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Move PX4 Guide source into /docs (#24490)
* Add vitepress tree * Update existing workflows so they dont trigger on changes in the docs path * Add nojekyll, package.json, LICENCE etc * Add crowdin docs upload/download scripts * Add docs flaw checker workflows * Used docs prefix for docs workflows * Crowdin obvious fixes * ci: docs move to self hosted runner runs on a beefy server for faster builds Signed-off-by: Ramon Roche <mrpollo@gmail.com> * ci: don't run build action for docs or ci changes Signed-off-by: Ramon Roche <mrpollo@gmail.com> * ci: update runners Signed-off-by: Ramon Roche <mrpollo@gmail.com> * Add docs/en * Add docs assets and scripts * Fix up editlinks to point to PX4 sources * Download just the translations that are supported * Add translation sources for zh, uk, ko * Update latest tranlsation and uorb graphs * update vitepress to latest --------- Signed-off-by: Ramon Roche <mrpollo@gmail.com> Co-authored-by: Ramon Roche <mrpollo@gmail.com>
This commit is contained in:
Hamish Willee
co-authored by
Ramon Roche
Ramon Roche
parent
8e6d2ebe4a
commit
88d623bedb
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# 高级功能
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本节包含了部分关于 PX4 自驾仪的高级功能：
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- [Air Traffic Avoidance: ADS-B/FLARM/UTM](../peripherals/adsb_flarm.md)
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- [Computer Vision](../computer_vision/index.md)
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- [Collision Prevention](../computer_vision/collision_prevention.md)
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- [Motion Capture (MoCap)](../computer_vision/motion_capture.md)
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- [Visual Inertial Odometry (VIO)](../computer_vision/visual_inertial_odometry.md)
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- [Iridium/RockBlock Satellite Communication System](../advanced_features/satcom_roadblock.md)
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- [Precision Landing](../advanced_features/precland.md)
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- [RTK GNSS (GPS)](../gps_compass/rtk_gps.md)
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# 精准着陆
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PX4 supports precision landing for _multicopters_ on either stationary or moving targets.
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The target may be provided by an onboard IR sensor and a landing beacon, or by an offboard positioning system.
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Precision landing can be [started/initiated](#initiating-a-precision-landing) as part of a [mission](#mission), in a [Return mode](#return-mode-precision-landing) landing, or by entering the [_Precision Land_ flight mode](#precision-landing-flight-mode).
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:::info
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Precision landing is only possible with a valid global position (due to a limitation in the current implementation of the position controller).
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:::
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## 综述
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### Land Modes
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A precision landing can be configured to either be "required" or "opportunistic".
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The choice of mode affects how a precision landing is performed.
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#### Required Mode
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In _Required Mode_ the vehicle will search for a target if none is visible when landing is initiated.
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The vehicle will perform a precision landing if a target is located.
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The search procedure consists of climbing to the search altitude ([PLD_SRCH_ALT](../advanced_config/parameter_reference.md#PLD_SRCH_ALT)).
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If the target is still not visible at the search altitude and after a search timeout ([PLD_SRCH_TOUT](../advanced_config/parameter_reference.md#PLD_SRCH_TOUT)), a normal landing is initiated at the current position.
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:::info
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If using an offboard positioning system PX4 assumes that the target is visible when it is receiving MAVLink [LANDING_TARGET](https://mavlink.io/en/messages/common.html#LANDING_TARGET) messages.
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:::
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#### Opportunistic Mode
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In _Opportunistic Mode_ the vehicle will use precision landing _if_ (and only if) the target is visible when landing is initiated.
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If it is not visible the vehicle immediately performs a _normal_ landing at the current position.
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### Landing Phases
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A precision landing has three phases:
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1. **Horizontal approach:** The vehicle approaches the target horizontally while keeping its current altitude.
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Once the position of the target relative to the vehicle is below a threshold ([PLD_HACC_RAD](../advanced_config/parameter_reference.md#PLD_HACC_RAD)), the next phase is entered.
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If the target is lost during this phase (not visible for longer than [PLD_BTOUT](../advanced_config/parameter_reference.md#PLD_BTOUT)), a search procedure is initiated (during a required precision landing) or the vehicle does a normal landing (during an opportunistic precision landing).
