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Move PX4 Guide source into /docs (#24490)
* Add vitepress tree * Update existing workflows so they dont trigger on changes in the docs path * Add nojekyll, package.json, LICENCE etc * Add crowdin docs upload/download scripts * Add docs flaw checker workflows * Used docs prefix for docs workflows * Crowdin obvious fixes * ci: docs move to self hosted runner runs on a beefy server for faster builds Signed-off-by: Ramon Roche <mrpollo@gmail.com> * ci: don't run build action for docs or ci changes Signed-off-by: Ramon Roche <mrpollo@gmail.com> * ci: update runners Signed-off-by: Ramon Roche <mrpollo@gmail.com> * Add docs/en * Add docs assets and scripts * Fix up editlinks to point to PX4 sources * Download just the translations that are supported * Add translation sources for zh, uk, ko * Update latest tranlsation and uorb graphs * update vitepress to latest --------- Signed-off-by: Ramon Roche <mrpollo@gmail.com> Co-authored-by: Ramon Roche <mrpollo@gmail.com>
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Hamish Willee
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Ramon Roche
Ramon Roche
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# Fixed-wing Altitude/Position Controller Tuning
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이 가이드는 비행 임무와 고도 및 위치 제어 모드에서 고정익 컨트롤러를 정밀 조정에 많은 도움이 됩니다.
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PX4 uses TECS for altitude and airspeed control, and NPFG for horizontal heading/position control.
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:::info
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An incorrectly set gain during tuning can make altitude or heading control unstable.
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따라서 TECS 게인 조정시에는 안정된 제어 모드에서 비행기를 비행하고 착륙시킬 수 있어야합니다.
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:::
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:::tip
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All parameters are documented in the [Parameter Reference](../advanced_config/parameter_reference.md#fw-tecs).
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이 가이드에서는 중요한 매개변수들을 설명합니다.
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:::
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## TECS 튜닝 (고도 및 대기 속도)
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TECS (Total Energy Control System)는 항공기의 고도 및 대기 속도를 제어하기 위해 스로틀과 피치 각도 설정점을 조정하는 고정익 가이드 알고리즘입니다.
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For a detailed description of the TECS algorithm and the control diagram, see [Controller Diagrams](../flight_stack/controller_diagrams.md).
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A well-tuned attitude controller is required before tuning TECS: [PID Tuning Guide](../config_fw/pid_tuning_guide_fixedwing.md).
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TECS 튜닝은 주로 기체 제한을 올바르게 설정하는 것입니다.
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이러한 제한은 아래에 설명된 일련의 비행 기동으로부터 결정될 수있는 매개변수로 설정할 수 있습니다.
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Most of the maneuvers required the plane to be flown by a pilot in [Stabilized flight mode](../flight_modes_fw/stabilized.md).
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:::tip
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It is highly beneficial to have a person available who can read and take note of telemetry data while the pilot is flying the maneuvers.
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정확성을 높이기 위해 비행 중에 얻은 데이터를 비행 로그에 기록된 데이터로 확인하는 것이 좋습니다.
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:::
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#### 1 차 : 트림 조건
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Fly in [stabilized mode](../flight_modes_fw/stabilized.md) and find trim values for both throttle and pitch angle for level flight at trim airspeed.
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스로틀로 속도와 피치를 조정하여 수평 비행을 유지하십시오.
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다음 매개 변수를 설정하십시오.
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- [FW_AIRSPD_TRIM](../advanced_config/parameter_reference.md#FW_AIRSPD_TRIM) - set to the desired trim airspeed flown during the maneuver.
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- [FW_THR_TRIM](../advanced_config/parameter_reference.md#FW_THR_TRIM) - set to the throttle required to fly at trim airspeed.
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- [FW_PSP_OFF](../advanced_config/parameter_reference.md#FW_PSP_OFF) - set to the pitch angle required to maintain level flight.
