g. if you make a quadrotor where all motors turn the same way it will "deal" with it but that cannot work without very specific controllers. Same for a monocopter or a tricopter without swiveling one motor.
-->
## See Also
## 另见
- [QGroundControl > Setup](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/setup_view/setup_view.html)
- [飞控外设](../peripherals/index.md) - 设置特定传感器、可选传感器、执行器等。
docs/zh/data_links/index.md
+1 -1
View File
@@ -12,6 +12,6 @@ PX4 使用 [MAVLink](https://mavlink.io/en/) 协议在无线电频道上传送
- [TBS Crossfire (CRSF) Telemetry](../telemetry/crsf_telemetry.md) — TBS Crossfire 接收机上的遥测
- [Satellite Comms (Iridium/RockBlock)](../advanced_features/satcom_roadblock.md) — 高延迟卫星通信
## See Also
## 另见
- [安全配置 > 数据连接丢失的失效保护](../config/safety.md#data-link-loss-failsafe)
docs/zh/dev_log/logging.md
+1 -1
View File
@@ -186,6 +186,6 @@ There are different clients that support ulog streaming:
Also make sure `txerr` stays at 0.
Also make sure <code>txerr</code> stays at 0. If this goes up, either the NuttX sending buffer is too small, the physical link is saturated or the hardware is too slow to handle the data.
## See Also
## 另见
- [Encrypted logging](../dev_log/log_encryption.md)
docs/zh/dronecan/ark_cannode.md
+1 -1
View File
@@ -99,6 +99,6 @@ If you see a solid red LED there is an error and you should check the following:
- Make sure the ARK CANnode has `ark_cannode_canbootloader` installed prior to flashing `ark_cannode_default`.
- Remove binaries from the root and ufw directories of the SD card and try to build and flash again.
## See Also
## 另见
- [ARK CANnode Documentation](https://arkelectron.gitbook.io/ark-documentation/sensors/ark-cannode) (ARK Docs)
docs/zh/dronecan/ark_flow.md
+1 -1
View File
@@ -133,6 +133,6 @@ If you see a solid red LED there is an error and you should check the following:
_PX4 holding position using the ARK Flow sensor for velocity estimation (in [Position Mode](../flight_modes_mc/position.md))._
## See Also
## 另见
- [ARK Flow](https://arkelectron.gitbook.io/ark-documentation/sensors/ark-flow) (ARK Docs)
docs/zh/dronecan/ark_flow_mr.md
+1 -1
View File
@@ -128,6 +128,6 @@ If you see a solid red LED there is an error and you should check the following:
_PX4 holding position using the ARK Flow MR sensor for velocity estimation (in [Position Mode](../flight_modes_mc/position.md))._
## See Also
## 另见
- [ARK Flow MR](https://arkelectron.gitbook.io/ark-documentation/sensors/ark-flow-mr) (ARK Docs)
docs/zh/dronecan/ark_gps.md
+1 -1
View File
@@ -112,6 +112,6 @@ If you see a red LED there is an error and you should check the following:
- Make sure the ARK GPS has `ark_can-gps_canbootloader` installed prior to flashing `ark_can-gps_default`.
- Remove binaries from the root and ufw directories of the SD card and try to build and flash again.
## See Also
## 另见
- [ARK GPS](https://arkelectron.gitbook.io/ark-documentation/sensors/ark-gps) (ARK Docs)
docs/zh/dronecan/ark_mosaic__rtk_gps.md
+1 -1
View File
@@ -44,6 +44,6 @@ Order this module from:
- USA Built
- Supports DroneCAN Firmware Updating
## See Also
## 另见
- [ARK MOSAIC-X5 RTK GPS Documentation](https://arkelectron.gitbook.io/ark-documentation/sensors/ark-mosaic-x5-rtk-gps) (ARK Docs)
docs/zh/dronecan/ark_rtk_gps.md
+1 -1
View File
@@ -200,6 +200,6 @@ ARK RTK GPS comes with the Ublox F9P module up to date with version 1.13 or newe
- "Firmware Update SUCCESS" should be displayed if it updated successfully
![Firmware Update](../../assets/hardware/gps/ark/ark_rtk_gps_ublox_f9p_firmware_update.png)
## See Also
## 另见
- [ARK RTK GPS Documentation](https://arkelectron.gitbook.io/ark-documentation/sensors/ark-rtk-gps) (ARK Docs)
docs/zh/dronecan/ark_teseo_gps.md
+1 -1
View File
@@ -69,6 +69,6 @@ Order this module from:
| 5 | FMU_SWCLK | 3.3V |
| 6 | GND | GND |
## See Also
## 另见
- [ARK TESEO GPS Documentation](https://arkelectron.gitbook.io/ark-documentation/sensors/ark-teseo-gps) (ARK Docs)
docs/zh/flight_controller/accton-godwit_ga1.md
+1 -1
View File
@@ -80,7 +80,7 @@ This flight controller is [manufacturer supported](../flight_controller/autopilo
| ------- | --------- | ------ | ---------- |
| SERIAL1 | Telem1 | UART7 | /dev/ttyS6 |
| SERIAL2 | Telem2 | UART5 | /dev/ttyS4 |
| SERIAL3 | GPS1 | USART1 | /dev/ttyS0 |
| SERIAL3 | GPS1 | USART1 | UART |
| SERIAL4 | GPS2 | UART8 | /dev/ttyS7 |
| SERIAL5 | Telem3 | USART2 | /dev/ttyS1 |
| SERIAL6 | UART4 | UART4 | /dev/ttyS3 |
docs/zh/flight_controller/ark_pab.md
+1 -1
View File
@@ -320,6 +320,6 @@ For information about using this port see:
![ARKPAB Bottom Photo](../../assets/flight_controller/arkpab/ark_pab_back.jpg)
## See Also
## 另见
- [ARK Pixhawk Autopilot Bus Carrier](https://arkelectron.gitbook.io/ark-documentation/flight-controllers/ark-pixhawk-autopilot-bus-carrier) (ARK Docs)
docs/zh/flight_controller/ark_pi6x.md
+1 -1
View File
@@ -297,6 +297,6 @@ Order this module from:
| 21 | SDA0 | 3.3V |
| 22 | 3.3V_RPI | 3.3V |
