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New Crowdin translations - ko (#24547)
Co-authored-by: Crowdin Bot <support+bot@crowdin.com>
This commit is contained in:
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@@ -23,7 +23,7 @@ You can locate the parameters in QGroundControl as shown below:
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1. Open QGroundControl menu: **Settings > Parameters > Sensor Calibration**.
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2. The parameters as located in the section as shown below (or you can search for them):
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## Parameter Summary
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@@ -52,81 +52,81 @@ The following steps explain how you can "manually" update the bootloader using a
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1. Get a binary containing the bootloader (either from dev team or [build it yourself](#building-the-px4-bootloader)).
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2. Get a [Debug Probe](../debug/swd_debug.md#debug-probes-for-px4-hardware).
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Connect the probe your PC via USB and setup the `gdbserver`.
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Connect the probe your PC via USB and setup the `gdbserver`.
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3. Go into the directory containing the binary and run the command for your target bootloader in the terminal:
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- FMUv6X
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- FMUv6X
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```sh
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arm-none-eabi-gdb px4_fmu-v6x_bootloader.elf
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```
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```sh
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arm-none-eabi-gdb px4_fmu-v6x_bootloader.elf
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```
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- FMUv6X-RT
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- FMUv6X-RT
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```sh
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arm-none-eabi-gdb px4_fmu-v6xrt_bootloader.elf
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```
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```sh
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arm-none-eabi-gdb px4_fmu-v6xrt_bootloader.elf
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```
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- FMUv5
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- FMUv5
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```sh
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arm-none-eabi-gdb px4fmuv5_bl.elf
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```
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```sh
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arm-none-eabi-gdb px4fmuv5_bl.elf
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```
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::: info
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H7 Bootloaders from [PX4/PX4-Autopilot](https://github.com/PX4/PX4-Autopilot) are named with pattern `*._bootloader.elf`.
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Bootloaders from [PX4/PX4-Bootloader](https://github.com/PX4/PX4-Bootloader) are named with the pattern `*_bl.elf`.
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::: info
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H7 Bootloaders from [PX4/PX4-Autopilot](https://github.com/PX4/PX4-Autopilot) are named with pattern `*._bootloader.elf`.
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Bootloaders from [PX4/PX4-Bootloader](https://github.com/PX4/PX4-Bootloader) are named with the pattern `*_bl.elf`.
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:::
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4. The _gdb terminal_ appears and it should display the following output:
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```sh
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GNU gdb (GNU Tools for Arm Embedded Processors 7-2017-q4-major) 8.0.50.20171128-git
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Copyright (C) 2017 Free Software Foundation, Inc.
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License GPLv3+: GNU GPL version 3 or later <http://gnu.org/licenses/gpl.html>
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This is free software: you are free to change and redistribute it.
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There is NO WARRANTY, to the extent permitted by law.
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Type "show copying" and "show warranty" for details.
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This GDB was configured as "--host=x86_64-linux-gnu --target=arm-none-eabi".
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Type "show configuration" for configuration details.
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For bug reporting instructions, please see:
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<http://www.gnu.org/software/gdb/bugs/>.
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Find the GDB manual and other documentation resources online at:
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<http://www.gnu.org/software/gdb/documentation/>.
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For help, type "help".
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Type "apropos word" to search for commands related to "word"...
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Reading symbols from px4fmuv5_bl.elf...done.
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```
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```sh
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GNU gdb (GNU Tools for Arm Embedded Processors 7-2017-q4-major) 8.0.50.20171128-git
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Copyright (C) 2017 Free Software Foundation, Inc.
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License GPLv3+: GNU GPL version 3 or later <http://gnu.org/licenses/gpl.html>
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This is free software: you are free to change and redistribute it.
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There is NO WARRANTY, to the extent permitted by law.
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Type "show copying" and "show warranty" for details.
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This GDB was configured as "--host=x86_64-linux-gnu --target=arm-none-eabi".
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Type "show configuration" for configuration details.
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For bug reporting instructions, please see:
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<http://www.gnu.org/software/gdb/bugs/>.
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Find the GDB manual and other documentation resources online at:
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<http://www.gnu.org/software/gdb/documentation/>.
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For help, type "help".
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Type "apropos word" to search for commands related to "word"...
