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---------

Signed-off-by: Ramon Roche <mrpollo@gmail.com>
Co-authored-by: Ramon Roche <mrpollo@gmail.com>

docs/ko/config_vtol/index.md

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+# VTOL 설정
+
+First perform the [Standard Configuration](../config/index.md).
+As part of this you should calibrate the [Airspeed sensor](../config/airspeed.md) (optional, but highly recommended) and [assign a VTOL transition switch](../config/flight_mode.md#what-flight-modes-and-switches-should-i-set) to your RC controller.
+
+그런 다음 VTOL별 설정과 튜닝 작업을 합니다.
+
+- [QuadPlane Configuration](../config_vtol/vtol_quad_configuration.md)
+- [Back-transition Tuning](../config_vtol/vtol_back_transition_tuning.md)
+- [VTOL w/o Airspeed Sensor](../config_vtol/vtol_without_airspeed_sensor.md)
+- [VTOL Weather Vane](../config_vtol/vtol_weathervane.md)

docs/ko/config_vtol/vtol_back_transition_tuning.md

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+# VTL 역전환 튜닝
+
+When a VTOL performs a back-transition (transition from fixed-wing mode to multicopter) it needs to slow down before the multicopter can take proper control.
+To help with braking, the controller will pitch up the vehicle if the current deceleration is below what is set in expected deceleration ([VT_B_DEC_MSS](../advanced_config/parameter_reference.md#VT_B_DEC_MSS)).
+The response of this deceleration controller can be tuned through a `I` gain: [VT_B_DEC_I](../advanced_config/parameter_reference.md#VT_B_DEC_I).
+Increasing the `I` will result in more aggressive pitch-up to achieve the configured deceleration setting.
+
+The vehicle will consider the back-transition complete when the horizontal speed has reached multicopter cruise speed ([MPC_XY_CRUISE](../advanced_config/parameter_reference.md#MPC_XY_CRUISE)) or when the back-transition duration ([VT_B_TRANS_DUR](../advanced_config/parameter_reference.md#VT_B_TRANS_DUR)) has passed (whichever comes first).
+
+## 예상 감속 설정
+
+When flying missions that make use of a [VTOL_LAND](https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_VTOL_LAND) waypoint, the autopilot will attempt to calculate the proper distance at which to initiate the back-transition. It does this by looking at the current velocity (comparable to ground speed) and the expected deceleration.
+To get the vehicle to come out of back-transition very close to its landing point you can tune the expected deceleration ([VT_B_DEC_MSS](../advanced_config/parameter_reference.md#VT_B_DEC_MSS)) parameter.
+Make sure you have a large enough back-transition duration to allow the vehicle to reach its intended position before this timeout kicks in.
+
+## 역전환 시간
+
+Setting a high back-transition time ([VT_B_TRANS_DUR](../advanced_config/parameter_reference.md#VT_B_TRANS_DUR)) will give the vehicle more time to slow down.
+During this period the VTOL will shut down its fixed-wing motor and slowly ramp up its MC motors while gliding.
+The higher this time is set the longer the vehicle will glide in an attempt to slow down. The caveat of this behavior is that the vehicle will only control altitude and not position during this period, so some drift can occur.