## See Also
## 另见
- [ARK Pi6X Flow Documentation](https://arkelectron.gitbook.io/ark-documentation/flight-controllers/ark-pi6x-flow) (ARK Docs)
docs/zh/flight_controller/ark_v6x.md
+3 -3
View File
@@ -63,9 +63,9 @@ For pinout of the ARKV6X see the [DS-10 Pixhawk Autopilot Bus Standard](https://
| UART | 设备 | Port |
| ------ | ---------- | ------------------------------- |
| USART1 | /dev/ttyS0 | GPS |
| USART1 | UART | GPS |
| USART2 | /dev/ttyS1 | TELEM3 |
| USART3 | /dev/ttyS2 | Debug Console |
| USART3 | /dev/ttyS2 | 调试控制台 |
| UART4 | /dev/ttyS3 | UART4 & I2C |
| UART5 | /dev/ttyS4 | TELEM2 |
| USART6 | /dev/ttyS5 | PX4IO/RC |
@@ -78,6 +78,6 @@ For pinout of the ARKV6X see the [DS-10 Pixhawk Autopilot Bus Standard](https://
make ark_fmu-v6x_default
```
## See Also
## 另见
- [ARK Electronics ARKV6X](https://arkelectron.gitbook.io/ark-documentation/flight-controllers/arkv6x) (ARK Docs)
docs/zh/flight_controller/auav_x2.md
+8 -8
View File
@@ -82,11 +82,11 @@ As a CC-BY-SA 3.0 licensed Open Hardware design, all schematics and design files
## 串口映射
| UART | 设备 | Port |
| ------ | ---------- | ---------------------------------------- |
| UART1 | /dev/ttyS0 | IO debug |
| USART2 | /dev/ttyS1 | TELEM1 (flow control) |
| USART3 | /dev/ttyS2 | TELEM2 (flow control) |
| UART4 | | |
| UART7 | CONSOLE | |
| UART8 | SERIAL4 | |
| UART | 设备 | Port |
| ------ | ---------- | ------------------------------ |
| UART | UART | IO debug |
| USART2 | /dev/ttyS1 | TELEM1 (流控) |
| USART3 | /dev/ttyS2 | TELEM2 (流控) |
| UART4 | | |
| UART7 | CONSOLE | |
| UART8 | SERIAL4 | |
docs/zh/flight_controller/cuav_pixhawk_v6x.md
+10 -10
View File
@@ -122,16 +122,16 @@ The [Pixhawk V6X Wiring Quick Start](../assembly/quick_start_cuav_pixhawk_v6x.md
## 串口映射
| UART | 设备 | Port |
| ------ | ---------- | ------------- |
| USART1 | /dev/ttyS0 | GPS |
| USART2 | /dev/ttyS1 | TELEM3 |
| USART3 | /dev/ttyS2 | Debug Console |
| UART4 | /dev/ttyS3 | UART4 |
| UART5 | /dev/ttyS4 | TELEM2 |
| USART6 | /dev/ttyS5 | PX4IO/RC |
| UART7 | /dev/ttyS6 | TELEM1 |
| UART8 | /dev/ttyS7 | GPS2 |
| UART | 设备 | Port |
| ------ | ---------- | -------- |
| USART1 | UART | GPS |
| USART2 | /dev/ttyS1 | TELEM3 |
| USART3 | /dev/ttyS2 | 调试控制台 |
| UART4 | /dev/ttyS3 | UART4 |
| UART5 | /dev/ttyS4 | TELEM2 |
| USART6 | /dev/ttyS5 | PX4IO/RC |
| UART7 | /dev/ttyS6 | TELEM1 |
| UART8 | /dev/ttyS7 | GPS2 |
## 额定电压
docs/zh/flight_controller/cuav_v5.md
+4 -4
View File
@@ -122,12 +122,12 @@ The pinout is as shown.
| UART | 设备 | Port |
| ------ | ---------- | ---------------------------------------------------------- |
| UART1 | /dev/ttyS0 | GPS |
| USART2 | /dev/ttyS1 | TELEM1 (flow control) |
| USART3 | /dev/ttyS2 | TELEM2 (flow control) |
| UART | UART | GPS |
| USART2 | /dev/ttyS1 | TELEM1 (流控) |
| USART3 | /dev/ttyS2 | TELEM2 (流控) |
| UART4 | /dev/ttyS3 | TELEM4 |
| USART6 | /dev/ttyS4 | TX is RC input from SBUS_RC connector |
| UART7 | /dev/ttyS5 | Debug Console |
| UART7 | /dev/ttyS5 | 调试控制台 |
| UART8 | /dev/ttyS6 | PX4IO |
<!-- Note: Got ports using https://github.com/PX4/PX4-user_guide/pull/672#issuecomment-598198434 -->
docs/zh/flight_controller/cuav_v5_nano.md
+4 -4
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@@ -134,12 +134,12 @@ For more information see [Using JTAG for hardware debugging](#using-jtag-for-har
| UART | 设备 | Port |
| ------ | ---------- | ---------------------------------------------------------- |
| UART1 | /dev/ttyS0 | GPS |
| USART2 | /dev/ttyS1 | TELEM1 (flow control) |
| USART3 | /dev/ttyS2 | TELEM2 (flow control) |
| UART | UART | GPS |
| USART2 | /dev/ttyS1 | TELEM1 (流控) |
| USART3 | /dev/ttyS2 | TELEM2 (流控) |
| UART4 | /dev/ttyS3 | TELEM4 |
| USART6 | /dev/ttyS4 | TX is RC input from SBUS_RC connector |
| UART7 | /dev/ttyS5 | Debug Console |
| UART7 | /dev/ttyS5 | 调试控制台 |
| UART8 | /dev/ttyS6 | Not connected (no PX4IO) |
<!-- Note: Got ports using https://github.com/PX4/PX4-user_guide/pull/672#issuecomment-598198434 -->
docs/zh/flight_controller/cuav_v5_plus.md
+4 -4
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@@ -160,12 +160,12 @@ For more information see [Using JTAG for hardware debugging](#using-jtag-for-har
| UART | 设备 | Port |
| ------ | ---------- | ---------------------------------------------------------- |
| UART1 | /dev/ttyS0 | GPS |
| USART2 | /dev/ttyS1 | TELEM1 (flow control) |
| USART3 | /dev/ttyS2 | TELEM2 (flow control) |
| UART | UART | GPS |
| USART2 | /dev/ttyS1 | TELEM1 (流控) |
| USART3 | /dev/ttyS2 | TELEM2 (流控) |
| UART4 | /dev/ttyS3 | TELEM4 |
| USART6 | /dev/ttyS4 | TX is RC input from SBUS_RC connector |
| UART7 | /dev/ttyS5 | Debug Console |
| UART7 | /dev/ttyS5 | 调试控制台 |
| UART8 | /dev/ttyS6 | PX4IO |
<!-- Note: Got ports using https://github.com/PX4/PX4-user_guide/pull/672#issuecomment-598198434 -->
docs/zh/flight_controller/cuav_x25-evo.md
+9 -9
View File
@@ -99,15 +99,15 @@ Order from [CUAV](https://store.cuav.net/).
