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Move PX4 Guide source into /docs (#24490)
* Add vitepress tree * Update existing workflows so they dont trigger on changes in the docs path * Add nojekyll, package.json, LICENCE etc * Add crowdin docs upload/download scripts * Add docs flaw checker workflows * Used docs prefix for docs workflows * Crowdin obvious fixes * ci: docs move to self hosted runner runs on a beefy server for faster builds Signed-off-by: Ramon Roche <mrpollo@gmail.com> * ci: don't run build action for docs or ci changes Signed-off-by: Ramon Roche <mrpollo@gmail.com> * ci: update runners Signed-off-by: Ramon Roche <mrpollo@gmail.com> * Add docs/en * Add docs assets and scripts * Fix up editlinks to point to PX4 sources * Download just the translations that are supported * Add translation sources for zh, uk, ko * Update latest tranlsation and uorb graphs * update vitepress to latest --------- Signed-off-by: Ramon Roche <mrpollo@gmail.com> Co-authored-by: Ramon Roche <mrpollo@gmail.com>
This commit is contained in:
Hamish Willee
co-authored by
Ramon Roche
Ramon Roche
parent
8e6d2ebe4a
commit
88d623bedb
@@ -0,0 +1,36 @@
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# 고급 비행 콘트롤러 방향 설정
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방향과 수평 평형은 센서 보드의 작은 정렬 불량이나 사소한 교정 오류를 수정하기 위하여 매개변수를 사용하여 수동으로 미세 조정 가능합니다.
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If there is a persistent drift bias (often seen in multirotors but not limited to them), it is a good strategy to trim it with the help of these fine-tuning offset angle parameters, instead of using the trimmers of your RC Transmitter.
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기본 설정은 아래의 지침을 참고하십시오.
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:::info
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These instructions are "advanced", and not recommended for regular users (the broad tuning is generally sufficient).
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:::
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## 방향 매개변수 설정
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The [SENS_BOARD_ROT](../advanced_config/parameter_reference.md#SENS_BOARD_ROT) parameter defines the rotation of the flight controller board relative to the vehicle frame, while the fine tuning offsets ([SENS_BOARD_X_OFF](../advanced_config/parameter_reference.md#SENS_BOARD_X_OFF), [SENS_BOARD_Y_OFF](../advanced_config/parameter_reference.md#SENS_BOARD_Y_OFF), [SENS_BOARD_Z_OFF](../advanced_config/parameter_reference.md#SENS_BOARD_Z_OFF)) set the rotation of the sensors relative to the board itself.
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The fine tuning offsets are added to the `SENS_BOARD_ROT` angle in order to determine the total offset angles for the Yaw, Pitch and Roll orientation of the flight controller.
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First perform the normal calibration for [Flight Controller Orientation](../config/flight_controller_orientation.md) and [Level Horizon Calibration](../config/level_horizon_calibration.md) to set the [SENS_BOARD_ROT](../advanced_config/parameter_reference.md#SENS_BOARD_ROT) parameter.
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The other parameters can then be set in order to fine-tune the orientation of the IMU sensors relative to the board itself.
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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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- [SENS_BOARD_ROT](../advanced_config/parameter_reference.md#SENS_BOARD_ROT): Rotation of the FMU board relative to the vehicle frame.
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- [SENS_BOARD_X_OFF](../advanced_config/parameter_reference.md#SENS_BOARD_X_OFF): Rotation, in degrees, around PX4FMU's X axis or Roll axis.
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Positive angles increase in CCW direction, negative angles increase in CW direction.
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- [SENS_BOARD_Y_OFF](../advanced_config/parameter_reference.md#SENS_BOARD_Y_OFF): Rotation, in degrees, around PX4FMU's Y axis or Pitch axis.
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Positive angles increase in CCW direction, negative angles increase in CW direction.
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- [SENS_BOARD_Z_OFF](../advanced_config/parameter_reference.md#SENS_BOARD_Z_OFF): Rotation, in degrees, around PX4FMU's Z axis Yaw axis.
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Positive angles increase in CCW direction, negative angles increase in CW direction.
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# 부트로더 업데이트
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The _PX4 Bootloader_ is used to load firmware for [Pixhawk boards](../flight_controller/pixhawk_series.md) (PX4FMU, PX4IO).
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Pixhawk controllers usually comes with an appropriate bootloader version pre-installed.
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However in some cases it is not present, or an older version is present that needs to be updated, or the board has been bricked and needs to be erased and the bootloader reinstalled.
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이 섹션은 픽스호크 부트로더를 업데이트 방법을 설명합니다.
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::: info
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- Most boards will need to use the [Debug Probe](#debug-probe-bootloader-update) to update the bootloader.
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- On [FMUv6X-RT](../flight_controller/pixhawk6x-rt.md) you can [install bootloader/unbrick boards via USB](bootloader_update_v6xrt.md).
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This is useful if you don't have a debug probe.
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- On FMUv2 and some custom firmware (only) you can use [QGC Bootloader Update](#qgc-bootloader-update).
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:::
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## Building the PX4 Bootloader
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### PX4 Bootloader FMUv6X and later
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FMUv6X STM32H7)로 시작하는 보드는 인트리 PX4 부트로더를 사용합니다.
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This can be built from within the [PX4-Autopilot](https://github.com/PX4/PX4-Autopilot) directory using the `make` command and the board-specific target with a `_bootloader` suffix.
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For FMUv6X the command is:
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```sh
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make px4_fmu-v6x_bootloader
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```
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This will build the bootloader binary as `build/px4_fmu-v6x_bootloader/px4_fmu-v6x_bootloader.elf`, which can be flashed via SWD or DFU.
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부트로더를 빌드하는 경우 이러한 옵션중 하나를 충분히 숙지하여야합니다.
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ELF 파일 대신 HEX 파일이 필요한 경우에는 objcopy를 사용하십시오.
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```sh
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arm-none-eabi-objcopy -O ihex build/px4_fmu-v6x_bootloader/px4_fmu-v6x_bootloader.elf px4_fmu-v6x_bootloader.hex
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```
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### PX4 Bootloader FMUv5X and earlier
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PX4 boards up to FMUv5X (before STM32H7) used the [PX4 bootloader](https://github.com/PX4/Bootloader) repository.
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The instructions in the repo README explain how to use it.
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## Debug Probe Bootloader Update
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The following steps explain how you can "manually" update the bootloader using a [compatible Debug Probe](../debug/swd_debug.md#debug-probes-for-px4-hardware):
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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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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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```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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```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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```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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:::
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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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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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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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:::
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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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9. 이제 바이너리를 픽스호크에 로드하십시오:
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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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## QGC Bootloader Update
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The easiest approach is to first use _QGroundControl_ to install firmware that contains the desired/latest bootloader.
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You can then initiate bootloader update on next restart by setting the parameter: [SYS_BL_UPDATE](../advanced_config/parameter_reference.md#SYS_BL_UPDATE).
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This approach can only be used if [SYS_BL_UPDATE](../advanced_config/parameter_reference.md#SYS_BL_UPDATE) is present in firmware.
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:::warning
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Currently only FMUv2 and some custom firmware includes the desired bootloader.
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:::
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단계는 다음과 같습니다:
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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#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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:::
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3. 기체가 재부팅될 때까지 기다리십시오.
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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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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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An specific example of this process for updating the FMUv2 bootloader is given below.
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### FMUv2 Bootloader Update
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If _QGroundControl_ installs the FMUv2 target (see console during installation), and you have a newer board, you may need to update the bootloader in order to access all the memory on your flight controller.
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:::info
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Early FMUv2 [Pixhawk-series](../flight_controller/pixhawk_series.md#fmu_versions) flight controllers had a [hardware issue](../flight_controller/silicon_errata.md#fmuv2-pixhawk-silicon-errata) that restricted them to using 1MB of flash memory.
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The problem is fixed on newer boards, but you may need to update the factory-provided bootloader in order to install FMUv3 Firmware and access all 2MB available memory.
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:::
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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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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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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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::: 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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## 기타 보드 (Non-Pixhawk)
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Boards that are not part of the [Pixhawk Series](../flight_controller/pixhawk_series.md) will have their own mechanisms for bootloader update.
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For boards that are preflashed with Betaflight, see [Bootloader Flashing onto Betaflight Systems](bootloader_update_from_betaflight.md).
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@@ -0,0 +1,136 @@
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# PX4 Bootloader Flashing onto Betaflight Systems
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This page documents how to flash the PX4 bootloader onto boards that are already flashed with Betaflight (e.g. [OmnibusF4 SD](../flight_controller/omnibus_f4_sd.md) or [Kakute F7](../flight_controller/kakutef7.md)).
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There are three tools that can be used to flash the PX4 bootloader: _Betaflight Configurator_, [dfu-util](http://dfu-util.sourceforge.net/) command line tool, or the graphical [dfuse](https://www.st.com/en/development-tools/stsw-stm32080.html) (Windows only).
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:::info
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The _Betaflight Configurator_ is easiest, but newer versions may not support non-betaflight bootloader update.
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You might try it first, but use the other methods if firmware update does not work.
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:::
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## Betaflight Configurator Bootloader Update
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:::info
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_Betaflight Configurator_ may not support PX4 Bootloader update, as of May 2023.
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Older versions should work, though the precise versions are not known.
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:::
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To install the PX4 bootloader using the _Betaflight Configurator_:
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1. Download or build [bootloader firmware](#bootloader-firmware) for the board you want to flash.
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2. Download the [Betaflight Configurator](https://github.com/betaflight/betaflight-configurator/releases) for your platform.
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:::tip
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If using the _Chrome_ web browser, a simple cross-platform alternative is to install the configurator as an [extension from here](https://chrome.google.com/webstore/detail/betaflight-configurator/kdaghagfopacdngbohiknlhcocjccjao).
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:::
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3. PC에 보드를 연결하고 Configurator를 실행합니다.
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4. Press the **Load Firmware [Local]** button
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5. 파일시스템으로부터 부트로더 바이너리를 선택하고 보드에 설치(flash)합니다.
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다음 명령어로 <a href="https://github.com/PX4/Bootloader">Bootloader</a>를 다운로드하고 빌드하십시오:
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## DFU Bootloader Update
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|
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This section explains how to flash the PX4 bootloader using the [dfu-util](http://dfu-util.sourceforge.net/) or the graphical [dfuse](https://www.st.com/en/development-tools/stsw-stm32080.html) tool (Windows only).
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You will first need to download or build [bootloader firmware](#bootloader-firmware) for the board you want to flash (below, this is referred to as `<target.bin>`).
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:::info
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All of the methods below are safe as the STM32 MCU cannot be bricked!
|
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DFU는 플래싱으로 덮어쓸 수 없으며 플래싱이 실패하더라도, 항상 새 펌웨어를 설치할 수 있습니다.
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:::
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### DFU mode
|
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|
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Both tools require the board to be in DFU mode.
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DFU 모드로 들어가려면 USB 케이블을 컴퓨터에 연결하는 동안 부팅 버튼을 누르고 있습니다.
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The button can be released after the board has powered up.
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### dfu-util
|
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:::info
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The [Holybro Kakute H7 v2](../flight_controller/kakuteh7v2.md), [Holybro Kakute H7](../flight_controller/kakuteh7.md) and [mini](../flight_controller/kakuteh7mini.md) flight controllers may require that you first run an additional command to erase flash parameters (in order to fix problems with parameter saving):
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|
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```
|
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dfu-util -a 0 --dfuse-address 0x08000000:force:mass-erase:leave -D build/<target>/<target>.bin
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```
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|
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The command may generate an error which can be ignored.
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Once completed, enter DFU mode again to complete the regular flashing.
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:::
|
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|
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To flash the bootloader onto the flight controller:
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|
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```
|
||||
dfu-util -a 0 --dfuse-address 0x08000000 -D build/<target>/<target>.bin
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```
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|
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비행 컨트롤러를 재부팅하면 부팅 버튼을 누르지 않고 부팅됩니다.
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|
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### dfuse
|
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|
||||
The dfuse manual can be found here: https://www.st.com/resource/en/user_manual/cd00155676.pdf
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|
||||
Use the tool to flash the `<target>.bin` file.
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## Bootloader Firmware
|
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|
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The tools above flash pre-built bootloader firmware.
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Bootloader firmware can be built for most targets using the normal PX4 source code, while other targets can only be build using source in the bootloader repository.
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||||
|
||||
Flight controllers that have bootloader PX4-Autopilot `make` targets, can build the bootloader from the PX4-Autopilot source.
|
||||
The list of controllers for which this applies can be obtained by running the following `make` command, and noting the `make` targets that end in `_bootloader`
|
||||
|
||||
```
|
||||
$make list_config_targets
|
||||
|
||||
...
|
||||
cuav_nora_bootloader
|
||||
cuav_x7pro_bootloader
|
||||
cubepilot_cubeorange_bootloader
|
||||
holybro_durandal-v1_bootloader
|
||||
holybro_kakuteh7_bootloader
|
||||
holybro_kakuteh7v2_bootloader
|
||||
holybro_kakuteh7mini_bootloader
|
||||
matek_h743-mini_bootloader
|
||||
matek_h743-slim_bootloader
|
||||
modalai_fc-v2_bootloader
|
||||
mro_ctrl-zero-classic_bootloader
|
||||
mro_ctrl-zero-h7_bootloader
|
||||
mro_ctrl-zero-h7-oem_bootloader
|
||||
mro_pixracerpro_bootloader
|
||||
px4_fmu-v6u_bootloader
|
||||
px4_fmu-v6x_bootloader
|
||||
```
|
||||
|
||||
To build for these flight controllers, download and build the [PX4-Autopilot source](https://github.com/PX4/PX4-Autopilot), and then make the target using the following commands:
|
||||
|
||||
```sh
|
||||
git clone --recursive https://github.com/PX4/PX4-Autopilot.git
|
||||
cd PX4-Autopilot
|
||||
make <target> # For example: holybro_kakuteh7mini_bootloader
|
||||
```
|
||||
|
||||
For other flight controllers download the [PX4/Bootloader](https://github.com/PX4/Bootloader) repository and build the source code using the appropriate targets:
|
||||
|
||||
```
|
||||
git clone --recursive https://github.com/PX4/Bootloader.git
|
||||
cd Bootloader
|
||||
make <target> # For example: omnibusf4sd_bl or kakutef7_bl
|
||||
```
|
||||
|
||||
## Betaflight 재설치
|
||||
|
||||
In order to switch back to _Betaflight_:
|
||||
|
||||
1. Backup the PX4 parameters.
|
||||
You can do this by [exporting](../advanced/parameters_and_configurations.md#exporting-and-loading-parameters) them to an SD card.
|
||||
2. Keep the **bootloader** button pressed while attaching the USB cable
|
||||
3. Flash _Betaflight_ as usual with the _Betaflight-configurator_
|
||||
@@ -0,0 +1,108 @@
|
||||
# Bootloader Update Pixhawk V6X-RT via USB
|
||||
|
||||
This topic explains explains to flash [Pixhawk FMUv6X-RT](../flight_controller/pixhawk6x-rt.md) bootloader via USB _without needing a debug probe_.
|
||||
|
||||
## 개요
|
||||
|
||||
The _PX4 Bootloader_ is used to load firmware for [Pixhawk boards](../flight_controller/pixhawk_series.md) (PX4FMU, PX4IO).
|
||||
|
||||
Pixhawk controllers usually comes with an appropriate bootloader version pre-installed.
|
||||
However in some cases it may not be present, or an older version may be present that needs to be updated.
|
||||
It is also possible that the device is bricked, so the device has to be erased and a new bootloader must be flashed.
|
||||
|
||||
Most flight controllers require a Debug probe in order to update the bootloader, as discussed in [Bootloader Update > Debug Probe Bootloader Update](../advanced_config/bootloader_update.md#debug-probe-bootloader-update).
|
||||
You can use this approach for the Pixhawk FMUv6X-RT, but if you don't have a debug probe you can use the instructions outlined in this topic instead.
|
||||
|
||||
## Building the PX4 FMUv6X-RT Bootloader
|
||||
|
||||
This can be built from within the PX4-Autopilot folder using the `make` command and the board-specific target with a `_bootloader` suffix.
|
||||
For FMUv6X-RT the command is:
|
||||
|
||||
```sh
|
||||
make px4_fmu-v6xrt_bootloader
|
||||
```
|
||||
|
||||
This will build the bootloader binary as `build/px4_fmu-v6xrt_bootloader/px4_fmu-v6xrt_bootloader.bin`, which can be flashed via SWD or ISP.
|
||||
부트로더를 빌드하는 경우 이러한 옵션중 하나를 충분히 숙지하여야합니다.
|
||||
|
||||
ELF 파일 대신 HEX 파일이 필요한 경우에는 objcopy를 사용하십시오.
|
||||
|
||||
```sh
|
||||
arm-none-eabi-objcopy -O ihex build/px4_fmu-v6xrt_bootloader/px4_fmu-v6xrt_bootloader.elf px4_fmu-v6xrt_bootloader.hex
|
||||
```
|
||||
|
||||
## Flashing the bootloader through USB
|
||||
|
||||
The Pixhawk V6X-RT comes with a build-in bootloader located on the ROM.
|
||||
To flash a new bootloader through USB you've got to download the [NXP MCUXpresso Secure Provisioning tool](https://www.nxp.com/design/design-center/software/development-software/mcuxpresso-software-and-tools-/mcuxpresso-secure-provisioning-tool:MCUXPRESSO-SECURE-PROVISIONING).
|
||||
The tool is available for Windows, Linux and macOS.
|
||||
|
||||
1. Install the _MCUXpresso Secure Provisioning_ application and launch the application:
|
||||
|
||||
|
||||
|
||||
2. On first start you have to create a "New Workspace".
|
||||
Select `i.mX RT11xx` and then select `MIMXRT1176`
|
||||
|
||||
|
||||
|
||||
3. After creating a "New Workspace" click on the **FlexSPI NOR - simplified** button
|
||||
|
||||
|
||||
|
||||
4. On the _Boot Memory Configuration_ window change the "Device type" to `Macronix Octal DDR` and press **OK**.
|
||||
|
||||
|
||||
|
||||
1. On the menu bar select **Tools > Flash Programmer**:
|
||||
|
||||
|
||||
|
||||
2. You should get this pop-up indicating the Pixhawk V6X-RT is not in the "ISP bootloader mode".
|
||||
|
||||
|
||||
|
||||
To get the Pixhawk V6X-RT into "ISP bootloader mode" there are 2 options:
|
||||
|
||||
1. Launch QGC connect the Pixhawk select **Analayze Tools** and then **MAVLINK Console**.
|
||||
On the console type `reboot -i`.
|
||||
This will put the Pixhawk V6X-RT into "ISP bootloader mode"
|
||||
|
||||
|
||||
|
||||
2. If the board is bricked and connecting to QGC is not possible you've open the FMUM module and press the BOOT button (circled in red in the picture below) while powering the board.
|
||||
|
||||
<img src="../../assets/advanced_config/bootloader_6xrt/bootloader_update_v6xrt_enter_isp_button.jpg" style="zoom:67%;" />
|
||||
|
||||
Press **YES** to launch the _Flash Programmer Tool_.
|
||||
|
||||
3. When the Flash Programming has started you get a popup to configure the target memory press **Yes**
|
||||
|
||||
|
||||
|
||||
4. When the Target Memory configuration is succesful you can press the the **Erase All** button
|
||||
|
||||
|
||||
|
||||
5. After erasing the flash press the **Load ...** button and then press the **Browse** button
|
||||
|
||||
|
||||
|
||||
6. Locate the `px4_fmu-v6xrt_bootloader.bin` file and press **Open** and then press on **Load**.
|
||||
|
||||
|
||||
|
||||
7. If the load is successful you should see the "Success: load from file" at the bottom right
|
||||
|
||||
|
||||
|
||||
8. Press the **Write** button to flash the PX4 bootloader
|
||||
|
||||
|
||||
|
||||
1. On success it should show "Success: Write memory 0x30000000 - 0x3XXXXXXX" Note: values might differ due to bootloader changes.
|
||||
|
||||
|
||||
|
||||
Now unplug the Pixhawk V6X-RT and re-power the board.
|
||||
After the bootloader has updated you can [Load PX4 Firmware](../config/firmware.md) using _QGroundControl_.
|
||||
@@ -0,0 +1,84 @@
|
||||
# 나침반 전력 보정
|
||||
|
||||
케이블은 나침반 판독 값을 왜곡시킬 수 있는 자기장을 유도하므로, 큰 전류가 흐르는 케이블에서 최대한 멀리 나침반(자력계)을 장착해야합니다.
|
||||
|
||||
이 항목에서는 나침반 이동이 현실적으로 불가능할 경우에 유도된 자기장을 보정하는 방법을 설명합니다.
|
||||
|
||||
:::tip
|
||||
Moving the compass away from power-carrying cables is the easiest and most effective way to fix this issue, because the strength of the magnetic fields decreases quadratically with the distance from the cable.
|
||||
:::
|
||||
|
||||
:::info
|
||||
The process is demonstrated for a multicopter, but is equally valid for other vehicle types.
|
||||
:::
|
||||
|
||||
<a id="when"></a>
|
||||
|
||||
## 전력 보정은 언제 적용됩니까?
|
||||
|
||||
전력 보정은 아래의 사항들이 모두 해당되는 경우에만 권장됩니다.
|
||||
|
||||
1. 나침반과 전력 공급 케이블 사이의 거리를 띄울 수 없을 때.
|
||||
|
||||
2. There is a strong correlation between the compass readings and the thrust setpoint, and/or the battery current.
|
||||
|
||||
|
||||
|
||||
3. 드론 케이블이 모두 제자리에 고정되어 이동할 수 없는 경우. (전류가 흐르는 케이블이 움직일 수 있다면 계산된 보정 매개 변수가 유효하지 않습니다)
|
||||
|
||||
<a id="how"></a>
|
||||
|
||||
## 나침반 보정 방법
|
||||
|
||||
1. 드론의 펌웨어 버전이 전력 보정을 지원하는지 확인하십시오. (현재 마스터 버전 또는 v.1.11.0 릴리즈)
|
||||
|
||||
2. Perform the [standard compass calibration](../config/compass.md#compass-calibration).
|
||||
|
||||
3. Set the parameter [SDLOG_MODE](../advanced_config/parameter_reference.md#SDLOG_MODE) to 2 to enable logging of data from boot.