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2. **Descent over target:** The vehicle descends, while remaining centered over the target.
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If the target is lost during this phase (not visible for longer than `PLD_BTOUT`), a search procedure is initiated (during a required precision landing) or the vehicle does a normal landing (during an opportunistic precision landing).
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3. **Final approach:** When the vehicle is close to the ground (closer than [PLD_FAPPR_ALT](../advanced_config/parameter_reference.md#PLD_FAPPR_ALT)), it descends while remaining centered over the target.
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If the target is lost during this phase, the descent is continued independent of the kind of precision landing.
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Search procedures are initiated in the first and second steps, and will run at most [PLD_MAX_SRCH](../advanced_config/parameter_reference.md#PLD_MAX_SRCH) times.
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Landing Phases Flow Diagram
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A flow diagram showing the phases can be found in [landing phases flow Diagram](#landing-phases-flow-diagram) below.
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## Initiating a Precision Landing
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Precision landing can be used in missions, during the landing phase in _Return mode_, or by entering the _Precision Land_ mode.
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<a id="mission"></a>
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### Mission Precision Landing
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Precision landing can be initiated as part of a [mission](../flying/missions.md) using [MAV_CMD_NAV_LAND](https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_LAND) with `param2` set appropriately:
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- `0`: Normal landing without using the target.
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- `1`: [Opportunistic](#opportunistic-mode) precision landing.
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- `2`: [Required](#required-mode) precision landing.
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### Return Mode Precision Landing
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Precision landing can be used in the [Return mode](../flight_modes_mc/return.md) landing phase.
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This is enabled using the parameter [RTL_PLD_MD](../advanced_config/parameter_reference.md#RTL_PLD_MD), which takes the following values:
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- `0`: Precision landing disabled (land as normal).
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- `1`: [Opportunistic](#opportunistic-mode) precision landing.
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- `2`: [Required](#required-mode) precision landing.
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### Precision Landing Flight Mode
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Precision landing can be enabled by switching to the _Precision Landing_ flight mode.
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You can verify this using the [_QGroundControl_ MAVLink Console](../debug/mavlink_shell.md#qgroundcontrol-mavlink-console) to enter the following command:
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```sh
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commander mode auto:precland
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```
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:::info
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When switching to the mode in this way, the precision landing is always "required"; there is no way to specify the type of landing.
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:::
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:::info
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At time of writing is no _convenient_ way to directly invoke precision landing (other than commanding return mode):
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- _QGroundControl_ does not provide it as a UI option.
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- [MAV_CMD_NAV_LAND](https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_LAND) only works in missions.
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- [MAV_CMD_DO_SET_MODE](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_SET_MODE) should work, but you will need to determine the appropriate base and custom modes used by PX4 to represent the precision landing mode.
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:::
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## 硬件安装
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### IR Sensor/Beacon Setup
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The IR sensor/landing beacon solution requires an [IR-LOCK Sensor](https://irlock.com/products/ir-lock-sensor-precision-landing-kit) and downward facing [distance sensor](../sensor/rangefinders.md) connected to the flight controller, and an IR beacon as a target (e.g. [IR-LOCK MarkOne](https://irlock.com/collections/markone)).
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This enables landing with a precision of roughly 10 cm (GPS precision, by contrast, may be as large as several meters).
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Install the IR-LOCK sensor by following the [official guide](https://irlock.readme.io/v2.0/docs).
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Ensure that the sensor's x axis is aligned with the vehicle's y axis and the sensor's y axis aligned with the vehicle's -x direction (this is the case if the camera is pitched down 90 degrees from facing forward).
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Install a [range/distance sensor](../sensor/rangefinders.md) (the _LidarLite v3_ has been found to work well).
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:::info
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Many infrared based range sensors do not perform well in the presence of the IR-LOCK beacon.
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Refer to the IR-LOCK guide for other compatible sensors.
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:::
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## Offboard Positioning
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The offboard solution requires a positioning system that implements the MAVLink [Landing Target Protocol](https://mavlink.io/en/services/landing_target.html).
