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Signed-off-by: Ramon Roche <mrpollo@gmail.com>
Co-authored-by: Ramon Roche <mrpollo@gmail.com>
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docs/ko/config/_autotune.md
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<!-- This is the single-source for autotuning docs used in the autotune_mc.md and autotune_fy.md
At time of writing, only FW, MC, and VTOL, support autotuning.
VTOL has its own doc that references the other two
-->
<div v-if="$frontmatter.frame === 'Multicopter'">
# Auto-tuning (Multicopter)
</div>
<div v-else-if="$frontmatter.frame === 'Plane'">
# Auto-tuning (Fixed-Wing)
</div>
자동 튜닝은 안정적이고 반응성은 높은 비행에 탁월한 컨트롤러인 PX4의 속도와 자세를 자동으로 튜닝합니다(다른 튜닝은 "선택 사항"에 가깝습니다).
Tuning only needs to be done once, and is recommended unless you're using a vehicle that has already been tuned by the manufacturer (and not modified since).
:::warning
Auto-tuning is performed while flying.
The airframe must fly well enough to handle moderate disturbances, and should be closely attended:
- Test that your vehicle is [stable enough for autotuning](#pre-tuning-test).
- Be ready to abort the autotuning process.
You can do this by changing flight modes<div style="display: inline;" v-if="$frontmatter.frame === 'Plane'"> or using an auto-tune enable/disable switch ([if configured](#enable-disable-autotune-switch))</div>.
- Verify that the vehicle flies well after tuning.
:::
<lite-youtube videoid="5xswOhhqrIQ" title="QGroundControl Autotune Feature Breakdown for PX4 Autopilot"/>
## 사전 튜닝 테스트
The vehicle must be able to fly and adequately stabilize itself before running auto-tune.
This test ensures that the vehicle can fly safely in position controlled modes.
To make sure the vehicle is stable enough for auto-tuning:
1. 비행 구역이 깨끗하고 공간이 충분한 지 확인하기 위하여, 일반적인 비행 전 안전 점검을 실시합니다.
2. Take off and <div style="display: inline;" v-if="$frontmatter.frame === 'Multicopter'">hover at 1m above ground in [Altitude mode](../flight_modes_mc/altitude.md) or [Stabilized mode](../flight_modes_mc/manual_stabilized.md)</div><div style="display: inline;" v-else-if="$frontmatter.frame === 'Plane'">fly at cruise speed in [Position mode](../flight_modes_fw/position.md) or [Altitude mode](../flight_modes_fw/altitude.md)</div>.
3. Use the RC transmitter roll stick to perform the following maneuver, tilting the vehicle just a few degrees: _roll left > roll right > center_ (The whole maneuver should take about 3 seconds).
기체는 2번의 진동 이내에서 안정화되어야 합니다.
4. 각각의 시도에서 더 큰 진폭으로 기울이면서 기동을 반복합니다.
기체가 ~20도에서 2번의 진동 내에서 안정화될 수 있으면 다음 단계로 이동합니다.
5. 피치 축에서 동일한 동작을 반복합니다.
As above, start with small angles and confirm that the vehicle can stabilise itself within 2 oscillations before increasing the tilt.
If the drone can stabilize itself within 2 oscillations it is ready for the [auto-tuning procedure](#auto-tuning-procedure).
:::warning
If the drone cannot stabilize itself sufficiently, follow the instructions in the [troubleshooting](#troubleshooting) section.
These explain the minimal manual tuning to prepare the vehicle for auto-tuning.
:::
## Auto-tuning Procedure
The auto-tuning sequence must be performed in a **safe flight zone, with enough space**.
It takes about 40 seconds ([between 19 and 68 seconds](#how-long-does-autotuning-take)).
For best results, we recommend running the test in calm weather conditions.
The recommended mode for autotuning is <div style="display: inline;" v-if="$frontmatter.frame === 'Multicopter'">[Altitude mode](../flight_modes_mc/altitude.md)</div><div style="display: inline;" v-else-if="$frontmatter.frame === 'Plane'">[Hold mode](../flight_modes_fw/hold.md)</div>, but any other flight mode can be used.
The RC sticks cannot be used during autotuning (moving the sticks will stop the autotune operation).
The test steps are:
1. Perform the [pre-tuning test](#pre-tuning-test).
2. Takeoff using RC control <div style="display: inline;" v-if="$frontmatter.frame === 'Multicopter'">in [Altitude mode](../flight_modes_mc/altitude.md).
Hover the vehicle at a safe distance and at a few meters above ground (between 4 and 20m).</div><div v-else-if="$frontmatter.frame === 'Plane'">
Once flying at cruise speed, activate [Hold mode](../flight_modes_fw/hold.md).
This will guide the plane to fly in circle at constant altitude and speed.</div>
3. Enable autotune.
<div v-if="$frontmatter.frame === 'Plane'">
<div class="tip custom-block"><p class="custom-block-title">TIP</p>
If an [Enable/Disable Autotune Switch](#enable-disable-autotune-switch) is configured you can just toggle the switch to the "enabled" position.
</div></div>
1. In QGroundControl, open the menu **Vehicle setup > PID Tuning**:
![Tuning Setup > Autotune Enabled](../../assets/qgc/setup/autotune/autotune.png)
2. Select either the _Rate Controller_ or _Attitude Controller_ tabs.
3. Ensure that the **Autotune enabled** button is enabled (this will display the **Autotune** button and remove the manual tuning selectors).
4. Read the warning popup and click on **OK** to start tuning.
4. 드론은 먼저 빠른 롤 동작을 수행한 후 피치 및 요 동작을 수행합니다.
The progress is shown in the progress bar, next to the _Autotune_ button.
5. <div style="display: inline;" v-if="$frontmatter.frame === 'Multicopter'">Manually land and disarm to apply the new tuning parameters.
Takeoff carefully and manually test that the vehicle is stable.</div><div v-else-if="$frontmatter.frame === 'Plane'">The tuning will be immediately/automatically be applied and tested in flight (by default).
그런 다음, PX4는 4초 테스트를 실행하고 문제가 감지되면 튜닝 작업의 이전 상태로 복원합니다.</div>
:::warning
If any strong oscillations occur, land immediately and follow the instructions in the [Troubleshooting](#troubleshooting) section below.
:::
Additional notes:
<div v-if="$frontmatter.frame === 'Multicopter'">
- The instructions above tune the vehicle in [Altitude mode](../flight_modes_mc/altitude.md).
You can instead takeoff in [Takeoff mode](../flight_modes_mc/takeoff.md) and tune in [Position mode](../flight_modes_mc/position.md) if the vehicle is is _known_ to be stable in these modes.
</div>
<div v-else-if="$frontmatter.frame === 'Plane'">
- Autotuning can also be run in [Altitude mode](../flight_modes_fw/altitude.md) or [Position mode](../flight_modes_fw/position.md).
그러나 직선으로 비행하면서 테스트를 실행하면 더 큰 튜닝 안전 영역이 필요하며, 더 좋은 튜닝 결과를 보장하지 않습니다.
</div>
- Whether tuning is applied while flying or after landing can be [configured using parameters](#apply-tuning-when-in-air-landed).
## 문제 해결
### Drone oscillates when performing the pre-tuning test
<div v-if="$frontmatter.frame === 'Multicopter'">
Slow oscillations (1 oscillation per second or slower): this often occurs on large platforms and means that the attitude loop is too fast compared to the rate loop:
- Decrease [MC_ROLL_P](../advanced_config/parameter_reference.md#MC_ROLL_P) and [MC_PITCH_P](../advanced_config/parameter_reference.md#MC_PITCH_P) by steps of 1.0.
Fast oscillations (more than 1 oscillation per second): this is because the gain of the rate loop is too high.
- Decrease `MC_[ROLL|PITCH|YAW]RATE_K` by steps of 0.02
</div>
<div v-else-if="$frontmatter.frame === 'Plane'">
Slow oscillations (1 oscillation per second or slower): this often occurs on large platforms and means that the attitude loop is too fast compared to the rate loop.
- Increase [FW_R_TC](../advanced_config/parameter_reference.md#FW_R_TC) and [FW_P_TC](../advanced_config/parameter_reference.md#FW_P_TC) by steps of 0.1.
Fast oscillations (more than 1 oscillation per second): this is because the gain of the rate loop is too high.
- Decrease [FW_RR_P](../advanced_config/parameter_reference.md#FW_RR_P), [FW_PR_P](../advanced_config/parameter_reference.md#FW_PR_P), [FW_YR_P](../advanced_config/parameter_reference.md#FW_YR_P) by steps of 0.01.
</div>
### 자동 튜닝 실패
If the drone was not moving enough during auto-tuning, the system identification algorithm might have issues to find the correct coefficients.
Increase the <div style="display: inline;" v-if="$frontmatter.frame === 'Multicopter'">[MC_AT_SYSID_AMP](../advanced_config/parameter_reference.md#MC_AT_SYSID_AMP)</div><div style="display: inline;" v-else-if="$frontmatter.frame === 'Plane'">[FW_AT_SYSID_AMP](../advanced_config/parameter_reference.md#FW_AT_SYSID_AMP)</div> parameter by steps of 1 and trigger the auto-tune again.
### 드론이 자동 튜닝 후 진동합니다.
Due to effects not included in the mathematical model such as delays, saturation, slew-rate, airframe flexibility, the loop gain can be too high.
To fix this, follow the same steps described [when the drone oscillates in the pre-tuning test](#drone-oscillates-when-performing-the-pre-tuning-test).
### 여전히 정상 작동하지 않는 경우:
Attempt manual tuning using the guides listed in [See also](#see-also) below.
## Optional Configuration
### Apply Tuning when In-Air/Landed
<div v-if="$frontmatter.frame === 'Multicopter'">
By multicopters land before parameters are applied.
This behaviour can be configured using the [MC_AT_APPLY](../advanced_config/parameter_reference.md#MC_AT_APPLY) parameter:
</div>
<div v-else-if="$frontmatter.frame === 'Plane'">
By default fixed wing tuning the parameters are applied while flying, and then PX4 runs a test to confirm that the controllers work properly.
This behaviour can be configured using the [FW_AT_APPLY](../advanced_config/parameter_reference.md#FW_AT_APPLY) parameter:
</div>
- `0`: the gains are not applied.
자동 튜닝의 결과를 직접적으로 사용하지 않은 체로 검사하는 경우에 사용합니다.
- `1`: apply the gains after disarm (default for multirotors).
이후, 조종자는 주의하여 이륙하면서 튜닝 결과를 테스트할 수 있습니다.
- `2`: apply immediately (default for fixed-wings).
새로운 튜닝이 적용되고, 교란이 컨트롤러로 전송된 후, 다음 4초 동안 안정성이 모니터링됩니다.
제어 루프가 불안정한 경우, 제어 게인을 즉시 이전 값으로 복원합니다.
테스트를 통과하면, 조종자는 새로운 튜닝 결과를 사용할 수 있습니다.
<div v-if="$frontmatter.frame === 'Plane'">
### Enable/Disable Autotune Switch
A remote control switch can be configured to enable/disable autotune (in any mode) using an RC AUX channel (note, this is only supported on fixed-wing vehicles).
To map a switch:
1. Select an RC channel on your controller to use for the autotune enable/disable switch.
2. Set [RC_MAP_AUX1](../advanced_config/parameter_reference.md#RC_MAP_AUX1) to match the RC channel for your switch (you can use any of `RC_MAP_AUX1` to `RC_MAP_AUX6`).
3. Set [FW_AT_MAN_AUX](../advanced_config/parameter_reference.md#FW_AT_MAN_AUX) to the selected channel (i.e. `1: Aux 1` if you mapped `RC_MAP_AUX1`).
The auto tuner will be disabled when the switch is below `0.5` (on the manual control setpoint range of of `[-1, 1]`) and enabled when the switch channel is above `0.5`.
If using an RC AUX switch to enable autotuning, make sure to [select the tuning axes](#select-tuning-axis) before flight.
### Select Tuning Axis
Fixed-wing vehicles (only) can select which axes are tuned using the [FW_AT_AXES](../advanced_config/parameter_reference.md#FW_AT_AXES) bitmask parameter:
- bit `0`: roll (default)
- bit `1`: pitch (default)
- bit `2`: yaw
</div>
## 개발자 SDK
Autotuning is started using [MAV_CMD_DO_AUTOTUNE_ENABLE](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_AUTOTUNE_ENABLE) MAVLink command.
At time of writing the message is resent at regular intervals to poll PX4 for progress: the `COMMAND_ACK` includes result that the operation is in progress, and also the progress as a percentage.
The operation completes when the progress is 100% or the vehicle lands and disarms.
:::info
This is not a MAVLink-compliant implementation of a [command protocol long running command](https://mavlink.io/en/services/command.html#long_running_commands).
PX4 should stream progress as the protocol does not allow polling.
:::
The feature is not yet supported by MAVSDK.
## 배경 및 세부 사항
PX4 uses [PID controllers](../flight_stack/controller_diagrams.md) (rate, attitude, velocity, and position) to calculate the outputs required to move a vehicle from its current estimated state to match a desired setpoint.
The controllers must be well tuned in order to get the best performance out of a vehicle.
In particular, a poorly tuned rate controller results in less stable flight in all modes, and takes longer to recover from disturbances.
Generally if you use a [frame configuration](../config/airframe.md) that is similar to your vehicle then the vehicle will be able to fly.
However unless the configuration precisely matches your hardware you should tune the rate and attitude controllers.
Tuning the velocity and position controllers is less important because they are less affected by vehicle dynamics, and the default tuning configuration for a similar airframe is often sufficient.
Autotuning provides an automatic mechanism to tune the rate and attitude controllers.
It can be used to tune fixed-wing and multicopter vehicles, and VTOL vehicles when flying as a multicopter or as a fixed-wing (transition between modes must be manually tuned).
In theory it should work for other vehicle types that have a rate controller, but currently only the above types are supported.
Automatic tuning works well for the multicopter and fixed-wing vehicle configurations supported by PX4, provided the frame is not too flexible
(see [below for more information](#does-autotuning-work-for-all-supported-airframes)).
The vehicle must be flying in an altitude-stabilized mode (such as [Altitude mode](../flight_modes_mc/altitude.md), [Hold mode](../flight_modes_mc/hold.md), or [Position mode](../flight_modes_mc/position.md)).
The flight stack will apply a small disturbance to the vehicle in each axis and then attempt to calculate the new tuning parameters.
For fixed-wing vehicles the new tuning is applied in-air by default, after which the vehicle tests the new settings and reverts the tuning if the controllers are not stable.
For multicopter, the vehicle lands and applies the new tuning parameters after disarming; the pilot is expected to then take off carefully and test the tuning.
The tuning process takes about 40 seconds ([between 19 and 70 seconds](#how-long-does-autotuning-take)).
The default behaviour can be configured using [parameters](#optional-configuration).
### 자주 묻는 질문
#### 어떤 기체 유형이 지원됩니까?
Autotuning is enabled for multicopter, fixed-wing, and hybrid VTOL fixed-wing vehicles.
While it is not yet enabled for other frame types, in theory it an be used with any frame that uses a rate controller.
#### 지원되는 모든 기체에 대해 자동 튜닝이 작동됩니까?
The mathematical model used by autotuning to estimate the dynamics of the drone assumes this it is a linear system with no coupling between the axes (SISO), and with a limited complexity (2 poles and 2 zeros).
If the real drone is too far from those conditions, the model will not be able to represent the real dynamics of the drone.
In practise, autotuning generally works well for fixed-wing and multicopter, provided the frame is not too flexible.
#### 자동 튜닝은 얼마나 걸립니까?
Tuning takes 5s-20s per axis (aborted if tuning could not be established in 20s) + 2s pause between each axis + 4s of testing if the new gains are applied in air.
A multicopter must tune all three axes, and by default does not test the new gains in-air.
Tuning will therefore take between 19s (`5 + 2 + 5 + 2 + 5`) and 64s (`20x3 + 2x2`).
By default a fixed-wing vehicle tunes all three axes and then tests the new gains in-air.
The range is therefore between 25s (`5 + 2 + 5 + 2 + 5 + 2 + 4`) and 70s (`20x3 + 3x2 + 4`).
Note however that the above settings are defaults.
A multicopter can choose to run the tests in air, and a fixed-wing can choose not to.
Further, a fixed-wing can choose to tune fewer axes.
Anecdotally, it usually takes around 40s for either vehicle.
<!--
#### How vigorous is the disturbance applied by tuning
This might be added later. I'd like to just point to a video.
If not, perhaps say "not very" but you should expect that the vehicle might deflect by as much as 20degrees and so should be able to cope with that deflection with default tuning.
-->
<div v-if="$frontmatter.frame === 'Multicopter'">
## See also
- [Multicopter PID Tuning Guide](../config_mc/pid_tuning_guide_multicopter_basic.md) (Manual/Simple)
- [Multicopter PID Tuning Guide](../config_mc/pid_tuning_guide_multicopter.md) (Advanced/Detailed)
- [Parameters > Autotuning](../advanced_config/parameter_reference.md#autotune) (prefixed with `MC_AT_`).
</div>
<div v-else-if="$frontmatter.frame === 'Plane'">
## See also
- [Fixed-Wing PID Tuning Guide](../config_fw/pid_tuning_guide_fixedwing.md)
- [Parameters > Autotuning](../advanced_config/parameter_reference.md#autotune) (prefixed with `FW_AT_`).
</div>
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# Accelerometer Calibration
PX4를 처음 사용하거나, 비행 콘트롤러의 방향이 변경된 경우에는 가속도계를 보정하여야 합니다. 기존 장비를 계속 사용하는 경우에는 보정 작업이 필요하지 않습니다.
Otherwise it should not need to recalibrated (except perhaps in winter, if the flight controller was not [thermally calibrated](../advanced_config/sensor_thermal_calibration.md) in the factory).
:::info
Poor accelerometer calibration is generally caught by preflight checks and arming-denied messages (QGC warnings typically refer to "high accelerometer bias" and "consistency check failures").
:::
:::tip
This is similar to [compass calibration](../config/compass.md) except that you hold the vehicle still (rather than rotate it) in each orientation.
:::
## 보정 절차
_QGroundControl_ will guide you to place and hold your vehicle in a number of orientations (you will be prompted when to move between positions).
보정 절차는 다음과 같습니다:
1. Start _QGroundControl_ and connect the vehicle.
2. Select **"Q" icon > Vehicle Setup > Sensors** (sidebar) to open _Sensor Setup_.
3. Click the **Accelerometer** sensor button.
![Accelerometer calibration](../../assets/qgc/setup/sensor/accelerometer.png)
::: info
You should already have set the [Autopilot Orientation](../config/flight_controller_orientation.md).
미리 설정하지 않았다면, 여기에서 설정할 수 있습니다.
:::
4. Click **OK** to start the calibration.
5. Position the vehicle as guided by the _images_ on the screen.
Once prompted (the orientation-image turns yellow) hold the vehicle still.