|
||||
|
||||
4. Set the parameter [SDLOG_PROFILE](../advanced_config/parameter_reference.md#SDLOG_PROFILE) checkbox for _Sensor comparison_ (bit 6) to get more data points.
|
||||
|
||||
5. 드론이 움직이지 않도록 고정하고 프로펠러를 부착하십시오(모터가 비행 중과 동일한 전류를 소비하게 됩니다).
|
||||
이 예시에서는 끈으로 드론을 고정시킵니다.
|
||||
|
||||
|
||||
|
||||
6. Power the vehicle and switch into [ACRO flight mode](../flight_modes_mc/acro.md) (using this mode ensures the vehicle won't attempt to compensate for movement resulting from the straps).
|
||||
|
||||
- 기체에 시동을 걸고 스로틀을 천천히 최대로 올립니다.
|
||||
- 스로틀을 천천히 0까지 낮춥니다.
|
||||
- 기체 시동을 끄십시오.
|
||||
> <strong x-id="1">참고</strong> 진동을 면밀히 관찰하고, 신중하게 테스트를 진행하십시오.
|
||||
|
||||
::: info
|
||||
Perform the test carefully and closely monitor the vibrations.
|
||||
|
||||
:::
|
||||
|
||||
7. Retrieve the ulog and use the python script [mag_compensation.py](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/sensors/vehicle_magnetometer/mag_compensation/python/mag_compensation.py) to identify the compensation parameters.
|
||||
|
||||
```sh
|
||||
python mag_compensation.py ~/path/to/log/logfile.ulg <type> [--instance <number>]
|
||||
```
|
||||
|
||||
여기서:
|
||||
|
||||
- `<type>`: `current` or `thrust` (power signal used for compensation)
|
||||
- `--instance <number>` (optional): The number is `0` (default) or `1`, the instance of the current or thrust signal to use.
|
||||
|
||||
::: info
|
||||
If your log does not contain battery current measurements, you will need to comment out the respective lines in the Python script, such that it does the calculation for thrust only.
|
||||
|
||||
:::
|
||||
|
||||
8. 스크립트는 추력 및 전류에 대한 매개변수 식별값을 계산하여 콘솔에 인쇄할 것입니다.
|
||||
스크립트에서 나타나는 그림은 각 나침반 인스턴스에 대한 "적합성"과 제안된 값으로 데이터가 보정된 경우의 모습을 보여줍니다.
|
||||
전류 측정이 가능한 경우, 일반적으로 전류 보정을 사용하면 더 나은 결과를 얻을 수 있습니다.
|
||||
다음은 현재 적합도는 양호하지만 관계가 선형이 아니므로 추력 매개 변수를 사용할 수 없는 로그의 예입니다.
|
||||
|
||||
|
||||
|
||||
9. Once the parameters are identified, the power compensation must be enabled by setting [CAL_MAG_COMP_TYP](../advanced_config/parameter_reference.md#CAL_MAG_COMP_TYP) to 1 (when using thrust parameters) or 2 (when using current parameters).
|
||||
또한 각 나침반의 각 축에 대한 보정 매개 변수를 설정해야합니다.
|
||||
|
||||
|
||||
@@ -0,0 +1,143 @@
|
||||
# 전기변속기 보정
|
||||
|
||||
:::info
|
||||
These instructions are only relevant to [PWM ESCs](../peripherals/pwm_escs_and_servo.md) and [OneShot ESCs](../peripherals/oneshot.md).
|
||||
[DShot](../peripherals/dshot.md) and [CAN](../can/index.md) ESCs ([DroneCAN](../dronecan/escs.md)/Cyphal) do not require this kind of calibration.
|
||||
:::
|
||||
|
||||
Electronic Speed Controllers (ESCs) regulate motor speed (and direction) based on their input command from the flight controller (FC).
|
||||
The range of input commands to which an ESC will respond is often configurable, and the default range can differ even between ESCs of the same model.
|
||||
|
||||
This calibration updates all the ESCs with a fixed maximum (2000us) and minimum (1000us) PWM input from the flight controller.
|
||||
Subsequently all the ESCs/motors on the vehicle will respond to flight controller input in the same way, across the whole input range.
|
||||
|
||||
Calibration using this tool is recommended for all PWM/OneShot ESCs that support it.
|
||||
|
||||
:::info
|
||||
Calibration is particularly important for low-cost ESC, as they commonly vary a lot in their response to input.
|
||||
|
||||
However it is also recommended for high-quality controllers.
|
||||
Even though these are factory calibrated and should all respond the same way, in practice the input range can differ.
|
||||
For example if a controller has been manually calibrated after leaving the factory it may no longer behave in the same way.
|
||||
:::
|
||||
|
||||
:::warning
|
||||
If you want to use an ESC that does not support this calibration, then it must be factory calibrated and respond consistently out of the box.
|
||||
This should be verified using [Actuator Testing](../config/actuators.md#actuator-testing).
|
||||
Jump to the [actuator configuration step (7)](#actuatorconfig_step) (which is still important).
|
||||
:::
|
||||
|
||||
OneShot ESCs should be [configured to use OneShot](../peripherals/oneshot.md#px4-configuration) before calibration. You should calibrate the ESCs after switching, even if you have previously calibrated.
|
||||
|
||||
## 전제 조건
|
||||
|
||||
The calibration sequence requires that you are able keep the flight controller powered while manually power-cyling the ESCs.
|
||||
|
||||
If using a Pixhawk flight controller, the recommended way to do this is to separately power the flight controller via USB, and connect/disconnect the battery to power the ESCs when needed.
|
||||
Flight control systems that can't power the autopilot via USB will need a [different approach](#problem_power_module).
|
||||
|
||||
If the battery is connected via a power module the calibration procedure can detect the battery connection and use it to drive the calibration sequence.
|
||||
If battery power can't be detected the calibration sequence is performed based on timeouts.
|
||||
|
||||
## 단계
|
||||
|
||||
ESC를 보정하려면 :
|
||||
|
||||
1. 프로펠러를 분리하십시오.
|
||||
|
||||
:::warning
|
||||
Never attempt ESC calibration with propellers on!
|
||||
|
||||
The motors _should_ not spin during ESC calibration.
|
||||
However if calibration starts when the ESC is already powered, or if the ESC doesn't properly support/detect the calibration sequence, then it will respond to the PWM input by running the motor at maximum speed.
|
||||
|
||||
:::
|
||||
|
||||
2. Map the ESCs you're calibrating as motors in the vehicle's [Actuator Configuration](../config/actuators.md).
|
||||
Only mapped actuators get an output and only ESCs mapped as motors will be calibrated.
|
||||
|
||||
3. Unpower the ESCs by unplugging the battery.
|
||||
The flight controller must stay powered, for example, by keeping the USB connected to the ground station.
|
||||
|
||||
4. Open the _QGroundControl_ **Settings > Power**, then press the **Calibrate** button.
|
||||
|
||||
|
||||
|
||||
5. After starting the calibration sequence without error, directly power the ESCs (you should be prompted):
|
||||
|
||||
|
||||
|
||||
캘리브레이션이 자동으로 시작됩니다.
|
||||
|
||||
|
||||
|
||||
6. During the calibration you should hear model-specific beeping from the ESC, which indicates the individual steps of the calibration.
|
||||
|
||||
You will be prompted when the calibration completes.
|
||||
|
||||
<a id="actuatorconfig_step"></a>
|
||||
|
||||
|
||||
7. Go back to the [Actuator Configuration](../config/actuators.md) section.
|
||||
|
||||
Following ESC calibration all motors with the same (re)calibrated ESCs should behave in the same way for the same inputs. The default PWM settings for motor outputs in the actuator configuration should now work out of the box.
|
||||
|
||||
You need to confirm that the motors do indeed work correctly.
|
||||
Since the default configuration values have been set conservatively, you may also wish to tune them for your particular ESCs.
|
||||
|
||||
::: info
|
||||
The steps below are similar to those described in [Actuator Configuration > Motor Configuration](../config/actuators.md#motor-configuration).
|
||||
|
||||
:::
|
||||
|
||||
Verify the following values:
|
||||
|
||||
- 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.
|
||||
|
||||
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.
|
||||
The correct value should make the motor spin immediately and reliably as you move the slider from disarmed to minimum.
|
||||
|
||||
To find the "optimal" minimum value, move the slider to the bottom (disarmed).
|
||||
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).
|
||||
Enter this value into the `minimum` setting for all the motor PWM outputs, and restore the `disarmed` output to `1100us`.
|
||||
|
||||
- The maximum value for a motor (default: `1900us`) should be chosen such that increasing the value doesn't make the motor spin any faster.
|
||||
|
||||
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.
|
||||
|
||||
To find the "optimal" maximum value, first move the slider to the bottom (disarmed).
|
||||
Then increase the PWM output's `disarmed` setting to near the default maximum (`1900`) - the motors should spin up.
|
||||
Listen to the tone of the motor as you increase the PWM maximum value for the output in increments (e.g. 1925us, 1950us, etc).
|
||||
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.
|
||||
Enter this value into the `maximum` setting for all the motor PWM outputs, and restore the `disarmed` output to `1100us`.
|
||||
|
||||
- The disarmed value for a motor (default: `1000us`) should make the motor stop and stay stopped.
|
||||
|
||||
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.
|
||||
|
||||
If the ESC spins with the default value of 1000us then the ESC is not properly calibrated.
|
||||
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).
|
||||
|
||||
::: info
|
||||
VTOL and fixed-wing motors do not need any special PWM configuration.
|
||||
With the default PWM configuration they will automatically stop during flight when commanded by the autopilot.
|
||||
|
||||
:::
|
||||
|
||||
## 문제 해결
|
||||
|
||||
1. Calibration can state that it has succeeded even when it has failed.
|
||||
|
||||
This happens if you do not power the ESC at the right time, or the ESCs don't support calibration.
|
||||
This occurs because PX4 has no feedback from the ESC to know whether or not calibration was successful.
|
||||
You have to rely on interpreting the beeps during the calibration and subsequent motor tests to know for sure that the calibration worked.
|
||||
|
||||
<a id="problem_power_module"></a>
|
||||
|
||||
2. Calibration cannot be started if you have a power module configured and connected (for safety reasons).
|
||||
|
||||
Unplug power to the ESCs first.
|
||||
If you're blocked because a power module is necessary to keep your flight controller alive, but you can (un)power the ESCs separately, you can temporarily disable the detection of the power module just for the ESC calibration using the parameters [BATn_SOURCE](../advanced_config/parameter_reference.md#BAT1_SOURCE). Once the power module that's powering the autopilot is not detected as battery anymore a timing based calibration is possible.
|
||||
|
||||
3. PX4 will abort calibration (for safety reasons) if the system detects an increase in current consumption immediately after initiating calibration.
|
||||
This requires a power module.
|
||||
@@ -0,0 +1,275 @@
|
||||
# PX4 이더넷 설정
|
||||
|
||||
Ethernet connectivity provides a fast, reliable, and flexible communication alternative to using USB or other serial connections.
|
||||
|
||||
It can be used to connect to ground stations, companion computers, and other MAVLink systems.
|
||||
It is particularly recommended when connecting to systems that "natively" use Ethernet - for example IP radios.
|
||||
|
||||
This topic covers:
|
||||
|
||||
- [PX4 Ethernet Setup](#px4-ethernet-setup)
|
||||
- [Supported Flight Controllers](#supported-flight-controllers)
|
||||
- [Setting up the Ethernet Network](#setting-up-the-ethernet-network)
|
||||
- [PX4 Ethernet Network Setup](#px4-ethernet-network-setup)
|
||||
- [Ubuntu Ethernet Network Setup](#ubuntu-ethernet-network-setup)
|
||||
- [Companion Computer Ethernet Network Setup](#companion-computer-ethernet-network-setup)
|
||||
- [PX4 MAVLink Serial Port Configuration](#px4-mavlink-serial-port-configuration)
|
||||
- [QGroundControl Setup Example](#qgroundcontrol-setup-example)
|
||||
- [MAVSDK-Python Setup Example](#mavsdk-python-setup-example)
|
||||
- [ROS 2 Setup Example](#ros-2-setup-example)
|
||||
|
||||
## Supported Flight Controllers
|
||||
|
||||
PX4 supports Ethernet connectivity on [Pixhawk 5X-standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-011%20Pixhawk%20Autopilot%20v5X%20Standard.pdf) flight controllers (and later) that have an Ethernet port.
|
||||
It may also be supported on other boards.
|
||||
|
||||
Supported flight controllers include:
|
||||
|
||||
- [CUAV Pixhawk V6X](../flight_controller/cuav_pixhawk_v6x.md)
|
||||
- [Holybro Pixhawk 5X](../flight_controller/pixhawk5x.md)
|
||||
- [Holybro Pixhawk 6X](../flight_controller/pixhawk6x.md)
|
||||
- [RaccoonLab FMUv6X Autopilot](../flight_controller/raccoonlab_fmu6x.md)
|
||||
|
||||
## Setting up the Ethernet Network
|
||||
|
||||
To connect systems over Ethernet you need to configure them to run on the same IP network, so that each system has a unique IP address and can find the other systems.
|
||||
This might be done using a DHCP server to allocate addresses, or by manually configuring the addresses of each system on the network.
|
||||
|
||||
There is no single "out of the box configuration" that we can provide that will necessarily work in your local network.
|
||||
Therefore as an example of the kind of configuration you might do, below we show how to set up the systems on an IP network with static addresses in the range `10.41.10.Xxx`, where PX4 has a statically allocated address `10.41.10.2` (PX4-default) and the computer has address `10.41.10.1`.
|
||||
If you wanted to connect a companion computer or other system to the network you could use a similar approach to allocate a static address.
|
||||
|
||||
:::info
|
||||
There is nothing "special" about the network configuration (other than perhaps the tools used to modify the network settings); it works much the same as any home or business network.
|
||||
Which is to say that a knowledge of how IP networks work is highly desirable!
|
||||
:::
|
||||
|
||||
### PX4 Ethernet Network Setup
|
||||
|
||||
<!-- Information about NuttX network manager: https://github.com/PX4/PX4-Autopilot/pull/16330 -->
|
||||
|
||||
PX4 uses the [netman](../modules/modules_system.md#netman) module to apply and update network settings.
|
||||
|
||||
The default configuration first requests an IP address from DHCP, and if that fails will fallback to the default static address `10.41.10.2`.
|
||||
You can explicitly set any static IP address (including the default address), to bypass the initial DHCP check and make the connection a little faster.
|
||||
|
||||
:::info
|
||||
If you want to use the default static IP address for PX4 you can skip forward to the next section.
|
||||
:::
|
||||
|
||||
Network settings are defined in the configuration file `/fs/microsd/net.cfg` on the SD card.
|
||||
This is a text file, that defines each setting on a new line as a `name=value` pair.
|
||||
A configuration file might look like this:
|
||||
|
||||
```ini
|
||||
DEVICE=eth0
|
||||
BOOTPROTO=fallback
|
||||
IPADDR=10.41.10.2
|
||||
NETMASK=255.255.255.0
|
||||
ROUTER=10.41.10.254
|
||||
DNS=10.41.10.254
|
||||
```
|
||||
|
||||
Where the values are:
|
||||
|
||||
- `DEVICE`: Interface name. Default is `eth0`.
|
||||
- `BOOTPROTO`: Protocol for getting PX4 IP address. Valid values for proto are: `dhcp`, `static`, `fallback` (use DHCP but fall back to static address after time, if that fails)
|
||||
- `IPADDR`: Static IP address (used if BOOTPROTO is `static` or `fallback`)
|
||||
- `NETMASK`: Network mask
|
||||
- `ROUTER`: The address of the default route.
|
||||
- `DNS`: The address of the DNS server.
|
||||
|
||||
To set the above "example" configuration using the _QGroundControl_:
|
||||
|
||||
1. Connect the flight controller to the computer with the USB cable.
|
||||
|
||||
2. Open **QGroundcontrol > Analyze Tools > MAVLink Console**
|
||||
|
||||
3. Enter commands "like" the ones below into the _MAVLink Console_ (to write the values to the configuration file):
|
||||
|
||||
```sh
|
||||
echo DEVICE=eth0 > /fs/microsd/net.cfg
|
||||
echo BOOTPROTO=fallback >> /fs/microsd/net.cfg
|
||||
echo IPADDR=10.41.10.2 >> /fs/microsd/net.cfg
|
||||
echo NETMASK=255.255.255.0 >>/fs/microsd/net.cfg
|
||||
echo ROUTER=10.41.10.254 >>/fs/microsd/net.cfg
|
||||
echo DNS=10.41.10.254 >>/fs/microsd/net.cfg
|
||||
```
|
||||
|
||||
4. Once the network configuration has been set you can disconnect the USB cable.
|
||||
|
||||
5. Reboot the flight controller to apply the settings.
|
||||
|
||||
Note that the above setup gives the flight controller an address on the Ethernet network.
|
||||
You also need to [configure the Ethernet port](#px4-mavlink-serial-port-configuration) to use MAVLink.
|
||||
|
||||
### Ubuntu Ethernet Network Setup
|
||||
|
||||
If you're using Ubuntu for your ground station (or companion computer) then you can use [netplan](https://netplan.io/) to configure the network.
|
||||
|
||||
Below we show how you write a setup to the netplan configuration file "`/etc/netplan/01-network-manager-all.yaml`", which would run on the same network as used by the PX4 setup above.
|
||||
Note that there are many more [examples](https://netplan.io/examples/) and instructions in the [netplan](https://netplan.io/) documentation.
|
||||
|
||||
To setup the Ubuntu Computer:
|
||||
|
||||
1. In a terminal, create and open a `netplan` configuration file: `/etc/netplan/01-network-manager-all.yaml`
|
||||
Below we do this using the _nano_ text editor.
|
||||
|
||||
```
|
||||
sudo nano /etc/netplan/01-network-manager-all.yaml
|
||||
```
|
||||
|
||||
2. Copy and paste the following configuration information into the file (note: the indentations are important!):
|
||||
|
||||
```
|
||||
network:
|
||||
version: 2
|
||||
renderer: NetworkManager
|
||||
ethernets:
|
||||
enp2s0:
|
||||
addresses:
|
||||
- 10.41.10.1/24
|
||||
nameservers:
|
||||
addresses: [10.41.10.1]
|
||||
routes:
|
||||
- to: 10.41.10.1
|
||||
via: 10.41.10.1
|
||||
```
|
||||
|
||||
Save and exit the editor.
|
||||
|
||||
3. Apply the _netplan_ configuration by entering the following command into the Ubuntu terminal.
|
||||
|
||||
```
|
||||
sudo netplan apply
|
||||
```
|
||||
|
||||
### Companion Computer Ethernet Network Setup
|
||||
|
||||
The setup for a companion computer will depend on the companion computer's operating system.
|
||||
|
||||
A Linux operating system may support `netplan`, in which case the instructions would be the same as above, but using a unique IP address.
|
||||
|
||||
## PX4 MAVLink Serial Port Configuration
|
||||
|
||||
The Ethernet port configuration sets the properties of the _serial link_ (which is how PX4 views the Ethernet connection).
|
||||
This includes the set of MAVLink messages that are streamed, the data rate, the UDP ports that a remote system can connect listen to, etc.
|
||||
|
||||
:::info
|
||||
You must separately configure the PX4 IP address and other _network settings_ ([as shown previously](#px4-ethernet-network-setup)).
|
||||
:::
|
||||
|
||||
PX4 configures the serial port to connect to a GCS via MAVLink, using the parameters shown below:
|
||||
|
||||
| 매개변수 | Value | 설명 |
|
||||
| --------------------------------------------------------------------------------------------------------------------------------------------- | ------ | --------------------------------------------------------------------------------------------------------------- |
|
||||
| [MAV_2_CONFIG](../advanced_config/parameter_reference.md#MAV_2_CONFIG) | 1000 | Configure Ethernet port |
|
||||
| [MAV_2_BROADCAST](../advanced_config/parameter_reference.md#MAV_2_BROADCAST) | 1 | Broadcast `HEARTBEAT` messages |
|
||||
| [MAV_2_MODE](../advanced_config/parameter_reference.md#MAV_2_MODE) | 0 | Send the "normal" set of MAVLink messages (i.e. the GCS set) |
|
||||
| [MAV_2_RADIO_CTL](../advanced_config/parameter_reference.md#MAV_2_RADIO_CTL) | 0 | Disable software throttling of MAVLink traffic |
|
||||
| [MAV_2_RATE](../advanced_config/parameter_reference.md#MAV_2_RATE) | 100000 | Maximum sending rate |
|
||||
| [MAV_2_REMOTE_PRT](../advanced_config/parameter_reference.md#MAV_2_REMOTE_PRT) | 14550 | MAVLink Remote Port of 14550 (GCS) |
|
||||
| [MAV_2_UDP_PRT](../advanced_config/parameter_reference.md#MAV_2_UDP_PRT) | 14550 | MAVLink Network Port of 14550 (GCS) |
|
||||
|
||||
Normally a companion computer would use port `14540` (rather than `14550`) and stream the set of MAVLink messages specified in the `Onboard` profile.
|
||||
You can configure this setup by changing [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).
|
||||
Note however that this will still work using the GCS profile.
|
||||
|
||||
For more information on MAVLink serial port configuration see [MAVLink Peripherals (GCS/OSD/Companion)](../peripherals/mavlink_peripherals.md)
|
||||
|
||||
## QGroundControl Setup Example
|
||||
|
||||
Assuming you have already [Set up the Ethernet Network](#setting-up-the-ethernet-network) so your ground station computer and PX4 run on the same network, and
|
||||
|
||||
To connect QGroundControl to PX4 over Ethernet:
|
||||
|
||||
1. [Set up the Ethernet Network](#setting-up-the-ethernet-network) so your ground station computer and PX4 run on the same network.
|
||||
|
||||
2. Connect the ground station computer and PX4 using an Ethernet cable.
|
||||
|
||||
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.
|
||||
|
||||
Assuming that the values are set as described in the rest of this topic the setup will look like this:
|
||||
|
||||
|
||||
|
||||
4. QGroundControl should then connect if you select this link.
|
||||
|
||||
:::info
|
||||
[PX4 Ethernet Port Configuration](#px4-ethernet-network-setup) should not be needed (the default are appropriate for a GCS).
