From 87559f717be6e497b0e63fdbf640324c8dc60912 Mon Sep 17 00:00:00 2001 From: PX4 Build Bot Date: Mon, 13 Oct 2025 09:08:22 +1100 Subject: [PATCH] New Crowdin translations - zh-CN (#25747) Co-authored-by: Crowdin Bot --- docs/zh/SUMMARY.md | 4 +- docs/zh/concept/system_startup.md | 4 +- docs/zh/dev_log/ulog_file_format.md | 1 + docs/zh/dev_setup/dev_env.md | 6 +- docs/zh/dev_setup/dev_env_mac.md | 8 +- docs/zh/ros2/offboard_control.md | 20 ++--- docs/zh/ros2/px4_ros2_control_interface.md | 2 +- docs/zh/test_and_ci/test_flights.md | 4 +- docs/zh/test_cards/mc_06_optical_flow.md | 29 +++++--- .../mc_07_optical_flow_low_mount.md | 45 +++++++++++ docs/zh/test_cards/mc_08_dshot.md | 10 +-- docs/zh/test_cards/mc_09_vio.md | 52 +++++++++++++ .../mc_10_optical_flow_gps_mixed.md | 74 +++++++++++++++++++ 13 files changed, 222 insertions(+), 37 deletions(-) create mode 100644 docs/zh/test_cards/mc_07_optical_flow_low_mount.md create mode 100644 docs/zh/test_cards/mc_09_vio.md create mode 100644 docs/zh/test_cards/mc_10_optical_flow_gps_mixed.md diff --git a/docs/zh/SUMMARY.md b/docs/zh/SUMMARY.md index 1a4deb2d9c..0028ccf78b 100644 --- a/docs/zh/SUMMARY.md +++ b/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) diff --git a/docs/zh/concept/system_startup.md b/docs/zh/concept/system_startup.md index 3986658e97..28456ce738 100644 --- a/docs/zh/concept/system_startup.md +++ b/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： diff --git a/docs/zh/dev_log/ulog_file_format.md b/docs/zh/dev_log/ulog_file_format.md index 177ebdfff4..80c4b720b9 100644 --- a/docs/zh/dev_log/ulog_file_format.md +++ b/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 diff --git a/docs/zh/dev_setup/dev_env.md b/docs/zh/dev_setup/dev_env.md index fadf7c8dca..b53b801540 100644 --- a/docs/zh/dev_setup/dev_env.md +++ b/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) | ✓ | | | diff --git a/docs/zh/dev_setup/dev_env_mac.md b/docs/zh/dev_setup/dev_env_mac.md index 8d1b5a0c74..4c52a89da8 100644 --- a/docs/zh/dev_setup/dev_env_mac.md +++ b/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 ``` diff --git a/docs/zh/ros2/offboard_control.md b/docs/zh/ros2/offboard_control.md index 681d4bd155..5ae2e2973d 100644 --- a/docs/zh/ros2/offboard_control.md +++ b/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 ::: diff --git a/docs/zh/ros2/px4_ros2_control_interface.md b/docs/zh/ros2/px4_ros2_control_interface.md index 5be7fedde0..2f03f76e2a 100644 --- a/docs/zh/ros2/px4_ros2_control_interface.md +++ b/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 diff --git a/docs/zh/test_and_ci/test_flights.md b/docs/zh/test_and_ci/test_flights.md index 094b9cb45f..654ab39b1e 100644 --- a/docs/zh/test_and_ci/test_flights.md +++ b/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) diff --git a/docs/zh/test_cards/mc_06_optical_flow.md b/docs/zh/test_cards/mc_06_optical_flow.md index c63bebba16..a5c415366c 100644 --- a/docs/zh/test_cards/mc_06_optical_flow.md +++ b/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 diff --git a/docs/zh/test_cards/mc_07_optical_flow_low_mount.md b/docs/zh/test_cards/mc_07_optical_flow_low_mount.md new file mode 100644 index 0000000000..d6458d7adc --- /dev/null +++ b/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 diff --git a/docs/zh/test_cards/mc_08_dshot.md b/docs/zh/test_cards/mc_08_dshot.md index 2f0ef74bdb..ca740ca877 100644 --- a/docs/zh/test_cards/mc_08_dshot.md +++ b/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) diff --git a/docs/zh/test_cards/mc_09_vio.md b/docs/zh/test_cards/mc_09_vio.md new file mode 100644 index 0000000000..a1438f8967 --- /dev/null +++ b/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 diff --git a/docs/zh/test_cards/mc_10_optical_flow_gps_mixed.md b/docs/zh/test_cards/mc_10_optical_flow_gps_mixed.md new file mode 100644 index 0000000000..61097c8568 --- /dev/null +++ b/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