현재 방향에 대해 보정이 완료되면 화면의 그림이 녹색으로 바뀝니다.
::: info
The calibration uses a least squares 'fit' algorithm that doesn't require you to have "perfect" 90 degree orientations.
각 축이 보정 단계별로 어느 시점에 대부분 위아래를 가리키고, 차량이 고정되어 있으면 정확한 방향은 중요하지 않습니다.
:::
![Accelerometer calibration](../../assets/qgc/setup/sensor/accelerometer_positions_px4.png)
6. 드론의 모든 방향에 대해 보정 과정을 반복합니다.
Once you've calibrated the vehicle in all the positions _QGroundControl_ will display _Calibration complete_ (all orientation images will be displayed in green and the progress bar will fill completely).
그런 다음 다음 센서의 보정 작업을 진행합니다.
## 추가 정보
- [QGroundControl User Guide > Sensors](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/setup_view/sensors_px4.html#accelerometer)
- [PX4 Setup Video - @1m46s](https://youtu.be/91VGmdSlbo4?t=1m46s) (Youtube)
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# 액추에이터 설정 및 테스트
<Badge type="tip" text="PX4 v1.14" />
The _Actuators Setup_ view is used to customize the specific geometry of the vehicle, assign actuators and motors to flight controller outputs, and test the actuator and motor response.
## 개요
Open the view in _QGroundControl_ here: **"Q" (app menu) > Vehicle Setup > Actuators** (tab).
The displayed elements depend on the [selected frame](../config/airframe.md), with outputs mapped by default as shown in the [Airframe Reference](../airframes/airframe_reference.md).
The view has three sections:
- [Geometry](#geometry): Configure the geometry for the [selected airframe](../config/airframe.md).
This includes number, position and properties of [motors](#motor-geometry) and also the number and properties of [control surfaces](#control-surfaces-geometry) and [motor tilt servos](#motor-tilt-servo-geometry).
- [Actuator Outputs](#actuator-outputs): Assign motors, control surfaces, and other actuators to specific output.
- [Actuator Testing](#actuator-testing): Test that motors and actuators move in the direction / speed as expected.
A quadcopter might have an setup screen similar to the one shown below.
This defines a 4-rotor copter with X-geometry.
It maps the 4 motors to the AUX1 to AUX4 outputs, and specifies that the connect to DShot1200 ESC.
It also maps PWM400 AUX outputs for controlling a parachute and landing gear.
![Actuators MC (QGC)](../../assets/config/actuators/qgc_actuators_mc_aux.png)
:::info
Only the most common settings are displayed by default.
Select the **Advanced** checkbox in the top right corner to display all settings.
:::
## 지오메트리
The geometry section is used to set any configurable geometry-related parameters for the selected [airframe](../config/airframe.md).
This includes the number and position of [motors](#motor-geometry), and the number, function, and properties of [control surfaces](#control-surfaces-geometry).
For VTOL tiltrotor vehicles, it will also include the number and properties of [tilt servos](#motor-tilt-servo-geometry)
:::info
The UI is customised for the selected airframe:
- Only _configurable_ fields for the selected airframe type are displayed; fields that aren't configurable for the airframe are hidden.
- 모터 위치 다이어그램은 현재 멀티콥터 프레임에만 표시됩니다.
:::
### 모터 지오메트리
The motor geometry section lets you set the number of motors, the relative position, and other properties of each motor.
멀티콥터 기체의 기하학적 구성은 각 모터의 상대적 x,y 위치를 보여주는 다이어그램을 제공합니다.
다른 프레임의 모터 위치에 대한 광범위한 이해는 <a href="../airframes/airframe_reference.md">기체 참조</a>를 참고하십시오.
For example, `Tilted-by` and `axis` are only relevant for [Tiltrotor VTOL](#motor-geometry-vtol-tiltrotor) and [Standard VTOL](#motor-geometry-standard-vtol) vehicles, respectively.
The geometry configuration for multicopter airframes provides a diagram showing the relative x,y positions for each of the motors.
See the [Airframe Reference](../airframes/airframe_reference.md) for an broad understanding of the motor positions for other frames.
Core geometry concepts and the configuration for a number of different frames are provided in the following sections.
#### 모터 지오메트리: 멀티콥터
The image below shows the geometry setup for a quadrotor multicopter frame with and without advanced settings.
![Geometry MC (QGC)](../../assets/config/actuators/qgc_actuators_mc_geometry_marked.png)
First, the **Motors** drop-down setting lets you choose the number of motors (4 for the example above).
For each motor you can then set:
- `Position X`: [X-position](#motor-position-coordinate-system), in metres.
- `Position Y`: [Y-position](#motor-position-coordinate-system), in metres.
- `Position Z`: [Z-position](#motor-position-coordinate-system), in metres.
- (Advanced) `Direction CCW`: Checkbox to indicate motor spins counter-clockwise (uncheck for clockwise).
- (Advanced) `Bidirectional`: Checkbox to indicate motor is [bidirectional](#bidirectional-motors)
- (Advanced) `Slew Rate`: Sets minimum time that the motor output can take to reach its maximum value.
Refer to the [Control Surfaces Geometry](#control-surfaces-geometry) section for more information
:::info
The `X`, `Y`, `Z` positions are in [FRD coordinate frame, relative to the _centre of gravity_](#motor-position-coordinate-system).
Note, this may not be the same as the position of the flight controller!
:::
#### 모터 지오메트리: VTOL Quadrotor Tailsitter
The motor geometry for a [VTOL Quad Tailsitter](../airframes/airframe_reference.md#vtol-tailsitter) is shown below (the approach for configuring other tailsitter VTOL vehicles will be similar).
Motors have the same configuration fields as for the [multicopter geometry](#motor-geometry-multicopter).
![Geometry motor: tailsitter vtol](../../assets/config/actuators/qgc_geometry_tailsitter_motors.png)
#### 모터 지오메트리: VTOL 틸트로터
The motor geometry for a [Generic Quadplane VTOL Tiltrotor](../airframes/airframe_reference.md#vtol_vtol_tiltrotor_generic_quadplane_vtol_tiltrotor) is shown below (the approach for configuring other [VTOL tiltrotors](../airframes/airframe_reference.md#vtol_vtol_tiltrotor_generic_quadplane_vtol_tiltrotor) will be similar).
![Geometry motor: tiltrotor vtol](../../assets/config/actuators/qgc_geometry_tiltrotor_motors.png)
- `Tilted by`: The associated servo used for tilting the motor.
The properties of this servo are defined in the [Motor Tilt Servo Geometry](#motor-tilt-servo-geometry).
#### 모터 형상: 표준 VTOL
The motor geometry for a [Generic Standard VTOL](../airframes/airframe_reference.md#vtol_standard_vtol_generic_standard_vtol) is shown below (the approach for configuring other "Standard VTOL" will be similar).
![Geometry motor: standard vtol](../../assets/config/actuators/qgc_geometry_standard_vtol_motors.png)
Motors have most of the same configuration fields as for the [multicopter geometry](#motor-geometry-multicopter).
다시 한 번 이러한 모터는 일반적으로 위에 표시된 것과 같은 종류의 속성을 가집니다.
- `Axis`: One of `Upwards`, `Downwards`, `Forwards`, `Backwards`, `Leftwards`, `Rightwards`, `Custom`
- If `Custom` is selected, then the UI displays three additional fields for setting the motor orientation.
#### 모터 지오메트리: 기타 기체
Other vehicle types will define an appropriate motor geometry for their frame type.
Once again these motors will generally have the same kinds of properties as shown above.
모터 위치를 나타내는 좌표계는 FRD(몸체 프레임 내)이며, 여기서 X축은 앞쪽, Y축은 오른쪽, Z축은 아래쪽을 가르킵니다.
#### 모터 위치 좌표계
The coordinate system for motor positions is FRD (in body frame), where the X axis points forward, the Y axis to the right and the Z axis down.
The origin is the vehicle's **centre-of-gravity (COG)**.
This may **NOT** be the same position as the location of the autopilot.
![Actuators CG reference diagram](../../assets/config/actuators/quadcopter_actuators_cg_reference.png)
#### 양방향 모터
Some vehicles may use bidirectional motors (i.e. motors that support spinning in both directions).
For example, ground vehicles that want to move forwards and backwards, or VTOL vehicles that have pusher motors that can turn in either direction.
If bidiectional motors are used, make sure to select the **Reversible** checkbox for those motors (the checkbox is displayed as an "advanced" option).
![Reversible](../../assets/config/actuators/qgc_geometry_reversible_marked.png)
Note that you will need to also ensure that the ESC associated with bidirectional motors is configured appropriately (e.g. 3D mode enabled for DShot ESCs, which can be achieved via [DShot commands](../peripherals/dshot.md#commands)).
### 조종면 지오메트리
The control surfaces section of the geometry panel lets you set the number and types of control surfaces that are present on the vehicle.
You may also need to set trim and slew rate values in some cases.
More advanced users can also configure the roll scale, yaw scale, and pitch scale (generally the defaults are acceptable, and this is not needed).
An "example" control surface section for a vehicle with two ailerons is shown below.
Note that ailerons only affect roll, so the pitch and yaw fields are disabled.
![Control Surface Setup Example](../../assets/config/actuators/control_surfaces_geometry.png)
:::info
Only the most common settings are displayed by default.
Select the **Advanced** checkbox in the top right corner of the view to display all settings.
:::
The fields are:
- `Control Surfaces`: The number of control surfaces (set this first!)
- `Type`: The type of each control surface: `LeftAileron`, `RightAileron`, `Elevator`, `Rudder`, `Left Elevon`, `Right Elevon`, `Left V-Tail`, `Right V-Tail`, `Left Flap`, `Right Flap`, `Airbrakes`, `Custom`.
- `Roll Torque`: Effectiveness of actuator around roll axis (normalised: -1 to 1).
[Generally you should use the default actuator value](#actuator-roll-pitch-and-yaw-scaling).
- `Pitch Torque`: Effectiveness of actuator around pitch axis (normalised: -1 to 1).
[Generally you should use the default actuator value](#actuator-roll-pitch-and-yaw-scaling).
- `Yaw Torque`: Effectiveness of actuator around yaw axis (normalised: -1 to 1).
[Generally you should use the default actuator value](#actuator-roll-pitch-and-yaw-scaling).
- `Trim`: An offset added to the actuator so that it is centered without input.
이것은 시행착오를 거쳐 결정될 수 있습니다.
- <a id="slew_rate"></a>(Advanced) `Slew Rate`: Limits the minimum time in which the motor/servo signal is allowed to pass through its full output range, in seconds.
- The setting limits the rate of change of an actuator (if not specified then no rate limit is applied).
It is intended for actuators that may be damaged or cause flight disturbance if they move too fast — such as the tilting actuators on a tiltrotor VTOL vehicle, or fast moving flaps, respectively.
- For example, a setting of 2.0 means that the motor/servo will not be commanded to move from 0 to 1 at a rate that completes the operation in less than 2 seconds (in case of reversible motors, the range is -1 to 1).
- (Advanced) `Flap Scale`: How much this actuator is deflected at the "full flaps configuration" [0, 1] (see [Flap Scale and Spoiler Scale Configuration](#flap-scale-and-spoiler-scale-configuration) below).
Can be used to configure aerodynamic surface as flap or to compensate for generated torque through main flaps.
- (Advanced) `Spoiler Scale`: How much this actuator is deflected at the "full spoiler configuration" [0, 1] (see [Flap Scale and Spoiler Scale Configuration](#flap-scale-and-spoiler-scale-configuration) below).
Can be used to configure aerodynamic surface as spoiler or to compensate for generated torque through main spoiler.
- (VTOL only) `Lock control surfaces in hover`:
- `Enabled`: Most vehicles do not use control surfaces in hover. 이 설정을 사용하여 기체 역학에 영향을 미치지 않도록 잠그십시오.
- `Disabled`: Set this for vehicles that use control surfaces in hover, such as the duo tailsitter (which uses elevons for pitch and yaw control). 또한 조종면을 사용하여 고속으로 이동할 때 호버 모드에서 추가 안정화를 제공하거나 강한 바람이 부는 기체에 대하여 설정합니다.
#### Flap Scale and Spoiler Scale Configuration
"Flap-control" and "Spoiler-control" are aerodynamic configurations that can either be commanded manually by the pilot (using RC, say), or are set automatically by the controller.
For example, a pilot or the landing system might engage "Spoiler-control" in order to reduce the airspeed before landing.
The configurations are an _abstract_ way for the controller to tell the allocator how much it should adjust the aerodynamic properties of the wings relative to the "full flaps" or "full spoiler" configuration (between `[0,1]`, where "1" indicates the full range).
The allocator then uses any of the available control surfaces it wants in order to achieve the requested configuration: usually flaps, ailerons, and elevator.
The `flap scale` and `spoiler scale` settings in the actuator UI inform the allocator how much ailerons, elevators, flaps, spoilers, and other control surfaces, contribute to a requested "Flap-control" and/or "Spoiler-control" value.
Specifically, they indicate how much each control surface should be deflected when the controller is demanding "full flaps" or "full spoiler".
In the following example, the vehicle has two ailerons, one elevator, one rudder and two flaps as control surfaces:
![Flaps and spoiler actuator configuration example](../../assets/config/actuators/qgc_actuators_tab_flaps_spoiler_setup.png)
- The flaps have both `Flap Scale` set to 1, meaning that they will be fully deflected with the flap-control at 1.
They also have a [slew rate](#slew_rate) of 0.5/s, meaning that it will take 2s to fully deflect them (a slew rate on the flaps is generally recommended to reduce the disturbances their movement creates).
- The ailerons are primarily tasked to provide the commanded roll torque.
They also have `Spoiler Scale` set to 0.5, and will additionally be deflected upwards 50% if the controller demands full spoiler configuration.
The aileron deflection is thus the sum of the (asymmetrical) deflection for the roll torque, plus the (symmetrical) deflection for the spoiler setpoint.
- The elevator is primarily tasked to provide pitch torque.
It also has non-zero entries in the `Flap Scale` and `Spoiler Scale` fields.
These are the elevator deflections added to compensate for the pitching moments generated by the flaps and spoiler actuators.
In the case here the elevator would be deflected 0.3 up when the flaps are fully deployed to counteract the pitching down moment caused by the flaps.
#### 액추에이터 롤, 피치 및 요 스케일링
:::info
For the majority of airframe setups the default values for each control surface types should not be changed.
:::
The `Roll scale`, `Pitch scale` and `Yaw scale` values indicate the normalized effectiveness of the actuator around the corresponding axis.
Tuning the values is a low/level/advanced topic, and is generally only needed when tuning coupled control surfaces (like an elevon, that controls both pitch and roll).
In this case the things you need to know are:
- 입력된 숫자는 할당 매트릭스에 직접 입력되며, 원하는 순간(정규화)에서 제어 신호를 얻기 위해 반전됩니다.
- Increasing the scale will _reduce_ the deflection of the control surfaces (as it gets inverted).
<!-- For more information see: []() (PX4 Dev Summit, 2022) -->
#### 조종면 처짐 규칙
Control surfaces that move in either direction from neutral include: Ailerons, Elevons, V-Tails, A-Tails, Rudder.
In order to ensure that these control surfaces always move as expected for positive or negative inputs from the controllers, there needs to be a definition of the deflection directions that is independent of the physical servo setup.
Positive input causes positive deflection.
The diagram below shows the direction of movement for positive input:
![Control Surface Deflections](../../assets/config/actuators/plane_control_surface_convention.png)
In summary, positive inputs result in:
- **Horizontal Control Surfaces:** Upwards movement.
Includes ailerons and elevons.
- **Vertical Control Surfaces:** Rightwards movement.
Includes rudders.
- **Mixed Control Surfaces:** Upwards/rightwards movement.
Includes V-Tail. A-Tail
:::tip
Control surfaces that can only deflect in one direction from the neutral point include: Airbrakes, Spoiler, and Flaps.
For these controls a positive input is always deflection from the neutral (0: no effect, 1: full effect), irrespective of the direction that the control itself moves.
They do not respond to negative input.
:::
<!-- Also see this comment: https://github.com/PX4/PX4-Autopilot/blob/96b03040491e727752751c0e0beed87f0966e6d4/src/modules/control_allocator/module.yaml#L492 -->
### 모터 틸트 서보 지오메트리
[VTOL tiltrotor vehicles](../frames_vtol/tiltrotor.md) can tilt their motors to transition between hover and forward flight.
This section defines the properties of the tilting servos.
These are mapped to specific motors in the motor geometry for a tiltrotor.
The example below shows the tilt servo setup for the [tiltrotor motor geometry shown above](../config/actuators.md#motor-geometry-vtol-tiltrotor).
![Tilt Servo Geometry Setup Example](../../assets/config/actuators/tilt_servo_geometry_config.png)
The values that can be set are:
- `Tilt servos`: The number of servos (tiltable motors).
- `Angle at min tilt`: [Maximum tilt angle](#tilt-servo-coordinate-system) in degrees, relative to the z axis.
- `Angle at max tilt`: [Minimum tilt angle](#tilt-servo-coordinate-system) in degrees, relative to the z-axis.
- `Tilt direction`: `Towards front` (positive x direction) or `Towards right` (positive y direction).
- `Use for control`: [Tilt servo used for yaw/pitch](#tilt-servos-for-yaw-pitch-control)
- `None`: Torque control is not used.
- `Yaw`: Tilt servos used to control yaw.
- `Pitch`: Tilt servos used to control pitch.
- `Both Yaw and Pitch`: Tilt servos are used to control both yaw and pitch.
#### 틸트 서보 좌표계
The coordinate system for tilt rotor angles is shown below.
The reference direction for tilt angles is straight upwards (0 degrees).
Tilt angles towards the front or right of the vehicle are positive, and towards the back or to the left are negative.
![Tilt Axis](../../assets/config/actuators/tilt_axis.png)
The `Angle at min tilt` and `Angle at max tilt` indicate the range of movement for the tilt servo.
The minimum tilt is the smaller _numerical value_ (not absolute) of the two angles.
If the max/min tilt vectors are **P<sub>0</sub>** and **P<sub>1</sub>** as shown above, both tilt angles are positive but **θ<sub>0</sub>** is smaller:
- `Angle at min tilt` = **θ<sub>0</sub>**
- `Angle at max tilt` = **θ<sub>1</sub>**
:::info
If the diagram was mirrored so that **P<sub>0</sub>** and **P<sub>1</sub>** were tilting into the -x, -y quadrant, then both the tilt angles would be negative.
Because **θ<sub>1</sub>** would more negative (smaller) than **θ<sub>0</sub>**, it would be the `Angle at min tilt`.
Similarly, a servo that moves:
- between the upright and forward positions would have `min=0` and `max=90`.
- symmetrically 45 degrees around the upright position would have `min=-45` and `max=45`
- between the upright and backward positions would have `min=-90` and `max=0`.