## 串口映射
| UART | 设备 | Port |
| ------ | ---------- | ------------- |
| USART1 | /dev/ttyS0 | GPS1 |
| USART2 | /dev/ttyS1 | GPS2 |
| USART3 | /dev/ttyS2 | Debug Console |
| UART4 | /dev/ttyS3 | UART4 |
| UART5 | /dev/ttyS4 | TELEM2 |
| USART6 | /dev/ttyS5 | RC |
| UART7 | /dev/ttyS6 | TELEM1 |
| UART | 设备 | Port |
| ------ | ---------- | ------ |
| USART1 | UART | GPS1 |
| USART2 | /dev/ttyS1 | GPS2 |
| USART3 | /dev/ttyS2 | 调试控制台 |
| UART4 | /dev/ttyS3 | UART4 |
| UART5 | /dev/ttyS4 | TELEM2 |
| USART6 | /dev/ttyS5 | RC |
| UART7 | /dev/ttyS6 | TELEM1 |
## 额定电压
docs/zh/flight_controller/cubepilot_cube_orange.md
+8 -8
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@@ -204,14 +204,14 @@ The manufacturer [Cube User Guide](https://docs.cubepilot.org/user-guides/autopi
## 串口映射
| UART | 设备 | Port |
| ------ | ---------- | ---------------------------------------- |
| USART2 | /dev/ttyS0 | TELEM1 (flow control) |
| USART3 | /dev/ttyS1 | TELEM2 (flow control) |
| UART4 | /dev/ttyS2 | GPS1 |
| USART6 | /dev/ttyS3 | PX4IO |
| UART7 | /dev/ttyS4 | CONSOLE/ADSB-IN |
| UART8 | /dev/ttyS5 | GPS2 |
| UART | 设备 | Port |
| ------ | ---------- | ------------------------------ |
| USART2 | UART | TELEM1 (流控) |
| USART3 | /dev/ttyS1 | TELEM2 (流控) |
| UART4 | /dev/ttyS2 | GPS1 |
| USART6 | /dev/ttyS3 | PX4IO |
| UART7 | /dev/ttyS4 | CONSOLE/ADSB-IN |
| UART8 | /dev/ttyS5 | GPS2 |
<!-- Note: Got ports using https://github.com/PX4/PX4-user_guide/pull/672#issuecomment-598198434 -->
docs/zh/flight_controller/cubepilot_cube_orangeplus.md
+8 -8
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@@ -205,14 +205,14 @@ The manufacturer [Cube User Guide](https://docs.cubepilot.org/user-guides/autopi
## 串口映射
| UART | 设备 | Port |
| ------ | ---------- | ---------------------------------------- |
| USART2 | /dev/ttyS0 | TELEM1 (flow control) |
| USART3 | /dev/ttyS1 | TELEM2 (flow control) |
| UART4 | /dev/ttyS2 | GPS1 |
| USART6 | /dev/ttyS3 | PX4IO |
| UART7 | /dev/ttyS4 | CONSOLE/ADSB-IN |
| UART8 | /dev/ttyS5 | GPS2 |
| UART | 设备 | Port |
| ------ | ---------- | ------------------------------ |
| USART2 | UART | TELEM1 (流控) |
| USART3 | /dev/ttyS1 | TELEM2 (流控) |
| UART4 | /dev/ttyS2 | GPS1 |
| USART6 | /dev/ttyS3 | PX4IO |
| UART7 | /dev/ttyS4 | CONSOLE/ADSB-IN |
| UART8 | /dev/ttyS5 | GPS2 |
<!-- Note: Got ports using https://github.com/PX4/PX4-user_guide/pull/672#issuecomment-598198434 -->
docs/zh/flight_controller/cubepilot_cube_yellow.md
+8 -8
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@@ -98,14 +98,14 @@ Board schematics and other documentation can be found here: [The Cube Project](h
## 串口映射
| UART | 设备 | Port |
| ------ | ---------- | ---------------------------------------- |
| USART2 | /dev/ttyS0 | TELEM1 (flow control) |
| USART3 | /dev/ttyS1 | TELEM2 (flow control) |
| UART4 | /dev/ttyS2 | GPS1 |
| USART6 | /dev/ttyS3 | PX4IO |
| UART7 | /dev/ttyS4 | CONSOLE/ADSB-IN |
| UART8 | /dev/ttyS5 | GPS2 |
| UART | 设备 | Port |
| ------ | ---------- | ------------------------------ |
| USART2 | UART | TELEM1 (流控) |
| USART3 | /dev/ttyS1 | TELEM2 (流控) |
| UART4 | /dev/ttyS2 | GPS1 |
| USART6 | /dev/ttyS3 | PX4IO |
| UART7 | /dev/ttyS4 | CONSOLE/ADSB-IN |
| UART8 | /dev/ttyS5 | GPS2 |
<!-- Note: Got ports using https://github.com/PX4/PX4-user_guide/pull/672#issuecomment-598198434 -->
docs/zh/flight_controller/durandal.md
+9 -9
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@@ -168,15 +168,15 @@ make holybro_durandal-v1_default
## 串口映射
| UART | 设备 | Port |
| ------ | ---------- | ------------- |
| USART1 | /dev/ttyS0 | GPS1 |
| USART2 | /dev/ttyS1 | TELEM1 |
| USART3 | /dev/ttyS2 | TELEM2 |
| UART4 | /dev/ttyS3 | TELEM4/GPS2 |
| USART6 | /dev/ttyS4 | TELEM3 |
| UART7 | /dev/ttyS5 | Debug Console |
| UART8 | /dev/ttyS6 | PX4IO |
| UART | 设备 | Port |
| ------ | ---------- | ----------- |
| USART1 | UART | GPS1 |
| USART2 | /dev/ttyS1 | TELEM1 |
| USART3 | /dev/ttyS2 | TELEM2 |
| UART4 | /dev/ttyS3 | TELEM4/GPS2 |
| USART6 | /dev/ttyS4 | TELEM3 |
| UART7 | /dev/ttyS5 | 调试控制台 |
| UART8 | /dev/ttyS6 | PX4IO |
<!-- Note: Got ports using https://github.com/PX4/PX4-user_guide/pull/672#issuecomment-598198434 -->
docs/zh/flight_controller/holybro_pix32.md
+8 -8
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@@ -94,13 +94,13 @@ As a CC-BY-SA 3.0 licensed Open Hardware design, all schematics and design files
## 串口映射
| UART | 设备 | Port |
| ------ | ---------- | ---------------------------------------- |
| UART1 | /dev/ttyS0 | IO debug |
| USART2 | /dev/ttyS1 | TELEM1 (flow control) |
| USART3 | /dev/ttyS2 | TELEM2 (flow control) |
| UART4 | | |
| UART7 | CONSOLE | |
| UART8 | SERIAL4 | |
| UART | 设备 | Port |
| ------ | ---------- | ------------------------------ |
| UART | UART | IO debug |
| USART2 | /dev/ttyS1 | TELEM1 (流控) |
| USART3 | /dev/ttyS2 | TELEM2 (流控) |
| UART4 | | |
| UART7 | CONSOLE | |
| UART8 | SERIAL4 | |
<!-- Note: Got ports using https://github.com/PX4/PX4-user_guide/pull/672#issuecomment-598198434 -->
docs/zh/flight_controller/holybro_pix32_v6.md
+9 -9
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@@ -104,15 +104,15 @@ Order from [Holybro](https://holybro.com/products/pix32-v6).
