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New Crowdin translations - ko (#24948)
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@@ -345,6 +345,7 @@ The used types also define the compatibility with different vehicle types.
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The following sections provide a list of supported setpoint types:
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- [GotoSetpointType](#go-to-setpoint-gotosetpointtype): Smooth position and (optionally) heading control
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- [FwLateralLongitudinalSetpointType](#fixed-wing-lateral-and-longitudinal-setpoint-fwlaterallongitudinalsetpointtype): Direct control of lateral and longitudinal fixed wing dynamics
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- [DirectActuatorsSetpointType](#direct-actuator-control-setpoint-directactuatorssetpointtype): Direct control of motors and flight surface servo setpoints
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:::tip
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@@ -359,7 +360,7 @@ You can add your own setpoint types by adding a class that inherits from `px4_ro
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This setpoint type is currently only supported for multicopters.
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:::
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Smoothly control position and (optionally) heading setpoints with the [px4_ros2::GotoSetpointType](https://github.com/Auterion/px4-ros2-interface-lib/blob/main/px4_ros2_cpp/include/px4_ros2/control/setpoint_types/goto.hpp) setpoint type.
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Smoothly control position and (optionally) heading setpoints with the [`px4_ros2::GotoSetpointType`](https://github.com/Auterion/px4-ros2-interface-lib/blob/main/px4_ros2_cpp/include/px4_ros2/control/setpoint_types/goto.hpp) setpoint type.
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The setpoint type is streamed to FMU based position and heading smoothers formulated with time-optimal, maximum-jerk trajectories, with velocity and acceleration constraints.
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The most trivial use is simply inputting a 3D position into the update method:
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@@ -404,6 +405,137 @@ _goto_setpoint->update(
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max_heading_rate_rad_s);
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```
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#### Fixed-Wing Lateral and Longitudinal Setpoint (FwLateralLongitudinalSetpointType)
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<Badge type="warning" text="Fixed wing only" />
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:::info
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This setpoint type is supported for fixed-wing vehicles and for VTOLs in fixed-wing mode.
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:::
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Use the [`px4_ros2::FwLateralLongitudinalSetpointType`](https://auterion.github.io/px4-ros2-interface-lib/classpx4__ros2_1_1FwLateralLongitudinalSetpointType.html) to directly control the lateral and longitudinal dynamics of a fixed-wing vehicle — that is, side-to-side motion (turning/banking) and forward/vertical motion (speeding up and climbing/descending), respectively.
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This setpoint is streamed to the PX4 [_FwLateralLongitudinalControl_ module](../modules/modules_controller.md#fw-lat-lon-control), which decouples lateral and longitudinal inputs while ensuring that vehicle limits are respected.
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To control the vehicle, at least one lateral **and** one longitudinal setpoint must be provided:
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1. Of the longitudinal inputs: either `altitude` or `height_rate` must be finite to control vertical motion.
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If both are set to `NAN`, the vehicle will maintain its current altitude.
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2. Of the lateral inputs: at least one of `course`, `airspeed_direction`, or `lateral_acceleration` must be finite.
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For a detailed description of the controllable parameters, please refer to message definitions ([FixedWingLateralSetpoint](../msg_docs/FixedWingLateralSetpoint.md) and [FixedWingLongitudinalSetpoint](../msg_docs/FixedWingLongitudinalSetpoint.md)).
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##### 기본 사용법
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This type has a number of update methods, each allowing you to specify an increasing number of setpoints.
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The simplest method is `updateWithAltitude()`, which allows you to specify a `course` and `altitude` target setpoint:
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```cpp
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const float altitude_msl = 500.F;
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const float course = 0.F; // due North
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_fw_lateral_longitudinal_setpoint->updateWithAltitude(altitude_msl, course);
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```
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PX4 uses the setpoints to compute the _roll angle_, _pitch angle_ and _throttle_ setpoints that are sent to lower level controllers.
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Note that the commanded flight is expected to be relatively gentle/unaggressive when using this method.
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This is done as follows:
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- Lateral control output:
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course setpoint (set by user) → airspeed direction (heading) setpoint → lateral acceleration setpoint → roll angle setpoint.
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- Longitudinal control output:
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altitude setpoint (set by user) → height rate setpoint → pitch angle setpoint and throttle settings.