:::
The `Tilt direction` indicates whether the servo tilts in the plane towards the `Front` or `Right` of the vehicle.
On the diagram this would be represented by **α** that can only take values of 0 (front) or 90 (right).
#### 요/피치 제어용 틸트 서보
이 기능의 사용 여부는 <code>제어에 사용</code>에서 설정합니다.
- Yaw는 일반적으로 이러한 방식으로 설정되지만 모터는 4개 이상의 모터가 있는 기체에서 대신 사용되는 경우가 많습니다.
- 피치는 일반적으로 차동 모터 추력을 사용하여 제어합니다.
Control using tilt servos is useful on airframes that can't use differential thrust, such as a [Bicopter](https://www.youtube.com/watch?v=hfss7nCN40A).
Whether this feature is used is configured in the `Use for control` setting.
## 액추에이터 출력
The _Actuator Outputs_ section is used to assign motors, control surface servos, and other actuators used by the particular frame to the physical outputs on the flight controller, and to set parameters for those outputs.
![Actuator Outputs - Multicopter diagram](../../assets/config/actuators/qgc_actuators_mc_outputs.png)
Separate tabs are displayed for each output bus supported by the connected flight controller: PWM MAIN (I/O Board output), PWM AUX (FMU Board output), UAVCAN.
Motors and actuators (which are referred to as "[functions](#output-functions)") can be assigned to any physical output on any of the available buses.
:::info
PWM AUX outputs are preferred over the PWM MAIN outputs for controlling motors (they have lower latency).
:::
PWM AUX 탭에는 일반적으로 <a href="../peripherals/camera.md#trigger-configuration">카메라 캡처/트리거 입력</a>으로 사용되는 CAP 출력이 있습니다.
그러나, CAP 출력을 다른 출력 기능에 매핑할 수 있으며 다른 AUX 출력을 카메라 캡처/트리거 입력으로 사용 가능합니다.
Therefore it is not possible to map Servo and a Motor in the same output group, as they usually operate at a different rate.
The PWM AUX tab has CAP outputs that are generally used as the [camera capture/trigger input](../camera/fc_connected_camera.md#trigger-configuration).
However you can map the CAP outputs to other output functions, and other AUX outputs can be used as camera capture/triggering input.
:::info
Configuring the Camera Capture / Trigger input requires a reboot to take effect
:::
You should assign functions to the outputs that match your physical wiring of motors and servos, and use the [Actuator Testing](#actuator-testing) section described below to determine appropriate output parameter values.
These steps are covered in [Output Assignment and Configuration](#output-assignment-and-configuration).
### Output Functions
Output functions are used to map the "logical functions" of an airframe, such as `Motor 1` or `Landing gear`, to physical outputs like FMU output pin 2.
This makes it easy to use a particular output pin for almost any purpose.
Some functions are only relevant to particular frames or output types, and will not be offered on others.
Functions include:
- `Disabled`: Output has no assigned function.
- `Constant_Min`: Output set to constant minimum value (-1).
- `Constant_Max`: Output is set to constant maximum value (+1).
- `Motor 1` to `Motor 12`: Output is indicated motor.
Only motors allowed for airframe are displayed.
- `Servo 1` to `Servo 8`: Servo output.
These are further assigned a specific meaning based on airframe, such as "tilt servo", "left aileron".
- `Peripheral via Acutator Set 1` to `Peripheral via Acutator Set 6`: [Generic Actuator Control with MAVLink](../payloads/generic_actuator_control.md#generic-actuator-control-with-mavlink).
- `Landing Gear`: Output is landing gear.
- `Parachute`: Output is parachute.
The minimum value is sent in normal use and the maximum value is emitted when a failsafe is triggered.
- `RC Roll`: Output is passthrough roll from RC ([RC_MAP_ROLL](../advanced_config/parameter_reference.md#RC_MAP_ROLL) maps an RC channel to this output).
- `RC Pitch`: Output is passthrough pitch from RC ([RC_MAP_PITCH](../advanced_config/parameter_reference.md#RC_MAP_PITCH) maps an RC channel to this output).
- `RC Throttle`: Output is passthrough throttle from RC ([RC_MAP_THROTTLE](../advanced_config/parameter_reference.md#RC_MAP_THROTTLE) maps an RC channel to this output).
- `RC Yaw`: Output is yaw from RC ([RC_MAP_YAW](../advanced_config/parameter_reference.md#RC_MAP_YAW) maps an RC channel to this output).
- `RC Flaps`: Output is flaps from RC ([RC_MAP_FLAPS](../advanced_config/parameter_reference.md#RC_MAP_FLAPS) maps an RC channel to this output).
- `RC AUXn` to `RC AUX1`: Outputs used for [arbitrary payloads triggered by RC passthrough](../payloads/generic_actuator_control.md#generic-actuator-control-with-rc).
- `Gimbal Roll`: Output controls gimbal roll.
- `Gimbal Pitch`: Output controls Gimbal pitch.
- `Gimbal Yaw`: Output controls Gimbal yaw.
- `Gripper`<Badge type="tip" text="PX4 v1.14" />: Output controls gripper open/close.
- `Landing_Gear_Wheel`<Badge type="tip" text="PX4 v1.14" />: Output controls deployment of landing gear wheel
The following functions can only be applied to FMU outputs:
- `Camera_Trigger`: Output to trigger camera.
Enabled when [`TRIG_MODE==0`](../advanced_config/parameter_reference.md#TRIG_MODE).
Configured via `TRIG_*` parameters.
- `Camera_Capture`: Input to get image capture notification.
Enabled when [CAM_CAP_FBACK==0](../advanced_config/parameter_reference.md#CAM_CAP_FBACK).
Configured via `CAM_CAP_*` parameters.
- `PPS_Input`: Pulse-per-second input capture.
Used for GPS synchronisation.
Enabled when [`PPS_CAP_ENABLE==0`](../advanced_config/parameter_reference.md#PPS_CAP_ENABLE)
:::info
The functions are defined in source at [/src/lib/mixer_module/output_functions.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/lib/mixer_module/output_functions.yaml).
This list is correct at PX4 v1.15.
:::
## 액추에이터 테스트
The _Actuator Testing_ section in lower-right corner provides sliders that can be used to test (and determine) actuator and motor settings.
A slider is provided for each output defined in the [Actuator Outputs](#actuator-outputs) section.
The slider example below shows the section for a typical VTOL Tiltrotor airframe.
![Actuator Testing Slider](../../assets/config/actuators/vtol_tiltrotor_sliders_example.png)
The section has an **Enable Sliders** switch that must be toggled before sliders can be used.
이것은 스위치가 활성화된 후 갑작스러운 모터 움직임을 방지하기 위한 안전 장치입니다.
:::info
After you toggle the **Enable sliders** switch, actuators/motors won't do anything until the corresponding slider is _moved_.
This is a safety feature to prevent sudden motor movements after switch is enabled.
:::
Sliders can be used to verify the following:
1. Actuators (Motors, Control surfaces, etc.) are assigned to the expected output.
2. Motors don't spin when at the `disarmed` PWM output value
3. Motors barely spin at the `minimum` PWM output value.
4. Motors give **positive thrust** in the expected direction
5. Control Surfaces are in the correct idle position for `disarmed` output value
6. Control Surfaces move in the direction as defined in the [Control Surface Convention](#control-surface-deflection-convention)
7. Motor Tilt Servos are in the correct idle position for `disarmed` output value
8. Motor Tilt Servos move in the direction as defined in the [Tilt Servo Convention](#tilt-servo-coordinate-system)
## 출력 할당 및 설정
Outputs are assigned to functions and configured in the [Actuator Outputs](#actuator-outputs) section, while the [Actuator Testing](#actuator-testing) sliders are commonly used to determine appropriate configuration values to enter:
- MC vehicles that have connected motors to PWM outputs can use the [Identify & Assign Motors](#multicopter-pwm-motor-assignment) button to perform motor assignment "semi-automatically".
- Output assignment of both motors and actuators can be done/checked using sliders (see [Output Assignment (Manual)](#output-assignment-manual)).
- 모든 출력에 대한 해제, 최소 및 최대 설정도 슬라이더를 사용하여 결정할 수 있습니다.
This is shown as part of [Motor Configuration](#motor-configuration), [Control Surface Setup](#control-surface-setup), [Tilt servo setup](#tilt-servo-setup)
### 멀티콥터 PWM: 모터 할당
You can use the **Identify & Assign Motors** button to assign motors to PWM outputs using a semi-automated process.
:::info
This is the easiest way to assign motors, but is currently only supported for motors on **multicopter vehicles** that are connected to PWM outputs (UAVCAN outputs and other frame types do not support this feature).
On other frames you can follow the instructions in [Output Assignment (Manual)](#output-assignment-manual).
:::
:::warning
Remove the propellers from motors before assigning outputs or any testing.
:::
![Identify motor button](../../assets/config/actuators/identify_motors_button.png)
When you click the button, QGC sends a command to a motor, causing it to spin.
To assign that motor to an output you simply select the corresponding motor displayed in the screen.
QGC will then spin the next motor for you to assign, and so on.
Instructions:
1. 프레임의 모터와 일치하도록 모터 형상을 설정합니다.
2. 모터를 할당할 PWM 탭을 선택합니다.
3. Click the **Identify & Assign Motors** button.
4. One motor will start spinning (click **Spin Motor Again** if it stops spinning too quickly to note.)
지오메트리 섹션에서 해당 모터를 선택합니다.
![Screenshot showing how to identify/assign motors](../../assets/config/actuators/identify_motors_in_progress.png)
5. 모든 모터를 할당한 후 도구는 출력에 대한 올바른 모터 매핑을 설정한 다음 종료됩니다.
### 출력 할당(수동)
:::warning
Remove the propellers from motors before assigning outputs or any testing.
:::
Actuator outputs for both motors and servos can be _manually_ assigned using sliders in the [Actuator Testing](#actuator-testing) section.
To assign an actuator:
1. First assign functions to the outputs that you think are _likely_ to be correct in the _Actuator Outputs_ section.
2. Toggle the **Enable sliders** switch in _Actuator Testing_ section.
3. 테스트하려는 액추에이터의 슬라이더를 이동합니다.
- 모터는 최소 추력 위치로 이동하여야 합니다.
- 서보는 중간 위치 근처로 이동하여야 합니다.
4. 어떤 액츄에이터가 차량에서 움직이는 지 확인하십시오.
This should match the actuator positions for your geometry (the [airframe reference](../airframes/airframe_reference.md) shows motor positions for a number of standard airframes).
- 올바른 액츄에이터가 움직이면 다음 단계로 진행합니다.
- 잘못된 액츄에이터가 움직이면 출력 할당을 변경합니다.
- 아무 것도 움직이지 않으면, 슬라이더를 범위 중간에 늘리고 필요한 경우 더 높입니다.
그 후 아무 것도 움직이지 않으면, 출력이 연결되지 않거나 모터에 전원이 공급되지 않거나 출력 설정에 오류가 있을 수 있습니다.
문제를 해결하여야 합니다("무엇이든"이 움직이는지 확인하기 위하여 다른 액추에이터 출력을 시도할 수 있음).
5. 슬라이더를 "무장 해제" 위치로 되돌립니다(모터의 경우 슬라이더 하단, 서보의 경우 슬라이더 중앙).
6. 모든 액추에이터에 대하여 반복합니다.
### 모터 설정
:::info
If using PWM or OneShot ESCs, you should first perform [ESC Calibration](../advanced_config/esc_calibration.md) (this topic also covers PWM specific motor configuration).
[DShot](../peripherals/dshot.md) ESCs do not require configuration of the command limits but only rotation direction.
:::
:::warning
Remove propellers!
:::
각각의 모터에 대하여:
- don't spin when disarmed (at the `disarmed` PWM output value).
- barely but reliably spin up at the `minimum` PWM output value.
- have the _lowest_ `maximum` PWM output value that spins the motor at its _highest_ rate.
- give **positive thrust** in the expected direction.
For each motor:
1. 모터 슬라이더를 아래로 당겨서 아래쪽에 찰칵 소리가 나도록 합니다.
In this position the motor is set to the outputs `disarmed` value.
- 모터가 이 위치에서 회전하지 않는 지 확인하십시오.
- If the motor spins, reduce the corresponding PWM `disarmed` value in the [Actuator Outputs](#actuator-outputs) section to below the level at which it still spins.
2. Slowly move the slider up until it snaps to the _minimum_ position.
In this position the motor is set to the outputs `minimum` value.
- 이 위치에서 모터가 매우 느리게 회전하는 지 확인합니다.
- If the motor is not spinning, or spinning too fast you will need to adjust the corresponding PWM `minimum` value in the [Actuator Outputs](#actuator-outputs) such that the motors barely spin.
![PWM Minimum Output](../../assets/config/actuators/pwm_minimum_output.png)
::: info
For DShot output, this is not required.
:::
3. Increase the slider value to a level where you can verify that the motor is spinning in the correct direction and that it would give a positive thrust in the expected direction.
- The expected thrust direction can vary by vehicle type.
For example in multicopters the thrust should always point upwards, while in a fixed-wing vehicle the thrust will push the vehicle forwards.
- For VTOL, thrust should point upwards when the Tilt Servo is at 0 degrees as defined the [Tilt Servo Convention](#tilt-servo-coordinate-system).
Testing of the [Tilt Servo](#tilt-servo-setup) is covered below as well.
- If thrust is in the wrong direction, you may need to [reverse the motors](#reversing-motors).
4. Increase the slider value to the maximum value, so the motor is spinning quickly.
Reduce the value of the PWM output's `maximum` value just below the default.
Listen to the tone of the motors as you increase the value in small (25us) increments.
The "optimal" maximum value is the value at which you last hear a change in the tone.
### 조종면 설정
First set the _frame rate_ for the servos used in each group of outputs.
This would normally be set to the maximum value supported by your servo.
Below we show how you would set it to PWM50 (the most common value).
![Control Surface Disarmed 1500 Setting](../../assets/config/actuators/control_surface_disarmed_1500.png)
:::info
You will almost certainly need to change the pulse rate from the default of 400Hz because support is rare (if not supported the servo will usually make an "odd" noise).
If you're using PWM servos, PWM50 is far more common.
If a high rate servo is _really_ needed, DShot offers better value.
:::
#### Control surfaces that move both directions about a neutral point
Control surfaces that move either direction around a neutral point include: ailerons, elevons, V-tails, A-tails, and rudders.
To set these up:
1. Set the `Disarmed` value so that the surfaces will stay at neutral position when disarmed.
This is usually around `1500` for PWM servos (near the centre of the servo range).
![Control Surface Disarmed 1500 Setting](../../assets/config/actuators/control_surface_aileron_setup.png)
2. Move the slider for the surface upwards (positive command) and verify that it moves in the direction defined in the [Control Surface Convention](#control-surface-deflection-convention).
- Ailerons, elevons, V-Tails, A-Tails, and other horizontal surfaces should move up.
- Rudders and other "purely vertical" surfaces should move right.
::: tip
It is important that the slider movement matches the control surface convention, in order to normalize control for different servo mountings (moving the slider up may actually decrease the output value sent to the servo).
:::
If the control surface moves in the opposite direction, click on the `Rev Range` checkbox to reverse the range.
3. Move the slider again to the middle and check if the Control Surfaces are aligned in the neutral position of the wing.
- If it is not aligned, you can set the **Trim** value for the control surface.
::: info
This is done in the `Trim` setting of the Geometry panel, usually by "trial and error".
![Control Surface Trimming](../../assets/config/actuators/control_surface_trim.png)
:::
- After setting the trim for a control surface, move its slider away from the centre, release, and then back into disarmed (middle) position.
Confirm that surface is in the neutral position.
:::info
Another way to test without using the sliders would be to set the [`COM_PREARM_MODE`](../advanced_config/parameter_reference.md#COM_PREARM_MODE) parameter to `Always`:
- 이렇게 하면 기체가 무장 해제된 경우에도 서보 제어가 가능하며 제어 표면에 트림 설정이 지속적으로 적용됩니다.
- Trim에 대해 다른 값을 설정하고 정렬을 확인한 다음 만족하는 값으로 설정할 수 있습니다.
:::
#### Control surfaces that move from neutral to full deflection
Control surfaces that move only one direction from neutral include: airbrakes, spoilers, and flaps.
For these controls you should set the minimum and maximum PWM values according to the full range of the control.
The `Disarmed` value should then match the value (of maximum or minimum) that corresponds to control being in the "neutral" position.
For a flap, that is when the flap is fully retracted and flush with the wing.
One approach for setting these up is:
1. Set values `Disarmed` to `1500`, `Min` to `1200`, `Max` to `1700` so that the values are around the centre of the servo range.
2. Move the corresponding slider up and check the control moves and that it is extending (moving away from the disarmed position).
If not, click on the `Rev Range` checkbox to reverse the range.
3. Enable slider in the disarmed position, them change the value of the `Disarmed` signal until the control is retracted/flush with wing.
This may require that the `Disarmed` value is increased or decreased:
- If the value was decreased towards `Min`, then set `Min` to match `Disarmed`.
- If the value was increased towards `Max`, then set `Max` to match `Disarmed`.
4. The value that you did _not_ set to match `Disarmed` controls the maximum amount that the control surface can extend.
Set the slider to the top of the control, then change the value (`Max` or `Min`) so that the control surface is fully extended when the slider is at top.
:::info Special note for flaps
In some vehicle builds, flaps may be configured such that both flaps are controlled from a single output.
In this case, you need to ensure that both flaps extend/deploy when raising the corresponding slider.
If this is not the case and one servo deploys correctly and one does not, you need to change the servo direction with a third party servo programmer.
Alternatively, you might move the servo that is not deflecting in the correct orientation to its own servo output channel and then reverse its direction via the `Rev range` check box.
:::
### 틸트 서보 설정
First set the _frame rate_ for the servos used in each group of outputs.
This would normally be set to the maximum value supported by your servo.
Below it is set to PWM50 (the most common value).
Note, this part of the setup is the same as for control surfaces above.
![Tilt Servo Setup](../../assets/config/actuators/tilt_servo_setup.png)
For each of the tilt servos:
1. Set the `Disarmed` value (e.g. `1000` or `2000` for PWM Servos) so that the servo will be positioned in expected direction when _disarmed_.
2. Position the slider for the servo in the lowest position, and verify that a positive value increase will point towards the `Angle at Min Tilt` (defined in the Geometry section).
![Tilt Servo Geometry Setup](../../assets/config/actuators/tilt_servo_geometry_config.png)
3. Position the slider for the servo in the highest position, and verify that positive motor thrust will point towards the `Angle at Max Tilt` (as defined in the Geometry section).
### 기타 참고 사항
- 안전 버튼을 쿨러야 액츄에이트를 테스트 할 수 있습니다.
- 중지 스위치를 사용하면 모터를 즉시 중지할 수 있습니다.
- 해당 슬라이더가 변경될 때까지 서보는 실제로 이동하지 않습니다.