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Reading symbols from px4fmuv5_bl.elf...done.
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```
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5. Find your `<dronecode-probe-id>` by running an `ls` command in the **/dev/serial/by-id** directory.
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6. Now connect to the debug probe with the following command:
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```sh
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tar ext /dev/serial/by-id/<dronecode-probe-id>
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```
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```sh
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tar ext /dev/serial/by-id/<dronecode-probe-id>
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```
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7. Power on the Pixhawk with another USB cable and connect the probe to the `FMU-DEBUG` port.
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::: info
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If using a Dronecode probe you may need to remove the case in order to connect to the `FMU-DEBUG` port (e.g. on Pixhawk 4 you would do this using a T6 Torx screwdriver).
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::: info
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If using a Dronecode probe you may need to remove the case in order to connect to the `FMU-DEBUG` port (e.g. on Pixhawk 4 you would do this using a T6 Torx screwdriver).
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:::
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8. Use the following command to scan for the Pixhawk\`s SWD and connect to it:
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```sh
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(gdb) mon swdp_scan
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(gdb) attach 1
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```
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```sh
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(gdb) mon swdp_scan
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(gdb) attach 1
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```
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9. 이제 바이너리를 픽스호크에 로드하십시오:
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```sh
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(gdb) load
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```
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```sh
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(gdb) load
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```
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After the bootloader has updated you can [Load PX4 Firmware](../config/firmware.md) using _QGroundControl_.
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@@ -147,8 +147,8 @@ Currently only FMUv2 and some custom firmware includes the desired bootloader.
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2. [Update the Firmware](../config/firmware.md#custom) with an image containing the new/desired bootloader.
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::: info
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The updated bootloader might be supplied in custom firmware (i.e. from the dev team), or it or may be included in the latest main branch.
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::: info
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The updated bootloader might be supplied in custom firmware (i.e. from the dev team), or it or may be included in the latest main branch.
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:::
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@@ -157,7 +157,7 @@ Currently only FMUv2 and some custom firmware includes the desired bootloader.
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4. [Find and enable](../advanced_config/parameters.md) the parameter [SYS_BL_UPDATE](../advanced_config/parameter_reference.md#SYS_BL_UPDATE).
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5. 재부팅하십시오 (보드의 연결을 끊고 다시 연결하십시오.).
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부트로더 업데이트는 수초내에 완료됩니다.
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부트로더 업데이트는 수초내에 완료됩니다.
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Generally at this point you may then want to [update the firmware](../config/firmware.md) again using the correct/newly installed bootloader.
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@@ -177,25 +177,25 @@ To update the bootloader:
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1. SD카드를 삽입합니다 (발생 가능한 문제들의 디버깅을 위한 부트 로그 기록을 가능하게 합니다.)
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2. [Update the Firmware](../config/firmware.md) to PX4 _master_ version (when updating the firmware, check **Advanced settings** and then select **Developer Build (master)** from the dropdown list).
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_QGroundControl_ will automatically detect that the hardware supports FMUv2 and install the appropriate Firmware.
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_QGroundControl_ will automatically detect that the hardware supports FMUv2 and install the appropriate Firmware.
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기체가 재부팅될 때까지 기다리십시오.
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기체가 재부팅될 때까지 기다리십시오.
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3. [Find and enable](../advanced_config/parameters.md) the parameter [SYS_BL_UPDATE](../advanced_config/parameter_reference.md#SYS_BL_UPDATE).
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4. 재부팅하십시오 (보드의 연결을 끊고 다시 연결하십시오.).
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부트로더 업데이트는 수초내에 완료됩니다.
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부트로더 업데이트는 수초내에 완료됩니다.
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5. Then [Update the Firmware](../config/firmware.md) again.
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This time _QGroundControl_ should autodetect the hardware as FMUv3 and update the Firmware appropriately.
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This time _QGroundControl_ should autodetect the hardware as FMUv3 and update the Firmware appropriately.
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::: info
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If the hardware has the [Silicon Errata](../flight_controller/silicon_errata.md#fmuv2-pixhawk-silicon-errata) it will still be detected as FMUv2 and you will see that FMUv2 was re-installed (in console).
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In this case you will not be able to install FMUv3 hardware.
