New Crowdin translations - zh-CN (#25747)

Co-authored-by: Crowdin Bot <support+bot@crowdin.com>

docs/zh/SUMMARY.md

@@ -851,8 +851,10 @@
       - [测试 MC_04 -故障安全测试](test_cards/mc_04_failsafe_testing.md)
       - [Test MC_05 - Manual Modes (Inside)](test_cards/mc_05_indoor_flight_manual_modes.md)
       - [Test MC_06 - Optical Flow (Inside)](test_cards/mc_06_optical_flow.md)
-      - [Test MC_07 - VIO (Inside)](test_cards/mc_07_vio.md)
+      - [Test MC_07 - Optical Flow Low Mount](test_cards/mc_07_optical_flow_low_mount.md)
       - [Test MC_08 - DSHOT ESC](test_cards/mc_08_dshot.md)
+      - [Test MC_09 - VIO (Visual-Inertial Odometry)](test_cards/mc_09_vio.md)
+      - [Test MC_10 - Optical Flow / GPS Mixed](test_cards/mc_10_optical_flow_gps_mixed.md)
     - [单元测试](test_and_ci/unit_tests.md)
       - [Fuzz Tests](test_and_ci/fuzz_tests.md)
     - [持续集成](test_and_ci/continous_integration.md)

docs/zh/concept/system_startup.md

@@ -1,7 +1,7 @@
 # 系统启动
 
 PX4 系统的启动由 shell 脚本文件控制。
-On NuttX they reside in the [ROMFS/px4fmu_common/init.d](https://github.com/PX4/PX4-Autopilot/tree/main/ROMFS/px4fmu_common/init.d) folder - some of these are also used on Posix (Linux/MacOS).
+On NuttX they reside in the [ROMFS/px4fmu_common/init.d](https://github.com/PX4/PX4-Autopilot/tree/main/ROMFS/px4fmu_common/init.d) folder - some of these are also used on Posix (Linux/macOS).
 The scripts that are only used on Posix are located in [ROMFS/px4fmu_common/init.d-posix](https://github.com/PX4/PX4-Autopilot/tree/main/ROMFS/px4fmu_common/init.d-posix).
 
 All files starting with a number and underscore (e.g. `10000_airplane`) are predefined airframe configurations.
@@ -13,7 +13,7 @@ The first executed file is the [init.d/rcS](https://github.com/PX4/PX4-Autopilot
 
 根据 PX4 运行的操作系统将本文后续内容分成了如下各小节。
 
-## POSIX (Linux/MacOS)
+## POSIX (Linux/macOS)
 
 On POSIX, the system shell is used as script interpreter (e.g. /bin/sh, being symlinked to dash on Ubuntu).
 为了使 PX4 可以在 Posix 中正常运行，需要做到以下几点：

docs/zh/dev_log/ulog_file_format.md

@@ -502,6 +502,7 @@ Since the Definitions and Data Sections use the same message header format, they
 - [ulogreader](https://github.com/maxsun/ulogreader): Javascript, ULog reader and parser outputs log in JSON object format.
 - [Foxglove](https://foxglove.dev): an integrated visualization and diagnosis tool for robotics data that supports ULog files.
 - [TypeScript ULog parser](https://github.com/foxglove/ulog): TypeScript, ULog reader that outputs JS objects.
+- [yule_log](https://crates.io/crates/yule_log): A streaming ULog parser written in Rust.
 
 ## 文件格式版本历史
 

docs/zh/dev_setup/dev_env.md

@@ -2,15 +2,15 @@
 
 The _supported platforms_ for PX4 development are:
 
-- [Ubuntu Linux (22.04/20.04/18.04)](../dev_setup/dev_env_linux_ubuntu.md) — Recommended
+- [Ubuntu Linux (24.04/22.04)](../dev_setup/dev_env_linux_ubuntu.md) — Recommended
 - [Windows (10/11)](../dev_setup/dev_env_windows_wsl.md) — via WSL2
-- [Mac OS](../dev_setup/dev_env_mac.md)
+- [macOS](../dev_setup/dev_env_mac.md)
 