## 串口映射
| UART | 设备 | Port |
| ------ | ---------- | ------------- |
| USART1 | /dev/ttyS0 | GPS1 |
| USART2 | /dev/ttyS1 | TELEM3 |
| USART3 | /dev/ttyS2 | Debug Console |
| UART5 | /dev/ttyS3 | TELEM2 |
| USART6 | /dev/ttyS4 | PX4IO |
| UART7 | /dev/ttyS5 | TELEM1 |
| UART8 | /dev/ttyS6 | GPS2 |
| UART | 设备 | Port |
| ------ | ---------- | ------ |
| USART1 | UART | GPS1 |
| USART2 | /dev/ttyS1 | TELEM3 |
| USART3 | /dev/ttyS2 | 调试控制台 |
| UART5 | /dev/ttyS3 | TELEM2 |
| USART6 | /dev/ttyS4 | PX4IO |
| UART7 | /dev/ttyS5 | TELEM1 |
| UART8 | /dev/ttyS6 | GPS2 |
## 尺寸
docs/zh/flight_controller/kakutef7.md
+2 -2
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@@ -113,9 +113,9 @@ In addition to the [basic configuration](../config/index.md), the following para
| UART | 设备 | Port |
| ------ | ---------- | ---------------------------------------- |
| USART1 | /dev/ttyS0 | TELEM1 |
| USART1 | UART | TELEM1 |
| USART2 | /dev/ttyS1 | TELEM2 |
| USART3 | /dev/ttyS2 | Debug Console |
| USART3 | /dev/ttyS2 | 调试控制台 |
| UART4 | /dev/ttyS3 | GPS1 |
| USART6 | /dev/ttyS4 | RC SBUS |
| UART7 | /dev/ttyS5 | ESC telemetry (DShot) |
docs/zh/flight_controller/kakuteh7-wing.md
+1 -1
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@@ -69,7 +69,7 @@ Firmware can be manually installed in any of the normal ways:
| UART | 设备 | Port | Default function |
| ------ | ---------- | --------------------------- | ---------------- |
| USART1 | /dev/ttyS0 | GPS 1 | GPS1 |
| USART1 | UART | GPS 1 | GPS1 |
| USART2 | /dev/ttyS1 | R2, T2 | GPS2 |
| USART3 | /dev/ttyS2 | R3, T3 | TELEM1 |
| UART5 | /dev/ttyS3 | R5, T5 | TELEM2 |
docs/zh/flight_controller/kakuteh7.md
+2 -2
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@@ -117,9 +117,9 @@ In addition to the [basic configuration](../config/index.md), the following para
| UART | 设备 | Port |
| ------ | ---------- | ---------------------------------------- |
| USART1 | /dev/ttyS0 | TELEM1 |
| USART1 | UART | TELEM1 |
| USART2 | /dev/ttyS1 | TELEM2 |
| USART3 | /dev/ttyS2 | Debug Console |
| USART3 | /dev/ttyS2 | 调试控制台 |
| UART4 | /dev/ttyS3 | GPS1 |
| USART6 | /dev/ttyS4 | RC SBUS |
| UART7 | /dev/ttyS5 | ESC telemetry (DShot) |
docs/zh/flight_controller/kakuteh7mini.md
+2 -2
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@@ -124,9 +124,9 @@ In addition to the [basic configuration](../config/index.md), the following para
| UART | 设备 | Port |
| ------ | ---------- | ---------------------------------------- |
| USART1 | /dev/ttyS0 | TELEM1 |
| USART1 | UART | TELEM1 |
| UART2 | /dev/ttyS1 | TELEM2 |
| USART3 | /dev/ttyS2 | Debug Console |
| USART3 | /dev/ttyS2 | 调试控制台 |
| UART4 | /dev/ttyS3 | GPS1 |
| USART6 | /dev/ttyS4 | RC SBUS |
| UART7 | /dev/ttyS5 | ESC telemetry (DShot) |
docs/zh/flight_controller/kakuteh7v2.md
+2 -2
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@@ -121,8 +121,8 @@ In addition to the [basic configuration](../config/index.md), the following para
| UART | 设备 | Port |
| ------ | ---------- | ---------------------------------------- |
| USART1 | /dev/ttyS0 | TELEM1 |
| USART3 | /dev/ttyS2 | Debug Console |
| USART1 | UART | TELEM1 |
| USART3 | /dev/ttyS2 | 调试控制台 |
| UART4 | /dev/ttyS3 | GPS1 |
| USART6 | /dev/ttyS4 | RC SBUS |
| UART7 | /dev/ttyS5 | ESC telemetry (DShot) |
docs/zh/flight_controller/micoair743-lite.md
+1 -1
View File
@@ -79,7 +79,7 @@ Pinouts definition can be found in the [MicoAir743-Lite_pinout.xlsx](https://raw
| UART | 设备 | Port |
| ------ | ---------- | ------ |
| USART1 | /dev/ttyS0 | TELEM1 |
| USART1 | UART | TELEM1 |
| USART2 | /dev/ttyS1 | GPS2 |
| USART3 | /dev/ttyS2 | GPS1 |
| UART4 | /dev/ttyS3 | TELEM2 |
docs/zh/flight_controller/mindpx.md
+9 -9
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@@ -111,15 +111,15 @@ You can also find MindRacer at Amazon<sup>&reg;</sup> or eBay<sup>&reg;</sup>.