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This can use any positioning mechanism to determine the landing target, for example computer vision and a visual marker.
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The system must publish the coordinates of the target in the [LANDING_TARGET](https://mavlink.io/en/messages/common.html#LANDING_TARGET) message.
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Note that PX4 _requires_ `LANDING_TARGET.frame` to be [MAV_FRAME_LOCAL_NED](https://mavlink.io/en/messages/common.html#MAV_FRAME_LOCAL_NED) and only populates the fields `x`, `y`, and `z`.
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The origin of the local NED frame [0,0] is the home position (you can map this home position to global coordinates using [GPS_GLOBAL_ORIGIN](https://mavlink.io/en/messages/common.html#GPS_GLOBAL_ORIGIN)).
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PX4 does not explicitly require a [distance sensor](../sensor/rangefinders.md) or other sensors, but will perform better if it can more precisely determine its own position.
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## Firmware Configuration
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Precision landing requires the modules `irlock` and `landing_target_estimator`.
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These are included in PX4 firmware by default, for most flight controllers.
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They are not included by default on FMUv2-based controllers.
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On these, and other boards where they are not included, you can add them by setting the following keys to 'y' in the relevant configuration file for your flight controller (e.g. as done here for FMUv5: [PX4-Autopilot/boards/px4/fmu-v5/default.px4board](https://github.com/PX4/PX4-Autopilot/blob/main/boards/px4/fmu-v5/default.px4board)):
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```
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CONFIG_DRIVERS_IRLOCK=y
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CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
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```
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## PX4 Configuration (Parameters)
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The IR-Lock sensor is disabled by default.
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Enable it by setting [SENS_EN_IRLOCK](../advanced_config/parameter_reference.md#SENS_EN_IRLOCK) to `1` (true).
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[LTEST_MODE](../advanced_config/parameter_reference.md#LTEST_MODE) determines if the target is assumed to be stationary or moving.
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If `LTEST_MODE` is set to moving (e.g. it is installed on a vehicle on which the multicopter is to land), target measurements are only used to generate position setpoints in the precision landing controller.
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If `LTEST_MODE` is set to stationary, the target measurements are also used by the vehicle position estimator (EKF2 or LPE).
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Other relevant parameters are listed in the parameter reference under [Landing_target estimator](../advanced_config/parameter_reference.md#landing-target-estimator) and [Precision land](../advanced_config/parameter_reference.md#precision-land) parameters.
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Some of the most useful ones are listed below.
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| 参数 | 描述 |
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| ----------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
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| <a id="SENS_EN_IRLOCK"></a>[SENS_EN_IRLOCK](../advanced_config/parameter_reference.md#SENS_EN_IRLOCK) | IR-LOCK Sensor (external I2C). Disable: `0` (default): Enable: `1`). |
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| <a id="LTEST_MODE"></a>[LTEST_MODE](../advanced_config/parameter_reference.md#LTEST_MODE) | Landing target is moving (`0`) or stationary (`1`). Default is moving. |
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| <a id="PLD_HACC_RAD"></a>[PLD_HACC_RAD](../advanced_config/parameter_reference.md#PLD_HACC_RAD) | Horizontal acceptance radius, within which the vehicle will start descending. Default is 0.2m. |
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| <a id="PLD_BTOUT"></a>[PLD_BTOUT](../advanced_config/parameter_reference.md#PLD_BTOUT) | Landing Target Timeout, after which the target is assumed lost. Default is 5 seconds. |
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| <a id="PLD_FAPPR_ALT"></a>[PLD_FAPPR_ALT](../advanced_config/parameter_reference.md#PLD_FAPPR_ALT) | Final approach altitude. Default is 0.1 metres. |
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| <a id="PLD_MAX_SRCH"></a>[PLD_MAX_SRCH](../advanced_config/parameter_reference.md#PLD_MAX_SRCH) | Maximum number of search attempts in an required landing. |
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| <a id="RTL_PLD_MD"></a>[RTL_PLD_MD](../advanced_config/parameter_reference.md#RTL_PLD_MD) | RTL precision land mode. `0`: disabled, `1`: [Opportunistic](#opportunistic-mode), `2`: [Required](#required-mode). |
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### IR Beacon Scaling
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Measurement scaling may be necessary due to lens distortions of the IR-LOCK sensor.