 ## 支持的编译目标
 
 下表显示了您可以在每个操作系统上构建何种 PX平台的固件编译。
 
-| 平台                                                                                                                                                     | Linux (Ubuntu) |             Mac             |           Windows           |
+| 平台                                                                                                                                                     | Linux (Ubuntu) |            macOS            |           Windows           |
 | ------------------------------------------------------------------------------------------------------------------------------------------------------ | :-------------------------------: | :-------------------------: | :-------------------------: |
 | **NuttX based hardware:** [Pixhawk Series](../flight_controller/pixhawk_series.md), [Crazyflie](../complete_vehicles_mc/crazyflie2.md) |    ✓    | ✓ | ✓ |
 | **Linux-based hardware:** [Raspberry Pi 2/3](../flight_controller/raspberry_pi_navio2.md)                                              |    ✓    |                             |                             |

docs/zh/dev_setup/dev_env_mac.md

@@ -1,4 +1,4 @@
-# Mac 上的开发环境
+# macOS Development Environment
 
 MacOS 是受支持的 PX4 开发平台。
 根据本文的指示构建的开发环境可以用编译：
@@ -22,8 +22,8 @@ The "base" macOS setup installs the tools needed for building firmware, and incl
 ### Environment Setup
 
 :::details
-Apple Silicon Macbook users!
-If you have an Apple M1, M2 etc. Macbook, make sure to run the terminal as x86 by setting up an x86 terminal:
+Apple Silicon MacBook users!
+If you have an Apple M1, M2 etc. MacBook, make sure to run the terminal as x86 by setting up an x86 terminal:
 
 1. Locate the Terminal application within the Utilities folder (**Finder > Go menu > Utilities**)
 2. Select _Terminal.app_ and right-click on it, then choose **Duplicate**.
@@ -50,7 +50,7 @@ First set up the environment
 2. Enforce Python 3 by appending the following lines to `~/.zshenv`
 
    ```sh
-   # Point pip3 to MacOS system python 3 pip
+   # Point pip3 to macOS system python 3 pip
    alias pip3=/usr/bin/pip3
    ```
 

docs/zh/ros2/offboard_control.md

@@ -1,6 +1,6 @@
 # ROS 2 Offboard 控制示例
 
-以下的 C++ 示例展示了如何在 [离板模式] (../flight_modes/offboard.md) 中从 ROS 2 节点进行多轴位置控制。
+以下的 C++ 示例展示了如何在[offboard mode](../flight_modes/offboard.md)  中从 ROS 2 节点进行多轴位置控制。
 
 示例将首先发送设置点、进入offboard模式、解锁、起飞至5米，并悬停等待。
 虽然简单，但它显示了如何使用offboard控制以及如何向无人机发送指令。
@@ -13,18 +13,18 @@ _Offboard_ control is dangerous.
 :::
 
 :::info
-ROS 与 PX4 存在若干不同的预设（假设），尤其是在坐标系约定（[frame conventions]）方面../ros/external_position_estimation.md#reference-frames-and-ros
+ROS 与 PX4 存在若干不同的预设（假设），尤其是在 [frame conventions](../ros/external_position_estimation.md#reference-frames-and-ros)
 当主题发布或订阅时，坐标系类型之间没有隐含转换！
 
 这个例子按照 PX4 的预期在NED坐标系下发布位置。
-若要订阅来自在不同框架内发布的节点的数据(例如ENU, 这是ROS/ROS 2中的标准参考框架，使用 [frame_transforms](https://github.com/PX4/px4_ros_com/blob/main/src/lib/frame_transforms.cpp)库中的辅助函数。
+若要订阅来自在不同框架内发布的节点的数据(例如ENU, 这是ROS/ROS 2中的标准参考框架），使用[frame_transforms](https://github.com/PX4/px4_ros_com/blob/main/src/lib/frame_transforms.cpp)库中的辅助函数。
 :::
 
-## 小試身手
+## 小试身手
 
-按照 [ROS 2 User Guide](../ros2/user_guide.md)中的说明来安装PX 并运行多轴模拟器，安装ROS 2, 并启动XRCE-DDS代理。
+按照 [ROS 2 用户指南](../ros2/user_guide.md)中的说明来安装PX 并运行多轴模拟器，安装ROS 2, 并启动XRCE-DDS代理。
 