- The parameter [COM_MOT_TEST_EN](../advanced_config/parameter_reference.md#COM_MOT_TEST_EN) can be used to completely disable actuator testing.
- On the shell, [actuator_test](../modules/modules_command.md#actuator-test) can be used as well for actuator testing.
- VTOLs will automatically turn off motors pointing upwards during **fixed-wing flight**:
- 표준 VTOL: 멀티콥터 모터로 정의된 모터가 꺼집니다.
- 틸트로터: 연결된 틸트 서보가 없는 모터는 꺼집니다.
- 테이시터는 고정익 비행시에도 모터를 끄지 않습니다.
### 모터 역전
The motors must turn in the direction defined in configured geometry ("**Direction CCW**" checkboxes).
If any motors do not turn in the correct direction they must be reversed.
There are several options:
- If the ESCs are configured as [DShot](../peripherals/dshot.md) you can permanently reverse the direction via UI.
The **Set Spin Direction** buttons are displayed below the Actuator sliders (if DShot motors are used).
These popup a dialog in which you select the motor for which you want to apply the direction.
![Set spin direction buttons](../../assets/config/actuators/reverse_dshot.png)
Note that the current direction cannot be queried, so you may need to try both options.
- 모터 케이블 3개 중 2개를 변경하면됩니다(어떤 케이블이든 상관 없음).
::: info
If motors are not connected via bullet-connectors, re-soldering is required (this is a reason, among others, to prefer DShot ESCs).
:::
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# Vehicle (Frame) Selection
After installing firmware you need to select a [vehicle type and frame configuration](../airframes/airframe_reference.md).
This applies appropriate initial parameter values for the selected frame, such as the vehicle type, number of motors, relative motor position, and so on.
These can later be customised for your vehicle in [Actuator Configuration & Testing](../config/actuators.md).
:::tip
Choose the frame that matches your vehicle brand and model if one exists, and otherwise select the closest "Generic" frame option matching your vehicle.
:::
## Set the Frame
기체 프레임 설정하기:
1. Start _QGroundControl_ and connect the vehicle.
2. Select **"Q" icon > Vehicle Setup > Airframe** (sidebar) to open _Airframe Setup_.
3. 설정하는 기체 프레임과 일치하는 큰 범주의 그룹/유형을 선택하고, 그룹 내에서 드롭다운하여 기체와 가장 일치하는 기체 프레임을 선택하십시오.
![Selecting generic hexarotor X frame in QGroundControl](../../assets/qgc/setup/airframe/airframe_px4.jpg)
The example above shows _Generic Hexarotor X geometry_ selected from the _Hexarotor X_ group.
4. Click **Apply and Restart**.
Click **Apply** in the following prompt to save the settings and restart the vehicle.
<img src="../../assets/qgc/setup/airframe/airframe_px4_apply_prompt.jpg" width="300px" title="Apply airframe selection prompt" />
## 다음 단계
[Actuator Configuration & Testing](../config/actuators.md) shows how to set the precise geometry of the vehicle motors and actuators, and their mapping to flight controller outputs.
After mapping actuators to outputs you should perform [ESC Calibration](../advanced_config/esc_calibration.md) if using PWM or OneShot ESCs.
## 추가 정보
- [QGroundControl User Guide > Airframe](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/setup_view/airframe.html)
- [PX4 Setup Video - @37s](https://youtu.be/91VGmdSlbo4?t=35s) (Youtube)
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# 항속센서 보정
:::info
[Airspeed sensors](../sensor/airspeed.md) are highly recommended for Fixed-wing and VTOL vehicles.
:::
:::warning
Unlike most other sensor drivers, the airspeed sensor drivers are not automatically started.
Before calibration they must be [enabled via the corresponding parameter](../advanced_config/parameters.md):
- Sensirion SDP3X ([SENS_EN_SDP3X](../advanced_config/parameter_reference.md#SENS_EN_SDP3X))
- TE MS4525 ([SENS_EN_MS4525DO](../advanced_config/parameter_reference.md#SENS_EN_MS4525DO))
- TE MS5525 ([SENS_EN_MS5525DS](../advanced_config/parameter_reference.md#SENS_EN_MS5525DS))
- Eagle Tree airspeed sensor ([SENS_EN_ETSASPD](../advanced_config/parameter_reference.md#SENS_EN_ETSASPD))
:::
## 보정 절차
항속 센서 보정 절차
1. Start _QGroundControl_ and connect the vehicle.
2. Enable the airspeed sensors if not already done (as in _warning_ above).
3. Select **"Q" icon > Vehicle Setup > Sensors** (sidebar) to open _Sensor Setup_.
4. Click the **Airspeed** sensor button.
![Airspeed calibration](../../assets/qgc/setup/sensor/sensor_airspeed.jpg)
5. 센서로 부는 바람을 막으십시오 (예: 손을 컵 모양으로 감쌀 수 있습니다).
피톳 튜브의 구멍을 막지 않도록 주의하십시오.
6. Click **OK** to start the calibration.
7. 피톳 튜브의 끝에 입으로 바람을 불어 보정 완료 신호를 보냅니다.
:::tip
Blowing into the tube is also a basic check that the dynamic and static ports are installed correctly.
교체한 센서는 튜브에 바람을 불어 넣을 때 큰 음의 차압을 판독하고 보정이 오류와 함께 중단됩니다.
:::
8. _QGroundControl_ then tells you if the calibration was successful or not.
## 추가 정보
- [QGroundControl User Guide > Sensors](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/setup_view/sensors_px4.html#airspeed)
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---
title: Fixed-wing Auto-Tuning
frame: 고정익
newEditLink: en/config/_autotune.md
---
<!--@include: _autotune.md-->
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---
title: Multicopter Auto-Tuning
frame: 멀티콥터
newEditLink: en/config/_autotune.md
---
<!--@include: _autotune.md-->
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# Autotuning (VTOL)
Auto-tuning automates the process of tuning the PX4 rate and attitude PID controllers, which are the most important controllers for stable and responsive flight (other tuning is more "optional").
Tuning only needs to be done once, and is recommended unless you're using a vehicle that has already been tuned by the manufacturer (and not modified since).
Hybrid VTOL fixed-wing vehicles ("VTOL") must be tuned following the multicopter instructions in MC mode and then the fixed-wing instructions in FW mode:
- [Auto-tune (Multicopter)](../config/autotune_mc.md)
- [Auto-tune (Fixed-wing)](../config/autotune_fw.md)
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# 배터리 파워 모듈 설정
전원 설정 방법에 대하여 설명합니다.
:::info
These instructions require that the vehicle has a [Power Module (PM)](../power_module/index.md), or other hardware that can measure the battery voltage and (optionally) the current.
:::
:::tip
This tuning is not needed for [Smart/MAVLink Batteries](../smart_batteries/index.md): batteries that can supply a reliable indication of remaining charge.
:::
## 개요
Battery Estimation Tuning uses the measured voltage and current (if available) to estimate the remaining battery capacity.
This is important because it allows PX4 to take action when the vehicle is close to running out of power and crashing (and also to prevent battery damage due to deep-discharge).
PX4는 여러가지 효과적인 용량 추정 방법을 제공합니다.
1. [Basic Battery Settings](#basic_settings) (default): raw measured voltage is compared to the range between "empty" and "full" voltages.
측정 전압 (및 해당 용량)은 부하시 변동으로 인하여 대략적인 추정치입니다.
2. [Voltage-based Estimation with Load Compensation](#load_compensation): Counteracts the effects of loading on the capacity calculation.
3. [Voltage-based Estimation with Current Integration](#current_integration): Fuses the load-compensated voltage-based estimate for the available capacity with a current-based estimate of the charge that has been consumed.
그 결과 스마트 배터리와 비슷한 용량 추정치를 얻을 수 있습니다.
기타 다른 방법들은 이러한 방법들을 응용한 것입니다.
사용하는 접근 방식은 차량의 전원 모듈이 전류를 측정 가능 여부에 따라 다릅니다.
:::info
The instructions below refer to battery 1 calibration parameters: `BAT1_*`.
Other batteries use the `BATx_*` parameters, where `x` is the battery number.
All battery calibration parameters [are listed here](../advanced_config/parameter_reference.md#battery-calibration).
:::
:::tip
In addition to PX4 configuration discussed here, you should ensure that the ESC's low voltage cutoff is either disabled or set below the expected minimum voltage.
이렇게 하면 PX4에서 배터리 오류 안전 동작을 관리하고 배터리가 충전되어있는 동안 ESC가 차단되지 않도록합니다 (선택한 "빈 배터리"설정에 따라).
:::
:::tip
[Battery Chemistry Overview](../power_systems/battery_chemistry.md) explains the difference between the main battery types, and how that impacts the battery settings.
:::
## Basic Battery Settings (default) {#basic_settings}
기본 배터리 설정은 용량 추정 기본 방법을 사용하도록 PX4를 설정합니다.
이 방법은 측정된 원시 배터리 전압을 "빈"셀과 "충전"셀 (셀 수에 따라 조정 됨)에 대한 셀 전압 범위와 비교합니다.
:::info
This approach results in relatively coarse estimations due to fluctuations in the estimated charge as the measured voltage changes under load.
:::
배터리 1의 기본 설정 방법
1. Start _QGroundControl_ and connect the vehicle.
2. Select **"Q" icon > Vehicle Setup > Power** (sidebar) to open _Power Setup_.
배터리 특성을 나타내는 기본 설정이 제공됩니다.
아래 섹션에서는 각 필드에 대해 설정할 값들을 설명합니다.
![QGC Power Setup](../../assets/qgc/setup/power/qgc_setup_power_px4.png)
:::info
At time of writing _QGroundControl_ only allows you to set values for battery 1 in this view.
For vehicles with multiple batteries you'll need to directly [set the parameters](../advanced_config/parameters.md) for battery 2 (`BAT2_*`), as described in the following sections.
:::
### 셀의 갯수(직렬 연결)
이것은 배터리에 직렬로 연결된 셀 수를 설정합니다.
일반적으로 배터리에 "S"앞에 숫자로 표시합니다 (예 : "3S", "5S").
:::info
The voltage across a single galvanic battery cell is dependent on the [chemical properties of the battery type](../power_systems/battery_chemistry.md).
Lithium-Polymer (LiPo) batteries and Lithium-Ion batteries both have the same _nominal_ cell voltage of 3.7V.
In order to achieve higher voltages (which will more efficiently power a vehicle), multiple cells are connected in _series_.
터미널의 배터리 전압은 셀 전압의 배수입니다.
:::
셀 개수가 제공되지 않은 경우 배터리 전압을 단일 셀의 공칭 전압으로 나누어 계산할 수 있습니다.
아래의 표는 배터리의 전압-셀 관계를 나타냅니다.
| 셀 | LiPo (V) | LiIon (V) |
| -- | --------------------------- | ---------------------------- |
| 1S | 3.7 | 3.7 |
| 2S | 7.4 | 7.4 |
| 3S | 11.1 | 11.1 |
| 4S | 14.8 | 14.8 |
| 5S | 18.5 | 18.5 |
| 6S | 22.2 | 22.2 |
:::info
This setting corresponds to [parameters](../advanced_config/parameters.md): [BAT1_N_CELLS](../advanced_config/parameter_reference.md#BAT1_N_CELLS) and [BAT2_N_CELLS](../advanced_config/parameter_reference.md#BAT2_N_CELLS).
:::
### 충전 완료 전압 (셀당)
This sets the _nominal_ maximum voltage of each cell (the lowest voltage at which the cell will be considered "full").
이 값은 배터리의 공칭 최대 셀 전압보다 약간 낮게 설정하여야하지만, 몇 분간의 비행후에도 예상 용량이 100%가 될 정도로 낮지 않아야 합니다.
사용할 적절한 값은 다음과 같습니다.
- **LiPo:** 4.05V (default in _QGroundControl_)
- **LiIon:** 4.05V
:::info
The voltage of a full battery may drop a small amount over time after charging.
최대 값보다 약간 낮게 설정하여 이 하락값을 보정합니다.
:::
:::info
This setting corresponds to [parameters](../advanced_config/parameters.md): [BAT1_V_CHARGED](../advanced_config/parameter_reference.md#BAT1_V_CHARGED) and [BAT2_V_CHARGED](../advanced_config/parameter_reference.md#BAT2_V_CHARGED).
:::
### 방전 전압 (셀 당)
이는 각 셀의 공칭 최소 안전 전압을 설정합니다. 이 전압 미만을 사용하면 배터리가 손상될 수 있습니다.
:::info
There is no single value at which a battery is said to be empty.
너무 낮은 값을 선택하면 과방전으로 인해 배터리가 손상될 수 있습니다 (그리고, 기체 충돌이 발생할 수 있습니다).
너무 높은 값을 선택하면 비행 시간이 줄어듭니다.
:::
최소 셀당 전압에 대한 경험 규칙
| 단계 | LiPo (V) | LiIon (V) |
| ------------------------------------------------------------------- | --------------------------- | ---------------------------- |
| 보수적 (무부하 전압) | 3.7 | 3 |
| "Real" minimum (voltage under load/while flying) | 3.5 | 2.7 |
| 배터리 손상 (부하 전압) | 3.0 | 2.5 |
:::tip
Below the conservative range, the sooner you recharge the battery the better - it will last longer and lose capacity slower.
:::
:::info
This setting corresponds to [parameter](../advanced_config/parameters.md): [BAT1_V_EMPTY](../advanced_config/parameter_reference.md#BAT1_V_EMPTY) and [BAT2_V_EMPTY](../advanced_config/parameter_reference.md#BAT2_V_EMPTY).
:::
### 전압 분배기
If you have a vehicle that measures voltage through a power module and the ADC of the flight controller then you should calibrate the measurements once per power module.
To calibrate, the actual voltage from the battery is measured (using a multimeter) and compared to the value provided by the power module.
This is used to calculate a "voltage divider" value, which can subsequently be used to scale the power module measurement to the correct value.
The easiest way to perform this calibration is by using _QGroundControl_ and following the step-by-step guide on [Setup > Power Setup](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/setup_view/power.html) (QGroundControl User Guide).
:::info
This setting corresponds to parameters: [BAT1_V_DIV](../advanced_config/parameter_reference.md#BAT1_V_DIV) and [BAT2_V_DIV](../advanced_config/parameter_reference.md#BAT2_V_DIV).
:::
### Amps per volt {#current_divider}
:::tip
This calibration is not needed if your power module does not provide current measurements.
:::
Current measurements are used (by default) for [Load Compensation](#load_compensation) and [Current Integration](#current_integration) if provided by the power module.
The amps per volt divider must be calibrated to ensure an accurate current measurement.
The easiest way to calibrate the dividers is by using _QGroundControl_ and following the step-by-step guide on [Setup > Power Setup](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/setup_view/power.html) (QGroundControl User Guide).
:::info
This setting corresponds to parameter(s): [BAT1_A_PER_V](../advanced_config/parameter_reference.md#BAT1_A_PER_V) and [BAT2_A_PER_V](../advanced_config/parameter_reference.md#BAT2_A_PER_V).
:::
## Voltage-based Estimation with Load Compensation {#load_compensation}
When a current flows through a battery, the internal resistance causes a voltage drop, reducing the measured output voltage of the battery compared to its open-circuit (no-load) voltage.
When using the [basic configuration](#basic_settings), the measured output voltage is what is used to estimate the available capacity, which means that the battery level will appear to fluctuate when you fly up and down, or otherwise change the load on the battery.
_Load compensation_ uses a measured or estimated value for the internal resistance to correct for changes under load, resulting in far less variation in the estimated capacity when flying.
This is enabled by default when using a power module that provides current measurements.
To use the load compensation first set the [basic configuration](#basic_settings).
The _Empty Voltage_ ([BATn_V_EMPTY](../advanced_config/parameter_reference.md#BAT1_V_EMPTY), where `n` is the battery number) should be set higher (than without compensation) because the compensated voltage gets used for the estimation (typically set a bit below the expected rest cell voltage when empty after use).
You will then need to calibrate the [Amps per volt divider](#current_divider) in the basic settings screen (in order to get reliable current measurements).
PX4 uses current-based load compensation based on a _real-time estimate_ of the internal resistance of the battery by default (real time estimates are enabled if [BAT1_R_INTERNAL=-1](../advanced_config/parameter_reference.md#BAT1_R_INTERNAL)).
Using a real time estimate allows the compensation to adapt to changes in the internal resistance of the battery due to temperature changes during flight, as well as over time as the battery degrades.
The internal resistance can also be measured and [set manually](../advanced_config/parameters.md) in [BAT1_R_INTERNAL](../advanced_config/parameter_reference.md#BAT1_R_INTERNAL).
A positive value in this parameter will be used for the internal resistance instead of the estimated value (`0` disables load compensation altogether).
:::info
There are LiPo chargers that can measure the internal resistance of your battery.
A typical value for LiPo batteries is 5mΩ per cell but this can vary with discharge current rating, age and health of the cells.
:::
## Voltage-based Estimation Fused with Current Integration {#current_integration}
This method is the most accurate way to measure relative battery consumption.
부팅시마다 새로 충전한 배터리를 정확하게 설정하면, 추정 품질이 스마트 배터리의 품질과 비슷해질 것입니다 (이론적으로 정확한 잔여 비행 시간 추정이 가능합니다).
The method evaluates the remaining battery capacity by _fusing_ the voltage-based estimate for the available capacity with a current-based estimate of the charge that has been consumed.
전류를 정확하게 측정할 수있는 장치가 필요합니다.
이 기능을 활성화하려면:
1. First set up accurate voltage estimation using [load compensation](#load_compensation).
:::tip
Including calibrating the [Amps per volt divider](#current_divider) setting.
:::
2. Set the parameter [BAT1_CAPACITY](../advanced_config/parameter_reference.md#BAT1_CAPACITY) to around 90% of the advertised battery capacity (usually printed on the battery label).
::: info
Do not set this value too high as this may result in a poor estimation or sudden drops in estimated capacity.
:::
---
**Additional information**
시간 경과에 따라 소비된 전하의 추정치는 측정된 전류를 수학적으로 통합하여 생성됩니다 (이 접근법은 매우 정확한 소비 에너지의 추정치를 제공합니다).
시스템 시작시 PX4는 먼저 전압 기반 추정치를 사용하여 초기 배터리 충전량을 결정합니다. 그런 다음이 추정치를 현재 통합의 값과 융합하여 더 나은 추정치를 제공합니다.
융합된 각 추정치에 배치된 상대값은 배터리 상태에 따라 달라집니다.
배터리가 비워 질수록 전압 기반 추정치가 더 많이 융합됩니다. 이는 과방전을 방지합니다 (예 : 잘못된 용량으로 구성되었거나, 초기치가 잘못 되었기 때문).
항상 정상적인 전체 배터리로 시작하는 경우이 방법은 스마트 배터리에서 사용하는 방법과 유사합니다.