docs/ko/config_vtol/vtol_quad_configuration.md

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+# Generic Standard VTOL (QuadPlane) Configuration & Tuning
+
+This is the configuration documentation for a [Generic Standard VTOL](../airframes/airframe_reference.md#vtol_standard_vtol_generic_standard_vtol), also known as a "QuadPlane VTOL".
+This is essentially a fixed-wing vehicle with the addition of quadcopter motors.
+
+For airframe specific documentation and build instructions see [VTOL Framebuilds](../frames_vtol/index.md).
+
+## Firmware & Basic Settings
+
+1. Run _QGroundControl_
+2. Flash the firmware for your current release or master (PX4 `main` branch build).
+3. In the [Frame setup](../config/airframe.md) section select the appropriate VTOL airframe.
+
+   If your airframe is not listed select the [Generic Standard VTOL](../airframes/airframe_reference.md#vtol_standard_vtol_generic_standard_vtol) frame.
+
+### 비행 / 전환 모드 스위치
+
+You should assign a switch on your RC controller for switching between the multicopter- and fixed-wing modes.
+
+:::info
+While PX4 allows flight without an RC controller, you must have one when tuning/configuring up a new airframe.
+:::
+
+This is done in [Flight Mode](../config/flight_mode.md) configuration, where you [assign flight modes and other functions](../config/flight_mode.md#what-flight-modes-and-switches-should-i-set) to switches on your RC controller.
+The switch can also be assigned using the parameter [RC_MAP_TRANS_SW](../advanced_config/parameter_reference.md#RC_MAP_TRANS_SW).
+
+The switch in the off-position means that you are flying in multicopter mode.
+
+### Multirotor / Fixed-wing Tuning
+
+Before you attempt your first transition to fixed-wing flight you need to make absolutely sure that your VTOL is well tuned in multirotor mode.
+One reason is this is the mode you will return to if something goes wrong with a transition and it could be it will be moving fairly quickly already.
+If it isn’t well tuned bad things might happen.
+
+If you have a runway available and the total weight isn’t too high you will also want to tune fixed-wing flight as well.
+If not then you will be attempting this when it switches to fixed-wing mode.
+If something goes wrong you need to be ready (and able) to switch back to multirotor mode.
+
+Follow the respective tuning guides on how to tune multirotors and fixed-wings.
+
+### 전환 튜닝
+
+While it might seem that you are dealing with a vehicle that can fly in two modes (multirotor for vertical takeoffs and landings and fixed-wing for forwards flight) there is an additional state you also need to tune: transition.
+
+Getting your transition tuning right is important for obtaining a safe entry into fixed-wing mode, for example, if your airspeed is too slow when it transitions it might stall.
+
+#### 전환 스로틀
+
+Parameter: [VT_F_TRANS_THR](../advanced_config/parameter_reference.md#VT_F_TRANS_THR)
+
+Front transition throttle defines the target throttle for the pusher/puller motor during the front transition.
+
+This must be set high enough to ensure that the transition airspeed is reached.
+If your vehicle is equipped with an airspeed sensor then you can increase this parameter to make the front transition complete faster.
+For your first transition you are better off setting the value higher than lower.
+
+#### Forward Transition Pusher/Puller Slew Rate
+
+Parameter: [VT_PSHER_SLEW](../advanced_config/parameter_reference.md#VT_PSHER_SLEW)
+
+A forward transition refers to the transition from multirotor to fixed-wing mode.
+The forward transition pusher/puller slew rate is the amount of time in seconds that should be spent ramping up the throttle to the target value (defined by `VT_F_TRANS_THR`).
+
+A value of 0 will result in commanding the transition throttle value being set immediately.
+By default the slew rate is set to 0.33, meaning that it will take 3s to ramp up to 100% throttle.
+If you wish to make throttling-up smoother you can reduce this value.
+
+Note that once the ramp up period ends throttle will be at its target setting and will remain there until (hopefully) the transition speed is reached.
+
+#### 블렌딩 속도
+
+Parameter: [VT_ARSP_BLEND](../advanced_config/parameter_reference.md#VT_ARSP_BLEND)
+