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::: info
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If the hardware has the [Silicon Errata](../flight_controller/silicon_errata.md#fmuv2-pixhawk-silicon-errata) it will still be detected as FMUv2 and you will see that FMUv2 was re-installed (in console).
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In this case you will not be able to install FMUv3 hardware.
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:::
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@@ -48,7 +48,7 @@ The process is demonstrated for a multicopter, but is equally valid for other ve
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- 기체에 시동을 걸고 스로틀을 천천히 최대로 올립니다.
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- 스로틀을 천천히 0까지 낮춥니다.
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- 기체 시동을 끄십시오.
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> <strong x-id="1">참고</strong> 진동을 면밀히 관찰하고, 신중하게 테스트를 진행하십시오.
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> <strong x-id="1">참고</strong> 진동을 면밀히 관찰하고, 신중하게 테스트를 진행하십시오.
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::: info
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Perform the test carefully and closely monitor the vibrations.
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@@ -94,29 +94,29 @@ ESC를 보정하려면 :
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- The minimum value for a motor (default: `1100us`) should make the motor spin slowly but reliably, and also spin up reliably after it was stopped.
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You can confirm that a motor spins at minimum (still without propellers) in [Actuator Testing](../config/actuators.md#actuator-testing), by enabling the sliders, and then moving the test output slider for the motor to the first snap position from the bottom.
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The correct value should make the motor spin immediately and reliably as you move the slider from disarmed to minimum.
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You can confirm that a motor spins at minimum (still without propellers) in [Actuator Testing](../config/actuators.md#actuator-testing), by enabling the sliders, and then moving the test output slider for the motor to the first snap position from the bottom.
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The correct value should make the motor spin immediately and reliably as you move the slider from disarmed to minimum.
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To find the "optimal" minimum value, move the slider to the bottom (disarmed).
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Then increase the PWM output's `disarmed` setting in small increments (e.g. 1025us, 1050us, etc), until the motor starts to spin reliably (it is better to be a little too high than a little too low).
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Enter this value into the `minimum` setting for all the motor PWM outputs, and restore the `disarmed` output to `1100us`.
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To find the "optimal" minimum value, move the slider to the bottom (disarmed).
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Then increase the PWM output's `disarmed` setting in small increments (e.g. 1025us, 1050us, etc), until the motor starts to spin reliably (it is better to be a little too high than a little too low).
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Enter this value into the `minimum` setting for all the motor PWM outputs, and restore the `disarmed` output to `1100us`.
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- The maximum value for a motor (default: `1900us`) should be chosen such that increasing the value doesn't make the motor spin any faster.
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You can confirm that the motor spins quickly at the maximum setting in [Actuator Testing](../config/actuators.md#actuator-testing), by moving the associated test output slider to the top position.
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You can confirm that the motor spins quickly at the maximum setting in [Actuator Testing](../config/actuators.md#actuator-testing), by moving the associated test output slider to the top position.
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To find the "optimal" maximum value, first move the slider to the bottom (disarmed).
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Then increase the PWM output's `disarmed` setting to near the default maximum (`1900`) - the motors should spin up.
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Listen to the tone of the motor as you increase the PWM maximum value for the output in increments (e.g. 1925us, 1950us, etc).
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The optimal value is found at the point when the sound of the motors does not change as you increase the value of the output.
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Enter this value into the `maximum` setting for all the motor PWM outputs, and restore the `disarmed` output to `1100us`.
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To find the "optimal" maximum value, first move the slider to the bottom (disarmed).
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Then increase the PWM output's `disarmed` setting to near the default maximum (`1900`) - the motors should spin up.
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Listen to the tone of the motor as you increase the PWM maximum value for the output in increments (e.g. 1925us, 1950us, etc).
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The optimal value is found at the point when the sound of the motors does not change as you increase the value of the output.
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Enter this value into the `maximum` setting for all the motor PWM outputs, and restore the `disarmed` output to `1100us`.
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- The disarmed value for a motor (default: `1000us`) should make the motor stop and stay stopped.
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You can confirm this in [Actuator Testing](../config/actuators.md#actuator-testing) by moving the test output slider to the snap position at the bottom of the slider and observing that the motor does not spin.