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#### 2nd: Airspeed & Throttle Limits
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Fly in [stabilized mode](../flight_modes_fw/stabilized.md) and increase throttle while maintaining level flight using pitch control - until the vehicle reaches
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the maximum allowed airspeed.
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다음 매개 변수를 설정하십시오.
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- [FW_THR_MAX](../advanced_config/parameter_reference.md#FW_THR_MAX) - set to the throttle you applied to reach maximum airspeed during level flight.
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- [FW_THR_MIN](../advanced_config/parameter_reference.md#FW_THR_MIN) - set to the minimum throttle the plane should fly at.
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- [FW_AIRSPD_MAX](../advanced_config/parameter_reference.md#FW_AIRSPD_MAX) - set to the maximum airspeed you achieved during level flight at `FW_THR_MAX`.
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#### 3rd: Pitch & Climb Rate Limits
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:::warning
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Do not use [FW_T_CLMB_MAX](../advanced_config/parameter_reference.md#FW_T_CLMB_MAX), [FW_T_SINK_MAX](../advanced_config/parameter_reference.md#FW_T_SINK_MAX) or [FW_T_SINK_MIN](../advanced_config/parameter_reference.md#FW_T_SINK_MIN) to specify the desired climb or sink performance you would like to get from the vehicle!
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The parameters define the operating limitations and they should be set during the tuning phase, as described below.
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:::
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Fly in stabilized mode, apply full throttle (`FW_THR_MAX`) and slowly increase the pitch angle of the vehicle until the airspeed reaches `FW_AIRSPD_TRIM`.
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- [FW_P_LIM_MAX](../advanced_config/parameter_reference.md#FW_P_LIM_MAX) - set to the pitch angle required to climb at trim airspeed when applying `FW_THR_MAX`.
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- [FW_T_CLMB_MAX](../advanced_config/parameter_reference.md#FW_T_CLMB_MAX) - set to the climb rate achieved during the climb at `FW_AIRSPD_TRIM`.
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Fly in stabilized mode, reduce the throttle to `FW_THR_MIN` and slowly decrease the pitch angle until the vehicle reaches `FW_AIRSPD_MAX`.
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- [FW_P_LIM_MIN](../advanced_config/parameter_reference.md#FW_P_LIM_MIN) - set to the pitch angle required to reach `FW_AIRSPD_MAX` at `FW_THR_MIN`.
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- [FW_T_SINK_MAX](../advanced_config/parameter_reference.md#FW_T_SINK_MAX) - set to the sink rate achieved during the descent.
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Fly in stabilized mode, reduce throttle to `FW_THR_MIN` and adjust the pitch angle such that the plane maintains `FW_AIRSPD_TRIM`.
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- [FW_T_SINK_MIN](../advanced_config/parameter_reference.md#FW_T_SINK_MIN) - set to the sink rate achieved while maintaining `FW_AIRSPD_TRIM`.
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Specify the target climb and sink rate for autonomous missions by adjusting [FW_T_CLMB_R_SP](../advanced_config/parameter_reference.md#FW_T_CLMB_R_SP) and [FW_T_SINK_R_SP](../advanced_config/parameter_reference.md#FW_T_SINK_R_SP).
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These specify the height rates at which the vehicle will climb or descend in order to change altitude.
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Furthermore, these two values define the height rate limits commanded by the user in [Altitude mode](../flight_modes_fw/altitude.md) and [Position mode](../flight_modes_fw/position.md).
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### FW Path Control Tuning (Position)
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All path control parameters are described [here](../advanced_config/parameter_reference.md#fw-path-control).
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- [NPFG_PERIOD](../advanced_config/parameter_reference.md#NPFG_PERIOD) - This is the previously called L1 distance and defines the tracking point ahead of the aircraft it's following.
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A value of 10-20 meters works for most aircraft.
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진동없이 반응이 날카로울 때까지 튜닝하는 동안 천천히 줄입니다.
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Vehicles with a slow roll dynamic should have this value increased.
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