## 串口映射
| UART | 设备 | Port |
| ------ | ---------- | ------------- |
| USART1 | /dev/ttyS0 | RC |
| USART2 | /dev/ttyS1 | TELEM1 |
| USART3 | /dev/ttyS2 | TELEM2 |
| UART4 | /dev/ttyS3 | GPS1 |
| USART6 | /dev/ttyS4 | ? |
| UART7 | /dev/ttyS5 | Debug Console |
| UART8 | /dev/ttyS6 | ? |
| UART | 设备 | Port |
| ------ | ---------- | ------ |
| USART1 | UART | RC |
| USART2 | /dev/ttyS1 | TELEM1 |
| USART3 | /dev/ttyS2 | TELEM2 |
| UART4 | /dev/ttyS3 | GPS1 |
| USART6 | /dev/ttyS4 | ? |
| UART7 | /dev/ttyS5 | 调试控制台 |
| UART8 | /dev/ttyS6 | ? |
<!-- Note: Got ports using https://github.com/PX4/PX4-user_guide/pull/672#issuecomment-598198434 -->
docs/zh/flight_controller/modalai_fc_v1.md
+1 -1
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@@ -130,7 +130,7 @@ make modalai_fc-v1
| UART | 设备 | Port |
| ------ | ---------- | ----------------------------------------------------------- |
| USART1 | /dev/ttyS0 | GPS1 (J10) |
| USART1 | UART | GPS1 (J10) |
| USART2 | /dev/ttyS1 | TELEM3 (J4) |
| USART3 | /dev/ttyS2 | Debug Console (J2) |
| UART4 | /dev/ttyS3 | Expansion UART (J6) |
docs/zh/flight_controller/modalai_voxl_flight.md
+1 -1
View File
@@ -186,7 +186,7 @@ _Note: mappings shown are for the PX4 controlled interfaces only_
| UART | 设备 | Port |
| ------ | ---------- | ---------------------------------------- |
| USART1 | /dev/ttyS0 | GPS1 (J1012) |
| USART1 | UART | GPS1 (J1012) |
| USART2 | /dev/ttyS1 | TELEM3 (J1002) |
| USART3 | /dev/ttyS2 | Debug Console (J1001) |
| UART4 | /dev/ttyS3 | Expansion UART (J6) |
docs/zh/flight_controller/mro_control_zero_f7.md
+2 -2
View File
@@ -106,8 +106,8 @@ There is also an [ARM20-CTX 20-Pin to TC2030-IDC adapter](https://www.tag-connec
| UART | 设备 | Port |
| ------ | ---------- | -------------------------------------------------------------------------------------------------- |
| USART2 | /dev/ttyS0 | TELEM1 (flow control) |
| USART3 | /dev/ttyS1 | TELEM2 (flow control) |
| USART2 | UART | TELEM1 (流控) |
| USART3 | /dev/ttyS1 | TELEM2 (流控) |
| UART4 | /dev/ttyS2 | GPS1 |
| USART6 | /dev/ttyS3 | Flex port (can be configured as SPI or UART with Flow Control). |
| UART7 | /dev/ttyS4 | CONSOLE |
docs/zh/flight_controller/mro_pixhawk.md
+8 -8
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@@ -86,14 +86,14 @@ See [3DR Pixhawk 1 > Pinouts](../flight_controller/pixhawk.md#pinouts)
## 串口映射
| UART | 设备 | Port |
| ------ | ---------- | ---------------------------------------- |
| UART1 | /dev/ttyS0 | IO debug |
| USART2 | /dev/ttyS1 | TELEM1 (flow control) |
| USART3 | /dev/ttyS2 | TELEM2 (flow control) |
| UART4 | | |
| UART7 | CONSOLE | |
| UART8 | SERIAL4 | |
| UART | 设备 | Port |
| ------ | ---------- | ------------------------------ |
| UART | UART | IO debug |
| USART2 | /dev/ttyS1 | TELEM1 (流控) |
| USART3 | /dev/ttyS2 | TELEM2 (流控) |
| UART4 | | |
| UART7 | CONSOLE | |
| UART8 | SERIAL4 | |
<!-- Note: Got ports using https://github.com/PX4/PX4-user_guide/pull/672#issuecomment-598198434 -->
docs/zh/flight_controller/mro_x2.1.md
+1 -1
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@@ -111,7 +111,7 @@ The board is documented on the mRo hardware repo: [x21_V2_schematic.pdf](https:/
| UART | 设备 | Port |
| ------ | ---------- | --------------- |
| USART1 | /dev/ttyS0 | IO debug |
| USART1 | UART | IO debug |
| USART2 | /dev/ttyS1 | SERIAL1 |
| USART3 | /dev/ttyS2 | TELEM2 |
| UART4 | /dev/ttyS3 | GPS/I2C |
docs/zh/flight_controller/nxp_mr_vmu_rt1176.md
+1 -1
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@@ -182,7 +182,7 @@ _MR-VMU-RT1176_ connectors (following [Pixhawk Connector Standard](https://githu
| UART | 设备 | Port |
| ------ | ---------- | -------- |
| UART1 | /dev/ttyS0 | Debug |
| UART | UART | Debug |
| UART3 | /dev/ttyS1 | GPS |
| UART4 | /dev/ttyS2 | TELEM1 |
| UART5 | /dev/ttyS3 | GPS2 |
docs/zh/flight_controller/omnibus_f4_sd.md
+2 -2
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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:
- UART1
- UART
- SBUS/PPM port (via inverter, internally goes to UART1)
:::info
@@ -164,7 +164,7 @@ Here is an example implementation. I used a Spektrum plug to get 3.3v from the D
| UART | 设备 | Port |
| ------ | ---------- | -------- |
| USART1 | /dev/ttyS0 | SerialRX |
| USART1 | UART | SerialRX |
| USART4 | /dev/ttyS1 | TELEM1 |
| USART6 | /dev/ttyS2 | GPS |
docs/zh/flight_controller/pixfalcon.md
+1 -1
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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 |
| ------ | ---------- | ------------------------------------------- |
| UART1 | /dev/ttyS0 | IO Debug |
| UART | UART | IO Debug |
| USART2 | /dev/ttyS1 | TELEM1 (No flow control) |
| UART4 | /dev/ttyS2 | GPS |
docs/zh/flight_controller/pixhack_v3.md
+8 -8
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@@ -78,11 +78,11 @@ make px4_fmu-v3_default
## 串口映射
| UART | 设备 | Port |
| ------ | ---------- | ---------------------------------------- |
| UART1 | /dev/ttyS0 | IO debug |
| USART2 | /dev/ttyS1 | TELEM1 (flow control) |
| USART3 | /dev/ttyS2 | TELEM2 (flow control) |
| UART4 | | |
| UART7 | | CONSOLE |
| UART8 | | SERIAL4 |
| UART | 设备 | Port |
| ------ | ---------- | ------------------------------ |
| UART | UART | IO debug |
| USART2 | /dev/ttyS1 | TELEM1 (流控) |
| USART3 | /dev/ttyS2 | TELEM2 (流控) |
| UART4 | | |
| UART7 | | CONSOLE |
| UART8 | | SERIAL4 |
docs/zh/flight_controller/pixhawk-2.md
+9 -9
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@@ -124,15 +124,15 @@ Board schematics and other documentation can be found here: [The Cube Project](h
### 串口映射
| UART | 设备 | Port |
| ------ | ---------- | ---------------------------------------- |
| USART1 | /dev/ttyS0 | <!-- IO debug? --> |
| USART2 | /dev/ttyS1 | TELEM1 (flow control) |
| USART3 | /dev/ttyS2 | TELEM2 (flow control) |
| UART4 | /dev/ttyS3 | GPS1 |
| USART6 | /dev/ttyS4 | PX4IO |
| UART7 | /dev/ttyS5 | CONSOLE |
| UART8 | /dev/ttyS6 | <!-- unknown --> |
| UART | 设备 | Port |
| ------ | ---------- | ------------------------------ |
| USART1 | UART | <!-- IO debug? --> |
| USART2 | /dev/ttyS1 | TELEM1 (流控) |
| USART3 | /dev/ttyS2 | TELEM2 (流控) |
| UART4 | /dev/ttyS3 | GPS1 |
| USART6 | /dev/ttyS4 | PX4IO |
| UART7 | /dev/ttyS5 | CONSOLE |
| UART8 | /dev/ttyS6 | <!-- unknown --> |
<!-- Note: Got ports using https://github.com/PX4/PX4-user_guide/pull/672#issuecomment-598198434 -->
docs/zh/flight_controller/pixhawk.md
+8 -8
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@@ -245,14 +245,14 @@ Due to space constraints two ports are on one connector.