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You can confirm this in [Actuator Testing](../config/actuators.md#actuator-testing) by moving the test output slider to the snap position at the bottom of the slider and observing that the motor does not spin.
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If the ESC spins with the default value of 1000us then the ESC is not properly calibrated.
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If using an ESC that can't be calibrated, you should reduce the PWM output value for the output to below where the motor does not spin anymore (such as 950us or 900us).
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If the ESC spins with the default value of 1000us then the ESC is not properly calibrated.
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If using an ESC that can't be calibrated, you should reduce the PWM output value for the output to below where the motor does not spin anymore (such as 950us or 900us).
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::: info
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VTOL and fixed-wing motors do not need any special PWM configuration.
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@@ -87,14 +87,14 @@ To set the above "example" configuration using the _QGroundControl_:
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3. Enter commands "like" the ones below into the _MAVLink Console_ (to write the values to the configuration file):
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```sh
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echo DEVICE=eth0 > /fs/microsd/net.cfg
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echo BOOTPROTO=fallback >> /fs/microsd/net.cfg
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echo IPADDR=10.41.10.2 >> /fs/microsd/net.cfg
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echo NETMASK=255.255.255.0 >>/fs/microsd/net.cfg
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echo ROUTER=10.41.10.254 >>/fs/microsd/net.cfg
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echo DNS=10.41.10.254 >>/fs/microsd/net.cfg
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```
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```sh
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echo DEVICE=eth0 > /fs/microsd/net.cfg
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echo BOOTPROTO=fallback >> /fs/microsd/net.cfg
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echo IPADDR=10.41.10.2 >> /fs/microsd/net.cfg
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echo NETMASK=255.255.255.0 >>/fs/microsd/net.cfg
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echo ROUTER=10.41.10.254 >>/fs/microsd/net.cfg
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echo DNS=10.41.10.254 >>/fs/microsd/net.cfg
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```
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4. Once the network configuration has been set you can disconnect the USB cable.
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@@ -113,36 +113,36 @@ Note that there are many more [examples](https://netplan.io/examples/) and instr
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To setup the Ubuntu Computer:
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1. In a terminal, create and open a `netplan` configuration file: `/etc/netplan/01-network-manager-all.yaml`
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Below we do this using the _nano_ text editor.
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Below we do this using the _nano_ text editor.
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```
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sudo nano /etc/netplan/01-network-manager-all.yaml
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```
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```
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sudo nano /etc/netplan/01-network-manager-all.yaml
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```
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2. Copy and paste the following configuration information into the file (note: the indentations are important!):
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```
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network:
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version: 2
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renderer: NetworkManager
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ethernets:
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enp2s0:
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addresses:
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- 10.41.10.1/24
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nameservers:
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addresses: [10.41.10.1]
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routes:
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- to: 10.41.10.1
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via: 10.41.10.1
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```
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```
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network:
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version: 2
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renderer: NetworkManager
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ethernets:
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enp2s0:
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addresses:
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- 10.41.10.1/24
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nameservers:
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addresses: [10.41.10.1]
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routes:
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- to: 10.41.10.1
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via: 10.41.10.1
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```
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Save and exit the editor.
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Save and exit the editor.
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3. Apply the _netplan_ configuration by entering the following command into the Ubuntu terminal.
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```
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sudo netplan apply
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```
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```
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sudo netplan apply
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```
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### Companion Computer Ethernet Network Setup
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@@ -189,9 +189,9 @@ To connect QGroundControl to PX4 over Ethernet:
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3. Start QGroundControl and [define a comm link](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/settings_view/settings_view.html) (**Application Settings > Comm Links**) specifying the _server address_ and port as the IP address and port assigned in PX4, respectively.
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Assuming that the values are set as described in the rest of this topic the setup will look like this:
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Assuming that the values are set as described in the rest of this topic the setup will look like this:
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4. QGroundControl should then connect if you select this link.
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@@ -205,14 +205,14 @@ To setup MAVSDK-Python running on a companion computer:
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1. [Set up the Ethernet Network](#setting-up-the-ethernet-network) so your companion computer and PX4 run on the same network.
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2. Modify the [PX4 Ethernet Port Configuration](#px4-ethernet-network-setup) to connect to a companion computer.