|
||||
:::
|
||||
|
||||
## MAVSDK-Python Setup Example
|
||||
|
||||
To setup MAVSDK-Python running on a companion computer:
|
||||
|
||||
1. [Set up the Ethernet Network](#setting-up-the-ethernet-network) so your companion computer and PX4 run on the same network.
|
||||
2. Modify the [PX4 Ethernet Port Configuration](#px4-ethernet-network-setup) to connect to a companion computer.
|
||||
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).
|
||||
3. Follow the instructions in [MAVSDK-python](https://github.com/mavlink/MAVSDK-Python) to install and use MAVSDK.
|
||||
|
||||
For example, your code will connect to the PX4 using:
|
||||
|
||||
```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.
|
||||
However this is not recommended because the default configuration is optimised for communicating with a GCS (not a companion computer).
|
||||
:::
|
||||
|
||||
## ROS 2 Setup Example
|
||||
|
||||
:::info 전제 조건
|
||||
|
||||
- You have a supported autopilot hardware running PX4 firmware that includes [uXRCE-DDS](../middleware/uxrce_dds.md) middleware.
|
||||
Note that PX4 v1.14 and later include the required [uxrce_dds_client](../modules/modules_system.md#uxrce-dds-client) module by default.
|
||||
- [ROS 2](../ros2/user_guide.md) has been set up correctly on the companion computer.
|
||||
- You have followed the Ethernet network and port setup as discussed at the top of this page.
|
||||
|
||||
:::
|
||||
|
||||
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).
|
||||
|
||||
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`.
|
||||
|
||||
```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
|
||||
```
|
||||
|
||||
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
|
||||
```
|
||||
|
||||
## See Also
|
||||
|
||||
- [Get The Pixhawk Raspberry Pi CM4 Baseboard By Holybro Talking With PX4](https://px4.io/get-the-pixhawk-raspberry-pi-cm4-baseboard-by-holybro-talking-with-px4/) (px4.io blog):
|
||||
- Tutorial showing how to connect Pixhawk 6X + Raspberry Pi on CM4 baseboard via wired Ethernet.
|
||||
- Blog dupliciates a lot of material from this topic.
|
||||
@@ -0,0 +1,78 @@
|
||||
# 비행 중단 설정
|
||||
|
||||
The _Flight termination_ [failsafe action](../config/safety.md#failsafe-actions) may be triggered by a [safety check](../config/safety.md) (e.g. RC Loss, geofence violation, etc. on any vehicle type or in any flight mode), or by the [Failure Detector](../config/safety.md#failure-detector).
|
||||
|
||||
:::info
|
||||
Flight termination may also be triggered from a ground station or companion computer using the MAVLink [MAV_CMD_DO_FLIGHTTERMINATION](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_FLIGHTTERMINATION) command.
|
||||
This is sent, for example, when you call the [MAVSDK Action plugin](https://mavsdk.mavlink.io/main/en/cpp/api_reference/classmavsdk_1_1_action.html#classmavsdk_1_1_action_1a47536c4a4bc8367ccd30a92eb09781c5) `terminate()` or `terminate_async()` methods.
|
||||
:::
|
||||
|
||||
When _Flight termination_ is activated, PX4 simultaneously turns off all controllers and sets all PWM outputs to their failsafe values.
|
||||
|
||||
Depending on what devices are connected, the PWM failsafe outputs can be used to:
|
||||
|
||||
- Deploy a [parachute](../peripherals/parachute.md).
|
||||
- 랜딩기어 펼치기.
|
||||
- 카메라를 보호하기 위해 PWM방식으로 연결된 짐벌을 안전 각도(또는 수납 위치) 로 움직이기.
|
||||
- 에어백 같은 팽창 장비 가동하기.
|
||||
- 알람 울리기.
|
||||
|
||||
:::tip
|
||||
PX4는 어떤 안전 장치가 장착되어 있는지 알지 못합니다. 미리 정의된 PWM 값 세트를 출력에 적용하기만 하면 됩니다.
|
||||
After triggering you should unplug the battery as soon as possible.
|
||||
You will need to reboot/power cycle the vehicle before it can be used again.
|
||||
|
||||
:::tip
|
||||
PX4 does not know what safety devices are attached - it just applies a predefined set of PWM values to its outputs.
|
||||
:::
|
||||
|
||||
:::tip
|
||||
Failsafe values are applied to all outputs on termination.
|
||||
전원이 끊기거나 자동조종장치가 완전히 충돌하면 안전 장치가 작동하지 않습니다.
|
||||
:::
|
||||
|
||||
:::info
|
||||
This is _not_ an independent _Flight Termination System_.
|
||||
If power is lost or if the autopilot crashes completely, the failsafe devices will not be triggered.
|
||||
:::
|
||||
|
||||
## 하드웨어 설정
|
||||
|
||||
Any _safety device(s)_ (e.g. a [parachute](../peripherals/parachute.md)) that can be triggered by changing a PWM value can be used, and may be connected to any free PWM port (both MAIN and AUX).
|
||||
|
||||
:::info
|
||||
If you're using Pixhawk-series board you will have to separately power the servo rail (i.e. from a 5V BEC, which is often also available from your ESC).
|
||||
:::
|
||||
|
||||
## 소프트웨어 설정
|
||||
|
||||
The [Safety](../config/safety.md) topic explains how to set the _flight termination_ as the [failsafe action](../config/safety.md#failsafe-actions) to be performed for particular failsafe check.
|
||||
|
||||
The [Failure Detector](../config/safety.md#failure-detector) can also (optionally) be configured to trigger flight termination if the vehicle flips (exceeds a certain attitude) or if failure is detected by an external automatic trigger system (ATS):
|
||||
|
||||
- Enable the failure detector during flight by setting [CBRK_FLIGHTTERM=0](../advanced_config/parameter_reference.md#CBRK_FLIGHTTERM).
|
||||
- [Safety > Failure Detector > Attitude Trigger](../config/safety.md#attitude-trigger) explains how to configure the attitude limits that trigger _Flight termination_.
|
||||
::: info
|
||||
During _takeoff_ excessive attitutes will trigger _lockdown_ (kill motors, but not launch parachute) rather than flight termination.
|
||||
This is always enabled, irrespective of the value of `CBRK_FLIGHTTERM`.
|
||||
|
||||
:::
|
||||
- [Safety > External Automatic Trigger System (ATS)](../config/safety.md#external-automatic-trigger-system-ats) explains how to configure an external trigger system.
|
||||
|
||||
아래의 다이어그램은 비행 중단과 관련된 논리적 흐름을 보여 줍니다.
|
||||
|
||||
- [PWM_MAIN_DISn](../advanced_config/parameter_reference.md#PWM_MAIN_DIS1) to the device's "OFF" PWM value.
|
||||
- [PWM_MAIN_FAILn](../advanced_config/parameter_reference.md#PWM_MAIN_FAIL1) to the device's "ON" PWM value.
|
||||
|
||||
마지막으로, 모든 모터에 대해 <code>PWM_AUX_FAILn</code> 및 <code>PWM_MAIN_FAILn</code> PWM 값을 설정합니다.
|
||||
|
||||
- [PWM_AUX_DIS1](../advanced_config/parameter_reference.md#PWM_AUX_DIS1) to the device's "OFF" PWM value.
|
||||
- [PWM_AUX_FAILn](../advanced_config/parameter_reference.md#PWM_AUX_FAIL1) to the device's "ON" PWM value.
|
||||
|
||||
Finally, set the `PWM_AUX_FAILn` and `PWM_MAIN_FAILn` PWM values for any motors.
|
||||
|
||||
## 로직 다이어그램
|
||||
|
||||
The diagram below shows the logical flow around flight termination.
|
||||
|
||||
|
||||
@@ -0,0 +1,34 @@
|
||||
# IMU/Compass Factory Calibration
|
||||
|
||||
PX4 OEM manufacturers can perform an IMU and compass factory calibration in order to store values for the accelerometer, gyroscope and magnetometer calibration into persistent storage (usually EEPROM).
|
||||
This ensures that end users can always reset vehicle configurations and tuning to a safe state for flying.
|
||||
|
||||
This procedure will write the following parameters to `/fs/mtd_caldata`: [CAL_ACC\*](../advanced_config/parameter_reference.md#CAL_ACC0_ID), [CAL_GYRO\*](../advanced_config/parameter_reference.md#CAL_GYRO0_ID), [CAL_MAG\*](../advanced_config/parameter_reference.md#CAL_MAG0_ID).
|
||||
This data will then be used when the parameters are set (or reset) to their default values.
|
||||
|
||||
:::warning
|
||||
This feature relies on the FMU having a dedicated EEPROM chip or an accompanying IMU PCBA that has sufficient space for the data.
|
||||
PX4 will store the data to `/fs/mtd_caldata`, creating the file if necessary.
|
||||
:::
|
||||
|
||||
:::info
|
||||
These values cannot be stored in the [frame configuration](../dev_airframes/adding_a_new_frame.md) because they vary from device to device (the frame configuration defines the set of parameters that are applicable across all vehicles of the same type, such as the enabled sensors, [autopilot rotation](../config/flight_controller_orientation.md) and PID tuning).
|
||||
:::
|
||||
|
||||
## Performing the Factory Calibration
|
||||
|
||||
1. Set the parameter [SYS_FAC_CAL_MODE](../advanced_config/parameter_reference.md#SYS_FAC_CAL_MODE) to 1.
|
||||
2. Perform all IMU calibrations: [accelerometer](../config/accelerometer.md#performing-the-calibration), [gyroscope](../config/gyroscope.md#performing-the-calibration) and [magnetometer](../config/compass.md#performing-the-calibration).
|
||||
3. 기체를 재부팅합니다.
|
||||
This will write all `CAL_ACC*`, `CAL_GYRO*` and `CAL_MAG*` parameters into `/fs/mtd_caldata`.
|
||||
4. Set the parameter `SYS_FAC_CAL_MODE` back to 0 (default).
|
||||
|
||||
:::info
|
||||
If you only want to factory calibrate the accelerometer and the gyroscope you can set [SYS_FAC_CAL_MODE](../advanced_config/parameter_reference.md#SYS_FAC_CAL_MODE) to 2, in which case the magnetometer is omitted.
|
||||
:::
|
||||
|
||||
Subsequent user calibrations will then take effect as usual (factory calibration data is only used for the parameter default values).
|
||||
|
||||
## 추가 정보
|
||||
|
||||
- [QGroundControl User Guide > Sensors](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/setup_view/sensors_px4.html)
|
||||
@@ -0,0 +1,44 @@
|
||||
# 고급 설정
|
||||
|
||||
This topic lists configuration topics that are not particularly vehicle specific, for features that are more rarely modified, or that are specific only to manufacturers/OEMs.
|
||||
|
||||
## 매개변수
|
||||
|
||||
- [Finding/Updating Parameters](../advanced_config/parameters.md)
|
||||
- [Full Parameter Reference](../advanced_config/parameter_reference.md)
|
||||
|
||||
## Feature configuration
|
||||
|
||||
- [Using PX4's Navigation Filter (EKF2)](../advanced_config/tuning_the_ecl_ekf.md)
|
||||
- [Flight Termination Configuration](../advanced_config/flight_termination.md)
|
||||
- [Land Detector Configuration](../advanced_config/land_detector.md)
|
||||
- [Prearm/Arm/Disarm Configuration](../advanced_config/prearm_arm_disarm.md)
|
||||
|
||||
## OEM/Factory Calibration
|
||||
|
||||
- [IMU Factory Calibration](../advanced_config/imu_factory_calibration.md)
|
||||
- [Sensor Thermal Compensation](../advanced_config/sensor_thermal_calibration.md)
|
||||
- [Compass Power Compensation](../advanced_config/compass_power_compensation.md)
|
||||
- [Advanced Controller Orientation](../advanced_config/advanced_flight_controller_orientation_leveling.md)
|
||||
- [Static Pressure Buildup](../advanced_config/static_pressure_buildup.md)
|
||||
|
||||
## Serial port/Ethernet configuration
|
||||
|
||||
- [Serial Port Configuration](../peripherals/serial_configuration.md)
|
||||
- [MAVLink Telemetry (OSD/GCS)](../peripherals/mavlink_peripherals.md)
|
||||
- [PX4 Ethernet Setup](../advanced_config/ethernet_setup.md)
|
||||
|
||||
## 기타
|
||||
|
||||
- [Bootloader Update](../advanced_config/bootloader_update.md)
|
||||
- [Bootloader Update FMUv6X-RT via USB](../advanced_config/bootloader_update_v6xrt.md)
|
||||
|
||||
## See Also
|
||||
|
||||
- [Standard Configuration](../config/index.md) - Setup essential sensors/features needed for most PX4 vehicles.
|
||||
- [Flight Controller Peripherals](../peripherals/index.md) - Setup specific sensors, optional sensors, actuators, and so on.
|
||||
- Vehicle Config/Tuning:
|
||||
- [Multicopter Config/Tuning](../config_mc/index.md)
|
||||
- [Helicopter Config/Tuning](../config_heli/index.md)
|
||||
- [Fixed-wing Config/Tuning](../config_fw/index.md)
|
||||
- [VTOL Config/Tuning](../config_vtol/index.md)
|
||||
@@ -0,0 +1,100 @@
|
||||
# 착륙 감지기 설정
|
||||
|
||||
착륙 감지기는 접지와 착륙 상태에서 기체의 핵심 상태를 나타내는 동적 기체 모델입니다.
|
||||
이 섹션에서는 기체의 착륙 활동을 개선하는 용도로 미세 조정 가능한 주요 매개변수를 설명합니다.
|
||||
|
||||
## 자동 시동 끄기
|
||||
|
||||
기체가 착륙하면 착륙 감지기에서 자동으로 시동을 끕니다.
|
||||
|
||||
You can set [COM_DISARM_LAND](../advanced_config/parameter_reference.md#COM_DISARM_LAND) to specify the number of seconds after landing that the system should disarm (or turn off auto-disarming by setting the parameter to -1).
|
||||
|
||||
## 멀티콥터 설정
|
||||
|
||||
The complete set of relevant landing detector parameters are listed in the parameter reference with the prefix [LNDMC](../advanced_config/parameter_reference.md#land-detector) (these can be edited in QGroundControl via the [parameter editor](../advanced_config/parameters.md)).
|
||||
|
||||
:::tip
|
||||
Information about how the parameters affect landing can be found below in [Land Detector States](#mc-land-detector-states).
|
||||
:::
|
||||
|
||||
각 기체에서 착륙 동작 개선용 미세 조정 핵심 매개변수는 다음과 같습니다:
|
||||
|
||||
- [MPC_THR_HOVER](../advanced_config/parameter_reference.md#MPC_THR_HOVER) - the hover throttle of the system (default is 50%).
|
||||
고도를 정확하게 제어하고 올바른 착륙 감지를 보장하도록 이 매개변수를 정확하게 설정하여야 합니다.
|
||||
적재 장치가 없는 레이서 또는 대형 카메라 드론은 좀 더 낮은 값을 설정하여야 합니다(예: 35%).
|
||||
|
||||
::: info
|
||||
Incorrectly setting `MPC_THR_HOVER` may result in ground-contact or maybe-landed detection while still in air (in particular, while descending in [Position mode](../flight_modes_mc/position.md) or [Altitude mode](../flight_modes_mc/altitude.md)).
|
||||
이 현상은 기체의 "요동"(모터를 껐다가 즉시 모터가 켜지는) 현상을 유발합니다.
|
||||
|
||||
:::
|
||||
|
||||
- [MPC_THR_MIN](../advanced_config/parameter_reference.md#MPC_THR_MIN) - the overall minimum throttle of the system.
|
||||
제어 하강을 가능하게하기 위하여 설정되어야 합니다.
|
||||
|
||||
- [MPC_LAND_CRWL](../advanced_config/parameter_reference.md#MPC_LAND_CRWL) - the vertical speed applied in the last stage of autonomous landing if the system has a distance sensor and it is present and working. Has to be set larger than LNDMC_Z_VEL_MAX.
|
||||
|
||||
### MC Land Detector States
|
||||
|
||||
멀티콥터는 착륙 감지에 3개의 서로 다른 상태를 거치게 됩니다. 각각의 상태는 이전 상태의 조건에 더해 엄격한 제약조건을 가지게 됩니다.
|
||||
센서 손실로 인해 조건이 만족되지 않는다면, 기본값으로 그 조건은 참이 됩니다.
|
||||
For instance, in [Acro mode](../flight_modes_mc/acro.md) and no sensor is active except for the gyro sensor, then the detection solely relies on thrust output and time.
|
||||
|
||||
In order to proceed to the next state, each condition has to be true for a third of the configured total land detector trigger time [LNDMC_TRIG_TIME](../advanced_config/parameter_reference.md#LNDMC_TRIG_TIME).
|
||||
If the vehicle is equipped with a distance sensor, but the distance to ground is currently not measurable (usually because it is too large), the trigger time is increased by a factor of 3.
|
||||
|
||||
만약에 조건중 하나라도 만족하지 않으면, 착륙 감지기는 즉시 현재 상태를 벗어납니다.
|
||||
|
||||
#### 접지
|
||||
|
||||
Conditions for this state:
|
||||
|
||||
- no vertical movement ([LNDMC_Z_VEL_MAX](../advanced_config/parameter_reference.md#LNDMC_Z_VEL_MAX))
|
||||
- no horizontal movement ([LNDMC_XY_VEL_MAX](../advanced_config/parameter_reference.md#LNDMC_XY_VEL_MAX))
|
||||
- lower thrust than [MPC_THR_MIN](../advanced_config/parameter_reference.md#MPC_THR_MIN) + (hover throttle - [MPC_THR_MIN](../advanced_config/parameter_reference.md#MPC_THR_MIN)) \* (0.3, unless a hover thrust estimate is available, then 0.6),
|
||||
- additional check if vehicle is currently in a height-rate controlled flight mode: the vehicle has to have the intent to descend (vertical velocity setpoint above LNDMC_Z_VEL_MAX).
|
||||
- additional check for vehicles with a distance sensor: current distance to ground is below 1m.
|
||||
|
||||
If the vehicle is in position- or velocity-control and ground contact was detected,
|
||||
the position controller will set the thrust vector along the body x-y-axis to zero.
|
||||
|
||||
#### 착륙 예측
|
||||
|
||||
Conditions for this state:
|
||||
|
||||
- all conditions of the [ground contact](#ground-contact) state are true
|
||||
- is not rotating ([LNDMC_ROT_MAX](../advanced_config/parameter_reference.md#LNDMC_ROT_MAX))
|
||||
- has low thrust `MPC_THR_MIN + (MPC_THR_HOVER - MPC_THR_MIN) * 0.1`
|
||||
- no freefall detected
|
||||
|
||||
If the vehicle only has knowledge of thrust and angular rate,
|
||||
in order to proceed to the next state the vehicle has to have low thrust and no rotation for 8.0 seconds.
|
||||
|
||||
If the vehicle is in position or velocity control and maybe landed was detected,
|
||||
the position controller will set the thrust vector to zero.
|
||||
|
||||
#### 착륙
|
||||
|
||||
Conditions for this state:
|
||||
|
||||
- all conditions of the [maybe landed](#maybe-landed) state are true
|
||||
|
||||
## Fixed-wing Configuration
|
||||
|
||||
Tuning parameters for fixed-wing land detection:
|
||||
|
||||
- [LNDFW_AIRSPD_MAX](../advanced_config/parameter_reference.md#LNDFW_AIRSPD_MAX) - the maximum airspeed allowed for the system still to be considered landed.
|
||||
Has to be a tradeoff between airspeed sensing accuracy and triggering fast enough.
|
||||
좋은 대기속도 센서는 이 파라미터 값을 낮출 수 있게 합니다.
|
||||
- [LNDFW_VEL_XY_MAX ](../advanced_config/parameter_reference.md#LNDFW_VEL_XY_MAX) - the maximum horizontal velocity for the system to be still be considered landed.
|
||||
- [LNDFW_VEL_Z_MAX](../advanced_config/parameter_reference.md#LNDFW_VEL_XY_MAX) - the maximum vertical velocity for the system to be still be considered landed.
|
||||
- [LNDFW_XYACC_MAX](../advanced_config/parameter_reference.md#LNDFW_XYACC_MAX) - the maximal horizontal acceleration for the system to still be considered landed.
|
||||
- [LNDFW_TRIG_TIME](../advanced_config/parameter_reference.md#LNDFW_TRIG_TIME) - Trigger time during which the conditions above have to be fulfilled to declare a landing.
|
||||
|
||||
:::info
|
||||
When FW launch detection is enabled ([FW_LAUN_DETCN_ON](../advanced_config/parameter_reference.md#FW_LAUN_DETCN_ON)), the vehicle will stay in "landed" state until takeoff is detected (which is purely based on acceleration and not velocity).
|
||||
:::
|
||||
|
||||
## VTOL Land Detector
|
||||
|
||||
The VTOL land detector is 1:1 the same as the MC land detector if the system is in hover mode. In FW mode, land detection is disabled.
|
||||
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,106 @@
|
||||
# 매개변수 검색 및 수정
|
||||
|
||||
PX4 behaviour can be configured/tuned using [parameters](../advanced_config/parameter_reference.md) (e.g. [Multicopter PID gains](../config_mc/pid_tuning_guide_multicopter.md), calibration information, etc.).
|
||||
|
||||
The _QGroundControl Parameters_ screen allows you to find and modify **any** of the parameters associated with the vehicle.
|
||||
The screen is accessed by clicking the **Q** application icon > **Vehicle Setup**, and then _Parameters_ in the sidebar.
|
||||
|
||||
:::info
|
||||
Most of the more commonly used parameters are more conveniently set using the dedicated setup screens, as described in the [Standard Configuration](../config/index.md) section.
|
||||
The _Parameters_ screen is needed when modifying less commonly modified parameters - for example while tuning a new vehicle.
|
||||
:::
|
||||
|
||||
:::warning
|
||||
While some parameters can be changed in flight, this is not recommended (except where explicitly stated in the guide).
|
||||
:::
|
||||
|
||||
<a id="finding"></a>
|
||||
|
||||
## 매개변수 검색
|
||||
|
||||
You can search for a parameter by entering a term in the _Search_ field.
|
||||
This will show you a list of all parameter names and descriptions that contain the entered substring (press **Clear** to reset the search, and use the **Show modified only** checkbox to filter out unchanged parameters).
|
||||
|
||||
|
||||
|
||||
You can also browse the parameters by type and group by clicking on the buttons to the left (in the image below the _DShot_ group in the _Standard_ parameters is selected).