## 串口映射
| UART | 设备 | Port |
| ------ | ---------- | ---------------------------------------- |
| UART1 | /dev/ttyS0 | IO debug |
| USART2 | /dev/ttyS1 | TELEM1 (flow control) |
| USART3 | /dev/ttyS2 | TELEM2 (flow control) |
| UART4 | | |
| UART7 | CONSOLE | |
| UART8 | SERIAL4 | |
| UART | 设备 | Port |
| ------ | ---------- | ------------------------------ |
| UART | UART | IO debug |
| USART2 | /dev/ttyS1 | TELEM1 (流控) |
| USART3 | /dev/ttyS2 | TELEM2 (流控) |
| UART4 | | |
| UART7 | CONSOLE | |
| UART8 | SERIAL4 | |
<!-- Note: Got ports using https://github.com/PX4/PX4-user_guide/pull/672#issuecomment-598198434 -->
docs/zh/flight_controller/pixhawk3_pro.md
+8 -8
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@@ -75,13 +75,13 @@ For information about wiring and using this port see:
## 串口映射
| UART | 设备 | Port |
| ------ | ---------- | ---------------------------------------- |
| UART1 | /dev/ttyS0 | WiFi |
| USART2 | /dev/ttyS1 | TELEM1 (flow control) |
| USART3 | /dev/ttyS2 | TELEM2 (flow control) |
| UART4 | | |
| UART7 | CONSOLE | |
| UART8 | SERIAL4 | |
| UART | 设备 | Port |
| ------ | ---------- | ------------------------------ |
| UART | UART | WiFi |
| USART2 | /dev/ttyS1 | TELEM1 (流控) |
| USART3 | /dev/ttyS2 | TELEM2 (流控) |
| UART4 | | |
| UART7 | CONSOLE | |
| UART8 | SERIAL4 | |
<!-- Note: Got ports using https://github.com/PX4/PX4-user_guide/pull/672#issuecomment-598198434 -->
docs/zh/flight_controller/pixhawk4.md
+9 -9
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@@ -75,15 +75,15 @@ The exception is the [debug port(s)](#debug_port) (pin 1 is the right-most, as s
## 串口映射
| UART | 设备 | Port |
| ------ | ---------- | ---------------------------------------- |
| UART1 | /dev/ttyS0 | GPS |
| USART2 | /dev/ttyS1 | TELEM1 (flow control) |
| USART3 | /dev/ttyS2 | TELEM2 (flow control) |
| UART4 | /dev/ttyS3 | TELEM4 |
| USART6 | /dev/ttyS4 | RC SBUS |
| UART7 | /dev/ttyS5 | Debug Console |
| UART8 | /dev/ttyS6 | PX4IO |
| UART | 设备 | Port |
| ------ | ---------- | ------------------------------ |
| UART | UART | GPS |
| USART2 | /dev/ttyS1 | TELEM1 (流控) |
| USART3 | /dev/ttyS2 | TELEM2 (流控) |
| UART4 | /dev/ttyS3 | TELEM4 |
| USART6 | /dev/ttyS4 | RC SBUS |
| UART7 | /dev/ttyS5 | 调试控制台 |
| UART8 | /dev/ttyS6 | PX4IO |
## 尺寸
docs/zh/flight_controller/pixhawk4_mini.md
+1 -1
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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 |
| :----: | :--------: | :-----------------------: | :-----------------------------------------: |
| UART1 | /dev/ttyS0 | GPS1 | GPS Module |
| UART | UART | GPS1 | GPS Module |
| USART2 | /dev/ttyS1 | TELEM1 | TELEM1 |
| USART3 | /dev/ttyS2 | TELEM2 | N/A |
| UART4 | /dev/ttyS3 | TELEM/SERIAL4 | UART/l2C B |
docs/zh/flight_controller/pixhawk5x.md
+2 -2
View File
@@ -140,9 +140,9 @@ Connector pin assignments are left to right (i.e. Pin 1 is the left-most pin).
| UART | 设备 | Port |
| ------ | ---------- | ------------------------------- |
| USART1 | /dev/ttyS0 | GPS |
| USART1 | UART | GPS |
| USART2 | /dev/ttyS1 | TELEM3 |
| USART3 | /dev/ttyS2 | Debug Console |
| USART3 | /dev/ttyS2 | 调试控制台 |
| UART4 | /dev/ttyS3 | UART4 & I2C |
| UART5 | /dev/ttyS4 | TELEM2 |
| USART6 | /dev/ttyS5 | PX4IO/RC |
docs/zh/flight_controller/pixhawk6c.md
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@@ -110,15 +110,15 @@ The [Pixhawk 6C Wiring Quick Start](../assembly/quick_start_pixhawk6c.md) provid
## 串口映射
| UART | 设备 | Port |
| ------ | ---------- | ------------- |
| USART1 | /dev/ttyS0 | GPS1 |
| USART2 | /dev/ttyS1 | TELEM3 |
| USART3 | /dev/ttyS2 | Debug Console |
| UART5 | /dev/ttyS3 | TELEM2 |
| USART6 | /dev/ttyS4 | PX4IO |
| UART7 | /dev/ttyS5 | TELEM1 |
| UART8 | /dev/ttyS6 | GPS2 |
| UART | 设备 | Port |
| ------ | ---------- | ------ |
| USART1 | UART | GPS1 |
| USART2 | /dev/ttyS1 | TELEM3 |
| USART3 | /dev/ttyS2 | 调试控制台 |
| UART5 | /dev/ttyS3 | TELEM2 |
| USART6 | /dev/ttyS4 | PX4IO |
| UART7 | /dev/ttyS5 | TELEM1 |
| UART8 | /dev/ttyS6 | GPS2 |
## 尺寸
docs/zh/flight_controller/pixhawk6c_mini.md
+2 -2
View File
@@ -111,7 +111,7 @@ Please refer to the [Pixhawk 4 Mini Wiring Quick Start](../assembly/quick_start_
| UART | 设备 | QGC Parameter Description | Port Label on FC |
| ------ | ---------- | ------------------------- | ---------------- |
| USART1 | /dev/ttyS0 | GPS1 | GPS1 |
| USART1 | UART | GPS1 | GPS1 |
| USART2 | /dev/ttyS1 | TELEM3 | N/A |
| USART3 | /dev/ttyS2 | N/A | FMU Debug |
| UART5 | /dev/ttyS3 | TELEM2 | TELEM2 |
@@ -205,7 +205,7 @@ For information about using this port see:
Any multicopter / airplane / rover or boat that can be controlled with normal RC servos or Futaba S-Bus servos.