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You might change the parameters [MAV_2_REMOTE_PRT](../advanced_config/parameter_reference.md#MAV_2_REMOTE_PRT) and [MAV_2_UDP_PRT](../advanced_config/parameter_reference.md#MAV_2_UDP_PRT) to `14540`, and [MAV_2_MODE](../advanced_config/parameter_reference.md#MAV_2_MODE) to `2` (Onboard).
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You might change the parameters [MAV_2_REMOTE_PRT](../advanced_config/parameter_reference.md#MAV_2_REMOTE_PRT) and [MAV_2_UDP_PRT](../advanced_config/parameter_reference.md#MAV_2_UDP_PRT) to `14540`, and [MAV_2_MODE](../advanced_config/parameter_reference.md#MAV_2_MODE) to `2` (Onboard).
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3. Follow the instructions in [MAVSDK-python](https://github.com/mavlink/MAVSDK-Python) to install and use MAVSDK.
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For example, your code will connect to the PX4 using:
|
||||
For example, your code will connect to the PX4 using:
|
||||
|
||||
```python
|
||||
await drone.connect(system_address="udp://10.41.10.2:14540")
|
||||
```
|
||||
```python
|
||||
await drone.connect(system_address="udp://10.41.10.2:14540")
|
||||
```
|
||||
|
||||
:::info
|
||||
MAVSDK can connect to the PX4 on port `14550` if you don't modify the PX4 Ethernet port configuration.
|
||||
@@ -235,38 +235,38 @@ To set up ROS 2:
|
||||
1. Connect your flight controller and companion computer via Ethernet.
|
||||
|
||||
2. [Start the uXRCE-DDS client on PX4](../middleware/uxrce_dds.md#starting-the-client), either manually or by customizing the system startup script.
|
||||
Note that you must use the IP address of the companion computer and the UDP port on which the agent is listening (the example configuration above sets the companion IP address to `10.41.10.1`, and the agent UDP port is set to `8888` in the next step).
|
||||
Note that you must use the IP address of the companion computer and the UDP port on which the agent is listening (the example configuration above sets the companion IP address to `10.41.10.1`, and the agent UDP port is set to `8888` in the next step).
|
||||
|
||||
3. [Start the micro XRCE-DDS agent on the companion computer](../middleware/uxrce_dds.md#starting-the-agent).
|
||||
For example, enter the following command in a terminal to start the agent listening on UDP port `8888`.
|
||||
For example, enter the following command in a terminal to start the agent listening on UDP port `8888`.
|
||||
|
||||
```sh
|
||||
MicroXRCEAgent udp4 -p 8888
|
||||
```
|
||||
```sh
|
||||
MicroXRCEAgent udp4 -p 8888
|
||||
```
|
||||
|
||||
4. Run a [listener node](../ros2/user_guide.md#running-the-example) in a new terminal to confirm the connection is established:
|
||||
|
||||
```sh
|
||||
source ~/ws_sensor_combined/install/setup.bash
|
||||
ros2 launch px4_ros_com sensor_combined_listener.launch.py
|
||||
```
|
||||
```sh
|
||||