:::info
Current integration cannot be used on its own (without voltage-based estimation) because it has no way to determine the _initial_ capacity.
전압 추정을 사용하면 초기 용량을 추정하고 가능한 오류에 대한 지속적인 피드백을 제공할 수 있습니다 (예 : 배터리에 결함이 있거나 다른 방법을 사용하여 계산된 용량간에 불일치가 있는 경우).
:::
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# 나침반 보정
This process calibrates and configures all [magnetometers](../gps_compass/index.md).
_QGroundControl_ will guide you to position the vehicle in a number of set orientations and rotate the vehicle about the specified axis.
:::info
It also auto-detects the compass orientation for external magnetometers ([by default](../advanced_config/parameter_reference.md#SENS_MAG_AUTOROT)).
If you have [mounted the compass](../assembly/mount_gps_compass.md#compass-orientation) at a non-standard angle you will need to [manually set the compass orientation](../config/flight_controller_orientation.md#setting-the-compass-orientation) before calibrating.
:::
## 개요
You will need to calibrate your compass(es) when you first setup your vehicle, and you may need to recalibrate it if the vehicles is ever exposed to a very strong magnetic field, or if it is used in an area with abnormal magnetic characteristics.
:::tip
Indications of a poor compass calibration include multicopter circling during hover, toilet bowling (circling at increasing radius/spiraling-out, usually constant altitude, leading to fly-way), or veering off-path when attempting to fly straight.
_QGroundControl_ should also notify the error `mag sensors inconsistent`.
:::
The process calibrates all compasses and autodetects the orientation of any external compasses.
If any external magnetometers are available, it then disables the internal magnetometers (these are primarily needed for automatic rotation detection of external magnetometers).
Several types of compass calibration are available:
1. [Complete](#complete-calibration): This calibration is required after installing the autopilot on an airframe for the first time or when the configuration of the vehicle has changed significantly.
It compensates for hard and soft iron effects by estimating an offset and a scale factor for each axis.
2. [Partial](#partial-quick-calibration): This calibration can be performed as a routine when preparing the vehicle for a flight, after changing the payload, or simply when the compass rose seems inaccurate.
This type of calibration only estimates the offsets to compensate for a hard iron effect.
3. [Large vehicle](#large-vehicle-calibration): This calibration can be performed when the vehicle is too large or heavy to perform a complete calibration. This type of calibration only estimates the offsets to compensate for a hard iron effect.
## 보정 절차
### 전제 조건
Before starting the calibration:
1. 큰 금속 물체등과 같이 자기장이 강한 곳에서 멀리 떨어진 위치를 선택하십시오.
:::tip
Metal is not always obvious! 사무실 테이블 위에서나 (종종 금속 막대 포함) 또는 차량 옆에서 보정하지 마십시오.
철근이 고르지 않게 분포된 콘크리트 슬래브 근처 장소들도 보정에 영향을 미칠 수 있습니다.
:::
2. Connect via telemetry radio rather than USB if at all possible.
USB can potentially cause significant magnetic interference.
3. If using an external compass (or a combined GPS/compass module), make sure it is [mounted](../assembly/mount_gps_compass.md) as far as possible from other electronics in order to reduce magnetic interference, and in a _supported orientation_.
### Complete Calibration
보정 절차는 다음과 같습니다:
1. Start _QGroundControl_ and connect the vehicle.
2. Select **"Q" icon > Vehicle Setup > Sensors** (sidebar) to open _Sensor Setup_.
3. Click the **Compass** sensor button.
![Select Compass calibration PX4](../../assets/qgc/setup/sensor/sensor_compass_select_px4.png)
::: info
You should already have set the [Autopilot Orientation](../config/flight_controller_orientation.md). 미리 설정하지 않았다면, 여기에서 설정할 수 있습니다.
:::
4. Click **OK** to start the calibration.
5. 기체를 아래에 표시된 자세로 놓고 그대로 유지해주십시오 메시지가 표시되면(방향 이미지가 노란색으로 변함) 기체를 지정축을 기준으로 한 방향으로 회전시킵니다. 현재 방향에 대해 보정이 완료되면 화면의 그림이 녹색으로 바뀝니다.
![Compass calibration steps on PX4](../../assets/qgc/setup/sensor/sensor_compass_calibrate_px4.png)
6. 드론의 모든 방향에 대해 보정 과정을 반복합니다.
Once you've calibrated the vehicle in all the positions _QGroundControl_ will display _Calibration complete_ (all orientation images will be displayed in green and the progress bar will fill completely). 그런 다음 다음 센서의 보정 작업을 진행합니다.
### Partial "Quick" Calibration
This calibration is similar to the well-known figure-8 compass calibration done on a smartphone:
1. Hold the vehicle in front of you and randomly perform partial rotations on all its axes.
2-3 oscillations of ~30 degrees in every direction is usually sufficient.
2. Wait for the heading estimate to stabilize and verify that the compass rose is pointing to the correct direction (this can take a couple of seconds).
참고:
- There is no start/stop for this type of calibration (the algorithm runs continuously when the vehicle is disarmed).
- The calibration is immediately applied to the data (no reboot is required) but is saved to the calibration parameters after disarming the vehicle only (the calibration is lost if no arming/disarming sequence is performed between calibration and shutdown).
- The amplitude and the speed of the partial rotations done in step 1 can affect the calibration quality.
Following the advice above is usually enough.
### Large Vehicle Calibration
<Badge type="tip" text="PX4 v1.15" />
This calibration process leverages external knowledge of vehicle's orientation and location, and a World Magnetic Model (WMM) to calibrate the hard iron biases.
1. Ensure GNSS Fix. This is required to find the expected Earth magnetic field in WMM tables.
2. Align the vehicle to face True North.
Be as accurate as possible for best results.
3. Open the [QGroundControl MAVLink Console](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/analyze_view/mavlink_console.html) and send the following command:
```sh
commander calibrate mag quick
```
참고:
- This method is specifically designed for vehicles where full rotation is impractical or impossible.
If full rotation is possible, use the [complete calibration](#complete-calibration) instead.
- The vehicle doesn't need to be exactly levelled as this is automatically compensated using the tilt estimate.
- This calibration can also be triggered using the MAVLink command [MAV_CMD_FIXED_MAG_CAL_YAW](https://mavlink.io/en/messages/common.html#MAV_CMD_FIXED_MAG_CAL_YAW).
## 검증
After the calibration is complete, check that the heading indicator and the heading of the arrow on the map are stable and match the orientation of the vehicle when turning it e.g. to the cardinal directions.
## Additional Calibration/Configuration
The process above will autodetect, [set default rotations](../advanced_config/parameter_reference.md#SENS_MAG_AUTOROT), calibrate, and prioritise, all available magnetometers.
If external magnetometers are available, internal magnetometers are disabled.
Further compass configuration should generally not be required.
### Enable/Disable a Compass
While no further configuration should be _required_, developers who wish to disable/enable compasses for any reason, such as testing, can do so using the compass parameters.
These are prefixed with [CAL_MAGx_](../advanced_config/parameter_reference.md#CAL_MAG0_ID) (where `x=0-3`):
- [CAL_MAGn_ROT](../advanced_config/parameter_reference.md#CAL_MAG0_ROT) can be used to determine which compasses are internal.
A compass is internal if `CAL_MAGn_ROT==1`.
- [CAL_MAGx_PRIO](../advanced_config/parameter_reference.md#CAL_MAG0_PRIO) sets the relative compass priority and can be used to disable a compass.
## 디버깅
Raw comparison data for magnetometers (in fact, for all sensors) can be logged by setting [SDLOG_MODE=1](../advanced_config/parameter_reference.md#SDLOG_MODE) and [SDLOG_PROFILE=64](../advanced_config/parameter_reference.md#SDLOG_PROFILE).
See [Logging](../dev_log/logging.md) for more information.
## 추가 정보
- [Peripherals > GPS & Compass](../gps_compass/index.md)
- [Basic Assembly](../assembly/index.md) (setup guides for each flight controller)
- [Compass Power Compensation](../advanced_config/compass_power_compensation.md) (Advanced Configuration)
- [QGroundControl User Guide > Sensors](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/setup_view/sensors_px4.html#compass)
- [PX4 Setup Video - @2m38s](https://youtu.be/91VGmdSlbo4?t=2m38s) (Youtube)
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# 펌웨어 설치 및 업데이트
_QGroundControl_ **desktop** versions can be used to install PX4 firmware onto [Pixhawk-series](../getting_started/flight_controller_selection.md) flight-controller boards.
:::warning
**Before you start installing Firmware** all USB connections to the vehicle must be _disconnected_ (both direct or through a telemetry radio).
The vehicle must _not be_ powered by a battery.
:::
## PX4 안정 버전 설치
Generally you should use the most recent _released_ version of PX4, in order to benefit from bug fixes and get the latest and greatest features.
:::tip
This is the version that is installed by default.
:::
PX4 설치
1. Start _QGroundControl_ and connect the vehicle.
2. Select **"Q" icon > Vehicle Setup > Firmware** (sidebar) to open _Firmware Setup_.
![Firmware disconnected](../../assets/qgc/setup/firmware/firmware_disconnected.png)
3. USB를 통해 비행 콘트롤러를 컴퓨터에 직접 연결합니다.
::: info
Connect directly to a powered USB port on your machine (do not connect through a USB hub).
:::
4. Select the **PX4 Pro Stable Release vX.x.x** option to install the latest stable version of PX4 _for your flight controller_ (autodetected).
![Install PX4 default](../../assets/qgc/setup/firmware/firmware_connected_default_px4.png)
5. Click the **OK** button to start the update.
펌웨어가 업그레이드(펌웨어 다운로드, 이전 펌웨어 삭제 등)를 진행합니다.
각 단계 화면을 표출하고, 전체 진행률이 표시줄에 출력됩니다.
![Firmware upgrade complete](../../assets/qgc/setup/firmware/firmware_upgrade_complete.png)
펌웨어의 업로드가 완료되면, 장치가 재부팅되고 다시 연결됩니다.
:::tip
If _QGroundControl_ installs the FMUv2 target (see console during installation) and you have a newer board, you may need to [update the bootloader](#bootloader) in order to access all the memory on your flight controller.
:::
Next you will need to specify the [vehicle airframe](../config/airframe.md) (and then sensors, radio, etc.)
<a id="custom"></a>
## Installing PX4 Main, Beta or Custom Firmware
다른 버전의 PX4 설치
1. Connect the vehicle as above, and select **PX4 Pro Stable Release vX.x.x**.
![Install PX4 version](../../assets/qgc/setup/firmware/qgc_choose_firmware.png)
2. Check **Advanced settings** and select the version from the dropdown list:
- **Standard Version (stable):** The default version (i.e. no need to use advanced settings to install this!)
- **Beta Testing (beta):** A beta/candidate release.
신규 버전 출시 이전에 테스트 할 경우에만 사용할 수 있습니다.
- **Developer Build (master):** The latest build of PX4/PX4-Autopilot _main_ branch.
- **Custom Firmware file...:** A custom firmware file (e.g. [that you have built locally](../dev_setup/building_px4.md)).
사용자 정의 펌웨어 파일을 선택한 경우 다음 단계에서 파일 시스템에서 사용자 정의 펌웨어를 선택하여야 합니다.
그러면 펌웨어 업데이트가 이전과 같이 계속됩니다.
<a id="bootloader"></a>
## 부트로더 업데이트
Pixhawk hardware usually comes with an appropriate bootloader version pre-installed.
A case where you may need to update is newer Pixhawk boards that install FMUv2 firmware.
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.
![FMUv2 update](../../assets/qgc/setup/firmware/bootloader_update.jpg)
You can update it by following the instructions in [Bootloader update > FMUv2 Bootloader Update](../advanced_config/bootloader_update.md#fmuv2-bootloader-update).
## 추가 정보
- [QGroundControl User Guide > Firmware](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/setup_view/firmware.html).
- [PX4 Setup Video](https://youtu.be/91VGmdSlbo4) (Youtube)
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# 비행 콘트롤러와 센서 방향
기본적으로 비행 콘트롤러와 외장 나침반 센서는 윗면이 위를 향하고 화살표가 기체 정면을 향하도록 기체에 장착합니다.
보드나 외장 나침반 센서가 다른 방향으로 설치된 경우에는 펌웨어에서 해당 방향을 설정하여야 합니다.
## 방향 알아내기
비행 컨트롤러의 ROLL, PITCH 및 YAW 오프셋은 기체의 전진(x), 오른쪽(y), 아래(z) 축을 중심을 기준으로 계산됩니다.
![Frame Heading](../../assets/concepts/frame_heading.png)
회전 축은 한 회전 단계에서 다음 단계까지 동일하게 유지됩니다.
따라서 회전을 수행하는 프레임은 고정되어 있습니다.
This is also known as _extrinsic rotation_.
![Vehicle orientation](../../assets/qgc/setup/sensor/fc_orientation_1.png)
For example, the vehicles shown below have rotations around the z-axis (i.e. yaw only) corresponding to: `ROTATION_NONE`, `ROTATION_YAW_90`,`ROTATION_YAW_180`,`ROTATION_YAW_270`.
![Yaw Rotation](../../assets/qgc/setup/sensor/yaw_rotation.png)
:::info
For a VTOL Tailsitter airframe set the vehicle orientation according to its multirotor configuration (i.e. relative to the vehicle during, takeoff, hovering, landing) for all sensor calibrations.
축은 일반적으로 전진 비행에 대하여는 차량의 방향에 상대적입니다.
For more information see [Basic Concepts](../getting_started/px4_basic_concepts.md#heading-and-directions).
:::
## 방향 설정
방향을 설정하려면:
1. Start _QGroundControl_ and connect the vehicle.
2. Select **"Q" icon > Vehicle Setup > Sensors** (sidebar) to open _Sensor Setup_.
3. Select the **Orientations** button.
![Set sensor orientations](../../assets/qgc/setup/sensor/sensor_orientation_set_orientations.jpg)
4. Select the **AutoPilot Orientation** (as [calculated above](#calculating-orientation)).
![Orientation options](../../assets/qgc/setup/sensor/sensor_orientation_selector_values.jpg)
5. Press **OK**.
:::info
You can use [Level Horizon Calibration](../config/level_horizon_calibration.md) to compensate for small miss-alignments in controller orientation and to level the horizon in flight view.
:::
## 미세 보정
PX4 will automatically detect the compass orientation as part of [compass calibration](../config/compass.md) ([by default](../advanced_config/parameter_reference.md#SENS_MAG_AUTOROT)) for any of the [standard MAVLink orientations](https://mavlink.io/en/messages/common.html#MAV_SENSOR_ORIENTATION) (upright and facing forward, or any multiple of 45° offset in any axis) .
:::info
You can confirm that auto detection worked by looking at the [CAL_MAGn_ROT](../advanced_config/parameter_reference.md#CAL_MAG0_ROT) parameters.
:::
If a non-standard orientation has been used you will need to set the [CAL_MAGx_ROLL](../advanced_config/parameter_reference.md#CAL_MAG0_ROLL), [CAL_MAGx_PITCH](../advanced_config/parameter_reference.md#CAL_MAG0_PITCH), and [CAL_MAGx_YAW](../advanced_config/parameter_reference.md#CAL_MAG0_YAW) parameters for each compass to the angles that were used.
This will automatically set [CAL_MAGn_ROT](../advanced_config/parameter_reference.md#CAL_MAG0_ROT) to "custom euler angle" and prevents automatic calibration for the selected compass (even if [SENS_MAG_AUTOROT](../advanced_config/parameter_reference.md#SENS_MAG_AUTOROT) is set).
## 추가 정보
- [Advanced Orientation Tuning](../advanced_config/advanced_flight_controller_orientation_leveling.md) (advanced users only).
- [QGroundControl User Guide > Sensors](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/setup_view/sensors_px4.html#flight_controller_orientation)
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# 비행 모드 설정
This topic explains how to map [flight modes](../getting_started/px4_basic_concepts.md#flight-modes) and other functions to the switches on your radio control transmitter.
:::tip
In order to set up flight modes you must already have:
- [Configured your radio](../config/radio.md)
- [Setup your transmitter](#rc-transmitter-setup) to encode the physical positions of your mode switch(es) into a single channel.
We provide examples for the popular _Taranis_ transmitter [below](#taranis-setup-3-way-switch-configuration-for-single-channel-mode) (check your documentation if you use a different transmitter).
:::
## 어떤 비행 모드와 스위치를 설정하여야 합니까?
Flight Modes provide different types of _autopilot-assisted flight_, and _fully autonomous flight_.
You can set any (or none) of the flight modes [available to your vehicle](../flight_modes/index.md#flight-modes).
스위치를 아래와 같이 일반적으로 매핑합니다.
- **Position mode** — Easiest and safest mode for manual flight.
- **Return mode** — Return to launch position by safe path and land.
- (VTOL only) **VTOL Transition Switch** — Toggle between fixed-wing and multicopter flight configuration on VTOL vehicles.
It is also common to map switches to:
- **Mission mode** — This mode runs a pre-programmed mission sent by the ground control station.
- <a id="kill_switch"></a> [Kill Switch](../config/safety.md#kill-switch) - Immediately stops all motor outputs (the vehicle will crash, which may in some circumstances be more desirable than allowing it to continue flying).
## 비행 모드 선택
PX4 allows you to specify a "mode" channel and select up to 6 flight modes that will be activated based on the PWM value of the channel.
You can also separately specify channels for mapping a kill switch, return to launch mode, and offboard mode.
모든 값은 변경시에 자동으로 저장됩니다.
1. Start _QGroundControl_ and connect the vehicle.
2. RC 송신기를 켭니다.
3. Select **"Q" icon > Vehicle Setup > Flight Modes** (sidebar) to open _Flight Modes Setup_.
![Flight modes single-channel](../../assets/qgc/setup/flight_modes/flight_modes_single_channel.jpg)
4. Specify _Flight Mode Settings_:
- Select the **Mode channel** (above this shown as Channel 5, but this will depend on your transmitter configuration).
- Move the transmitter switch (or switches) that you have set up for mode selection through the available positions.
The mode slot matching your current switch position will be highlighted (above this is _Flight Mode 1_).
::: info
While you can set flight modes in any of the 6 slots, only the channels that are mapped to switch positions will be highlighted/used.
:::
- Select the flight mode that you want triggered for each switch position.
5. Specify _Switch Settings_:
- Select the channels that you want to map to specific actions - e.g.: _Return_ mode, _Kill switch_, _offboard_ mode, etc. (if you have spare switches and channels on your transmitter).
6. Test that the modes are mapped to the right transmitter switches:
- Check the _Channel Monitor_ to confirm that the expected channel is changed by each switch.
- Select each mode switch on your transmitter in turn, and check that the desired flight mode is activated (the text turns yellow on _QGroundControl_ for the active mode).
All values are automatically saved as they are changed.
## RC 송신기 설정
2개 또는 3개의 모드 중 선택만 지원해야 하는 경우 단일 3방향 스위치의 위치에 모드를 매핑할 수 있습니다.