|
||||
|
||||
|
||||
|
||||
You can expand/collapse the "type" groupings as shown.
|
||||
Note that the groups at the bottom named _Component X_ are attached [DroneCAN peripherals](../dronecan/index.md#qgc-cannode-parameter-configuration) ("X" is the node id).
|
||||
[QGC can set the parameters](../dronecan/index.md#qgc-cannode-parameter-configuration) of these peripherals if they are attached to the Flight Controller when QGC is started.
|
||||
|
||||
|
||||
|
||||
:::tip
|
||||
If you can't find an expected parameter, see the [next section](#missing).
|
||||
:::
|
||||
|
||||
<a id="missing"></a>
|
||||
|
||||
## 누락된 매개변수
|
||||
|
||||
매개변수는 일반적으로 다른 매개변수에 조건부이거나 펌웨어에 없기 때문에 표시되지 않습니다 (아래 참조).
|
||||
|
||||
### 조건부 매개변수
|
||||
|
||||
비활성화된 매개변수에 조건부인 경우 표시되지 않을 수 있습니다.
|
||||
|
||||
You can usually find out what parameters are conditional by searching the [full parameter reference](../advanced_config/parameter_reference.md) and other documentation.
|
||||
In particular [serial port configuration parameters](../peripherals/serial_configuration.md) depend on what service is assigned to a serial port.
|
||||
|
||||
### 펌웨어에 없는 매개변수
|
||||
|
||||
다른 버전의 PX4를 사용 중이거나 관련 모듈이 포함되지 않은 빌드인 경우에는 매개 변수가 펌웨어에 없을 수도 있습니다.
|
||||
|
||||
각 PX4 버전에 새로운 매개변수가 추가되고 기존 매개변수가 제거되거나 이름이 변경될 수 있습니다.
|
||||
You can check whether a parameter _should_ be present by reviewing the [full parameter reference](../advanced_config/parameter_reference.md) for the version you're targeting.
|
||||
소스 트리 및 릴리스 정보에서 매개 변수를 검색할 수 있습니다.
|
||||
|
||||
매개 변수가 펌웨어에 존재하지 않는 경우는 관련 모듈이 포함되지 않은 경우입니다.
|
||||
This is a problem (in particular) for _FMUv2 firmware_, which omits many modules so that PX4 can fit into the 1MB of available flash.
|
||||
이 문제를 해결 방법으로 두 가지 옵션이 있습니다.
|
||||
|
||||
- Check if you can update your board to run FMUv3 firmware, which includes all modules: [Firmware > FMUv2 Bootloader Update](../config/firmware.md#bootloader)
|
||||
- If your board can only run FMUv2 firmware you will need to [rebuild PX4](../dev_setup/building_px4.md) with the missing modules enabled.
|
||||
You need reconfigure the PX4 firmware itself through make px4_fmuv2_default boardconfig where you can enabled/disable modules.
|
||||
|
||||
::: info
|
||||
You may also need to disable other modules in order to fit the rebuilt firmware into 1MB flash.
|
||||
제거할 모듈을 찾으려면 시행 착오가 수반되며, 기체의 요구 사항에 따라 달라집니다.
|
||||
|
||||
:::
|
||||
|
||||
<a id="changing"></a>
|
||||
|
||||
## 매개변수 변경
|
||||
|
||||
매개변수를 변경하려면 그룹 또는 검색 목록에서 매개변수를 클릭하십시오.
|
||||
그러면 값을 수정하는 사이드 대화 상자가 열립니다 (이 대화 상자는 매개변수에 대한 추가 세부 정보- 변경 사항을 적용하기 위해서는 재부팅하여야 하는 지를 알려줍니다.)
|
||||
|
||||
|
||||
|
||||
:::info
|
||||
When you click **Save** the parameter is automatically and silently uploaded to the connected vehicle.
|
||||
매개변수에 따라 변경된 내용을 적용하기 위해서 비행 컨트롤러 재부팅이 필요합니다.
|
||||
:::
|
||||
|
||||
## 도구
|
||||
|
||||
You can select additional options from the **Tools** menu on the top right hand side of the screen.
|
||||
|
||||
|
||||
|
||||
**Refresh** <br>Refresh the parameter values by re-requesting all of them from the vehicle.
|
||||
|
||||
**Reset all to firmware defaults** <br>Reset all parameters to their original default values in the firmware.
|
||||
|
||||
**Reset to vehicle's configuration defaults** <br>Reset all parameters to their original default values for the particular selected airfame configuration.
|
||||
|
||||
**Load from file / Save to file** <br>Load parameters from an existing file or save your current parameter settings to a file.
|
||||
|
||||
**Clear all RC to Param** <br>This clears all associations between RC transmitter controls and parameters.
|
||||
For more information see: [Radio Setup > Param Tuning Channels](../config/radio.md#param-tuning-channels).
|
||||
|
||||
**Reboot Vehicle** <br>Reboot the vehicle (required after changing some parameters).
|
||||
@@ -0,0 +1,239 @@
|
||||
# Arm, Disarm, Prearm Configuration
|
||||
|
||||
기체에는 움직이는 부품이 있으며, 그 중에는 특히 모터와 프로펠러는 전원 공급시 위험할 수 있습니다.
|
||||
|
||||
사고의 위험을 줄이기 위하여, PX4는 명확한 상태에서만 부품들의 전원을 공급합니다.
|
||||
|
||||
- **Disarmed:** There is no power to motors or actuators.
|
||||
- **Pre-armed:** Motors/propellers are locked but actuators for non-dangerous electronics are powered (e.g. ailerons, flaps etc.).
|
||||
- **Armed:** Vehicle is fully powered. 모터와 프로펠러가 동작할 수 있음(위험!)
|
||||
|
||||
:::info
|
||||
Ground stations may display _disarmed_ for pre-armed vehicles.
|
||||
시동전의 기체는 기술적으로 타당하지는 않지만, "안전"한 상태입니다.
|
||||
:::
|
||||
|
||||
Users can control progression though these states using a [safety switch](../getting_started/px4_basic_concepts.md#safety-switch) on the vehicle (optional) _and_ an [arming switch/button](#arm_disarm_switch), [arming gesture](#arm_disarm_gestures), or _MAVLink command_ on the ground controller:
|
||||
|
||||
- A _safety switch_ is a control _on the vehicle_ that must be engaged before the vehicle can be armed, and which may also prevent prearming (depending on the configuration).
|
||||
보통 안전 스위치는 GPS 장치에 붙어있으나, 별도의 부품으로 공급되기도 합니다.
|
||||
|
||||
:::warning
|
||||
A vehicle that is armed is potentially dangerous.
|
||||
안전 스위치는 의도하지 않게 갑자기시동이 걸리는 것을 방지합니다.
|
||||
|
||||
:::
|
||||
|
||||
- An _arming switch_ is a switch or button _on an RC controller_ that can be used to arm the vehicle and start motors (provided arming is not prevented by a safety switch).
|
||||
|
||||
- An _arming gesture_ is a stick movement _on an RC controller_ that can be used as an alternative to an arming switch.
|
||||
|
||||
- MAVLink 명령은 지상국에서 기체의 시동을 걸거나 시동을 해제할 수 있습니다.
|
||||
|
||||
PX4는 시동 후 일정 시간 내에 이륙하지 않고, 착륙 후 수동으로 시동 해제하지 않으면, 기체의 시동은 자동으로 해제됩니다.
|
||||
이것은 시동이 걸린 기체가 지상에서 안전사고를 유발할 수 있는 시간을 줄입니다.
|
||||
|
||||
PX4 allows you to configure how pre-arming, arming and disarming work using parameters (which can be edited in _QGroundControl_ via the [parameter editor](../advanced_config/parameters.md)), as described in the following sections.
|
||||
|
||||
:::tip
|
||||
Arming/disarming parameters can be found in [Parameter Reference > Commander](../advanced_config/parameter_reference.md#commander) (search for `COM_ARM_*` and `COM_DISARM_*`).
|
||||
:::
|
||||
|
||||
## Arming/Disarming Gestures {#arm_disarm_gestures}
|
||||
|
||||
기본적으로, 기체는 무선조종장치의 추진 제어 스틱과 방위 제어 스틱을 움직인 후 잠깐 동안 또는 1초 동안 상태를 유지하면 시동을 걸거나 시동을 해제할 수 있습니다.
|
||||
|
||||
- **Arming:** Throttle minimum, yaw maximum
|
||||
- **Disarming:** Throttle minimum, yaw minimum
|
||||
|
||||
RC controllers will use different sticks for throttle and yaw [based on their mode](../getting_started/rc_transmitter_receiver.md#types-of-remote-controllers), and hence different gestures:
|
||||
|
||||
- **Mode 2**:
|
||||
- _Arm:_ Left stick to bottom right.
|
||||
- _Disarm:_ Left stick to the bottom left.
|
||||
- **Mode 1**:
|
||||
- _Arm:_ Left-stick to right, right-stick to bottom.
|
||||
- _Disarm:_ Left-stick to left, right-stick to the bottom.
|
||||
|
||||
The required hold time can be configured using [COM_RC_ARM_HYST](#COM_RC_ARM_HYST).
|
||||
Note that by default ([COM_DISARM_MAN](#COM_DISARM_MAN)) you can also disarm in flight using gestures/buttons: you may choose to disable this to avoid accidental disarming.
|
||||
|
||||
| 매개변수 | 설명 |
|
||||
| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
|
||||
| <a id="MAN_ARM_GESTURE"></a>[MAN_ARM_GESTURE](../advanced_config/parameter_reference.md#MAN_ARM_GESTURE) | Enable arm/disarm stick guesture. `0`: Disabled, `1`: Enabled (default). |
|
||||
| <a id="COM_DISARM_MAN"></a>[COM_DISARM_MAN](../advanced_config/parameter_reference.md#COM_DISARM_MAN) | Enable disarming in flight via switch/stick/button in MC manual thrust modes. `0`: Disabled, `1`: Enabled (default). |
|
||||
| <a id="COM_RC_ARM_HYST"></a>[COM_RC_ARM_HYST](../advanced_config/parameter_reference.md#COM_RC_ARM_HYST) | Time that RC stick must be held in arm/disarm position before arming/disarming occurs (default: `1` second). |
|
||||
|
||||
## Arming Button/Switch {#arm_disarm_switch}
|
||||
|
||||
An _arming button_ or "momentary switch" can be configured to trigger arm/disarm _instead_ of [gesture-based arming](#arm_disarm_gestures) (setting an arming switch disables arming gestures).
|
||||
The button should be held down for ([nominally](#COM_RC_ARM_HYST)) one second to arm (when disarmed) or disarm (when armed).
|
||||
|
||||
A two-position switch can also be used for arming/disarming, where the respective arm/disarm commands are sent on switch _transitions_.
|
||||
|
||||
:::tip
|
||||
Two-position arming switches are primarily used in/recommended for racing drones.
|
||||
:::
|
||||
|
||||
The switch or button is assigned (and enabled) using [RC_MAP_ARM_SW](#RC_MAP_ARM_SW), and the switch "type" is configured using [COM_ARM_SWISBTN](#COM_ARM_SWISBTN).
|
||||
|
||||
| 매개변수 | 설명 |
|
||||
| ----------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
|
||||
| <a id="RC_MAP_ARM_SW"></a>[RC_MAP_ARM_SW](../advanced_config/parameter_reference.md#RC_MAP_ARM_SW) | RC arm 스위치 채널 (기본값 : 0 - 할당되지 않음). 정의된 경우 지정된 RC 채널(버튼/스위치)이 스틱 제스처 대신 시동용으로 사용됩니다. <br>**Note:**<br>- This setting _disables the stick gesture_!<br>- This setting applies to RC controllers. It does not apply to Joystick controllers that are connected via _QGroundControl_. |
|
||||
| <a id="COM_ARM_SWISBTN"></a>[COM_ARM_SWISBTN](../advanced_config/parameter_reference.md#COM_ARM_SWISBTN) | 시동 스위치는 순간적으로 동작하는 버튼입니다. <br>- `0`: Arm switch is a 2-position switch where arm/disarm commands are sent on switch transitions.<br>-`1`: Arm switch is a button or momentary button where the arm/disarm command ae sent after holding down button for set time ([COM_RC_ARM_HYST](#COM_RC_ARM_HYST)). |
|
||||
|
||||
:::info
|
||||
The switch can also be set as part of _QGroundControl_ [Flight Mode](../config/flight_mode.md) configuration.
|
||||
:::
|
||||
|
||||
## 자동 시동 끄기
|
||||
|
||||
기본적으로, 기체는 착륙시 시동 해제 되며, 시동후 이륙 시간이 너무 오래 걸리면 자동으로 시동 해제됩니다.
|
||||
이 기능은 다음 시간 제한을 사용하여 설정됩니다.
|
||||
|
||||
| 매개변수 | 설명 |
|
||||
| ----------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------ |
|
||||
| <a id="COM_DISARM_LAND"></a>[COM_DISARM_LAND](../advanced_config/parameter_reference.md#COM_DISARM_LAND) | 착륙후 자동 시동 해제 대기 시간. 기본값: 2s (-1 비활성화). |
|
||||
| <a id="COM_DISARM_PRFLT"></a>[COM_DISARM_PRFLT](../advanced_config/parameter_reference.md#COM_DISARM_PRFLT) | 이륙 속도가 너무 느리면 자동 시동 해제 시간이 초과됩니다. Default: 10s (<=0 to disable). |
|
||||
|
||||
## Pre-Arm Checks
|
||||
|
||||
To reduce accidents, vehicles are only allowed to arm certain conditions are met (some of which are configurable).
|
||||
Arming is prevented if:
|
||||
|
||||
- The vehicle is not in a "healthy" state.
|
||||
For example it is not calibrated, or is reporting sensor errors.
|
||||
- The vehicle has a [safety switch](../getting_started/px4_basic_concepts.md#safety-switch) that has not been engaged.
|
||||
- The vehicle has a [remote ID](../peripherals/remote_id.md) that is unhealthy or otherwise not ready
|
||||
- A VTOL vehicle is in fixed-wing mode ([by default](../advanced_config/parameter_reference.md#CBRK_VTOLARMING)).
|
||||
- The current mode requires an adequate global position estimate but the vehicle does not have GPS lock.
|
||||
- Many more (see [arming/disarming safety settings](../config/safety.md#arming-disarming-settings) for more information).
|
||||
|
||||
The current failed checks can be viewed in QGroundControl (v4.2.0 and later) [Arming Check Report](../flying/pre_flight_checks.md#qgc-arming-check-report) (see also [Fly View > Arming and Preflight Checks](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/fly_view/fly_view.md#arm)).
|
||||
|
||||
Note that internally PX4 runs arming checks at 10Hz.
|
||||
A list of the failed checks is kept, and if the list changes PX4 emits the current list using the [Events interface](../concept/events_interface.md).
|
||||
The list is also sent out when the GCS connects.
|
||||
Effectively the GCS knows the status of prearm checks immediately, both when disarmed and armed.
|
||||
|
||||
:::details
|
||||
Implementation notes for developers
|
||||
The client implementation is in [libevents](https://github.com/mavlink/libevents):
|
||||
|
||||
- [libevents > Event groups](https://github.com/mavlink/libevents#event-groups)
|
||||
- [health_and_arming_checks.h](https://github.com/mavlink/libevents/blob/main/libs/cpp/parse/health_and_arming_checks.h)
|
||||
|
||||
QGC implementation: [HealthAndArmingCheckReport.cc](https://github.com/mavlink/qgroundcontrol/blob/master/src/MAVLink/LibEvents/HealthAndArmingCheckReport.cc).
|
||||
:::
|
||||
|
||||
PX4 also emits a subset of the arming check information in the [SYS_STATUS](https://mavlink.io/en/messages/common.html#SYS_STATUS) message (see [MAV_SYS_STATUS_SENSOR](https://mavlink.io/en/messages/common.html#MAV_SYS_STATUS_SENSOR)).
|
||||
|
||||
## Arming Sequence: Pre Arm Mode & Safety Button
|
||||
|
||||
The arming sequence depends on whether or not there is a _safety switch_, and is controlled by the parameters [COM_PREARM_MODE](#COM_PREARM_MODE) (Prearm mode) and [CBRK_IO_SAFETY](#CBRK_IO_SAFETY) (I/O safety circuit breaker).
|
||||
|
||||
The [COM_PREARM_MODE](#COM_PREARM_MODE) parameter defines when/if pre-arm mode is enabled ("safe"/non-throttling actuators are able to move):
|
||||
|
||||
- _Disabled_: Pre-arm mode disabled (there is no stage where only "safe"/non-throttling actuators are enabled).
|
||||
- _Safety Switch_ (Default): The pre-arm mode is enabled by the safety switch.
|
||||
안전 스위치가 없으면 시동전 모드가 활성화되지 않습니다.
|
||||
- _Always_: Prearm mode is enabled from power up.
|
||||
|
||||
기본 설정에서는 시동전에 안전 스위치를 사용하도록 설정합니다.
|
||||
If there is no safety switch the I/O safety circuit breaker must be engaged ([CBRK_IO_SAFETY](#CBRK_IO_SAFETY)), and arming will depend only on the arm command.
|
||||
|
||||
아래 섹션에서는 여러가지 설정의 시작 순서를 자세히 설명합니다.
|
||||
|
||||
### 기본값: COM_PREARM_MODE = Safety and Safety Switch
|
||||
|
||||
기본 설정에서는 시동전에 안전 스위치를 사용하도록 설정합니다.
|
||||
시동전에 이 스위치를 켜면 모든 모터와 액츄에이터를 가동하기 위하여 시동을 걸 수 있습니다.
|
||||
It corresponds to: [COM_PREARM_MODE=1](#COM_PREARM_MODE) (safety switch) and [CBRK_IO_SAFETY=0](#CBRK_IO_SAFETY) (I/O safety circuit breaker disabled).
|
||||
|
||||
시작 절차는 다음과 같습니다:
|
||||
|
||||
1. 전원 인가
|
||||
- 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
|
||||
3. 시동 명령 인가
|
||||
|
||||
- 시스템에 시동이 걸림
|
||||
- 모든 모터와 액츄에이터를 움직일 수 있음
|
||||
|
||||
### COM_PREARM_MODE = Disabled and Safety Switch
|
||||
|
||||
When prearm mode is _Disabled_, engaging the safety switch does not unlock the "safe" actuators, though it does allow you to then arm the vehicle.
|
||||
This corresponds to [COM_PREARM_MODE=0](#COM_PREARM_MODE) (Disabled) and [CBRK_IO_SAFETY=0](#CBRK_IO_SAFETY) (I/O safety circuit breaker disabled).
|
||||
|
||||
시작 절차는 다음과 같습니다:
|
||||
|
||||
1. 전원 인가
|
||||
- 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
|
||||
3. 시동 명령 인가
|
||||
|
||||
- 시스템에 시동이 걸림
|
||||
- 모든 모터와 액츄에이터를 움직일 수 있음
|
||||
|
||||
### COM_PREARM_MODE = Always and Safety Switch
|
||||
|
||||
When prearm mode is _Always_, prearm mode is enabled from power up.
|
||||
시동 걸기 위하여 여전히 안전 스위치가 필요합니다.
|
||||
This corresponds to [COM_PREARM_MODE=2](#COM_PREARM_MODE) (Always) and [CBRK_IO_SAFETY=0](#CBRK_IO_SAFETY) (I/O safety circuit breaker disabled).
|
||||
|
||||
시작 절차는 다음과 같습니다:
|
||||
|
||||
1. 전원 인가
|
||||
- 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
|
||||
3. 시동 명령 인가
|
||||
- 시스템에 시동이 걸림
|
||||
- 모든 모터와 액츄에이터를 움직일 수 있음
|
||||
|
||||
### COM_PREARM_MODE = Safety or Disabled and No Safety Switch
|
||||
|
||||
With no safety switch, when `COM_PREARM_MODE` is set to _Safety_ or _Disabled_ prearm mode cannot be enabled (same as disarmed).
|
||||
This corresponds to [COM_PREARM_MODE=0 or 1](#COM_PREARM_MODE) (Disabled/Safety Switch) and [CBRK_IO_SAFETY=22027](#CBRK_IO_SAFETY) (I/O safety circuit breaker engaged).
|
||||
|
||||
시작 절차는 다음과 같습니다:
|
||||
|
||||
1. 전원 인가
|
||||
- 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
|
||||
|
||||
### COM_PREARM_MODE = Always and No Safety Switch
|
||||
|
||||
When prearm mode is _Always_, prearm mode is enabled from power up.
|
||||
This corresponds to [COM_PREARM_MODE=2](#COM_PREARM_MODE) (Always) and [CBRK_IO_SAFETY=22027](#CBRK_IO_SAFETY) (I/O safety circuit breaker engaged).
|
||||
|
||||
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
|
||||
2. 시동 명령 인가
|
||||
- 시스템에 시동이 걸림
|
||||
- 모든 모터와 액츄에이터를 움직일 수 있음
|
||||
|
||||
### 매개변수
|
||||
|
||||
| 매개변수 | 설명 |
|
||||
| -------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
|
||||
| <a id="COM_PREARM_MODE"></a>[COM_PREARM_MODE](../advanced_config/parameter_reference.md#COM_PREARM_MODE) | 시동전 모드로 진입하는 상태입니다. `0`: Disabled, `1`: Safety switch (prearm mode enabled by safety switch; if no switch present cannot be enabled), `2`: Always (prearm mode enabled from power up). Default: `1` (safety button). |
|
||||
| <a id="CBRK_IO_SAFETY"></a>[CBRK_IO_SAFETY](../advanced_config/parameter_reference.md#CBRK_IO_SAFETY) | 입출력 안전을 위한 회로 차단. |
|
||||
|
||||
<!-- Discussion:
|
||||
https://github.com/PX4/PX4-Autopilot/pull/12806#discussion_r318337567
|
||||
https://github.com/PX4/PX4-user_guide/issues/567#issue-486653048
|
||||
-->
|
||||
@@ -0,0 +1,211 @@
|
||||
# 온도 교정과 보상
|
||||
|
||||
PX4 contains functionality to calibrate and compensate accelerometer, gyro, magnetometer, and barometric pressure sensors for the effect of changing sensor temperature on sensor bias.
|
||||
|
||||
This topic details the [test environment](#test_setup) and [calibration procedures](#calibration_procedures).