source ~/ws_sensor_combined/install/setup.bash
|
||||
ros2 launch px4_ros_com sensor_combined_listener.launch.py
|
||||
```
|
||||
|
||||
If everything is setup correctly, the following output should be displayed in the terminal:
|
||||
If everything is setup correctly, the following output should be displayed in the terminal:
|
||||
|
||||
```sh
|
||||
RECEIVED SENSOR COMBINED DATA
|
||||
=============================
|
||||
ts: 855801598
|
||||
gyro_rad[0]: -0.00339938
|
||||
gyro_rad[1]: 0.00440091
|
||||
gyro_rad[2]: 0.00513893
|
||||
gyro_integral_dt: 4997
|
||||
accelerometer_timestamp_relative: 0
|
||||
accelerometer_m_s2[0]: -0.0324082
|
||||
accelerometer_m_s2[1]: 0.0392213
|
||||
accelerometer_m_s2[2]: -9.77914
|
||||
accelerometer_integral_dt: 4997
|
||||
```
|
||||
```sh
|
||||
RECEIVED SENSOR COMBINED DATA
|
||||
=============================
|
||||
ts: 855801598
|
||||
gyro_rad[0]: -0.00339938
|
||||
gyro_rad[1]: 0.00440091
|
||||
gyro_rad[2]: 0.00513893
|
||||
gyro_integral_dt: 4997
|
||||
accelerometer_timestamp_relative: 0
|
||||
accelerometer_m_s2[0]: -0.0324082
|
||||
accelerometer_m_s2[1]: 0.0392213
|
||||
accelerometer_m_s2[2]: -9.77914
|
||||
accelerometer_integral_dt: 4997
|
||||
```
|
||||
|
||||
## See Also
|
||||
|
||||
|
||||
@@ -153,15 +153,15 @@ It corresponds to: [COM_PREARM_MODE=1](#COM_PREARM_MODE) (safety switch) and [CB
|
||||
시작 절차는 다음과 같습니다:
|
||||
|
||||
1. 전원 인가
|
||||
- 모든 액츄에이터를 시동 해제 상태로 잠금
|
||||
- 시동 걸기 불가능
|
||||
- 모든 액츄에이터를 시동 해제 상태로 잠금
|
||||
- 시동 걸기 불가능
|
||||
2. 안전 스위치 누름
|
||||
- 시스템이 시동전 상태로 전환: 추진 모터를 제외한 모든 액츄에이터 동작 가능(예: 보조익)
|
||||
- 시스템 안전 장치 꺼짐: 시동 가능
|
||||
- 시스템이 시동전 상태로 전환: 추진 모터를 제외한 모든 액츄에이터 동작 가능(예: 보조익)
|
||||
- 시스템 안전 장치 꺼짐: 시동 가능
|
||||
3. 시동 명령 인가
|
||||
|
||||
- 시스템에 시동이 걸림
|
||||
- 모든 모터와 액츄에이터를 움직일 수 있음
|
||||
- 시스템에 시동이 걸림
|
||||
- 모든 모터와 액츄에이터를 움직일 수 있음
|
||||
|
||||
### COM_PREARM_MODE = Disabled and Safety Switch
|
||||
|
||||
@@ -171,15 +171,15 @@ This corresponds to [COM_PREARM_MODE=0](#COM_PREARM_MODE) (Disabled) and [CBRK_I
|
||||
시작 절차는 다음과 같습니다:
|
||||
|
||||
1. 전원 인가
|
||||
- 모든 액츄에이터를 시동 해제 상태로 잠금
|
||||
- 시동 걸기 불가능
|
||||
- 모든 액츄에이터를 시동 해제 상태로 잠금
|
||||
- 시동 걸기 불가능
|
||||
2. 안전 스위치 누름
|
||||
- _All actuators stay locked into disarmed position (same as disarmed)._
|
||||
- 시스템 안전 장치 꺼짐: 시동 가능
|
||||
- _All actuators stay locked into disarmed position (same as disarmed)._
|
||||
- 시스템 안전 장치 꺼짐: 시동 가능
|
||||
3. 시동 명령 인가
|
||||
|
||||
- 시스템에 시동이 걸림
|
||||
- 모든 모터와 액츄에이터를 움직일 수 있음
|
||||
- 시스템에 시동이 걸림
|
||||
- 모든 모터와 액츄에이터를 움직일 수 있음
|
||||
|
||||
### COM_PREARM_MODE = Always and Safety Switch
|
||||
|
||||
@@ -190,13 +190,13 @@ This corresponds to [COM_PREARM_MODE=2](#COM_PREARM_MODE) (Always) and [CBRK_IO_
|
||||
시작 절차는 다음과 같습니다:
|
||||
|
||||
1. 전원 인가
|
||||
- 시스템이 시동전 상태로 전환: 추진 모터를 제외한 모든 액츄에이터 동작 가능(예: 보조익)
|
||||
- 시동 걸기 불가능
|
||||
- 시스템이 시동전 상태로 전환: 추진 모터를 제외한 모든 액츄에이터 동작 가능(예: 보조익)
|
||||
- 시동 걸기 불가능
|
||||
2. 안전 스위치 누름