+By default, as the airspeed gets close to the transition speed, multirotor attitude control will be reduced and fixed-wing control will start increasing continuously until the transition occurs.
+
+Disable blending by setting this parameter to 0 which will keep full multirotor control and zero fixed-wing control until the transition occurs.
+
+#### 전환 대기속도
+
+Parameter: [VT_ARSP_TRANS](../advanced_config/parameter_reference.md#VT_ARSP_TRANS)
+
+This is the airspeed which, when reached, will trigger the transition out of multirotor mode into fixed-wing mode.
+It is critical that you have properly calibrated your airspeed sensor.
+It is also important that you pick an airspeed that is comfortably above your airframes stall speed (check `FW_AIRSPD_MIN`) as this is currently not checked.
+
+### 전환 팁
+
+As already mentioned make sure you have a well tuned multirotor mode.
+If during a transition something goes wrong you will switch back to this mode and it should be quite smooth.
+
+Before you fly have a plan for what you will do in each of the three phases (multirotor, transition, fixed-wing) when you are in any of them and something goes wrong.
+
+Battery levels: leave enough margin for a multirotor transition for landing at the end of your flight.
+Don’t run your batteries too low as you will need more power in multirotor mode to land.
+Be conservative.
+
+#### 전환: 준비하기
+
+Make sure you are at least 20 meters above ground and have enough room to complete a transition.
+It could be that your VTOL will lose height when it switches to fixed-wing mode, especially if the airspeed isn’t high enough.
+
+Transition into the wind, whenever possible otherwise it will travel further from you before it transitions.
+
+Make sure the VTOL is in a stable hover before you start the transition.
+
+#### Transition: Multirotor to Fixed-wing (Front-transition)
+
+Start your transition.
+It should transition within 50 – 100 meters.
+If it doesn’t or it isn’t flying in a stable fashion abort the transition (see below) and land or hover back to the start position and land.
+Try increasing the [transition throttle](#transition-throttle) (`VT_F_TRANS_THR`) value.
+Also consider reducing the transition duration (`VT_F_TRANS_DUR`) if you are not using an airspeed sensor.
+If you are using an airspeed sensor consider lowering the transition airspeed but stay well above the stall speed.
+
+As soon as you notice the transition happen be ready to handle height loss which may include throttling up quickly.
+
+:::warning
+The following feature has been discussed but not implemented yet:
+
+- Once the transition happens the multirotor motors will stop and the pusher/puller throttle will remain at the `VT_F_TRANS_THR` level until you move the throttle stick, assuming you are in manual mode.
+
+:::
+
+#### Transition: Fixed-wing to Multirotor (Back-transition)
+
+When you transition back to multirotor mode bring your aircraft in on a straight level approach and reduce its speed, flip the transition switch and it will start the multirotor motors and stop the pusher/puller prop immediately and should result in a fairly smooth gliding transition.
+
+Consider that the throttle value you have when you transition will command the amount of thrust your multirotor has at the moment of the switch.
+Because the wing will still be flying you’ll find you have plenty of time to adjust your throttle to achieve/hold a hover.
+
+For advanced tuning of the back-transition please refer to the [Back-transition Tuning Guide](vtol_back_transition_tuning.md)
+
+#### 전환 중지
+
+It’s important to know what to expect when you revert a transition command _during_ a transition.
+
+When transitioning from **multirotor to fixed-wing** (transition switch is on/fixed-wing) then reverting the switch back (off/multirotor position) _before_ the transition happens it will immediately return to multirotor mode.
+
+When transitioning from **fixed-wing to multirotor** for this type of VTOL the switch is immediate so there isn’t really a backing out option here, unlike for tilt rotor VTOLs.
+If you want it to go back into fixed-wing you will need to go through the full transition.
+If it’s still travelling fast this should happen quickly.
+
+### 지원
+
+If you have any questions regarding your VTOL conversion or configuration please see [discuss.px4.io/c/px4/vtol](https://discuss.px4.io/c/px4/vtol).

