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docs(i18n): PX4 guide translations (Crowdin) - uk (#26899)
Co-authored-by: Crowdin Bot <support+bot@crowdin.com>
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Симулятори дозволяють польотному коду PX4 керувати комп'ютерно змодельованим апаратом у змодельованому "світі".
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You can interact with this vehicle just as you might with a real vehicle, using _QGroundControl_, an offboard API, or a radio controller/gamepad.
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:::tip
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Simulation is a quick, easy, and most importantly, _safe_ way to test changes to PX4 code before attempting to fly in the real world.
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Це також хороший спосіб почати літати з PX4, якщо у вас ще немає апарату для експериментів.
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:::
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PX4 supports both _Software In the Loop (SITL)_ simulation, where the flight stack runs on computer (either the same computer or another computer on the same network) and _Hardware In the Loop (HITL)_ simulation using a simulation firmware on a real flight controller board.
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Інформація про доступні тренажери та способи їх налаштування наведена в наступному розділі.
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The other sections provide general information about how the simulator works, and are not required to _use_ the simulators.
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:::tip
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Simulation is a quick, easy, and most importantly, _safe_ way to test changes to PX4 code before attempting to fly in the real world.
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Це також хороший спосіб почати літати з PX4, якщо у вас ще немає апарату для експериментів.
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:::
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## Підтримувані симулятори
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Наступні симулятори підтримуються основною командою розробників PX4.
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:::info
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Gazebo Classic is being downgraded to [community supported](../simulation/community_supported_simulators.md) and is no longer recommended as the default simulation solution.
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Use [Gazebo](../sim_gazebo_gz/index.md) (formerly Gazebo Ignition) for new projects.
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If you have an older workflow that does not yet work in newer Gazebo, Gazebo Classic remains available but will not receive core team maintenance going forward.
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See [PX4-Autopilot#23602](https://github.com/PX4/PX4-Autopilot/issues/23602) for the deprecation timeline and migration status.
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:::
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| Симулятор | Опис |
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| ------------------------------------------------ | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
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| [Gazebo](../sim_gazebo_gz/index.md) | Gazebo supersedes [Gazebo Classic](../sim_gazebo_classic/index.md), featuring more advanced rendering, physics and sensor models. It is the only version of Gazebo available from Ubuntu Linux 22.04<br><br>A powerful 3D simulation environment that is particularly suitable for testing object-avoidance and computer vision. Він також може бути використаний для [multi-vehicle simulation](../simulation/multi-vehicle-simulation.md) і зазвичай використовується з [ROS](../simulation/ros_interface.md), набором інструментів для автоматизації керування апаратами. <br><br><strong>Supported Vehicles:</strong> Quad, VTOL (Standard, Tailsitter, Tiltroter), Plane, Rovers |
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| [Gazebo Classic](../sim_gazebo_classic/index.md) | A powerful 3D simulation environment that is particularly suitable for testing object-avoidance and computer vision. It can also be used for [multi-vehicle simulation](../simulation/multi-vehicle-simulation.md) and is commonly used with [ROS](../simulation/ros_interface.md), a collection of tools for automating vehicle control.<br><br>**Supported Vehicles:** Quad ([Iris](../airframes/airframe_reference.md#copter_quadrotor_x_generic_quadcopter)), Hex (Typhoon H480), [Generic Standard VTOL (QuadPlane)](../airframes/airframe_reference.md#vtol_standard_vtol_generic_standard_vtol), Tailsitter, Plane, Rover, Submarine |
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| [SIH](../sim_sih/index.md) | A lightweight, headless simulator that runs physics directly inside PX4 as a C++ module (no external dependencies). Headless by default for fastest iteration. Supports ROS 2 via uXRCE-DDS. Can also run on flight controller hardware (`SYS_HITL=2`).<br><br>**Supported Vehicles:** Quad, Hex, Plane, Tailsitter, Standard VTOL, Rover |
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There are also a number of [Community Supported Simulators](../simulation/community_supported_simulators.md).
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---
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### Simulator Comparison
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Решта цієї теми - це "дещо загальний" опис того, як працює інфраструктура симуляції.
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It is not required to _use_ the simulators.