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[LTEST_SCALE_X](../advanced_config/parameter_reference.md#LTEST_SCALE_X) and [LTEST_SCALE_Y](../advanced_config/parameter_reference.md#LTEST_SCALE_Y) can be used to scale beacon measurements before they are used to estimate the beacon's position and velocity relative to the vehicle.
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Note that `LTEST_SCALE_X` and `LTEST_SCALE_Y` are considered in the sensor frame, not the vehicle frame.
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To calibrate these scale parameters, set `LTEST_MODE` to moving, fly your multicopter above the beacon and perform forward-backward and left-right motions with the vehicle, while [logging](../dev_log/logging.md#configuration) `landing_target_pose` and `vehicle_local_position`.
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Then, compare `landing_target_pose.vx_rel` and `landing_target_pose.vy_rel` to `vehicle_local_position.vx` and `vehicle_local_position.vy`, respectively (both measurements are in NED frame).
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If the estimated beacon velocities are consistently smaller or larger than the vehicle velocities, adjust the scale parameters to compensate.
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If you observe slow sideways oscillations of the vehicle while doing a precision landing with `LTEST_MODE` set to stationary, the beacon measurements are likely scaled too high and you should reduce the scale parameter in the relevant direction.
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## 仿真
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Precision landing with the IR-LOCK sensor and beacon can be simulated in [Gazebo Classic](../sim_gazebo_classic/index.md).
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To start the simulation with the world that contains a IR-LOCK beacon and a vehicle with a range sensor and IR-LOCK camera, run:
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```sh
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make px4_sitl gazebo-classic_iris_irlock
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```
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You can change the location of the beacon either by moving it in the Gazebo Classic GUI or by changing its location in the [Gazebo world](https://github.com/PX4/PX4-SITL_gazebo-classic/blob/main/worlds/iris_irlock.world#L42).
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## Operating Principles
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### Landing Target Estimator
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The `landing_target_estimator` takes measurements from the `irlock` driver as well as the estimated terrain height to estimate the beacon's position relative to the vehicle.
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The measurements in `irlock_report` contain the tangent of the angles from the image center to the beacon.
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In other words, the measurements are the x and y components of the vector pointing towards the beacon, where the z component has length "1".
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This means that scaling the measurement by the distance from the camera to the beacon results in the vector from the camera to the beacon.
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This relative position is then rotated into the north-aligned, level body frame using the vehicle's attitude estimate.
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Both x and y components of the relative position measurement are filtered in separate Kalman Filters, which act as simple low-pass filters that also produce a velocity estimate and allow for outlier rejection.
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The `landing_target_estimator` publishes the estimated relative position and velocity whenever a new `irlock_report` is fused into the estimate.
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Nothing is published if the beacon is not seen or beacon measurements are rejected.
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The landing target estimate is published in the `landing_target_pose` uORB message.
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### Enhanced Vehicle Position Estimation
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If the target is specified to be stationary using the parameter `LTEST_MODE`, the vehicle's position/velocity estimate can be improved with the help of the target measurements.
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This is done by fusing the target's velocity as a measurement of the negative velocity of the vehicle.
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### Landing Phases Flow Diagram
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This image shows the [landing phases](#landing-phases) as a flow diagram.
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@@ -0,0 +1 @@
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<Redirect to="../gps_compass/rtk_gps" />
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@@ -0,0 +1,280 @@
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# 铱星/RockBlock卫通系统
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卫星通信系统可在地面站和车辆之间提供远距离、高延迟的连接。
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本专题介绍如何建立一个使用RockBlock作为运营商的铱星短报文（Short Burst Data，SBD）卫星通信系统。
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在信号质量良好的情况下，用户端延迟在10至15秒左右。
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## 综述
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卫星通信链接需要以下组成部件：
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||||
- A [RockBlock 9603 Iridium Satellite Modem](https://www.iridium.com/products/rock-seven-rockblock-9603/) module connected to a Pixhawk flashed with the PX4 Autopilot.