The complete set of supported configurations can be seen in the [Airframes Reference](../airframes/airframe_reference.md).
## See Also
## 另见
- [Holybro Docs](https://docs.holybro.com/) (Holybro)
- [Pixhawk 4 Mini Wiring Quick Start](../assembly/quick_start_pixhawk4_mini.md) (and [Pixhawk 6C Wiring QuickStart](../assembly/quick_start_pixhawk6c.md))
docs/zh/flight_controller/pixhawk6x-rt.md
+1 -1
View File
@@ -157,7 +157,7 @@ Sample Wiring Diagram
| UART | 设备 | Port |
| ------ | ---------- | -------- |
| UART1 | /dev/ttyS0 | Debug |
| UART | UART | Debug |
| UART3 | /dev/ttyS1 | GPS |
| UART4 | /dev/ttyS2 | TELEM1 |
| UART5 | /dev/ttyS3 | GPS2 |
docs/zh/flight_controller/pixhawk6x.md
+2 -2
View File
@@ -188,9 +188,9 @@ Sample Wiring Diagram
| UART | 设备 | Port |
| ------ | ---------- | ------------------------------- |
| USART1 | /dev/ttyS0 | GPS |
| USART1 | UART | GPS |
| USART2 | /dev/ttyS1 | TELEM3 |
| USART3 | /dev/ttyS2 | Debug Console |
| USART3 | /dev/ttyS2 | 调试控制台 |
| UART4 | /dev/ttyS3 | UART4 & I2C |
| UART5 | /dev/ttyS4 | TELEM2 |
| USART6 | /dev/ttyS5 | PX4IO/RC |
docs/zh/flight_controller/pixhawk6x_pro.md
+3 -3
View File
@@ -148,9 +148,9 @@ The [Pixhawk 6X Wiring Quick Start](../assembly/quick_start_pixhawk6x.md) provid
| UART | 设备 | Port |
| ------ | ---------- | ------------------------------- |
| USART1 | /dev/ttyS0 | GPS |
| USART1 | UART | GPS |
| USART2 | /dev/ttyS1 | TELEM3 |
| USART3 | /dev/ttyS2 | Debug Console |
| USART3 | /dev/ttyS2 | 调试控制台 |
| UART4 | /dev/ttyS3 | UART4 & I2C |
| UART5 | /dev/ttyS4 | TELEM2 |
| USART6 | /dev/ttyS5 | PX4IO/RC |
@@ -244,7 +244,7 @@ The complete set of supported configurations can be seen in the [Airframes Refer
Download [here](https://docs.holybro.com/autopilot/pixhawk-6x-pro/download).
## See Also
## 另见
- [Holybro Docs](https://docs.holybro.com/autopilot/pixhawk-6x-pro) (Holybro)
- [Pixhawk 6X Wiring QuickStart](../assembly/quick_start_pixhawk6x.md)
docs/zh/flight_controller/pixhawk_series.md
+18
View File
@@ -100,6 +100,24 @@ At very high level, the main differences are:
<a id="licensing-and-trademarks"></a>
### FMUv6 Comparison
| 特性 | **FMUv6X-RT** | **FMUv6X** | **FMUv6C** |
| ------------------ | ------------------------------- | ------------- | ------------- |
| **FMU MCU** | NXP i.MX RT1176 | STM32H753 | STM32H743V |
| **RAM** | 2 MB | 1 MB | 1 MB |
| **Flash** | 64 MB Octal SPI | 2 MB internal | 2 MB internal |
| **IO MCU** | STM32F103 | STM32F103 | STM32F103 |
| **Secure Element** | NXP SE051 | NXP SE051 | Not supported |
| **PAB Standard** | Supported | Supported | Not supported |
| **Ethernet** | Supported | Supported | Not supported |
| **IMUs** | 3× | 3× | 2× |
| **Barometers** | 2× | 2× | 1× |
| **Magnetometer** | 1× | 1× | 1× |
| **FMU PWM** | 12× | 8× | 8× |
| **IO PWM** | 8× | 8× | 8× |
| **CAN Bus** | 3× | 2× | 2× |
### Licensing and Trademarks
Pixhawk project schematics and reference designs are licensed under [CC BY-SA 3](https://creativecommons.org/licenses/by-sa/3.0/legalcode).