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| Характеристика | Gazebo | SIH |
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| ------------------------- | ------------------------------------------------- | -------------------------------------------------------------------------------------- |
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| **Default Mode** | GUI with 3D rendering | Headless (fastest iteration) |
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| **3D Visualization** | Built-in (photorealistic) | Optional: QGC map or jMAVSim display-only |
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| **Physics Engine** | External (gz-physics) | Internal (C++ module, uORB) |
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| **External Dependencies** | Gazebo packages, rendering libs | None |
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| **Vehicle Types** | Quad, VTOL, Plane, Rovers | Quad, Hex, Plane, Tailsitter, Std VTOL, Rover |
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| **Multi-vehicle** | Yes (documented) | Yes ([multi-vehicle](../sim_sih/index.md#multi-vehicle-simulation)) |
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| **Sensor Simulation** | Camera, LiDAR, depth, IMU, GPS, baro, mag | IMU, GPS, baro, mag, airspeed |
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| **Custom Worlds/Models** | Yes (SDF, large model library) | Ні |
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| **ROS 2 Integration** | Yes (uXRCE-DDS) | Yes (uXRCE-DDS) |
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| **Extensibility** | Plugins, custom sensors, environments | Modify C++ source, tune SIH\_\* parameters |
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| **Community/Ecosystem** | Large Gazebo community, model repos | PX4-internal |
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| **Faster-than-Realtime** | Так | Так |
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| **Runs on FC Hardware** | Ні | Yes (SYS_HITL=2) |
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| **macOS Apple Silicon** | Unstable (known issues) | Works natively |
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| **Lockstep** | Так | Так |
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:::tip
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For a detailed analysis of PX4 simulation user needs, priorities, and pain points, see the [PX4 Simulation Integration Survey Report](https://www.mcguirerobotics.com/px4_sim_research_report/) (K. McGuire, Dronecode Foundation, Dec 2025, 120 respondents).
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:::
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### Which Simulator Should I Use?
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- **Full-featured simulation with 3D rendering, custom worlds, camera/lidar sensors, or rich sensor ecosystems:** Use [Gazebo](../sim_gazebo_gz/index.md). Largest ecosystem, custom models and plugins, photorealistic rendering, extensive sensor library, large community.
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- **Fast headless iteration, controls research, zero-dependency setup, or macOS:** Use [SIH](../sim_sih/index.md). Runs entirely inside PX4 with no external dependencies, headless by default for maximum speed, physics parameters directly tunable via `SIH_*` params. Supports ROS 2 via uXRCE-DDS.
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- **Hardware integration testing without propellers:** Use [SIH on flight controller hardware](../sim_sih/index.md#sih-on-flight-controller-hardware) (`SYS_HITL=2`).
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:::info
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SIH is headless by default. For optional 3D visualization, you can use [jMAVSim in display-only mode](../sim_sih/index.md#visualization-optional) or monitor the vehicle in QGroundControl's map view.
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:::
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## Симулятор MAVLink API
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Всі симулятори, крім Gazebo, взаємодіють з PX4 за допомогою API симулятора MAVLink.
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Most external simulators communicate with PX4 using the Simulator MAVLink API.
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Цей API визначає набір повідомлень MAVLink, які передають дані датчиків з модельованого світу в PX4 і повертають значення двигуна і приводу з польотного коду, які будуть застосовані до модельованого апарату.
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На зображенні нижче показано потік повідомлень.
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:::info
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SIH does not use the MAVLink simulator API. It runs physics internally via uORB messages. Gazebo communicates with PX4 via gz_bridge (Gazebo transport), not MAVLink.
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:::
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:::info
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@@ -96,7 +137,7 @@ See [System Startup](../concept/system_startup.md) to learn more.
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## Середовище симуляції SITL
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На схемі нижче показано типове середовище симуляції SITL для будь-якого з підтримуваних тренажерів, що використовують MAVLink (тобто всіх, окрім Gazebo).
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The diagram below shows a typical SITL simulation environment for any of the supported simulators that use MAVLink (i.e. most external simulators, but not Gazebo or SIH).
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@@ -153,8 +194,16 @@ make px4_sitl jmavsim
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# Start PX4 with no simulator (i.e. to use your own "custom" simulator)
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make px4_sitl none_iris
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# SIH (headless, zero dependencies)
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make px4_sitl_sih sihsim_quadx
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make px4_sitl_sih sihsim_airplane
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```
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:::info
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Use `px4_sitl_sih` instead of `px4_sitl` to avoid building Gazebo dependencies.
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:::
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Симуляцію можна додатково налаштувати за допомогою змінних середовища:
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- Any of the [PX4 parameters](../advanced_config/parameter_reference.md) can be overridden via `export PX4_PARAM_{name}={value}`.
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@@ -165,7 +214,7 @@ For more information see: [Building the Code > PX4 Make Build Targets](../dev_se
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### Run Simulation Faster than Realtime {#simulation_speed}
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SITL can be run faster or slower than real-time when using Gazebo, Gazebo Classic, or jMAVSim.
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SITL can be run faster or slower than real-time when using Gazebo, Gazebo Classic, jMAVSim, or SIH.
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The speed factor is set using the environment variable `PX4_SIM_SPEED_FACTOR`.
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@@ -179,6 +228,7 @@ This is what makes it possible to run the simulation at different speeds, and al
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- Gazebo: [Change Simulation Speed](../sim_gazebo_gz/index.md#change-simulation-speed)
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- Gazebo Classic: [Change Simulation Speed](../sim_gazebo_classic/index.md#change-simulation-speed) and [Lockstep](../sim_gazebo_classic/index.md#lockstep)
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- jMAVSim: [Change Simulation Speed](../sim_jmavsim/index.md#change-simulation-speed) and [Lockstep](../sim_jmavsim/index.md#lockstep)
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- SIH: Supports `PX4_SIM_SPEED_FACTOR` for faster-than-realtime simulation.
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### Сценарії запуску
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