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- 运行 Ubuntu 系统的消息中继服务器。
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- A ground station computer running _QGroundControl_ on Ubuntu Linux
|
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||||
完整的系统架构如下：
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||||
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||||
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||||
:::info
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||||
The setup was tested with the current release of _QGroundControl_ running on Ubuntu 14.04 and 16.04.
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|
||||
- It may be possible to run the system on other ground stations and operating systems, but this has not been tested (and is not guaranteed to work).
|
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- The [RockBlock MK2](https://www.groundcontrol.com/us/product/rockblock-9602-satellite-modem/) module can also be used.
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The RockBlock 9603 module is recommended because it is smaller and lighter, while providing the same functionality.
|
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|
||||
:::
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## Costs
|
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|
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The UK link running cost consists of a line rental and per message cost:
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|
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- Each module needs to be activated which costs £10.00 per month
|
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- Each message transmitted over the system costs one _credit_ per 50 bytes.
|
||||
Bundles of credits can be bought from RockBlock for £0.04-£0.11 per credit, depending on the bundle size.
|
||||
|
||||
Refer to the [RockBlock Documentation](https://docs.rockblock.rock7.com/docs) for a detailed explanation of the modules, running costs and _RockBlock_ in general.
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## Vehicle Setup
|
||||
|
||||
### 布线
|
||||
|
||||
Connect the RockBlock module to a serial port of the Pixhawk.
|
||||
Due to the power requirements of the module it can only be powered over a high-power serial port as a maximum of 0.5 A at 5 V are required.
|
||||
If none is available/free then another power source which has the same ground level as the Pixhawk and can provide required power has to be setup.
|
||||
The details of the [connectors](https://docs.rockblock.rock7.com/docs/connectors) and the [power requirements](https://docs.rockblock.rock7.com/docs/power-supply) can be found in the RockBlock documentation.
|
||||
|
||||
### Module
|
||||
|
||||
The module can either use the internal antenna or an external one connected to the SMA connector.
|
||||
To [switch between the two antennas modes](https://docs.rockblock.rock7.com/docs/switching-rockblock-9603-antenna-mode) the position of a small RF link cable needs to changed.
|
||||
If an external antenna is used always make sure that the antenna is connected to the module before powering it up to avoid damage to the module.
|
||||
|
||||
The default baud rate of the module is 19200. However, the PX4 _iridiumsbd_ driver requires a baud rate of 115200 so it needs to be changed using the [AT commands](https://www.groundcontrol.com/en/wp-content/uploads/2022/02/IRDM_ISU_ATCommandReferenceMAN0009_Rev2.0_ATCOMM_Oct2012.pdf).
|
||||
|
||||
1. Connect to the module with using a 19200/8-N-1 setting and check if the communication is working using the command: `AT`.
|
||||
The response should be: `OK`.
|
||||
|
||||
2. Change the baud rate:
|
||||
|
||||
```
|
||||
AT+IPR=9
|
||||
```
|
||||
|
||||
3. Reconnect to the model now with a 115200/8-N-1 setting and save the configuration using:
|
||||
|
||||
```
|
||||
AT&W0
|
||||
```
|
||||
|
||||
The module is now ready to be used with PX4.
|
||||
|
||||
### Software
|
||||
|
||||
[Configure the serial port](../peripherals/serial_configuration.md) on which the RockBlock module will run using [ISBD_CONFIG](../advanced_config/parameter_reference.md#ISBD_CONFIG).
|
||||
There is no need to set the baud rate for the port, as this is configured by the driver.
|
||||
|
||||
:::info
|
||||
If the configuration parameter is not available in _QGroundControl_ then you may need to [add the driver to the firmware](../peripherals/serial_configuration.md#parameter_not_in_firmware):
|
||||
|
||||
```
|
||||
drivers/telemetry/iridiumsbd
|
||||
```
|
||||
|
||||
:::
|
||||
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||||
## RockBlock Setup
|
||||
|
||||
When buying the first module on RockBlock an user account needs to be created in a first step.