|
||||
- 시스템 안전 장치 꺼짐: 시동 가능
|
||||
- 시스템 안전 장치 꺼짐: 시동 가능
|
||||
3. 시동 명령 인가
|
||||
- 시스템에 시동이 걸림
|
||||
- 모든 모터와 액츄에이터를 움직일 수 있음
|
||||
- 시스템에 시동이 걸림
|
||||
- 모든 모터와 액츄에이터를 움직일 수 있음
|
||||
|
||||
### COM_PREARM_MODE = Safety or Disabled and No Safety Switch
|
||||
|
||||
@@ -206,11 +206,11 @@ This corresponds to [COM_PREARM_MODE=0 or 1](#COM_PREARM_MODE) (Disabled/Safety
|
||||
시작 절차는 다음과 같습니다:
|
||||
|
||||
1. 전원 인가
|
||||
- 모든 액츄에이터를 시동 해제 상태로 잠금
|
||||
- 시스템 안전 장치 꺼짐: 시동 가능
|
||||
- 모든 액츄에이터를 시동 해제 상태로 잠금
|
||||
- 시스템 안전 장치 꺼짐: 시동 가능
|
||||
2. 시동 명령 인가
|
||||
- 시스템에 시동이 걸림
|
||||
- 모든 모터와 액츄에이터를 움직일 수 있음
|
||||
- 시스템에 시동이 걸림
|
||||
- 모든 모터와 액츄에이터를 움직일 수 있음
|
||||
|
||||
### COM_PREARM_MODE = Always and No Safety Switch
|
||||
|
||||
@@ -220,11 +220,11 @@ This corresponds to [COM_PREARM_MODE=2](#COM_PREARM_MODE) (Always) and [CBRK_IO_
|
||||
시작 절차는 다음과 같습니다:
|
||||
|
||||
1. 전원 인가
|
||||
- 시스템이 시동전 상태로 전환: 추진 모터를 제외한 모든 액츄에이터 동작 가능(예: 보조익)
|
||||
- 시스템 안전 장치 꺼짐: 시동 가능
|
||||
- 시스템이 시동전 상태로 전환: 추진 모터를 제외한 모든 액츄에이터 동작 가능(예: 보조익)
|
||||
- 시스템 안전 장치 꺼짐: 시동 가능
|
||||
2. 시동 명령 인가
|
||||
- 시스템에 시동이 걸림
|
||||
- 모든 모터와 액츄에이터를 움직일 수 있음
|
||||
- 시스템에 시동이 걸림
|
||||
- 모든 모터와 액츄에이터를 움직일 수 있음
|
||||
|
||||
### 매개변수
|
||||
|
||||
|
||||
@@ -102,11 +102,11 @@ PX4는 두 가지 보정 절차를 지원합니다.
|
||||
|
||||
9. Open a terminal window in the **Firmware/Tools** directory and run the python calibration script:
|
||||
|
||||
```sh
|
||||
python process_sensor_caldata.py <full path name to .ulog file>
|
||||
```
|
||||
```sh
|
||||
python process_sensor_caldata.py <full path name to .ulog file>
|
||||
```
|
||||
|
||||
This will generate a **.pdf** file showing the measured data and curve fits for each sensor, and a **.params** file containing the calibration parameters.
|
||||
This will generate a **.pdf** file showing the measured data and curve fits for each sensor, and a **.params** file containing the calibration parameters.
|
||||
|
||||
10. Power the board, connect _QGroundControl_ and load the parameter from the generated **.params** file onto the board using _QGroundControl_. 매개변수의 갯수가 많이지므로, 로드 시간이 길어질 수 있습니다.
|
||||
|
||||
|
||||
@@ -158,29 +158,29 @@ Three axis body fixed magnetometer data at a minimum rate of 5Hz is required to
|
||||
Magnetometer data fusion can be configured using [EKF2_MAG_TYPE](../advanced_config/parameter_reference.md#EKF2_MAG_TYPE):
|
||||
|
||||
0. Automatic:
|
||||
- The magnetometer readings only affect the heading estimate before arming, and the whole attitude after arming.
|
||||
- Heading and tilt errors are compensated when using this method.
|
||||
- Incorrect magnetic field measurements can degrade the tilt estimate.
|
||||
- The magnetometer biases are estimated whenever observable.
|
||||
- The magnetometer readings only affect the heading estimate before arming, and the whole attitude after arming.
|
||||
- Heading and tilt errors are compensated when using this method.