-之后，我们可参照 ROS 2 用户指南 > 构建 ROS 2 工作空间 （../ros2/user_guide.md#build-ros-2-workspace）中的相似的步骤来运行这个例子。
+之后，我们可参照 [ROS 2 用户指南 > 构建 ROS 2 工作空间](../ros2/user_guide.md#build-ros-2-workspace)中的相似的步骤来运行这个例子。
 
 :::tip
 运行 ROS 2 节点前，请确保 QGC已连接到 PX4。
@@ -42,14 +42,14 @@ ROS 与 PX4 存在若干不同的预设（假设），尤其是在坐标系约
    cd ~/ws_offboard_control/src/
    ```
 
-3. 将 px4_msgs 代码仓库克隆到 /src 目录下（每个 ROS 2 PX4 工作空间都需要该仓库！）：
+3. 将[px4_msgs](https://github.com/PX4/px4_msgs)代码仓库克隆到 /src 目录下（每个 ROS 2 PX4 工作空间都需要该仓库！）：
 
    ```sh
    git clone https://github.com/PX4/px4_msgs.git
-   #若未使用 PX4 的 main 分支，请切换到对应的发布分支
+   # checkout the matching release branch if not using PX4 main.
    ```
 
-4. 将示例代码仓库 px4_ros_com （https://github.com/PX4/px4_ros_com）克隆到 /src 目录下：
+4. 将示例代码仓库 [px4_ros_com](https://github.com/PX4/px4_ros_com)克隆到 /src 目录下：
 