docs/ko/config_vtol/vtol_weathervane.md

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+# VTOL 풍향계 특징
+
+The _weather vane_ feature automatically turns a VTOL vehicle to face its nose into the relative wind during hover flight.
+이 기능은 안정성을 향상시킵니다 (측면에서 바람이 기체를 뒤집을 가능성을 줄임).
+
+The feature is [enabled by default](#configuration) on VTOL hybrid vehicles flying in multicopter mode.
+
+:::info
+Weather vane functionality is not supported on pure multirotors.
+:::
+
+## 수동 모드 동작 방식
+
+The weather vane feature will only take effect in [Position mode](../flight_modes_mc/position.md) (not other manual MC modes).
+
+사용자는 풍향계 컨트롤러가 기체의 기수를 바람으로 변경중에도, 요 스틱을 사용하여 요 속도를 제어할 수 있습니다.
+목표 요율은 풍향계 요율과 사용자가 명령한 요율의 합입니다.
+
+## 임무 모드 동작 방식
+
+In [Mission mode](../flight_modes_vtol/mission.md) the weather vane feature will always be active when the parameter is enabled.
+임무에서 명령된 모든 요 각도는 무시됩니다.
+
+<a id="configuration"></a>
+
+## 설정
+
+This functionality is configured using the [WV\_\* parameters](../advanced_config/parameter_reference.md#WV_EN).
+
+| 매개변수                                                                                                             | 설명                                              |
+| ---------------------------------------------------------------------------------------------------------------- | ----------------------------------------------- |
+| [WV_EN](../advanced_config/parameter_reference.md#WV_EN)                                    | 풍향계 활성화                                         |
+| [WV_ROLL_MIN](../advanced_config/parameter_reference.md#WV_ROLL_MIN)   | 요율을 요구하는 풍향계 컨트롤러의 최소 롤 각도 설정점. |
+| [WV_YRATE_MAX](../advanced_config/parameter_reference.md#WV_YRATE_MAX) | 풍향계 컨트롤러가 요구할 수 있는 최대 요 레이트.    |
+
+## 어떻게 작동합니까?
+
+호버 비행 중에 기체는 위치를 유지하기 위하여 바람에 의해 가해지는 항력을 극복하여야 합니다.
+이를 달성하는 유일한 방법은 추력 벡터를 상대적인 바람으로 기울이는 것입니다 (말 그대로 바람에 '기댄다').
+추력 벡터를 추적하여 풍향을 추정할 수 있습니다.
+풍향계 컨트롤러는 기체 기수를 예상 풍향으로 바꾸는 요 레이트를 명령하는 데 사용됩니다.