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The `updateWithHeightRate()` method allows you to set a target `course` and `height_rate` (this is useful if the speed of ascent or descent matters, or needs to be dynamically controlled):
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```cpp
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const float height_rate = 2.F;
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const float course = 0.F; // due North
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_fw_lateral_longitudinal_setpoint->updateWithHeightRate(height_rate, course);
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```
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The `updateWithAltitude()` and `updateWithHeightRate()` methods allow you to additionally control the equivalent airspeed or lateral acceleration by specifying them as the third and fourth arguments, respectively:
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```cpp
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const float altitude_msl = 500.F;
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const float course = 0.F; // due North
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const float equivalent_aspd = 15.F; // m/s
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const float lateral_acceleration = 2.F; // FRD, used as feedforward
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_fw_lateral_longitudinal_setpoint->updateWithAltitude(altitude_msl,
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course,
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equivalent_aspd,
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lateral_acceleration);
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```
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The equivalent airspeed and lateral acceleration arguments are defined as `std::optional<float>`, so you can omit any of them by passing `std::nullopt`.
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:::tip
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If both lateral acceleration and course setpoints are provided, the lateral acceleration setpoint will be used as feedforward.
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:::
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##### Full Control Using the Setpoint Struct
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For full flexibility, you can create and pass a [`FwLateralLongitudinalSetpoint`](https://auterion.github.io/px4-ros2-interface-lib/structpx4__ros2_1_1FwLateralLongitudinalSetpoint.html) struct.
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Each field is templated with `std::optional<float>`.
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:::tip
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If both course and airspeed direction are set: airspeed direction takes precedence, course is not controlled.
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Lateral acceleration is treated as feedforward if either course or airspeed direction are also finite.
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If both altitude and height rate are set: height rate takes precedence, altitude is not controlled.
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:::
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```cpp
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px4_ros2::FwLateralLongitudinalSetpoint setpoint_s;
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setpoint_s.withCourse(0.F);
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// setpoint_s.withAirspeedDirection(0.2F); // uncontrolled
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setpoint_s.withLateralAcceleration(2.F); // feedforward
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//setpoint_s.withAltitude(500.F); // uncontrolled
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setpoint_s.withHeightRate(2.F);
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setpoint_s.withEquivalentAirspeed(15.F);
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_fw_lateral_longitudinal_setpoint->update(setpoint_s);
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```
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The diagram below illustrates the interaction between the `FwLateralLongitudinalSetpointType` and PX4 when all inputs are set.
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##### Advanced Configuration (Optional)
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You can also pass a [`FwControlConfiguration`](https://auterion.github.io/px4-ros2-interface-lib/structpx4__ros2_1_1FwControlConfiguration.html) struct along with the setpoint to override default controller settings and constraints such as pitch limits, throttle limits, and target sink/climb rates.
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This is intended for advanced users:
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```cpp
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px4_ros2::FwLateralLongitudinalSetpoint setpoint_s;
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setpoint_s.withAirspeedDirection(0.F);
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setpoint_s.withLateralAcceleration(2.F); // feedforward
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setpoint_s.withAltitude(500.F);
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setpoint_s.withEquivalentAirspeed(15.F);
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px4_ros2::FwControlConfiguration config_s;
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config_s.withTargetClimbRate(3.F);
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config_s.withMaxAcceleration(5.F);
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config_s.withThrottleLimits(0.4F, 0.6F);
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_fw_lateral_longitudinal_setpoint->update(setpoint_s, config_s);
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```
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All configuration fields are defined as `std::optional<float>`.
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Unset values will default to the PX4 configuration.
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See [LateralControlConfiguration](../msg_docs/LateralControlConfiguration.md) and [FixedWingLongitudinalConfiguration](../msg_docs/LongitudinalControlConfiguration.md) for more information on configuration options.
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:::info
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For safety, PX4 automatically limits configuration values to stay within the vehicle’s constraints.
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For example, throttle overrides are clamped to remain between [`FW_THR_MIN`](../advanced_config/parameter_reference.md#FW_THR_MIN)
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and [`FW_THR_MAX`](../advanced_config/parameter_reference.md#FW_THR_MAX).
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:::
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#### Direct Actuator Control Setpoint (DirectActuatorsSetpointType)
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Actuators can be directly controlled using the [px4_ros2::DirectActuatorsSetpointType](https://auterion.github.io/px4-ros2-interface-lib/classpx4__ros2_1_1DirectActuatorsSetpointType.html) setpoint type.