|
||||
At the end there is a description of the [implementation](#implementation).
|
||||
|
||||
:::info
|
||||
After thermal calibration, the thermal calibration parameters (`TC_*`) are used for _all_ calibration/compensation of the respective sensors.
|
||||
Any subsequent standard calibration will therefore update `TC_*` parameters and not the "normal" `SYS_CAL_*` calibration parameters (and in some cases these parameters may be reset).
|
||||
:::
|
||||
|
||||
:::info
|
||||
Releases up to PX4 v1.14, do not support thermal calibration of the magnetometer.
|
||||
:::
|
||||
|
||||
<a id="test_setup"></a>
|
||||
|
||||
## 테스트 설정 / 모범 사례
|
||||
|
||||
The [calibration procedures](#calibration_procedures) described in the following sections are ideally run in an _environmental chamber_ (a temperature and humidity controlled environment) as the board is heated from the lowest to the highest operating/calibration temperature.
|
||||
Before starting the calibration, the board is first _cold soaked_ (cooled to the minimum temperature and allowed to reach equilibrium).
|
||||
|
||||
:::info
|
||||
Active electric heating elements will affect the magnetometer calibration values.
|
||||
Ensure that heating elements are either inactive or sufficiently far from the sensor to avoid injecting noise into the magnetometer calibration.
|
||||
:::
|
||||
|
||||
냉기의 경우 일반 가정용 냉동고를 사용하여 -20C를 달성할 수 있으며, 상업용 냉동고는 -40C 정도를 달성할 수 있습니다.
|
||||
The board should be placed in a ziplock/anti-static bag containing a silica packet, with a power lead coming out through a sealed hole.
|
||||
냉기 후 백을 테스트 환경으로 옮길 수 있으며 동일한 백에서 테스트를 계속할 수 있습니다.
|
||||
|
||||
:::info
|
||||
The bag/silica is to prevent condensation from forming on the board.
|
||||
:::
|
||||
|
||||
상업용 환경 챔버없이 교정을 수행할 수 있습니다.
|
||||
내부 공기량이 매우 적은 스티로폼 상자를 사용하여 간단한 환경 용기를 만들 수 있습니다.
|
||||
이렇게하면 자동조종장치가 비교적 빠르게 공기를 자체 가열할 수 있습니다 (상자에 주변 실내 압력과 동일하게 만들 수 있는 작은 구멍이 있지만 여전히 내부를 가열할 수 있어야 합니다).
|
||||
|
||||
이러한 종류의 설정을 사용하여 보드를 약 70C까지 가열할 수 있습니다.
|
||||
일화적인 증거는 많은 일반적인 보드가 부작용 없이 이 온도로 가열될 수 있음을 시사합니다.
|
||||
확실하지 않은 경우에는, 제조업체에 안전 작동 범위를 확인하십시오.
|
||||
|
||||
:::tip
|
||||
To check the status of the onboard thermal calibration use the MAVlink console (or NuttX console) to check the reported internal temp from the sensor.
|
||||
:::
|
||||
|
||||
<a id="calibration_procedures"></a>
|
||||
|
||||
## 교정 절차
|
||||
|
||||
PX4는 두 가지 보정 절차를 지원합니다.
|
||||
|
||||
- [onboard](#onboard_calibration) - calibration is run on the board itself. 이 방법을 사용하려면 테스트 설정으로 달성할 수있는 온도 상승 양에 대한 지식이 필요합니다.
|
||||
- [offboard](#offboard_calibration) - compensation parameters are calculated on a development computer based on log information collected during the calibration procedure. 이 방법으로 사용자는 데이터의 품질과 곡선 맞춤을 시각적으로 확인할 수 있습니다.
|
||||
|
||||
오프 보드 접근 방식은 더 복잡하고 느리지만, 테스트 설정에 대한 지식이 덜 필요하고 검증하기가 용이합니다.
|
||||
|
||||
<a id="onboard_calibration"></a>
|
||||
|
||||
### 온보드 교정 절차
|
||||
|
||||
온보드 보정은 전적으로 장치에서 실행됩니다. 테스트 설정으로 달성할 수있는 온도 상승 양에 대한 지식이 필요합니다.
|
||||
|
||||
온보드 보정을 수행하려면 :
|
||||
|
||||
1. 보정전에 프레임 유형이 설정되어 있는 지 확인하십시오. 그렇지 않으면, 보드가 설정시 보정 매개변수가 손실될 수 있습니다.
|
||||
2. Power the board and set the `SYS_CAL_*` parameters to 1 to enable calibration of the required sensors at the next startup. [^1]
|
||||
3. Set the [SYS_CAL_TDEL](../advanced_config/parameter_reference.md#SYS_CAL_TDEL) parameter to the number of degrees of temperature rise required for the onboard calibrator to complete. 이 매개변수가 너무 작으면 보정이 일찍 완료되고, 보정 온도 범위가 보드가 완전히 예열될 때 보정하기에 충분하지 않습니다. 매개변수 값이 너무 크면, 온보드 캘리브레이터가 완료되지 않습니다. 이 매개 변수를 설정시 보드 자체 발열로 인한 온도 상승 부분을 허용하여야 합니다. 센서의 온도 상승량을 알 수 없는 경우에는 오프 보드 방식을 사용하는 것이 좋습니다.
|
||||
4. Set the [SYS_CAL_TMIN](../advanced_config/parameter_reference.md#SYS_CAL_TMIN) parameter to the lowest temperature data that you want the calibrator to use. 이를 통해 교정 최소 온도에 대한 제어를 유지하면서 저온 흡수 시간을 줄이기 위하여 더 낮은 저온 흡수 주변 온도를 사용할 수 있습니다. 센서의 데이터가 이 매개변수로 설정된 값보다 낮으면, 캘리브레이터에서 사용되지 않습니다.
|
||||
5. Set the [SYS_CAL_TMAX](../advanced_config/parameter_reference.md#SYS_CAL_TMAX) parameter to the highest starting sensor temperature that should be accepted by the calibrator. 시작 온도가 이 매개변수로 설정된 값보다 높으면 오류가 발생하면서 보정이 종료됩니다. Note that if the variation in measured temperature between different sensors exceeds the gap between `SYS_CAL_TMAX` and `SYS_CAL_TMIN`, then it will be impossible for the calibration to start.
|
||||
6. Remove power and cold soak the board to below the starting temperature specified by the `SYS_CAL_TMIN` parameter. 센서가 안정화 될 수 있도록 보정이 시작되기 전에 시작시 10 초의 지연이 있으며 센서는이 기간 동안 내부적으로 예열됩니다.
|
||||
7. Keeping the board stationary[^2], apply power and warm to a temperature high enough to achieve the temperature rise specified by the `SYS_CAL_TDEL` parameter. 완료율은 보정중 시스템 콘솔에 표시됩니다. [^3]
|
||||
8. 보정이 완료되면 전원을 제거하고, 다음 단계를 수행하기 전에 보정 범위 내의 온도로 보드를 냉각합니다.
|
||||
9. Perform a 6-point accel calibration via the system console using `commander calibrate accel` or via _QGroundControl_. 보드를 처음 설정하는 경우에는 자이로와 자력계 보정도 수행하여야 합니다.
|
||||
10. 보정중 갑작스러운 오프셋 변경으로 인하여 내비게이션 추정기가 혼란스럽고 일부 매개변수는 다음 시작까지 이를 사용하는 알고리즘에 의해 로드되지 않기 때문에 센서 보정 후 비행하기 전에 항상 보드에 전원을 다시 공급해야합니다.
|
||||
|
||||
<a id="offboard_calibration"></a>
|
||||
|
||||
### 오프보드 교정 절차
|
||||
|
||||
오프보드 보정은 보정 테스트 중에 수집된 데이터를 사용하여 개발 컴퓨터에서 실행됩니다. 이 방법은 데이터 품질과 곡선 맞춤을 시각적으로 제공합니다.
|
||||
|
||||
오프보드 보정을 수행하려면 :
|
||||
|
||||
1. 보정전에 프레임 유형이 설정되어 있는 지 확인하십시오. 그렇지 않으면, 보드가 설정시 보정 매개변수가 손실될 수 있습니다.
|
||||
|
||||
2. Power up the board and set the [TC_A_ENABLE](../advanced_config/parameter_reference.md#TC_A_ENABLE), [TC_B_ENABLE](../advanced_config/parameter_reference.md#TC_B_ENABLE), [TC_G_ENABLE](../advanced_config/parameter_reference.md#TC_G_ENABLE), and [TC_M_ENABLE](../advanced_config/parameter_reference.md#TC_M_ENABLE) parameters to `1`.
|
||||
|
||||
3. Set all [CAL_ACC\*](../advanced_config/parameter_reference.md#CAL_ACC0_ID), [CAL_GYRO\*](../advanced_config/parameter_reference.md#CAL_GYRO0_ID), [CAL_MAG\*](../advanced_config/parameter_reference.md#CAL_MAG0_ID), and [CAL_BARO\*](../advanced_config/parameter_reference.md#CAL_BARO0_ID) parameters to defaults.
|
||||
|
||||
4. Set the [SDLOG_MODE](../advanced_config/parameter_reference.md#SDLOG_MODE) parameter to 2 to enable logging of data from boot.
|
||||
|
||||
5. Set the [SDLOG_PROFILE](../advanced_config/parameter_reference.md#SDLOG_PROFILE) checkbox for _thermal calibration_ (bit 2) to log the raw sensor data required for calibration.
|
||||
|
||||
6. 보드를 작동에 필요한 최소 온도로 냉각합니다.
|
||||
|
||||
7. Apply power and keeping the board still [^2], warm it slowly to the maximum required operating temperature. [^3]
|
||||
|
||||
8. 전원을 제거하고 .ulog 파일을 추출하십시오.
|
||||
|
||||
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>
|
||||
```
|
||||
|
||||
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.
|
||||
|
||||
11. After parameters have finished loading, set `SDLOG_MODE` to 1 to re-enable normal logging and remove power.
|
||||
|
||||
12. Power the board and perform a normal accelerometer sensor calibration using _QGroundControl_. 보드의 교정 온도 범위 내에서, 이 단계를 수행하여야 합니다. 갑작스러운 오프셋 변경으로 인하여 내비게이션 추정기가 혼란할 수 있고, 일부 매개변수는 다음 시작까지 이를 사용하는 알고리즘에 의해 로드되지 않기 때문에 이 단계 후에는 보드에 전원을 공급하여야 합니다.
|
||||
|
||||
<a id="implementation"></a>
|
||||
|
||||
## 구현 상세
|
||||
|
||||
교정은 내부 온도 범위에서 센서 값의 변화를 측정하고 데이터에 대해 다항식 맞춤을 수행하여 센서 데이터를 수정에 사용하는 계수 세트 (매개변수로 저장됨)를 계산하는 프로세스를 의미합니다. 보상은 온도에 따른 오프셋 변경을 수정하기 위하여 센서 판독 값에서 차감되는 오프셋을 계산하기 위해 내부 온도를 사용하는 프로세스를 의미합니다.
|
||||
|
||||
The accelerometer, gyro, and magnetometer sensor offsets are calculated using a 3rd order polynomial, whereas the barometric pressure sensor offset is calculated using a 5th order polynomial. 맞춤 예시는 아래와 같습니다.
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
### 교정 매개변수 저장
|
||||
|
||||
기존 매개변수 시스템 구현에서는 구조체의 각 값을 별도의 항목으로 저장하는 것으로 제한됩니다. To work around this limitation the following logical naming convention is used for the [thermal compensation parameters](../advanced_config/parameter_reference.md#thermal-compensation):
|
||||
|
||||
```sh
|
||||
TC_[type][instance]_[cal_name]_[axis]
|
||||
```
|
||||
|
||||
여기서:
|
||||
|
||||
- `type`: is a single character indicating the type of sensor where `A` = accelerometer, `G` = rate gyroscope, `M` = magnetometer, and `B` = barometer.
|
||||
|
||||
- `instance`: is an integer 0,1 or 2 allowing for calibration of up to three sensors of the same `type`.
|
||||
|
||||
- `cal_name`: is a string identifying the calibration value. 다음의 값을 가질 수 있습니다.
|
||||
|
||||
- `Xn`: Polynomial coefficient where n is the order of the coefficient, e.g. `X3 * (temperature - reference temperature)**3`.
|
||||
- `SCL`: scale factor.
|
||||
- `TREF`: reference temperature (deg C).
|
||||
- `TMIN`: minimum valid temperature (deg C).
|
||||
- `TMAX`: maximum valid temperature (deg C).
|
||||
|
||||
- `axis`: is an integer 0,1 or 2 indicating that the calibration data is for X,Y or Z axis in the board frame of reference. For the barometric pressure sensor, the `axis` suffix is omitted.
|
||||
|
||||
예제:
|
||||
|
||||
- [TC_A1_TREF](../advanced_config/parameter_reference.md#TC_A1_TREF) is the reference temperature for the second accelerometer.
|
||||
- [TC_G0_X3_0](../advanced_config/parameter_reference.md#TC_G0_X3_0) is the `^3` coefficient for the first gyro x-axis.
|
||||
|
||||
### 교정 매개 변수 사용법
|
||||
|
||||
The correction for thermal offsets (using the calibration parameters) is performed in the [sensors module](../modules/modules_system.md#sensors).
|
||||
측정 온도에서 기준 온도를 차감하여 다음과 같은 델타 온도를 얻습니다.
|
||||
|
||||
```
|
||||
delta = measured_temperature - reference_temperature
|
||||
```
|
||||
|
||||
그런 다음 델타 온도를 사용하여 오프셋을 계산합니다.
|
||||
|
||||
```
|
||||
offset = X0 + X1*delta + X2*delta**2 + ... + Xn*delta**n
|
||||
```
|
||||
|
||||
오프셋 및 온도 스케일 계수는 아래의 경우의 센서 측정을 수정하는 데 사용됩니다.
|
||||
|
||||
```
|
||||
corrected_measurement = (raw_measurement - offset) * scale_factor
|
||||
```
|
||||
|
||||
If the temperature is above the test range set by the `*_TMIN` and `*_TMAX` parameters, then the measured temperature will be clipped to remain within the limits.
|
||||
|
||||
Correction of the accelerometer, gyroscope, magnetometer, or barometer data is enabled by setting [TC_A_ENABLE](../advanced_config/parameter_reference.md#TC_A_ENABLE), [TC_G_ENABLE](../advanced_config/parameter_reference.md#TC_G_ENABLE), [TC_M_ENABLE](../advanced_config/parameter_reference.md#TC_M_ENABLE), or [TC_B_ENABLE](../advanced_config/parameter_reference.md#TC_B_ENABLE) parameters to 1 respectively.
|
||||
|
||||
### Compatibility with legacy `CAL_*` parameters and commander controlled calibration
|
||||
|
||||
레거시 온도에 구애받지 않는 PX4 속도 자이로 및 가속도계 센서 교정은 커맨더 모듈에 의해 수행되며 오프셋 조정이 포함되며 가속도계 교정의 경우 스케일 팩터 교정 매개변수가 포함됩니다. 오프셋 및 배율 매개변수는 각 센서의 드라이버 내에 적용됩니다. These parameters are found in the [CAL parameter group](../advanced_config/parameter_reference.md#sensor-calibration).
|
||||
|
||||
온보드 온도 보정은 이벤트 모듈에 의해 제어되며 센서 결합 uORB 주제가 게시되기 전에 센서 모듈 내에서 보정이 적용됩니다. 즉, 열 보정을 사용하는 경우 열 보정을 수행하기 전에 모든 해당 레거시 오프셋과 배율 매개변수를 기본값 0 및 단일로 설정하여야 합니다. If an on-board temperature calibration is performed, this will be done automatically, however if an offboard calibration is being performed it is important that the legacy `CAL*OFF` and `CAL*SCALE` parameters be reset before calibration data is logged.
|
||||
|
||||
If accel thermal compensation has been enabled by setting the `TC_A_ENABLE` parameter to 1, then the commander controlled 6-point accel calibration can still be performed.
|
||||
However, instead of adjusting the `*OFF` and `*SCALE` parameters in the `CAL` parameter group, these parameters are set to defaults and the thermal compensation `X0` and `SCL` parameters are adjusted instead.
|
||||
|
||||
If gyro thermal compensation has been enabled by setting the `TC_G_ENABLE` parameter to 1, then the commander controlled gyro calibration can still be performed, however it will be used to shift the compensation curve up or down by the amount required to zero the angular rate offset. X0 계수를 조정하여 이를 달성합니다.
|
||||
|
||||
If magnetometer thermal compensation has been enabled by setting the `TC_M_ENABLE` parameter to 1, then the commander controlled 6-point accel calibration can still be performed.
|
||||
However, instead of adjusting the `*OFF` and `*SCALE` parameters in the `CAL` parameter group, these parameters are set to defaults and the thermal compensation `X0` and `SCL` parameters are adjusted instead.
|
||||
|
||||
### 제한 사항
|
||||
|
||||
스케일 팩터는 서로 다른 온도에서 측정이 어려움으로 인하여 온도가 변하지 않는 것으로 간주됩니다. 이는 가속도계 교정의 유용성을 안정적인 스케일 팩터를 가진 센서 모델로 제한합니다. 이론적으로 IMU 내부 온도를 어느 정도 제어 가능한 열 챔버 또는 IMU 히터를 사용하면 일련의 6면 가속도계 교정을 수행하고 오프셋과 배율 계수 모두에 대해 가속도계를 수정할 수 있습니다. 필요한 보드 이동을 교정 알고리즘과 통합하는 것이 복잡하기 때문에 이 기능은 포함되지 않았습니다.
|
||||
|
||||
---
|
||||
|
||||
[^1]: The [SYS_CAL_ACCEL](../advanced_config/parameter_reference.md#SYS_CAL_ACCEL), [SYS_CAL_BARO](../advanced_config/parameter_reference.md#SYS_CAL_BARO) and [SYS_CAL_GYRO](../advanced_config/parameter_reference.md#SYS_CAL_GYRO) parameters are reset to 0 when the calibration is started.
|
||||
|
||||
[^2]: 기압 센서 오프셋을 보정하려면 안정적인 기압 환경이 필요합니다. The air pressure will change slowly due to weather and inside buildings can change rapidly due to external wind fluctuations and HVAC system operation.
|
||||
|
||||
[^3]: Care must be taken when warming a cold soaked board to avoid formation of condensation on the board that can cause board damage under some circumstances.
|
||||
@@ -0,0 +1,42 @@
|
||||
# 정압 축적
|
||||
|
||||
Air flowing over an enclosed vehicle can cause the _static pressure_ to change within the canopy/hull.
|
||||
선체의 구멍/누출 위치에 따라 저압 또는 과압 (날개와 유사)이 발생할 수 있습니다.
|
||||
|
||||
압력의 변화는 기압계 측정에 영향을 끼치므로, 고도 추정이 정확하지 않을 수 있습니다.
|
||||
This might manifest as the vehicle losing altitude when it stops moving in [Altitude](../flight_modes_mc/altitude.md), [Position](../flight_modes_mc/position.md) or [Mission](../flight_modes_mc/mission.md) modes (when the vehicle stops moving the static pressure drops, the sensor reports a higher altitude, and the vehicle compensates by descending).
|
||||
The problem is particularly visible on multicopters because fixed wing vehicles move with a more constant airspeed (and it is the airspeed deltas that are noticeable).
|
||||
|
||||
한 가지 해결책은 거품으로 채워진 환기 구멍을 사용하여 축적을 최소화한 다음 (가능한 한 많이) 동적 보정을 시도하여 나머지 효과를 제거하는 것입니다.
|
||||
|
||||
:::tip
|
||||
Before "fixing" the problem you should first check that the Z setpoint tracks the estimated altitude (to verify that there are no controller issues).
|
||||
:::
|
||||
|
||||
:::info
|
||||
While it is possible to remove the barometer from the altitude estimate (i.e. only use altitude from the GPS), this is not recommended.
|
||||
GPS는 많은 환경, 특히 건물에서 신호가 반사되는 도시 환경에서는 정확하지 않습니다.
|
||||
:::
|
||||
|
||||
## 기류 분석
|
||||
|
||||
구멍을 뚫거나 폼으로 채워 선체를 수정할 수 있습니다.
|
||||
|
||||
이러한 변화를 분석하는 방법은 드론을 자동차에 장착하여 선체가 공기/바람에 노출된 상태에서 (상대적으로 평평한 표면에서) 주행하는 것입니다.
|
||||
지상국을 살펴봄으로써 측정 고도에 대한 움직임으로 인한 정압 변화의 영향을 검토기능합니다(도로를 "지상 사실"로 사용).
|
||||
|
||||
이 프로세스는 배터리 소모없이 빠르게 반복(드론 수정, 운전/검토, 반복)할 수 있습니다.
|
||||
|
||||
:::tip
|
||||
Aim for a barometer altitude drop of less than 2 metres at maximum horizontal speed before attempting software-based calibration below.
|
||||
:::
|
||||
|
||||
## 동적 보정
|
||||
|
||||
After modifying the hardware, you can then use the [EKF2_PCOEF\_\*](../advanced_config/parameter_reference.md#EKF2_PCOEF_XN) parameters to tune for expected barometer variation based on relative air velocity.
|
||||
For more information see [Using PX4's Navigation Filter (EKF2) > Correction for Static Pressure Position Error](../advanced_config/tuning_the_ecl_ekf.md#correction-for-static-pressure-position-error).
|
||||
|
||||
:::info
|
||||
The approach works well if the relationship between the error due to static pressure and the velocity varies linearly.
|
||||
기체에 복잡한 공기 역학 모델이 있으면 효율성이 떨어집니다.
|
||||
:::
|
||||
@@ -0,0 +1,849 @@
|
||||
# Using PX4's Navigation Filter (EKF2)
|
||||
|
||||
This tutorial answers common questions about use of the EKF algorithm used for navigation.
|
||||
|
||||
:::tip
|
||||
The [PX4 State Estimation Overview](https://youtu.be/HkYRJJoyBwQ) video from the _PX4 Developer Summit 2019_ (Dr. Paul Riseborough) provides an overview of the estimator, and additionally describes both the major changes from 2018/2019, major changes and improvements were added since then.