    ```sh
    git clone https://github.com/PX4/px4_ros_com.git
@@ -213,7 +213,7 @@ void OffboardControl::publish_vehicle_command(uint16_t command, float param1, fl
 ```
 
 :::info
-[VehicleCommand](../msg_docs/VehicleCommand.md是命令PX4的最简单和最高效的方式之一。 通过订阅 [VehicleCommandAck](../msg_docs/VehicleCommandAck.md)，您也可以确认设置特定命令是否成功。
+[VehicleCommand](../msg_docs/VehicleCommand.md) 是命令PX4的最简单和最高效的方式之一。 通过订阅 [VehicleCommandAck](../msg_docs/VehicleCommandAck.md)，您也可以确认设置特定命令是否成功。
 参数字段和 指令字段对应于 [MAVLink commands](https://mavlink.io/en/messages/common.html#mav_commands)以及他们的参数值
 :::
 

docs/zh/ros2/px4_ros2_control_interface.md

@@ -24,7 +24,7 @@ Experimental
 这些类对 PX4 所使用的内部设定点进行了抽象处理，因此可用于为未来的 PX4 和 ROS 版本提供统一的 ROS 2 接口。
 
 PX4 ROS 2 模式相较于 PX4 内部模式，更易于实现和维护，并且在处理能力与既有代码库资源方面，能为开发者提供更丰富的支持。
-除非该模式属于安全关键型、对时序有严格要求或需要极高的更新速率，或者你的飞行器没有搭载伴随计算机，否则你应优先[考虑使用 PX4 ROS 2 模式，而非 PX4 内部模式]（参考链接：../concept/flight_modes.md#internal-vs-external-modes）。
+除非该模式属于安全关键型、对时序有严格要求或需要极高的更新速率，或者你的飞行器没有搭载伴随计算机，否则你应优先[考虑使用 PX4 ROS 2 模式，而非 PX4 内部模式](../concept/flight_modes.md#internal-vs-external-modes)。
 
 ## 综述
 

docs/zh/test_and_ci/test_flights.md

@@ -28,5 +28,7 @@ These are run by the test team as part of release testing, and for more signific
 - [MC_04 - Failsafe Testing](../test_cards/mc_04_failsafe_testing.md)
 - [MC_05 - Indoor Flight (Manual Modes)](../test_cards/mc_05_indoor_flight_manual_modes.md)
 - [MC_06 - Indoor Flight (Optical Flow)](../test_cards/mc_06_optical_flow.md)
-- [MC_07 - VIO (Visual-Inertial Odometry)](../test_cards/mc_07_vio.md)
+- [MC_07 - Optical Flow Low Mount](../test_cards/mc_07_optical_flow_low_mount.md)
 - [MC_08 - DSHOT ESC](../test_cards/mc_08_dshot.md)
+- [MC_09 - VIO (Visual-Inertial Odometry)](../test_cards/mc_09_vio.md)
+- [MC_10 - Optical Flow / GPS Mixed](../test_cards/mc_10_optical_flow_gps_mixed.md)

docs/zh/test_cards/mc_06_optical_flow.md

@@ -2,25 +2,23 @@
 
 ## Objective
 
-To test that optical flow works as expected
+Test that optical flow works as expected
 
 ## Preflight
 
-Disconnect all GPS / compasses and ensure vehicle is using optical flow for navigation
-([Setup Information here](../sensor/optical_flow.md))
+Disconnect all GPS / compasses and ensure vehicle is using optical flow for navigation ([setup information here](../sensor/optical_flow.md))
 
-Ensure there are no other sources of positioning besides optical flow
+Ensure there are no other sources of positioning besides optical flow:
 
 - [EKF2_OF_CTRL](../advanced_config/parameter_reference.md#EKF2_OF_CTRL): `1`
 - [EKF2_GPS_CTRL](../advanced_config/parameter_reference.md#EKF2_GPS_CTRL): `0`
 - [EKF2_EV_CTRL](../advanced_config/parameter_reference.md#EKF2_EV_CTRL): `0`
-- [SYS_HAS_MAG](../advanced_config/parameter_reference.md#SYS_HAS_MAG): `0`
 
-Ensure that the drone can go into Altitude / Position flight mode while still on the ground
+Ensure that the drone can go into Altitude / Position mode while still on the ground
 
 ## Flight Tests
 
-❏ Altitude flight mode
+❏ [Altitude mode](../flight_modes_mc/altitude.md)
 
     ❏ Vertical position should hold current value with stick centered
 
@@ -28,7 +26,7 @@ Ensure that the drone can go into Altitude / Position flight mode while still on
 
     ❏ Throttle response set to climb/descent rate
 
-❏ Position flight mode
+❏ [Position mode](../flight_modes_mc/position.md)
 
     ❏ Horizontal position should hold current value with stick centered
 
@@ -38,6 +36,16 @@ Ensure that the drone can go into Altitude / Position flight mode while still on
 
     ❏ Pitch/Roll/Yaw response set to pitch/roll/yaw rates
 
+❏ Varying height terrain
+
+    ❏ Put boxes on the ground to create varying heights in terrain
+
+    ❏ Take off in position mode and fly over the boxes such that the downward facing rangefinder varies in value
+
+    ❏ Do a few passes with varying amounts of time over the boxes (1-30 seconds if possible)
+
+    ❏ Drone should not raise in height when flying over boxes