QGroundControl _may_ have [setup information for other transmitters here](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/setup_view/flight_modes.html#transmitter-setup).
<a id="taranis_setup"></a>
### Taranis 설정: 단일 채널 모드를 위한 3방향 스위치 설정
If you only need to support selecting between two or three modes then you can map the modes to the positions of a single 3-way switch.
송신기 설정은 송신기마다 차이가 날 수 있습니다.
:::info
This example shows how to set up the popular _FrSky Taranis_ transmitter.
Transmitter setup will be different on other transmitters.
:::
Open the Taranis UI **MIXER** page and scroll down to **CH5**, as shown below:
![Taranis - Map channel to switch](../../assets/qgc/setup/flight_modes/single_channel_mode_selection_1.png)
Press **ENT(ER)** to edit the **CH5** configuration then change the **Source** to be the _SD_ button.
![Taranis - Configure channel](../../assets/qgc/setup/flight_modes/single_channel_mode_selection_2.png)
끝났습니다!
Channel 5 will now output 3 different PWM values for the three different **SD** switch positions.
The _QGroundControl_ configuration is then as described in the previous section.
### Taranis 설정: 단일 채널 모드를 위한 다중 방향 스위치 설정
FrSky Taranis에서 이 프로세스는 두 개의 실제 스위치 위치의 각 조합에 "논리적 스위치"를 할당하는 것을 포함합니다.
그런 다음 각 논리적 스위치는 동일한 채널에서 다른 PWM 값에 할당됩니다.
On the FrSky Taranis this process involves assigning a "logical switch" to each combination of positions of the two real switches.
Each logical switch is then assigned to a different PWM value on the same channel.
The video below shows how this is done with the _FrSky Taranis_ transmitter.
<!-- [youtube](https://youtu.be/scqO7vbH2jo) Video has gone private and is no longer available -->
<!-- @[youtube](https://youtu.be/BNzeVGD8IZI?t=427) - video showing how to set the QGC side - at about 7mins and 3 secs -->
<lite-youtube videoid="TFEjEQZqdVA" title="Taranis Mode Switches"/>
The _QGroundControl_ configuration is then [as described above](#flight-mode-selection).
## 추가 정보
- [Flight Modes Overview](../flight_modes/index.md)
- [QGroundControl > Flight Modes](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/setup_view/flight_modes.html#px4-pro-flight-mode-setup)
- [PX4 Setup Video - @6m53s](https://youtu.be/91VGmdSlbo4?t=6m53s) (Youtube)
- [Radio switch parameters](../advanced_config/parameter_reference.md#radio-switches) - Can be used to set mappings via parameters
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# 자이로스코프 보정
_QGroundControl_ will guide you to place the vehicle on a flat surface and keep it still.
## 보정 절차
보정 절차는 다음과 같습니다:
1. Start _QGroundControl_ and connect the vehicle.
2. Select **"Q" icon > Vehicle Setup > Sensors** (sidebar) to open _Sensor Setup_.
3. Click the **Gyroscope** sensor button.
![Select Gyroscope calibration PX4](../../assets/qgc/setup/sensor/gyroscope_calibrate_px4.png)
4. 기체을 평탄한 곳에 놓습니다.
5. Click **Ok** to start the calibration.
상단의 Progressive Bar에서 진행 상황을 나타냅니다.
![Gyro calibration in progress on PX4](../../assets/qgc/setup/sensor/gyroscope_calibrate_progress_px4.png)
6. When finished, _QGroundControl_ will display a progress bar _Calibration complete_
![Gyro calibration complete on PX4](../../assets/qgc/setup/sensor/gyroscope_calibrate_complete_px4.png)
:::info
If you move the vehicle _QGroundControl_ will automatically restart the gyroscope calibration.
:::
## 추가 정보
- [QGroundControl User Guide > Gyroscope](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/setup_view/sensors_px4.html#gyroscope)
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# 기본 설정
This section covers the common software configuration and calibration needed for most PX4 vehicles.
You must first [load firmware and select your vehicle frame/type](#firmware-vehicle-selection).
Most other steps can be done out of order, except for [tuning](#tuning), which must be done last.
## 전제 조건
Before starting you should [Download QGroundControl](http://qgroundcontrol.com/downloads/) and install it on your **desktop** computer.
Then open the QGC application menu ("Q" icon in the top-left corner) and choose **Vehicle Setup** in the _Select Tool_ popup:
![QGC Main Menu Popup: highlighting Vehicle Setup](../../assets/qgc/setup/menu_setup.png)
## Configuration Steps
### Firmware/Vehicle Selection
- [Loading Firmware](../config/firmware.md)
- [Vehicle (Frame) Selection](../config/airframe.md)
### Motor/Actuator Setup
- [ESC Calibration](../advanced_config/esc_calibration.md)
- [Actuator Configuration and Testing](../config/actuators.md)
### Sensor Calibration
- [Sensor Orientation](../config/flight_controller_orientation.md)
- [Magnetometer (Compass)](../config/compass.md)
- [Gyroscope](../config/gyroscope.md)
- [Accelerometer](../config/accelerometer.md)
- [Level Horizon](../config/level_horizon_calibration.md)
- [Airspeed](../config/airspeed.md) (Fixed-wing/VTOL only)
:::info
Setup for these and other sensors is located in [Sensor Hardware & Setup](../sensor/index.md).
:::
### Manual Control Setup
Radio Control:
- [Radio Controller (RC) Setup](../config/radio.md)
- [Flight Mode Configuration](../config/flight_mode.md)
Joystick/GamePad:
- [Joystick Setup](../config/joystick.md)
### Safety Configuration
- [Battery Estimation Tuning](../config/battery.md) (requires [Power Module](../power_module/index.md))
- [Safety Configuration (Failsafes)](../config/safety.md)
### 튜닝
Auto-tuning is supported, and recommended, on the following frames:
- [Autotune (Multicopter)](../config/autotune_mc.md)
- [Autotune (Fixed Wing)](../config/autotune_fw.md)
- [Autotune (VTOL)](../config/autotune_vtol.md)
## 영상 가이드
The video below shows most of the calibration process (it uses an older version of _QGroundControl_, but most of the process is unchanged).
<lite-youtube videoid="91VGmdSlbo4" title="PX4 Autopilot Setup Tutorial Preview"/>
## 지원
If you need help with the configuration you can ask for help on the [QGroundControl Support forum](https://discuss.px4.io//c/qgroundcontrol/qgroundcontrol-usage).
## See Also
- [QGroundControl > Setup](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/setup_view/setup_view.html)
- [Flight Controller Peripherals](../peripherals/index.md) - Setup specific sensors, optional sensors, actuators, and so on.
- [Advanced Configuration](../advanced_config/index.md) - Factory/OEM calibration, configuring advanced features, less-common configuration.
- Vehicle-Centric 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)
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# 조이스틱 설정
A [computer joystick](https://en.wikipedia.org/wiki/Joystick) or gamepad connected through _QGroundControl_ can be used to manually control the vehicle (_instead_ of using an [RC Transmitter](../config/radio.md)).
This approach may be used by manual control units that have an integrated ground control station (like the _UAVComponents_ [MicroNav](https://uxvtechnologies.com/ground-control-stations/micronav/) shown below).
조이스틱은 일반적으로 비행 시뮬레이션용으로 많이 사용합니다.
![Joystick MicroNav](../../assets/peripherals/joystick/micronav.jpg)
:::tip
[Radio Setup](../config/radio.md) is not required if using only a joystick (because a joystick is not an RC controller)!
:::
:::info
_QGroundControl_ uses the cross-platform [SDL2](http://www.libsdl.org/index.php) library to convert joystick movements to MAVLink [MANUAL_CONTROL](https://mavlink.io/en/messages/common.html#MANUAL_CONTROL) messages, which are then sent to PX4 over the telemetry channel.
결과적으로 조이스틱 기반 제어 시스템은 차량이 조이스틱 움직임에 반응하기 위해 안정적인 고대역폭 원격 채널이 필요합니다.
:::
## PX4 조이스틱 지원 활성화
Information about how to set up a joystick is covered in: [QGroundControl > Joystick Setup](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/setup_view/joystick.html).
요약
- Open _QGroundControl_
- Set the parameter [COM_RC_IN_MODE=1](../advanced_config/parameter_reference.md#COM_RC_IN_MODE) - `Joystick`
- See [Parameters](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/setup_view/parameters.html) for information about setting parameters
- Setting the parameter to `2` or `3` also enables Joystick under some circumstances.
- 조이스틱을 연결합니다.
- Configure the connected joystick in: **Vehicle Setup > Joystick**.
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# 수평 보정
You can use _Level Horizon Calibration_ to compensate for small misalignments in controller orientation and to level the horizon in the _QGroundControl_ flight view (blue on top and green on bottom).
:::tip
Performing this calibration step is only recommended if the autopilot's orientation is visibly misaligned with the specified orientation, or if there is a constant drift during flight in not position-controlled flight modes.
:::
## 보정 절차
수평 보정
1. Start _QGroundControl_ and connect the vehicle.
2. Select the **Gear** icon (Vehicle Setup) in the top toolbar and then **Sensors** in the sidebar.
3. Click the **Level Horizon** button.
![Level Horizon calibration](../../assets/qgc/setup/sensor/sensor_level_horizon.png)
::: info
You should already have set the [Autopilot Orientation](../config/flight_controller_orientation.md). 미리 설정하지 않았다면, 여기에서 설정할 수 있습니다.
:::
4. Place the vehicle in its level flight orientation on a level surface:
- For planes this is the position during level flight (planes tend to have their wings slightly pitched up!)
- For copters this is the hover position.
5. Press **OK** to start the calibration process.
6. Wait until the calibration process is finished.
## 검증
Check that the artificial horizon displayed in the flight view has the indicator in the middle when the vehicle is placed on a level surface.
## 추가 정보
- [Advanced Orientation Tuning](../advanced_config/advanced_flight_controller_orientation_leveling.md) (advanced users only).
- [QGroundControl User Guide > Sensors](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/setup_view/sensors_px4.html#level-horizon)
- [PX4 Setup Video "Gyroscope" - @1m14s](https://youtu.be/91VGmdSlbo4?t=1m14s) (Youtube)
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# Operations
This section contains topics related to using PX4 vehicles that are largely independent of the vehicle type:
- [Safety](../config/safety_intro.md)
- [Flying](../flying/index.md)
- [Missions](../flying/missions.md)
- [Flight Reporting](../getting_started/flight_reporting.md)
- [Flight Log Analysis](../log/flight_log_analysis.md)
- [Vehicle Status Notifications](../getting_started/vehicle_status.md)
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# Radio Control (RC) Setup
The _Radio Setup_ screen is used to configure the mapping of your RC controller's main attitude control sticks (roll, pitch, yaw, throttle) to channels, and to calibrate the minimum, maximum, trim and reverse settings for all other transmitter controls/RC channels.
:::info
A [Joystick](../config/joystick.md) can be used instead of RC for manual control.
The [COM_RC_IN_MODE](../advanced_config/parameter_reference.md#COM_RC_IN_MODE) parameter [can be set](../advanced_config/parameters.md) to define what kind of manual controller(s) are enabled.
:::
## 수신기 바인딩
무선 시스템을 보정을 하기 위하여 우선 수신기와 송신기를 바인딩하여야 합니다.
송신기와 수신기를 바인딩 프로세스는 하드웨어에 따라 조금씩 차이가 날 수 있습니다 (자세한 지침은 설명서 참조).
:::info
If you are using a _Spektrum_ receiver, you can put it into bind mode using _QGroundControl_, as [shown below](#spectrum-bind).
:::
:::info
If you are using a _FrSky_ receiver, you can bind it with its transmitter, by following instructions [here](https://www.youtube.com/watch?v=1IYg5mQdLVI).
:::
## RC 손실 감지
PX4 needs to be able to detect when the signal from the RC controller has been lost in order to be able to take [appropriate safety measures](../config/safety.md#manual-control-loss-failsafe).
RC 수신기에는 신호 손실을 나타내는 여러가지 방법이 있습니다.
- 아무것도 출력하지 않음 (PX4에서 자동으로 감지됨)
- 낮은 스로틀 값을 출력합니다 (이를 감지하도록 PX4를 구성 할 수 있음).
- Output the last received signal (_cannot be detected by PX4_ as it looks like valid input).
If your RC receiver does not support outputting no signal on RC loss, you must configure it to set throttle low instead, and set the corresponding value in [RC_FAILS_THR](../advanced_config/parameter_reference.md#RC_FAILS_THR).
이를 수행하는 방법은 RC 컨트롤러 트림 및 스로틀 스틱을 가능한 낮게 설정하고 결과 출력 PWM 값을 PX4와 수신기 모두에서 사용하는 것입니다 (RC 손실 값을 설정하는 방법을 결정하려면 수신기 설명서를 참조하십시오).
그런 다음 스로틀 스틱을 원래 위치로 가져다 놓으십시오.
이 프로세스는 RC 손실 값이 정상 작동에서 수신기가 출력하는 최소값 미만이되도록 합니다.
:::info
Do not use a receiver that cannot support one of the two supported RC loss detection methods!
:::
## 보정 절차
보정 과정는 간단합니다. 화면 오른쪽 상단의 송신기 다이어그램에 표시된 특정 패턴으로 스틱을 이동하라는 메시지가 표시됩니다.
무선 조종기 보정 절차
1. RC 송신기를 켭니다.
2. Start _QGroundControl_ and connect the vehicle.
3. Select the **Gear** icon (Vehicle Setup) in the top toolbar and then **Radio** in the sidebar.
4. Press **OK** to start the calibration.
![Radio setup - before starting](../../assets/qgc/setup/radio/radio_start_setup.jpg)
5. Set the [transmitter mode](../getting_started/rc_transmitter_receiver.md#transmitter_modes) radio button that matches your transmitter (this ensures that _QGroundControl_ displays the correct stick positions for you to follow during calibration).
![Radio setup - move sticks](../../assets/qgc/setup/radio/radio_sticks_throttle.jpg)
6. 스틱을 텍스트(및 송신기 이미지)에 표시된 위치로 이동합니다. Press **Next** when the sticks are in position. 모든 위치에 대해 반복하십시오.
7. When prompted, move all other switches and dials through their full range (you will be able to observe them moving on the _Channel Monitor_).
8. Press **Next** to save the settings.
Radio calibration is demonstrated in the [autopilot setup video here](https://youtu.be/91VGmdSlbo4?t=4m30s) (youtube).
## 추가 무선 조종기 설정:
조종 스틱 및 기타 송신기 컨트롤을 보정하는 것 외에도이 화면에서 유용 할 수있는 여러 추가 무선 설정 옵션이 있습니다.
<img src="../../assets/qgc/setup/radio/radio_additional_radio_setup.jpg" title="Radio setup - additional settings" width="300px" />
### Spektrum 바인드
무선 시스템을 보정을 하기 위하여 우선 수신기와 송신기를 바인딩하여야 합니다. If you have a _Spektrum_ receiver you can put it in _bind mode_ using _QGroundControl_ as shown below (this can be particularly useful if you don't have easy physical access to the receiver on your vehicle).
Spektrum 송신기/수신기 바인딩 절차
1. Select the **Spektrum Bind** button
2. 수신기의 라디오 버튼을 선택하십시오.
3. Press **OK**
![Spektrum Bind](../../assets/qgc/setup/radio/radio_additional_setup_spectrum_bind_select_channels.jpg)
4. 바인드 버튼을 누른 상태에서 Spektrum 송신기의 전원을 켭니다.
### 트림 복사
이 설정은 자동 조종 장치 내에서 자동으로 적용될 수 있도록 무선 송신기에서 수동 트림 설정을 복사합니다. 이 작업이 끝나면 수동으로 설정한 트림을 제거하여야 합니다.
:::info
Trim settings are used to adjust the roll, pitch, yaw such that when you center the sticks on your remote control, you get stable or level flight (in Stabilized flight mode).
일부 RC 컨트롤러는 각 스틱 위치에 대해 RC 컨트롤러에서 전송 한 값에 오프셋을 제공할 수있는 트림 노브를 제공합니다.
The **Copy Trims** setting here moves the offsets into the autopilot.
:::
트림 복사 절차
1. Select **Copy Trims**.
2. 스틱을 중앙에 놓고 스로틀을 끝까지 내립니다.
3. Press **Ok**.
![Copy Trims](../../assets/qgc/setup/radio/radio_additional_radio_setup_copy_trims.jpg)
4. 송신기의 트림을 다시 0으로 재설정하십시오.
### AUX 패스 스루 채널
AUX 패스 스루 채널을 사용하면 송신기에서 임의의 옵션 하드웨어 (예 : 그리퍼)를 제어 할 수 있습니다.
AUX 패스 스루 채널 설정 절차
1. 최대 2 개의 송신기 컨트롤을 별도의 채널에 매핑합니다.
2. 아래에 표시된 것처럼 이러한 채널을 지정하여 AUX1 및 AUX2 포트에 각각 매핑합니다.
값은 설정되는 즉시 차량에 저장됩니다.
![AUX1 and AUX2 RC passthrough channels](../../assets/qgc/setup/radio/radio_additional_setup_aux_passthrough_channels.jpg)
비행 컨트롤러는 AUX1/AUX2의 지정된 채널에서 수정되지 않은 값을 통해 하드웨어를 구동하는 연결된 서보/릴레이로 전달합니다.
### 매개변수 튜닝 채널
튜닝 채널을 사용하면 송신기 튜닝 노브를 매개변수에 매핑할 수 있습니다 (트랜스미터에서 매개변수를 동적으로 수정할 수 있음).
:::tip
This feature is provided to enable manual in-flight tuning: [Multicopter PID Tuning Guide](../config_mc/pid_tuning_guide_multicopter.md), [Fixed-wing PID Tuning Guide](../config_fw/pid_tuning_guide_fixedwing.md).
:::
The channels used for parameter tuning are assigned in the _Radio_ setup (here!), while the mapping from each tuning channel to its associated parameter is defined in the _Parameter editor_.
채널 튜닝 절차
1. 최대 3 개의 송신기 컨트롤 (다이얼 또는 슬라이더)을 개별 채널에 매핑합니다.
2. Select the mapping of _PARAM Tuning Id_ to radio channels, using the selection lists.
값은 설정되는 즉시 차량에 저장됩니다.
![Map radio channels to tuning channels](../../assets/qgc/setup/radio/radio_additional_radio_setup_param_tuning.jpg)
PARAM 튜닝 채널을 매개 변수에 매핑 절차
1. Open the **Parameters** sidebar.
2. Select the parameter to map to your transmitter (this will open the _Parameter Editor_).
3. Check the **Advanced Settings** checkbox.
4. Click the **Set RC to Param...** button (this will pop-up the foreground dialog displayed below)
![Map tuning channels to parameters](../../assets/qgc/setup/radio/parameters_radio_channel_mapping.jpg)
5. Select the tuning channel to map (1, 2 or 3) from the _Parameter Tuning ID_ selection list.
6. Press **OK** to close the dialog.
7. Press **Save** to save all changes and close the _Parameter Editor_.
:::tip
You can clear all parameter/tuning channel mappings by selecting menu **Tools > Clear RC to Param** at the top right of the _Parameters_ screen.