|
||||
:::
|
||||
|
||||
## 개요
|
||||
|
||||
PX4's Navigation filter uses an Extended Kalman Filter (EKF) algorithm to process sensor measurements and provide an estimate of the following states:
|
||||
|
||||
- Quaternion defining the rotation from North, East, Down local navigation frame to X, Y, Z body frame
|
||||
- IMU의 속도 - 북쪽, 동쪽, 아래쪽 (m/s)
|
||||
- Position at the IMU - Latitude (rad), Longitude (rad), Altitude (m)
|
||||
- IMU gyro bias estimates - X, Y, Z (rad/s)
|
||||
- IMU accelerometer bias estimates - X, Y, Z (m/s<sup>2</sup>)
|
||||
- 지구 자기장 요소 - 북쪽, 동쪽, 아래쪽 \(gauss\)
|
||||
- 기체 프레임 자기장 바이어스 - X,Y,Z \(gauss\)
|
||||
- 풍속 - 북쪽, 동쪽 \(m/s\)
|
||||
- Terrain altitude (m)
|
||||
|
||||
To improve stability, an "error-state" formulation is implemented
|
||||
This is especially relevant when estimating the uncertainty of a rotation which is a 3D vector (tangent space of SO(3)).
|
||||
|
||||
EKF는 IMU와 관련된 각 측정에서 다른 시간 지연을 허용하기 위하여, 지연된 '융합 시간 지평'에서 실행됩니다.
|
||||
각 센서의 데이터는 FIFO 버퍼링되고, EKF에 의해 버퍼에서 검색되어 적절한 시간에 사용됩니다.
|
||||
The delay compensation for each sensor is controlled by the [EKF2\_\*\_DELAY](../advanced_config/parameter_reference.md#ekf2) parameters.
|
||||
|
||||
보완 필터는 버퍼링 된 IMU 데이터를 사용하여 '퓨전 시간 수평선'에서 현재 시간으로 상태를 전달하는 데 사용됩니다.
|
||||
The time constant for this filter is controlled by the [EKF2_TAU_VEL](../advanced_config/parameter_reference.md#EKF2_TAU_VEL) and [EKF2_TAU_POS](../advanced_config/parameter_reference.md#EKF2_TAU_POS) parameters.
|
||||
|
||||
:::info
|
||||
The 'fusion time horizon' delay and length of the buffers is determined by [EKF2_DELAY_MAX](../advanced_config/parameter_reference.md#EKF2_DELAY_MAX).
|
||||
This value should be at least as large as the longest delay `EKF2\_\*\_DELAY`.
|
||||
'퓨전 시간 지평' 지연을 줄이면 상태를 현재 시간으로 전달하는 데 사용되는 보완 필터의 오류가 줄어 듭니다.
|
||||
:::
|
||||
|
||||
EKF는 상태 예측에만 IMU 데이터를 사용합니다.
|
||||
IMU 데이터는 EKF 유도에서 관측치로 사용되지 않습니다.
|
||||
The algebraic equations for the covariance prediction and measurement jacobians are derived using [SymForce](https://symforce.org/) and can be found here: [Symbolic Derivation](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/ekf2/EKF/python/ekf_derivation/derivation.py).
|
||||
Covariance update is done using the [Joseph Stabilized form](https://en.wikipedia.org/wiki/Kalman_filter#Deriving_the_posteriori_estimate_covariance_matrix) to improve numerical stability and allow conditional update of independent states.
|
||||
|
||||
### Precisions about the position output
|
||||
|
||||
The position is estimated as latitude, longitude and altitude and the INS integration is performed using the WGS84 ellipsoid mode.
|
||||
However, the position uncertainty is defined in the local navigation frame at the current position (i.e.: NED error in meters).
|
||||
|
||||
위치와 속도 상태는 제어 루프로 출력되기 전에 IMU와 본체 프레임 간의 오프셋을 고려하여 조정됩니다.
|
||||
|
||||
The position of the IMU relative to the body frame is set by the `EKF2_IMU_POS_X,Y,Z` parameters.
|
||||
|
||||
In addition to the global position estimate in latitude/longitude/altitude, the filter also provides a local position estimate (NED in meters) by projecting the global position estimate using an [azimuthal_equidistant_projection](https://en.wikipedia.org/wiki/Azimuthal_equidistant_projection) centred on an arbitrary origin.
|
||||
This origin is automatically set when global position measurements are fused but can also be specified manually.
|
||||
If no global position information is provided, only the local position is available and the INS integration is performed on a spherical Earth.
|
||||
|
||||
## 단일 EKF 인스턴스 실행
|
||||
|
||||
The _default behaviour_ is to run a single instance of the EKF.
|
||||
이 경우 센서 선택 및 페일 오버는 EKF에서 데이터를 수신하기 전에 수행됩니다.
|
||||
이는 데이터 손실과 같은 제한된 수의 센서 오류에 대한 보호를 제공하지만, EKF 및 제어 루프의 보상 능력을 초과하는 부정확한 데이터를 제공하는 센서에 대해서는 보호하지 않습니다.
|
||||
|
||||
단일 EKF 인스턴스를 실행하기위한 매개 변수는 다음과 같습니다.
|
||||
|
||||
- [EKF2_MULTI_IMU](../advanced_config/parameter_reference.md#EKF2_MULTI_IMU) = 0
|
||||
- [EKF2_MULTI_MAG](../advanced_config/parameter_reference.md#EKF2_MULTI_MAG) = 0
|
||||
- [SENS_IMU_MODE](../advanced_config/parameter_reference.md#SENS_IMU_MODE) = 1
|
||||
- [SENS_MAG_MODE](../advanced_config/parameter_reference.md#SENS_MAG_MODE) = 1
|
||||
|
||||
## 다중 EKF 인스턴스 실행
|
||||
|
||||
IMU와 자력계의 갯수와 자동조종장치의 CPU 용량에 따라 EKF 다중 인스턴스를 실행이 가능합니다.
|
||||
이는 광범위한 센서 오류에 대한 보호를 제공하며, 서로 다른 센서 조합을 사용하는 EKF 인스턴스에서 달성됩니다.
|
||||
EKF 인스턴스의 내부 일관성을 비교함으로써 EKF 선택기는 최상의 데이터 일관성으로 EKF와 센서 조합을 결정할 수 있습니다.
|
||||
이를 통하여 IMU 바이어스의 갑작스런 변화, 포화 또는 고착된 데이터 등과 같은 오류를 감지하고 격리할 수 있습니다.
|
||||
|
||||
The total number of EKF instances is the product of the number of IMU's and number of magnetometers selected by [EKF2_MULTI_IMU](../advanced_config/parameter_reference.md#EKF2_MULTI_IMU) and [EKF2_MULTI_MAG](../advanced_config/parameter_reference.md#EKF2_MULTI_MAG) and is given by the following formula:
|
||||
|
||||
> N_instances = MAX([EKF2_MULTI_IMU](../advanced_config/parameter_reference.md#EKF2_MULTI_IMU) , 1) x MAX([EKF2_MULTI_MAG](../advanced_config/parameter_reference.md#EKF2_MULTI_MAG) , 1)
|
||||
|
||||
예를 들어, 2 개의 IMU와 2 개의 자력계가 있는 자동조종장치는 각 인스턴스가 다음 센서 조합을 사용하는 총 4 개의 EKF 인스턴스에 대해 EKF2_MULTI_IMU = 2와 EKF2_MULTI_MAG = 2로 실행할 수 있습니다.
|
||||
|
||||
- EKF 인스턴스 1 : IMU 1, 자력계 1
|
||||
- EKF 인스턴스 2 : IMU 1, 자력계 2
|
||||
- EKF 인스턴스 3 : IMU 2, 자력계 1
|
||||
- EKF 인스턴스 4 : IMU 2, 자력계 2
|
||||
|
||||
처리 가능한 IMU 또는 자력계 센서의 최대 갯수는 이론상 최대 4 x 4 = 16 EKF 인스턴스에 대해 각각 4 개입니다.
|
||||
실제적으로는, 사용 가능한 컴퓨팅 리소스에 의해 제한됩니다.
|
||||
이 기능을 개발하는 동안 STM32F7 CPU 기반 HW를 사용한 테스트에서 허용 가능한 처리로드 및 메모리 사용률을 가진 4 개의 EKF 인스턴스가 입증되었습니다.
|
||||
|
||||
:::warning
|
||||
Ground based testing to check CPU and memory utilisation should be performed before flying.
|
||||
:::
|
||||
|
||||
If [EKF2_MULTI_IMU](../advanced_config/parameter_reference.md#EKF2_MULTI_IMU) >= 3, then the failover time for large rate gyro errors is further reduced because the EKF selector is able to apply a median select strategy for faster isolation of the faulty IMU.
|
||||
|
||||
다중 EKF 인스턴스에 대한 설정은 다음 매개변수로 제어됩니다.
|
||||
|
||||
- [SENS_IMU_MODE](../advanced_config/parameter_reference.md#SENS_IMU_MODE):
|
||||
Set to 0 if running multiple EKF instances with IMU sensor diversity, ie [EKF2_MULTI_IMU](../advanced_config/parameter_reference.md#EKF2_MULTI_IMU) > 1.
|
||||
|
||||
1 (단일 EKF 작동의 기본값)로 설정하면 센서 모듈이 EKF에서 사용하는 IMU 데이터를 선택합니다.
|
||||
이것은 센서의 데이터 손실에 대한 보호 기능를 제공하지만, 잘못된 센서 데이터에 대해서는 보호하지 않습니다.
|
||||
0으로 설정하면 센서 모듈이 선택하지 않습니다.
|
||||
|
||||
- [SENS_MAG_MODE](../advanced_config/parameter_reference.md#SENS_MAG_MODE):
|
||||
Set to 0 if running multiple EKF instances with magnetometer sensor diversity, ie [EKF2_MULTI_MAG](../advanced_config/parameter_reference.md#EKF2_MULTI_MAG) > 1.
|
||||
|
||||
1 (단일 EKF 작동의 기본값)로 설정하면 센서 모듈이 EKF에서 사용하는 자력계 데이터를 선택합니다.
|
||||
이것은 센서의 데이터 손실에 대한 보호 기능를 제공하지만, 잘못된 센서 데이터에 대해서는 보호하지 않습니다.
|
||||
0으로 설정하면 센서 모듈이 선택하지 않습니다.
|
||||
|
||||
- [EKF2_MULTI_IMU](../advanced_config/parameter_reference.md#EKF2_MULTI_IMU):
|
||||
This parameter specifies the number of IMU sensors used by the multiple EKF's.
|
||||
If `EKF2_MULTI_IMU` <= 1, then only the first IMU sensor will be used.
|
||||
When [SENS_IMU_MODE](../advanced_config/parameter_reference.md#SENS_IMU_MODE) = 1, this will be the sensor selected by the sensor module.
|
||||
If `EKF2_MULTI_IMU` >= 2, then a separate EKF instance will run for the specified number of IMU sensors up to the lesser of 4 or the number of IMU's present.
|
||||
|
||||
- [EKF2_MULTI_MAG](../advanced_config/parameter_reference.md#EKF2_MULTI_MAG):
|
||||
This parameter specifies the number of magnetometer sensors used by the multiple EKF's
|
||||
If `EKF2_MULTI_MAG` <= 1, then only the first magnetometer sensor will be used.
|
||||
When [SENS_MAG_MODE](../advanced_config/parameter_reference.md#SENS_MAG_MODE) = 1, this will be the sensor selected by the sensor module.
|
||||
If `EKF2_MULTI_MAG` >= 2, then a separate EKF instance will run for the specified number of magnetometer sensors up to the lesser of 4 or the number of magnetometers present.
|
||||
|
||||
:::info
|
||||
The recording and [EKF2 replay](../debug/system_wide_replay.md#ekf2-replay) of flight logs with multiple EKF instances is not supported.
|
||||
To enable recording for EKF replay you must set the parameters to enable a [single EKF instance](#running-a-single-ekf-instance).
|
||||
:::
|
||||
|
||||
## EKF는 어떤 센서 측정값을 사용하나요?
|
||||
|
||||
EKF에는 다양한 센서 측정 조합으로 작동하는 여러가지 모드가 있습니다.
|
||||
시작시 필터는 센서의 최소 가능한 조합을 확인하고 초기 기울기, 편 요각 및 높이 정렬이 완료된 후 회전, 수직 속도, 수직 위치, IMU 델타 각도 바이어스 및 IMU 델타 속도 바이어스 추정치를 제공하는 모드로 들어갑니다.
|
||||
|
||||
이 모드에는 IMU 데이터, 요(자기계 또는 외부 비전) 소스와 고도 데이터 소스가 필요합니다.
|
||||
이 최소 데이터 세트는 모든 EKF 모드에 필요합니다.
|
||||
그런 다음 다른 센서 데이터를 사용하여 추가 상태를 추정할 수 있습니다.
|
||||
|
||||
### 관성 센서
|
||||
|
||||
- 3축 본체 고정 관성 측정 장치 델타 각도와 최소 속도 100Hz의 델타 속도 데이터.
|
||||
Note:
|
||||
원뿔 보정은 EKF에서 사용하기 전에 IMU 델타 각도 데이터에 적용되어야 합니다.
|
||||
|
||||
### 자기 센서
|
||||
|
||||
Three axis body fixed magnetometer data at a minimum rate of 5Hz is required to be considered by the estimator.
|
||||
|
||||
::: info
|
||||
|
||||
- The magnetometer **biases** are only observable while the drone is rotating
|
||||
- The true heading is observable when the vehicle is accelerating (linear acceleration) while absolute position or velocity measurements are fused (e.g. GPS).
|
||||
This means that magnetometer heading measurements are optional after initialization if those conditions are met often enough to constrain the heading drift (caused by gyro bias).
|
||||
|
||||
:::
|
||||
|
||||
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.
|
||||
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.
|
||||
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.
|
||||
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.
|
||||
|
||||
The following selection tree can be used to select the right option:
|
||||
|
||||
|
||||
|
||||
### 고도
|
||||
|
||||
A source of height data - GPS, barometric pressure, range finder, external vision or a combination of those at a minimum rate of 5Hz is required.
|
||||
|
||||
If none of the selected measurements are present, the EKF will not start.
|
||||
이러한 측정이 감지되면, EKF는 상태를 초기화하고 틸트와 요 정렬을 완료합니다.
|
||||
틸트와 요 정렬이 완료되면 EKF는 추가 센서 데이터를 사용할 수 있는 모드로 전환할 수 있습니다.
|
||||
|
||||
Each height source can be enabled/disabled using its dedicated control parameter:
|
||||
|
||||
- [GNSS/GPS](#gnss-gps): [EKF2_GPS_CTRL](../advanced_config/parameter_reference.md#EKF2_GPS_CTRL)
|
||||
- [Barometer](#barometer): [EKF2_BARO_CTRL](../advanced_config/parameter_reference.md#EKF2_BARO_CTRL)
|
||||
- [Range finder](#range-finder): [EKF2_RNG_CTRL](../advanced_config/parameter_reference.md#EKF2_RNG_CTRL)
|
||||
- [External vision](#external-vision-system): Enabled when [EKF2_HGT_REF](../advanced_config/parameter_reference.md#EKF2_HGT_REF) is set to "Vision"
|
||||
|
||||
Over the long term the height estimate follows the "reference source" of height data.
|
||||
This reference is defined by the [EKF2_HGT_REF](../advanced_config/parameter_reference.md#EKF2_HGT_REF) parameter.
|
||||
|
||||
#### Typical configurations
|
||||
|
||||
| | [EKF2_GPS_CTRL](../advanced_config/parameter_reference.md#EKF2_GPS_CTRL) | [EKF2_BARO_CTRL](../advanced_config/parameter_reference.md#EKF2_BARO_CTRL) | [EKF2_RNG_CTRL](../advanced_config/parameter_reference.md#EKF2_RNG_CTRL) | [EKF2_HGT_REF](../advanced_config/parameter_reference.md#EKF2_HGT_REF) |
|
||||
| -------------------------------------------- | ------------------------------------------------------------------------------------------------------------------ | -------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------ | ---------------------------------------------------------------------------------------------------------------- |
|
||||
| Outdoor (default) | 7 (Lon/lat/alt/vel) | 1 (enabled) | 1 ([conditional](#conditional-range-aiding)) | 1 (GNSS) |
|
||||
| Indoor (non-flat terrain) | 0 (disabled) | 1 (enabled) | 1 ([conditional](#conditional-range-aiding)) | 2 (range) |
|
||||
| Indoor (flat terrain) | 0 (disabled) | 1 (enabled) | 2 ([always enabled](#range-height-fusion)) | 2 (range) |
|
||||
| External vision | As required | As required | As required | 3 (vision) |
|
||||
|
||||
### 기압계
|
||||
|
||||
Enable/disable using [EKF2_BARO_CTRL](../advanced_config/parameter_reference.md#EKF2_BARO_CTRL) as a source for [Height](#height) data.
|
||||
|
||||
Note that data from only one barometer is fused, even if multiple barometers are available.
|
||||
The barometer with the highest [CAL_BAROx_PRIO](../advanced_config/parameter_reference.md#CAL_BARO0_PRIO) priority value is selected first, falling back to the next highest priority barometer if a sensor fault is detected.
|
||||
If barometers have equal-highest priorities, the first detected is used.
|
||||
A barometer can be completely disabled as a possible source by setting its `CAL_BAROx_PRIO` value to `0` (disabled).
|
||||
|
||||
See [Height](#height) more details about the configuration of height sources.
|
||||
|
||||
#### 정압 위치 오차 보정
|
||||
|
||||
기압 고도는 차량 풍속과 방향으로 인한 공기 역학적 장애로 인해 발생하는 오류가 존재합니다.
|
||||
This is known in aeronautics as _static pressure position error_.
|
||||
ECL/EKF2 추정기 라이브러리를 사용하는 EKF2 모듈은 풍속 상태 추정이 활성화된 경우, 오류 보상 방법을 제공합니다.
|
||||
|
||||
For vehicles operating in a fixed-wing mode, wind speed state estimation requires either [Airspeed](#airspeed) and/or [Synthetic Sideslip](#synthetic-sideslip) fusion to be enabled.
|
||||
|
||||
For multi-rotors, fusion of [Drag Specific Forces](#mc_wind_estimation_using_drag) can be enabled and tuned to provide the required wind velocity state estimates.
|
||||
|
||||
The EKF2 module models the error as a body fixed ellipsoid that specifies the fraction of dynamic pressure that is added to/subtracted from the barometric pressure - before it is converted to a height estimate.
|
||||
|
||||
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 log file can be used to tune the [multirotor wind estimator](#mc_wind_estimation_using_drag).
|
||||
|
||||
:::
|
||||
|
||||
3. Use the log with the [baro_static_pressure_compensation_tuning.py](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/ekf2/EKF/python/tuning_tools/baro_static_pressure_compensation) Python script to obtain the optimal set of parameters.
|
||||
|
||||
Tuning parameters:
|
||||
|
||||
- [EKF2_PCOEF_XP](../advanced_config/parameter_reference.md#EKF2_PCOEF_XP)
|
||||
- [EKF2_PCOEF_XN](../advanced_config/parameter_reference.md#EKF2_PCOEF_XN)
|
||||
- [EKF2_PCOEF_YP](../advanced_config/parameter_reference.md#EKF2_PCOEF_YP)
|
||||
- [EKF2_PCOEF_YN](../advanced_config/parameter_reference.md#EKF2_PCOEF_YN)
|
||||
- [EKF2_PCOEF_Z](../advanced_config/parameter_reference.md#EKF2_PCOEF_Z)
|
||||
|
||||
#### Barometer bias compensation
|
||||
|
||||
A barometer at a constant altitude is subject to drift in its measurements due to changes in the ambient pressure environment or variations of the sensor temperature.
|
||||
To compensate for this measurement error, EKF2 estimates the bias using GNSS height (if available) a "non drifting" reference.
|
||||
No tuning is required.
|
||||
|
||||
### GNSS/GPS
|
||||
|
||||
#### 위치 및 속도 측정
|
||||
|
||||
GPS measurements will be used for position and velocity if the following conditions are met:
|
||||
|
||||
- GPS use is enabled via setting of the [EKF2_GPS_CTRL](../advanced_config/parameter_reference.md#EKF2_GPS_CTRL) parameter.
|
||||
- GPS 품질 검사를 통과하였습니다.
|
||||
These checks are controlled by the [EKF2_GPS_CHECK](../advanced_config/parameter_reference.md#EKF2_GPS_CHECK) and `EKF2_REQ_*` parameters.
|
||||
|
||||
For more details about the configuration of height sources, [click here](#height).
|
||||
|
||||
#### 방향(Yaw) 측정
|
||||
|
||||
Some GPS receivers such as the [Trimble MB-Two RTK GPS receiver](https://www.trimble.com/Precision-GNSS/MB-Two-Board.aspx) can be used to provide a heading measurement that replaces the use of magnetometer data.
|
||||
This can be a significant advantage when operating in an environment where large magnetic anomalies are present, or at latitudes here the earth's magnetic field has a high inclination.
|
||||
Use of GPS yaw measurements is enabled by setting bit position 3 to 1 (adding 8) in the [EKF2_GPS_CTRL](../advanced_config/parameter_reference.md#EKF2_GPS_CTRL) parameter.
|
||||
|
||||
#### GPS 방향 측정
|
||||
|
||||
The EKF runs an additional multi-hypothesis filter internally that uses multiple 3-state Extended Kalman Filters (EKF's) whose states are NE velocity and yaw angle.
|
||||
These individual yaw angle estimates are then combined using a Gaussian Sum Filter (GSF).
|
||||
The individual 3-state EKF's use IMU and GPS horizontal velocity data (plus optional airspeed data) and do not rely on any prior knowledge of the yaw angle or magnetometer measurements.
|
||||
This provides a backup to the yaw from the main filter and is used to reset the yaw for the main 24-state EKF when a post-takeoff loss of navigation indicates that the yaw estimate from the magnetometer is bad.
|
||||
This will result in an `Emergency yaw reset - magnetometer use stopped` message information message at the GCS.
|
||||
|
||||
Data from this estimator is logged when ekf2 replay logging is enabled and can be viewed in the `yaw_estimator_status` message.
|
||||
The individual yaw estimates from the individual 3-state EKF yaw estimators are in the `yaw` fields.
|
||||
The GSF combined yaw estimate is in the `yaw_composite` field.
|
||||
The variance for the GSF yaw estimate is in the `yaw_variance` field.
|
||||
All angles are in radians.