+
 ## 降落
 
 ❏ Land in either Position or Altitude mode with the throttle below 40%
@@ -47,7 +55,8 @@ Ensure that the drone can go into Altitude / Position flight mode while still on
 ## 预期成果
 
 - 当油门升高时，起飞应该是平稳的
-- Drone should hold altitude in Altitude Flight mode without wandering
-- Drone should hold position within 1 meter in Position Flight mode without pilot moving sticks
+- Drone should hold altitude in Altitude mode without wandering (over surface with many features)
+- Drone should hold position within 1 meter in Position mode without pilot moving sticks
 - 在上述任何飞行模式中都不应出现振荡
+- Drone should not raise in height when flying over boxes
 - 着陆时，直升机不应在地面上反弹

docs/zh/test_cards/mc_07_optical_flow_low_mount.md

@@ -0,0 +1,45 @@
+# Test MC_07 - Optical Flow Low Sensor
+
+## Objective
+
+Test that optical flow works as expected with a low mounted optical flow sensor
+
+## Preflight
+
+Ensure that the drone's optical flow sensor is mounted more than an inch off of the ground
+
+Ensure that [MPC_THR_MIN](../advanced_config/parameter_reference.md#MPC_THR_MIN) is tuned correctly for landing
+
+Disconnect all GPS / compasses and ensure vehicle is using optical flow for navigation
+([Setup Information here](../sensor/optical_flow.md))
+
+Ensure there are no other sources of positioning besides optical flow
+
+- [EKF2_OF_CTRL](../advanced_config/parameter_reference.md#EKF2_OF_CTRL): `1`
+- [EKF2_GPS_CTRL](../advanced_config/parameter_reference.md#EKF2_GPS_CTRL): `0`
+- [EKF2_EV_CTRL](../advanced_config/parameter_reference.md#EKF2_EV_CTRL): `0`
+
+Ensure that the drone can go into [Position mode](../flight_modes_mc/position.md) while still on the ground
+
+## Flight Tests
+
+❏ [Position mode](../flight_modes_mc/position.md)
+
+    ❏ Horizontal position should hold current value with stick centered
+
+    ❏ Vertical position should hold current value with stick centered
+
+    ❏ Throttle response set to climb/descent rate
+
+    ❏ Pitch/Roll/Yaw response set to pitch/roll/yaw rates
+
+## 降落
+
+❏ Land in Position mode with the throttle below 40%
+
+❏ Upon touching ground, copter should disarm automatically within 2 seconds (default: see [COM_DISARM_LAND](../advanced_config/parameter_reference.md#COM_DISARM_LAND))
+
+## 预期成果
+
+- 当油门升高时，起飞应该是平稳的
+- Drone should stay in Position mode, NOT fall into [altitude](../flight_modes_mc/altitude.md) mode

docs/zh/test_cards/mc_08_dshot.md

@@ -6,22 +6,22 @@ Regression test for DSHOT working with PX4
 
 ## Preflight
 
-- Ensure vehicle is using a DSHOT ESC.
+- Ensure vehicle is using a DSHOT ESC
 - Parameter [DSHOT_BIDIR_EN](../advanced_config/parameter_reference.md#DSHOT_BIDIR_EN) is enabled
 - Parameter [DSHOT_TEL_CFG](../advanced_config/parameter_reference.md#DSHOT_TEL_CFG) is configured (if ESC supports telemetry)
 - Parameter [SDLOG_PROFILE](../advanced_config/parameter_reference.md#SDLOG_PROFILE) has Debug (`5`) checked
 
 ## Flight Tests
 
-❏ Stabilized Flight mode
+❏ [Stabilized mode](../flight_modes_mc/manual_stabilized.md)
 
-    ❏ Takeoff in stabilized flight mode to ensure correct motor spin
+    ❏ Takeoff in stabilized mode to ensure correct motor spin
 
     ❏ Pitch/Roll/Yaw response 1:1
 
     ❏ Throttle response 1:1
 
-❏ Position flight mode
+❏ [Position mode](../flight_modes_mc/position.md)
 
     ❏ Horizontal position should hold current value with stick centered
 
@@ -41,6 +41,6 @@ Regression test for DSHOT working with PX4
 
 - Download flight logs
 - Load into Data Plot Juggler
-- Ensure data is logged for esc_status/esc.0x/esc_rpm
+- Ensure data is logged for `esc_status`/`esc.0x`/`esc_rpm`
 
   ![Reference frames](../../assets/test_cards/dshot_log_output.png)

docs/zh/test_cards/mc_09_vio.md

@@ -0,0 +1,52 @@
+# Test MC_09 - VIO (Visual-Inertial Odometry)
+
+## Objective
+
+Test that external vision (VIO) works as expected
+
+## Preflight
+
+Disconnect all GPS / compasses and ensure vehicle is using VIO for navigation
