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docs(i18n): PX4 guide translations (Crowdin) - uk (#26899)
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@@ -22,37 +22,31 @@ jMAVSim can also be used for HITL Simulation ([as shown here](../simulation/hitl
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## Встановлення
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jMAVSim setup is included in our [standard build instructions](../dev_setup/dev_env.md) for Ubuntu Linux and Windows.
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Follow the instructions below to install jMAVSim on macOS.
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jMAVSim requires JDK 17 or later.
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On Ubuntu and Windows, the [standard development environment setup](../dev_setup/dev_env.md) scripts install all required dependencies including Java.
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On macOS, you need to install Java manually as shown below.
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### macOS
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To setup the environment for [jMAVSim](../sim_jmavsim/index.md) simulation:
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jMAVSim requires OpenJDK 17 or later.
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Install it via Homebrew:
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1. Install a recent version of Java (e.g. Java 15).
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You can download [Java 15 (or later) from Oracle](https://www.oracle.com/java/technologies/downloads/?er=221886) or use [Eclipse Temurin](https://adoptium.net):
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```sh
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brew install openjdk@17
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```
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```sh
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brew install --cask temurin
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```
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Homebrew installs OpenJDK but does not link it into your `PATH`, so you need to set `JAVA_HOME` for jMAVSim to find it.
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Add this to your shell profile (e.g. `~/.zshrc`):
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2. Install jMAVSim:
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```sh
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brew install px4-sim-jmavsim
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```
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:::warning
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PX4 v1.11 and beyond require at least JDK 15 for jMAVSim simulation.
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For earlier versions, macOS users might see the error `Exception in thread "main" java.lang.UnsupportedClassVersionError:`.
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You can find the fix in the [jMAVSim with SITL > Troubleshooting](../sim_jmavsim/index.md#troubleshooting)).
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:::
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```sh
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export JAVA_HOME=$(/usr/libexec/java_home -v 17)
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```
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## Середовище симуляції
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Симуляція програмного забезпечення в петлі виконує повну систему на комп'ютері та моделює автопілот. Він підключається через локальну мережу до симулятора. Вигляд налаштування виглядає наступним чином:
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Симуляція програмного забезпечення в петлі виконує повну систему на комп'ютері та моделює автопілот.
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Він підключається через локальну мережу до симулятора.
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Вигляд налаштування виглядає наступним чином:
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[](https://mermaid-js.github.io/mermaid-live-editor/#/edit/eyJjb2RlIjoiZ3JhcGggTFI7XG4gIFNpbXVsYXRvci0tPk1BVkxpbms7XG4gIE1BVkxpbmstLT5TSVRMOyIsIm1lcm1haWQiOnsidGhlbWUiOiJkZWZhdWx0In0sInVwZGF0ZUVkaXRvciI6ZmFsc2V9)
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@@ -95,7 +89,8 @@ It will also bring up a window showing a 3D view of the [jMAVSim](https://github
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## Підйом у небо
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Система почне друкувати інформацію про статус. You will be able to start flying once you have a position lock (shortly after the console displays the message: _EKF commencing GPS fusion_).
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Система почне друкувати інформацію про статус.
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You will be able to start flying once you have a position lock (shortly after the console displays the message: _EKF commencing GPS fusion_).
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Щоб злітіти, введіть наступне у консоль:
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@@ -220,11 +215,13 @@ To disable lockstep in:
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## Розширення та персоналізація
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To extend or customize the simulation interface, edit the files in the **Tools/jMAVSim** folder. The code can be accessed through the[jMAVSim repository](https://github.com/px4/jMAVSim) on Github.
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To extend or customize the simulation interface, edit the files in the **Tools/jMAVSim** folder.
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The code can be accessed through the[jMAVSim repository](https://github.com/px4/jMAVSim) on Github.
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:::info
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The build system enforces the correct submodule to be checked out for all dependencies, including the simulator.
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Це не перезапише зміни в файлах у каталозі, проте, коли ці зміни будуть зафіксовані, підмодуль повинен бути зареєстрований у репозиторії Firmware з новим хешем коміту. To do so, `git add Tools/jMAVSim` and commit the change.
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Це не перезапише зміни в файлах у каталозі, проте, коли ці зміни будуть зафіксовані, підмодуль повинен бути зареєстрований у репозиторії Firmware з новим хешем коміту.