|
||||
- Incorrect magnetic field measurements can degrade the tilt estimate.
|
||||
- The magnetometer biases are estimated whenever observable.
|
||||
1. Magnetic heading:
|
||||
- Only the heading is corrected.
|
||||
The tilt estimate is never affected by incorrect magnetic field measurements.
|
||||
- Tilt errors that could arise when flying without velocity/position aiding are not corrected when using this method.
|
||||
- The magnetometer biases are estimated whenever observable.
|
||||
- Only the heading is corrected.
|
||||
The tilt estimate is never affected by incorrect magnetic field measurements.
|
||||
- Tilt errors that could arise when flying without velocity/position aiding are not corrected when using this method.
|
||||
- The magnetometer biases are estimated whenever observable.
|
||||
2. Deprecated
|
||||
3. Deprecated
|
||||
4. Deprecated
|
||||
5. None:
|
||||
- Magnetometer data is never used.
|
||||
This is useful when the data can never be trusted (e.g.: high current close to the sensor, external anomalies).
|
||||
- The estimator will use other sources of heading: [GPS heading](#yaw-measurements) or external vision.
|
||||
- When using GPS measurements without another source of heading, the heading can only be initialized after sufficient horizontal acceleration.
|
||||
See [Estimate yaw from vehicle movement](#yaw-from-gps-velocity) below.
|
||||
- Magnetometer data is never used.
|
||||
This is useful when the data can never be trusted (e.g.: high current close to the sensor, external anomalies).
|
||||
- The estimator will use other sources of heading: [GPS heading](#yaw-measurements) or external vision.
|
||||
- When using GPS measurements without another source of heading, the heading can only be initialized after sufficient horizontal acceleration.
|
||||
See [Estimate yaw from vehicle movement](#yaw-from-gps-velocity) below.
|
||||
6. Init only:
|
||||
- Magnetometer data is only used to initialize the heading estimate.
|
||||
This is useful when the data can be used before arming but not afterwards (e.g.: high current after the vehicle is armed).
|
||||
- After initialization, the heading is constrained using other observations.
|
||||
- Unlike mag type `None`, when combined with GPS measurements, this method allows position controlled modes to run directly during takeoff.
|
||||
- Magnetometer data is only used to initialize the heading estimate.
|
||||
This is useful when the data can be used before arming but not afterwards (e.g.: high current after the vehicle is armed).
|
||||
- After initialization, the heading is constrained using other observations.
|
||||
- Unlike mag type `None`, when combined with GPS measurements, this method allows position controlled modes to run directly during takeoff.
|
||||
|
||||
The following selection tree can be used to select the right option:
|
||||
|
||||
@@ -242,8 +242,8 @@ A good tuning is obtained as follows:
|
||||
|
||||
2. Extract the `.ulg` log file using, for example, [QGroundControl: Analyze > Log Download](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/analyze_view/log_download.html)
|
||||
|
||||
::: info
|
||||
The same log file can be used to tune the [multirotor wind estimator](#mc_wind_estimation_using_drag).
|
||||
::: info
|
||||
The same log file can be used to tune the [multirotor wind estimator](#mc_wind_estimation_using_drag).
|
||||
|
||||
:::
|
||||
|
||||
@@ -461,8 +461,8 @@ A good tuning is obtained as follows:
|
||||
|
||||
1. Fly once in [Position mode](../flight_modes_mc/position.md) repeatedly forwards/backwards/left/right/up/down between rest and maximum speed (best results are obtained when this testing is conducted in still conditions).
|
||||
2. Extract the **.ulg** log file using, for example, [QGroundControl: Analyze > Log Download](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/analyze_view/log_download.html)
|
||||
::: info
|
||||
The same **.ulg** log file can also be used to tune the [static pressure position error coefficients](#correction-for-static-pressure-position-error).
|
||||
::: info
|
||||
The same **.ulg** log file can also be used to tune the [static pressure position error coefficients](#correction-for-static-pressure-position-error).
|
||||
|
||||
:::
|
||||
3. Use the log with the [mc_wind_estimator_tuning.py](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/ekf2/EKF/python/tuning_tools/mc_wind_estimator) Python script to obtain the optimal set of parameters.
|
||||
|
||||
Reference in New Issue
Block a user