+
+Ensure that the drone can go into [Altitude](../flight_modes_mc/altitude.md) / [Position](../flight_modes_mc/position.md) mode while still on the ground
+
+Ensure there are no other sources of positioning besides VIO:
+
+- [EKF2_OF_CTRL](../advanced_config/parameter_reference.md#EKF2_OF_CTRL): `0`
+- [EKF2_GPS_CTRL](../advanced_config/parameter_reference.md#EKF2_GPS_CTRL): `0`
+- [EKF2_EV_CTRL](../advanced_config/parameter_reference.md#EKF2_EV_CTRL): `15`
+- [SYS_HAS_MAG](../advanced_config/parameter_reference.md#SYS_HAS_MAG): `0`
+
+## Flight Tests
+
+❏ [Altitude mode](../flight_modes_mc/altitude.md)
+
+    ❏ Vertical position should hold current value with stick centered
+
+    ❏ Pitch/Roll/Yaw response 1:1
+
+    ❏ Throttle response set to climb/descent rate
+
+❏ [Position mode](../flight_modes_mc/position.md)
+
+    ❏ Horizontal position should hold current value with stick centered
+
+    ❏ Vertical position should hold current value with stick centered
+
+    ❏ Throttle response set to climb/descent rate
+
+    ❏ Pitch/Roll/Yaw response set to pitch/roll/yaw rates
+
+## 降落
+
+❏ Land in either Position or Altitude mode with the throttle below 40%
+
+❏ Upon touching ground, copter should disarm automatically within 2 seconds (default: see [COM_DISARM_LAND](../advanced_config/parameter_reference.md#COM_DISARM_LAND))
+
+## 预期成果
+
+- 当油门升高时，起飞应该是平稳的
+- Drone should hold altitude in Altitude mode without wandering
+- Drone should hold position within 1 meter in Position mode without pilot moving sticks
+- 在上述任何飞行模式中都不应出现振荡
+- 着陆时，直升机不应在地面上反弹

docs/zh/test_cards/mc_10_optical_flow_gps_mixed.md

@@ -0,0 +1,74 @@
+# Test MC_10 - Optical Flow / GPS Mixed
+
+## Objective
+
+Test that optical flow mixed with GPS works as expected
+
+## Preflight
+
+[Setup optical flow and GPS](../sensor/optical_flow.md)
+
+Ensure there are no other sources of positioning besides optical flow
+
+- [EKF2_OF_CTRL](../advanced_config/parameter_reference.md#EKF2_OF_CTRL): `1`
+- [EKF2_GPS_CTRL](../advanced_config/parameter_reference.md#EKF2_GPS_CTRL): `7`
+- [EKF2_EV_CTRL](../advanced_config/parameter_reference.md#EKF2_EV_CTRL): `0`
+- [SYS_HAS_MAG](../advanced_config/parameter_reference.md#SYS_HAS_MAG): `1`
+- [EKF2_HGT_REF](../advanced_config/parameter_reference.md#EKF2_HGT_REF): `1` (GPS)
+
+Ensure that the drone can go into [Altitude](../flight_modes_mc/altitude.md) / [Position](../flight_modes_mc/position.md) mode while still on the ground
+
+## Flight Tests
+
+❏ [Altitude mode](../flight_modes_mc/altitude.md)
+
+    ❏ Vertical position should hold current value with stick centered
+
+    ❏ Pitch/Roll/Yaw response 1:1
+
+    ❏ Throttle response set to climb/descent rate
+
+❏ [Position mode](../flight_modes_mc/position.md)
+
+    ❏ Horizontal position should hold current value with stick centered
+
+    ❏ Vertical position should hold current value with stick centered
+
+    ❏ Throttle response set to climb/descent rate
+
+    ❏ Pitch/Roll/Yaw response set to pitch/roll/yaw rates
+
+❏ GPS Cutout
+
+    ❏ Takeoff in position mode in GPS rich environment (outdoors)
+
+    ❏ Open QGC and navigate to MAVLink Console
+
+    ❏ Type `gps off` to disable GPS
+
+    ❏ Drone should maintain position hold via optical flow
+
+❏ GPS Degredation
+
+    ❏ Takeoff in position mode in GPS rich environment (outdoors)
+
+    ❏ Fly under a metal surface (or other GPS blocking structure)
+
+    ❏ Ensure drone does not lose position hold or start drifting
+
+    ❏ Fly out of metal structure to regain GPS
+
+❏ GPS Acquisition
+
+    ❏ Takeoff in position mode in non-GPS environment
+
+    ❏ Fly into a GPS rich environment (outdoors)
+
+    ❏ Ensure drone acquires GPS position
+
+## 预期成果
+
+- 当油门升高时，起飞应该是平稳的
+- Drone should hold position within 1 meter in Position mode without pilot moving sticks
+- Drone should hold position in GPS rich environment as well as non-GPS environment
+- 在上述任何飞行模式中都不应出现振荡