|
||||
|
||||
Log in to the [account](https://rockblock.rock7.com/Operations) and register the RockBlock module under the `My RockBLOCKs`.
|
||||
Activate the line rental for the module and make sure that enough credits for the expected flight duration are available on the account.
|
||||
When using the default settings one message per minute is sent from the vehicle to the ground station.
|
||||
|
||||
Set up a delivery group for the message relay server and add the module to that delivery group:
|
||||
|
||||
|
||||
|
||||
## Relay Server Setup
|
||||
|
||||
The relay server should be run on either Ubuntu 16.04 or 14.04 OS.
|
||||
|
||||
1. The server working as a message relay should have a static IP address and two publicly accessible, open, TCP ports:
|
||||
|
||||
- `5672` for the _RabbitMQ_ message broker (can be changed in the _rabbitmq_ settings)
|
||||
- `45679` for the HTTP POST interface (can be changed in the **relay.cfg** file)
|
||||
|
||||
2. Install the required python modules:
|
||||
|
||||
```sh
|
||||
sudo pip install pika tornado future
|
||||
```
|
||||
|
||||
3. Install the `rabbitmq` message broker:
|
||||
|
||||
```sh
|
||||
sudo apt install rabbitmq-server
|
||||
```
|
||||
|
||||
4. Configure the broker's credentials (change PWD to your preferred password):
|
||||
|
||||
```sh
|
||||
sudo rabbitmqctl add_user iridiumsbd PWD
|
||||
sudo rabbitmqctl set_permissions iridiumsbd ".*" ".*" ".*"
|
||||
```
|
||||
|
||||
5. Clone the [SatComInfrastructure](https://github.com/acfloria/SatComInfrastructure.git) repository:
|
||||
|
||||
```sh
|
||||
git clone https://github.com/acfloria/SatComInfrastructure.git
|
||||
```
|
||||
|
||||
6. Go to the location of the _SatComInfrastructure_ repo and configure the broker's queues:
|
||||
|
||||
```sh
|
||||
./setup_rabbit.py localhost iridiumsbd PWD
|
||||
```
|
||||
|
||||
7. Verify the setup:
|
||||
|
||||
```sh
|
||||
sudo rabbitmqctl list_queues
|
||||
```
|
||||
|
||||
This should give you a list of 4 queues: `MO`, `MO_LOG`, `MT`, `MT_LOG`
|
||||
|
||||
8. Edit the `relay.cfg` configuration file to reflect your settings.
|
||||
|
||||
9. Start the relay script in the detached mode:
|
||||
|
||||
```sh
|
||||
screen -dm bash -c 'cd SatcomInfrastructure/; ./relay.py
|
||||
```
|
||||
|
||||
Other instructions include:
|
||||
|
||||
- Detach from the screen:
|
||||
|
||||
```sh
|
||||
ctrl+a d
|
||||
```
|
||||
|
||||
- Kill execution of the script:
|
||||
|
||||
```sh
|
||||
ctrl+a :quit
|
||||
```
|
||||
|
||||
- Reattach to the screen:
|
||||
|
||||
```sh
|
||||
screen -dr
|
||||
```
|
||||
|
||||
## Ground Station Computer
|
||||
|
||||
To setup the ground station:
|
||||
|
||||
1. Install the required python modules:
|
||||
|
||||
```sh
|
||||
sudo pip install pika tornado future
|
||||
```
|
||||
|
||||
2. Clone the SatComInfrastructure repository:
|
||||
|
||||
```sh
|
||||
git clone https://github.com/acfloria/SatComInfrastructure.git
|
||||
```
|
||||
|
||||
3. Edit the **udp2rabbit.cfg** configuration file to reflect your settings.
|
||||
|
||||
4. [Install _QGroundControl_](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/getting_started/download_and_install.html) (daily build).
|
||||
|
||||
5. Add a UDP connection in QGC with the parameters:
|
||||
|
||||
- Listening port: 10000
|
||||
- Target hosts: 127.0.0.1:10001
|
||||
- High Latency: checked
|
||||
|
||||
|
||||
|
||||
### 验证
|
||||
|
||||
1. Open a terminal on the ground station computer and change to the location of the _SatComInfrastructure_ repository.
|
||||
Then start the **udp2rabbit.py** script:
|
||||
|
||||
```sh
|
||||
./udp2rabbit.py
|
||||
```
|
||||
|
||||
2. Send a test message from [RockBlock Account](https://rockblock.rock7.com/Operations) to the created delivery group in the `Test Delivery Groups` tab.