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@@ -415,11 +547,55 @@ For example to control a quadrotor, you need to set the first 4 motors according
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If you want to control an actuator that does not control the vehicle's motion, but for example a payload servo, see [below](#controlling-an-independent-actuator-servo).
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:::
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### Controlling a VTOL
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<Badge type="warning" text="Experimental" />
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To control a VTOL in an external flight mode, ensure you're returning the correct setpoint type based on the current flight configuration:
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- Multicopter mode: use a setpoint type that is compatible with multicopter control. For example: either the [`GotoSetpointType`](#go-to-setpoint-gotosetpointtype) or the [`TrajectorySetpointType`](https://auterion.github.io/px4-ros2-interface-lib/classpx4__ros2_1_1TrajectorySetpointType.html).
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- Fixed-wing mode: Use the [`FwLateralLongitudinalSetpointType`](#fixed-wing-lateral-and-longitudinal-setpoint-fwlaterallongitudinalsetpointtype).
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As long as the VTOL remains in either multicopter or fixed-wing mode throughout the external mode, no additional handling is required.
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If you would like to command a VTOL transition in your external mode, you need to use the [VTOL API](https://auterion.github.io/px4-ros2-interface-lib/classpx4__ros2_1_1VTOL.html). The VTOL API provides the functionality to command a transition and query the current state of the vehicle.
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Use this API with caution!
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Commanding transitions externally makes the user partially responsible for ensuring smooth and safe behavior, unlike onboard transitions (e.g. via RC switch) where PX4 handles the full process:
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1. Ensure that both the `TrajectorySetpointType` and the `FwLateralLongitudinalSetpointType` are available to your mode.
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2. Create an instance of `px4_ros2::VTOL` in the constructor of your mode.
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3. To command a transition, you can use the `toMulticopter()` or `toFixedwing()` methods on your VTOL object to set the desired state.
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4. During transition, send the following combination of setpoints:
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```cpp
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// Assuming the instance of the px4_ros2::VTOL object is called vtol
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// Send TrajectorySetpointType as follows:
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Eigen::Vector3f acceleration_sp = vtol.computeAccelerationSetpointDuringTransition();
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Eigen::Vector3f velocity_sp{NAN, NAN, 0.f};
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_trajectory_setpoint->update(velocity_sp, acceleration_sp);
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// Send FwLateralLongitudinalSetpointType with lateral input to realign vehicle as desired
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float course_sp = 0.F; // North
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_fw_lateral_longitudinal_setpoint->updateWithAltitude(NAN, course_sp)
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```
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This will ensure that the transition is handled properly within PX4.
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You can optionally pass a deceleration setpoint to `computeAccelerationSetpointDuringTransition()` to be used during back-transitions.
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To check the current state of the vehicle, use the `getCurrentState()` method on your `px4_ros2::VTOL` object.
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See [this external flight mode implementation](https://github.com/Auterion/px4-ros2-interface-lib/tree/main/examples/cpp/modes/vtol) for a practical example on how to use this API.
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### Controlling an Independent Actuator/Servo
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If you want to control an independent actuator (a servo), follow these steps:
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1. [Configure the output](../payloads/generic_actuator_control.md#generic-actuator-control-with-mavlink)
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1. [Configure the output](../payloads/generic_actuator_control.md#generic-actuator-control-with-mavlink).
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2. Create an instance of [px4_ros2::PeripheralActuatorControls](https://auterion.github.io/px4-ros2-interface-lib/classpx4__ros2_1_1PeripheralActuatorControls.html) in the constructor of your mode.
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3. Call the `set()` method to control the actuator(s).
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This can be done independently of any active setpoints.
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@@ -431,6 +607,7 @@ You can access PX4 telemetry topics directly via the following classes:
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- [OdometryGlobalPosition](https://auterion.github.io/px4-ros2-interface-lib/classpx4__ros2_1_1OdometryGlobalPosition.html): Global position
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- [OdometryLocalPosition](https://auterion.github.io/px4-ros2-interface-lib/classpx4__ros2_1_1OdometryLocalPosition.html): Local position, velocity, acceleration, and heading
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- [OdometryAttitude](https://auterion.github.io/px4-ros2-interface-lib/classpx4__ros2_1_1OdometryAttitude.html): Vehicle attitude
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- [OdometryAirspeed](https://auterion.github.io/px4-ros2-interface-lib/classpx4__ros2_1_1OdometryAirspeed.html): Airspeed
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For example, you can query the vehicle's current position estimate as follows:
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