:::
## 추가 정보
- [QGroundControl > Radio Control](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/setup_view/radio.html)
- [PX4 Setup Video - @4m30s](https://youtu.be/91VGmdSlbo4?t=4m30s) (Youtube)
- [RC System Selection](../getting_started/rc_transmitter_receiver.md) - Choose a compatible RC system.
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# Safety (Failsafe) Configuration
PX4에는 문제 발생시에 기체를 보호하고 복구하는 다양한 안전장치들을 제공합니다.
- _Failsafes_ allow you to specify areas and conditions under which you can safely fly, and the [action](#failsafe-actions) that will be performed if a failsafe is triggered (for example, landing, holding position, or returning to a specified point).
The most important failsafe settings are configured in the _QGroundControl_ [Safety Setup](#qgroundcontrol-safety-setup) page.
Others must be configured via [parameters](../advanced_config/parameters.md).
- [Safety switches](#emergency-switches) on the remote control can be used to immediately stop motors or return the vehicle in the event of a problem.
## QGroundControl 안전 설정
The _QGroundControl_ Safety Setup page is accessed by clicking the _QGroundControl_ icon, **Vehicle Setup**, and then **Safety** in the sidebar.
This includes many of the most important failsafe settings (battery, RC loss etc.) and the settings for the triggered actions _Return_ and _Land_.
![Safety Setup(QGC)](../../assets/qgc/setup/safety/safety_setup.png)
## 안전장치 기능
When a failsafe is triggered, the default behavior (for most failsafes) is to enter Hold for [COM_FAIL_ACT_T](../advanced_config/parameter_reference.md#COM_FAIL_ACT_T) seconds before performing an associated failsafe action.
This gives the user time to notice what is happening and override the failsafe if needed.
In most cases this can be done by using RC or a GCS to switch modes (note that during the failsafe-hold, moving the RC sticks does not trigger an override).
The list below shows the set of all failsafe actions, ordered in increasing severity.
Note that different types of failsafe may not support all of these actions.
| 동작 | 설명 |
| ------------------------------------------------------ | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="act_none"></a>None/Disabled | No action. The failsafe will be ignored. |
| <a id="act_warn"></a>Warning | A warning message will be sent (i.e. to _QGroundControl_). |
| <a id="act_hold"></a>Hold mode | The vehicle will enter [Hold mode (MC)](../flight_modes_mc/hold.md) or [Hold mode (FW)](../flight_modes_fw/hold.md) and hover or circle, respectively. VTOL vehicles will hold according to their current mode (MC/FW). |
| <a id="act_return"></a>[Return mode][return] | The vehicle will enter _Return mode_. Return behaviour can be set in the [Return Home Settings](#return-mode-settings) (below). |
| <a id="act_land"></a>Land mode | The vehicle will enter [Land mode (MC)](../flight_modes_mc/land.md) or [Land mode (FW)](../flight_modes_fw/land.md), and land. A VTOL will first transition to MC mode. |
| <a id="act_disarm"></a>Disarm | Stops the motors immediately. |
| <a id="act_term"></a>[Flight termination][flight_term] | Turns off all controllers and sets all PWM outputs to their failsafe values (e.g. [PWM\_MAIN\_FAILn][pwm_main_failn], [PWM\_AUX\_FAILn][pwm_main_failn]). 안전장치 출력은 낙하산, 랜딩 기어를 배치하거나 다른 작업을 수행할 수 있습니다. 고정익은 안전하게 활공할 수 있습니다. |
[flight_term]: ../advanced_config/flight_termination.md
[return]: ../flight_modes/return.md
[pwm_main_failn]: ../advanced_config/parameter_reference.md#PWM_MAIN_FAIL1
[pwm_aux_failn]: ../advanced_config/parameter_reference.md#PWM_AUX_FAIL1
If multiple failsafes are triggered, the more severe action is taken.
For example if both RC and GPS are lost, and manual control loss is set to [Return mode](#act_return) and GCS link loss to [Land](#act_land), Land is executed.
:::tip
The exact behavior when different failsafes are triggered can be tested with the [Failsafe State Machine Simulation](safety_simulation.md).
:::
### 복귀 설정
<!-- Propose replace section by a summary and links - return mode is complicated -->
_Return_ is a common [failsafe action](#failsafe-actions) that engages [Return mode](../flight_modes/return.md) to return the vehicle to the home position.
The default settings for each vehicle are usually suitable, though for fixed wing vehicles you will usually need to define a mission landing.
:::tip
If you want to change the configuration you should carefully read the [Return mode](../flight_modes/return.md) documentation _for your vehicle type_ to understand the options.
:::
QGC allows users to set some aspects of the return mode and landing behaviour, such as the altitude to fly back, and the loiter time if you need to deploy landing gear.
![Safety - Return Home Settings (QGC)](../../assets/qgc/setup/safety/safety_return_home.png)
### 착륙 모드 설정
_Land at the current position_ is a common [failsafe action](#failsafe-actions) (in particular for multicopters), that engages [Land Mode](../flight_modes_mc/land.md).
The default settings for each vehicle are usually suitable.
:::tip
If you want to change the configuration you should carefully read the [Land mode](../flight_modes_fw/land.md) documentation _for your vehicle type_ to understand the options.
:::
QGC allows users to set some aspects of the landing behaviour, such as the time to disarm after landing and the descent rate (for multicopters only).
![Safety - Land Mode Settings (QGC)](../../assets/qgc/setup/safety/safety_land_mode.png)
## Battery Failsafes
### Battery level failsafe
The low battery failsafe is triggered when the battery capacity drops below battery failafe level values.
You can configure both the levels and the failsafe actions at each level in QGroundControl.
![Safety - Battery (QGC)](../../assets/qgc/setup/safety/safety_battery.png)
The most common configuration is to set the values and action as above (with `Warn > Failsafe > Emergency`), and to set the [Failsafe Action](#COM_LOW_BAT_ACT) to warn at "warn level", trigger Return mode at "Failsafe level", and land immediately at "Emergency level".
설정에 관련된 기본 매개변수는 다음과 같습니다.
| 설정 | 매개변수 | 설명 |
| --------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------- |
| <a id="COM_LOW_BAT_ACT"></a>Failsafe Action | [COM_LOW_BAT_ACT](../advanced_config/parameter_reference.md#COM_LOW_BAT_ACT) | Warn, Return, or Land based when capacity drops below the trigger levels. |
| <a id="BAT_LOW_THR"></a>Battery Warn Level | [BAT_LOW_THR](../advanced_config/parameter_reference.md#BAT_LOW_THR) | 경고 (또는 기타 조치)에 대한 용량을 백분율로 설정합니다. |
| <a id="BAT_CRIT_THR"></a>Battery Failsafe Level | [BAT_CRIT_THR](../advanced_config/parameter_reference.md#BAT_CRIT_THR) | 귀환 조치 (또는 단일 조치가 선택된 경우 다른 조치)에 대한 용량에 대한 백분율. |
| <a id="BAT_EMERGEN_THR"></a>Battery Emergency Level | [BAT_EMERGEN_THR](../advanced_config/parameter_reference.md#BAT_EMERGEN_THR) | 즉시 착륙시의 용량의 백분율. |
### Flight Time Failsafes
There are several other "battery related" failsafe mechanisms that may be configured using parameters:
- The "remaining flight time for safe return" failsafe ([COM_FLTT_LOW_ACT](#COM_FLTT_LOW_ACT)) is engaged when PX4 estimates that the vehicle has just enough battery remaining for a return mode landing.
You can configure this to ignore the failsafe, warn, or engage Return mode.
- The "maximum flight time failsafe" ([COM_FLT_TIME_MAX](#COM_FLT_TIME_MAX)) allows you to set a maximum flight time after takeoff, at which the vehicle will automatically enter return mode (it will also "warn" at 90% of this time). This is like a "hard coded" estimate of the total flight time in a battery. The feature is disabled by default.
- The "minimum battery" for arming parameter ([COM_ARM_BAT_MIN](#COM_ARM_BAT_MIN)) prevents arming in the first place if the battery level is below the specified value.
설정에 관련된 기본 매개변수는 다음과 같습니다.
| 설정 | 매개변수 | 설명 |
| -------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="COM_FLTT_LOW_ACT"></a> Low flight time for safe return action | [COM_FLTT_LOW_ACT](../advanced_config/parameter_reference.md#COM_FLTT_LOW_ACT) | Action when return mode can only just reach safety with remaining battery. `0`: None, `1`: Warning, `3`: Return mode (default). |
| <a id="COM_FLT_TIME_MAX"></a> Maximum flight time failsafe level | [COM_FLT_TIME_MAX](../advanced_config/parameter_reference.md#COM_FLT_TIME_MAX) | Maximum allowed flight time before Return mode will be engaged, in seconds. `-1`: Disabled (default). |
## Manual Control Loss Failsafe
The manual control loss failsafe may be triggered if the connection to the [RC transmitter](../getting_started/rc_transmitter_receiver.md) or [joystick](../config/joystick.md) is lost, and there is no fallback.
If using an [RC transmitter](../getting_started/rc_transmitter_receiver.md) this is triggered if the RC [transmitter link is lost](../getting_started/rc_transmitter_receiver.md#set-signal-loss-behaviour).
If using [joysticks](../config/joystick.md) connected over a MAVLink data link, this is triggered if the joysticks are disconnected or the data link is lost.
:::info
PX4 and the receiver may also need to be configured in order to _detect RC loss_: [Radio Setup > RC Loss Detection](../config/radio.md#rc-loss-detection).
:::
![Safety - RC Loss (QGC)](../../assets/qgc/setup/safety/safety_rc_loss.png)
The QGCroundControl Safety UI allows you to set the [failsafe action](#failsafe-actions) and [RC Loss timeout](#COM_RC_LOSS_T).
Users that want to disable the RC loss failsafe in specific automatic modes (mission, hold, offboard) can do so using the parameter [COM_RCL_EXCEPT](#COM_RCL_EXCEPT).
Additional (and underlying) parameter settings are shown below.
| 매개변수 | 설정 | 설명 |
| -------------------------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="COM_RC_LOSS_T"></a>[COM_RC_LOSS_T](../advanced_config/parameter_reference.md#COM_RC_LOSS_T) | Manual Control Loss Timeout | Time after last setpoint received from the selected manual control source after which manual control is considered lost. This must be kept short because the vehicle will continue to fly using the old manual control setpoint until the timeout triggers. |
| <a id="COM_FAIL_ACT_T"></a>[COM_FAIL_ACT_T](../advanced_config/parameter_reference.md#COM_FAIL_ACT_T) | Failsafe Reaction Delay | Delay in seconds between failsafe condition being triggered (`COM_RC_LOSS_T`) and failsafe action (RTL, Land, Hold). In this state the vehicle waits in hold mode for the manual control source to reconnect. This might be set longer for long-range flights so that intermittent connection loss doesn't immediately invoke the failsafe. It can be to zero so that the failsafe triggers immediately. |
| <a id="NAV_RCL_ACT"></a>[NAV_RCL_ACT](../advanced_config/parameter_reference.md#NAV_RCL_ACT) | 안전장치 동작 | Disabled, Loiter, Return, Land, Disarm, Terminate. |
| <a id="COM_RCL_EXCEPT"></a>[COM_RCL_EXCEPT](../advanced_config/parameter_reference.md#COM_RCL_EXCEPT) | RC 손실 예외 | Set the modes in which manual control loss is ignored: Mission, Hold, Offboard. |
## 데이터 연결불량 안전장치
The Data Link Loss failsafe is triggered if a telemetry link (connection to ground station) is lost.
![Safety - Data Link Loss (QGC)](../../assets/qgc/setup/safety/safety_data_link_loss.png)
설정에 관련된 기본 매개변수는 다음과 같습니다.
| 설정 | 매개변수 | 설명 |
| -------------- | --------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------- |
| 데이터 연결불량 시간 초과 | [COM_DL_LOSS_T](../advanced_config/parameter_reference.md#COM_DL_LOSS_T) | 데이터 연결이 끊어진 후 안전 장치가 동작하기 전까지의 시간입니다. |
| 안전장치 동작 | [NAV_DLL_ACT](../advanced_config/parameter_reference.md#NAV_DLL_ACT) | Disabled, Hold mode, Return mode, Land mode, Disarm, Terminate. |
## Geofence 안전장치
The _Geofence Failsafe_ is triggered when the drone breaches a "virtual" perimeter.
In its simplest form, the perimeter is set up as a cylinder centered around the home position.
If the vehicle moves outside the radius or above the altitude the specified _Failsafe Action_ will trigger.
![Safety - Geofence (QGC)](../../assets/qgc/setup/safety/safety_geofence.png)
:::tip
PX4 separately supports more complicated Geofence geometries with multiple arbitrary polygonal and circular inclusion and exclusion areas: [Flying > Geofence](../flying/geofence.md).
:::
The settings and underlying [geofence parameters](../advanced_config/parameter_reference.md#geofence) are shown below.
| 설정 | 매개변수 | 설명 |
| ------------------- | ------------------------------------------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------- |
| <nobr>위반시 동작</nobr> | [GF_ACTION](../advanced_config/parameter_reference.md#GF_ACTION) | 없음, 경고, 보류 모드, 반환 모드, 종료, 착륙. |
| 최대 반경 | [GF_MAX_HOR_DIST](../advanced_config/parameter_reference.md#GF_MAX_HOR_DIST) | 지오펜스 실린더의 수평 반경. 0 인 경우 지오펜스가 비활성화됩니다. |
| 최대 고도 | [GF_MAX_VER_DIST](../advanced_config/parameter_reference.md#GF_MAX_VER_DIST) | 지오펜스 실린더의 높이. 0 인 경우 지오펜스가 비활성화됩니다. |
:::info
Setting `GF_ACTION` to terminate will kill the vehicle on violation of the fence.
Due to the inherent danger of this, this function is disabled using [CBRK_FLIGHTTERM](#CBRK_FLIGHTTERM), which needs to be reset to 0 to really shut down the system.
:::
다음 설정도 가능하지만 QGC UI에 표시되지 않습니다.
| 설정 | 매개변수 | 설명 |
| ------------------------------------------------------------------ | ------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="GF_SOURCE"></a>Geofence source | [GF_SOURCE](../advanced_config/parameter_reference.md#GF_SOURCE) | 위치 소스가 글로벌 위치인지 또는 GPS 장치에서 직접 가져오는 지를 설정합니다. |
| <a id="GF_PREDICT"></a>Preemptive geofence triggering | [GF_PREDICT](../advanced_config/parameter_reference.md#GF_PREDICT) | (Experimental) Trigger geofence if current motion of the vehicle is predicted to trigger the breach (rather than late triggering after the breach). |
| <a id="CBRK_FLIGHTTERM"></a>Circuit breaker for flight termination | [CBRK_FLIGHTTERM](../advanced_config/parameter_reference.md#CBRK_FLIGHTTERM) | 비행 종료 작업을 활성화/비활성화합니다 (기본적으로 비활성화 됨). |
## Position (GNSS) Loss Failsafe
The _Position Loss Failsafe_ is triggered if the quality of the PX4 global position estimate falls below acceptable levels (this might be caused by GPS loss) while in a mode that requires an acceptable position estimate.
The failure action is controlled by [COM_POSCTL_NAVL](../advanced_config/parameter_reference.md#COM_POSCTL_NAVL), based on whether RC control is assumed to be available (and altitude information):
- `0`: Remote control available.
Switch to _Altitude mode_ if a height estimate is available, otherwise _Stabilized mode_.
- `1`: Remote control _not_ available.
Switch to _Descend mode_ if a height estimate is available, otherwise enter flight termination.
_Descend mode_ is a landing mode that does not require a position estimate.
Fixed-wing planes, and VTOLs not configured to land in hover ([NAV_FORCE_VT](../advanced_config/parameter_reference.md#NAV_FORCE_VT)), have a parameter ([FW_GPSF_LT](../advanced_config/parameter_reference.md#FW_GPSF_LT)) that defines how long they will loiter (circle with a constant roll angle ([FW_GPSF_R](../advanced_config/parameter_reference.md#FW_GPSF_R)) at the current altitude) after losing position before attempting to land.
If VTOLs have are configured to switch to hover for landing ([NAV_FORCE_VT](../advanced_config/parameter_reference.md#NAV_FORCE_VT)) then they will first transition and then descend.
The relevant parameters for all vehicles shown below.
| 매개변수 | 설명 |
| -------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="COM_POSCTL_NAVL"></a>[COM_POSCTL_NAVL](../advanced_config/parameter_reference.md#COM_POSCTL_NAVL) | Position control navigation loss response during mission. Values: `0` - assume use of RC, `1` - Assume no RC. |
Parameters that only affect Fixed-wing vehicles:
| 매개변수 | 설명 |
| ----------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="FW_GPSF_LT"></a>[FW_GPSF_LT](../advanced_config/parameter_reference.md#FW_GPSF_LT) | Loiter time (waiting for GPS recovery before it goes into land or flight termination). 비활성화 하려면 0으로 설정하십시오. |
| <a id="FW_GPSF_R"></a>[FW_GPSF_R](../advanced_config/parameter_reference.md#FW_GPSF_R) | 선회 비행시 고정 롤/뱅크 각도. |
## 오프 보드 안전 장치
The _Offboard Loss Failsafe_ is triggered if the offboard link is lost while under [Offboard control](../flight_modes/offboard.md).
RC 연결을 사용 여부에 따라 다른 안전 장치의 작동을 지정할 수 있습니다.
관련된 매개 변수는 다음과 같습니다.
| 매개변수 | 설명 |
| ----------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------- |
| [COM_OF_LOSS_T](../advanced_config/parameter_reference.md#COM_OF_LOSS_T) | 오프 보드 단락이후 안전장치 동작 지연 여부 설정. |
| [COM_OBL_RC_ACT](../advanced_config/parameter_reference.md#COM_OBL_RC_ACT) | RC를 사용할 수있는 경우 비상 안전조치 : 위치 모드, 고도 모드, 수동 모드, 귀환 모드, 착륙 모드, 대기 모드. |
## 교통 회피 안전 장치
The Traffic Avoidance Failsafe allows PX4 to respond to transponder data (e.g. from [ADSB transponders](../advanced_features/traffic_avoidance_adsb.md)) during missions.
관련된 매개 변수는 다음과 같습니다.
| 매개변수 | 설명 |
| ---------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------- |
| [NAV_TRAFF_AVOID](../advanced_config/parameter_reference.md#NAV_TRAFF_AVOID) | 비상 안전 장치를 설정합니다 : 비활성화, 경고, 귀환 모드, 착륙 모드. |
## Quad-chute Failsafe
Failsafe for when a VTOL vehicle can no longer fly in fixed-wing mode, perhaps due to the failure of a pusher motor, airspeed sensor, or control surface.