|
||||
Weightings applied by the GSF to the individual 3-state EKF outputs are in the`weight` fields.
|
||||
|
||||
This also makes it possible to operate without any magnetometer data or dual antenna GPS receiver for yaw provided some horizontal movement after takeoff can be performed to enable the yaw to become observable.
|
||||
To use this feature, set [EKF2_MAG_TYPE](../advanced_config/parameter_reference.md#EKF2_MAG_TYPE) to `none` (5) to disable magnetometer use.
|
||||
Once the vehicle has performed sufficient horizontal movement to make the yaw observable, the main 24-state EKF will align it's yaw to the GSF estimate and commence use of GPS.
|
||||
|
||||
#### 이중 수신기
|
||||
|
||||
Data from GPS receivers can be blended using an algorithm that weights data based on reported accuracy (this works best if both receivers output data at the same rate and use the same accuracy).
|
||||
The mechanism also provides automatic failover if data from a receiver is lost (it allows, for example, a standard GPS to be used as a backup to a more accurate RTK receiver).
|
||||
This is controlled by the [SENS_GPS_MASK](../advanced_config/parameter_reference.md#SENS_GPS_MASK) parameter.
|
||||
|
||||
The [SENS_GPS_MASK](../advanced_config/parameter_reference.md#SENS_GPS_MASK) parameter is set by default to disable blending and always use the first receiver, so it will have to be set to select which receiver accuracy metrics are used to decide how much each receiver output contributes to the blended solution.
|
||||
Where different receiver models are used, it is important that the [SENS_GPS_MASK](../advanced_config/parameter_reference.md#SENS_GPS_MASK) parameter is set to a value that uses accuracy metrics that are supported by both receivers.
|
||||
For example do not set bit position 0 to `true` unless the drivers for both receivers publish values in the `s_variance_m_s` field of the `vehicle_gps_position` message that are comparable.
|
||||
This can be difficult with receivers from different manufacturers due to the different way that accuracy is defined, e.g. CEP vs 1-sigma, etc.
|
||||
|
||||
The following items should be checked during setup:
|
||||
|
||||
- 두 번째 수신기의 데이터가 있는 지 확인합니다.
|
||||
This will be logged as `vehicle_gps_position_1` and can also be checked when connected via the _nsh console_ using the command `listener vehicle_gps_position -i 1`.
|
||||
The [GPS_2_CONFIG](../advanced_config/parameter_reference.md#GPS_2_CONFIG) parameter will need to be set correctly.
|
||||
- Check the `s_variance_m_s`, `eph` and `epv` data from each receiver and decide which accuracy metrics can be used.
|
||||
If both receivers output sensible `s_variance_m_s` and `eph` data, and GPS vertical position is not being used directly for navigation, then setting [SENS_GPS_MASK](../advanced_config/parameter_reference.md#SENS_GPS_MASK) to 3 is recommended.
|
||||
Where only `eph` data is available and both receivers do not output `s_variance_m_s` data, set [SENS_GPS_MASK](../advanced_config/parameter_reference.md#SENS_GPS_MASK) to 2.
|
||||
Bit position 2 would only be set if the GPS had been selected as the reference height source with the [EKF2_HGT_REF](../advanced_config/parameter_reference.md#EKF2_HGT_REF) parameter and both receivers output sensible `epv` data.
|
||||
- The output from the blended receiver data is logged as `ekf_gps_position`, and can be checked whilst connect via the nsh terminal using the command `listener ekf_gps_position`.
|
||||
- 수신기가 다른 속도로 출력하는 경우에는 혼합 출력은 더 느린 수신기의 속도로 결정됩니다.
|
||||
가능한 경우 수신기는 동일한 속도로 출력하도록 설정하는 것이 바람직합니다.
|
||||
|
||||
#### GNSS 성능 요구 사항
|
||||
|
||||
For the ECL to accept GNSS data for navigation, certain minimum requirements need to be satisfied over a period of time, defined by [EKF2_REQ_GPS_H](../advanced_config/parameter_reference.md#EKF2_REQ_GPS_H) (10 seconds by default).
|
||||
|
||||
Minima are defined in the [EKF2_REQ_\*](../advanced_config/parameter_reference.md#EKF2_REQ_EPH) parameters and each check can be enabled/disabled using the [EKF2_GPS_CHECK](../advanced_config/parameter_reference.md#EKF2_GPS_CHECK) parameter.
|
||||
|
||||
The table below shows the different metrics directly reported or calculated from the GNSS data, and the minimum required values for the data to be used by ECL.
|
||||
In addition, the _Average Value_ column shows typical values that might reasonably be obtained from a standard GNSS module (e.g. u-blox M8 series) - i.e. values that are considered good/acceptable.
|
||||
|
||||
| 메트릭 | 최소 요구 사항 | 평균 | 단위 | 참고 |
|
||||
| --------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------------------- | --- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
|
||||
| eph | < 3 ([EKF2_REQ_EPH](../advanced_config/parameter_reference.md#EKF2_REQ_EPH)) | 0.8 | m | 수평 위치의 표준 편차 |
|
||||
| epv | < 5 ([EKF2_REQ_EPV](../advanced_config/parameter_reference.md#EKF2_REQ_EPV)) | 1.5 | m | 수직 위치의 표준 편차 |
|
||||
| 위성 개수 | ≥6 ([EKF2_REQ_NSATS](../advanced_config/parameter_reference.md#EKF2_REQ_NSATS)) | 14 | - | |
|
||||
| sacc | < 0.5 ([EKF2_REQ_SACC](../advanced_config/parameter_reference.md#EKF2_REQ_SACC)) | 0.2 | m/s | 수평 속도의 표준 편차 |
|
||||
| fix type | ≥ 3 | 4 | - | 0-1: 수정 없음, 2: 2D 수정, 3: 3D 수정, 4: RTCM 차등 코드, 5: Real-Time Kinematic, float, 6: Real-Time Kinematic, 고정, 8: 외삽 |
|
||||
| PDOP | < 2.5 ([EKF2_REQ_PDOP](../advanced_config/parameter_reference.md#EKF2_REQ_PDOP)) | 1.0 | - | 정밀도의 위치 희석 |
|
||||
| hpos drift rate | < 0.1 ([EKF2_REQ_HDRIFT](../advanced_config/parameter_reference.md#EKF2_REQ_HDRIFT)) | 0.01 | m/s | 보고된 GNSS 위치에서 계산된 드리프트 율 (정지시). |
|
||||
| vpos drift rate | < 0.2 ([EKF2_REQ_VDRIFT](../advanced_config/parameter_reference.md#EKF2_REQ_VDRIFT)) | 0.02 | m/s | 보고된 GNSS 고도에서 계산된 드리프트 율 (정지시). |
|
||||
| hspd | < 0.1 ([EKF2_REQ_HDRIFT](../advanced_config/parameter_reference.md#EKF2_REQ_HDRIFT)) | 0.01 | m/s | 보고된 GNSS 수평 속도의 필터링 크기. |
|
||||
| vspd | < 0.2 ([EKF2_REQ_VDRIFT](../advanced_config/parameter_reference.md#EKF2_REQ_VDRIFT)) | 0.02 | m/s | 보고된 GNSS 수직 속도의 필터링 크기. |
|
||||
|
||||
:::info
|
||||
The `hpos_drift_rate`, `vpos_drift_rate` and `hspd` are calculated over a period of 10 seconds and published in the `ekf2_gps_drift` topic.
|
||||
Note that `ekf2_gps_drift` is not logged!
|
||||
:::
|
||||
|
||||
### 거리 측정기
|
||||
|
||||
[Range finder](../sensor/rangefinders.md) distance to ground is used by a single state filter to estimate the vertical position of the terrain relative to the height datum.
|
||||
|
||||
The fusion modes of operation are controlled by [EKF2_RNG_CTRL](../advanced_config/parameter_reference.md#EKF2_RNG_CTRL):
|
||||
|
||||
1. [Conditional range aiding](#conditional-range-aiding)
|
||||
2. [Range height fusion](#range-height-fusion)
|
||||
|
||||
For more details about the configuration of height sources, [click here](#height).
|
||||
|
||||
#### Conditional range aiding
|
||||
|
||||
Conditional range finder fusion (a.k.a. _Conditional range aid_) activates the range finder fusion for height estimation during low speed/low altitude operation (in addition to the other active height sources).
|
||||
If the range finder is set as the reference height source (using [EKF2_HGT_REF](../advanced_config/parameter_reference.md#EKF2_HGT_REF)), the other active height sources such as baro and GNSS altitude will adjust their measurement to match the readings of the range finder over time.
|
||||
When the conditions are not met to start range aiding, a secondary reference is automatically selected.
|
||||
|
||||
:::info
|
||||
Switching between height references causes the absolute altitude estimate to drift over time.
|
||||
This isn't an issue when flying in position mode but can be problematic if the drone is supposed to fly a mission at a specific GNSS altitude.
|
||||
If the absolute altitude drift is unwanted, it is recommended to set the GNSS altitude as the height reference, even when using conditional range aid.
|
||||
:::
|
||||
|
||||
It is primarily intended for _takeoff and landing_, in cases where the barometer setup is such that interference from rotor wash is excessive and can corrupt EKF state estimates.
|
||||
|
||||
Range aid may also be used to improve altitude hold when the vehicle is stationary.
|
||||
|
||||
:::tip
|
||||
[Terrain Hold](../flying/terrain_following_holding.md#terrain_hold) is recommended over _Range Aid_ for terrain holding.
|
||||
This is because terrain hold uses the normal ECL/EKF estimator for determining height, and this is generally more reliable than a distance sensor in most conditions.
|
||||
:::
|
||||
|
||||
_Conditional range aid_ is enabled by setting [EKF2_RNG_CTRL](../advanced_config/parameter_reference.md#EKF2_RNG_CTRL) = "Enabled (conditional mode)" (1).
|
||||
|
||||
It is further configured using the `EKF2_RNG_A_` parameters:
|
||||
|
||||
- [EKF2_RNG_A_VMAX](../advanced_config/parameter_reference.md#EKF2_RNG_A_VMAX): Maximum horizontal speed, above which range aid is disabled.
|
||||
- [EKF2_RNG_A_HMAX](../advanced_config/parameter_reference.md#EKF2_RNG_A_HMAX): Maximum height, above which range aid is disabled.
|
||||
- [EKF2_RNG_A_IGATE](../advanced_config/parameter_reference.md#EKF2_RNG_A_IGATE): Range aid consistency checks "gate" (a measure of the error before range aid is disabled).
|
||||
|
||||
#### Range height fusion
|
||||
|
||||
PX4 allows you to continuously fuse the range finder as a source of height (in any flight mode/vehicle type).
|
||||
This may be useful for applications when the vehicle is _guaranteed_ to only fly over a near-flat surface (e.g. indoors).
|
||||
|
||||
When using a distance sensor as a height source, fliers should be aware:
|
||||
|
||||
- Flying over obstacles can lead to the estimator rejecting rangefinder data (due to internal data consistency checks), which can result in poor altitude holding while the estimator is relying purely on accelerometer estimates.
|
||||
|
||||
::: info
|
||||
This scenario might occur when a vehicle ascends a slope at a near-constant height above ground, because the rangefinder altitude does not change while that estimated from the accelerometer does.
|
||||
The EKF performs innovation consistency checks that take into account the error between measurement and current state as well as the estimated variance of the state and the variance of the measurement itself.
|
||||
If the checks fail the rangefinder data will be rejected, and the altitude will be estimated from the accelerometer and the other selected height sources (GNSS, baro, vision), if enabled and available
|
||||
After 5 seconds of inconsistent data if the distance sensor is the active source oh height data, the estimator resets the height state to match the current distance sensor data.
|
||||
If one or more other sources of height are active, the range finder is declared faulty and the estimator continues to estimate its height using the other sensors.
|
||||
The measurements might also become consistent again, for example, if the vehicle descends, or if the estimated height drifts to match the measured rangefinder height.
|
||||
|
||||
:::
|
||||
|
||||
- The local NED origin will move up and down with ground level.
|
||||
|
||||
- Rangefinder performance over uneven surfaces (e.g. trees) can be very poor, resulting in noisy and inconsistent data.
|
||||
This again leads to poor altitude hold.
|
||||
|
||||
The feature is enabled by setting [EKF2_RNG_CTRL](../advanced_config/parameter_reference.md#EKF2_RNG_CTRL) to "Enabled" (2).
|
||||
To make the range finder the height reference when active, set: [EKF2_HGT_REF](../advanced_config/parameter_reference.md#EKF2_HGT_REF) to "Range sensor".
|
||||
|
||||
:::tip
|
||||
To enable the range finder fusion only when the drone is stationary (in order to benefit from a better altitude estimate during takeoff and landing) but not fuse the range finder the rest of the time, use the [conditional mode](#conditional-range-aiding) (1) of [EKF2_RNG_CTRL](../advanced_config/parameter_reference.md#EKF2_RNG_CTRL).
|
||||
:::
|
||||
|
||||
#### Range Finder Obstruction Detection
|
||||
|
||||
The EKF can detect whether the rangefinder path-to-ground is obstructed (perhaps by a payload) using a kinematic consistency check between the vertical velocity estimate and the numerical derivative of the range finder data.
|
||||
If the range finder is statistically inconsistent with EKF2, the sensor is rejected for the rest of the flight unless the statistical test passes again for at least 1 second at a vertical speed of 0.5m/s or more.
|
||||
|
||||
The check is only enabled when the rangefinder is not used as the primary height source, and is only active while the vehicle is not moving horizontally (as it assumes a static ground height).
|
||||
|
||||
For effective obstruction detection, the range finder noise parameter needs to be tightly tuned using flight data.
|
||||
The kinematic consistency gate parameter can then be adjusted to obtain the desired fault detection sensitivity.
|
||||
|
||||
Tuning parameters:
|
||||
|
||||
- [EKF2_RNG_NOISE](../advanced_config/parameter_reference.md#EKF2_RNG_NOISE)
|
||||
- [EKF2_RNG_K_GATE](../advanced_config/parameter_reference.md#EKF2_RNG_K_GATE)
|
||||
|
||||
### 항속센서 보정
|
||||
|
||||
Equivalent Airspeed (EAS) data can be used to estimate wind velocity and reduce drift when GPS is lost by setting [EKF2_ARSP_THR](../advanced_config/parameter_reference.md#EKF2_ARSP_THR) to a positive value.
|
||||
Airspeed data will be used when it exceeds the threshold set by a positive value for [EKF2_ARSP_THR](../advanced_config/parameter_reference.md#EKF2_ARSP_THR) and the vehicle type is not rotary wing.
|
||||
|
||||
### 합성 사이드슬립
|
||||
|
||||
Fixed-wing platforms can take advantage of an assumed sideslip observation of zero to improve wind speed estimation and also enable wind speed estimation without an airspeed sensor.
|
||||
This is enabled by setting the [EKF2_FUSE_BETA](../advanced_config/parameter_reference.md#EKF2_FUSE_BETA) parameter to 1.
|
||||
|
||||
<a id="mc_wind_estimation_using_drag"></a>
|
||||
|
||||
### 항력을 사용한 멀티콥터 바람 추정
|
||||
|
||||
Multi-rotor platforms can take advantage of the relationship between airspeed and drag force along the X and Y body axes to estimate North/East components of wind velocity.
|
||||
This can be enabled using [EKF2_DRAG_CTRL](../advanced_config/parameter_reference.md#EKF2_DRAG_CTRL).
|
||||
|
||||
The relationship between airspeed and specific force (IMU accelerometer measurements) along the X and Y body axes is controlled by the [EKF2_BCOEF_X](../advanced_config/parameter_reference.md#EKF2_BCOEF_X), [EKF2_BCOEF_Y](../advanced_config/parameter_reference.md#EKF2_BCOEF_Y) and [EKF2_MCOEF](../advanced_config/parameter_reference.md#EKF2_MCOEF) parameters which set the ballistic coefficients for flight in the X and Y directions, and the momentum drag produced by the propellers, respectively.
|
||||
The amount of specific force observation noise is set by the [EKF2_DRAG_NOISE](../advanced_config/parameter_reference.md#EKF2_DRAG_NOISE) parameter.
|
||||
|
||||
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).
|
||||
|
||||
:::
|
||||
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.
|
||||
|
||||
### 광류 센서
|
||||
|
||||
[Optical flow](../sensor/optical_flow.md) data will be used if the following conditions are met:
|
||||
|
||||
- 유효한 거리 센서 데이터를 사용할 수 있습니다.
|
||||
- [EKF2_OF_CTRL](../advanced_config/parameter_reference.md#EKF2_OF_CTRL) is set.
|
||||
- The quality metric returned by the flow sensor is greater than the minimum requirement set by the [EKF2_OF_QMIN](../advanced_config/parameter_reference.md#EKF2_OF_QMIN) parameter.
|
||||
|
||||
For better performance, set the location of the optical flow sensor as described [here](../sensor/optical_flow.md#ekf2).
|
||||
|
||||
If a stable hover can be achieved at low altitude above ground (< 10m) but slow oscillations occur at higher altitude, consider adjusting the [optical flow scale factor](../sensor/optical_flow.md#scale-factor).
|
||||
|
||||
### 외부 비전 시스템
|
||||
|
||||
Position, velocity or orientation measurements from an external vision system, e.g. Vicon, can be used.
|
||||
|
||||
The measurements that are fused are configured by setting the appropriate bits of [EKF2_EV_CTRL](../advanced_config/parameter_reference.md#EKF2_EV_CTRL) to `true`:
|
||||
|
||||
- `0`: Horizontal position data
|
||||
- `1`: Vertical position data.
|
||||
Height sources may additionally be configured using [EKF2_HGT_REF](../advanced_config/parameter_reference.md#EKF2_HGT_REF) (see section [Height](#height)).
|
||||
- `2`: Velocity data
|
||||
- `3`: Yaw data
|
||||
|
||||
Note that if yaw data is used (bit 3) the heading is with respect to the external vision frame; otherwise the heading is relative to North.
|
||||
|
||||
The EKF considers uncertainty in the visual pose estimate.
|
||||
This uncertainty information can be sent via the covariance fields in the MAVLink [ODOMETRY](https://mavlink.io/en/messages/common.html#ODOMETRY) message or it can be set through the parameters [EKF2_EVP_NOISE](../advanced_config/parameter_reference.md#EKF2_EVP_NOISE), [EKF2_EVV_NOISE](../advanced_config/parameter_reference.md#EKF2_EVV_NOISE) and [EKF2_EVA_NOISE](../advanced_config/parameter_reference.md#EKF2_EVA_NOISE).
|
||||
You can choose the source of the uncertainty with [EKF2_EV_NOISE_MD](../advanced_config/parameter_reference.md#EKF2_EV_NOISE_MD).
|
||||
|
||||
## ECL 라이브러리 EKF를 어떻게 사용합니까?
|
||||
|
||||
EKF2 is enabled by default (for more information see [Switching State Estimators](../advanced/switching_state_estimators.md) and [EKF2_EN](../advanced_config/parameter_reference.md#EKF2_EN)).
|
||||
|
||||
## 다른 추정치들과 비교하여 ecl EKF의 장단점은 무엇입니까?
|
||||
|
||||
Like all estimators, much of the performance comes from the tuning to match sensor characteristics.
|
||||
Tuning is a compromise between accuracy and robustness and although we have attempted to provide a tune that meets the needs of most users, there will be applications where tuning changes are required.
|
||||
|
||||
For this reason, no claims for accuracy relative to the legacy combination of `attitude_estimator_q` + `local_position_estimator` have been made and the best choice of estimator will depend on the application and tuning.
|
||||
|
||||
### 단점
|
||||
|
||||
- ecl EKF는 확장칼만필터에 대한 이해와 탐색 문제를 적용한 튜닝이 필요한복잡한 알고리즘입니다.
|
||||
따라서, 좋은 결과를 얻지 못한 사용자는 무엇을 변경해야하는지 파악하는 것이 더 어렵습니다.
|
||||
- ecl EKF는 더 많은 RAM과 플래시 공간을 사용합니다.
|
||||
- ecl EKF는 더 많은 로깅 공간을 사용합니다.
|
||||
|
||||
### 장점
|
||||
|
||||
- ecl EKF는 시간 지연 매개변수가 올바르게 설정되면 동적 조작 중에 정확도를 향상을 위하여 서로 다른 시간 지연 및 데이터 속도를 가진 센서의 데이터를 융합할 수 있습니다.
|
||||
- ecl EKF는 다양한 유형의 센서들을 융합할 수 있습니다.
|
||||
- ecl EKF는 센서 데이터에서 통계적으로 중요한 불일치를 감지하여 센서의 오류를 진단합니다.
|
||||
- For fixed-wing operation, the ecl EKF estimates wind speed with or without an airspeed sensor and is able to use the estimated wind in combination with airspeed measurements and sideslip assumptions to extend the dead-reckoning time available if GPS is lost in flight.
|
||||
- ecl EKF는 비행 단계 사이에 큰 자세 변화를 경험하는 테일시터 및 기타 기체의 정확도를 향상시키는 3축 가속도계 바이어스를 추정합니다.
|
||||
- 연합 아키텍처 (결합된 자세/위치/속도 추정)는 자세 추정이 모든 센서 측정의 이점을 누릴 수 있음을 의미합니다.
|
||||
이것은 올바르게 튜닝된 경우 향상된 태도 추정을 위한 잠재력을 제공하여야 합니다.
|
||||
|
||||
## EKF 성능을 어떻게 확인합니까?
|
||||
|
||||
EKF outputs, states and status data are published to a number of uORB topics which are logged to the SD card during flight.
|
||||
The following guide assumes that data has been logged using the _.ulog file format_.
|
||||
The **.ulog** format data can be parsed in python by using the [PX4 pyulog library](https://github.com/PX4/pyulog).
|
||||
|
||||
Most of the EKF data is found in the [EstimatorInnovations](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorInnovations.msg) and [EstimatorStatus](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorStatus.msg) uORB messages that are logged to the .ulog file.
|
||||
|
||||
A python script that automatically generates analysis plots and metadata can be found [here](https://github.com/PX4/PX4-Autopilot/blob/main/Tools/ecl_ekf/process_logdata_ekf.py).
|
||||
To use this script file, cd to the `Tools/ecl_ekf` directory and enter `python process_logdata_ekf.py <log_file.ulg>`.
|
||||
This saves performance metadata in a csv file named **<log_file>.mdat.csv** and plots in a pdf file named `<log_file>.pdf`.