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To do so, `git add Tools/jMAVSim` and commit the change.
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Це оновить хеш GIT симулятора.
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:::
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@@ -237,6 +234,75 @@ The simulation can be [interfaced to ROS](../simulation/ros_interface.md) the sa
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- The startup scripts are discussed in [System Startup](../concept/system_startup.md).
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- The simulated root file system ("`/`" directory) is created inside the build directory here: `build/px4_sitl_default/rootfs`.
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## Display-Only Mode
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jMAVSim can run as a display-only renderer for other simulators (like [SIH](../sim_sih/index.md)), with its internal physics disabled.
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In this mode, jMAVSim receives vehicle position via MAVLink and only renders the 3D view.
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To use jMAVSim as a display for SIH running in SITL:
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```sh
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# Start SIH first
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make px4_sitl_sih sihsim_quadx
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# In another terminal, start jMAVSim in display-only mode
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./Tools/simulation/jmavsim/jmavsim_run.sh -p 19410 -u -q -o # 19410 is the default SIH display port
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```
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For SIH running on flight controller hardware:
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```sh
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./Tools/simulation/jmavsim/jmavsim_run.sh -q -d /dev/ttyACM0 -b 2000000 -o
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```
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Use `-a` for airplane display or `-t` for tailsitter display.
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## Command-Line Reference
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The `jmavsim_run.sh` launch script accepts the following flags:
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| Flag | Опис |
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| ------------- | -------------------------------------------------------------------------------------------- |
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| `-b <rate>` | Serial baud rate (default: 921600) |
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| `-d <device>` | Serial device path (e.g., `/dev/ttyACM0`) |
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| `-u` | Use UDP connection instead of serial |
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| `-i <id>` | Simulated MAVLink system ID |
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| `-p <port>` | UDP port (default: 14560) |
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| `-q` | No interactive console |
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| `-s <port>` | TCP serial port |
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| `-r <rate>` | Render rate in Hz |
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| `-l` | Enable lockstep |
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| `-o` | Display-only mode (disable physics, render only) |
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| `-a` | Use airplane model |
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| `-t` | Use tailsitter model |
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| `HEADLESS=1` | Environment variable: run without GUI window |
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## How jMAVSim Works
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jMAVSim is a Java-based lightweight simulator that communicates with PX4 via MAVLink HIL (Hardware-In-the-Loop) messages.
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In normal mode:
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1. PX4 sends actuator commands via [HIL_ACTUATOR_CONTROLS](https://mavlink.io/en/messages/common.html#HIL_ACTUATOR_CONTROLS).
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2. jMAVSim runs its physics engine to compute the vehicle state.
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3. jMAVSim sends sensor data back via [HIL_SENSOR](https://mavlink.io/en/messages/common.html#HIL_SENSOR) and [HIL_GPS](https://mavlink.io/en/messages/common.html#HIL_GPS).
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In **display-only mode** (`-o` flag), jMAVSim disables its physics engine and only reads [HIL_STATE_QUATERNION](https://mavlink.io/en/messages/common.html#HIL_STATE_QUATERNION) messages to render the vehicle position.
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This allows it to visualize vehicles from other simulators like SIH.
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jMAVSim supports [lockstep synchronization](#lockstep) with PX4 (enabled with `-l` flag), ensuring deterministic simulation results.
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## Keyboard Shortcuts
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Camera modes in the jMAVSim 3D view:
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| Key | Camera Mode |
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| -------------------------------- | ------------------------------------------------------- |
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| **F** | First person (attached to vehicle) |
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| **S** | Stationary (fixed position) |
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| **G** | Gimbal (follows vehicle orientation) |
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| **(default)** | Third person follow |
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## Усунення проблем
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### java.long.NoClassDefFoundError
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@@ -327,8 +393,8 @@ Exception in thread "main" java.lang.UnsupportedClassVersionError: me/drton/jmav
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Ця помилка говорить вам, вам потрібна більш свіжа версія Java у вашому середовищі.
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Версія файлу класу 58 відповідає jdk14, версія 59 - jdk15, версія 60 - jdk 16 тощо.
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Щоб виправити це під macOS, ми рекомендуємо встановити OpenJDK через homebrew
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To fix it under macOS, install a newer OpenJDK via Homebrew:
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```sh
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brew install --cask adoptopenjdk16
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brew install openjdk@17
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```
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