If the failsafe is triggered, the vehicle will immediately switch to multicopter mode and execute the action defined in parameter [COM_QC_ACT](#COM_QC_ACT).
:::info
The quad-chute can also be triggered by sending a MAVLINK [MAV_CMD_DO_VTOL_TRANSITION](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_VTOL_TRANSITION) message with `param2` set to `1`.
:::
The parameters that control when the quad-chute will trigger are listed in the table below.
| 매개변수 | 설명 |
| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="COM_QC_ACT"></a>[COM_QC_ACT](../advanced_config/parameter_reference.md#COM_QC_ACT) | Quad-chute action after switching to multicopter flight. Can be set to: [Warning](#act_warn), [Return](#act_return), [Land](#act_land), [Hold](#act_hold). |
| <a id="VT_FW_QC_HMAX"></a>[VT_FW_QC_HMAX](../advanced_config/parameter_reference.md#VT_FW_QC_HMAX) | Maximum quad-chute height, below which the quad-chute failsafe cannot trigger. This prevents high altitude quad-chute descent, which can drain the battery (and itself cause a crash). The height is relative to ground, home, or the local origin (in preference order, depending on what is available). |
| <a id="VT_QC_ALT_LOSS"></a>[VT_QC_ALT_LOSS](../advanced_config/parameter_reference.md#VT_QC_ALT_LOSS) | Uncommanded descent quad-chute altitude threshold.<br><br>In altitude controlled modes, such as [Hold mode](../flight_modes_fw/hold.md), [Position mode](../flight_modes_fw/position.md), [Altitude mode](../flight_modes_fw/altitude.md), or [Mission mode](../flight_modes_fw/mission.md), a vehicle should track its current "commanded" altitude setpoint. The quad chute failsafe is triggered if the vehicle falls too far below the commanded setpoint (by the amount defined in this parameter).<br><br>Note that the quad-chute is only triggered if the vehicle continuously loses altitude below the commanded setpoint; it is not triggered if the commanded altitude setpoint increases faster than the vehicle can follow. |
| <a id="VT_QC_T_ALT_LOSS"></a>[VT_QC_T_ALT_LOSS](../advanced_config/parameter_reference.md#VT_QC_T_ALT_LOSS) | Altitude loss threshold for quad-chute triggering during VTOL transition to fixed-wing flight. The quad-chute is triggered if the vehicle falls this far below its initial altitude before completing the transition. |
| <a id="VT_FW_MIN_ALT"></a>[VT_FW_MIN_ALT](../advanced_config/parameter_reference.md#VT_FW_MIN_ALT) | Minimum altitude above Home for fixed-wing flight. When the altitude drops below this value in fixed-wing flight the vehicle a quad-chute is triggered. |
| <a id="VT_FW_QC_R"></a>[VT_FW_QC_R](../advanced_config/parameter_reference.md#VT_FW_QC_R) | Absolute roll threshold for quad-chute triggering in FW mode. |
| <a id="VT_FW_QC_P"></a>[VT_FW_QC_P](../advanced_config/parameter_reference.md#VT_FW_QC_P) | Absolute pitch threshold for quad-chute triggering in FW mode. |
## High Wind Failsafe
The high wind failsafe can trigger a warning and/or other mode change when the wind speed exceeds the warning and maximum wind-speed threshhold values.
The relevant parameters are listed in the table below.
| 매개변수 | 설명 |
| -------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
| <a id="COM_WIND_MAX"></a>[COM_WIND_MAX](../advanced_config/parameter_reference.md#COM_WIND_MAX) | Wind speed threshold that triggers failsafe action, in m/s ([COM_WIND_MAX_ACT](#COM_WIND_MAX_ACT)). |
| <a id="COM_WIND_MAX_ACT"></a>[COM_WIND_MAX_ACT](../advanced_config/parameter_reference.md#COM_WIND_MAX_ACT) | High wind failsafe action (following [COM_WIND_MAX](#COM_WIND_MAX) trigger). Can be set to: `0`: None (Default), `1`: [Warning](#act_warn), `2`: [Hold](#act_hold), `3`: [Return](#act_return), `4`: [Terminate](#act_term), `5`: [Land](#act_land). |
| <a id="COM_WIND_WARN"></a>[COM_WIND_WARN](../advanced_config/parameter_reference.md#COM_WIND_WARN) | Wind speed threshold that triggers periodic failsafe warning. |
## 고장 감지기
고장 감지기를 사용하여 차량의 예기치 않게 전복되거나 외부의 고장 감지 시스템에 따른 보호 조치를 할 수 있습니다.
During **flight**, the failure detector can be used to trigger [flight termination](../advanced_config/flight_termination.md) if failure conditions are met, which may then launch a [parachute](../peripherals/parachute.md) or perform some other action.
:::info
Failure detection during flight is deactivated by default (enable by setting the parameter: [CBRK_FLIGHTTERM=0](#CBRK_FLIGHTTERM)).
:::
During **takeoff** the failure detector [attitude trigger](#attitude-trigger) invokes the [disarm action](#act_disarm) if the vehicle flips (disarm kills the motors but, unlike flight termination, will not launch a parachute or perform other failure actions).
Note that this check is _always enabled on takeoff_, irrespective of the `CBRK_FLIGHTTERM` parameter.
The failure detector is active in all vehicle types and modes, except for those where the vehicle is _expected_ to do flips (i.e. [Acro mode (MC)](../flight_modes_mc/altitude.md), [Acro mode (FW)](../flight_modes_fw/altitude.md), and [Manual (FW)](../flight_modes_fw/manual.md)).
### 자세 감지기
기체의 자세가 지정된 시간보다 오랫동안 사전 정의 된 피치 및 롤 값을 초과하는 경우 동작하도록 고장 감지기를 설정할 수 있습니다.
관련된 매개 변수는 다음과 같습니다.
| 매개변수 | 설명 |
| -------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="CBRK_FLIGHTTERM"></a>[CBRK_FLIGHTTERM](../advanced_config/parameter_reference.md#CBRK_FLIGHTTERM) | 비행 종료 회로 차단기. 고장 감지기 또는 FMU 손실로 인한 비행 종료를 활성화하려면, 121212 (기본값)에서 설정을 해제합니다. |
| <a id="FD_FAIL_P"></a>[FD_FAIL_P](../advanced_config/parameter_reference.md#FD_FAIL_P) | 최대 허용 피치 (도 단위). |
| <a id="FD_FAIL_R"></a>[FD_FAIL_R](../advanced_config/parameter_reference.md#FD_FAIL_R) | 최대 허용 롤 (도 단위). |
| <a id="FD_FAIL_P_TTRI"></a>[FD_FAIL_P_TTRI](../advanced_config/parameter_reference.md#FD_FAIL_P_TTRI) | Time to exceed [FD_FAIL_P](#FD_FAIL_P) for failure detection (default 0.3s). |
| <a id="FD_FAIL_R_TTRI"></a>[FD_FAIL_R_TTRI](../advanced_config/parameter_reference.md#FD_FAIL_R_TTRI) | Time to exceed [FD_FAIL_R](#FD_FAIL_R) for failure detection (default 0.3s). |
### 외부 자동 작동 시스템 (ATS)
The [failure detector](#failure-detector), if [enabled](#CBRK_FLIGHTTERM), can also be triggered by an external ATS system.
외부 작동 시스템은 비행 컨트롤러 포트 AUX5 (또는 AUX 포트가없는 보드의 MAIN5)에 연결되어야 하며 아래의 매개 변수들을 사용하여 설정합니다.
:::info
External ATS is required by [ASTM F3322-18](https://webstore.ansi.org/Standards/ASTM/ASTMF332218).
One example of an ATS device is the [FruityChutes Sentinel Automatic Trigger System](https://fruitychutes.com/uav_rpv_drone_recovery_parachutes/sentinel-automatic-trigger-system.htm).
:::
| 매개변수 | 설명 |
| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="FD_EXT_ATS_EN"></a>[FD_EXT_ATS_EN](../advanced_config/parameter_reference.md#FD_EXT_ATS_EN) | AUX5 또는 MAIN5 (보드에 따라 다름)에서 PWM 입력을 활성화하여 외부 자동 작동 시스템 (ATS)에서 안전 장치를 연결합니다. 기본값 : 비활성화 됨. |
| <a id="FD_EXT_ATS_TRIG"></a>[FD_EXT_ATS_TRIG](../advanced_config/parameter_reference.md#FD_EXT_ATS_TRIG) | 안전장치 연결을 위한 외부 자동 작동 시스템의 PWM 임계치입니다. 기본값: 1900 ms. |
## Mission Feasibility Checks
A number of checks are run to ensure that a mission can only be started if it is _feasible_.
For example, the checks ensures that the first waypoint isn't too far away, and that the mission flight path doesn't conflict with any geofences.
As these are not strictly speaking "failsafes" they are documented in [Mission Mode (FW) > Mission Feasibility Checks](../flight_modes_fw/mission.md#mission-feasibility-checks) and [Mission Mode (MC) > Mission Feasibility Checks](../flight_modes_mc/mission.md#mission-feasibility-checks).
## 비상 스위치
Remote control switches can be configured (as part of _QGroundControl_ [Flight Mode Setup](../config/flight_mode.md)) to allow you to take rapid corrective action in the event of a problem or emergency; for example, to stop all motors, or activate [Return mode](#return-switch).
이 섹션에는 사용 가능한 비상 스위치에 대하여 설명합니다.
### 중지 스위치
A kill switch immediately stops all motor outputs — if flying, the vehicle will start to fall!
[By default](#COM_KILL_DISARM) the motors will restart if the switch is reverted within 5 seconds, after which the vehicle will automatically disarm, and you will need to arm it again in order to start the motors.
| 매개변수 | 설명 |
| -------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------- |
| <a id="COM_KILL_DISARM"></a>[COM_KILL_DISARM](../advanced_config/parameter_reference.md#COM_KILL_DISARM) | Timeout value for disarming after kill switch is engaged. Default: `5` seconds. |
:::info
There is also a [Kill Gesture](#kill-gesture), which cannot be reverted.
:::
### 시동/비시동 스위치
The arm/disarm switch is a _direct replacement_ for the default stick-based arming/disarming mechanism (and serves the same purpose: making sure there is an intentional step involved before the motors start/stop).
다음과 같은 사유로 기본 메커니즘보다 우선적으로 사용될 수 있습니다.
- 스틱 동작보다 스위치를 선호합니다.
- 특정 스틱 동작으로 공중에서 실수로 시동/비시동 하는 것을 방지합니다.
- 지연 시간이 없습니다 (즉시 동작합니다).
The arm/disarm switch immediately disarms (stop) motors for those [flight modes](../flight_modes/index.md#flight-modes) that _support disarming in flight_.
여기에는 다음의 항목들이 포함됩니다.
- _Manual mode_
- _Acro mode_
- _Stabilized_
비행중 비시동을 지원하지 않는 모드의 경우 비행 중 스위치가 무시되지만 착륙 후에 사용 가능합니다.
This includes _Position mode_ and autonomous modes (e.g. _Mission_, _Land_ etc.).
:::info
[Auto disarm timeouts](#auto-disarming-timeouts) (e.g. via [COM_DISARM_LAND](#COM_DISARM_LAND)) are independent of the arm/disarm switch - ie even if the switch is armed the timeouts will still work.
:::
<!--
**Note** This can also be done by [manually setting](../advanced_config/parameters.md) the [RC_MAP_ARM_SW](../advanced_config/parameter_reference.md#RC_MAP_ARM_SW) parameter to the corresponding switch RC channel.
If the switch positions are reversed, change the sign of the parameter [RC_ARMSWITCH_TH](../advanced_config/parameter_reference.md#RC_ARMSWITCH_TH) (or also change its value to alter the threshold value).
-->
### 귀환 스위치
A return switch can be used to immediately engage [Return mode](../flight_modes/return.md).
## Kill Gesture
A kill gesture immediately stops all motor outputs — if flying, the vehicle will start to fall!
The action cannot be reverted without a reboot (this differs from a [Kill Switch](#kill-switch), where the operation can be reverted within the time period defined by [COM_KILL_DISARM](#COM_KILL_DISARM)).
| 매개변수 | 설명 |
| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="MAN_KILL_GEST_T"></a>[MAN_KILL_GEST_T](../advanced_config/parameter_reference.md#MAN_KILL_GEST_T) | Time to hold sticks in gesture position before killing the motors. Default: `-1` seconds (Disabled). |
## Arming/Disarming Settings
The [commander module](../advanced_config/parameter_reference.md#commander) has a number of parameters prefixed with `COM_ARM` that configure whether the vehicle can arm at all, and under what conditions (note that some parameters named with the prefix `COM_ARM` are used to arm other systems).
Parameters prefixed with `COM_DISARM_` affect disarming behaviour.
### Auto-Disarming Timeouts
이륙 속도가 너무 느리거나, 착륙 후 기체의 시동을 자동으로 꺼기 위하여 시간 제한을 설정할 수 있습니다(기체의 시동을 꺼면 모터의 전원이 제거되므로 프로펠러가 동작하지 않습니다).
The [relevant parameters](../advanced_config/parameters.md) are shown below:
| 매개변수 | 설명 |
| ----------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------- |
| <a id="COM_DISARM_LAND"></a>[COM_DISARM_LAND](../advanced_config/parameter_reference.md#COM_DISARM_LAND) | 착륙후 자동 시동 꺼기 대기 시간 |
| <a id="COM_DISARM_PRFLT"></a>[COM_DISARM_PRFLT](../advanced_config/parameter_reference.md#COM_DISARM_PRFLT) | 기체가 이륙이 너무 더딘 경우 자동 시동 꺼기 대기 시간 |
### Arming Pre-Conditions
These parameters can be used to set conditions that prevent arming.
| 매개변수 | 설명 |
| -------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="COM_ARMABLE"></a>[COM_ARMABLE](../advanced_config/parameter_reference.md#COM_ARMABLE) | Enable arming (at all). `0`: Disabled, `1`: Enabled (default). |
| <a id="COM_ARM_BAT_MIN"></a>[COM_ARM_BAT_MIN](../advanced_config/parameter_reference.md#COM_ARM_BAT_MIN) | Minimum battery level for arming. `0`: Disabled (default). Values: `0`-`0.9`, |
| <a id="COM_ARM_WO_GPS"></a>[COM_ARM_WO_GPS](../advanced_config/parameter_reference.md#COM_ARM_WO_GPS) | Enable arming without GPS. `0`: Disabled, `1`: Enabled (default). |
| <a id="COM_ARM_MIS_REQ"></a>[COM_ARM_MIS_REQ](../advanced_config/parameter_reference.md#COM_ARM_MIS_REQ) | Require valid mission to arm. `0`: Disabled (default), `1`: Enabled . |
| <a id="COM_ARM_SDCARD"></a>[COM_ARM_SDCARD](../advanced_config/parameter_reference.md#COM_ARM_SDCARD) | Require SD card to arm. `0`: Disabled (default), `1`: Warning, `2`: Enabled. |
| <a id="COM_ARM_AUTH_REQ"></a>[COM_ARM_AUTH_REQ](../advanced_config/parameter_reference.md#COM_ARM_AUTH_REQ) | Requires arm authorisation from an external (MAVLink) system. Flag to allow arming (at all). `1`: Enabled, `0`: Disabled (default). Associated configuration parameters are prefixed with `COM_ARM_AUTH_`. |
| <a id="COM_ARM_ODID"></a>[COM_ARM_ODID](../advanced_config/parameter_reference.md#COM_ARM_ODID) | Require healthy Remote ID system to arm. `0`: Disabled (default), `1`: Warning, `2`: Enabled. |
In addition there are a number of parameters that configure system and sensor limits that make prevent arming if exceeded: [COM_CPU_MAX](../advanced_config/parameter_reference.md#COM_CPU_MAX), [COM_ARM_IMU_ACC](../advanced_config/parameter_reference.md#COM_ARM_IMU_ACC), [COM_ARM_IMU_GYR](../advanced_config/parameter_reference.md#COM_ARM_IMU_GYR), [COM_ARM_MAG_ANG](../advanced_config/parameter_reference.md#COM_ARM_MAG_ANG), [COM_ARM_MAG_STR](../advanced_config/parameter_reference.md#COM_ARM_MAG_STR).
## 추가 정보
- [QGroundControl User Guide > Safety Setup](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/setup_view/safety.html)
docs/ko/config/safety_intro.md
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# 안전 설정
PX4 provides a number of manual and automated features that you can use to improve flight safety, protecting nearby people and property, and hopefully also your vehicle.
These features range from failsafe actions that can trigger when the vehicle travels outside an allowed geofence boundary, or starts to run low on battery, though to automatic disarming after landing, so that it is less likely that you will approach a vehicle while propellers are still spinning.
They also include flight termination actions such as parachute deployment.
These are covered in the following topics:
- [Safety Configuration (Failsafes)](../config/safety.md)
- [Failsafe Simulation](../config/safety_simulation.md)
- [Geofence](../flying/geofence.md)
- [Safe Points (Rally)](../flying/plan_safety_points.md)
- [Prearm/Arm/Disarm Configuration](../advanced_config/prearm_arm_disarm.md)
- [Flight Termination Configuration](../advanced_config/flight_termination.md)
- [First Flight Guidelines](../flying/first_flight_guidelines.md)
:::tip
Note that the [First Flight Guidelines](../flying/first_flight_guidelines.md) are listed _last_.
They are important, but you'll be a lot safer in that first flight if your vehicle is configured properly!
:::
docs/ko/config/safety_simulation.md
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# Failsafe State Machine Simulation
<Badge type="tip" text="PX4 v1.14" />
This page can be used to simulate the actions of the PX4 failsafe state machine under all possible configurations and conditions.
The simulation runs the same code in the browser as is executed on the vehicle, in real-time (the simulation is automatically kept in sync with the latest version of the code).
Note that any delayed action (`COM_FAIL_ACT_T`) will also be delayed in the simulation.
To use it:
1. First configure the parameters on the left.
The initial values correspond to the PX4 defaults.
2. Set the vehicle type
3. Set the other values in the **State** or any of the flags under **Conditions**
- The **Intended Mode** corresponds to the commanded mode via RC or GCS (or external script).
The failsafe state machine can override this in case of a failsafe.
4. Check the action under **Output**
5. Check what happens when changing mode or **Move the RC sticks**
6. Play with different settings and conditions!
The simulation can also be executed locally in order to test a specific version or set of changes:
```sh
make run_failsafe_web_server
```
<iframe :src="withBase('/config/failsafe/index.html')" frameborder="0" height="1400px" style="text-align: center; margin-left: -20px; margin-right: -230px;" width="1200"></iframe>
<script setup>
import { withBase } from 'vitepress';
</script>