|
||||
|
||||
Multiple log files in a directory can be analysed using the [batch_process_logdata_ekf.py](https://github.com/PX4/PX4-Autopilot/blob/main/Tools/ecl_ekf/batch_process_logdata_ekf.py) script.
|
||||
When this has been done, the performance metadata files can be processed to provide a statistical assessment of the estimator performance across the population of logs using the [batch_process_metadata_ekf.py](https://github.com/PX4/PX4-Autopilot/blob/main/Tools/ecl_ekf/batch_process_metadata_ekf.py) script.
|
||||
|
||||
### 출력 데이터
|
||||
|
||||
- Attitude output data is found in the [VehicleAttitude](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleAttitude.msg) message.
|
||||
- Local position output data is found in the [VehicleLocalPosition](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleLocalPosition.msg) message.
|
||||
- Global \(WGS-84\) output data is found in the [VehicleGlobalPosition](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleGlobalPosition.msg) message.
|
||||
- Wind velocity output data is found in the [Wind.msg](https://github.com/PX4/PX4-Autopilot/blob/main/msg/Wind.msg) message.
|
||||
|
||||
### 상태
|
||||
|
||||
Refer to states\[24\] in [EstimatorStates](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorStates.msg).
|
||||
The index map for states\[24\] is as follows:
|
||||
|
||||
- \[0 ... 3\] Quaternions
|
||||
- \[4 ... 6\] Velocity NED \(m/s\)
|
||||
- \[7 ... 9\] Position NED \(m\)
|
||||
- \[10 ... 12\] IMU delta angle bias XYZ \(rad\)
|
||||
- \[13 ... 15\] IMU delta velocity bias XYZ \(m/s\)
|
||||
- \[16 ... 18\] Earth magnetic field NED \(gauss\)
|
||||
- \[19 ... 21\] Body magnetic field XYZ \(gauss\)
|
||||
- \[22 ... 23\] Wind velocity NE \(m/s\)
|
||||
|
||||
### 상태 분산
|
||||
|
||||
Refer to covariances\[24\] in [EstimatorStates](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorStates.msg).
|
||||
The index map for covariances\[24\] is as follows:
|
||||
|
||||
- \[0 ... 3\] Quaternions
|
||||
- \[4 ... 6\] Velocity NED \(m/s\)^2
|
||||
- \[7 ... 9\] Position NED \(m^2\)
|
||||
- \[10 ... 12\] IMU delta angle bias XYZ \(rad^2\)
|
||||
- \[13 ... 15\] IMU delta velocity bias XYZ \(m/s\)^2
|
||||
- \[16 ... 18\] Earth magnetic field NED \(gauss^2\)
|
||||
- \[19 ... 21\] Body magnetic field XYZ \(gauss^2\)
|
||||
- \[22 ... 23\] Wind velocity NE \(m/s\)^2
|
||||
|
||||
### Observation Innovations & Innovation Variances
|
||||
|
||||
The observation `estimator_innovations`, `estimator_innovation_variances`, and `estimator_innovation_test_ratios` message fields are defined in [EstimatorInnovations.msg](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorInnovations.msg).
|
||||
The messages all have the same field names/types (but different units).
|
||||
|
||||
:::info
|
||||
The messages have the same fields because they are generated from the same field definition.
|
||||
The `# TOPICS` line (at the end of [the file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorInnovations.msg)) lists the names of the set of messages to be created):
|
||||
|
||||
```
|
||||
# TOPICS estimator_innovations estimator_innovation_variances estimator_innovation_test_ratios
|
||||
```
|
||||
|
||||
:::
|
||||
|
||||
Some of the observations are:
|
||||
|
||||
- Magnetometer XYZ (gauss, gauss^2) : `mag_field[3]`
|
||||
- Yaw angle (rad, rad^2) : `heading`
|
||||
- True Airspeed (m/s, (m/s)^2) : `airspeed`
|
||||
- Synthetic sideslip (rad, rad^2) : `beta`
|
||||
- Optical flow XY (rad/sec, (rad/s)^2) : `flow`
|
||||
- Height above ground (m, m^2) : `hagl`
|
||||
- Drag specific force ((m/s)^2): `drag`
|
||||
- 속도 및 위치 혁신 : 센서 당
|
||||
|
||||
In addition, each sensor has its own fields for horizontal and vertical position and/or velocity values (where appropriate).
|
||||
These are largely self documenting, and are reproduced below:
|
||||
|
||||
```
|
||||
# GPS
|
||||
float32[2] gps_hvel # horizontal GPS velocity innovation (m/sec) and innovation variance ((m/sec)**2)
|
||||
float32 gps_vvel # vertical GPS velocity innovation (m/sec) and innovation variance ((m/sec)**2)
|
||||
float32[2] gps_hpos # horizontal GPS position innovation (m) and innovation variance (m**2)
|
||||
float32 gps_vpos # vertical GPS position innovation (m) and innovation variance (m**2)
|
||||
|
||||
# External Vision
|
||||
float32[2] ev_hvel # horizontal external vision velocity innovation (m/sec) and innovation variance ((m/sec)**2)
|
||||
float32 ev_vvel # vertical external vision velocity innovation (m/sec) and innovation variance ((m/sec)**2)
|
||||
float32[2] ev_hpos # horizontal external vision position innovation (m) and innovation variance (m**2)
|
||||
float32 ev_vpos # vertical external vision position innovation (m) and innovation variance (m**2)
|
||||
|
||||
# Fake Position and Velocity
|
||||
float32[2] fake_hvel # fake horizontal velocity innovation (m/s) and innovation variance ((m/s)**2)
|
||||
float32 fake_vvel # fake vertical velocity innovation (m/s) and innovation variance ((m/s)**2)
|
||||
float32[2] fake_hpos # fake horizontal position innovation (m) and innovation variance (m**2)
|
||||
float32 fake_vpos # fake vertical position innovation (m) and innovation variance (m**2)
|
||||
|
||||
# Height sensors
|
||||
float32 rng_vpos # range sensor height innovation (m) and innovation variance (m**2)
|
||||
float32 baro_vpos # barometer height innovation (m) and innovation variance (m**2)
|
||||
|
||||
# Auxiliary velocity
|
||||
float32[2] aux_hvel # horizontal auxiliary velocity innovation from landing target measurement (m/sec) and innovation variance ((m/sec)**2)
|
||||
float32 aux_vvel # vertical auxiliary velocity innovation from landing target measurement (m/sec) and innovation variance ((m/sec)**2)
|
||||
```
|
||||
|
||||
### 출력 보완 필터
|
||||
|
||||
The output complementary filter is used to propagate states forward from the fusion time horizon to current time.
|
||||
To check the magnitude of the angular, velocity and position tracking errors measured at the fusion time horizon, refer to `output_tracking_error[3]` in the `ekf2_innovations` message.
|
||||
|
||||
The index map is as follows:
|
||||
|
||||
- [0] 각도 추적 오류 크기 (rad)
|
||||
- [1] 속도 추적 오류 크기 (m/s).
|
||||
The velocity tracking time constant can be adjusted using the [EKF2_TAU_VEL](../advanced_config/parameter_reference.md#EKF2_TAU_VEL) parameter.
|
||||
이 매개변수를 줄이면 정상 상태 오류가 줄어들지만, NED 속도 출력에서 관찰 노이즈가 증가합니다.
|
||||
- [2] 위치 추적 오류 크기 \(m\).
|
||||
The position tracking time constant can be adjusted using the [EKF2_TAU_POS](../advanced_config/parameter_reference.md#EKF2_TAU_POS) parameter.
|
||||
이 매개변수를 줄이면 정상 상태 오류가 줄어들지만, NED 위치 출력에서 관찰 노이즈가 증가합니다.
|
||||
|
||||
### EKF 오류
|
||||
|
||||
The EKF contains internal error checking for badly conditioned state and covariance updates.
|
||||
Refer to the `filter_fault_flags` in [EstimatorStatus](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorStatus.msg).
|
||||
|
||||
### 관측 오류
|
||||
|
||||
There are two categories of observation faults:
|
||||
|
||||
- 데이터 손실.
|
||||
이에 대한 예는 반환을 제공이 되지 않는 범위 측정기입니다.
|
||||
- 상태 예측과 센서 관찰의 차이인 혁신은 과도합니다.
|
||||
예를 들어 과도한 진동으로 인한 큰 수직 위치 오류가 발생하여 기압계 높이 측정이 거부됩니다.
|
||||
|
||||
Both of these can result in observation data being rejected for long enough to cause the EKF to attempt a reset of the states using the sensor observations.
|
||||
All observations have a statistical confidence checks applied to the innovations.
|
||||
The number of standard deviations for the check are controlled by the `EKF2_*_GATE` parameter for each observation type.
|
||||
|
||||
Test levels are available in [EstimatorStatus](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorStatus.msg) as follows:
|
||||
|
||||
- `mag_test_ratio`: ratio of the largest magnetometer innovation component to the innovation test limit
|
||||
- `vel_test_ratio`: ratio of the largest velocity innovation component to the innovation test limit
|
||||
- `pos_test_ratio`: ratio of the largest horizontal position innovation component to the innovation test limit
|
||||
- `hgt_test_ratio`: ratio of the vertical position innovation to the innovation test limit
|
||||
- `tas_test_ratio`: ratio of the true airspeed innovation to the innovation test limit
|
||||
- `hagl_test_ratio`: ratio of the height above ground innovation to the innovation test limit
|
||||
|
||||
For a binary pass/fail summary for each sensor, refer to innovation_check_flags in [EstimatorStatus](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorStatus.msg).
|
||||
|
||||
### GPS 품질 검사
|
||||
|
||||
The EKF applies a number of GPS quality checks before commencing GPS aiding.
|
||||
These checks are controlled by the [EKF2_GPS_CHECK](../advanced_config/parameter_reference.md#EKF2_GPS_CHECK) and `EKF2_REQ_*` parameters.
|
||||
The pass/fail status for these checks is logged in the [EstimatorStatus](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorStatus.msg).gps_check_fail_flags message.
|
||||
This integer will be zero when all required GPS checks have passed.
|
||||
If the EKF is not commencing GPS alignment, check the value of the integer against the bitmask definition `gps_check_fail_flags` in [EstimatorStatus](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorStatus.msg).
|
||||
|
||||
### EKF 수치 오류
|
||||
|
||||
The EKF uses single precision floating point operations for all of its computations and first order approximations for derivation of the covariance prediction and update equations in order to reduce processing requirements.
|
||||
This means that it is possible when re-tuning the EKF to encounter conditions where the covariance matrix operations become badly conditioned enough to cause divergence or significant errors in the state estimates.
|
||||
|
||||
To prevent this, every covariance and state update step contains the following error detection and correction steps:
|
||||
|
||||
- 혁신 분산이 관찰 분산보다 작거나 (불가능한 음의 상태 분산이 필요함) 공분산 업데이트가 모든 상태에 대해 음의 분산을 생성하는 경우 :
|
||||
- 상태 및 공분산 업데이트를 건너 뜁니다.
|
||||
- 공분산 행렬의 해당 행과 열이 재설정됩니다.
|
||||
- The failure is recorded in the [EstimatorStatus](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorStatus.msg) `filter_fault_flags` message
|
||||
- 상태 분산(공분산 행렬의 대각선)은 음이 아닌 값으로 제한됩니다.
|
||||
- 상태 차이에는 상한값이 적용됩니다.
|
||||
- 공분산 행렬에 대칭이 적용됩니다.
|
||||
|
||||
After re-tuning the filter, particularly re-tuning that involve reducing the noise variables, the value of `estimator_status.gps_check_fail_flags` should be checked to ensure that it remains zero.
|
||||
|
||||
## 높이 추정치가 다른 경우 어떻게 하여야 합니까?
|
||||
|
||||
The most common cause of EKF height diverging away from GPS and altimeter measurements during flight is clipping and/or aliasing of the IMU measurements caused by vibration.
|
||||
If this is occurring, then the following signs should be evident in the data
|
||||
|
||||
- [EstimatorInnovations](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorInnovations.msg).vel_pos_innov\[2\] and [EstimatorInnovations](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorInnovations.msg).vel_pos_innov\[5\] will both have the same sign.
|
||||
- [EstimatorStatus](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorStatus.msg).hgt_test_ratio will be greater than 1.0
|
||||
|
||||
The recommended first step is to ensure that the autopilot is isolated from the airframe using an effective isolation mounting system.
|
||||
An isolation mount has 6 degrees of freedom, and therefore 6 resonant frequencies.
|
||||
As a general rule, the 6 resonant frequencies of the autopilot on the isolation mount should be above 25Hz to avoid interaction with the autopilot dynamics and below the frequency of the motors.
|
||||
|
||||
An isolation mount can make vibration worse if the resonant frequencies coincide with motor or propeller blade passage frequencies.
|
||||
|
||||
The EKF can be made more resistant to vibration induced height divergence by making the following parameter changes:
|
||||
|
||||
- 기본 높이 센서에 대한 혁신 게이트의 가치를 두 배로 늘립니다.
|
||||
If using barometric height this is [EKF2_BARO_GATE](../advanced_config/parameter_reference.md#EKF2_BARO_GATE).
|
||||
- Increase the value of [EKF2_ACC_NOISE](../advanced_config/parameter_reference.md#EKF2_ACC_NOISE) to 0.5 initially.
|
||||
발산이 여전히 발생하는 경우 0.1씩 더 증가하지만 1.0을 초과하지 않는 것이 좋습니다.
|
||||
|
||||
Note that the effect of these changes will make the EKF more sensitive to errors in GPS vertical velocity and barometric pressure.
|
||||
|
||||
## 위치 추정치가 다른 경우 어떻게 하여야 합니까?
|
||||
|
||||
The most common causes of position divergence are:
|
||||
|
||||
- 높은 진동 수준.
|
||||
- 자동조종장치의 기계적 격리를 개선합니다.
|
||||
- Increasing the value of [EKF2_ACC_NOISE](../advanced_config/parameter_reference.md#EKF2_ACC_NOISE) and [EKF2_GYR_NOISE](../advanced_config/parameter_reference.md#EKF2_GYR_NOISE) can help, but does make the EKF more vulnerable to GPS glitches.
|
||||
- 큰 자이로 바이어스 오프셋.
|
||||
- 자이로를 다시 튜닝합니다.
|
||||
과도한 온도 감도를 확인하십시오 (콜드 스타트에서 예열하는 동안 > 3도/초 바이어스 변화). 온도 변화 속도를 늦추기 위하여 절연체의 영향을받는 경우 센서를 교체하십시오.
|
||||
- 잘못된 요 정렬
|
||||
- 자력계 보정과 정렬을 확인합니다.
|
||||
- QGC가 15도 이내인 지 확인하십시오.
|
||||
- 낮은 GPS 정확도
|
||||
- 간섭을 확인합니다.
|
||||
- 분리 및 차폐 개선
|
||||
- 비행 위치에서 GPS 신호 방해와 반사경 확인 \(고층 빌딩 근처\)
|
||||
- GPS 손실
|
||||
|
||||
Determining which of these is the primary cause requires a methodical approach to analysis of the EKF log data:
|
||||
|
||||
- Plot the velocity innovation test ratio - [EstimatorStatus](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorStatus.msg).vel_test_ratio
|
||||
- Plot the horizontal position innovation test ratio - [EstimatorStatus](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorStatus.msg).pos_test_ratio
|
||||
- Plot the height innovation test ratio - [EstimatorStatus](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorStatus.msg).hgt_test_ratio
|
||||
- Plot the magnetometer innovation test ratio - [EstimatorStatus](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorStatus.msg).mag_test_ratio
|
||||
- Plot the GPS receiver reported speed accuracy - [SensorGps.msg](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorGps.msg).s_variance_m_s
|
||||
- Plot the IMU delta angle state estimates - [EstimatorStatus](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorStatus.msg).states\[10\], states\[11\] and states\[12\]
|
||||
- EKF 내부 고주파 진동 메트릭을 플로팅합니다.
|
||||
- Delta angle coning vibration - [EstimatorStatus](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorStatus.msg).vibe\[0\]
|
||||
- High frequency delta angle vibration - [EstimatorStatus](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorStatus.msg).vibe\[1\]
|
||||
- High frequency delta velocity vibration - [EstimatorStatus](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorStatus.msg).vibe\[2\]
|
||||
|
||||
During normal operation, all the test ratios should remain below 0.5 with only occasional spikes above this as shown in the example below from a successful flight:
|
||||
|
||||
|
||||
|
||||
The following plot shows the EKF vibration metrics for a multirotor with good isolation.
|
||||
The landing shock and the increased vibration during takeoff and landing can be seen.
|
||||
Insufficient data has been gathered with these metrics to provide specific advice on maximum thresholds.
|
||||
|
||||
|
||||
|
||||
The above vibration metrics are of limited value as the presence of vibration at a frequency close to the IMU sampling frequency (1 kHz for most boards) will cause offsets to appear in the data that do not show up in the high frequency vibration metrics.
|
||||
The only way to detect aliasing errors is in their effect on inertial navigation accuracy and the rise in innovation levels.
|
||||
|
||||
In addition to generating large position and velocity test ratios of > 1.0, the different error mechanisms affect the other test ratios in different ways:
|
||||
|
||||
### 과도한 진동 여부 결정
|
||||
|
||||
High vibration levels normally affect vertical position and velocity innovations as well as the horizontal components.
|
||||
Magnetometer test levels are only affected to a small extent.
|
||||
|
||||
\(insert example plots showing bad vibration here\)
|
||||
|
||||
### 과도한 자이로 바이어스 결정
|
||||
|
||||
Large gyro bias offsets are normally characterised by a change in the value of delta angle bias greater than 5E-4 during flight (equivalent to ~3 deg/sec) and can also cause a large increase in the magnetometer test ratio if the yaw axis is affected.
|
||||
Height is normally unaffected other than extreme cases.
|
||||
Switch on bias value of up to 5 deg/sec can be tolerated provided the filter is given time settle before flying.
|
||||
Pre-flight checks performed by the commander should prevent arming if the position is diverging.
|
||||
|
||||
\(insert example plots showing bad gyro bias here\)
|
||||
|
||||
### 낮은 요 정확도 결정
|
||||
|
||||
Bad yaw alignment causes a velocity test ratio that increases rapidly when the vehicle starts moving due inconsistency in the direction of velocity calculated by the inertial nav and the GPS measurement.
|
||||
Magnetometer innovations are slightly affected.
|
||||
Height is normally unaffected.
|
||||
|
||||
\(insert example plots showing bad yaw alignment here\)
|
||||
|
||||
### 낮은 GPS 정확도 결정
|
||||
|
||||
Poor GPS accuracy is normally accompanied by a rise in the reported velocity error of the receiver in conjunction with a rise in innovations.
|
||||
Transient errors due to multipath, obscuration and interference are more common causes.
|
||||
Here is an example of a temporary loss of GPS accuracy where the multi-rotor started drifting away from its loiter location and had to be corrected using the sticks.
|
||||
The rise in [EstimatorStatus](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorStatus.msg).vel_test_ratio to greater than 1 indicates the GPs velocity was inconsistent with other measurements and has been rejected.
|
||||
|
||||
|
||||
|
||||
This is accompanied with rise in the GPS receivers reported velocity accuracy which indicates that it was likely a GPS error.
|
||||
|
||||
|
||||
|
||||
If we also look at the GPS horizontal velocity innovations and innovation variances, we can see the large spike in North velocity innovation that accompanies this GPS 'glitch' event.
|
||||
|
||||
|
||||
|
||||
### GPS 데이터 손실 결정
|
||||
|
||||
Loss of GPS data will be shown by the velocity and position innovation test ratios 'flat-lining'.
|
||||
If this occurs, check the other GPS status data in `vehicle_gps_position` for further information.
|
||||
|
||||
The following plot shows the NED GPS velocity innovations `ekf2_innovations_0.vel_pos_innov[0 ... 2]`, the GPS NE position innovations `ekf2_innovations_0.vel_pos_innov[3 ... 4]` and the Baro vertical position innovation `ekf2_innovations_0.vel_pos_innov[5]` generated from a simulated VTOL flight using SITL Gazebo.
|
||||
|
||||
The simulated GPS was made to lose lock at 73 seconds.
|
||||
Note the NED velocity innovations and NE position innovations 'flat-line' after GPS is lost.
|
||||
Note that after 10 seconds without GPS data, the EKF reverts back to a static position mode using the last known position and the NE position innovations start to change again.
|
||||
|
||||
|
||||
|
||||
### 기압계 지면 효과 보상
|
||||
|
||||
If the vehicle has the tendency during landing to climb back into the air when close to the ground, the most likely cause is barometer ground effect.
|
||||
|
||||
This is caused when air pushed down by the propellers hits the ground and creates a high pressure zone below the drone.
|
||||
The result is a lower reading of pressure altitude, leading to an unwanted climb being commanded.
|
||||
The figure below shows a typical situation where the ground effect is present.
|
||||
Note how the barometer signal dips at the beginning and end of the flight.
|
||||
|
||||
|
||||
|
||||
You can enable _ground effect compensation_ to fix this problem:
|
||||
|
||||
- 플롯에서 이륙 또는 착륙중 기압계 하락의 크기를 추정합니다. 위의 플롯에서 착륙중 약 6 미터의 기압계 딥을 읽을 수 있습니다.
|
||||
- Then set the parameter [EKF2_GND_EFF_DZ](../advanced_config/parameter_reference.md#EKF2_GND_EFF_DZ) to that value and add a 10 percent margin. 따라서, 이 경우 6.6 미터 값이 좋은 출발점이 됩니다.
|
||||
|
||||
If a terrain estimate is available (e.g. the vehicle is equipped with a range finder) then you can additionally specify [EKF2_GND_MAX_HGT](../advanced_config/parameter_reference.md#EKF2_GND_MAX_HGT), the above ground-level altitude below which ground effect compensation should be activated.
|
||||
If no terrain estimate is available this parameter will have no effect and the system will use heuristics to determine if ground effect compensation should be activated.
|
||||
|
||||
## 추가 정보
|
||||
|
||||
- [PX4 State Estimation Overview](https://youtu.be/HkYRJJoyBwQ), _PX4 Developer Summit 2019_, Dr. Paul Riseborough): Overview of the estimator, and major changes from 2018/19, and the expected improvements through 2019/20.
|
||||
Reference in New Issue
Block a user