docs/zh/flight_controller/pixracer.md
+8 -8
View File
@@ -188,14 +188,14 @@ For information about using this port see:
## 串口映射
| UART | 设备 | Port |
| ------ | ---------- | ---------------------------------------- |
| UART1 | /dev/ttyS0 | WiFi (ESP8266) |
| USART2 | /dev/ttyS1 | TELEM1 (flow control) |
| USART3 | /dev/ttyS2 | TELEM2 (flow control) |
| UART4 | | |
| UART7 | CONSOLE | |
| UART8 | SERIAL4 | |
| UART | 设备 | Port |
| ------ | ---------- | --------------------------------- |
| UART | UART | WiFi (ESP8266) |
| USART2 | /dev/ttyS1 | TELEM1 (流控) |
| USART3 | /dev/ttyS2 | TELEM2 (流控) |
| UART4 | | |
| UART7 | CONSOLE | |
| UART8 | SERIAL4 | |
<!-- Note: Got ports using https://github.com/PX4/PX4-user_guide/pull/672#issuecomment-598198434 -->
docs/zh/flight_controller/raccoonlab_fmu6x.md
+2 -2
View File
@@ -103,9 +103,9 @@ This autopilot is [supported](../flight_controller/autopilot_pixhawk_standard.md
| UART | 设备 | Port |
| ------ | ---------- | ------------------------------- |
| USART1 | /dev/ttyS0 | GPS |
| USART1 | UART | GPS |
| USART2 | /dev/ttyS1 | TELEM3 |
| USART3 | /dev/ttyS2 | Debug Console |
| USART3 | /dev/ttyS2 | 调试控制台 |
| UART4 | /dev/ttyS3 | UART4 & I2C |
| UART5 | /dev/ttyS4 | TELEM2 |
| USART6 | /dev/ttyS5 | PX4IO/RC |
docs/zh/flight_controller/radiolink_pix6.md
+8 -8
View File
@@ -302,14 +302,14 @@ Recommended modules include:
## 串口映射
| UART | 设备 | Port |
| ------ | ---------- | ---------------------------------------- |
| UART1 | /dev/ttyS0 | GPS1 |
| USART2 | /dev/ttyS1 | TELEM1 (flow control) |
| USART3 | /dev/ttyS2 | TELEM2 (flow control) |
| UART4 | /dev/ttyS3 | GPS2 |
| UART7 | /dev/ttyS4 | Debug Console |
| UART8 | /dev/ttyS5 | PX4IO |
| UART | 设备 | Port |
| ------ | ---------- | ------------------------------ |
| UART | UART | GPS1 |
| USART2 | /dev/ttyS1 | TELEM1 (流控) |
| USART3 | /dev/ttyS2 | TELEM2 (流控) |
| UART4 | /dev/ttyS3 | GPS2 |
| UART7 | /dev/ttyS4 | 调试控制台 |
| UART8 | /dev/ttyS5 | PX4IO |
## Analog inputs
docs/zh/flight_controller/svehicle_e2.md
+10 -10
View File
@@ -74,16 +74,16 @@ CRSF receiver must be wired to a spare port (UART) on the Flight Controller. The
## 串口映射
| UART | 设备 | Port |
| ------ | ---------- | ------------- |
| USART1 | /dev/ttyS0 | GPS |
| USART2 | /dev/ttyS1 | TELEM3 |
| USART3 | /dev/ttyS2 | Debug Console |
| UART4 | /dev/ttyS3 | UART4 |
| UART5 | /dev/ttyS4 | TELEM2 |
| USART6 | /dev/ttyS5 | PX4IO/RC |
| UART7 | /dev/ttyS6 | TELEM1 |
| UART8 | /dev/ttyS7 | GPS2 |
| UART | 设备 | Port |
| ------ | ---------- | -------- |
| USART1 | UART | GPS |
| USART2 | /dev/ttyS1 | TELEM3 |
| USART3 | /dev/ttyS2 | 调试控制台 |
| UART4 | /dev/ttyS3 | UART4 |
| UART5 | /dev/ttyS4 | TELEM2 |
| USART6 | /dev/ttyS5 | PX4IO/RC |
| UART7 | /dev/ttyS6 | TELEM1 |
| UART8 | /dev/ttyS7 | GPS2 |
## PWM Output
docs/zh/flight_controller/thepeach_k1.md
+9 -9
View File
@@ -50,15 +50,15 @@ It is based on the **Pixhawk-project FMUv3** open hardware design and runs **PX4
## 串口映射
| UART | 设备 | Port |
| ------ | ---------- | ---------------------------------------- |
| USART1 | /dev/ttyS0 | IO Processor Debug |
| USART2 | /dev/ttyS1 | TELEM1 (flow control) |
| USART3 | /dev/ttyS2 | TELEM2 (flow control) |
| UART4 | /dev/ttyS3 | GPS1 |
| USART6 | /dev/ttyS4 | PX4IO |
| UART7 | /dev/ttyS5 | Debug Console |
| UART8 | /dev/ttyS6 | TELEM4 |
| UART | 设备 | Port |
| ------ | ---------- | ------------------------------ |
| USART1 | UART | IO Processor Debug |
| USART2 | /dev/ttyS1 | TELEM1 (流控) |
| USART3 | /dev/ttyS2 | TELEM2 (流控) |
| UART4 | /dev/ttyS3 | GPS1 |
| USART6 | /dev/ttyS4 | PX4IO |
| UART7 | /dev/ttyS5 | 调试控制台 |
| UART8 | /dev/ttyS6 | TELEM4 |
## 额定电压
docs/zh/flight_controller/thepeach_r1.md
+2 -2
View File
@@ -56,8 +56,8 @@ It is based on the **Pixhawk-project FMUv3** open hardware design and runs **PX4
| UART | 设备 | Port |
| ------ | ---------- | --------------------------------------------- |
| USART1 | /dev/ttyS0 | IO Processor Debug |
| USART2 | /dev/ttyS1 | TELEM1 (flow control) |
| USART1 | UART | IO Processor Debug |
| USART2 | /dev/ttyS1 | TELEM1 (流控) |
| USART3 | /dev/ttyS2 | TELEM2 (Raspberry pi cm3+) |
| UART4 | /dev/ttyS3 | GPS1 |
| USART6 | /dev/ttyS4 | PX4IO |
docs/zh/flight_modes_fw/hold.md
+1 -1
View File
@@ -40,7 +40,7 @@ Hold mode behaviour can be configured using the parameters below.
| [NAV_LOITER_RAD](../advanced_config/parameter_reference.md#NAV_LOITER_RAD) | The radius of the loiter circle. |
| <a id="NAV_MIN_LTR_ALT"></a>[NAV_MIN_LTR_ALT](../advanced_config/parameter_reference.md#NAV_MIN_LTR_ALT) | Minimum height for loiter mode (vehicle will ascend to this altitude if mode is engaged at a lower altitude). |
## See Also
## 另见
[Hold Mode (MC)](../flight_modes_mc/hold.md)
docs/zh/flight_modes_fw/land.md
+1 -1
View File
@@ -48,7 +48,7 @@ Land mode behaviour can be configured using the parameters below.
| <a id="FW_LND_AIRSPD"></a>[FW_LND_AIRSPD](../advanced_config/parameter_reference.md#FW_LND_AIRSPD) | The airspeed setpoint. |
| <a id="FW_AIRSPD_FLP_SC"></a>[FW_AIRSPD_FLP_SC](../advanced_config/parameter_reference.md#FW_AIRSPD_FLP_SC) | Factor applied to the minimum airspeed when flaps are fully deployed. Necessary if FW_LND_AIRSPD is below FW_AIRSPD_MIN. |
## See Also
## 另见
- [Land Mode (MC)](../flight_modes_mc/land.md)
- [Land Mode (VTOL)](../flight_modes_vtol/land.md)

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