|
||||
|
||||
If in the terminal where the `udp2rabbit.py` script is running within a couple of seconds the acknowledge for a message can be observed, then the RockBlock delivery group, the relay server and the udp2rabbit script are set up correctly:
|
||||
|
||||
|
||||
|
||||
## Running the System
|
||||
|
||||
1. Start _QGroundControl_.
|
||||
Manually connect the high latency link first, then the regular telemetry link:
|
||||
|
||||
|
||||
|
||||
2. Open a terminal on the ground station computer and change to the location of the _SatComInfrastructure_ repository.
|
||||
Then start the **udp2rabbit.py** script:
|
||||
|
||||
```sh
|
||||
./udp2rabbit.py
|
||||
```
|
||||
|
||||
3. Power up the vehicle.
|
||||
|
||||
4. Wait until the first `HIGH_LATENCY2` message is received on QGC.
|
||||
This can be checked either using the _MAVLink Inspector_ widget or on the toolbar with the _LinkIndicator_.
|
||||
If more than one link is connected to the active vehicle the _LinkIndicator_ shows all of them by clicking on the name of the shown link:
|
||||
|
||||
|
||||
|
||||
The link indicator always shows the name of the priority link.
|
||||
|
||||
5. The satellite communication system is now ready to use.
|
||||
The priority link, which is the link over which commands are send, is determined the following ways:
|
||||
|
||||
- If no link is commanded by the user a regular radio telemetry link is preferred over the high latency link.
|
||||
- The autopilot and QGC will fall back from the regular radio telemetry to the high latency link if the vehicle is armed and the radio telemetry link is lost (no MAVLink messages received for a certain time).
|
||||
As soon as the radio telemetry link is regained QGC and the autopilot will switch back to it.
|
||||
- The user can select a priority link over the `LinkIndicator` on the toolbar.
|
||||
This link is kept as the priority link as long as this link is active or the user selects another priority link:
|
||||
|
||||
|
||||
|
||||
## 故障处理
|
||||
|
||||
- Satellite communication messages from the airplane are received but no commands can be transmitted (the vehicle does not react)
|
||||
- Check the settings of the relay server and make sure that they are correct, especially the IMEI.
|
||||
|
||||
- No satellite communication messages from the airplane arrive on the ground station:
|
||||
|
||||
- Check using the system console if the _iridiumsbd_ driver started and if it did that a signal from any satellite is received by the module:
|
||||
|
||||
```sh
|
||||
iridiumsbd status
|
||||
```
|
||||
|
||||
- Make sure using the verification steps from above that the relay server, the delivery group and the `udp2rabbit.py` script are set up correctly.
|
||||
|
||||
- Check if the link is connected and that its settings are correct.
|
||||
|
||||
- The IridiumSBD driver does not start:
|
||||
|
||||
- Reboot the vehicle.
|
||||
If that helps increase the sleep time in the `extras.txt` before the driver is started.
|
||||
If that does not help make sure that the Pixhawk and the module have the same ground level. Confirm also that the baudrate of the module is set to 115200.
|
||||
|
||||
- A first message is received on the ground but as soon as the vehicle is flying no message can be transmitted or the latency is significantly larger (in the order of minutes)
|
||||
- Check the signal quality after the flight.
|
||||
If it is decreasing during the flight and you are using the internal antenna consider using an external antenna.
|
||||
If you are already using the external antenna try moving the antenna as far away as possible from any electronics or anything which might disturb the signal.
|
||||
Also make sure that the antenna is not damaged.
|
||||
@@ -0,0 +1 @@
|
||||
<Redirect to="../peripherals/adsb_flarm" />
|
||||
@@ -0,0 +1 @@
|
||||
<Redirect to="../peripherals/adsb_flarm" />
|
||||
Reference in New Issue
Block a user