docs/ko/config_vtol/vtol_without_airspeed_sensor.md

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+# 대기속도 센서 미장착 VTOL
+
+<Badge type="warning" text="Experimental" />
+
+:::warning
+Support for VTOLs without an airspeed sensor is considered experimental and should only be attempted by experienced pilots.
+The use of an airspeed sensor is recommended.
+:::
+
+Fixed-wing vehicles use [airspeed sensors](../sensor/airspeed.md) to determine the speed at which the airplane is moving through the air.
+Depending on wind this could vary from groundspeed.
+Every airplane has a minimum airspeed below which the airplane will stall.
+In mild weather conditions and with settings significantly above stall speed a VTOL can operate without the use of an airspeed sensor.
+
+This guide will outline the parameter settings required to bypass the airspeed sensor for VTOL planes.
+
+:::info
+Most settings described here should also be applicable to fixed-wing vehicles that are not VTOL, but this is currently untested.
+Transition turning and quad-chute are VTOL-specific.
+:::
+
+## 준비
+
+Before attempting to eliminate an airspeed sensor you should first determine a safe throttle level.
+Also the duration for a front transition needs to be known.
+To do this you can either perform a reference flight with an airspeed sensor or fly the vehicle manually.
+In both cases the reference flight should be performed in very low wind conditions.
+
+The flight should be performed at a speed that would be sufficient to fly in high wind conditions and should consist of:
+
+- 성공적인 순방향 전환
+- 직선 및 수평 비행
+- 적극적인 회전
+- 높은 고도로 고속 상승
+
+## 로그 검사
+
+After the reference flight download the log and use [FlightPlot](../log/flight_log_analysis.md#flightplot) (or another analysis tool) to examine the log.
+Plot the altitude (`GPOS.Alt`), thrust (`ATC1.Thrust`), groundspeed (Expression: `sqrt(GPS.VelN\^2 + GPS.VelE\^2)`), pitch (`ATT.Pitch`) and roll (`AT.Roll`).
+
+또한 전면 전환이 완료되는 데 걸린 시간도 기록합니다.
+이 값은 최소 전환 시간을 설정하는 데 사용됩니다.
+
+마지막으로 크루즈 비행 중 지상 속도를 기록하십시오.
+This will be used to set the minimum transition time.
+For safety reasons you should add +- 30% to this time.
+
+Finally take note of the groundspeed during cruise flight.
+This can be used to tune your throttle setting after the first flight without an airspeed sensor.
+
+## 매개변수 설정
+
+To bypass the airspeed preflight check you need to set [SYS_HAS_NUM_ASPD](../advanced_config/parameter_reference.md#SYS_HAS_NUM_ASPD) to 0.
+
+To prevent an installed airspeed sensor being used for feedback control set [FW_USE_AIRSPD](../advanced_config/parameter_reference.md#FW_USE_AIRSPD) to `False`.
+This allows you to test the system's behavior in the airspeed-less setting while still having the actual airspeed reading available to check the safety margin to stall speed etc.
+
+Set the trim throttle ([FW_THR_TRIM](../advanced_config/parameter_reference.md#FW_THR_TRIM)) to the percentage as determined from the log of the reference flight.
+Note that QGC scales this from `1..100` and the thrust value from the log is scaled from `0..1`.
+그러므로, 0.65의 추력을 65로 입력해야합니다.
+For safety reasons it is recommended to add +- 10% throttle to the determined value for testing a first flight.
+
+Set the minimum front transition time ([VT_TRANS_MIN_TM](../advanced_config/parameter_reference.md#VT_TRANS_MIN_TM)) to the number of seconds determined from the reference flight and add +- 30% for safety.
+
+### 권장 매개 변수(선택 사항)
+
+Because the risk of stalling is real, it is recommended to set the 'fixed-wing minimum altitude' (a.k.a. 'quad-chute') threshold ([VT_FW_MIN_ALT](../advanced_config/parameter_reference.md#VT_FW_MIN_ALT)).
+
+This will cause the VTOL to transition back to multicopter mode and initiate the [Return mode](../flight_modes_vtol/return.md) below a certain altitude.
+이 값을 15 미터 또는 20 미터로 설정하여 멀티콥터가 실속에서 회복할 시간을 제공할 수 있습니다.
+
+The position estimator tested for this mode is EKF2, which is enabled by default (for more information see [Switching State Estimators](../advanced/switching_state_estimators.md#how-to-enable-different-estimators) and [EKF2_EN ](../advanced_config/parameter_reference.md#EKF2_EN)).
+
+## 대기속도 센서가 없는 첫 비행
+
+The values apply to a position controlled flight (like [Hold mode](../flight_modes_fw/hold.md) or [Mission mode](../flight_modes_vtol/mission.md) or Mission mode).
+It is therefore recommended that a mission is configured at a safe altitude, approximately 10m above the quad-chute threshold.
+
+기준 비행과 같이, 이 비행은 풍속이 매우 작은 조건에서 수행되어야 합니다.
+For the first flight the following is recommended:
+
+- 같은 고도 유지
+- 웨이포인트를 충분히 넓고 급회전이 필요하지 않도록 설정하십시오.
+- 수동 조작이 필요한 경우 시야에 들어오도록 임무를 작게 유지하십시오.
+- If the airspeed is very high, consider performing a manual back transition by switching to Altitude mode.
+
+임무가 성공적으로 완료되면, 로그에서 다음 사항을 확인하여야 합니다.
+
+- The groundspeed should be considerably above the groundspeed from the reference flight.
+- 고도는 기준 비행보다 크게 낮아서는 안됩니다.
+- 피치 각도는 기준 비행과 일관되게 다르지 않아야합니다.
+
+이러한 모든 조건이 충족되면, 지면 속도가 기준 비행 속도와 일치할 때까지 작은 단계로 크루즈 스로틀을 조정할 수 있습니다.
+
+## Parameter Overview
+
+The relevant parameters are:
+
+- [FW_USE_AIRSPD](../advanced_config/parameter_reference.md#FW_USE_AIRSPD)
+- [SYS_HAS_NUM_ASPD](../advanced_config/parameter_reference.md#SYS_HAS_NUM_ASPD)
+- [EKF2_EN](../advanced_config/parameter_reference.md#EKF2_EN) (1), [ATT_EN](../advanced_config/parameter_reference.md#ATT_EN) (0), [LPE_EN](../advanced_config/parameter_reference.md#LPE_EN) (0)
+- [FW_THR_TRIM](../advanced_config/parameter_reference.md#FW_THR_TRIM): determined (e.g. 70%)
+- [VT_TRANS_MIN_TM](../advanced_config/parameter_reference.md#VT_TRANS_MIN_TM): determined (e.g. 10 seconds)
+- [VT_FW_MIN_ALT](../advanced_config/parameter_reference.md#VT_FW_MIN_ALT): 15